KR101974935B1 - Apparatus for repairing drainpipe - Google Patents

Abstract

The present invention relates to a sewage pipe repairing apparatus. According to the present invention, there is provided a sewage treatment system including a frame part including a horizontal frame facing a ceiling of a sewage pipe, a pair of vertical frames extending downwardly coupled to both ends of the horizontal frame and facing opposite side walls of the sewage pipe, A pair of moving platforms coupled to bottom portions of the vertical frame and moving along the bottom of the sewer pipe; a pair of moving platforms, each having a shape corresponding to the frame portion and spaced apart from the frame portion, A maintenance module for repairing the ceiling and the wall surface in a state of being coupled to the moving body, a maintenance module for fixing the ceiling and the wall surface while being coupled to the moving body, Or a detection module for observing the state of the inner wall of the sewer line, and a control unit It provides hasugwanro maintenance device comprising.
According to the present invention, it is possible to improve the efficiency and safety of the work by replacing the repair work of the aged or deteriorated concrete surface of the sewer pipe which has been performed by a plurality of workers in the past, It can be expected to prevent the subsidence problem caused by the sewer line in advance.

Description

[0001] Apparatus for repairing drainpipe [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sewage pipe repairing apparatus, and more particularly, to a sewage pipe repairing apparatus for automatically scraping aged concrete surfaces and shaking off residues by moving along both side walls and ceiling sections except for the inner bottom surface of the box-type sewage pipe.

Unlike natural factors originating from foreign countries, subsurface subsidence of sinks, ie, sink holes, is mainly caused by artificial factors such as underground burial damage and excavation works. Especially, sewer line damages account for about 85%.

When the underground waterway is formed around the backside of the sewer pipe, the sink hole due to the damage of the sewer pipe causes the groundwater to permeate the outer wall surface of the sewage pipe, causing corrosion and cracking of the concrete. As a result, groundwater and soil are introduced into the damaged sewer pipe through the outer wall, . Then, the ground in which the cavity is generated continues to fall on the damaged sewer pipe, the sewer pipe which fails to support the weight is damaged, and then the soil is dropped and the cavity is enlarged and the road is damaged.

However, sewer repair and rehabilitation work is more difficult than maintenance and reinforcement work of other social infrastructural facilities, because of the high incidence of safety accidents such as suffocation, electric shock, and fall, labor intensity is high, labor productivity is low, It is getting bigger.

In order to solve these problems, it is urgent to automate sewer pipe maintenance and reinforcement work and to introduce robot technology.

The technology to be a background of the present invention is disclosed in Korean Patent No. 1165509 (published on July 13, 2012).

It is an object of the present invention to provide a sewage pipe repair apparatus for automatically scraping aged concrete surfaces moving along the inside of a sewer pipe and shaking out the residue.

The present invention relates to a sewage treatment system including a frame part including a horizontal frame facing a ceiling of a sewer pipe, a pair of vertical frames extending downwardly coupled to both ends of the horizontal frame and facing opposite side walls of the sewer pipe, A pair of moving platforms coupled to respective bottom portions of the frame and moving along the bottom of the sewer pipe; a pair of moving platforms, each having a shape corresponding to the frame portion and spaced apart from the frame portion, A maintenance module for repairing the ceiling and the wall surface in a state of being coupled to the moving body; and a control module for controlling the operation quality of the maintenance module in a state of being coupled to the moving body, A detection module for observing the state of the inner wall of the sewer line, and a control unit for controlling the movement of the moving object It provides hasugwanro maintenance device.

The sewage pipe repair apparatus may further include a repair depth adjusting unit disposed between the moving object and the repairing module and adjusting an access depth of the repairing module with respect to the ceiling or the wall surface, And a detection depth adjuster for adjusting an access depth of the detection module with respect to the ceiling or the wall surface.

The sewage pipe maintenance apparatus may further include a plurality of distance measurement sensors provided respectively in the horizontal frame and the moving platform for measuring a distance from the ceiling or the wall surface, Or the depth of the detection depth adjusting unit based on the distance measurement result so as to maintain the set distance with the wall surface.

The sewage pipe maintenance device may further include a pair of height adjusting portions provided respectively to the pair of vertical frames and adjusting the height of the vertical frame relative to the moving platform between the moving platform and the vertical frame, And a tilt sensor installed on the transverse frame for measuring a tilt with respect to the ground, wherein the control unit controls at least one height adjustment based on the tilt measurement result so that the transverse frame maintains a horizontal angle with the ground The driving of the negative side can be controlled.

The movable rail portion may include a main beam disposed apart from the frame portion and partially connected to the frame portion, and a second main beam portion formed along a longitudinal direction of the main beam portion and facing one surface of the main beam, A first moving part movable on a rail of the first auxiliary beam and capable of coupling the maintenance module to an upper part of the rail, A second moving part which moves on the rail of the second auxiliary beam and to which the detection module is coupled, and a connection bracket which integrally connects the first and second moving parts.

According to the sewage pipe repairing apparatus according to the present invention, the robot is replaced by a repair work of the aged or deteriorated concrete surface in the sewer pipe which has been performed by a large number of workers in the past depending on the risk and high labor dependency, thereby improving work efficiency and safety And it can be expected to prevent the problem of imbalance in supply and demand of functional manpower in the recent construction industry and the subsidence problem caused by the old sewer pipe in advance.

1 is a view showing the construction of a sewer pipe repairing apparatus according to the present invention.
FIG. 2 is a detailed view illustrating the coupling structure of the moving rail and the moving body shown in FIG. 1. FIG.
FIG. 3 is a view showing a case where a tilting occurs in an embodiment frame of the present invention. FIG.
FIG. 4 is a diagram illustrating an operation of correcting the tilt in FIG.
5 is a view showing a state in which the orientation of the vertical frame is corrected when the moving platform shown in FIG. 1 is tilted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

1 is a view showing the construction of a sewer pipe repairing apparatus according to the present invention. 1, a sewer pipe repair apparatus 100 according to an embodiment of the present invention includes a frame 110, a moving platform 120, a moving rail 130, a moving body 140, a maintenance module 150, A detection module 160, a controller (not shown), a repair depth controller 155, and a detection depth controller (not shown).

The frame part 110 includes a horizontal frame 111 facing the ceiling of the box type sewage pipe and a pair of vertical frames 112 coupled to both ends of the horizontal frame 111 and extending downward and facing both side walls of the sewer pipe. .

Here, the horizontal frame 111 and the vertical frame 112 may be connected through a rotation of a hinge or the like. That is, the upper ends of the vertical frames 112 can be coupled to the opposite ends of the horizontal frame 111 in a rotatable manner.

If the bottom surface of the sewage pipe is filled with a vapors or the like, the height of the two vertical frames 112 is different from that of the bottom surface, and the horizontal frame 111 is inclined. In this case, if the height of at least one vertical frame 112 is changed, the horizontal frame 111 can be adjusted to a horizontal state. Here, when the height of the vertical frame 112 is adjusted, since the joints between the frames can rotate, it is possible to smoothly adjust the horizontal angle.

The moving platform 120 may be coupled to each lower portion of the vertical frame 112 to move the bottom of the sewer line and may include wheels or belt means that are easy to move. Of course, the mobile platform 120 can move along the sewer pipe in response to a control signal received from an external remote control device (not shown).

The movable rail part 130 has a shape corresponding to the frame part 110 and is partly connected to the frame part 110 in a state of being spaced apart from the frame part 110. In this embodiment, the movable rail part 130 and the frame part 110 can be connected to each other through the elastic connecting body 135 having elastic restoring force. This will be described in detail later in the drawings. The movable rail part 130 forms a rail in the longitudinal direction, and allows the moving body 140 to reciprocate.

The movable rail part 130 has a shape corresponding to the frame part 110, and both bent corner parts are formed in a round shape to have an ∩ 'shape as a whole. As a result, the moving body 140 is smoothly moved in the curved corner portion. In the case of a curved corner portion indicated by a dotted line, a plurality of modules having the same radius but different curvatures may be selectively assembled.

The moving body 140 is reciprocally movable in the longitudinal direction along the rails of the moving rail part 130. Such a moving body 140 may be realized in a form including a pinion or a roller type wheel corresponding to the structure of the rail.

A maintenance module 150 is coupled to the upper end of one side of the moving body 140, and a detection module (not shown) is coupled to the upper end of the other side. In the case of FIG. 1, the detection module (not shown) on the rear side is omitted because the two modules overlap in the forward and backward directions. The positional relationship between the repair module and the detection module for the mobile unit 140 will be described later in detail with reference to FIG.

The maintenance module 150 can repair the ceiling and wall surface of the sewer pipe while being coupled to the moving body 140. [ The maintenance module 150 can scrape the aged concrete surface by a predetermined thickness through a saw blade or the like rotating at a high speed, or can pour out the remnants of the scraped part through a brush or the like rotating at a high speed.

The detection module (not shown) can observe the operation quality of the maintenance module 150 or observe the inner wall condition (aging state) of the sewer pipe while being coupled to the mobile unit 140. Such a detection module (not shown) includes at least one of an imaging device (camera equipment) for observing the operation quality of the maintenance module and a non-destructive measuring device (non-destructive device) for observing the aging state or the degree of aging inside the concrete wall surface of the sewer line Device.

In the case of a non-destructive measuring instrument, it can be implemented to provide at least one non-destructive inspection signal of a radiation signal, an ultrasonic signal, a laser beam signal and an electric energy signal to the outside. Of course, the embodiment of the present invention may further include a communication unit (not shown) capable of transmitting / receiving various signals and information to / from an external remote control device or an external server.

A control unit (not shown) may control the movement of the mobile unit 140 relative to the movable rail part 130. Accordingly, the position or movement speed of the maintenance module 150 and the detection module (not shown) mounted on the mobile body 140 is controlled. The control unit (not shown) may control the movement of the mobile unit 140 and the mobile platform 120 based on a control signal received from an external remote control device (not shown).

The maintenance depth adjusting unit 155 adjusts the depth of approach of the maintenance module 150 with respect to the ceiling or wall surface and is provided between the upper end of the mobile unit 140 and the maintenance module 150. The detection depth adjuster (not shown) is provided between the upper end of the moving body 140 and the detection module (not shown) by adjusting the approach depth of a detection module (not shown) for a ceiling or a wall surface.

As such, each depth control unit controls the approach or retreat of each module to the concrete wall or ceiling scene, and can be implemented in a form including a driver such as an electric motor and can be driven according to a control signal of a control unit have.

FIG. 2 is a detailed view illustrating the coupling structure of the moving rail and the moving body shown in FIG. 1. FIG. Fig. 2 is a cross-sectional view taken along the line A-A of Fig. 1, in which the moving body 140 is located, and a horizontal frame 111 is also shown.

The mutually spaced horizontal frame 111 and a part of the moving rail part 130 are vertically connected through a connecting part 135. [ Of course, the connecting portion 135 does not necessarily have to be formed at the point A-A. The connection portions 135 may be provided at the center portion of the horizontal frame 111 and the vertical portions of the two vertical frames 112, respectively. Alternatively, as shown in FIG. The connection portion 135 may be configured to have an elastic restoring force so that the connection portion 135 can be buffered up and down.

2, the movable rail 130 includes a central body beam 131 and first and second auxiliary beams 132 and 133 which are respectively connected to one surface and the other surface of the main beam 131, respectively, . The main beam 131 is spaced apart from the frame 110 (the transverse frame 111 in the cross section of FIG. 2), and a portion of the main beam 131 in the longitudinal direction is connected to the frame 110 through the connecting portion 135.

The first and second auxiliary beams 132 and 133 are formed along the longitudinal direction of the main beam 131 and are symmetrically connected to each other with respect to the main beam 131 on the basis of the main beam 131. Therefore, the transverse section with respect to the longitudinal direction of the movable rail part 130 has an H beam shape as shown in FIG.

The first auxiliary beam 132 and the second auxiliary beam 133 substantially form a rail r on which the moving body 140 is movable. The first auxiliary beam 132 has upper and lower rails r1 and r2 at its upper and lower ends and the upper and lower rails r3 and r4 at its upper end, I have.

The moving body 140 includes a first moving part 141 that moves on the rail images r1 and r2 of the first auxiliary beam 132 and a second moving part 141 that faces the first moving part 141 in a symmetrical manner, A second moving part 142 for moving the rail images r3 and r4 of the first and second moving parts 141 and 142 and a connecting bracket 143 for integrally connecting the first and second moving parts 141 and 142.

Specifically, the first moving unit 141 includes a first moving body 141a to which the repair module can be coupled, an upper wheel 141b coupled to upper and lower sides of the first moving body 141a, Quot; C " shape as a whole. The upper and lower wheels 141b and 141c of the first moving body 141a are connected to the upper and lower rails r1 and r2 in such a manner as to surround the upper and lower rails r1 and r2 of the first auxiliary beam 132, So that they can move stably.

Similarly, the second moving unit 142 includes a second moving body 142a to which the detection module 160 can be coupled, an upper wheel 142b coupled to upper and lower sides of the first moving body 142a, And a lower wheel 142c. Here, the upper and lower wheels 142b and 142c of the second moving body 142a are disposed on the upper and lower rails r3 and r4 so as to surround the upper and lower rails r3 and r4 of the second auxiliary beam 133, r4, respectively.

A maintenance depth adjusting unit 155 is provided between the first moving unit 141 and the maintenance module 150 to adjust the approach depth of the maintenance module 150 and to adjust the depth of approach of the repair module 150, 160, a detection depth adjusting unit 165 is provided to adjust an approach depth of the detection module 160. FIG.

Here, the depth controllers 155 and 165 may be controlled through a controller (not shown) based on the detection distance between the wall surface (ceiling, inner wall on both sides) detected by the distance measuring sensor and the like. Referring to FIG. 1, at least one distance measuring sensor 170 is installed on the transverse frame 111 and the moving platform 120, respectively.

The distance measuring sensor 170a disposed on the horizontal frame 111 measures the distance to the ceiling from above and the distance measuring sensor 170a disposed on the moving platform 120 measures the distance from the side wall . The distance measuring sensor 170 may be implemented by various known means.

The control unit (not shown) collects distance measurement results of the distance measuring sensors 170a and 17b and controls driving of the repair depth adjusting unit 155 and the detection depth adjusting unit 165 based on the collected information, Each module (150, 160) maintains the ceiling or wall and the set distance stably, thereby improving the efficiency of maintenance and detection, and preventing collision or breakage.

Of course, the control unit (not shown) may determine the position of the current mobile unit 140 with respect to the longitudinal direction of the mobile unit 130 and determine at least one of the plurality of distance measurement sensors associated with the current position of the mobile unit 140 on the mobile unit. The depth of each of the modules 155 and 165 may be controlled by using information of one distance measuring sensor.

Here, when the moving platform 120 presses the soil at the bottom of the sewage pipe, the position of the vertical frame 112 can be elevated. Even if the vertical frame 112 is elevated, it can maintain a parallel state with both wall surfaces by the rotary joint. Therefore, only one distance measuring sensor 170b may be present on each mobile platform 120 in this case. Of course, the distance measuring sensor may be present on the vertical frame 112.

In the case of the transverse frame 111, a slope change may occur, and a plurality of distance measuring sensors 170a may be provided for the longitudinal direction. As shown in FIG. 1, the distance between the ceiling and the ceiling can be determined by using the distance values of both sides when the ceiling is installed on both sides of the horizontal frame 111.

A height adjusting unit 190 provided between the lower end of the vertical frame 112 and each moving platform 120 when the horizontal frame 111 is tilted; (111) can be returned to a horizontal state.

Each height adjuster 190 adjusts the height of the vertical frame 112 relative to the moving platform 120 between the vertical frame 112 and the moving platform 120, The tilt sensor 180 is installed on the transverse frame 111 to measure the tilt with respect to the ground surface. At this time, the control unit (not shown) controls driving of at least one height adjusting unit 190 based on the tilt measurement result of the tilt sensor 180 so that the horizontal frame 111 maintains a horizontal angle with the ground.

FIG. 3 is a view showing a case where a tilting occurs in an embodiment frame of the present invention. FIG. Each of the moving platforms 120 is mounted at both ends of the maintenance apparatus frame unit 110 to take charge of moving the entire system.

Referring to FIG. 3, it can be seen that the left platform 120 is raised on the sediment and tilted in the frame 110, and in particular, the horizontal frame 111 is inclined. Here, the vertical frame 112 is rotatably coupled to the horizontal frame 111, so that the vertical platform 112 can be maintained even when the moving platform 120 steps on the deposit.

In the embodiment of the present invention, a parallel mechanism is used as a part for connecting the frame part 110 and the moving rail part 130. Therefore, when the tilting occurs as shown in FIG. 3, the elastic link member 135 used as the parallel mechanism is contracted to prevent the movable rail 130 from being twisted or broken. The parallel mechanism may include an elastic body such as a string having an elastic restoring force and a plurality of legs that can be pivoted when shrinkage or the like occurs.

FIG. 4 is a diagram illustrating an operation of correcting the tilt in FIG. A height adjuster 190 is disposed inside the lower end of the moving platform 120. The height adjuster 190 is a cylindrical actuator.

In the case of FIG. 4, it can be seen that the height of the mobile platform 120 on the right side is raised by using the height adjuster 190. In the process, the maintenance module moving rail part 130 is automatically aligned according to the restoring property of the elastic link member 135, which is a parallel mechanism. Of course, the degree of height elevation can be adjusted by the control unit in correspondence with the degree of tilting of the horizontal frame 111. As a result, it can be seen that the angle formed between the frame part 110 and the moving rail part 130 with respect to the wall surface or the ceiling is corrected so as to be parallel to both the wall surface and the ceiling surface of the concrete.

FIGS. 3 and 4 illustrate the correction of the tilting of the frame portion due to the height difference between the two moving platforms 120, and FIG. 5 below illustrates a method of balancing the fore and aft portions of the frame portion when the moving platform 120 itself steps on and off the deposit Will be described.

5 is a view showing a state in which the orientation of the vertical frame is corrected when the moving platform shown in FIG. 1 is tilted. 5, the portion surrounded by the track 9 represents a moving platform 120. At the upper portion of the moving platform 120, there are provided a horizontally moving guide 11 of the maintenance apparatus frame 5 and a toothed rack 3 do. The maintenance apparatus frame 5 may correspond to the lower end of the vertical frame 112 or may correspond to the height adjuster 190 connected to the lower end in the embodiment of the present invention.

The spring-damper system 1 and the length changer 4 are connected to the pinion 2 for horizontal maintenance of the repair apparatus frame 5 with reference to the repair apparatus frame 5, 5 (a) to (c), the orientation of the repair apparatus frame 5 is corrected by the spring damper system 1 and the length changing device 4. [ In addition, the pinion 12 and the rake 3 enable the maintenance device frame 5 to move in the horizontal direction.

5 (b), the drive shaft 7 is directly connected to the motor to rotate the idle 8 and the track 9 to enable the movement platform 120 to move forward and backward. The idle 8 is connected to the spring-damper system 1 and serves to reduce vibration transmitted to the maintenance apparatus 100. The toe swash plate 6 is mounted on the front surface of the moving platform 120 and pushes or removes the soil in the traveling direction.

According to the sewage pipe repairing apparatus according to the present invention as described above, it is possible to perform a series of repair work such as scraping the surface of old or deteriorated concrete on both walls and ceiling of the sewer pipe, Can be performed on behalf of the operator.

In addition, it is possible to improve the efficiency and safety of the work by replacing the maintenance work of the aged or deteriorated concrete surface in the sewer pipe which has been performed by a large number of workers at high risk and high labor dependency. It can be expected that the problem of imbalance in the supply and demand of the functional manpower and further the prevention of the ground subsidence problem which is the main cause of the old sewer pipe can be expected.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: sewage pipe repair device 110: frame part
111: Horizontal frame 112: Vertical frame
120: Moving platform 130: Moving rail part
131: main beam 132: first auxiliary beam
133: second auxiliary beam 135:
140: Moving body 141: First moving part
142: second moving part 143: connecting bracket
150: repair module 155: repair depth adjuster
160: Detection module 165: Detection depth adjustment section
170: distance measuring sensor 180: tilt sensor
190:

Claims (5)

A frame part including a pair of vertical frames which are coupled to both ends of the horizontal frame and extend downward and face both side walls of the sewer pipe;
A pair of moving platforms coupled to respective lower portions of the pair of vertical frames and moving along the bottom of the sewer pipe;
A movable rail part having a shape corresponding to the frame part and spaced apart from the frame part, a part of which is connected to the frame part and forms a rail in the longitudinal direction;
A movable body movable on the rail;
A maintenance module for repairing the ceiling and the wall surface while being coupled to the moving body;
A detection module for observing the operation quality of the maintenance module or the inner wall condition of the sewage pipe in a state coupled to the moving body; And
And a control unit for controlling the movement of the moving body. The method according to claim 1,
A repair depth adjusting unit provided between the moving body and the repair module to adjust an approach depth of the repair module with respect to the ceiling or the wall surface; And
And a detection depth adjuster provided between the moving object and the detection module for adjusting an approach depth of the detection module with respect to the ceiling or the wall surface. The method of claim 2,
Further comprising a plurality of distance measuring sensors each installed in the horizontal frame and the moving platform to measure a distance from the ceiling or the wall surface,
Wherein,
And controlling driving of the repair depth adjusting unit and the detection depth adjusting unit based on the distance measurement result so that each of the modules maintains a predetermined distance from the ceiling or the wall surface. The method according to claim 1,
A pair of height adjusting portions provided respectively for the pair of vertical frames, the pair of height adjusting portions adjusting the height of the vertical frame relative to the moving platform between the moving platform and the vertical frame; And
Further comprising a tilt sensor installed on the transverse frame for measuring a tilt with respect to the ground,
Wherein,
And controls the driving of at least one height adjuster based on the tilt measurement result so that the horizontal frame maintains a horizontal angle with the ground. The method according to claim 1,
The moving rail portion
And a main beam which is formed along the longitudinal direction of the main beam and which is coupled to one surface of the main beam and the other surface of the main beam so as to face each other with respect to the main beam, A first auxiliary beam and a second auxiliary beam,
Wherein:
A second moving part that moves on a rail of the first auxiliary beam and is capable of coupling the repair module to an upper part of the rail, a second moving part that moves on a rail of the second auxiliary beam, And a connection bracket for integrally connecting the first and second moving parts.

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