KR102079673B1 - Automatic Guided Vehicle for Drilling a Pipe and Maintaining Method for the Area of Sinkholl using It - Google Patents

Abstract

The present invention relates to an unmanned cart for drilling a pipe for repairing a sinkhole and a sinkhole repair method using the same. According to the present invention, the unmanned cart for drilling a pipe for repairing a sinkhole is inserted into a decrepit pipe to form a hole in the pipe to insert a repair material around an underground space where a cavity such as a sinkhole has been created. The unmanned cart for drilling a pipe comprises: a drive unit making up a cart body and having drive wheels mounted on a lower portion thereof to run in a pipe; a lift unit which is arranged on an upper side of the drive unit and is capable of height adjustment in a vertical direction in response to the inner diameter of the pipe; and a drilling device unit mounted on the upper end of the lift unit to tightly come in contact with the inner circumferential surface of the pipe to form a hole on the inner circumferential surface of the pipe to insert a repair material if arriving at a point where a cavity is created. Therefore, if a cavity is created around a damaged pipe portion pointed out as one among the causes of sinkholes, the present invention allows a point adjacent to the cavity to be drilled in the pipe by using the unmanned cart without excavation construction to easily inject a repair material into the point where the cavity is created, thereby reducing construction costs and preventing fatal accidents in advance at the same time.

Description

Automatic Guided Vehicle for Drilling a Pipe and Maintaining Method for the Area of Sinkholl using It}

The present invention relates to an unmanned trolley for drilling a pipeline for sinkhole repair and a sinkhole repairing method using the same, and more particularly, in the case where pupils occur around a pipe breakage site that is designated as one of the causes of sinkholes. By drilling a point adjacent to the pupil in the pipeline using an unmanned truck without excavation work, repair materials can be easily injected at the point where the pupil occurred, thereby reducing construction costs and at the same time preventing human accidents. The present invention relates to an unmanned trolley for drilling a pipeline and a sinkhole repairing method using the same.

Recently, sinkholes (ground depression) occurring in large cities such as Seoul in Korea have been found to be caused by artificial causes rather than natural causes.

Representative factors that cause the sink hole are due to the generation of pupils around the old pipes due to the damage of old pipes such as sewer pipes and water pipes that have been installed for a long time, earth and sand loss due to the change of groundwater flow, and underground structure construction. It has been confirmed that.

In particular, in the case of sewage pipes, the soil around the old pipe flows into the pipeline due to the damage of the old pipe and the failure of the joints, resulting in loss of soil due to backfilling and poor compaction during the pipeline installation. This occurs, leading to a sinkhole phenomenon.

On the other hand, conventionally, in order to prevent the sinkhole phenomenon, if the pupil is found by examining the underground space, the surrounding ground is excavated to repair and reinforce the pupil to fill the pupil.

However, when excavating land in downtown areas such as Seoul, there was a problem that serious complaints occurred due to noise and traffic blocking, or construction cost and construction time increased.

In addition, if pupils occur in the vicinity of underground structures (sewage pipes, etc.), it is desirable to repair by injecting a repair material by drilling the structure, but when working inside the pipeline with a manpower to perform the drilling work, the work space becomes narrow. Rather, because it is an enclosed space, there is a problem that the work efficiency is reduced and the safety accident is exposed to harmful gases and dust and noise generated during work.

Therefore, when the pupils occur in the vicinity of the pipeline, there is an urgent need for a practical and applicable technology that can not only drill the pipeline at the point where the pupil occurred without excavation work but also prevent workers from being exposed to safety accidents. It is becoming.

Patent Registration No. KR 10-1652511 (Registration date 2016.08.25.)

The present invention has been made in order to solve the above problems, the present invention, the pupil in the pipeline using an unmanned trolley without excavation in the case of the pupil occurs around the pipeline failure site that is one of the causes of sinkholes By drilling a point adjacent to the hole, it is possible to easily inject a repair material at the point where the pupil occurred. As a result, it is possible to reduce the construction cost and at the same time, to install a sink hole for drilling the pipeline to repair the sinkhole to prevent human accidents. It is to provide a sinkhole repair method used.

In the unmanned trolley for drilling a pipeline for sinkhole repair according to an embodiment of the present invention, a perforated hole for injecting a repair material into a periphery of an underground space in which a pupil such as a sinkhole is generated by being introduced into an aging pipeline An unmanned trolley for drilling a pipeline, comprising: a driving unit for constructing a vehicle body and having a driving wheel mounted on the lower portion to drive the inside of the pipeline; A lift unit disposed above the drive unit and capable of height adjustment in a vertical direction corresponding to an internal diameter of a pipeline; And a punching device unit mounted at the upper end of the lift unit to form a punching hole on the inner surface of the conduit for injecting a repair material in close contact with the inner surface of the conduit when reaching the point where the pupil is generated. .

The drive unit, the drive unit body housing for forming a rectangular vehicle body; A driving wheel mounted at a lower portion of the driving unit body housing to reduce rolling frictional force for traveling in the pipeline; A driving motor which can provide a driving force necessary for the rotation of the driving wheel and is provided in the driving unit body housing; A lift driving device which may provide a driving force necessary for adjusting the height of the lift unit and is provided in the driving unit body housing; A battery unit which provides operation power required for the driving motor and the lift driving device and is provided in the driving unit body housing; A charging connector provided on an outer surface of the driving unit body housing and providing an interface for charging the battery unit; A wired connector formed on an outer surface of one side of the driving unit body housing to apply operating power to the driving motor and the lift driving apparatus when the battery unit is discharged; A control box which controls the operation of the driving motor and the lift driving device and is provided in the driving unit body housing; And a receiver which receives and transmits a control signal from the outside to the control box and is provided in the driving unit body housing.

The lift unit may be close to the inner surface of the pipeline, the upper frame for fixing the top of the factory factory to form a drilling hole on the inner surface of the pipeline; And a lower frame coupled to an upper side of the driving unit body housing and supporting a height adjusting operation for moving the upper frame vertically supporting the fabric mill in a vertical direction.

The upper frame of the lift unit, CCTV camera capable of 360-degree omnidirectional remote control shooting; An LED lighting device for providing lighting to a work space when performing a drilling operation in contact with an inner surface of a pipe at an upper side of a lower frame supporting the height adjusting operation; And a rotating device connected to the drilling device with a rotating shaft and a gear box so as to rotate the drilling mill 360 degrees.

The lower frame for supporting the height adjustment operation, the lifting arm having a bar-shaped at both edges and arranged in one or more pairs of X-shaped bellows folding structure; And an electric cylinder disposed at a central portion having a structure that is pulled up and down vertically to adjust the operation of the lift arm to approach the inner surface of the fabric mill.

The cloth mill, the rectangular box-shaped fixed box rotatably connected to the rotating shaft of the upper frame constituting the lift; A perforator that is formed to protrude perpendicularly to a central portion of one side of the fixed box to form a perforation hole in the conduit; And a vacuum suction device which is disposed to protrude perpendicularly to one side edge edge of the fixing box and performs rotation and suction operations to fix the perforator to the perforated part of the inner surface of the pipe during the drilling operation.

The fixing box, a perforator filter used for filtration in the case of inhaling dust generated from the inner surface of the pipe during the drilling operation through the perforator; Perforator motor unit for providing a driving force during the drilling operation through the perforator; It may be provided therein; a rotary motor and a suction motor for the vacuum suction device for supporting the rotation and suction operation of the vacuum suction device.

The perforator may include a circular housing configured to form a cylindrical wall, a net-shaped dust suction opening at an outer end thereof, and an inner end thereof connected to the filter for the perforator; A drilling piston disposed inside the circular housing and configured to perform a linear reciprocating motion during the drilling operation by receiving the driving force of the motor unit for the drilling machine; And a drill bit which is detachably coupled to the end of the drilling piston and performs a rotation operation by receiving the driving force of the motor unit for drilling, to drill the working part inside the conduit.

The vacuum suction device comprises a vacuum cylinder constituting a cylindrical wall and a screw thread is formed on the inner surface for helical coupling; A cylindrical vacuum screw having a screw thread formed on an outer surface of the vacuum cylinder to allow a helical coupling with an inner surface of the vacuum cylinder, and a suction tube penetrated through an inner center thereof; And a vacuum plate formed at the end of the vacuum screw in a trumpet-shaped plate made of rubber material to be in close contact with the perforated surface inside the conduit.

According to an embodiment of the present invention, a sinkhole repairing method using an unmanned vehicle for drilling into a pipeline is prepared by supplying operation power to a CCTV camera and an LED lighting device of an unmanned vehicle for drilling into a pipeline. Performing a first step; A second step of moving the drilling drone to a drilling point by driving a driving unit constituting the drilling drone; A third step of operating the electric cylinder of the lift unit constituting the unmanned trolley for drilling up and down to position the height of the punching machine of the drilling apparatus at the drilling point; A fourth step of rotating the rotating device of the lift unit constituting the unmanned trolley for drilling and operating the drilling piston of the drilling machine to contact the drill bit coupled to the drilling machine to the inner wall surface of the pipe corresponding to the drilling point; A fifth step of operating the vacuum screw of the vacuum suction device constituting the fabric factory to position the vacuum plate on the inner wall of the pipeline around the perforation point and operating the suction motor of the vacuum suction device to fix the vacuum plate to the inner wall of the pipeline. step; By drilling the motor part for the perforator constituting the perforator to rotate the drill bit of the perforator to perform a perforation to form a perforation hole in the inner wall of the pipeline and the dust generated during the perforation work through the dust inlet formed in the circular housing of the perforator A sixth step of inhaling; And a seventh step of repairing the pupils around the conduit to form the sink hole by injecting a repair material through the boring hole formed in the inner wall of the conduit.

As described above, the present invention, by using the unmanned trolley without drilling, when the pupil is generated around the pipe breakage point that is considered as one of the causes of the sinkhole by drilling a point adjacent to the pupil in the interior of the pipeline Repair materials can be easily injected at the point where the pupils are generated, thereby providing a sinkhole repairing method for sinkholes and a sinkhole repairing method for sinkhole repair that can reduce construction costs and prevent human accidents. It is effective.

1 is a view schematically showing the overall configuration of the unmanned trolley for drilling a pipeline according to an embodiment of the present invention.
FIG. 2 is a diagram for schematically describing a driving unit illustrated in FIG. 1.
FIG. 3 is a diagram for schematically describing a lift unit illustrated in FIG. 1.
4 is a view for explaining a lift arm constituting the lift unit of FIG.
FIG. 5 is a view for schematically explaining a drilling device unit shown in FIG. 1.
FIG. 6 is a view for schematically explaining a punching machine constituting the drilling device shown in FIG.
FIG. 7 is a view for schematically describing a vacuum suction device configuring the drilling device shown in FIG. 5.
8 is a schematic flowchart illustrating a sinkhole repairing method using an unmanned trolley for drilling.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents for realizing the technical idea.

On the other hand, the meaning of the terms described in the present invention will be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when a component is referred to as being "directly connected" to another component, it should be understood that there is no other component in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and the terms "comprise" or "having" include, but are not limited to, features, numbers, steps, operations, components, parts or parts thereof implemented. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, actions, components, parts or combinations thereof.

In each step, an identification code (e.g., a, b, c, etc.) is used for convenience of description, and the identification code does not describe the order of the steps, and each step is clearly contextual. Unless stated otherwise, they may occur out of the order noted. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present invention.

The present invention relates to an unmanned trolley for pipeline drilling to form a drilling hole in the pipeline for injecting a repair material in the periphery of the underground space where a pupil such as a sink hole is generated inside the aging pipeline.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a view schematically showing the overall configuration of the unmanned trolley for drilling a pipeline according to an embodiment of the present invention.

As shown in the figure, the unmanned trolley 10 for drilling a pipeline according to an embodiment of the present invention may include a driving unit 100, a lift unit 200, and a drilling device unit 300.

In more detail, the driving unit 100 may constitute a vehicle body, and a driving wheel for driving the inside of the conduit may be mounted at a lower portion thereof.

Here, the drive unit 100, the main body housing 110, the drive wheel 120, the drive motor 130, the lift drive device 140, the battery unit 150, the charging connector 160, wired connector 170 ), A control box 180, and a receiver 190 may serve to move the vehicle body to the working space inside the pipeline without the excavation work, the detailed configuration of the drive unit 100 It will be described later in FIG.

In addition, the lift unit 200 may be disposed above the driving unit 100 and may be formed to be height-adjustable in the vertical direction corresponding to the inner diameter of the pipeline.

At this time, the lift unit 200, the frame is composed of the upper frame 210 and the lower frame 220, using the lift arm 221 and the electric cylinder 222 fixed to the lower frame 220 is installed. The upper frame 210 can be adjusted to vertically move up and down. This will be described later with reference to FIGS. 3 to 4.

In addition, the drilling device 300 is mounted on the upper end of the lift unit 200, when reaching the point where the pupil is generated in close contact with the inner surface of the pipeline for drilling holes for injecting repair material into the pipeline It can be formed on the inner surface.

In the embodiment of the present invention, the punching device 300, the fixing box 310 is rotatably connected to the upper frame of the lift unit 200, and a punching machine for forming a drilling hole in the pipeline ( 320, and a vacuum suction device 330 for sucking dust on the inner wall surface of the pipeline generated during the drilling process, which will be described in detail later with reference to FIGS. 5 to 7.

In this way, the present invention, using an unmanned trolley equipped with a driving unit without excavation work to move to the work area from the inside of the pipeline, and then adjust the height through the lift portion and the point adjacent to the pupil formed by generating a sink hole using the drilling device portion By puncturing, it is possible to easily inject the repair material at the point where the pupil occurred, thereby reducing the construction cost and at the same time preventing the accident of life.

Referring to Figures 2 to 7 in detail the detailed configuration of the unmanned trolley for drilling a pipeline according to an embodiment of the present invention.

First, FIG. 2 is a diagram for schematically describing a driving unit illustrated in FIG. 1.

As shown in the figure, the drive unit 100 constituting the unmanned trolley for drilling the pipeline 10 according to an embodiment of the present invention, the main body housing 110, the drive wheel 120, the drive motor 130, the lift The driving device 140, the battery unit 150, the charging connector 160, the wired connector 170, the control box 180, and the receiver 190 may be provided.

In more detail, the main body housing 110 constitutes a main body of the driving unit 100 to form a rectangular vehicle body, and the driving wheel 120 is mounted to the lower portion of the main driving body housing 110 and is inside the pipeline. It can reduce rolling friction for driving.

In this case, the driving wheel 120 is shown as a wheel, but may be replaced by a wheel of the caterpillar system.

In addition, the main body housing 110 may be provided with a driving motor 130, a lift driving device 140, a battery unit 150, a control box 180, and a receiver 190.

Here, the drive motor 130, may provide a driving force required for the rotation of the drive wheel 120, as described above, may be provided inside the drive body housing 110.

In addition, the lift driving device 140 may provide a driving force necessary for height adjustment of the lift unit 200 described above with reference to FIG. 1, and is preferably provided upward in the driving unit body housing 110.

In addition, the battery unit 150 is provided in the driving unit body housing 110 to provide the operating power required for the driving motor 130 and the lift driving device 140, and to electrically supply power. Since only a circuit that is electrically connected because it performs a role, it is not necessarily arranged adjacently may be arranged in a variety of structures.

In addition, the control box 180, which can control the operation of the drive motor 130 and the lift drive device 140 may be provided in the drive unit body housing 110, the receiver 190 ) May receive and transmit a control signal from the outside to the control box 180, and as shown in the drawing, may be provided in the lower side of the driving unit body housing 110.

On the other hand, as shown in the drawings, the configuration provided on the outside of the main body housing 110, in addition to the above-described lower driving wheel 140, the charging connector 160 for applying power to the battery unit and The wired connector 170 may be provided.

Here, the charging connector 160 may provide an interface for charging the battery unit 150 and may be formed on one outer surface of the driving unit body housing 110. When the battery is discharged, it is connected to the charging connector 160 in a wired manner to receive power from the outside. When a problem occurs in the wireless operation, a wired cable is connected to the wired connector 170 to operate by using an operation device from the outside (or a short distance). Do it.

In addition, the wired connector 170 of the driving unit body housing 110 to apply operating power to the driving motor 130 and the lift driving device 140 when the battery unit 150 is discharged. It may be formed on one side of the outer surface.

Next, the lift unit according to the embodiment of the present invention will be described in detail with reference to FIGS. 3 to 4.

3 is a view for schematically explaining the lift unit illustrated in FIG. 1, and FIG. 4 is a view for explaining a lift arm configuring the lift unit of FIG. 3.

As shown in the figure, the lift unit 200 constituting the unmanned trolley for drilling the pipeline according to an embodiment of the present invention, is disposed on the upper side of the drive unit 100 described above in FIGS. Correspondingly, the height may be adjustable in the vertical direction.

In more detail, when the lift unit 200 is applied to an embodiment of the present invention, the lift unit 200 may have a height adjustable table lift structure, and may include an upper frame 210 and a lower frame 220. .

Here, the upper frame 210 is to close to the inner surface of the pipeline, and to support and secure the drilling device 300 that can be formed on the inner surface of the pipeline to the upper side, 360 degrees CCTV camera 211 capable of remotely directional shooting, LED lighting for providing illumination to the work space when performing the drilling work in contact with the inner surface of the pipeline from the upper side of the lower frame 220 supporting the height adjustment operation It may be provided with a rotating device 213 connected to the drilling device with a rotating shaft 213a and a gear box 213b to rotate the device 212 and the drilling device 300 by 360 degrees. .

In this case, although not shown in detail in the drawing, a device capable of checking the pupillary region such as GPR (Ground Penetrating Radar) may be formed in the CCTV camera 211.

In addition, the lower frame 220 is fixed to the upper side of the drive unit body housing 110, the height for moving up and down vertically in the pipeline to the upper frame 210 for fixing the support device 300 Supporting the adjustment operation, the lift arms 221 having a rod shape on both sides and arranged in one or more pairs in a X-shaped bellows folding structure, and the perforator 300 to approach the inner surface of the pipeline It may have a structure that is pulled out vertically and vertically to adjust the operation of the lift arm 221 and may be provided with an electric cylinder 222 disposed in the center.

On the other hand, in the embodiment of the present invention, the power is applied to the power source required when configuring the electric cylinder 222, by using a cylindrical screw coupling structure to convert the rotational movement to linear movement to adjust the height vertically It may be possible, and in another embodiment, a hydraulic cylinder may be used when using hydraulic oil.

Next, the drilling device unit according to the embodiment of the present invention will be described in detail with reference to FIGS. 5 to 7.

FIG. 5 is a view for schematically explaining the drilling device unit shown in FIG. 1, FIG. 6 is a view for schematically explaining a drilling machine constituting the drilling device unit shown in FIG. 5, and FIG. 7 is shown in FIG. 5. It is a figure for demonstrating schematically the vacuum suction apparatus which comprises a perforation apparatus part.

As shown in the drawings, the drilling device unit 300 constituting the unmanned trolley for drilling the pipeline according to an embodiment of the present invention, the pupil is mounted on the upper end of the lift unit 200 described above in Figures 3 to 4 When reaching the point where this occurs, a perforated hole for intimate contact on the inner surface of the pipeline may be formed on the inner surface of the pipeline.

More specifically, the drilling device 300, the rectangular box-shaped fixed box 310 that is rotatably connected to the rotating shaft 213a of the upper frame 210 constituting the lift unit 200, the fixed Perforated machine 320 is formed to protrude perpendicularly to the central portion of one side of the box 310 to form a perforation hole in the pipeline, and a plurality of perforated vertically protruded disposed on the edge edge of one side of the fixed box 310 In operation, a vacuum suction device 330 may be provided to perform rotation and suction operations to fix the perforator 320 to the perforated portion of the inner surface of the pipe.

Here, the fixed box 310, the perforator filter 311 and the perforator 320 used for filtration in the case of inhaling dust generated from the inner surface of the pipe during the drilling operation through the perforator 320, Perforator motor unit 312 to provide a driving force during the drilling operation through, and although not shown in detail, the rotary motor and the suction motor for the vacuum suction device for supporting the rotation and suction operation of the vacuum suction device 330 The provided driving device 313 can be arranged inside.

In addition, the puncher 320 may include a circular housing 321, a drilling piston 322, and a drill bit 323, as schematically illustrated in FIG. 6.

In more detail, the circular housing 321 may form a cylindrical wall, a mesh-shaped dust suction opening 321a may be formed at an outer end thereof, and an inner end thereof may be connected to the filter 311 for the perforator. Here, the cylindrical wall forms a hollow space emptied inside, and can suck the dust generated during the drilling operation through the dust suction opening (321a) to secure a view in the working space and improve the work efficiency have.

In addition, the drilling piston 322 is disposed in the circular housing 321 and can receive a driving force of the perforator motor 312 to perform a linear reciprocating movement during the drilling operation.

In addition, the drill bit 323 is detachably coupled to the end of the drilling piston 322 and receives a driving force of the perforator motor 312 to perform a rotational operation to the working part inside the pipeline. In this case, the drill bit 323 may be manufactured by using a drill bit of various specifications according to the working environment.

As described above, according to the exemplary embodiment of the present invention, referring to FIG. 6, the drilling piston 322 of the drilling machine 320 is operated by the above-described drilling machine motor unit 312 to apply a drill bit to the drilling surface. It can be fixed and rotated to enable perforation. At this time, the dust generated during the puncture through the dust suction opening (321a) is sucked in and the filter for punching machine 311 is formed into a bag-shaped net to serve as a storage means for collecting the dust flowing through the dust suction opening (321a). Can be done.

Next, referring to FIG. 7, the vacuum suction device 330 of the drilling device 300 according to the embodiment of the present invention will be described in detail as follows.

Vacuum suction device 330 of the drilling device 300 according to an embodiment of the present invention, as shown in Figure 7, the vacuum cylinder 331, the vacuum screw 332, and a vacuum plate 333 As described above with reference to FIG. 5, four may be disposed at upper, lower, left, and right edges of the fixing box 310 with respect to the punching machine 320.

In more detail, the vacuum cylinder 331 may form a cylindrical wall and a thread for helical coupling may be formed on an inner surface thereof. Here, the inside of the vacuum cylinder 331 is preferably composed of a hollow hollow space for the vacuum screw 332 which will be described later to perform a linear reciprocating motion.

In addition, the vacuum screw 332, a screw thread is formed on the outer surface to enable the spiral coupling with the inner surface of the vacuum cylinder 331, the suction pipe 332a is penetrated through the inner center of the vacuum cylinder 331 as a whole It may be formed as a cylindrical bar bar to correspond to the inner shape. Here, the suction pipe 332a is connected to the suction motor of the driving device 313 described above, and when the suction motor is operated, the suction force is transmitted to the perforated surface of the pipe for performing the drilling operation through the vacuum plate 333. It may serve to fix the punching machine 320 to the work site to be punched. At this time, the driving device 313 is composed of a rotation motor and a suction motor, the rotation motor can be adjusted in length through a linear reciprocating motion due to the rotational movement of the vacuum screw 332, the suction motor sucks air Thus, the vacuum plate 333 described later can be brought into close contact with the perforated surface.

In addition, the vacuum plate 333 may be formed at the end of the vacuum screw 332 as a trumpet-shaped plate made of rubber material to be in close contact with the perforated surface inside the conduit. At this time, the vacuum plate 333 is formed of a rubber material to have flexibility, so that even if the point to be punctured is made of irregular surfaces, the suction force transmitted through the suction pipe 332a does not leak and is completely in contact with the perforated surface. Can play a role.

In addition, according to an embodiment of the present invention, even if the peripheral pipe surface of the perforated point is formed in an irregular surface by adjusting the length of the vacuum screw 332 independently protruding individually to closely adhere the vacuum plate 333 to the perforated surface You can.

As such, the unmanned trolley for drilling the pipeline for repairing the sinkhole according to the embodiment of the present invention may be easily equipped with a drilling device to perform the drilling operation even in various environments inside the pipeline.

FIG. 8 is a schematic flowchart illustrating a sinkhole repairing method using an unmanned trolley for drilling into the pipeline according to FIGS. 1 to 7.

As shown in the figure, the sinkhole repair method using the unmanned trolley for drilling, the preparation step (S10), unmanned vehicle moving step (S20), height adjustment step (S30), drilling machine contact step (S40), tightly fixing step (S50), a drilling operation step (S60), and a repair material injection step (S70) may be provided.

In more detail, the preparation step S10 may be a first step of supplying operation power to the CCTV camera and the LED lighting device of the unmanned vehicle for drilling to perform the preparation operation for input into the pipeline.

In addition, the unmanned vehicle moving step (S20) may be a second step of moving the drilling unmanned vehicle to the drilling point by driving the drive unit constituting the unmanned vehicle for drilling.

In addition, the height adjustment step (S30) may be a third step of placing the height of the drilling machine of the drilling device at the drilling point by operating the electric cylinder of the lift unit constituting the unmanned trolley for drilling up and down.

In addition, the perforator contact step (S40), by rotating the rotary unit of the lift unit constituting the unmanned trolley for drilling and operating the drilling piston of the perforator to drill bit coupled to the perforator inside the pipeline corresponding to the drilling point It may be a fourth step of contacting the wall.

In addition, the close fixing step (S50), by operating the vacuum screw of the vacuum suction device constituting the cloth factory value to place the vacuum plate on the inner wall surface of the pipeline around the drilling point and to operate the suction motor of the vacuum suction device to the vacuum And a fifth step of tightly fixing the plate to the inner wall of the conduit.

In addition, the drilling operation step (S60), by operating the drilling machine motor unit constituting the drilling mill to rotate the drill bit of the drilling machine to perform the drilling operation to form a drilling hole on the inner wall surface of the pipeline and dust generated during the drilling operation It may be a sixth step of sucking through the dust intake formed in the circular housing of the perforator.

In addition, the repair material injection step (S70) may be a seventh step of repairing the pupils around the pipeline to form the sink hole by injecting the repair material through the drilling hole formed in the inner wall surface of the pipeline.

As described above, the present invention, when the pupil occurs around the pipe breakage point that is considered as one of the causes of the sinkhole, the pupil by drilling the point adjacent to the pupil in the interior of the pipeline using an unmanned trolley without excavation work The repair material can be easily injected at the point of occurrence, thereby reducing the construction cost and at the same time providing an unmanned trolley for drilling a pipeline for sinkhole repair that can prevent human accidents.

The present invention has been described in detail so far, but the embodiments mentioned in the process are merely exemplary and are not intended to be limiting, and the present invention is provided by the following claims. Within the scope not departing from the scope of the present invention, component changes to the extent that they can be coped with equally will fall within the scope of the present invention.

10: unmanned loan
100: drive unit
110: main body housing
120: driving wheel
130: drive motor
140: lift drive
150: battery unit
160: Charging Connector
170: wired connector
180: control box
190 receiver
200: lift unit
210: upper frame
211: CCTV Camera
212: LED lighting device
213: Rotator
213a: axis of rotation
213b: gearbox
220: lower frame
221: lift arm
222; Electric cylinder
300: drilling device
310: fixed box
311: filter for perforator
312: perforator motor part
313: Drive device (rotary motor, suction motor built-in)
320: perforator
321: round housing
321a: dust intake
322: drilling piston
323 drill bit
330 vacuum suction device
331: vacuum cylinder
332: vacuum screw
332a: suction line
333: vacuum plate

Claims (10)

In the unmanned trolley for pipeline drilling to form a drilling hole in the pipeline for introducing a repair material in the periphery of the underground space where the pupils such as sink holes are generated inside the aging pipeline,
A driving unit constituting the vehicle body and having a driving wheel mounted on the lower portion to drive the inside of the pipeline;
A lift unit disposed above the drive unit and capable of height adjustment in a vertical direction corresponding to an internal diameter of a pipeline; And
And a punching device unit mounted at the upper end of the lift unit to form a punching hole on the inner surface of the conduit for injecting a repair material in close contact with the inner surface of the conduit when reaching the point where the pupil is generated.
The drive unit,
A driving unit body housing for constructing a rectangular vehicle body;
A driving wheel mounted at a lower portion of the driving unit body housing to reduce rolling frictional force for traveling in the pipeline;
A driving motor which can provide a driving force necessary for the rotation of the driving wheel and is provided in the driving unit body housing;
A lift driving device which may provide a driving force necessary for adjusting the height of the lift unit and is provided in the driving unit body housing;
A battery unit which provides operation power required for the driving motor and the lift driving device and is provided in the driving unit body housing;
A charging connector provided on an outer surface of the driving unit body housing and providing an interface for charging the battery unit;
A wired connector formed on an outer surface of one side of the driving unit body housing to apply operating power to the driving motor and the lift driving apparatus when the battery unit is discharged;
A control box which controls the operation of the driving motor and the lift driving device and is provided in the driving unit body housing; And
And a receiver configured to receive and transmit a control signal from the outside to the control box, the receiver being provided in the driving unit body housing.
The lift unit,
An upper frame close to the inner surface of the conduit, the upper frame supporting and fixing the mill at the upper side to form a drilling hole on the inner surface of the conduit; And
And a lower frame coupled to an upper side of the driving unit body housing and supporting a height adjusting operation for moving the upper frame vertically supporting the fabric mill in an up and down vertical direction.
The upper frame of the lift unit,
CCTV camera capable of 360-degree omnidirectional remote control shooting;
An LED lighting device for providing lighting to a work space when performing a drilling operation in contact with an inner surface of a pipe at an upper side of a lower frame supporting the height adjusting operation; And
And a rotating device connected to the drilling device with a rotating shaft and a gear box so as to rotate the fabric mill 360 degrees.
The lower frame supporting the height adjustment operation,
Lift arms having a bar shape at both edges and arranged in at least one pair in a X-shaped bellows folding structure; And
And an electric cylinder disposed at a central portion having a structure that is pulled up and down vertically to adjust the operation of the lift arm to approach the inner surface of the fabric mill.
The mill factory value,
A box having a rectangular parallelepiped shape rotatably connected to the rotary shaft of the upper frame constituting the lift unit;
A perforator that is formed to protrude perpendicularly to a central portion of one side of the fixed box to form a perforation hole in the conduit; And
And a vacuum suction device which is disposed to protrude perpendicularly to one side edge edge of the fixed box and performs rotation and suction operations to fix the perforator to the perforated part of the inner surface of the pipe during the drilling operation.
The fixed box,
A perforator filter used for filtration when inhaling dust generated from an inner surface of a conduit during a perforation operation through the perforator;
Perforator motor unit for providing a driving force during the drilling operation through the perforator;
A rotary motor and a suction motor for the vacuum suction device for supporting the rotation and suction operation of the vacuum suction device;
Unmanned truck for drilling the pipeline for the repair of the sink hole, characterized in that provided inside
delete delete delete delete delete delete The method of claim 1, wherein the perforator,
A circular housing constituting a cylindrical wall and having a mesh-shaped dust suction opening at an outer end thereof and having an inner end connected to the filter for the perforator;
A drilling piston disposed inside the circular housing and configured to perform a linear reciprocating motion during the drilling operation by receiving the driving force of the motor unit for the drilling machine; And
And a drill bit coupled to the end of the drilling piston so as to be detachably attached to the drill bit to perforate the working part in the conduit by receiving the driving force of the perforator motor and performing a rotation operation. Unmanned truck for drilling pipeline
The method of claim 1, wherein the vacuum suction device,
A vacuum cylinder constituting a cylindrical wall and having a thread for helical coupling on an inner surface thereof;
A cylindrical vacuum screw having a screw thread formed on an outer surface of the vacuum cylinder to allow a helical coupling with an inner surface of the vacuum cylinder, and a suction tube penetrated through an inner center thereof; And
Unmanned bogie for drilling of pipelines for sink hole repair, characterized in that it comprises a; vacuum plate which is formed in the end of the vacuum screw is formed of a trumpet-shaped plate of rubber material to be in close contact with the perforated surface inside the conduit;
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