KR102114302B1 - Dredging robot for small pipe and its driving method - Google Patents

Abstract

The present invention relates to a dredging robot and a driving method for a small pipe that can be cleaned and dredged simultaneously by being applied to industrial and sewer pipes, and produces power by using air pressure actuators and vacuum suction pressure to produce power using air pressure Provided with a vacuum suction pressure actuator, the main body portion consisting of at least one segment module, a cleaning module mounted on the front of the main body portion to clean and dredge solidified scale or accumulated foreign matter in the small pipe, and the main body portion in a small pipe Drive module to drive and stop in the air, connected to an external air compressor (Compressor) to inject air into the pneumatic actuator and connect each segment of the body part, and an external vacuum suction vehicle (Vacuum pump car) to operate the vacuum suction pressure actuator, and includes a vacuum suction pressure supply line connecting each segment of the main body.

Description

Small pipeline dredging robot and its driving method {DREDGING ROBOT FOR SMALL PIPE AND ITS DRIVING METHOD}

The present invention relates to a dredging robot and a method for driving a small pipe which can be simultaneously cleaned and dredged by being applied to industrial and sewer pipes.

With the socialization and urbanization of mankind, resources began to be gradually concentrated, and the production of raw materials and water consumption while pursuing qualitative and quantitative convenience within human consciousness, consciousness, and state through the development of science and technology and industrial development. The pipeline that accelerates and transports it has a more complicated structure. In addition, the use of pipelines by industrial facilities (plants) and urban planning increased, and thus, the pipelines to be maintained and managed in the long and short term also increased.

Depending on the purpose of use, pipelines include water and sewage pipes, oil and other production material transportation pipes, gas pipes, electric and other communication cable wiring pipes, and the rest of the pipes except for electric and other communication cable wiring pipes are used for a long time. Depending on the aging process (corrosion), solidified scale or foreign matter is deposited, causing various problems.

In particular, the sediments generated on the inner surface of the pipeline reduce the fluid transport force by interfering with the smooth flow of the fluid in the case of industrial pipelines, and the secondary pollutants generated from the sediment pollute the original fluid, thereby maintaining the functioning of the industrial process network and degrading the quality of products. , Which increases energy consumption.

In the case of sewage pipelines, harmful gas such as odors caused by blockage of pipelines, threats to public health environment caused by the growth of harmful animals and plants, city city's ability to respond to flooding during climate issues, sinkholes caused by pipe leaks Although it is necessary to dredge the pipeline periodically by creating a serious problem that increases maintenance costs, such as equipment and labor costs for maintenance, periodic dredging is difficult in reality.

Sediment dredging methods in pipelines that are currently being developed and used are representative of direct manpower input method, bucket-based method (hereinafter “Scrapers” method), vacuum suction method, etc., and direct manpower input method is directly applied to the construction site. This is a method of directly removing sludge using a skid loader, etc., which is not only narrow in working radius, but also has a low working efficiency because the sludge must be transported to the incision at the road surface, especially if there is toxic gas such as culverts in industrial complexes. In an environment in which oxygen is insufficient, it has a drawback that can have a fatal effect on worker safety.

The method of using a bucket is to place two winches with a prime mover attached to both sides of a pipe of 50 m distance, connect a wire rope passing through the pipe between the winch and the winch, attach the bucket in the middle of the wire rope, and then inside the pipe. This is a mechanical method that removes sediment while pulling the bucket, and this method can dredge as much as the bucket capacity after one round trip of 50 m distance, so the working time is long, and the equipment used, such as tanks for storing two winches and dredged sediments separately There are a number of disadvantages such as secondary problems such as causing traffic jams and the possibility of odor.

In addition, when the degree of deposition in the pipeline is severe, there is a problem that its efficiency is significantly reduced. The vacuum suction method is a method of installing and operating a high-pressure jet-type jet cleaner (Water Jet) equipment vehicle and a high-vacuum pump car. It is independent of the high-pressure water discharged from the high-pressure jet cleaner equipment. This method removes various sediments by vacuum suctioning sediments that are removed by the jet nozzle propelled by the nozzle and pushed back into the tank through the suction hose of the vacuum suction vehicle. The point of use is that it generates more waste than existing sediments in the pipeline.

In addition, in the above process, customs work is cumbersome, customs takes a long time, the customs status is not constant, has a working range limited to the diameter of the customs equipment, and has at least one construction site As there is a problem, it is difficult to secure worker safety.

Korea Registered Utility Model Publication No. 0229404 Korean Registered Patent Publication No. 0905302

The present invention is to provide a dredging robot and a driving method for a small pipe having an optimal actuator structure utilizing air pressure and vacuum pressure as power sources.

In addition, the present invention dredges a solidified scale or sediment in a small industrial pipeline and a sewer pipeline, and is not affected by the sediment shape, and simultaneously operates the dredging robot and operates the cleaning module by using air and vacuum pressure power. It is for providing a dredging robot and a driving method for the small pipeline.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

The compact pipe dredging robot of the present invention for achieving the above object is provided with an air pressure actuator for producing power using air pressure and a vacuum suction pressure actuator for producing power using vacuum suction pressure, but with at least one segment module. The main body portion; A cleaning module mounted on the front of the main body to clean and dredge solidified scale or accumulated foreign matter in a small pipeline; And a drive module for driving the main body to move and stop in a small conduit.

More specifically, the main body portion is connected to an external air compressor (Compressor) to inject air into the pneumatic actuator, and an air pressure supply line connecting each segment of the main body portion; And it is connected to an external vacuum suction car (Vacuum pump car) to operate the vacuum suction pressure actuator, vacuum suction pressure supply line for connecting each segment of the body portion; characterized in that it further comprises a.

In addition, the body portion is characterized in that it further comprises a discharge line and a discharge port for discharging the air flowing into the pneumatic actuator.

In addition, the first segmentation module and the second segmentation module of the main body are provided with a forward pneumatic actuator having the same direction as that of the drive module, and the third and fourth segmentation modules of the main body part proceed with the drive module. It is characterized in that it is provided with a pneumatic actuator for reversing having the opposite direction of the direction.

In addition, the vacuum suction pressure actuator is characterized in that it generates power by the rotational force of the rotating blade having a constant area.

In addition, the cleaning module is a crushing portion provided on the front of the main body; And a crushing drive actuator that drives the crushing part.

In addition, the crushing portion is made of a plurality of crushers, one side having a drill shape protruding to the front end, the other side is a first stage crusher having a connecting shaft connecting with the crushing actuator; A second crusher having a sawtooth shape with a constant diameter spaced apart at a predetermined interval by an outer periphery of the first stage crusher; A third shredder spaced apart at a predetermined interval from the outer periphery of the second shredder and having a sawtooth shape with a larger diameter than the second shredder; And a fourth stage crusher fixing the second crushers and the third crushers by means of a fixed shaft to the upper surface of the disc in a disc shape, fixed to the center through the first stage crushers; The fourth stage crusher is characterized by a height difference.

In addition, the drive module is mounted on the bottom of the first segmentation module of the main body portion, a caterpillar that can be vertically grounded on the surface of a small conduit; A wheel portion mounted on the bottom of a plurality of segment modules except the bottom of the first segment and having a constant slope capable of driving in accordance with the slope of a small pipeline; And it is mounted on the upper and both ends of the main body portion, the auxiliary wheel portion is provided with an absorber for driving the expansion and contraction; characterized in that it comprises a.

In addition, the wheel portion is characterized in that it further comprises a direction change gear connected to the vacuum suction pressure actuator to change the direction to rotate in the opposite direction to the vacuum suction pressure actuator.

Another method of driving a dredging robot for a small pipe of the present invention for achieving the above object is to input a dredging robot into the small pipe; Injecting air pressure into the pneumatic actuator to generate a first thrust force; Injecting suction pressure into the vacuum suction pressure actuator to generate a second thrust force; A step of recovering the scale or sediment crushed by the second thrust and the crushing part operation by the first thrust; And recovering the dredge robot after the completion of the scale or sediment recovery.

Specifically, the method of recovering the dredging robot is characterized in that air pressure is injected into the pneumatic actuator for reversing, and the driving of the pneumatic actuator for forward movement and the vacuum suction pressure actuator is stopped.

As explained above,

The present invention has an effect of saving energy and thus reducing required cost by simultaneously implementing a cleaning module and a drive module through an optimal actuator structure utilizing air pressure and vacuum pressure.

In addition, the present invention simplifies the dredging process in dredging a small pipe having a specified diameter, shortens the working time, and convenient maintenance of the dredging robot, and ensures the safety of workers by not putting the worker directly into the small pipe. It has the effect.

In addition, the present invention has an effect of not generating more waste than existing sediments by using air pressure without using high pressure water.

In addition, the present invention has an effect capable of compensating for the low output of the pneumatic method compared to the conventional electric method and the hydraulic method by using vacuum pressure as a secondary power source as well as air pressure.

In addition, the present invention is by diluting and discharging various odors and gases that may be present in a small-sized pipeline that is leaked when a trapped gas or a sediment is crushed by a closed chamber effect in the sediment by using air pressure, and is generated as a secondary reaction material, by diluting and discharging the gas. It has the effect of increasing stability.

1 is a view showing a small pipeline dredge robot according to an embodiment of the present invention.
2 is a side sectional view (A) and a front sectional view (B) of the main body of the dredging robot according to the embodiment of the present invention.
3 is a view showing the air flow of the pneumatic actuator of the dredging robot according to an embodiment of the present invention.
4 is a view showing the flow of the vacuum suction pressure actuator of the dredging robot according to an embodiment of the present invention.
5 is a front view (A), a rear view (B), a side view (C), and a side cross-sectional view (D) showing the cleaning module of the dredging robot according to an embodiment of the present invention.
Figure 6 is a side view showing a caterpillar drive module of the dredging robot according to an embodiment of the present invention.
7 is a block diagram showing a caterpillar drive module of a dredging robot according to an embodiment of the present invention.
8 is a view showing the auxiliary wheel portion of the drive module of the dredging robot according to an embodiment of the present invention.
9 is a flowchart illustrating a method for driving a small-sized dredge robot according to an embodiment of the present invention.
10 is a view showing the utilization of the small-sized dredge robot according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

In addition, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of description, and terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator And definitions of these terms should be made based on the contents throughout this specification.

1 to 8 is a view showing a small pipe dredging robot according to an embodiment of the present invention, the small pipe dredging robot of the present invention includes a main body 100, a cleaning module 200, and a drive module 300 do.

The main body 100 includes an air pressure actuator 110 for generating power using air pressure and a vacuum suction pressure actuator 120 for generating power using vacuum suction pressure, and is composed of at least one segment module.

Here, it is preferable that the main body 100 generates power by linking the pneumatic actuator 110 and the vacuum suction pressure actuator 120.

In addition, the main body 100 may be formed of a single module, but in the embodiment of the present invention, the main body 100 is formed of four segments formed from the first segmentation module 100a to the fourth segmentation module 100d. Let's explain in modular form.

In addition, the shape of the front portion of the main body 100 shows a star shape to reduce the resistance of air, as shown in FIG. 2, but a circular or polygonal shape may be considered.

In addition, the main body portion 100 is connected to an external air compressor (Compressor) to inject air into the pneumatic actuator 110 and connects each segment module of the main body portion 100 to an air pressure supply line 130 and external vacuum It is connected to a suction pump (Vacuum pump car) to operate the vacuum suction pressure actuator 120, and further includes a vacuum suction pressure supply line 140 connecting each segment module of the main body 100.

At this time, the body portion may be provided with a joint to connect the air pressure supply line 130 and the vacuum suction pressure supply line 140, respectively.

In addition, the main body 100, as shown in Figure 3, the discharge line 113 and the air discharge unit 150 for discharging the air flowing into the pneumatic actuator 110 according to the flow of air flowing into the body portion ).

Here, the air outlet 150 is formed at regular angles and intervals on the rear surface of the first segmentation module 100a and the second segmentation module 100b and the front surface of the third segmentation module 100c and the fourth segmentation module 100d. And removes the dredged robot's movement and solidified scale.

The pneumatic actuator 110 is divided into a pneumatic actuator 110a for advancing and a pneumatic actuator 110b for reversing according to the position, wherein the first segmentation module 100a and the second segmentation module 100b located at the front end are drive modules. The pneumatic actuator 110a for advancing having the same direction as the traveling direction of 300 is provided, and the third segmentation module 100c and the fourth segmentation module 100d located at the rear end are in the traveling direction of the drive module 300 It is provided with a pneumatic actuator (110b) for reversing having the opposite direction of.

The operating principle of the vacuum suction pressure actuator 120 is as shown in FIG. 4, when the flow of the intake air is formed from the front to the rear, the intake air pressure collides with the rotating blade 121 having a certain area, and the air flow direction and The rotational motion is the same, and this rotational motion is a principle of driving while being transmitted to the final wheel after the spur gear 122 that changes the direction of the rotational motion.

In addition, the vacuum suction pressure supply line 140 is characterized by transporting the crushed sediment in the small pipe to the outside.

The main body 100 is generally made of aluminum, magnesium, stainless steel, reinforced plastic, glass fiber reinforced plastic, carbon fiber reinforced plastic, Kevlar (aromatic nylon fiber), etc. in consideration of corrosion resistance, strength, and weight, but is limited to this. It does not.

In addition, the front portion of the main body 100 has a certain inclination to minimize fluid and resistance, and the rear portion is vertical to increase fluid and resistance, so that it can be used as an auxiliary power source for advancing the robot.

The cleaning module 200 is mounted in front of the main body 100 to clean and dredge solidified scale or accumulated foreign matter in the small pipeline.

The cleaning module 200 is located inside the first segmentation module 100a of the crushing part 210 and the body part 100 provided on the front of the body part 100 by air pressure introduced into the body part 100. And a crushing drive actuator 220 that generates power and drives the crushing unit 210.

Here, the crushing unit 210 is composed of a first stage shredder 211, a second stage shredder 212, a third stage shredder 213, and a fourth stage shredder 214.

The first stage shredder 211 has a drill shape in which one side protrudes to the front end, and the other side is formed of a connecting shaft 211a connecting with the crushing drive actuator 220.

The second-stage shredder 212 is spaced apart at regular intervals by the outer periphery of the first-stage shredder 211 and has a certain diameter, and is serrated.

The third stage shredder 213 is spaced apart at a predetermined interval by the outer periphery of the second shredder 212 and has a sawtooth shape with a larger diameter than the second shredder 212.

The fourth stage shredder 214 is a disc shape having a first stage shredder 211 through the center, and the second shredder 212 and the third shredder 213 are fixed to the upper surface of the disc by a fixed shaft 215. do.

At this time, the fourth-stage shredder 214 is fixed to the first-stage shredder 211, it is preferable that the first-stage shredder 211 rotates at the same time while rotating by the shred drive actuator 220.

In addition, a weight center weight 216 may be provided to hold the center of gravity on the outer top of the fourth stage shredder 214.

 Here, as shown in Figure 4, the driving principle of the cleaning module 200 is to increase the speed of the supplied air pressure by passing the air pressure coming in from the outside through the transmission pipe 112 having a smaller diameter. (Not shown) to collide with the crusher actuator 220 is provided to obtain the rotational force. The air that has passed through the crusher actuator 220 is discharged to the air outlet 150 to serve as a second air pressure crusher.

The drive module 300 is configured to drive the main body 100 to move and stop in a small conduit, and is infinite so that the dredge robot can move forward, backward, straight, curved, and stop in the small conduit. It includes a track part 310, a wheel part 320, and an auxiliary wheel part 330.

The caterpillar 310 is mounted on the lower end of the first segmentation module 100a of the main body 100 and can be vertically grounded on the surface of a small conduit. More specifically, as shown in FIGS. 6 and 7 Likewise, the caterpillar 310 is a tension control device that adjusts the tension of the caterpillar 311, the sprocket 312 that maintains the caterpillar 311 shape, and the caterpillar 311 that vertically contact the surface of the small pipeline. (313), the roller 314 to prevent departure of the caterpillar 311, the wheel 315 to support the caterpillar 311 and prevent the caterpillar 311 from falling, the caterpillar 311 and the body part A connecting portion 316 that connects with the first segmentation module of 100, a spring 317 that adjusts the angle of the impact relief and the caterpillar 311 due to the bending in the small pipe, and a foreign material that penetrates into the caterpillar 311 It is composed of a cover 318 to prevent and protect the inner configuration.

The wheel part 320 is located under the second segmentation module 100b, the third segmentation module 100c, and the fourth segmentation module 100d except for the first segmentation module 100a, and the vacuum suction pressure actuator 120 It is connected to the vacuum suction pressure actuator 120 and has a structure capable of horizontally contacting the inclination of the surface of the small conduit by providing a direction change gear (not shown) to rotate in the opposite direction.

Auxiliary wheel portion 330 is mounted on the top and both sides of the main body portion 100, the configuration is provided with an absorber (absorber, 334) to drive the expansion and contraction, as shown in Figure 8, in contact with the small pipe surface The wheel 331 is a telescopic movement at an angle of up to 30 ° through an elastic absorber 335, and the wheel connection portion 332 and the wheel connection portion 332 that connect and fix the spaced wheels 331 are fixed. And a main shaft 334 connected between the main body 100 and capable of responding to a change in diameter of a small pipe. At this time, the main shaft 334 is fixed to the main body 100.

In addition, the auxiliary wheel portion 330 serves to prevent the lifting phenomenon of the dredge robot, and to induce linear motion in the straight tube and the curved tube.

9 and 10 are flow charts showing a method for operating a small-sized pipe dredging robot according to an embodiment of the present invention, and the driving method of the small-sized pipe dredging robot formed by including the above configuration is as follows.

First, the dredging robot 1000 is put into the small pipeline 1 (S100). At this time, the small pipe is preferably in the range of piping standards 300 to 500A, outer diameter 318.5 to 508mm.

In addition, the temperature in the small conduit 1 is preferably performed in the range of 1 to 50 ° C, and an injecting device such as a pulley can be used to inject the dredge robot into the small conduit.

Subsequently, air pressure is injected into the pneumatic actuator 110 to generate a first power source (S200). At this time, the first power source is received through the air pressure supply line 130 connected to the external air compressor (10).

Subsequently, a suction power is generated in the vacuum suction pressure actuator 120 to generate a second power source (S300). Here, the second power source is generated through the vacuum suction pressure supply line 140 connected to the external vacuum suction vehicle 20.

Subsequently, the crushing unit 200 of the dredge robot 1000 is operated by the first power source, and the scale or sediment S crushed by the second power source is recovered to the outside (S400).

That is, the scale or sediment (S) is crushed by driving the crushing unit 200 by the injected air pressure, or the scale or the sediment (S) is peeled off by driving the crushing unit 200 and discharged air pressure. 2 The dredging robot 1000 moves forward while suction-removing the scale or sediment S that is shredded as a power source.

Here, the rotational speed of the crusher 200 is preferably performed at about 100 to 500 rpm, but is not limited thereto, and the moving speed of the dredge robot 1000 is based on 1 to 5 m / min, but the small pipeline 1 It can be adjusted according to the situation of the scale or sediment (S).

Finally, after completion of the recovery of the scale or sediment S, the dredging robot 1000 is recovered to the outside to end the operation (S500).

At this time, the recovery method of the dredge robot 1000 injects air pressure into the pneumatic actuator for reversing, stops the driving of the pneumatic actuator and the vacuum suction pressure actuator for forward movement, and retracts itself through the air pressure supply line and the vacuum suction line to return to its original position. Will return to.

Therefore, the present invention has an effect of saving energy and thus reducing required cost by simultaneously implementing a cleaning module and a drive module through an optimal actuator structure utilizing air pressure and vacuum pressure.

In addition, the present invention simplifies the dredging process in dredging a small pipe having a specified diameter, shortens the working time, is convenient for maintenance of the dredging robot, and ensures the safety of the worker by not putting the worker directly into the pipe. It works.

In addition, the present invention has an effect of not generating more waste than existing sediments by using air pressure without using high pressure water.

In addition, the present invention has an effect capable of compensating for the low output of the pneumatic method compared to the conventional electric method and the hydraulic method by using vacuum pressure as a secondary power source as well as air pressure.

In addition, the present invention is stable by diluting and discharging various odors and gases that may be present in a pipeline generated by secondary reactants or leaked when a trapped gas or sediment is crushed by a closed chamber effect in the sediment by using air pressure. It has the effect of increasing.

Although the embodiments according to the present invention have been described above, they are merely exemplary, and those skilled in the art will understand that various modifications and equivalent ranges of the embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be defined by the following claims.

100 ... body
100a ... 1st segment module
100b ... second segmentation module
100c ... 3rd segment module
100d ... 4th segment module
110 ... pneumatic actuator
110a ... pneumatic actuator for forward movement
110b ... pneumatic actuator for reversing
111 ... Public institutions
112 ...
113 ... discharge line
120 ... vacuum suction pressure actuator
121 ... rotating blade
122 ... Spur Gears
130 ... air pressure supply line
140 ... vacuum suction pressure supply line
150 ... air outlet
200 ... cleaning module
210 ...
211 ... 1st stage shredder
211a ... connecting shaft
212 ... 2nd stage shredder
213 ... 3rd stage shredder
214 ... 4th stage shredder
215 ... Fixed axis
216 ... Weight center
217 ... Bearing
220 ... shred drive actuator
300 ... drive module
310 ... Infinite Orbit
311 ... Infinite Orbit
312 ... sprocket
313 ... tension adjuster
314 ... roller
315 ... wheel
316 ... connection
317 ... Spring
318 ... cover
320 ... wheel
330 ... auxiliary wheel
331 ... wheel
332 ... wheel connection
333 ... main axis
334 ... Absorber

Claims (11)

It is provided with a pneumatic actuator for producing power using air pressure and a vacuum suction pressure actuator for producing power using vacuum suction pressure, the body portion consisting of at least one segment module;
A cleaning module mounted on the front of the main body to clean and dredge solidified scale or accumulated foreign matter in the pipeline; And
Includes; a drive module for driving the main body to move and stop in the pipeline;
The first segment module and the second segment module of the main body are provided with a pneumatic actuator for advancing, which has the same direction as the driving module.
The third and fourth segment modules of the main body part are equipped with a pneumatic actuator for reversing having a direction opposite to the traveling direction of the drive module. The method according to claim 1,
An air pressure supply line connected to an external air compressor to inject air into the pneumatic actuator and connecting each segment of the body; And
It is connected to an external vacuum suction car (Vacuum pump car) to operate the vacuum suction pressure actuator, a vacuum suction pressure supply line for connecting each segment of the main body; small pipe dredge robot further comprising a. The method according to claim 1,
The main body portion is a small pipe dredging robot characterized in that it further comprises a discharge line and a discharge port for discharging air flowing into the pneumatic actuator. delete The method according to claim 1,
The vacuum suction pressure actuator is a small pipe dredging robot characterized in that it generates power by the rotational force of a rotating blade having a certain area. The method according to claim 1,
The cleaning module includes a crushing part provided in front of the main body part; And
And a crushing drive actuator for driving the crushing part. The method according to claim 6,
The crushing unit is composed of a plurality of crushers,
One side has a drill shape protruding to the front end, the other side is a first stage crusher having a connecting shaft connected to the crushing actuator;
A second crusher having a sawtooth shape with a constant diameter spaced apart at a predetermined interval by an outer periphery of the first stage crusher;
A third shredder spaced apart at a predetermined interval from the outer periphery of the second shredder and having a sawtooth shape with a larger diameter than the second shredder; And
Included in the center of the first stage shredder is fixed through, a fourth disc shredder fixing the second and third shredder by a fixed shaft on the upper surface of the disc;
The first to fourth stage crusher is a small pipe dredge robot, characterized in that there is a height difference. The method according to claim 1,
The drive module is mounted on the bottom of the first segment module of the main body portion, a caterpillar that can be vertically grounded on the surface of a small conduit;
A wheel part mounted on the bottom of a plurality of segment modules excluding the bottom of the first segment and having a constant slope capable of driving in accordance with the slope of a small pipeline; And
A small pipe dredging robot comprising a; a secondary wheel part mounted on the upper and both ends of the main body part and provided with an absorber for telescopic driving. The method according to claim 8,
The wheel portion is connected to the vacuum suction pressure actuator, further comprising a direction change gear to change the direction to rotate in the opposite direction to the vacuum suction pressure actuator dredging robot. Inputting a dredge robot into the small pipeline;
Injecting air pressure into the pneumatic actuator to generate a first thrust force;
Generating a second driving force by generating a suction pressure in the vacuum suction pressure actuator;
A step of recovering the scale or sediment crushed by the second thrust and the crushing part operation by the first thrust; And
Including the step of recovering the dredging robot after the completion of the scale or sediment recovery;
The method for recovering the dredging robot is a method for driving a dredging robot with a small pipe characterized by injecting air pressure into a pneumatic actuator for reversing and stopping driving of the pneumatic actuator and the vacuum suction pressure actuator.

delete

Images