KR102464736B1 - Rehabilitation robot of regenerating superannuated pipes - Google Patents

Abstract

Disclosed in the present invention is a rehabilitation device for a superannuated pipeline, which comprises: a first rotating means (100) which scrapes scale adsorbed to the inner diameter of a pipeline (10) to separate and remove the same by rotating in a forward direction; a second rotating means (200) which sweeps and removes the scale separated and removed by the first rotating means (100) by rotating in a reverse direction; a first driving means (300) which rotates a first rotating shaft (111); a second driving means (400) which rotates a second rotating shaft (211); a support plate (500) which supports the first driving means (300) and the second driving means (400); a base plate (600) which has the vertical height of the support plate (500) adjusted; a wheel driving means (800) which rotates a rear end wheel (720); and a direction conversion driving means (900) which converts the left and right directions of a front end wheel (710). Therefore, the first rotating means (100) and the second rotating means (200) are adjacent to each other while advancing to be alternatingly rotated, such that the advancement direction may not be tilted to one side. In addition, the rehabilitation device for a superannuated pipeline may be elastically tilted when coming in contact with an obstacle attached to the inner wall of the pipeline (10) to rehabilitate regardless of the obstacle.

Description

Rehabilitation equipment for old pipelines

The present invention rotates the first rotation means and the second rotation means cross-rotate each other through a single motor, a first rotation means having a scale removal plate in a conduit such as an old water supply pipe, and a second rotation means having a scale brush It relates to an old pipeline rehabilitation device, in which the rotating means are cross-rotated adjacent to each other so that there is no blind spot by removing the coating film or scale while preventing the moving direction from leaning to one side.

In general, pipeline rehabilitation, which repairs and refreshes old and sanitary, structurally, and hydraulically incomplete conduits such as water supply pipes, is more economical than replacing pipes. An apparatus is disclosed.

For example, in the technology of Patent Document 1, a film removal device comprising a film removal device driving unit 210 (hereinafter referred to as reference numeral of Patent Document 1) and a film removal unit 220 configured in a rotatable form including a disk cutter 221 (200) is disclosed. The film removal device 200 moves in the inner surface of the old pipe line P by the coating film removal device driving unit 210, and at the same time the film removal unit 220 rotates and a disk cutter formed at the end of the film removal unit 220 ( 221) penetrates into the inner surface coating layer of the old pipe line (P) and operates so that the coating film can be peeled off, so that the coating film removal operation is performed.

However, in such a coating film removal device, when the coating film removal unit 220 rotates in one direction, the device receives a reaction force in the opposite direction, so that the alignment of the device with respect to the longitudinal direction of the conduit according to the rotation of the coating film removal unit 220 is difficult. There is a slight twisting problem. That is, the coating film removal unit 220 is not correctly aligned with the vertical section of the pipe and is slightly distorted, so that the disk cutter 221 of the coating film removal unit 220 touches the upper and lower parts of the pipe, but on the side part of the pipe. There is a problem that it does not touch, and this problem occurs because the disk according to the rotation radius of the coating film removal unit 220 is slightly twisted with respect to the verticality of the pipe.

Accordingly, the first rotation means and the second rotation means are adjacent to each other to cross-rotate so that the traveling direction is not tilted to one side, and when it comes into contact with the obstacle attached to the inner wall of the pipe, it is elastically bent to regenerate without being limited by the obstacle. It requires skills to do it.

Korean Patent Publication No. 10-1463577 (Aged pipeline rehabilitation method that can form surface roughness on the inner surface of old pipeline, November 21, 2014) Korea Patent Publication No. 10-2020807 (Adated water pipe customs by-product suction and monitoring system using pipeline rehabilitation robot and customs by-product suction and monitoring method using the same, 2019.09.11)

The technical problem to be achieved by the spirit of the present invention is to cross-rotate the first rotation means and the second rotation means through a single motor, and a first rotation means having a scale removal plate in a conduit such as an old water supply pipe and the like , The second rotation means having a scale brush is adjacently rotated crosswise to remove the coating film or scale while preventing the moving direction from leaning to one side, thereby providing an old pipeline rehabilitation device.

In order to achieve the above object, an embodiment of the present invention includes a first rotating means coupled to the first rotating shaft and rotating in the forward direction to scrape off the scale adsorbed to the inner diameter of the pipe to separate and remove; a second rotation means for sweeping away the scale separated and removed by the first rotation means by rotating in the reverse direction coupled to a second rotation shaft through which the first rotation shaft is introduced; a first driving means for rotating the first rotating shaft through a sprocket gear and a chain belt; a second driving means for rotating the second rotating shaft through a sprocket gear and a chain belt; a support plate for supporting the first driving means and the second driving means; a base plate to which the vertical height of the support plate is adjusted; a front wheel formed at the front end of the bottom surface of the base plate and capable of changing a direction, and a rear end wheel formed at the rear end and rotationally driven; a wheel driving means formed on one side of the rear end of the base plate to rotate the rear end wheel; a direction change driving means formed on the other side of the rear end of the base plate to change the left and right directions of the front wheel; a power supply unit for supplying power to the first driving unit and the wheel driving unit; and control means for controlling the first driving means and the wheel driving means; including, while advancing, the first rotating means and the second rotating means cross-rotate to clean the inside of the conduit. to provide.

Here, the first driving means includes: a first motor for rotationally driving the first rotation shaft; It may be made of a support shaft that supports one rotational shaft.

In addition, the second driving means includes a first gear formed at a terminal end of the first rotation shaft, a second gear meshing with the first gear, a sprocket gear coupled to the rotation shaft of the second gear, and the second rotation shaft It may consist of a second chain belt interlocking the sprocket gear formed at the end of the .

In addition, between the support plate and the base plate, bolts inserted in the vertical direction at the corners are fastened with nuts to adjust the vertical height of the support plate from the base plate according to the diameter of the conduit.

In addition, the wheel driving means includes a first reduction gear having a first reduction gear shaft interlocking with a chain belt and a sprocket gear formed on one side of a rotation shaft connecting a pair of left and right rear end wheels, and a first reduction gear of the first reduction gear. It may consist of a second motor having a drive shaft interlocking with two reduction gear shafts and a chain belt.

In addition, the direction change driving means includes a front wheel gear coupled to a pair of left and right front wheels, a direction changing gear coupled to each other between the front wheel gears, and a sprocket gear of the direction changing gear and a chain belt interlock with each other. and a second reduction gear having a direction-changing rotational shaft, and a rotational driving shaft of the second reduction gear.

In addition, a wheel protection plate may be formed on the front end of the front end wheel and the rear end wheel, and a strip plate may be formed on the rear end portion.

In addition, the first rotating means is coupled to the first rotating shaft, rotates by being drawn into the inner diameter of the conduit, a rotating plate composed of an inner plate and an outer plate spaced apart by a predetermined distance, and between the inner plate and the outer plate in the outer region of the rotating plate A guide bar fixed by sliding back and forth into the inlet groove of the guide bar, a coupling plate elastically rotating in the opposite direction to the rotation direction of the guide bar by interposing a spring at the front end of the guide bar, and fixed to the coupling plate of the conduit and a removal plate rotation pin having a scale removal plate for scraping while rotating the scale formed on the inner circumferential surface, wherein the second rotation means, the first rotation shaft enters through and rotates in the opposite direction to the first rotation shaft A guide coupled to the second rotation shaft, rotated by being drawn into the inner diameter of the conduit, and a rotating plate composed of an inner plate and an outer plate spaced apart by a predetermined distance, and a guide fixed by sliding back and forth into the inlet groove between the inner plate and the outer plate in the outer region of the rotating plate A bar, a coupling plate that elastically rotates in the opposite direction to the rotational direction of the guide bar through a spring at the front end of the guide bar, and the remaining scale fixed to the coupling plate and formed on the inner circumferential surface of the conduit while rotating It may include a brush rotating pin having a scale brush.

In addition, the guide bar may include a first guide bar, a second guide bar introduced into the first guide bar, a first link plate formed at a front end of the second guide bar, and a rear end of the coupling plate, the first guide bar being formed at the rear end of the coupling plate. Consists of a link plate and a second link plate coupled to the link, the spring is elastically coupled between the first link plate and the second link plate, the scale removal plate in a direction opposite to the rotation direction of the first rotation shaft , or the scale brush may be turned in a direction opposite to the rotation direction of the second rotation shaft.

According to the present invention, the first rotating means and the second rotating means are cross-rotated with each other through a single motor, and a first rotating means having a scale removal plate in a conduit such as an old water supply pipe, and a scale brush are provided. The second rotation means cross-rotates adjacently to remove the paint film or scale, so that the direction does not lean to one side, so that there is no blind spot. It has the effect of being able to regenerate without being limited by obstacles by turning it backwards with a pole, and the length of the removal plate rotating pin and the brush rotating pin can be double-adjusted according to the diameter of the pipe.

1 is a perspective view of an old pipeline rehabilitation device according to an embodiment of the present invention.
2 and 3 show a side view and a plan view, respectively, of the old pipeline rehabilitation apparatus of FIG. 1 .
Figure 4 shows a bottom view of the old pipeline rehabilitation device of Figure 1;
5 is a view showing a partial configuration of the old pipe rehabilitation apparatus of FIG. 1 separately.
6 is a view showing the separation of the head for the old pipe rehabilitation device of FIG.
7 is an illustration of the coupling structure of the head part for the old pipe rehabilitation apparatus of FIG.
8 is a view showing the separation of the removal plate rotating pin of the head part for the old pipe rehabilitation apparatus of FIG.
9 illustrates an exploded view of the removal plate rotating pin of FIG. 8 .
10 illustrates the rotation of the scale removal plate of the removal plate rotation pin of FIG. 8 .
Figure 11 illustrates the fine adjustment of the guide bar of the removal plate rotating pin of Figure 8.
FIG. 12 illustrates an example of use of the old pipeline regeneration device of FIG. 1 .

Hereinafter, embodiments of the present invention having the above-described characteristics will be described in more detail with reference to the accompanying drawings.

The old pipe rehabilitation apparatus according to an embodiment of the present invention is a first rotating means 100 for scraping and separating and removing scale adsorbed on the inner diameter of the pipe 10 by rotating in the forward direction, and rotating in the reverse direction to remove the first rotating means ( A second rotation means 200 for sweeping away the scale separated and removed by 100), a first driving means 300 for rotationally driving the first rotation shaft 111, and a second rotation means for rotationally driving the second rotation shaft 211. The second driving means 400 , the support plate 500 supporting the first driving means 300 and the second driving means 400 , the base plate 600 for which the vertical height of the support plate 500 is adjusted, and the rear end wheel 720 . ), including a wheel drive means 800 for rotationally driving, a direction change drive means 900 for switching the left and right directions of the front end wheel 710, the first rotation means 100 and the second rotation means 200 while moving forward ) adjacent to each other so that the moving direction is not tilted to one side, and when it comes into contact with an obstacle attached to the inner wall of the conduit 10, it is elastically bent so that it can be rehabilitated regardless of the obstacle.

Hereinafter, with reference to FIGS. 1 to 12, the aged pipeline rehabilitation apparatus of the above-described configuration will be described in detail as follows.

First, the first rotating means 100, referring to FIGS. 6 and 7, is coupled to the first rotating shaft 111 and rotates the scale formed on the inner circumferential surface of the rotating plate 110 and the conduit 10 that rotates forward and scrapes while rotating Includes a removal plate rotating pin (120).

Specifically, the first rotation means 100 is coupled to the first rotation shaft 111 which rotates forwardly, and rotates by being drawn into the inner diameter of the conduit 10 , and the inner plate 112 and the outer plate 113 are spaced apart and coupled to each other by a predetermined distance. ), and sliding back and forth into the inlet groove 114 formed in a straight direction between the inner plate 112 and the outer plate 113 at the edge of the outer region of the rotating plate 110 to be fixed to the inlet groove 114 The bar-shaped guide bar 121 and the spring 122 are interposed at the outer front end of the guide bar 121 to elastically link in the direction opposite to the rotation direction of the guide bar 121 by the first rotation shaft 111 . A removal plate composed of a rotating coupling plate 123 and a plate-shaped scale removal plate 124 that is fixed by bolting to the coupling plate 123 and scraped off while rotating a coating film or scale adsorbed on the inner circumferential surface of the conduit 10 . It may be formed of a rotating pin 120 .

Next, the second rotating means 200, with reference to FIGS. 6 and 7, is coupled to the second rotating shaft 211 and rotates the rotating plate 210 reversely rotating and sweeping the separated scale of the conduit 10 while rotating. It includes a brush rotating pin 220 .

Specifically, the second rotation means 200 is coupled to the second rotation shaft 211 through which the first rotation shaft 111 is introduced and rotates in the opposite direction to the first rotation shaft 111 in the opposite direction, and the pipeline 10 . A straight line between the inner plate 212 and the outer plate 213 at the outer edge of the rotating plate 210 and the rotating plate 110 composed of the inner plate 212 and the outer plate 213 spaced apart by a predetermined distance and rotated within the inner diameter of the The second rotation shaft ( The coupling plate 223 elastically link-rotated in the direction opposite to the rotation direction of the guide bar 221 by 211 , and the remaining coating film formed on the inner circumferential surface of the conduit 10 by being bolted and fixed to the coupling plate 123 . Alternatively, it may be made of a brush rotating pin 220 composed of a wire-type scale brush 224 that sweeps away while rotating the scale.

Accordingly, while the first rotation means 100 and the second rotation means 200 cross and rotate inside the pipeline 10, the progress direction is not tilted to one side to clean the inside of the pipeline 10 without a blind spot. And, when in contact with an obstacle attached to the inner wall of the conduit 10, the scale removal plate 124 and the scale brush 224 are elastically tilted back in the opposite direction to the rotational direction to increase the speed of the process regardless of the obstacle. It is possible to regenerate the pipeline 10 while maintaining it.

On the other hand, referring to FIG. 7 , two or more, preferably four, rotation pins of the removal plate are symmetrically formed around the first rotation axis 111 , and the brush rotation pins 220 are the second rotation axis Two or more, preferably four, may be formed symmetrically around (211).

In addition, referring to FIGS. 7 and 8 , in common in the first rotation means 100 and the second rotation means 200 , the side surfaces of the guide bars 121 and 221 have fixing holes 125 spaced apart from each other by a predetermined distance in the longitudinal direction. ) is formed in plurality, and bolt fastening holes are formed in the inner plate 112 and the outer plate 113 to correspond to the fixing hole 125 , and the guide bar 121 slides back and forth according to the diameter of the conduit 10 and is fixed. The bolt 115 is fixed to the hole 125 and the bolt fastening hole, and the removal plate rotation pin 120 and the brush rotation pin 220 are exposed to the outside according to the diameter of the pipe 10 such as 1200mm, 13500mm, 1500mm, etc. The length can be adjusted.

In addition, referring to FIGS. 8 and 10 , in common in the first rotating means 100 and the second rotating means 200 , the guide bars 121 and 221 are the first guide bar 121a and the first guide bar. The second guide bar 121b introduced into the 121a, the first link plate 121c formed at the front end of the second guide bar 121b, and the first link plate formed at the rear end of the coupling plate 123 ( 121c) and a second link plate 121d that is link-coupled through the link pin 121e and is configured to link rotation, and the spring 122 is coupled to the link pin 121e and the first link plate 121c and By elastically coupled between the second link plates (121d), as illustrated in FIG. 10 , the scale removal plate 124 is in contact with the obstacle adsorbed on the inner wall of the conduit 10 , the first rotation shaft 111 . The scale removal plate 124 and the scale brush 224 are damaged due to an obstacle because the scale brush 224 is tilted back in the opposite direction to the rotation direction of the second rotation shaft 211 It is possible to prevent the first rotation shaft 111 and the second rotation shaft 211 from being subjected to an excessive load on the motor for rotationally driving.

Here, referring to FIG. 10 , in common in the first rotation means 100 and the second rotation means 200 , the upper end of the second link plate 121d has a scale removal plate by the spring 122 ( 124) and a stopper pin 126 in the form of a stud bolt that restricts the elastic rotation of the scale brush 224 is bolted, and the front end of the stopper pin 126 is in contact with the first link plate 121c, and the stopper pin The separation distance between the first link plate 121c and the second link plate 121d can be adjusted by the nut 127 fastened to the 126 .

In addition, referring to FIGS. 8 and 11 , in common in the first rotation means 100 and the second rotation means 200 , the fixture 131 having a hole in the upper end of the first guide bar 121a is fixed. formed, the fine adjustment stud bolts 132 are coupled through the hole of the fixture 131 and the hole penetrated at the top of the first link plate 121c, and are fastened by nuts 133 at both ends of the fixture 131 Thus, by adjusting the length of the second guide bar 121b exposed from the first guide bar 121a toward the inner diameter of the conduit 10 between 1 mm and 5 mm, the scale removal plate 124 and the scale brush 224 are The length in contact with the inner circumferential surface of the conduit 10 may be finely adjusted.

In addition, referring to FIG. 9 , in common in the first rotation means 100 and the second rotation means 200 , the scale removal plate 124 is attached to the plate nut on the coupling plate 123 of the removal plate rotation pin 120 . The bolts are fastened through 128 and fixed, and the scale brush 224 may be bolted and fixed to the coupling plate 223 of the brush rotation pin 220 through the plate nut 228 .

Here, the scale removal plate 124 may be formed in a plate shape of a metal material, and the scale brush 224 may be formed in a shape in which a plurality of metal wire brushes are arranged.

On the other hand, the above-mentioned first rotation means 100 and second rotation means 200 are different from the scale removal plate 124 and the scale brush 224 fixed to the coupling plates 123 and 223, respectively, and rotate crosswise to make the first rotation means. The first rotation means 100 and the second rotation means 200 have the same structure except that they are coupled in opposite directions, and the detailed configuration of the first rotation means 100 is identical to that of the second rotation means 200 . can be applied.

Next, the first driving means 300 is a configuration for rotationally driving the first rotation means 100 in the forward direction. Referring to FIGS. 1, 2 and 5 , the first rotation shaft 111 of a first diameter is a sprocket Rotation is driven through the gear 311 and the chain belt. Specifically, the first driving means 300 includes a first motor 312 for rotationally driving the first rotation shaft 111 and a sprocket of the first rotation shaft 111 . It may include a first chain belt (not shown) that interlocks the gear 311 and the sprocket gear 313 of the drive shaft of the first motor 312 , and a support shaft 314 supporting the first rotation shaft 111 . .

Next, the second driving means 400 is a configuration for rotationally driving the second rotation means 200 in the reverse direction. Referring to FIGS. 1, 2, 3 and 5, the first rotation shaft ( The second rotation shaft 211 of the second diameter through which the 111 passes through is rotated through the sprocket gear 411 and the chain belt. Specifically, the second driving means 400 is the end of the first rotation shaft 111 . A first gear 412 formed on the , a second gear 413 meshing with the first gear 412 , a sprocket gear 414 coupled to the rotation shaft of the second gear 413 , and a second rotation shaft 211 ) It may consist of a second chain belt (not shown) interlocking the sprocket gear 415 formed at the end of the .

That is, the first driving means 300 rotationally drives the first rotation shaft 111 directly connected to the first motor 312 and the chain belt in a forward rotation, and the second driving means 400 is the same first motor ( 312), the second rotation shaft 211 through which the first rotation shaft 111 passes through a bearing by receiving rotational force through the gear meshing and the chain belt may be rotated in reverse rotation.

Next, the support plate 500, with reference to FIGS. 1 and 2, supports the aforementioned first driving means 300 and the second driving means 400, and is configured to adjust the vertical height.

Next, the base plate 600, with reference to FIGS. 1 and 2, so that the vertical height of the support plate 500 is adjusted, the front end wheel 710 and the rear end wheel 720 are formed on the bottom to be movable. do.

Here, as shown in FIGS. 1 and 2 , between the support plate 500 and the base plate 600 , a bolt 511 inserted in a vertical direction at a corner is fastened with a nut 512 . By adjusting the vertical height of the support plate 500 from the base plate 600 according to the diameter, the degree of contact between the first rotation means 100 and the second rotation means 200 and the inner wall of the conduit 10 may be adjusted. have.

On the other hand, referring to FIGS. 2 and 4 , it is formed on the front end of the bottom surface of the base plate 600 and is formed at the front end and the rear end of the front wheel 710 that can change the direction according to the curvature of the conduit 10 and is rotationally driven to move forward and backward. A rear end wheel 720 may be formed.

Here, the wheel driving means 800 is formed on one side of the rear end of the base plate 600 to rotationally drive the rear end wheel 720. Specifically, as shown in FIGS. 2 and 4, the wheel driving means 800 Silver, a first reduction gear shaft (not shown) interlocking with a sprocket gear 812 formed on one side of the rotation shaft 811 connecting a pair of left and right rear end wheels 720 and a chain belt (not shown) A second motor ( 815), by decelerating the rotational force of the second motor 815 to drive the rear end wheel 720 to move forward and backward.

In addition, the direction change driving means 900 is formed on the other side of the rear end of the base plate 600 to change the left and right directions of the front wheel 710. Specifically, referring to FIGS. 1 to 4, the direction change driving means ( 900), a front wheel gear (not shown) coupled to a pair of left and right front wheels 710, respectively, a direction changing gear (not shown) coupled to each other between the front wheel gears, and a sprocket gear of the direction changing gear Consists of a second reduction gear 912 having a direction change rotation shaft 911 interlocked with a chain belt (not shown), and a rotational drive shaft of the second reduction gear 912, a rotational drive shaft of the second reduction gear 912 By electric control with a separate motor of the second reduction gear 912, or by coupling a rotary tool to the rotational drive shaft of the second reduction gear 912, the operator can manually control it to change the left and right directions.

In addition, as shown in FIGS. 2 and 4, wheel protection plates 711 and 721 are formed at the front end of the front end wheel 710 and the rear end wheel 720 to protect the wheel from the paint film or scale removed from the inner wall of the pipeline. In order not to interfere with driving, strip plates 712 and 722 are formed at the rear end to remove a coating film or scale attached to the wheel.

Next, the power source means (not shown) is connected from the outside of the pipeline 10 through a wire insulated with a covering, or has its own battery, and supplies power to the first drive means 300 and the wheel drive means 800 . can make it run.

Next, the control means is formed in the form of a control box for controlling the first driving means 300 and the wheel driving means 800 and controlled by wire, or provided with lights and a camera irradiating the front of the conduit 10 and a camera from a remote location. It is also possible to control the first driving means 300 and the wheel driving means 800 from a remote location through the image taken by .

On the other hand, the front end of the first rotation shaft 111 is equipped with lighting, an optical camera or an infrared camera to remotely transmit an image of the inside of the pipeline, which can be safely controlled from a remote location, and an ultrasonic sensor or laser is provided. to search for pipeline bends identified by reflected waves or pipeline bends image-analyzed from the captured image, and to perform forward/backward speed and direction change in conjunction with the wheel driving means 800 and the direction change driving means 900 have.

Therefore, by the old pipe rehabilitation device as described above, the first rotation means and the second rotation means are cross-rotated with each other through a single motor, and the first rotation with the scale removal plate in the pipeline such as the old water supply pipe. The means and the second rotation means having a scale brush are adjacent to each other and rotate crosswise to remove the coating film or scale, so that the traveling direction does not lean to one side, so that there is no blind spot. The removal plate and the scale brush are elastically tilted back so that they can be regenerated regardless of obstacles, and the length of the removal plate rotation pin and the brush rotation pin can be doubled according to the diameter of the pipe.

The embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents that can replace them at the time of the present application It should be understood that there may be water and variations.

100: first rotating means 110: rotating plate
111: first rotation shaft 112: inner plate
113: outer plate 114: inlet groove
115: bolt 120: removal plate rotating pin
121: guide bar 122: spring
123: coupling plate 124: scale removal plate
125: fixing hole 126: stopper pin
127: nut 128: plate nut
200: second rotating means 210: rotating plate
211: second rotation shaft 212: inner plate
213: outer plate 214: inlet groove
215: bolt 220: brush rotating pin
221: guide bar 222: spring
223: coupling plate 224: scale brush
131: fixture 132: stud bolt
133: nut 300: first driving means
311: sprocket gear 312: first motor
313: sprocket gear 314: support shaft
400: second driving means 411: sprocket gear
412: first gear 413: second gear
414: sprocket gear 415: sprocket gear
500: support plate 511: bolt
512: nut 600: base plate
710,720: front wheel, rear wheel 711,721: wheel protection plate
712,722: strip plate 800: wheel driving means
811: rotation shaft 812: sprocket gear
813: first reduction gear 814: second reduction gear shaft
815: second motor 900: direction change driving means
911: direction change shaft 912: second reduction gear

Claims (9)

a first rotating means coupled to the first rotating shaft and rotating in the forward direction to scrape off the scale adsorbed on the inner diameter of the pipe to separate and remove;
a second rotation means for sweeping away the scale separated and removed by the first rotation means by rotating in the reverse direction coupled to a second rotation shaft through which the first rotation shaft is introduced;
a first driving means for rotating the first rotating shaft through a sprocket gear and a chain belt;
a second driving means for rotating the second rotating shaft through a sprocket gear and a chain belt;
a support plate for supporting the first driving means and the second driving means;
a base plate to which the vertical height of the support plate is adjusted;
a front wheel formed at the front end of the bottom surface of the base plate and capable of changing a direction, and a rear end wheel formed at the rear end and rotationally driven;
a wheel driving means formed on one side of the rear end of the base plate to rotate the rear end wheel;
a direction change driving means formed on the other side of the rear end of the base plate to change the left and right directions of the front wheel;
a power supply unit for supplying power to the first driving unit and the wheel driving unit; and
Including; control means for controlling the first driving means and the wheel driving means;
While advancing, the first rotation means and the second rotation means rotate crosswise to clean the inside of the conduit,
The first rotation means is coupled to the first rotation shaft, rotates by being drawn into the inner diameter of the conduit, and a rotation plate composed of an inner plate and an outer plate spaced apart by a predetermined distance, and the inlet between the inner plate and the outer plate in the outer region of the rotary plate A guide bar fixed by sliding back and forth into a groove, a coupling plate elastically rotating in a direction opposite to the rotation direction of the guide bar through a spring at the front end of the guide bar, and fixed to the coupling plate on the inner circumferential surface of the conduit Includes a removal plate rotating pin having a scale removal plate for scraping while rotating the formed scale,
The second rotation means is coupled to the second rotation shaft, through which the first rotation shaft is drawn in and rotates in the opposite direction to the first rotation shaft, is drawn into the inner diameter of the conduit and rotates, and inner and outer plates are spaced apart by a predetermined distance. A rotating plate comprising a, and a guide bar fixed by sliding back and forth into an inlet groove between the inner plate and the outer plate in the outer region of the rotating plate, and a spring interposed at the front end of the guide bar in the direction opposite to the rotation direction of the guide bar. It characterized in that it comprises a brush rotating pin having a coupling plate that rotates sexually and a scale brush fixed to the coupling plate and sweeping away the residual scale formed on the inner circumferential surface of the conduit while rotating,
Old pipeline regeneration device.
According to claim 1,
The first driving means includes a first motor for rotationally driving the first rotation shaft, a first chain belt for interlocking the sprocket gear of the first rotation shaft with the sprocket gear of the driving shaft of the first motor, and the first rotation shaft characterized in that it consists of a support shaft supporting the
Old pipeline regeneration device.
3. The method of claim 2,
The second driving means includes a first gear formed at a terminal end of the first rotation shaft, a second gear meshing with the first gear, a sprocket gear coupled to the rotation shaft of the second gear, and an end of the second rotation shaft characterized in that it consists of a second chain belt interlocking the sprocket gear formed on the
Old pipeline regeneration device.
According to claim 1,
Between the support plate and the base plate, a bolt inserted in a vertical direction at a corner is fastened with a nut to adjust the vertical height of the support plate from the base plate according to the diameter of the conduit,
Old pipeline regeneration device.
According to claim 1,
The wheel driving means includes a first reduction gear having a first reduction gear shaft interlocked with a chain belt and a sprocket gear formed on one side of a rotation shaft connecting a pair of left and right rear end wheels, and a second reduction gear of the first reduction gear. Characterized in that it consists of a second motor having a drive shaft interlocking with a gear shaft and a chain belt,
Old pipeline regeneration device.
According to claim 1,
The direction change driving means includes a front wheel gear coupled to a pair of left and right front wheels, a direction changing gear coupled to each other between the front wheel gears, and a sprocket gear of the direction changing gear and a chain belt. characterized in that it consists of a second reduction gear having a switching rotation shaft, and a rotational drive shaft of the second reduction gear,
Old pipeline regeneration device.
According to claim 1,
A wheel protection plate is formed on the front end of the front end wheel and the rear end wheel, and a strip plate is formed on the rear end portion,
Old pipeline regeneration device.
delete According to claim 1,
The guide bar includes a first guide bar, a second guide bar introduced into the first guide bar, a first link plate formed at a front end of the second guide bar, and a rear end of the coupling plate, the first link plate being formed and a second link plate that is link-coupled with
The spring is elastically coupled between the first link plate and the second link plate, so that the scale removal plate is turned in the opposite direction to the rotation direction of the first rotation shaft, or the scale brush rotates the second rotation shaft characterized in that it is turned in the opposite direction to the direction,
Old pipeline regeneration device.

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