KR102598681B1 - Remote filling robot for waste pipeline treatment and waste pipeline treatment method using the same - Google Patents

Abstract

The present invention relates to a technology using a remote filling robot to prevent the occurrence of sinkholes, etc. by filling the inside of a disused underground pipe. The filling robot includes a main body equipped with a propulsion power means, and a front portion of the main body. A tube holder installed in the main body, an air compressor installed inside the main body to expand the pipe closure tube, a moving means installed in the main body, a posture maintaining means installed in the upper part of the main body and adjusting the height, and the main body. It is composed of observation means installed at the front of the upper part.

Description

Remote filling robot for waste pipe treatment and waste pipe treatment method using the same {REMOTE FILLING ROBOT FOR WASTE PIPELINE TREATMENT AND WASTE PIPELINE TREATMENT METHOD USING THE SAME}

The present invention relates to a technology for preventing the occurrence of sinkholes, etc. by filling the inside of disused underground pipes. More specifically, when underground pipes such as water and sewage pipes and rainwater pipes that are no longer used due to age are fractured. This relates to a technology for filling the interior of the above-mentioned old underground pipe with solid material to prevent cracks or sinkholes from occurring in the road above.

As the city expanded, the underground facilities mentioned above were rapidly expanded in the 70s and 80s, and their deterioration is acting as a cause of recent road cave-ins and sinkholes. For example, 95% of road collapses are caused by underground facilities such as water supply, sewerage, and utility ducts.

As of 2018, the total length of Korea's water pipes is 217,150 km, but old water pipes that are over 30 years old account for 27,552 km, or 13%. These old water pipes are causing deterioration in water quality, and as they are replaced with new water pipes, their treatment is becoming problematic.

Sewer pipes through which wastewater mixed with chemicals, such as domestic sewage and factory wastewater, deteriorate more rapidly than other underground facilities such as water pipes. Nevertheless, as of 2013, the sewage pipes in Seoul, where urban infrastructure was built first, had a total length of 10,392 km, with 7,620 km (73%) being over 20 years old, and in particular, 5,023 km (48%) being over 30 years old. It's increasing by %.

However, not only are these water and sewage pipes buried at a depth of more than 1.2m underground, but it is not easy to dismantle the closed pipes due to other underground facilities such as communication pipes adjacent to them. Recently, research has been conducted on various ways to fill the inside of the closed pipes. there is.

As an example, a 'pipe closure construction device and construction method using the same' has been proposed through Registered Patent Publication No. 10-2084952.

As shown in Figure 1, the 'pipe closure construction device' includes a moving part 10 that moves the inside of the pipe by an orbital moving means 120; An outflow pipe (20) coupled to one side of the moving part (10); It includes an inflow pipe 30 coupled to the other side of the moving part 10 and a packing part 40 located on the outflow pipe 20 side, and the moving part 10 is located on the outer surface of the outflow pipe 20. A first hydraulic cylinder (11) coupled to; A second hydraulic cylinder (12) coupled to the outer surface of the outlet pipe (20) at a position corresponding to the first hydraulic cylinder (11); an opening hole (13) opened on the side where the outflow pipe (20) is formed; A monitoring unit 14 coupled to the side where the outflow pipe 20 is formed; It includes a first fixed cylinder 15 coupled to the lower part of the moving part 10 and a second fixed cylinder 16 coupled to a position corresponding to the first fixed cylinder 15, wherein the first hydraulic cylinder (11) and the second hydraulic cylinder 12 are combined with the packing part 40 to move the packing part 40.

The 'pipe closure construction device' of registration number 10-2084952, configured as described above, moves to the construction site by the orbital moving means (120) and then pipes the adhesion plate (15a) using the first and second fixed cylinders (15). The moving part (10) is fixed and fixed in close contact with the inner surface of the tube, and air is injected into the packing part (40) to expand it to seal the tube. In this way, a filler is placed inside the space of the tube sealed by the packing part (40). Close the pipe by filling it.

However, the track, which is a moving device of the above-mentioned pipe closing construction device, is fixed so that the bottom portions on both sides form the same horizontal plane, so the area in contact with the track varies depending on the curvature of the pipe. For example, as the curvature of the pipe increases, the area where the track contacts the inner surface of the pipe becomes smaller, so the construction device cannot move forward efficiently and spins or slips, and in severe cases, the closed construction device turns over and can no longer advance. It slows down the progress of work.

In addition, the above-mentioned pipe closure construction device seals the pipe with the packing part 40 and then injects the filler into it, preventing the packing part 40 from being pushed out by the lateral pressure of the filler until the filler hardens. To do this, the main body 100 of the construction device itself is fixed to the pipe using the first and second fixing cylinders 150 and 160. Therefore, the construction device must remain in the fixed position until the filling material hardens, so the pipe closing operation cannot be performed continuously.

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KR 10-2084952 B1

The present invention is intended to solve the above-mentioned problems of the prior art. In any case, it does not turn over during the movement process, and the contact area of the track, which is the moving means 120, with respect to the inner surface of the pipe is large, so that rapid movement without slipping is possible. We aim to provide a remote filling robot for waste pipe treatment and a waste pipe treatment method using the same, which can be applied to all pipes with various internal diameters and can efficiently fill each pipe with a different internal diameter.

According to the most preferred embodiment of the present invention for solving the above problems, a main body provided with a propulsion power means, a tube holder installed in front of the main body, and a tube holder installed inside the main body to expand the pipe closure tube A remote filling robot is provided that includes an air compressor, a moving means installed on the main body, a posture maintaining means installed on the upper part of the main body and height-adjusted, and a transmitting and receiving means installed on the main body.

At this time, a filling pipe for discharging the filler into the divided closed pipe and a pipe fixture for fixing the filling pipe can be further installed on the upper part of the main body, and the pipe fixture can be configured to be height-adjustable in the vertical direction. .

Additionally, an on-off valve may be installed on the filling pipe, and the on-off valve may be installed on the main body and opened and closed by a cylinder operated by remote control.

In one embodiment of the above-described posture maintenance means, an upper press wheel is installed between an elevating body fixed to the main body, an upper press wheel that rotates and moves while closely pressing the upper surface inside the pipe, and the elevating body and the upper press wheel. The upper pressing wheel can be composed of an elastic pressing body that presses upward.

In one embodiment of the above-mentioned moving means, it is composed of one caterpillar installed in the lower center of the main body and at least one pair of side wheels installed on both left and right sides of the main body, and the side wheels are positioned so as to be adjusted in the left and right directions. can do.

According to another embodiment of the present invention, a tip work tool and a longitudinal work tool are opened at both ends of the total work section to be closed, and the ends of the pipe at the tip work tool are closed with a stopper, and then the top of the stopper or Forming a confirmation port in the upper part that communicates with the inside of the pipe; After entering the filling robot to a set position inside the pipe, expanding the pipe closure tube placed on the tube holder to block the inside of the pipe to form a tip section, and completing the filling operation for the tip section; When the terminal section, which is the last section among the total work sections to be closed, is formed, the filling robot is withdrawn from the pipe, the pipe entrance located in the termination work section is blocked with a filler provided with a filler, and a seal is placed on or above the stopper. A closed pipe treatment method is provided that includes the step of providing a confirmation port that communicates with the inside of the pipe, connecting a filling hose to the filling port, and operating the filling material conveying equipment to complete the filling work for the longitudinal section. .

The present invention can secure the following reliability for the movement and posture maintenance of the remote filling robot, and allows pipe closure treatment of small-diameter pipes that humans can enter to be quickly and efficiently performed only by remote control from outside the pipe. .

First, the moving means of the present invention improves mobility by increasing efficient grip despite various environmental conditions at the bottom of the pipe by moving by a caterpillar, and side wheels installed on the left and right of the main body solve the problem of balance due to the caterpillar being composed of one. In addition to being supplemented by , each side wheel can rotate independently, enabling accurate and rapid movement of the filling robot.

Second, the posture maintaining means of the present invention allows the filling robot to move while maintaining the correct posture without turning over by having the upper press wheel always elastically pressurize the upper surface inside the pipe even if the bottom of the pipe is not flat.

In addition, the present invention can be universally applied to pipes of various specifications by expanding the moving means of the caterpillar and side wheels and the upper pressure wheel.

Figure 1 is a structural diagram of a pipe closure construction device according to the prior art.
Figure 2 is a structural diagram of a filling robot according to an embodiment of the present invention.
Figure 3 is a structural diagram of the opening and closing operation of the filling pipe provided in the filling robot.
Figure 4 is a plan view of the moving means provided in the filling robot.
Figure 5 is an explanatory diagram regarding the operational relationship of the above-mentioned transportation means.
Figure 6 is an explanatory diagram of the structure and operation of the posture maintenance means provided in the filling robot.
Figures 7 to 9 are explanatory diagrams of each step of the waste pipe treatment process using the filling robot.

Hereinafter, the present invention will be described in detail with reference to the attached drawings based on the most preferred embodiment. However, when explaining the present invention in detail, if the technical idea of the present invention is obscured or unclear, the description of the known configuration will be omitted.

Figure 2 shows a schematic structure of a filling robot (R) according to an embodiment of the present invention.

The present invention remotely controls the filling robot (R), which has previously entered the inside of the pipe (P), from the outside, allowing the filling robot (R) to separate the inner section of the pipe (P) and sequentially proceed with filling, thereby filling the pipe. (P) Ensure that all processing is completed safely and quickly.

As shown in FIG. 2, this filling robot (R) includes a tube holder 136 for mounting the pipe closure tube 136a, centered on a main body 100 equipped with a propulsion power means 110, and the above The air compressor 113 that fills the inside of the pipe closing tube (136a), the moving means 120 of the filling robot (R), the posture maintaining means 130 inside the pipe, the work situation, etc. are checked and sent to the control device. It is configured to include transmission and reception means 140 for transmitting and receiving commands from the control device.

The propulsion power means 110 includes a battery 111 and a motor 112 for providing power to the moving means 120, and the battery 111 is used not only for the moving means 120 but also for the filling robot (R). It is the source of power for all operations.

The tube holder 136 is installed in front of the main body 100, so that the pipe closure tube 136a that seals one section of the pipe P to be filled with the filler can be placed.

The pipe closing tube 136a is made of a flexible material such as rubber, so that the inside of the pipe P is sealed even when the internal cross section of the pipe P is oval rather than circular or irregular due to foreign substances such as sediment. You need to be able to block it.

The pipe closing tube 136a is expanded by the air compressor 113 installed inside the main body 100, thereby separating and closing the inner section of the pipe (P). As a result, the closed space is filled with filler material through the filling hose 151 and the filling pipe 152, thereby carrying out the waste pipe treatment work.

An opening/closing valve 152a that can control the supply of filling material may be further installed in the filling pipe 152. The opening/closing valve (152a) is controlled by remote control and is operated by a cylinder (152b) installed in the main body. Figure 3 illustrates the structure of this filling pipe 152.

The filling pipe 152 connected to the filling hose 151 passes through the pipe closing tube 136a that seals the pipe (P) in the main body 100 and is inserted into the closed space of the pipe (P).

Accordingly, the main body 100 may be further equipped with a filling pipe 152 and a pipe fixture 153 for fixing the filling pipe 152 at the top thereof.

The end of the filling hose 151 connected to the external filler supply tank 220 is detachably fixed to the filling pipe 152. Accordingly, the filler material supplied through the filling hose 151 is discharged into the sealed section of the pipeline P via the filling pipe 152.

The pipe fixture 153 allows the main body 100 to support the filling pipe 152, and adjusts the height to position the filling pipe 152 on the uppermost surface of the inner surface of the pipe (P), thereby ensuring pipe closure. When the tube 136a is expanded, the end discharge port can be located inside the closed section without penetrating the pipe closure tube 136a. This insertion structure of the filling pipe 152 facilitates manufacturing of the pipe closure tube 136a, thereby enabling reduction of manufacturing cost.

In addition, for all pipes (P) of various specifications, the pressure for discharging the filler can be minimized by discharging the filler from the top surface of the inside of the pipe (P), enabling efficient filling work.

The height of the filling pipe 152 is adjusted by a pipe fixture 153 that supports the filling pipe 152 and is configured to adjust the height in the vertical direction. The height of the pipe fixture 153 can be adjusted using various methods, but is preferably achieved by hydraulic pressure.

A tow hook 137 may be further installed at the rear of the main body 100.

The filling hose (151), the end of which is fixed to the filling pipe (152), must move together as the filling robot (R) moves forward, and the towing hook (137) above holds the appropriate part of the filling hose (151). The filling hose 151 is towed by the movement of the filling robot (R) by fixing it directly or using a tow bar, so that the filling hose 151 can be smoothly attached to the filling pipe 152 without being separated from it. .

FIG. 4 shows a plan view of the moving means 120 according to an embodiment of the present invention, and FIG. 5 illustrates a diagrammatic explanation of the operating relationship of the moving means 120.

The moving means 120 is installed at the lower part of the main body 100 to move the filling robot (R) into and out of the pipe (P). It may be composed of only a general wheel structure, but if it is composed of only this wheel structure, the pipe (P) There is a possibility that the filling robot (R) may not move quickly due to movement interference such as slipping caused by sediment accumulated in various shapes inside.

In addition, if the moving means 120 consists of a pair of tracks with a caterpillar structure of registration number 10-2084952 mentioned as a prior art, the grounding area with respect to the circular cross-section on the inner side of the pipe is small, so the filling robot can move quickly. It won't come true.

Accordingly, in the most preferred embodiment of the present invention regarding the moving means 120, one caterpillar 121 installed in the lower center of the main body 100 and at least one pair of sides installed on both left and right sides of the main body 100 It consists of a wheel (122).

The advantage of the caterpillar (121) itself is that it maximizes the efficiency of grounding on the circular cross-section of the inner surface of the pipe (P) by configuring only one caterpillar (121) in the lower center, and minimizes movement interference due to sediment accumulated on the bottom of the pipe (P). Allows you to keep it as is.

A pair of side wheels 122 installed on both left and right sides of the main body 100 correct the posture of the filling robot (R) by compensating for the fact that there is only one caterpillar (121) and at the same time maintain the pipeline (P) It is capable of responding to a variety of internal diameters. For this purpose, the side wheel 122 has a structure whose position is adjusted in the left and right directions. These side wheels 122 may be provided in pairs each before and after the main body 100.

In addition, the caterpillar 121 and the side wheel 122 are each rotated independently by the above-described propulsion power means 110, so that the filling robot R can move more powerfully.

Figure 6 shows the structure and operation of the posture maintaining means 130 according to an embodiment of the present invention.

The posture maintaining means 130 is installed on the upper part of the main body 100 to enable height adjustment, and has a four-axis support structure inside the pipe (P) together with the above-described moving means (120) to support the filling robot (R). Even if you encounter an obstacle, it does not easily tip over and allows you to maintain the correct posture.

For example, in the case where only the moving means 120 at the bottom of the main body 100 is provided as in the prior art, there is a possibility that the filling robot (R) itself may turn over due to sediment accumulated inside the pipe (P) or the bending of the pipe (P). There will be. However, the posture maintaining means 130 prevents only one side of the moving means 120 from bouncing excessively while responding to changes inside the pipe (P), thereby allowing the filling robot (R) to move while maintaining balance. .

As shown in FIG. 6, this posture maintenance means 130 is composed of an elevating rigid body, an upper pressing wheel 132, and an elastic pressing body 133 installed between them.

The upper pressing wheel 132 is installed so that it can rotate and move while closely pressing the upper surface inside the pipe (P) at the upper center of the main body 100, which is symmetrical to the caterpillar 121 of the moving means 120. . The close pressure of the upper press wheel 132 on the inner upper surface of the pipe (P) prevents the filling robot (R) from losing its position by jumping up and riding on sediment when it encounters sediment on the bottom of the pipe (P).

The elevating body adjusts the position of the upper press wheel 132 in response to various specifications of the pipe (P) and is fixed to the main body 100.

The elevating body may use a hydraulic structure, but in the embodiment for explaining the present invention, it is illustrated as being composed of a screw jack structure. Accordingly, the elevating body 131 is hinged to the upper surface of the main body 100 and folded. The lower arm 131a, which is hinged to the lower end of the elastic pressurizing body 133 to be described later, and the upper arm 131b, which can be folded, are installed at the connection between the upper arm 131b and the lower arm 131a. It consists of an adjustment screw rod (131c) that folds the upper arm (131b) and the lower arm (131a) to adjust the height of the raising and lowering body (131).

The elastic pressurizing body 133 installed between the elevating rigid body 131 and the upper pressurizing wheel 132 uses elastic action to press the upper pressurizing wheel 132 during the movement of the filling robot (R) within the pipe (P). ) Presses the upper press wheel 132 upward so that it is always in close contact with the inner upper surface of the pipe (P). Therefore, the elastic pressing body 133 is provided with a spring 133a for elastic action.

A folded guide body 134 may be further installed between the main body 100 and the upper press wheel 132 to ensure stable height adjustment of the elevating body 131.

The filling robot (R) of the present invention performs all tasks by remote control from the outside. For this purpose, the main body 100 is further equipped with a transmitting and receiving means 140 for transmitting data detected by various observation means. It is provided.

For example, as a means of observation, a camera to collect image data inside the pipe (P), a distance measurement sensor to measure the traveling distance of the filling robot (R), and a lidar sensor to confirm the location of the work point by the filling robot (R). and a 3-axis gyro sensor may be provided in the main body 100.

Various data obtained by the above-described observation means are transmitted to the external control device through the transmitting and receiving means 140, and the operator checks the monitor installed in the control device and uses the control device to control the filling robot ( By adjusting R), it is possible to proceed with the waste pipe treatment work.

Figures 7 to 9 show each step in the process of disposing of waste pipe by filling the inside of the conduit (P) of the waste pipe with filler using the filling robot (R) of the present invention described above. The waste pipe treatment method according to this is a) work preparation stage, b) entry stage of the filling robot (R) into the pipe (P), c) filling stage of the leading section, d) filling stage of the subsequent section, e) end section. The filling stage, f) completion of waste pipe treatment, and equipment dismantling stages proceed sequentially, and each stage is described in detail as follows.

a) Preparatory stage of work;

A leading work area (S1) and a longitudinal work area (S2) are established at both ends of the total work section to be closed. Here, the tip work tool (S1) refers to the work tool on the side where filling is done first, and the longitudinal work tool (S2) refers to the work tool on the side where filling is done last.

When the opening work for each work port is completed, the end of the pipe (P) in the tip work port (S1) is closed with a stopper (161). At this time, a confirmation port 162 communicating with the inside of the pipe P that can confirm tight filling of the filler is provided at or above the blocking material 161.

In the confirmation port 162, when the filling of the inside of the pipe (P) is completed, it is desirable to discharge the excess filler to the outside so that it can be confirmed whether the tight filling of the inside of the pipe (P) has been completed. .

A control device for the filling robot (R), a filler supply tank 220 such as a silo, and filler conveyance equipment 210 such as a compressor are installed on the end work area (S2). When the installation of these devices or equipment and the connection work between them are completed, the filling robot (R) is placed inside the pipe (P) using the termination tool (S2). In order to easily move the filling robot (R) into the pipe (P), if necessary, a mounting surface (164) matching the lower inner surface of the pipe (P) can be formed on the bottom surface of the longitudinal tool (S2).

When the task of positioning the filling robot (R) inside the pipe (P) using a crane, etc. is completed, the end of the filling hose (151) connected to the filling material transfer equipment (210) is connected to the filling pipe (R) installed on the filling robot (R). By connecting to 152), preparation for this step is completed.

b) Entry step into the pipe (P) of the filling robot (R);

When the preparation for the above-mentioned work is completed, the filling robot (R) moves forward to the set position inside the pipe (P) under the control of the control device.

The above set position must be set within a range that can complete the filling work from the tip tool S1 at once, and it is desirable that the section defined by this is at least 200m or longer.

c) Tip section filling step;

When the filling robot (R) reaches the set position, the inside of the pipe (P) is blocked and partitioned at that position to form a sealed tip section from the tip work area (S1).

The blocking of the inside of the pipe (P) is accomplished by the pipe closure tube (136a) placed on and moved on the tube holder 136 at the tip of the main body (100). That is, as the air compressor 113 installed inside the main body 100 operates, air is injected into the pipe closure tube 136a. Accordingly, the pipe closure tube 136a expands to block the inside of the pipe (P). Of course, the end of the filling pipe 152 installed in the main body 100 and located on the uppermost surface of the inner surface of the pipe (P) must pass through the pipe closure tube 136a and be located within the sealed end section.

When the sealed tip section is formed by the expansion of the pipe closure tube 136a, the filler conveying equipment 210 is operated to fill the inside of the tip section.

Lightweight foam concrete may be used as the filler for the filling, but in a preferred embodiment of the present invention, a lightweight mixed soil containing fly ash and air bubbles mixed with cement is used.

The above lightweight mixed soil exhibits similar strength compared to lightweight foam concrete, while significantly reducing the amount of cement used, thereby reducing the amount of carbon dioxide generated during cement manufacturing, and enabling recycling of by-products generated during the steelmaking process, making it eco-friendly and economical. Ensure that waste pipe disposal is carried out.

When the filling work for the tip section is completed and the hardening of the filler material is completed, the air in the pipe closure tube 136a is removed and contracted. The shrunken pipe closure tube 136a may be recovered, but may be left as is.

d) Subsequent section filling step;

This step can be carried out only when the length of the pipe (P) to be closed is long, for example, when the length of the remaining section of the pipe (P) is longer than the tip section. The method of performing the work is the tip section described above. It is no different from the filling method of the section.

This step may be repeated several times depending on the length of the remaining section described above.

e) End-to-end phase;

The terminal section, which is the last section among the total work sections to be closed, is performed with the filling robot (R) withdrawn from the pipe (P).

When the withdrawal of the filling robot (R) is completed, the entrance to the pipe (P) located in the longitudinal work area (S2) is blocked with a stopper (161). The stopper 161 must be provided with a filling port 163 to which the end of the filling hose 151 can be connected. The filling port 163 may be provided with a stop valve 163a that blocks the flow of filling material.

In addition, it is preferable to provide a confirmation port 162 communicating with the inside of the pipe (P) at or above the blocking material 161, and in the confirmation port 162, the filling of the filler for the pipeline (P) is performed. The fact that it is possible to check whether tight filling of the inside of the pipe (P) has been completed by allowing the completed and remaining filler to be discharged to the outside is also different from that of the stopper 161 installed in the tip work area (S1). not.

f) Complete waste pipe treatment and dismantle equipment;

When it is confirmed that the filling of the longitudinal section has been completed through the confirmation hole 162, the stop valve 163a is closed to complete the pipe closing process, and the device or equipment installed for the work so far is dismantled to perform the present invention. The pipe disposal work is completed by .

In the above, the present invention has been described in detail with reference to specific embodiments, but the embodiments are merely examples to make the present invention easier to understand, so those skilled in the art will understand the scope of the technical idea of the present invention. It is obvious that this can be implemented with various modifications. Accordingly, such modifications will be said to fall within the scope of the present invention as set forth in the claims.

100; body 110; Propulsion power means
111; battery 112; motor
113; air compressor 120; transportation
121; Caterpillar 122; side wheel
130; means of maintaining posture 131; Elevating and lowering rigid body
131a; lower arm 131b; upper arm
131c: Adjusting screw rod 132; upper pressure wheel
133; Elastic pressure body 133a; spring
134; folded guide body 136; Tube holder
136a; pipe closure tube 137; tow hook
140; Transmission and reception means 151; Filling hose
152; Filling pipe 152a; open/close valve
152b; cylinder 153; pipe fixture
161; Mak Ijae 162; Confirmation phrase
163; filling area 163a; stop valve
164; 210 if passed; Filling material conveying equipment
220; Filler supply tank R; remote robot
S1; Tip work tool S2; Longitudinal tool
P; Conduit G; filler

Claims (9)

For waste pipe processing, a main body 100 equipped with a propulsion power means 110, a tube holder 136 installed in front of the main body 100 on which a pipe closing tube 136a made of a flexible material is placed, An air compressor 113 installed inside the main body 100 to expand the pipe closure tube 136a, a moving means 120 installed in the main body 100, and an upper part of the main body 100, It is comprised of a posture maintaining means 130 for height adjustment and a transmitting and receiving means 140 installed on the main body 100,
A filling pipe 152 connected to the filling hose 151 and a pipe fixture 153 for fixing the filling pipe 152 are installed on the upper part of the main body 100 to discharge the filling material into the divided closed pipe. The pipe fixture 153 is configured to be height-adjustable in the vertical direction so that the filling pipe 152 is located on the uppermost surface of the inner surface of the pipe (P) when the pipe closure tube (136a) is expanded,
A tow hook 137 is installed at the rear of the main body 100, and the filling hose 151 is fixed to the tow hook 137 and towed,
The moving means 120 consists of a caterpillar 121 installed in the lower center of the main body 100 and at least one pair of side wheels 122 installed on both left and right sides of the main body 100. A remote filling robot, wherein the caterpillar 121 and the side wheel 122 are configured to rotate independently by the propulsion power means 110. delete delete According to paragraph 1,
An opening/closing valve (152a) is installed in the filling pipe (152),
The remote filling robot is characterized in that the opening and closing valve (152a) is operated by a cylinder (152b) installed in the main body (100). delete According to paragraph 1,
The posture maintenance means 130 includes an elevating body 131 fixed to the main body 100, an upper pressing wheel 132 that rotates and moves while closely pressing the upper surface inside the pipe (P), and the elevating and lowering member 130. A remote filling robot, characterized in that it is installed between the rigid body 131 and the upper pressing wheel 132 and consists of an elastic pressing body 133 that presses the upper pressing wheel 132 upward. delete delete A method of closing the pipeline (P) using the filling robot (R) according to paragraph 1, 4, or 6,
a) Open an end work area (S1) and an end work area (S2) at both ends of the total work section to be closed, and close the end of the pipe (P) at the end work area (S1) with a stopper (161). After doing so, forming a confirmation hole (162) communicating with the inside of the pipe (P) at the top or upper part of the blocking material (161);
b) After entering the filling robot (R) to the set position inside the pipe (P),
When the pipe closure tube 136a placed on the tube holder 136 expands to form a sealed tip section, the filling pipe ( After positioning 152), the pipe closure tube 136a is expanded to block the inside of the pipe (P) to form a tip section, and a filler is supplied to the filling pipe 152 to fill the tip section. Steps to complete;
c) When the terminal section, which is the last section among the total work sections to be closed, is formed, the filling robot (R) is withdrawn from the pipe (P), and the entrance to the pipe (P) located in the termination work section (S2) is connected to the filling port (163). ) is blocked with a stopper 161 provided, and a confirmation port 162 communicating with the inside of the pipe (P) is provided at the top or upper part of the stopper 161, and then filled into the filling port 163. A waste pipe treatment method using a remote filling robot, characterized in that it includes the step of connecting the hose 151 and operating the filler conveying equipment 210 to complete the filling work for the longitudinal section.

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