KR20000053964A - The self-propelled car and its device for eliminating projected pipes - Google Patents

Abstract

PURPOSE: An independent vehicle and a controller thereof are provided to take up a narrow area upon working, to easily replace a cutter or a polishing stone of a cutting unit and to drive only with the power of a vehicle without an additional generator by lowering the drive capacity of the independent vehicle to the minimum. CONSTITUTION: An independent vehicle is inputted in an underground pipe by using a crane and an outside input is given to move and drive a position of the independent vehicle. The output power of a battery(1) is converted to a certain level by first and second inverters(2,3) through the control of a main controller. The converted power is supplied to an image amplifier(5), a monitor(6), a VCR(7), and motors(8,9). Power is supplied to image storage and output devices by preparing more than two inverters. Thus, the supply of the power to the image storage and output devices and the independent vehicle is not blocked.

Description

Self-propelled vehicle and its control device for removing protruding pipes in sewer pipes {THE SELF-PROPELLED CAR AND ITS DEVICE FOR ELIMINATING PROJECTED PIPES}

The present invention relates to a method and apparatus for removing a pipe or various foreign matters protruding into the sewage pipe or various wastewater pipes, by operating the cutter by using electricity when removing the foreign matter while moving forward and backward in the sewage pipe. Its purpose is to allow the cutter to move with little power and to mount all the equipment in a compact vehicle so that it is easy to carry and work in confined spaces.

In general, when constructing water pipes or sewer pipes, they are connected to the water pipes or sewer pipes of each home, shopping mall, and building. Connection should be made so as not to protrude into the mother tube, but there was a problem in that the construction was completed with a connector tube projecting into the mother tube in order to shorten a construction mistake or shorten the construction period.

If the connection pipe protrudes into the mother tube as described above, the flow of water to the inside of the tube is blocked, so that in the case of sewage pipe foreign matter flowing with the water is caught by the connection pipe protruding into the mother tube As sediment accumulates inside the mother tube, there is a problem that the water flow is blocked and the waste water overflows or flows back.

When the mother tube embedded in the ground is blocked as described above, after cleaning the blocked portion, the part protruded into the interior of the mother tube was used to dig the ground, protrude the buried tube, and then perform the cleaning work. There is a disadvantage that it takes a long time and there is a big problem that causes traffic jam by blocking the road and constructing the pipe part.

On the other hand, in order to solve the above problems, a method of removing foreign substances protruding by sending a vehicle having a cutting device installed inside a blocked pipe (1996 Utility Model Registration No. 61112) has been devised. The above design has a configuration in which the cutting part is connected horizontally to the body, and since the cutting part is horizontally attached to the front of the body, there is a problem that the state of the front can not be grasped at all when the body moves to the front, and thus the working speed There was a problem that the operator operating the device was too late to operate smoothly.

In addition, the invention (1998 Patent Application No. 7788, Publication No. 99-74305), which was able to check the state of the cutting in the cutting unit in recent years has been devised, the invention is a wheel that incorporates a drive motor A housing mounted: a housing equipped with a cylinder to be retracted by rotation of a ball screw; and a wheel mounted driving having a means for incorporating the cylinder housing and engaging with the motor housing and fixing the position of the autonomous vehicle. Body housing: A cutting drive portion comprising a lifting drive portion and a cart portion, which is fixed to the cylinder in the annoying cylinder housing and rotates and moves forward and backward in accordance with the operation of the cylinder.

However, the above invention has a problem in that the structure is complicated and difficult to manufacture, and when the cutting unit rotates to remove the foreign material, the foreign material is caught and splashed so that the foreign material sticks to the lens so that the camera cannot function properly.

Meanwhile, since the conventional self-propelled vehicle for cutting the protruding pipe in the sewage pipe is driven by hydraulic pressure, when the sewage pipe is to be cleaned, the self-propelled vehicle requires a high capacity force by carrying a hydraulic line together with an electric wire, thereby causing unnecessary energy. It was a waste.

In addition, the conventional method has to carry a separate hydraulic device and an electric vehicle by using a hydraulic pressure, thereby occupying unnecessary space for the construction of sewer pipes, thereby blocking the flow of traffic.

The present invention has been invented to solve the above problems, the operation method of the self-propelled vehicle is configured by the electric system to enable the mounting of the whole machine in a small van, occupy a small area during work, and also the abrasive stone of the cutting portion The replacement of the cutting cart is easy and simple, and since the whole operation is an electric method, the unnecessary capacity is removed by lowering the driving capacity of the autonomous vehicle to the lowest possible driving capacity without a separate generator. The present invention will be described in detail with reference to the accompanying drawings.

A and B of Figure 1 is a schematic block diagram showing a control method of the present invention

2 is a schematic block diagram showing the structure of the present invention;

3 is a perspective view of the cutting machine of the present invention

Figure 4 is a plan view showing the front and rear drive unit of the present invention cutter

5 is a plan view showing a state in which the rotating body of the present invention the cutter is rotated

6 is a main portion enlarged side cross-sectional view showing a pedestal of the present invention.

Figure 7 is a schematic side view showing the operating state of the abrasive portion of the present invention

8 is a perspective view showing the operating state of the present invention wiper portion

9 is a schematic side cross-sectional view showing a separation state of the abrasive grain fixing part of the present invention.

Figure 10 is a schematic side cross-sectional view showing a state in which the abrasive stone is fixed to the abrasive stone fixing part of the present invention

11 is a perspective view showing a state in which the present invention mounted on the vehicle

12, A, B, and C are explanatory diagrams showing an operating state of the present invention.

** Description of symbols for the main parts of the drawing **

1 battery 2, 3 inverter 4 main controller

5: image amplifier 6: monitor 7: VCR

8: crane motor 9: drum motor 10: self-driving car

11 Reduction Motor 12 Cutting Motor 13 Wiper Motor

14 camera 15 autonomous vehicle body 16 lid

17: pedestal 18: electric jack 19: drive unit

20: operating part 21, 21 ': rotating shaft 22, 22': gear

23: chain 24: rotary operation unit 25: ?? rotating body

26 fastening part 27 lamp 28 polishing part

29, 34, 40, 62: motor 30: original bevel gear 31: driving bevel gear

35, 41: reducer. 36, 42: drive gear 37, 50: gear

38: fixed lamp 39: grinding body 43: wiper

44, 52: cam plate 45, 53, 58: long hole 46, 55: fixture

47: crimping hole 48: motive gear 51: washer liquid injection nozzle

54: rotating body 56: screw fastening 57: up and down operation

59: stopper 60: rotating shaft 61, 63: chain gear

As described above, the control apparatus for controlling the driving of the self-propelled vehicle for removing the protruding pipe in the sewer pipe includes a plurality of inverters for converting the vehicle battery 1 power into a plurality of output power sources as shown in FIGS. 1 and 2. 2) (3) and the output power of the plurality of inverters (2) (3) to the image storage and output means having a self-driving vehicle (10) and an image amplifier (5), a monitor (6) and a VCR (7). A main controller 4 for selectively supplying and controlling driving of the self-propelled vehicle 10 for cutting the protruding pipe according to an external input (which refers to various inputs for controlling the operation of the self-propelled vehicle), and a self-propelled vehicle ( 10) the cutting motor 11 coupled with the chain and the plurality of gears for the movement of the position and the cutting cart 12 and the cutting motor 12 coupled with the plurality of gears Washer fluid to remove foreign substances in front of camera 14 and camera The autonomous vehicle 10 having the wiper motor 13 for driving the wiper while spraying and amplifying the image taken by the camera 14 of the autonomous vehicle 10 are stored in the recording medium by the VCR 7. On the other hand it is composed of the image storage and output means for output in real time to the monitor (6).

In addition, the present invention is further provided with a drum motor (9) for receiving the output power of the vehicle battery (1) is driven by the control of the main controller (4) for rotating the drum wound the cable connected to the self-propelled vehicle (10) It can be provided.

64, which is not described in the drawing, is a motor for a crane for providing power when raising a self-propelled vehicle installed in a crane and being placed in various buried pipes buried underground or unloading the self-propelled vehicle in a buried pipe.

The self-propelled vehicle 10 is installed so as to open and close the lid 16 on the upper part of the main body of the autonomous vehicle 15, but by installing the pedestal 17 in the middle portion of the lid 16 by the electric jack 18 up and down To be operated as, the inside of the main body is installed in the middle of the diaphragm installed in the drive unit 19 and the operation unit 20, and installed on the lower side of one side of the drive unit 19 and one side of the operating unit 20 Install the coaxial (21) (21 ') to fasten the wheel, but to install the gear 22 (22') on one side of the rotating shaft to be interlocked with the chain 23, the front of the main body 15 to the left, right The rotating operating part 24 is installed to rotate, and a fastening part 26 having a 'c' shape is formed on the front of the rotating body 25 of the rotating operating part 24, and the fastening part 26 has a camera 14. And the grinding | polishing part 28 in which the lamp 27 is provided.

The pedestal 17 is fixed to the bottom surface of the center portion of the lid fixed to the fixing fixture 55, the inside of the fixture fastening the upper and lower operating mechanism 57 is formed with a screw fastening hole 56 therein, one side of the upper and lower operating mechanism 57 After forming the long hole (58) in the fastener (55) on the upper side of the fastener (59), the lower end of the upper and lower operating mechanism (57) by rotatably protruding the rotating shaft (60) to the lower end of the fastener (55) It is fastened to the screw fastening hole 56 formed in the shaft, the lower end of the rotation shaft 60 is installed a chain gear 61 and on one side thereof is installed a chain gear 63 which is rotated by a motor 62 to rotate the shaft ( It is made by connecting the chain with the chain gear 61 of 60.

The drive unit 19 installs a motor 29 that is electrically operated in the operating unit 20 formed in the central portion of the main body 15 so that the motor shaft protrudes into the drive unit 19 through the partition wall and then the motor A prime bevel gear 30 is installed on the shaft, and a driving bevel gear 31 that is engaged with the prime bevel gear 30 of the motor 29 is installed on the pivot shaft 21, and a chain is provided on one side of both pivot shafts. The gears 21 and 21 'are installed to interlock with the chain 23.

The rotary actuator 24 has a motor 34 and a reducer 35 for rotating the rotary body 25 on one side of the operating part, the rotary body 25 on the front of the main body 10 to the main body 10 Insert into the inside of the rotor rotatably fastened but the drive gear 36 is fastened to the end of the rotating body 25 to be interlocked with the gear 37 of the reducer installed inside the main body 10 and the rotating body 25 The fixing lamp 38 is installed on both sides of the front upper part, and the fastening part 26 formed on one side of the rotating body 25 is provided with a polishing body 39 having a polishing device. 25, the motor 40 and the reducer 41 are installed, and the drive gear 42 is installed on the shaft for fixing the grinding body 39 to be fastened with the motive gear of the reducer installed in the rotating body 25. Thus, the polishing body 39 is operated up and down.

The polishing unit 28 is installed on the side of the polishing body 39, the camera 14 is provided with the wafer 43 and the washer liquid injection nozzle 51, the cam plate 44 is fixed to the center portion and the cam plate 44 On one side of the fastener 46 is formed by fastening the bearing 46 is formed with a number of long holes 45 at regular intervals, and the outer diameter of the fastener 46 to form a threaded portion of the crimping hole 47 is formed therein And the motor 49 is fastened to the inside of the polishing body 39 to connect the gear 50 of the fixture 46 to rotate.

The operating device of the wiper 43 is fastened to the cam plate 52 in which the roller 51 is installed so as to be biased to one side at the end of the motor 13 so as to be rotated, and the long hole 53 on the shaft of the wiper 43. ), And the roller 51 of the cam plate 52 is fastened to the long hole 53 by fastening the rotating body 54 is formed.

Referring to the operation of the present invention as described above is as follows.

When the holding car is put into the underground buried pipe using a crane installed on the ground and an external input is applied for the movement and driving of the holding car, the output of the vehicle battery 1 is controlled by the main controller 4. The power is converted to a predetermined level by the first inverter 2 and the second inverter 3 and supplied to the image storage and output means, that is, the image amplifier 5, the monitor 6, and the VCR 7 It is supplied to the 10, the crane motor 8, and the drum motor 9, respectively.

In particular, two or more inverters for converting the output power of the vehicle battery 1 are provided, so that the image storage and output means composed of a self-driving vehicle 10, an image amplifier 5, a monitor 6, and a VCR 7. By supplying the power to each, it is possible to prevent the power supplied to the image storage and output means to be cut off due to a breakdown of the autonomous vehicle or the inverter or the power supplied to the autonomous vehicle due to the failure of the image storage and output means or the inverter. .

In other words, when the camera 14 is normally operated even when the self-propelled vehicle introduced into the buried tube cannot move due to a short circuit or other factors or the protruding tube cannot be removed, the image amplifier 5, the monitor 6, and the VCR 7 ), The power of the vehicle battery 1 is normally supplied, so that the image in the excretory tube taken by the camera 14 can be confirmed in real time through the monitor 6, and the image captured by the VCR 7 is continuously maintained. Can be recorded on the recording medium.

When the power of the vehicle battery 1 is supplied to the deceleration motor 11 of the autonomous vehicle 10 under the control of the main controller 4 and the deceleration motor 11 is driven, the deceleration motor 11 decelerated by a plurality of gears. Torque is transmitted to the chain so that the self-propelled vehicle 10 can move forward or backward in the buried pipe. In addition, the cutting motor 12 is driven by the control of the main controller 4 to cut the protruding pipe protruding into the buried pipe. At this time, the rotational force of the cutting motor 12 is decelerated by a plurality of gears and is cut by the cutting cart, and thus has a rotational speed suitable for cutting the protruding pipe.

Here, the direction of the cutting cart mounted on the self-driving car can be freely adjusted up, down, left and right by external input, so that the part protruding into the buried pipe can be smoothly cut regardless of the position or direction of the protruding pipe protruding into the buried pipe. It is.

While cutting the protruding tube protruding into the buried pipe, the camera 14 mounted at the front of the self-driving car photographs a portion that is being cut by the cutting cart to the image amplifier 5 through the main controller 4. To pass. Then, the image in the buried pipe that is being cut by the image amplifier 5 is amplified and supplied to the monitor 6 and the VCR 7 so that the cutting operation is performed in real time after viewing the image output to the monitor 6. Not only can it be confirmed, but also with the image stored in the recording medium by the VCR 7, the working status can be reconfirmed even after the work.

Like the cutting cart, the camera 14 photographing the cutting operation can freely adjust the direction up, down, left, and right, as well as illuminating the direction to be photographed by a separate lighting device to obtain a clearer and clearer image.

In particular, by operating the wiper while spraying the washer liquid in front of the camera 14 by driving the wiper motor 13, foreign matters caught in front of the camera 14 can be removed, so that foreign matters generated during the cutting of the protruding pipes are removed from the camera ( It is possible to prevent the obstruction of shooting by covering the front of the camera 14).

In more detail, when the motor 29 installed in the internal driving unit of the self-driving vehicle 10 is operated, the drive fastened to the rotation shaft 21 by the motive bevel gear 30 fastened to the shaft of the motor. The bevel gear 31 rotates, and at the same time, the autonomous vehicle is moved forward and backward since it is connected to the chain 23 by the chain gear 22 between the rotation shafts 21 and 21 '.

When the self-propelled vehicle 10 proceeds in the above state and the protruding tube protruding into the inside of the tube is visible on the front side, the self-propelled vehicle stops and the cylinder 18 is installed on the lid 16 of the self-propelled vehicle. The pedestal 17 protrudes upwards to compress the upper part of the tube, whereby the self-propelled vehicle is firmly fixed in the tube by the wheels installed in the pedestal 17 and the self-propelled vehicle 10.

That is, when the pedestal 17 is operated, the motor 62 installed on the bottom surface of the lid 16 is operated to rotate, thereby causing the chain gear 61 and the motor 62 of the rotation shaft 60 to rotate. Since the chain gear 63 is connected by a chain, it rotates together.

When the rotating shaft 60 is rotated as described above, the upper and lower operating mechanisms 57 to which the rotating shaft 60 is fastened cannot be rotated together by the stopper 59 fastened to the fastener 55, thereby preventing the stopper 59. The up and down operation port 57 is moved up and down using the long rail as a guide rail, and thus the pedestal 17 operates up and down to fix the autonomous vehicle 10 inside the pipe.

In the above state, the motor 34 and the speed reducer 35 installed inside the rotating body 25 are operated, whereby the shaft fixing the polishing body 25 is coupled to the speed reducer ( 36) (37) to rotate. At this time, since the part with the abrasive stone rotates together by the camera 14, it can be rotated toward the part with the protrusion tube correctly.

As described above, when the polishing body 25 is rotated, the motor 49 installed inside the polishing body 25 is rotated. As a result, the fixture 46 fixing the abrasive stone is rotated to rotate the protrusion tube. It will be cut off.

On the other hand, when the protruding out of the range of the abrasive stone in the state as described above, the motor 34 installed in the main body 10 is operated to drive the drive gear 36 of the rotary body 25 by rotating the body 25 Is flowed from side to side, and because of this, the abrasive stone provided on the polishing body 39 is provided on the cam plate 44 so as to be eccentrically to one side, so that a large area can be polished.

When the abrasive stone is rotated in the above state to remove the protruding pipe or various foreign matters, the foreign matters are splashed and buried in the installation portion of the camera, and thus, the foreign matters can be removed by operating the wiper 43 installed in the camera.

That is, in order to operate the wiper 43, the motor 13 is operated, which causes the cam plate 52 installed on the motor shaft to rotate together, so that the roller 51 installed on the cam plate 52 is along the cam plate. Will rotate together.

When the roller 51 of the cam plate 52 rotates as described above, since the top dead center and the bottom dead center of the long hole 53 to which the roller 51 is fastened are equal to the length of the entire long hole, the roller 51 rotates while the roller 51 rotates. This causes 54 to flow left and right, which causes the wiper to operate.

After removing the protruding tube in the above state, face the polishing body on which the camera is installed to the front, and then use the cylinder to install the pedestal installed on the lid 16.

As described above, the present invention configures the operation method of the self-propelled vehicle in an electric manner so that the entire apparatus can be mounted in a small van so that it occupies a small area during work, and it is easy and simple to replace the cutting stone or cutting cart of the cutting unit. In addition, since the whole operation is an electric method, it is possible to drive only the power of the car without a separate generator by removing the unnecessary items by removing unnecessary items. It is a useful invention that can be driven by a small capacity motor by not drawing, the present invention has been described in detail only with respect to the embodiments described, but it will be apparent to those skilled in the art that various modifications and variations are possible within the scope of the invention. And in the appended claims Belonging is natural.

Claims (8)

A plurality of inverters for converting vehicle battery power into a plurality of output power; A main controller for selectively supplying output power of the plurality of inverters to the self-propelled vehicle and the image storing and output means and controlling driving of the self-propelled vehicle for cutting the protruding tube according to an external input; A reduction motor coupled with a chain and a plurality of gears for moving the position of the self-propelled vehicle, a cutting motor coupled with a plurality of gears for cutting the projection tube and a cutting motor coupled to the gears, a camera photographing the cutting portion by the cutting cart, A self-propelled vehicle having a wiper motor for driving the wiper while spraying the washer liquid for removing the foreign matter in front of the camera; And Image storage and output means for amplifying the image photographed by the camera of the self-driving vehicle and storing the image on a recording medium and outputting the image on a monitor in real time; Control device of a self-propelled vehicle for removing the protrusion pipe in the sewage pipe, characterized in that it comprises a. The method of claim 1, And a drum motor for rotating the drum on which the cable connected to the self-driving vehicle is driven by the control of the main controller by receiving the output power of the vehicle battery. Controls of the car. The lid 16 is installed on the upper part of the main body of the car 15 so as to be opened and closed, but the pedestal 17 is installed in the middle of the lid 16 so as to be operated up and down by the electric jack 18. Internally, a diaphragm is installed at one side to be divided into a driving unit 19 and an operating unit 20, and a lower end of one side of the driving unit 19 and a lower end of one side of the operating unit 20 are pivot shafts 21 and 21 '. ) To fasten the wheels by installing gears 22 (22 ') on one side of the rotational shaft so as to be interlocked with the chain 23, and rotating the operation unit 24 to rotate left and right on the front of the main body 15 ) And a fastening part 26 having a 'c' shape on the front of the rotating body 25 of the rotary actuator 24, and a camera 14 and a lamp 27 are installed on the fastening part 26. Self-propelled vehicle for removing the protruding pipe in the sewer pipe, characterized in that the grinding portion 28 is configured. According to claim 3, wherein the drive unit 19 is installed in the operating unit 20 formed in the center of the main body 15, the motor 29 is electrically operated to drive the drive shaft 19 through the partition wall. After protruding, the driving bevel gear 30 is installed on the motor shaft, and the driving shaft 21 is provided with driving bevel gears 31 engaged with the driving bevel gear 30 of the motor 29, both sides. A self-propelled vehicle for removing the protruding pipe in the sewer pipe, characterized in that the chain gear 22 is installed on one side of the rotating shaft to be interlocked with the chain 23. According to claim 3, the rotary actuator 24 is provided with a motor 34 and a reducer 35 for rotating the rotary body 25 on one side of the operating portion, the rotary body 25 on the front of the body 10 ) Is rotatably coupled to the inside of the main body 10, and the drive gear 36 is fastened to the end of the rotating body 25 so as to interlock with the gear 37 of the reducer installed inside the main body 10. Fixing lamps 38 are installed on both sides of the front upper portion of the rotating body 25, and a polishing body 39 having a polishing device is installed on the fastening part 26 formed at one side of the rotating body 25. However, the motor 40 and the reducer 41 are installed in the rotating body 25, and the drive gear 42 is installed on the shaft for fixing the polishing body 39, and the speed reducer installed in the rotating body 25. Frequently used for removing the protruding pipe in the sewer pipe, characterized in that the grinding body 39 is operated up and down by fastening with the motive gear of . [4] The polishing unit 28 of claim 3, wherein the polishing unit 28 includes a camera 14 having a wiper 43 and a washer liquid injection nozzle 51 installed at one side of the polishing body 39, and a cam plate 44 fixed at the center thereof. On one side of the cam plate 44, the fasteners 46 formed with several long holes 45 formed at regular intervals are fastened by protruding the bearings, and the outer diameter of the fasteners 46 is provided with a threaded portion to form a threaded portion therein. The fastener 47 is fastened to the inside of the polishing body 39 by installing a motor 49 to which the motive gear 48 is fastened so as to be rotated by connecting with the gear 50 of the fixture 46. Self-propelled vehicle for removal of protrusions in sewer pipes. According to claim 3, the operating device of the wiper (43) is fastened to the end of the motor 13 to the cam plate 52, the roller 51 is installed to be biased to one side to rotate, the wiper (43) A self-propelled vehicle for removing the protruding pipe in the sewer pipe, characterized in that the fastener (51) is formed on the shaft and the roller (51) of the cam plate (52) is fastened to the long hole (53). According to claim 3, Pedestal 17 is fixed to the fixing fixture 55 is installed on the bottom surface of the central portion of the lid fastening the upper and lower operating mechanism 57 is formed with a screw fastening hole 56 therein inside the fixing fixture After forming the long hole 58 on one side of the 57 and the fastener 55, the fastener 59 is fastened to the upper side of the long hole of the fastener 55, and the rotating shaft 60 can be rotated at the lower end of the fastener 55. To protrude so that it is fastened to the screw fastening hole 56 formed at the lower end of the upper and lower operating holes 57, and the chain gear 61 is installed at the lower end of the rotational shaft 60 and rotated by the motor 62 at one side thereof. Self-propelled vehicle for removing the protruding pipe in the sewage pipe, characterized in that the chain gear 63 is installed to be connected to the chain with the chain gear 61 of the rotating shaft 60.