KR20040045557A - for inspection and repair of drain-pipe operation robot - Google Patents

Abstract

PURPOSE: A robot for inspecting and repairing a drainpipe is provided to quickly inspect and repair the drainpipe by freely moving a cutter unit on a main body. CONSTITUTION: In a robot for inspecting and repairing a drainpipe, a rotation detecting sensor has a sensor gear engaged with a driven gear in a head(10), and detects the rotary angle of the head. A pair of arms(20) are fit into a rotary shaft, and are disposed at both sides of the head. A first cylinder(23) is installed at one side of the arm and the lower part of the head. A cutter(30) includes a hydraulic motor(31) rotatably installed at the end of the arm, a bracket and a cutting blade(32) mounted to the hydraulic motor. A second cylinder is installed at the arm and the bracket. A camera head is mounted to one side of the arm, and is rotated by a reduction motor. A camera and a lamp are installed at the camera head. A support bracket(51) is rotatably installed at the upper part of a main body(1), and has a support roller.

Description

Inspection and repair of drain-pipe operation robot

The present invention relates to a sewage pipe work robot for inspecting and repairing sewage pipes buried underground, and in detail, cutting and crushing sewage inflow pipes or various obstacles that impede the flow of sewage, while detecting harmful gases and sewage pipes. The present invention relates to a sewer pipe inspection and repair robot that inspects faults and determines damage and lifespan.

In general, the various sewage and sewage pipes buried in the ground decay over a long period of time, so corrosion occurs in the water supply pipes, enormous amounts of water leaks, green water flows, and contaminates drinking water. Due to the deformation of the ground, gaps are created in the joints and breakages and steps occur, while contaminating groundwater due to stagnation of sewage inflow pipes and various obstacles that protrude into the sewer pipes and prevent the smooth flow of sewage. It is the situation.

As sewage pipes are buried underground, troubles need to dig the ground for maintenance work after construction, and it takes a long time and high cost to repair them. Recently, unmanned robots for inspection and maintenance are put into the sewer pipes to the camera. The non-excavation repair method is applied to take a picture of the inside to identify the damage state and perform repair work.

As described above, the robot used for non-excavation maintenance work of sewage pipes has been proposed in the patent application 1998-0050018 "cutting and drilling device for sewage pipes," the prior art is a wheel that rotates by the drive of the motor in front and rear of both sides And a cutting head mounted on the front side of the main body and rotating 360 °, a reduction motor mounted in the main body to provide rotational force to the cutting head, and mounted on the front upper side of the cutting head. It consists of a camera that moves and irradiates the inside of the pipeline, a camera head provided with illumination, and a cutter that is mounted on the front lower side of the cutting unit head and cuts protrusions projecting in the pipeline while rotating at a predetermined angle up and down.

In the above-described prior art, the camera and the cutter are operated separately by the remote control in the main body, so that the situation investigation in the pipeline and the cutting of the protrusion are performed in parallel, thereby reducing the working time and exploring the working state to finish the cutting part. It is designed to perform the process perfectly.

However, the above prior art is exposed to the problem that the wiring is damaged during the cutting operation as the wire is connected from the cutting head to the cutter in order to drive the cutter hydraulically, and also using the reduction gear and the chain gear in the cutting head By rotating the cutter at a predetermined angle, there was a problem in that durability of the reduction gear and the chain gear was reduced by vibration generated during cutting.

In addition, since the camera head and the camera head equipped with lighting are only moved up and down at the cutting head, the problem of not being easily taken during the cutting operation of the ceiling and side of the sewer pipe is exposed. The main body is supported by the sewage pipe by raising and lowering the drive by the reduction motor, but there is a problem that a large torque occurs in the reduction motor when the jack is operated up and then is damaged.

The present invention has been made to solve the problems of the existing sewer pipe robot, a pair of arms to be rotated at a predetermined angle up and down by the operation of the cylinder to the head rotating in front of the main body and the hydraulic motor and the cutter blade at the tip of the arm The hydraulic pressure provided to the hydraulic motor is provided to the hydraulic motor through the head and the arm in the main body, and the camera head which is rotated by the drive of the reduction motor is installed in the arm pivoting up and down in the head. It is an object of the present invention to provide a sewage pipe inspection and repair robot, in which a main body is supported by the sewage pipe during work by mounting an air bag at the side.

In addition, the present invention is equipped with a gas detector or a non-destructive tomography and fracture breaker at the tip of the arm rotated up and down in the head to detect the harmful gas introduced into the sewer pipe, and inspect the fault of the sewer pipe to determine whether damage and life It is another object of the present invention to provide a sewer pipe inspection and repair robot for crushing a structure that is an obstacle to the flow of sewage.

The present invention is to perform the operation quickly by moving the cutter composed of the hydraulic motor and the cutter blade freely up and down from the main body by remote control, and to reduce the vibration by increasing the bearing capacity of the main body in the sewage pipe during the operation, the wiring to provide hydraulic pressure Since it is unnecessary, it increases the durability of the robot and easily captures and monitors the work situation, and is equipped with a gas detector, a tomography camera for nondestructive inspection, and a crushing breaker to perform various inspections and repairs.

1 is a perspective view of a robot according to an embodiment of the present invention;

2 is a side view showing a working state of the robot according to the present invention;

3 is a side cross-sectional view of the main body and head of the robot according to the present invention;

4 is a plan sectional view of the main body and head of the robot according to the present invention;

Figure 5 is a main cross-sectional plan view of the main body and head and arm of the robot according to the present invention;

6 is a plan sectional view showing a driving part of the robot head according to the present invention;

7 is a front view of main parts showing a drive gear of the robot head according to the present invention;

8 is a vertical operation state of the robot arm according to the present invention

9 and 10 is a rotational operation state diagram of the robot head according to the present invention

11 is a main sectional plan view of an installation state of the camera head according to the present invention;

12 is a front view of the cutter according to the present invention;

13 is a state diagram of the installation of a gas detector according to the present invention

14 is an installation state of the non-destructive inspection tomography apparatus according to the present invention

15 is an installation state of the breaker for crushing in accordance with the present invention

[Explanation of symbols on the main parts of the drawings]

1: body 3: wheel 4: reduction motor

10: head 11: housing 12: hydraulic shaft

13: deceleration motor 14: rotation detection sensor 20: arm

21: rotating shaft 22: hydraulic man 23: the first cylinder

24: 2nd cylinder 30: Cutter 31: Hydraulic motor

32: cutter blade 40: camera head 41: camera

42: lighting 43: reduction motor 50: airbag

51: support bracket 52: support roller 60: gas detector

70: tomography apparatus 80: breaker

The present invention is to provide a robot that performs a variety of inspection and repair operations while performing a variety of inspection and repair operations by freely controlling the cutter from the body of the robot by remote control, Figure 1 to Figure 12 shows in detail the configuration of an embodiment according to the invention.

According to the present invention, the main body 1 provided with the wheels 3 rotating in the front and rear directions by the driving of the reduction motor 4 and the head 10 mounted on the front side of the main body 1 and rotated by the driving of the reduction motor 13 are provided. ), The cutter 30 mounted on the front side of the head 10 and rotating up and down at a predetermined angle, and the camera 41 and the lighting 42 mounted on the front side of the head 10 and moved up and down. In the existing sewage pipe work robot composed of the installed camera head 40,

A rotation sensor 14 mounted inside the main body 1 and fitted with a driven gear 10a of the head 10 to detect a rotation angle of the head 10, and the head A pair of arms 20 fitted to the rotary shaft 21 so as to be disposed on both upper surfaces of the upper portion 10, a first cylinder 23 provided at one side of the lower portion of the head 10 and the arm 20, and The hydraulic motor 31 is installed to be rotated between the distal end of the arm 20, the cutter 30 with the bracket 34 and the cutter blade 32 mounted on the hydraulic motor 31, and the hydraulic pressure with the arm 20. The second cylinder 24 installed on the bracket 34 of the motor 31, mounted on one side of the arm 20, rotated by the drive of the reduction motor 43, the camera 41 and the illumination 42 is installed The camera head 40 and the airbag 50 are installed on the top of the main body 1 so that the support bracket 51 on which the support roller 52 is mounted is rotated on the main body 1 so as to be placed on the airbag 50. The present invention installed It is characterized.

The robot according to the present invention is put into the sewage pipe which requires inspection and repair work through the manhole using a winch or other equipment, and proceeds by remote control to shoot the camera in the external work vehicle or equipment CC TV If the sewer inflow pipe or obstacle is found to obstruct the flow of sewage in the direction of movement, the cutter machine equipped with the cutter blade moves freely by remote control.

In the present invention, the main body 1 is equipped with wheels 3 for movement in front and rear sides of the outer both sides, and the head 10 and the housing 11 are mounted on the front side to be sealed, and the cover 2 is sealed on the upper side. The main body 1 is kept airtight, and the rear surface of the main body 1 is provided with a hydraulic hose 6 provided with hydraulic pressure from an external hydraulic device, and power is provided while a cable for remote operation of the robot ( 7) is connected.

Here, the hydraulic pressure provided through the hydraulic hose (6) is provided to the hydraulic sub valve (8) installed inside the main body (1) through the hydraulic hole (6a) perforated on the bottom surface of the main body (1), the hydraulic sub valve (8) is operated by a controller installed inside the main body (1).

On the other hand, the wheel 3 for the front and rear movement of the robot is driven by the worm gear and the chain (5) by the reduction motor (4) mounted inside the main body 1 to rotate the front and rear wheels (3) the main body (1) ) Will move back and forth in the sewer.

The head 10 mounted at the front of the main body 10 is rotatably attached to the front side by a separate housing 11 having a bearing therein, and is driven by the driven gear 10a at the rear end inserted into the main body 1. Is formed and engaged with the motive gear 13a of the reduction motor 13 mounted inside the main body 1, so that the head 10 is rotated forward and backward by the driving of the reduction motor 13.

The hydraulic shaft 12 attached to the main body 1 is rotatably fitted inside the head 10, and the hydraulic shaft 12 has a hydraulic hole 12a formed therein, so that the hydraulic pressure from the hydraulic subvalve 8 is increased. The hydraulic pressure supplied to the hydraulic hole 12a of the hydraulic shaft 12 is provided to the head 10 and a plurality of packings are fitted to the hydraulic shaft 12 to maintain airtightness inside the head 10.

In addition, the rotation shaft 21 is formed on both sides of the upper portion of the head 10, and the arm 20 of a predetermined length is rotatably mounted in pairs, and the lower side of the head 10 and the front side of the arm 20. The first cylinder 23 is installed at the front side, but the shaft 23a is mounted on the front sides of the arms 20, and the piston shaft of the first cylinder 23 is mounted on the shaft 23a so that the pair of arms 20 are mounted. The first cylinder 23 rotates at the same time up and down a predetermined angle around the rotation shaft 21 at the same time.

The cutter 30 composed of the hydraulic motor 31 and the cutter blade 32 is installed between the tip portions of the pair of arms 20, and the hydraulic motor 31 of the cutter 30 is connected to the arm 20. It is fitted to the front end of the rotating shaft 35 rotatably installed on the arm 20, the nozzle 33 for spraying the cutting oil is mounted on the upper portion of the hydraulic motor 31 to perform a smooth cutting operation, the bracket 34 on the rear side Is attached.

Meanwhile, the shaft 24a is mounted on the rear side of the arm 20, and the second cylinder 24 is mounted on the bracket 34 attached to the shaft 24a and the hydraulic motor 31. By the operation of the hydraulic motor 31 is rotated at a predetermined angle around the rotating shaft 35 at the tip of the arm (20).

Therefore, in the robot of the present invention, the pair of arms 20 are rotated at a predetermined angle by the driving of the first cylinder 23 in the head 10 rotatably mounted on the front side of the main body 1, and also the second cylinder. Since the cutter 30 rotates at a predetermined angle at the tip of the arm 20 by the driving of the 24, the cutter 30 can move freely by remote control.

The camera 41 and the camera head 40 installed with the lighting 42 to check the internal exploration and working conditions of the sewer pipe are installed on one side of the arm 20, and the reduction motor 43 is provided inside the arm 20. And the worm gear is mounted on the rotating shaft of the camera head 40 and the rotating shaft of the reduction motor 43 so that the camera head 40 is rotated by the driving of the reduction motor 43, and washed on the arm 20. The nozzle 44 is mounted to spray the washing water onto the lens surface of the camera 41 so that the cleaning of the foreign matter is performed.

As the camera head 20 is installed on the arm 20 which is moved together with the cutter 30 in the above, the operator can clearly check the working situation on the monitor by accurately photographing the cutter blade 32 and the working position during the maintenance work. The cover 45 is attached to the outside of the arm 20 to seal the inside in which the reduction motor 43 is installed.

In addition, in order to support the main body 1 to the sewer pipe from the vibration during the maintenance work, an air bag 50 for supplying air from the outside is installed on the upper part of the main body 1, and a support bracket 52 is provided with a support roller 52 on the rear upper side ( 51 is rotatably installed on the upper front side of the main body 1, but is installed so that the support bracket 51 is placed on the airbag (50).

Therefore, if air is supplied to the airbag 50 before the operation is performed, the airbag 50 is expanded and the support bracket 51 is pushed upward by the inflation pressure, and the support roller 52 is in close contact with the ceiling of the sewer pipe. (1) is fixed to the sewer pipe.

Hydraulic pressure for driving the hydraulic motor 31 of the cutter 30 in the present invention is a hydraulic hole (10b) is formed on both sides in the head 10 as shown in Figure 5, the arm 20 is mounted A hydraulic hole 22 is formed inside the rotating shaft 21 and the arm 20 so that hydraulic pressure is provided to the tip end of the arm 20, and the hydraulic hole is provided inside the rotating shaft 35 on which the hydraulic motor 31 is mounted. By drilling 35a) to supply hydraulic pressure to the hydraulic motor 31, the cutter blade 32 is rotated at a high speed by driving the hydraulic motor 31.

In the above, the head 10, the rotating shafts 21, 35, and the arm 20, on which the hydraulic holes 10b, 22, 35a are formed, have a plurality of packings built-in, and the airtight portion of the rotating part To maintain the hydraulic pressure.

In addition, the hydraulic pressure is applied to the shafts 23a and 24a of the first cylinder 23 provided in the head 10 and the arm 20 and the second cylinder 24 provided in the arm 20 and the hydraulic motor 31. Perforations and perforated hydraulic holes in the rotating shaft of the cylinder are configured to provide hydraulic pressure to the first cylinder (23) and the second cylinder (24) through the head (10) and the arm (20).

The robot of the present invention having such a configuration is injected into the sewer pipe after dredging and cleaning work is performed in the sewer pipe requiring inspection and repair work, and photographs the inside with the camera 41 while proceeding with the sewer pipe by remote control. The CC TV monitor is inspected for cracks and damages.In addition, if a sewage inflow pipe or obstacle is found that protrudes into the sewer pipe and obstructs the flow of sewage, the operator can remotely control the monitor of the CC TV. By supplying hydraulic pressure to the hydraulic motor 31, the cutter blade 32 is rotated at high speed, and the cutter 10 is operated by operating the head 10, the first cylinder 23, and the second cylinder 24 in this state. Move to the work position and perform cutting.

In the repair work, the air is first supplied to the airbag 50, and the work is carried out while the main body 1 is supported and fixed in the sewer pipe by the support bracket 51 and the support roller 52, and the camera 41 during the work. If foreign matters on the lens surface of the camera head 40 is rotated to the correct position, and spray the washing water with the washing nozzle 44 to wash and continue the operation, depending on the material of the obstacle nozzle (33) of the cutter 30 Spray coolant to ensure smooth operation.

In the present invention, a pair of arms 20, a first cylinder 23 and a second cylinder 24 are installed on the head 10 installed to rotate on the front side of the main body 1. By freely moving the cutter 30 it is possible to quickly perform the inspection and repair work of the sewer pipe.

On the other hand, the present invention is a gas detector 60, non-destructive tomography 70 and obstacle breaker breaker between the tip of the arm 20, the cutter 30 is installed as shown in Figure 13 to 15 shown in the drawings ( In an embodiment equipped with 80, it is to make a variety of inspection and repair work of the sewer pipe.

In the above embodiment, the gas detector 60 has a function of detecting harmful gas introduced into the sewer pipe, and installs a gas detector 60 between the tip portions of the arm 20 on which the cutter 30 is installed, and flows into the sewer pipe. To prevent safety accidents by detecting explosive gases (LNG, LPG) and harmful gases such as ammonia gas and carbon monoxide.

In addition, in the above embodiment, the non-destructive inspection tomography machine 70 is a function of inspecting cracks and damages generated in the sewage pipe, and the non-destructive inspection tomography machine 70 is installed between the tip portions of the arm 20. Non-destructive inspection of sewage pipes transmits X-Ray or r-Ray radiation to the sewage pipes and regenerates the film or CRT to determine the presence of defects, or to examine the sewage pipe tissues using ultrasonic and high frequency to determine the lifespan. Done.

In addition, in the above embodiment, the obstacle crushing breaker 80 is a function for crushing and removing a concrete structure, which is difficult to work with a cutter 30 or takes a long time, and is operated hydraulically between the tip portions of the arm 20. The breaker 80 is configured to be installed, and the hydraulically operated breaker 80 is manufactured by applying a generalized publicly known technique of a ratchet method used in general small power tools.

Therefore, the present invention is equipped with a gas detector 60, a non-destructive tomography 70 and a breaker breaker 80 between the distal end of the arm 20, the cutter 30 is installed, more various inspection and repair You can do your work.

The preferred embodiments of the present invention have been described above with reference to the present invention, and are not limited to the above embodiments, and those skilled in the art through the above embodiments do not depart from the gist of the present invention. Can be implemented in a variety of changes.

The present invention is to install a pair of arms, the first cylinder and the second cylinder in the head installed in front of the main body to move the cutter freely from the main body up and down and left and right to perform the work quickly, to increase the support of the main body in the sewage pipe during the operation Reduces vibration and eliminates the need for wiring to provide hydraulic pressure with the cutter, increasing robot durability and easily photographing and monitoring work conditions, and equipped with gas detectors, tomography machines for non-destructive inspection, and crushing breakers It is to provide an effect that can be performed.

Claims (6)

A main body 1 provided with wheels 3 rotating in front and rear with driving of the reduction motor 4, a head 10 mounted on the front side of the main body 1 and rotating by driving of the reduction motor 13, A camera head mounted on the front side of the head 10 to rotate up and down a predetermined angle, and a camera head mounted on the front side of the head 10 to move up and down, and to which the camera 41 and the illumination 42 are installed. In the existing sewage pipe work robot composed of 40, A rotation sensor 14 mounted inside the main body 1 and fitted with a driven gear 10a of the head 10 to detect a rotation angle of the head 10, and the head A pair of arms 20 fitted to the rotary shaft 21 so as to be disposed on both upper surfaces of the upper portion 10, a first cylinder 23 provided at one side of the lower portion of the head 10 and the arm 20, and The hydraulic motor 31 is installed to be rotated between the distal end of the arm 20, the cutter 30 with the bracket 34 and the cutter blade 32 mounted on the hydraulic motor 31, and the hydraulic pressure with the arm 20. The second cylinder 24 installed on the bracket 34 of the motor 31, mounted on one side of the arm 20, rotated by the drive of the reduction motor 43, the camera 41 and the illumination 42 is installed The camera head 40 and the support bracket 51 on which the support roller 52 is mounted to install the airbag 50 on the upper part of the main body 1 and to be placed on the air bag 50 rotate on the upper part of the main body 1. Specially installed Sewer inspection and maintenance Robots for that to. The method of claim 1, A hydraulic shaft 12 having a hydraulic hole 12a formed inside the head 10 is rotatably fitted so that hydraulic pressure supplied to the hydraulic shaft 12 is provided inside the head 10. . The method of claim 1, The hydraulic hole 10b is formed in the head 10, and the hydraulic shaft 22 is formed inside the arm 20 and the rotating shaft 21 on which the arm 20 is mounted. robot. The method of claim 1, A robot for sewer pipe inspection and repair, characterized in that a gas detector (60) is provided at the tip of the arm (20) on which the cutter (30) is installed. The method of claim 1, A robot for sewer pipe inspection and repair, characterized in that a non-destructive tomography camera (70) is provided at the tip of the arm (20) where the cutter (30) is installed. The method of claim 1, Sewage pipe inspection and repair robot, characterized in that the breaker 80 is operated hydraulically to the front end of the arm 20, the cutter 30 is installed.