KR20070044562A - A method for maintaining and repairing in water supplying line - Google Patents

Abstract

In the present invention, the excavation method was mainly used for water leakage repair and pipe cleaning of water pipes with a diameter of 200 mm or more, but according to the water supply facility regulations, the installation of inspection ports was prescribed to facilitate the construction and maintenance of the water pipes. And facility equipment is required. The present invention relates to a 'complex repair and repair method using the inspection tool' that repairs and manages the water supply pipeline in a sequential manner by process management.

The present invention is a known 'in-tube condition inspection robot (patent application No. 10-2005-0100618),' in-pipe polishing robot (patent application No. 10-2005-0100626) ',' sludge suction robot (patent application 10- 2005-0100620) ',' Indoor Leak Repair Robot (Patent Application No. 10-2005-0100611) 'and' Indoor Coating Robot (Patent Application No. 10-2005-0100629) ' Simplify the water supply pipeline by remotely observing the condition of the pipeline, polishing the corroded surface and foreign substances on the inside of the pipe, discharging the sludge outside the pipe, repairing the leaked area, or applying non-toxic, water-soluble, anti-corrosive paint to the inside of the pipe. It can be repaired and managed effectively.

Water supply pipe, Inspection port, Leakage, Pipe cleaning, Pipe inspection robot, Pipe polishing robot, Sludge suction robot, Pipe leakage repair robot, Pipe coating robot, Water sprayer, Fixed band    

Description

A Method for Maintaining and Repairing in Water Supplying Line

1 is a process flow chart for in-house inspection and repair

Figure 2 is a perspective view showing an example of the robot configuration of the invention

Figure 3 is a perspective view of the tube state inspection robot of the invention

4 is a perspective view of the endocrine polishing robot of the invention

5 is a sludge suction robot perspective view of the invention

Figure 6 is a perspective view of the leak-proof robot of the invention

      7 is a perspective view of the in-coating robot of the invention

8 is a perspective view of an embodiment of the invention (polishing situation)

9 is a perspective view of an embodiment of the invention (sludge suction situation)

Figure 10 is a perspective view of an embodiment of the present invention (exponential lava and fixed band installation situation)

* Description of the main parts of the drawing

1: robot with various individual functions

2: robot body

3: 4 sets of upper left and right self-propelled wheels

4: 4 sets of lower left and right autonomous wheels

5: 4 sets of observation camera

6: 4 sets of lighting

7: grinding department

8: Sludge Suction Device

9: repair materials expansion mechanism

      10: exponential lava

      11: fixed band

      12: coating equipment

In the present invention, the excavation method was mainly used for water leakage repair and pipe cleaning of water pipes having a diameter of 200 mm or more, but according to the provisions of the water supply facility, the installation of inspection doors was prescribed to facilitate the construction and maintenance of the water supply pipes. It is required. The present invention relates to a complex water treatment pipeline repairing method using a check fixture that repairs and maintains the water supply pipeline in a sequential manner by process management.

At present, a method of repairing several kinds of non-excavated water and sewage pipes has been introduced, but most of them are technologies that are mainly applied to the repair of sewage pipes. The existing robot for work in the pipe was able to work in the straight state without the deflection of the pipe buried, but it was difficult to work on the weak part (curve part such as elbow).

This method devises a robot with a common function, and adds a device with its own function so that the water pipe can be observed and polished, sludge suction, leak point repair or inner surface coating can be carried out easily and efficiently. The construction of this method can be composed in various combinations according to the condition of the water supply pipe and consist of at least two robots. Each configuration must include a pipeline status inspection robot.

* Configuration example;

1) Status Inspection Robot + Grinding Robot + Sludge Suction Robot + Leak Repair Robot + Coating Robot

2) Status check robot + Leak repair robot

3) Status check robot + Leak repair robot + Leak repair robot

4) Status Inspection Robot + Polishing Robot + Sludge Suction + Coating Robot

5) Status Inspection Robot + Abrasive Robot + Abrasive Robot + Leak Repair Robot + Coated Robot

Excavation method was mainly used for water leak repair and pipe cleaning of underground water pipes, but the installation of inspection gates is required to facilitate the construction and maintenance of water pipes according to the regulations of water supply facilities. have. The existing robot for work in the pipe was able to work in the straight state without the deflection of the pipe buried, but it was difficult to work on the weak part (curve part such as elbow). Therefore, a function that can pass through the weak part of the water supply pipe and a robot capable of working while passing must be developed.

This method devises a robot with a common function, and adds a device with its own function so that the water pipe can be observed and polished, sludge suction, leak point repair or inner surface coating can be carried out easily and efficiently. do.

1. Common features of the robot:

According to the basic body features of aluminum die-casting material, it is easy to pass through the weak part (elbow light curve part) through the water pipe, and easily arrange observation cameras, lights, and devices with unique functions using the inner and outer surfaces of the body. The length of the robot can be shortened. It is equipped with self-propelled wheels on four sides such as upper left and right and lower left and right so that it has a concentric shaft and a conduit so that it is not overturned.

2. In-house condition check function:

'In-house condition inspection robot' can be equipped with at least four observation cameras and lightings, so it can effectively observe the straight section and the curved section inside the water pipe to save data such as pipe crack state, pinhole state, pipe fitting state, etc. It can be utilized for repairing leak points and internal cleaning.

3. Intragranular Grinding Function:

In-tube polishing robot moves the robot to the working point by using the equipped observation camera, and when the variable motor of the expansion / extension device attached to the central part of the robot body is driven, the polishing unit protrudes into the tube surface and moves in a circle. Therefore, it is possible to easily and effectively remove the corroded surface and the substance in the pipe. A shock absorbing spring is attached to the shaft of the expansion device to protect the grinder.

4. Sludge suction function

'Sludge suction robot' is used just before coating the inner surface after removing a large amount of sludge deposited in the water pipe by a known method, and prevents defects on the coating surface caused by the remaining small amount of sludge. . After moving the robot to the working point by using the attached observation camera, when the variable motor of the expansion and contraction device attached to the center part of the robot is driven, the sludge suction device protrudes to the inside of the pipe and moves in a circle to remain in the pipe. The sludge can be removed easily and effectively.

5. In-house leak repair function:

'In-house leak repair robot' uses the observation camera installed to advance the robot to the working point, and then the observation camera mounted while supporting the water stop bar and the fixing band outside the repair retightening device fixed to the center of the robot body. Advance the robot to the leaked area by using. By operating the mechanism mounted on the robot body, it is possible to easily and effectively repair the leak point of the water supply pipe by attaching the water stop bar and the fixing band to the leaked part.

6. Pipe coating function

Equipped with a long body, 'in-coating robot' retracts the robot, and a rotating coating device located in the center axis of the robot makes a circle and sprays non-toxic, water-soluble and anti-corrosive paint at a certain pressure. At this time, if the injection pressure and the reverse speed are properly controlled, a coating film having a desired thickness can be applied to the water conduit.

Referring to the configuration of the present invention in detail based on the accompanying drawings as follows. 1 is a schematic view showing the overall structure of the invention, Figure 2 is a perspective view of the endothelial inspection robot of the invention, Figure 3 is a perspective view of the endothelial polishing robot of the invention, Figure 4 is a perspective view of the sludge suction robot of the invention, Figure 5 Fig. 6 is a perspective view of the leaky robot of the invention, Fig. 6 is a perspective view of the in-coating robot of the invention, Fig. 7 is a perspective view (abrasive state) of one embodiment of the invention, Fig. 8 is a perspective view (sludge suction state) of an embodiment of the invention, FIG. 9 is a perspective view of an embodiment of the invention (exponential lever and fixed band installation), and FIG. 10 is a perspective view of an embodiment of the invention (coating state).

This method devises a robot with a common function, and adds a device with its own function so that the water pipe can be observed and polished, sludge suction, leak point repair or inner surface coating can be carried out easily and efficiently. do.

1. Common features of the robot:

According to the feature of the basic body (2) of the aluminum die-casting material, it is easy to pass through the weak part (elbow light curve) through the water pipe, and the observation camera (5), the lamp (6) and the unique A device having a function can be easily arranged and the length of the robot is shortened. It is equipped with self-propelled wheels (3,4) on the four sides, such as the upper left and right and lower left and right, so that the concentric shaft and the conduit are not overturned, and there is no shaking of the robot during the functional work, thereby improving the accuracy and efficiency of the work. The shaft of the wheel is composed of a shock absorbing shock absorber and can be adapted to the shape of the pipe. The wheels are driven by individual linear motors and can only drive the lower wheels during universal operation. Observation camera (5) and the lamp (6) is installed at least four at equal intervals so that the inner surface of the tube can be observed at the same time. Power lines and communication lines are installed in the empty space in the center of the body, and there is a connection outside the city where the robot can be connected to both ends of the body.

2. In-house condition check function:

'In-tube condition inspection robot' can be equipped with at least four observation cameras (5) and lighting lamps (6), so the pipe cracks, pinholes, and pipe fittings can be effectively observed by observing straight sections and curved sections inside the water pipe. It saves data such as state and can be used for leak point repair and internal cleaning.

3. Intragranular Grinding Function:

'Intra-polishing robot' advances the robot to the working point by using the observation camera (5) mounted, and then when the variable motor of the expansion device attached to the central part of the robot body is driven, the grinding unit (7) is the inner surface of the tube. It protrudes in a circle and operates to remove the corroded surface and the substance in the pipe easily and effectively. A shock absorbing spring is attached to the shaft of the expansion device to protect the grinder. Copper polishing (7) is easily removable, it can be replaced with a variety of grinding devices (grinder, steel polishing brush) depending on the corrosion state and the accumulation of foreign matter.

4. Sludge suction function

'Sludge suction robot' is used just before coating the inner surface after removing a large amount of sludge deposited in the water pipe by a known method, and prevents defects on the coating surface caused by the remaining small amount of sludge. . After moving the robot to the working point by using the attached observation camera, when the variable motor of the expansion and contraction device attached to the center part of the robot is driven, the sludge suction device 8 protrudes into the tube surface and operates in a circle. The sludge remaining in the can be removed easily and effectively.

5. In-house leak repair function:

'In-house leak repair robot' utilizes the observation camera (6) mounted while supporting the water stop bar (10) and the fixing band (11) outside the repair material expansion mechanism (9) fixed to the center of the robot body. Proceed to the leak area. When the variable motor outside the city mounted on the water retaining member expansion mechanism 9 is driven, the latch ring of the fixing band 11 of the corrosion resistant material is extended and fixed, and the water stop bar is completely in close contact with the inner surface of the leaking part. The clasp of the fixing band 11 has a structure that does not return to the back when it is expanded, and the pressure in close contact with the pipe is 70 kg / cm ² . It is possible to realize simple and effective internal maintenance without affecting.

6. Pipe coating function

Equipped with a long body, 'in-coating robot' is a rotary coating device 12 located in the central axis of the process while rotating the robot in a circle, spraying non-toxic, water-soluble, anti-rust coating paint at a constant pressure. At this time, if the injection pressure and the reverse speed are properly controlled, a coating film having a desired thickness can be applied to the water conduit.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes can be made in the art without departing from the technical spirit of the present invention. It will be clear to those of ordinary knowledge.

Excavation method was mainly used for water leak repair and pipe cleaning of underground water pipes, but the installation of inspection gates is required to facilitate the construction and maintenance of water pipes according to the regulations of water supply facilities. have. The existing robot for work in the pipe was able to work in the straight state without the deflection of the pipe buried, but it was difficult to work on the weak part (curve part such as elbow). Therefore, a function that can pass through the weak part of the water supply pipe and a robot capable of working while passing must be developed.

This method devises a robot with a common function, and adds a device with its own function so that the water pipe can be observed and polished, sludge suction, leak point repair or inner surface coating can be carried out easily and efficiently. do.

Therefore, there is an effect that a complex repair method for easily and effectively repairing and managing a water pipe having a diameter of 200 mm or more by a non-excavation method is established.

Claims (5)

In `` Combined repair and repair method of water supply pipe using inspection tool '' to repair and manage the water supply pipe in sequential method by process control, According to the process diagram of FIG. 1, the maintenance and repair of the water supply pipe is simple and efficient by constructing an internal condition inspection robot, an internal polishing robot, a sludge suction robot, an internal leak point repair robot, and a pipe coating robot in various combinations suitable for site conditions. It is a complex repair method of water pipes that can be executed by The work is performed with at least two robots. Each configuration must include a pipeline status inspection robot. Each robot has the common functions of 'Claim 2 ~ 5' and has the following individual functions. 1. In-house status check function: 'In-house condition inspection robot' can be equipped with at least four observation cameras and lightings, so it can effectively observe the straight section and the curved section inside the water pipe to save data such as pipe crack state, pinhole state, pipe fitting state, etc. It can be utilized for repairing leak points and internal cleaning. 3. Intragranular Grinding Function: In-tube polishing robot moves the robot to the working point by using the equipped observation camera, and when the variable motor of the expansion / extension device attached to the central part of the robot body is driven, the polishing unit protrudes into the tube surface and moves in a circle. Therefore, it is possible to easily and effectively remove the corroded surface and the substance in the pipe. A shock absorbing spring is attached to the shaft of the expansion device to protect the grinder. 4. Sludge suction function 'Sludge suction robot' is used just before coating the inner surface after removing a large amount of sludge deposited in the water pipe by a known method, and prevents defects on the coating surface caused by the remaining small amount of sludge. . After moving the robot to the working point by using the attached observation camera, when the variable motor of the expansion and contraction device attached to the center part of the robot is driven, the sludge suction device protrudes to the inside of the pipe and moves in a circle to remain in the pipe. The sludge can be removed easily and effectively. 5. In-house leak repair function: 'In-house leak repair robot' uses the observation camera installed to advance the robot to the working point, and then the observation camera mounted while supporting the water stop bar and the fixing band outside the repair retightening device fixed to the center of the robot body. Advance the robot to the leaked area by using. By operating the mechanism mounted on the robot body, it is possible to easily and effectively repair the leak point of the water supply pipe by attaching the water stop bar and the fixing band to the leaked part. 6. Pipe coating function 'In-coating robot' revolves the robot while rotating coating device located in the central axis of movement, circle, spraying non-toxic, water-soluble, anti-rust paint at a constant pressure. At this time, if the injection pressure and the reverse speed are properly controlled, a coating film having a desired thickness can be applied to the water conduit. In the 'maintenance and maintenance robot' that can easily and effectively repair the leak point of water pipes with a diameter of 200 mm or more,  According to the basic body features of the janggu shape, it is easy to pass through the weak part (elbow lamp curved part) through the water conduit, and the robot can be easily arranged by using the inner and outer surfaces of the body for observation cameras, lights, and devices with unique functions. Robot structure of the structure that can be shortened. It is equipped with self-propelled wheels on four sides such as upper left and right and lower left and right, so it has a concentric shaft and a conduit so that it is not rolled over. At least four self-propelled wheels are formed and attached to upper, left and right sides. The shaft of the wheel is composed of a shock absorbing shock absorber and can be adapted to the shape of the pipe. The wheels are driven by individual linear motors, and the robot structure can only drive the lower wheels during universal operation. At least four pairs of observation cameras and lightings are installed at equal intervals so that the inside of the pipe can be observed at the same time.

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