KR20100094918A - Coating-layer removal device for regenerating superannuated pipes - Google Patents

Abstract

PURPOSE: A device for eliminating a coating film of an old pipe for regenerating an old pipe is provided to easily dispose waste by collecting eliminated scraps and foreign materials using a dust collector. CONSTITUTION: A device(100) for eliminating a coating film of an old pipe for regenerating an old pipe comprises a vehicle body(110) and a coating removal device(120). The vehicle body is moved inside a pipe. The coating removal device comprises a fixed frame(125), an elevating frame(130), an elevating tool, a rotary supporter, multiple head supporters(145), and removing heads(147). The elevating frame is inserted into the outside the fixed frame. The elevating tool elevates the elevating frame. The rotary supporter is rotated by a rotary driving tool. The head supporters are radially protruded from the inner surface of the pipe. The removal heads remove scales or coating films on the inner surface of the pipe.

Description

Coating-layer removal device for regenerating superannuated pipes}

The present invention relates to an old pipe coating film removal equipment for the regeneration of the old pipes, such as water pipes, sewage pipes, gas pipes, etc., through which the fluid passes.

In general, pipes for transferring fluids such as water pipes, sewer pipes, oil pipes, and gas pipes are mainly cast iron pipes, steel pipes, synthetic resin pipes, and concrete pipes.

Among these, large pipes are mainly made of cast iron pipes or steel pipes, and when the cast iron pipes or steel pipes are used for a long time, they become corroded or damaged due to aging by fluids or other foreign substances passing through them.

In particular, in the case of water pipes made of cast iron pipes or steel pipes to prevent the oxidation by coating the inside for safer drinking water supply.

However, when used for a long time, problems such as corrosion or peeling of the coating part inside the pipe line occur.

In order to solve this problem, there is a method of replacing the entire pipeline, but rehabilitation methods have been applied to improve the pipeline. As a result, various research and development are being conducted to smoothly and efficiently perform pipeline rehabilitation work.

As an example, Korean Patent No. 863263 discloses an aged pipe rehabilitation device and method.

The above patent invention, the main body having a plurality of segmented pipe having a hollow hole for passing through the hose for fluid supply from the outside to move straight on the inner surface of the old pipe; A first moving device extending equally from the outer circumferential surface of each segment pipe of the main body toward the pipeline surface and having a first absorber configured to expand and contract in response to the pressing pressure on the pipeline surface and a first wheel contacting the pipeline surface ; Through-holes are formed in the center to allow the hose to pass through, and each segment pipe of the main body is connected to each other, so that the main body is connected to the old pipe by allowing each segment tube of the main body to bend in correspondence to the curvature of the curved tube. A turning joint to provide flexible bendability when passing through the bend; A rotary device connected to the center of the redirection joint; It is installed to extend at an equal angle toward the pipe surface from the outer peripheral surface of the rear end side segment pipe of the main body, and is provided on the inner surface of the pipeline having a second absorber and a second wheel in contact with the pipe surface in the expansion and contraction in response to the pressing pressure on the pipe surface A second moving device that rides on the uneven surface of the scale; A scale removing device extending in a radial direction of the conduit on the central axis of the rotating device, for removing the scale by drawing a fine cutting line in the circumferential direction while rotating the end portion in contact with the conduit surface at a constant pressure; A pipe polishing device, which is replaced with the scale removing device and installed radially on the central axis of the rotating device, and blows the blow flakes toward the inner surface of the pipe from which the scale is removed as a subsequent step of the descaling process to polish the inner surface of the pipe; And a coating apparatus for radially replacing the conduit polishing apparatus, installed radially on the central axis of the rotating apparatus, and spraying paint toward the inner surface of the conduit polished by a subsequent process of the polishing process to form a lining.

However, although the patent invention as described above has the effect of simplifying the rehabilitation process and shortening the rehabilitation work time, the continuous workability is provided because the descaling device, the pipeline polishing device, and the painting device are configured interchangeably. The efficiency is lowered, and it is difficult to apply it when the auxiliary equipment having a considerable load is mounted due to the configuration of the radial moving device rather than the bogie type, and thus there is a limit to more stable system operation.

The present invention has been made to improve the above-mentioned limitations of the prior art, the process for rehabilitation of old pipes comprising the old pipe coating film removal equipment that allows the pipe rehabilitation work more quickly, to enable more efficient pipe rehabilitation work and use thereof. The purpose is to provide old rehabilitation equipment.

Particularly, the present invention provides a deteriorated pipe coating film removal equipment which enables the coating film removal operation to be performed more stably while supporting the apparatus for removing the coating film inside the pipe, and also to easily adjust the position of the coating film removal equipment. The purpose is to provide.

In addition, the present invention is configured to collect and dispose of the debris and foreign matter removed through the film removal equipment to the dust collector, and also provides an old pipe coating film removal equipment to facilitate the separation treatment of solids and dust, etc. The purpose is to.

The old pipe coating film removal equipment according to the present invention for realizing the above object, the vehicle body made to be movable inside the pipe; A fixed frame body supported by the vehicle body and having a rectangular frame structure formed long in the vertical direction; A lifting frame body formed in a rectangular frame structure and inserted into and coupled to the outside of the fixed frame body; A lifting mechanism for lifting and lowering the lifting frame body with respect to the fixed frame body; A rotation support projecting forward from the lifting frame body and being rotated by a rotation driving mechanism; A plurality of head supports protruding from the rotatable support in a radial structure in a circumferential direction of the inner surface of the tube; It is provided with an end portion of the head support is provided with a film removal apparatus including a removal head for removing foreign substances such as a coating film or scale on the inner surface of the tube.

The vehicle body is configured to include a frame provided with a wheel to enable running, and a horizontal support rotatably connected to the end of the frame in a horizontal direction with respect to the frame to support the fixing frame of the film removing apparatus desirable.

The elevating mechanism may include an elevating motor provided on both sides of the elevating frame body, a pinion provided on the motor shaft, and a rack installed in the vertical direction to the fixing frame body to engage the pinion.

The head support is preferably made of a hydraulic cylinder structure so that its length can be varied.

The head support is disposed on the rotary support in a two-row structure, the rotational support is composed of a double structure so that the rotation direction of the head support in each row can be opposite to each other, the rotary drive mechanism also the rotary support of the double structure It can be configured to drive in both directions.

The removal head may be configured as a rolling cutter for cutting and removing the coating film while rotating contact with the inner surface of the tube.

The vehicle body is provided with a dust collector at a rear position of the film removing apparatus,

The dust collecting apparatus may include a support supported on the vehicle body, a dust collecting container installed on the support and the pieces and foreign substances removed through the coating film removing device being sucked in and stored therein, a piece connected to the dust collecting container and stored in the dust collecting container; Separating the foreign matter in a cyclone method, it is preferable to include a separator for discharging the solid matter and the suspended solids to be sent back to the dust collector, and a blower connected between the dust collector and the separator to provide a transfer force.

The dust collecting chamber has a dust collecting chamber located at a lower portion thereof, a blowing discharge chamber is provided at an upper portion thereof, and a filter is installed between the dust collecting chamber and the blowing discharge chamber, and when a predetermined amount of dust collecting material is accumulated in the dust collecting chamber, the dust is discharged to the separator. In addition, it is preferably configured to be discharged to the outside through the air blowing discharge chamber through the filter after the floating material introduced again from the separator is introduced into the dust collecting chamber.

The separator may be configured to be provided with a solid discharge portion at the bottom thereof to be discharged to the collection container mounted on the bottom.

The old pipe coating film removal equipment is installed on the body frame interconnected in a link structure, from the front in the direction of the operation of the entire equipment, the film removal device, a driver's seat for driving operation of the equipment, various control mechanisms for equipment control are installed The controller equipment, the power supply device, the wire reel device for winding the wire for power supply is preferably arranged in the order of the dust collector.

The old pipe rehabilitation method including the old pipe coating film removal equipment and the old pipe rehabilitation equipment used therein are configured in order to continuously move each vehicle, namely, a film removal equipment, a shot blasting equipment, a painting equipment, and the like to each vehicle. Since the work is configured to enable the pipe rehabilitation work more quickly, there is an effect that can be more efficient pipe rehabilitation work.

In addition, the present invention, the film removal equipment is configured to be moved independently from the shot blasting equipment and painting equipment, so that even if the film removal equipment failure, the blasting process and the painting process is configured to continue the pipe rehabilitation work There is an effect that can proceed more quickly and smoothly.

In particular, the present invention, because it is configured to support the film removing device using a fixed frame body and a lifting frame body of the rectangular frame structure and to adjust the position, it is easier to adjust the position of the equipment while supporting the film removing device more stably. There is an effect that can be made.

In addition, the present invention is configured to collect and dispose of the debris and foreign matter removed through the film removal equipment, and to process the solids in a storage container by separating the solids and dust, and the like, and the dust again Since it is configured to be purified and discharged, it is easy to collect and process the waste generated by the removal of the coating film, and there is an effect of improving the working environment in the rehabilitation section by purifying the suspended solids.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a flowchart showing a tube regeneration method using the tube regeneration equipment according to the present invention, Figure 2 is a schematic diagram showing the working state of the tube regeneration equipment according to the present invention.

The pipe regeneration method according to the present invention will be described in order.

First, the pipe regeneration section RP is set in the pipeline P for the rehabilitation work such as a water supply pipe or a sewage pipe, and the flow of fluid such as a constant or sewage passing through the set section RP is blocked.

The pipe regeneration section RP is set to an appropriate length in accordance with the rehabilitation conditions. For example, it can be set in the range of about 2 km.

The method of blocking the flow of fluid is to close the valve installed in the pipeline (P) to block the fluid flowing into the regeneration section (RP), or to bypass the fluid to another pipeline so that the fluid does not pass through the regeneration section (RP). Various methods known in the art and the like can be used.

Next, to build a work tool (H) for injecting rehabilitation equipment in the pipe rehabilitation section (RP). At this time, the work tool (H) can be built on both sides of the tube regeneration section (RP), but as illustrated in FIG. 2, if necessary, only the work tool (H) is constructed on one side, and the opposite side is It is also possible to construct only the vent J.

Next, the ventilator 10 is installed to blow external air (outside air) into the pipe regeneration section RP through the work tool H and discharge it to the outside through the opposite vent J.

That is, when the work tool H and the vent port J are constructed, the air inlet 11 is installed in the work tool H of the pipe regeneration section RP, and the exhaust apparatus 12 is provided in the opposite vent J. To build a ventilation device 10 to install. Of course, the air inlet device 11 and the exhaust device 12 is configured to be connected to the ventilation ducts 13 and 14 connected to the inside of the pipeline of the pipe rehabilitation section.

Next, the dredging equipment (not shown) and the drainage equipment (not shown) are put into the pipe regeneration section RP to clean the pipe of the rehabilitation section RP.

That is, while the fluid passing through the pipe of the pipe regeneration section RP is blocked, the dredging equipment or the like is put in to clean the sediment such as the soil, sand, scale, etc. deposited inside the pipe, and The fluid is also discharged to the outside.

When the cleaning work of the rehabilitation section is completed, the dredging equipment and the like are removed outside the rehabilitation section (RP).

Next, using the ventilation device 10 is forced to inject external air into the tube regeneration section (RP) and discharged from the opposite side to proceed with the drying operation.

As described above, after forming the work tool (H) and the vent (J) in the pipe rehabilitation section (RP), install the ventilation device 10, and after cleaning and drying the rehabilitation section (RP) inside, it will be described in detail below. Pipe regeneration equipment according to the present invention will be carried out in earnest to perform the pipe rehabilitation work.

Tube regeneration is performed in order of a film removal process, a shot blasting process, a coating process, and a drying and inspection process.

Here, the coating film removing process uses the coating film removing equipment 100, and the shot blasting process and the painting process use the shot blasting equipment 300 and the painting equipment 400, the coating film in the tube regeneration section (RP) The removal equipment 100 is put into the coating film removing process first, and when the coating film removal is completed, the shot blasting equipment 300 and the painting equipment 400 are put together to simultaneously perform the shot blasting process and the painting process.

Each process as described above will be described in turn.

First, the coating film removing process is to put the coating film removal equipment 100 in the pipe regeneration section RP through the working tool (H), to remove foreign substances such as the coating film and scale formed on the inner surface of the pipeline. In the case of the water supply pipe, the coating of the coal metal enamel and the foreign material such as a hard scale is deposited on the coating film according to the use for a long time. The coating film removal equipment 100 is used to remove the coal metal enamel coating film and the foreign material together.

At this time, specific matters for the coating film removal equipment 100 used will be described in detail below with reference to FIGS. 3 to 10. However, the tube regeneration method of the present invention can minimize the generation of dust by removing the coating film and the scale by cutting in pieces by using the dry film removal equipment 100, it is possible to speed up the film removal operation. When the wet coating film removal equipment is used as in the prior art, waste water is continuously generated in the process of removing the coating film, and further, there is a problem in that workability is inferior, such as additional drying work.

In particular, the coating film removal equipment 100 of the present invention is composed of a separate configuration from the equipment used in the blasting process and the painting process to be carried out later, and performs the film removal operation while moving independently as shown in FIG. Configured to do so.

When the film removing equipment 100, the shot blasting equipment 300, and the painting equipment 400 are all configured together, even if some of these three equipments fail, the equipment is repaired in the state of standing up all the equipment. This is because problems such as the need to start work again slow down significantly. In particular, since the coating film removal equipment 100 removes the coating film by hitting the inner wall surface of the pipe or cutting the coating layer, failure occurs more frequently than other equipment. The regeneration process can be carried out more quickly.

In addition, since the coating removal process using the coating film removal equipment 100 according to the present invention can proceed at a faster speed than the shot blasting process and the painting process, the coating film removal equipment 100 is first introduced into the coating film removal process. After performing the shot blasting process and the painting process, the coating film removal equipment 100 may be moved to another tube rehabilitation section to proceed with the work.

2 (A) is a reference diagram showing the input direction and the operation progress direction of the coating film removal equipment 100, the coating film removal equipment 100 is injected into the work tool (H), then toward the vent (J) Perform coating film removal while moving.

In this way, when the coating film removal process is completed, the coating film removal equipment 100 is moved out of the tube regeneration section RP. Preferably it is good to completely dismantle to the outside through the work tool (H).

Next, the shot blasting equipment 300 and the painting equipment 400 are put together in the tube regeneration section RP to perform shot blasting on the inner surface of the pipe from which the coating film has been removed by the coating film removal equipment 100 and at the same time inside the tube. Perform painting work. At this time, the feed cart 200 is also put together to support the shot blasting work and the painting work.

In order to put the equipment in the pipe regeneration section (RP) through the working tool, referring to Figure 2 (B), the coating equipment 400, the shot blasting equipment 300, the feed cart 200 in order In the pipe rehabilitation section RP, the short blasting and painting work proceeding directions, on the contrary, proceed while simultaneously moving the entire equipment from the vent port J toward the work tool H.

Here, the short blasting equipment 300 is provided with a power brush 390 and a short blasting head 380, the power brush 390 is left on the inner surface of the tube with a strong friction of the brush to remove the coating film inside the power brush 390 After cleaning by removing the primer and the like, using the shot blasting head 380, by blasting the inner surface of the tube while hitting the inside of the tube, the pretreatment operation for painting is performed.

A detailed configuration of the shot blasting equipment 300 will also be described in detail with reference to FIG. 12 below.

In this way, while the surface treatment work on the inner surface of the tube using the shot blasting equipment 300, the coating operation on the inner surface of the tube using the coating equipment 400 continuously.

Painting work can be made by dividing the road and the top, concrete configuration of the painting equipment 400 will be described in detail with reference to FIG. 13 below.

As described above, while the shot blasting equipment 300 and the painting equipment 400 are continuously moved simultaneously in the pipe regeneration section RP, the shot blasting work and the painting work are performed at the same time, so that the coating is performed immediately after the surface treatment inside the pipe. Since the work can be performed, the rehabilitation work time can be shortened, and the coating quality can be applied immediately after the pipe surface treatment, thereby improving the coating quality.

Then, when the shot blasting work and the painting work is completed, the transport cart 200, the shot blasting equipment 300, the painting equipment 400 is discharged to the outside through the work tool (H).

Next, the paint coated on the inside of the tube is dried using the above-mentioned ventilation device 10, and a process of inspecting the state of regeneration inside the tube is performed.

Of course, it is preferable that the ventilation device 10 proceeds with continuous ventilation even when the rehabilitation section RP cleaning process, the film removal process, the blasting process, the painting process, and the like proceed.

Now, the pipe rehabilitation equipment according to the present invention used in the old pipe rehabilitation method according to the present invention as described above will be described in detail.

3 to 10 are views showing the coating film removal equipment 100, FIG. 11 is a view showing the transport cart 200, FIG. 12 is a view showing the shot blasting equipment 300, FIG. 2 is a diagram showing the painting equipment 400.

And 14 to 20 is a view showing the automatic steering device 600 provided in the old pipe rehabilitation equipment of the present invention.

Hereinafter, the coating film removal equipment 100 will be described with reference to FIGS. 3 to 10.

3 is an overall configuration diagram showing the coating film removal equipment 100.

The coating film removal equipment 100 which concerns on this invention is comprised in the vehicle body 110 which moves the inside of a pipe | tube.

On the vehicle body 110 made to run inside the tube, from the front in the direction of work progress of the entire equipment, the film removal apparatus 120, the driver's seat 150, the controller equipment 160 is provided with various control mechanisms for equipment control, The power supply device 165, the wire reel device 166, and the dust collector 170, which are wound around the wire for power supply, are arranged and configured.

This arrangement order is just one example, and of course, it is also possible to change the arrangement order configured as needed.

Each structure of such coating film removal equipment 100 is demonstrated.

First, the vehicle body 110 may be composed of a plurality of frames 111 on which the devices constituting each of the paint film removing equipment 100 are mounted, and each of the frames 111 has a rod-shaped structure formed to be long. It is preferable to be configured to be interconnected in a row in a link structure.

The film removing apparatus 120 and the dust collecting apparatus 170 will be described below in detail with reference to FIGS. 4 to 10.

In FIG. 3, reference numeral 155 denotes a driving operation platform provided in front of the driver's seat 150.

In FIG. 3, the controller equipment 160 is equipped with various control equipment for controlling the entire paint film removing equipment 100, and the overall appearance is made of a cabinet structure.

The power supply unit 165 may be configured as an automatic voltage regulator. The automatic voltage regulator receives commercial AC power to automatically change the voltage to a voltage suitable for driving a load device, that is, to supply high quality power. It is a device for.

The wire reel device 166 is a device for supplying or winding a wire in accordance with the movement of the wire to supply power to the film removal equipment 100, and is connected to the outside of the pipe regeneration section RP to receive power. It is a device to make it possible.

Now, the coating film removing apparatus 120 and the dust collecting apparatus 170 will be described with reference to the accompanying drawings.

First, the film removing apparatus 120 will be described with reference to FIGS. 4 to 6.

4 is a side view of the film removing apparatus 120, FIG. 5 is a plan view of the film removing apparatus 120, and FIG. 6 is an exploded perspective view showing the fixing frame 125 and the lifting frame 130 of the film removing apparatus 120. to be.

The vehicle body 110 for supporting the film removing apparatus 120 includes a frame 111 provided with wheels 113 so as to travel, and rotates in a horizontal direction with respect to the frame 111 on the frame 111. The horizontal support 121 is configured to be connected to support the film removal device 120. 5, the horizontal support 121 may be rotated in the horizontal direction by the horizontal driving cylinder 122 provided in the frame 111 to adjust the rotation of the entire film removing apparatus 120 in the horizontal direction. It is configured to be.

The film removing apparatus 120 is installed on the horizontal support 121 and has a fixed frame body 125 having a rectangular frame structure formed long in the vertical direction, and formed into a rectangular frame structure to be inserted into and coupled to the outside of the fixed frame body 125. The lifting frame body 130, the lifting mechanism 135 for lifting and lowering the lifting frame body 130 with respect to the fixed frame body 125, and protruding rearwardly from the lifting frame body 130 by a rotation driving mechanism. Rotating support 140 to be rotated, a plurality of head support 145 protruding in a radial structure from the rotating support 140, the end of the head support 145 is provided on the coating film or scale of the inner surface of the tube The removal head 147 is configured to remove foreign substances.

The fixing frame 125 and the lifting frame 130 are provided with a plurality of brackets or fixing members so that the lifting mechanism 135, the rotary support 140, and the like are fixed and installed. These brackets and fixing members can be carried out by variously changing the fixing position, etc. according to the implementation conditions, detailed description thereof will be omitted.

In FIG. 6, reference numeral 132 denotes a support bracket of the lifting motor 136 constituting the lifting mechanism 135, and reference numeral 131 denotes a lead plate fixed to an upper portion of the lifting frame body 130.

The elevating mechanism 135 is an elevating motor 136 fixed to both sides of the elevating frame body 130 through a support bracket, a pinion 137 provided on the motor shaft, and a direction perpendicular to the fixing frame 125. It is installed to include a rack 138 is installed so that the pinion 137 is engaged.

Such lifting mechanism 135 is preferably configured on both of the fixed frame body 125 and the lifting frame body 130, respectively.

The rotary support 140 is formed in a dual-axis structure, which is configured to be driven to rotate when the head support 145 is formed in a two-row structure as shown in the figure.

That is, the head support 145 is arranged in a two-row structure on the rotation support 140, the rotation support 140 is configured in a double structure so that the rotation direction of the head support 145 in each row can be opposite to each other Will be. Accordingly, the rotary drive mechanism is also configured to drive the rotary support 140 of the dual structure in the opposite direction.

The rotary support 140 is composed of the inner shaft 141 and the outer shaft 142, the inner shaft 141 is connected to the head support 145 in the front row, the outer shaft 142 is connected to the head support 145 in the rear row. do. Accordingly, in the drawing, reference numeral 143 denotes an external shaft rotating motor and gears for rotationally driving the head support 145 in the rear row, and reference numeral 144 denotes an internal shaft rotation motor and gears for rotationally driving the head support 145 in the front row. .

The head support 145 is made of a hydraulic cylinder structure so that its length can be changed. That is, the hydraulic cylinder 146 forms a part of the head support 145 and is configured such that the length of the entire head support 145 varies according to the extension length of the piston rod.

Reference numeral 141a denotes a connector for providing hydraulic pressure to the head support 145 in the front row behind the inner shaft 141 of the rotation support 140. The connecting body 141a connects a hydraulic supply line for supplying hydraulic pressure to the hydraulic cylinder 146 of the head support 145 through the hydraulic supply line, which is a non-rotating element, and the inner shaft 141, which is a rotating element. It is configured to.

The removal head 147 may be configured as a rolling cutter 148 for cutting and removing the hard scale and the like deposited on the coating film or the coating film while rotating contact with the inner surface of the tube. The removal head 147 may be configured by applying various known film removal mechanisms (for example, scrapers, etc.) as long as the removal head 147 is capable of removing the coating film and the scale, and the like. The configuration using the rolling cutter of the descaling apparatus disclosed in the above is shown.

In Patent No. 863263, a hydraulic apparatus for providing hydraulic pressure to the head support 145 in front of the scale removing apparatus is configured, but the film removing apparatus 120 of the present invention has an internal shaft (at the rear of the rotating support 140). 141 is configured to provide hydraulic pressure to the hydraulic cylinder 146 side. This is because when the hydraulic device is configured in front of the removal head 147, the overall configuration is not only complicated, but the load is leaned forward, thereby reducing the stability of the entire equipment.

Since the specific configuration of the removal head 147 other than that can be configured in the same manner as the configuration of the descaling device disclosed in the Patent No. 863263, a detailed description thereof will be omitted.

On the other hand, the method for providing hydraulic pressure to the hydraulic cylinder 146 provided in the head support 145 of the rear row can be a method using the above-described connection body, and is manually connected to each hydraulic cylinder 146 It can be configured by connecting the hydraulic supply line to the hydraulic port.

In FIG. 5, reference numeral 142a denotes a support cylinder for supporting the outer shaft 142 in the lifting frame body 130. The support cylinder 142a may be configured to be supported by the lifting frame body 130 using a bracket or the like, and a bearing support structure is installed therein as well as a head of the rear row in the support cylinder 142a as necessary. It is also possible to configure a hydraulic port, that is, a hydraulic connector, to supply the hydraulic pressure to the support 145.

As described above, the film removing apparatus 120, by securing the lifting structure through the structure in which the fixing frame 125 and the lifting frame body 130 are mutually coupled to ensure a stable film removal structure as a whole.

In addition, the film removing apparatus 120, using the horizontal drive cylinder 122 can easily adjust the rotation of the film removing apparatus 120 in the horizontal direction, as well as the fixing frame 125 and the lifting frame 130 Through the stable vertical height adjustment is possible, it is also configured to be more stable and efficient to remove the film using the hydraulic cylinder and the bidirectional rotation drive devices.

Next, the dust collecting apparatus 170 will be described with reference to FIGS. 7 to 10.

7 is a side view of the dust collecting apparatus 170, FIG. 8 is a plan view of the dust collecting apparatus 170, FIG. 9 is a front view of the dust collecting apparatus 170, and FIG. 10 is a rear view of the dust collecting apparatus 170.

The dust collecting device 170 may include a support 171 supported on the vehicle body 110 and a dust collecting container in which pieces of the coating film installed on the support 171 and removed through the film removing apparatus 120 are sucked and stored ( 172 and a separator 175 connected to the dust collecting container 172 to separate the pieces of the coating film stored in the dust collecting container 172 in a cyclone manner to discharge the solids and to transfer the suspended solids back to the dust collecting container 172. And a blower 180 connected between the dust collecting container 172 and the separator 175 to provide a transfer force.

Here, the dust collecting container 172, the dust collecting chamber 173 is located in the lower portion, the blowing air discharge chamber 174 is provided at the upper portion, the filter 177 between the dust collecting chamber 173 and the blowing air discharge chamber 174. Is installed.

At this time, when the dust collecting material introduced through the inlet 173a in the dust collecting chamber 173 is accumulated for a predetermined time or more, it is discharged to the separator 175, and again, such as air and fine dust separated from the solids in the separator 175. The suspended matter is preferably configured to be discharged to the outside through the air blowing discharge chamber 174 after the filter 177 is introduced into the dust collecting chamber 173.

An operation of sucking a fragment of the coating film into the dust collecting chamber 173 may be collected by a worker using a suction head (not shown). Of course, it is also possible to suction by configuring the equipment for automatic suction in the rear of the gambling removal device 120.

In the figure, reference numeral 178 denotes a transfer duct for transferring the substance stored in the dust collecting container 172 from the dust collecting chamber 173 to the separator 175, and 179 denotes a discharge fan mechanism installed in the blowing discharge chamber 174. .

Reference numeral 181 is a detector port for detecting the storage state of the dust collecting material in the dust collecting chamber 173, 182 is a filter installed in the separator 175, 183 is a return connected to the inside of the dust collecting chamber 173 from the separator 175 It is a duct. In this case, the blower 180 is preferably installed on the return duct 183.

The separator 175 is provided with a solid discharge portion 185 at the bottom, it may be configured to be discharged to the collection container mounted on the bottom. The solid discharge unit 185 is preferably made in such a way that the opening and closing to discharge a predetermined amount by the operation of the discharge mechanism 186 including the discharge motor.

The dust collecting device 170 as described above can easily collect and process pieces of the coated film removed by using the film removing device 120, and in particular, a separator 175 is provided, and the bulky material is removed from the collected material. By separating the suspended solids, the bulky solids can be easily discharged and processed by using a bag or the like. The suspended solids are transported back into the dust collecting container, reprocessed with a filter, and then discharged. In addition, it will be possible to create a cleaner working environment.

On the other hand, the coating film removal equipment 100 is configured as described above, while the wheel 113 is automatically steered while driving the bent portion, while maintaining the entire coating film removal equipment 100 in a horizontal state at all times It is desirable to have an automatic steering device to perform the removal operation. The automatic steering apparatus will be described in detail below with reference to FIGS. 14 to 20.

Next, a description will be given of the equipment required for the shot blasting work and the painting work that proceeds as shown in Figure 2 (B).

The transfer trolley 200 is demonstrated with reference to FIG.

11 is a side view of the transfer cart 200 according to the present invention.

The transfer truck 200 according to the present invention is a device for supporting the shot blasting equipment 300, the painting equipment 400, and the like, which will be described in detail later, as shown in FIG. 2B. 300 is preferably configured to be connected to move with the painting equipment 400.

The transfer trolley 200 is provided with a vehicle body 210 provided with a space on which an operator can ride and mount equipment or tools necessary for various tube rehabilitation. Of course, a space in which various necessary tools or materials can be mounted can be secured inside the vehicle body 210.

The lower portion of the vehicle body 210 is provided with a moving wheel 213 and a driving device for driving the moving wheel. In this case, the driving device may be configured to drive the wheel 213 using the electric motor 214.

Handrail structure 215 may be provided on the upper portion of the vehicle body 210 for the safety of the operator. In addition, the operator is provided with a driving device 220 that can drive the transport cart 200, the driving device 220 may be configured with a control device for operating a power supply or paint filling device.

In the drawing, reference numeral 225 denotes a control box that is configured together with the driving device 220, and a power supply device or the like may be configured below.

Reference numeral 230 is a configuration of the paint filling device, four hoppers can be installed side by side, which is configured to add the main material and the curing agent used for each of the paint and top coat. The paint filling method will be described together when the painting equipment 400 will be described next.

Hereinafter, the short blasting apparatus 300 will be described with reference to FIG. 12.

12 is a side view showing the entire shot blasting equipment 300,

Short blasting equipment 300 according to the present invention, the high-voltage wire wound reel device 320, the dust collector 325, two in the vehicle body 310 made to be able to travel inside the pipe, in the direction of work progress of the whole equipment The blaster 330, the equipment controller 350, the driver's seat 351, and the surface treatment apparatus 360 may be disposed in this order.

Here, the arrangement order is just one example, and of course, it is also possible to change the arrangement order as necessary. However, the surface treatment apparatus 360 is preferably configured to be disposed at the rearmost in the advancing direction of the entire equipment.

Now, each configuration of the shot blasting equipment 300 will be described.

First, the vehicle body 310 may be composed of a plurality of frames 311 on which the devices constituting the respective shot blasts are mounted, and each of the frames 311 is preferably connected in a row in a linkage structure. Do.

Next, the high-voltage wire wound reel device 320 is connected to the power supply equipment installed outside the pipe regeneration section (RP) to drive the blaster 330, the equipment controller 350, the surface treatment device 360, etc. It is provided to.

Next, the dust collecting apparatus 325 is equipment for absorbing and storing or treating foreign substances such as dust sucked from the surface treatment apparatus 360 and the blaster 330. The dust collecting device 325 may be configured of the dust collecting device 170 described above with reference to FIGS. 7 to 10.

 Next, the blaster 330 is a device configured to continuously perform the blasting operation while supplying the shotball to the blasting head 380 constituting the surface treatment apparatus 360 and recovering it again, and is generally flowing at a high speed. It is configured to supply the shortball using the force of air.

Here, two blasting heads 380 are symmetrically installed on the surface treatment apparatus 360. For this purpose, the blasters 330 are connected to the two blasting heads 380, respectively, and the vehicle body 310 ) Consists of two blaster 330 is installed in succession. Of course, it is possible to install a single number to fit the number of blasting head 380, it is also possible to install three or more.

Each blaster 330 is connected to a shot ball collecting container 332 into which the shot ball collected from the blasting head 380 supported by the vehicle body 310 flows, and a lower portion of the shot ball collecting container 332 to be blasted. A dust collecting container for storing or treating foreign matter such as dust discharged from the collecting container 332 connected to the shot ball supply container 334 for supplying the short ball to the head 380 and the short ball collecting container 332 ( 335 and a blower 340 for supplying air to the short ball supply container 334 to supply the short ball to the blasting head 380.

Here, the shot ball collecting container 332 is configured to separate and discharge the foreign matter such as the shot ball and dust in a cyclone dust collecting method.

As described above, the blaster 330 may be configured to enable short blasting operation by receiving high-pressure air through a large air compressor installed outside the tube regeneration section RP.

Next, the equipment controller 350 may be equipped with a variety of control equipment for controlling and driving the shot blasting equipment 300, and a driving operating table 355 may be provided in front of the driver's seat 351.

Next, the surface treatment apparatus 360 is a device for cleaning and blasting the inner wall of the pipe from which the old coating film has been removed by the film removing equipment 100, and is provided at the rear of the vehicle body 310 to brush the pipe. It is also configured to perform shot blasting.

The surface treatment apparatus 360 includes a vertical support 361 that is erected in the vertical direction at the rear of the vehicle body 310, a rotation support 370 that is rotatably installed on the vertical support 361, and a rotation support 370. ) Is installed on both sides of the tube and moves along the inner surface of the pipe to brush the surface of the tube by the frictional force of the brush, and is installed on both sides of the rotary support 370 to spray the short ball while moving along the inner surface of the pipe. It is configured to include a blasting head 380 to be sucked back later to enable a short blasting operation.

The power brush 390 is rotated in a rotational direction so as to remove foreign substances remaining on the inner surface of the tube such as a primer after the film removal by the above-described film removing equipment 100 before the shot blasting process by the blasting head 380. Preferably, the blasting head 380 is installed to be located in front of the blasting head 380.

That is, the power brush 390 and the blasting head 380 are configured in one pair on both sides of the head support 370, and are configured to rotate together, and the power brush 390 is positioned forward in the rotational direction. Preferably, the blasting head 380 is configured to be positioned at the rear side. This is to remove primers and the like remaining on the inner surface of the tube after removing the coating film using the power brush 390 and finally blast the inner surface of the tube before the new coating using the blasting head 380.

Hereinafter, the painting equipment 400 will be described with reference to FIG. 13.

13 is a side view showing the entire painting equipment 400.

Coating equipment 400 according to the present invention, the electric wire reel device 410 and the dust collector 420, the paint supply device 500 from the front in the work progress direction of the entire equipment to the vehicle body 410 made to run inside the pipe ), The controller equipment 450, the driver's seat 461, and the paint head device 470.

The arrangement order is just one example, and of course, the arrangement order may be changed as necessary. However, the coating head device 470 is preferably configured to be disposed at the rearmost in the advancing direction of the entire equipment.

Now, each configuration of the painting equipment 400 will be described.

First, the vehicle body 410 may be composed of a plurality of frames 411 on which the devices constituting the respective painting equipments are mounted, and each of the frames 411 is configured to be connected in a row in a linkage structure. Do.

Next, the wire reel device 410 is a device for providing or winding the wire for a long time according to the movement of the equipment for supplying electricity to the painting equipment 400 from outside the rehabilitation section.

Next, the dust collector 420 is a device for sucking and treating dust generated in the tube regeneration section, and when a vehicle body 410 moves during painting work, an operator directly uses a suction tool for foreign substances existing inside the tube. It is a device for storing or treating foreign matter or dust inhaled.

Next, the controller equipment 450 is equipped with various control equipment for controlling and driving the entire painting equipment 400, and a driver's seat 461 and an operation panel 465 are configured in front of the controller equipment 450.

Next, the paint supply apparatus 500 includes a paint supplement hose reel device 430, a paint reservoir 510, a pump 530, a hydraulic apparatus 550, and the like from the left side of FIG. 13.

The paint replenishment hose reel device 430 is a portion for winding a hose for connecting to the hopper of the paint filling device 230 provided in the feed cart 200 of FIG. 11 described above, and the paint of the paint reservoir 510 is When it falls, the paint is supplied from the paint filling device 230 of the transport cart 200 to fill the paint in the paint reservoir 510.

At this time, the paint reservoir 510 is composed of four cylinders to supply the main material and the curing agent of the top and bottom bar, paint refill hose reel device 430 is also provided with four hoses paint filling device of the transport cart 200 Respectively connected to the four hoppers of 230. And the air compressor 432 is also configured, which is configured to supply the paint using the air pressure supplied from the air compressor 432 to the paint stored in the hopper of the paint filling device (230). Therefore, the paint supplement hose reel device 430 is provided with four paint supplement hoses and one compressed air supply hose.

As described above, the paint reservoir 510 is preferably composed of four tanks so as to respectively store the main and hardeners of the lower and upper coats.

The pumping machine 530 is configured to supply the paint stored in the paint reservoir 510 to the paint head device 470 by using the lever principle, and using a pump pump that rotates about one support point. It is configured to pump and supply paint by simultaneously operating the curing agent pump.

The hydraulic device 550 provided next to the pumping machine 530 is configured to operate the hydraulic cylinder of the pumping machine 530, as in a conventional hydraulic generating and providing device, an electric motor and a hydraulic pump, Hydraulic tank and the like.

Next, the painting head device 470 is configured such that the painting head 485 can be painted by spraying paint while rotating the inside of the tube.

Painting head device 470 is provided to the rear of the vehicle body 410 is configured to paint the inner wall of the pipe by spraying paint on the inner surface of the pipe while moving along the inner surface of the tube, to the rear of the vehicle body 410 A vertical support 471 installed in a vertical direction, a rotating body 480 rotatably supported by the vertical support 471, and a rotation provided in the vertical support 471 to drive the rotating body 480 in rotation. A painting head 485 installed on the drive mechanism 475, the rotating body 480 to spray a coating liquid mixed with a main material and a curing agent, and a painting head 485 installed on a structure supported by the vehicle body 410. A mixer 488 for mixing the main material and the curing agent supplied from the paint supply device 500 and the paint solution mixed with the mixer 488 provided on the vertical support 471 or the paint head 485. Is provided on the path for delivering to the paint head 485 mixer 48 8) and a non-rotating supply line connected to the side and a rotating connection body (not shown) connected to the painting head 485 side to connect the rotating supply line to rotate together.

In particular, the painting head 485 is configured to be capable of continuous rotation in one direction with respect to the vertical support 471 with the rotating body 480, which moves the vehicle body 410 along the inside of the tube By continuously rotating the coating head 485 in one direction at a constant speed, the coating liquid sprayed from the coating head 485 can be continuously coated in a spiral manner on the inner wall of the tube.

Thus, the painting head device 470 is configured to be capable of continuous rotation in one direction, while moving the entire painting equipment 400 at a constant speed while painting the inner wall of the pipe while continuing to rotate the painting head 485 in one direction. When it is carried out, the coating liquid on the inner wall of the tube is made of continuous coating in a spiral manner. As a result, unlike the conventional 180-degree side-by-side coating, the coating portion can be continuously coated on the inner wall of the tube without breaking, thereby improving the coating quality.

Hereinafter, the auto steering apparatus 600 will be described with reference to FIGS. 14 to 20.

14 is a perspective view of the automatic steering apparatus 600, FIG. 15 is a side view of the automatic steering apparatus 600, and FIG. 16 is a plan view of the automatic steering apparatus 600. 17 to 19 are views for explaining the magnetic force generating mechanism 670 provided in the steering apparatus, Figure 20 is a schematic diagram for explaining the operating state of the automatic steering apparatus.

The automatic steering apparatus 600 according to the present invention may be used by applying to all the old-pipe rehabilitation equipment according to the present invention described above. Hereinafter, the configuration of the automatic steering device 600 will be described.

The automatic steering apparatus 600 includes a frame 611 constituting the vehicle body, a wheel support 620 connected to the front and rear of the frame 611 so as to be rotatable to the frame 611, and the wheel support 620. Both wheels 630 provided on both sides of the wheel), a driving mechanism 640 respectively supported by the wheel support base 620 to drive the both wheels 630 to rotate, and the wheel support 620 is provided in the vehicle body A horizontal sensor 650 for detecting an inclination of the steering wheel, a steering angle sensor 660 for detecting a state of the steering angle of the wheel support 620 with respect to the frame 611, and a horizontal sensor 650 and a steering angle sensor 660. And a control mechanism (not shown) for receiving a signal and outputting a control signal to the drive mechanism 640.

Each structure of the automatic steering apparatus 600 of this invention comprised in this way is demonstrated.

First, the frame 611 is formed long in the front and rear direction to form a vehicle body, the various equipment for rehabilitation of the old pipe, that is, the coating film removal equipment 100, the transfer cart 200, the shot blasting equipment (described above) 300), the painting equipment 400 is configured to be mounted.

In the drawings of the present embodiment, a frame 611 having a cylindrical structure connected to a central portion of the front and rear wheel supports 620 to be described later is illustrated, but is not limited thereto, and the frame 611 may have a wide vehicle body according to an implementation condition. It is also possible to configure the body.

Next, the wheel support 620 is rotatably connected to the center portion at the front and rear ends of the frame 611 through the rotation shaft 615, respectively. Therefore, the front and rear wheel support 620 and the frame 611 may be configured to have a 'H' structure as a whole when viewed in plan.

A pair of wheels 630 are installed on each side of each wheel support 620 so that two pairs of wheels may be installed on both sides of one wheel support 620.

At this time, the wheel support 620 is installed on the main support 621 rotatably connected to the frame 611, and in the direction orthogonal to the main support 621 on both sides of the main support 621, respectively Wheel bracket 623 supporting two pairs of wheels 630, and the wheel connecting shaft that is located in parallel with the main support 621 at the front and rear of the main support 621 to connect both wheels (630) ( 625).

The main support 621 has a substantially rectangular cylindrical structure, and as illustrated in the drawing, the horizontal sensor 650 is installed on one upper side, and the steering angle sensor between the frame 611 on the opposite upper side. 660 is connected and installed.

The wheel bracket 623 is formed in a plate structure that is elongated in the front and rear direction and is erected in the vertical direction, and both wheels 630 and the wheel connecting shaft are fixed to the main support 621 by welding or fastening means. 625, the drive mechanism 640, and the like can be configured to be supported.

The wheel connecting shaft 625 is arranged side by side in the front and rear around the main support 621, the front and rear wheel connecting shaft 625 is configured to be interconnected through the center bracket 627 (see Fig. 17). It is preferable to be.

Here, the wheel connecting shaft 625 is configured to rotate the axis of the wheel, it does not rotate itself, it may be installed to be fixed to the wheel bracket 623. Accordingly, the center bracket 627 is configured to interconnect the fixed front and rear wheel connecting shafts 625.

In particular, the wheel connecting shaft 625 is provided with a magnetic force generating mechanism 670 for generating a magnetic force to bring the vehicle body in close contact with the inside of the tube, a detailed description thereof will be described below with reference to Figs.

Next, both side wheels 630 are preferably formed in a structure in which the outer diameter gradually decreases from the inside of the wheel toward the outside so as to increase the contact area in contact with the inner surface of the tube. In addition, referring to FIG. 18, an outer ring 632, such as a synthetic resin or rubber, may be configured to increase frictional force on the circumferential surface of the wheel body 631 made of metal or the like and to have elasticity to some extent. .

In addition, the wheel 630 may be configured to allow relative rotation to the wheel connecting shaft 625 through a bearing 635.

Next, the drive mechanism 640 may be configured to separately drive the two wheels 630, respectively, for this purpose, the electric motor 641 is installed on both wheel brackets 623, respectively.

In addition, each wheel bracket 623 is configured to transmit power to the wheels 630 by interconnecting a plurality of gear sets 643 so as to transmit power to a pair of wheels from each of the electric motors 641.

Here, the plurality of gear sets 643 serves to reduce the rotational force of each electric motor 641 and at the same time serves to transmit the driving force of the front wheels of the pair of wheels provided on one side to the rear wheels. .

Next, the horizontal sensor 650, as described above, is preferably installed on one side of the main support 621, but is not necessarily limited to this, if the position to detect the inclination of the vehicle body, the installation position Of course, it can be installed in various modifications.

Since the horizontal sensor 650 may be configured by selecting one of various known sensors capable of detecting a tilt of the vehicle body, a detailed description of the horizontal sensor 650 will be omitted. However, the horizontal sensor 650 provided in the present invention is preferably composed of a horizontal sensor 650 capable of measuring the left and right inclination of the vehicle body, respectively.

Next, the steering angle sensor 660 is connected in a link structure between the frame 611 and the main support 621 to detect the rotational state of the main support 621 relative to the frame 611 by detecting the movement state of the link. It is configured to determine the steering angle.

To this end, the sensor bracket 661 protrudes laterally from the frame 611, and the sensor main body 662 is installed in the sensor bracket 661. The sensor main body 662 is provided with a sensor lever 663, and a sensor bar 664 connected to the main support 621 is connected to the sensor lever 663, so that the frame 611 and the main support 621 are connected to each other. When the relative rotational position is changed, the sensor lever 663 connected to the sensor bar 664 may be configured to measure the steering angle while rotating.

Next, the control mechanism may be configured using a general control computer mechanism, and receives the signals of the horizontal sensor 650 and the steering angle sensor 660 and outputs a control signal, while maintaining the vehicle in a horizontal state inside the pipe. If not, it is configured to control the respective electric motor 641 so that the rotational speed of both wheels 630 so that the horizontal state can be maintained.

That is, as shown in Figure 20, when the vehicle body keeps going straight when running the curvature portion, one wheel is raised upward along the inner surface of the tube, the other side descends to the lower side of the tube body Will be tilted as a whole. In this case, the horizontal sensor 650 detects the inclination of the vehicle body, inputs a detection signal to the control mechanism, and the control mechanism determines the direction and angle of the inclination, and adjusts the number of revolutions of the left and right wheels to maintain the horizontal state of the vehicle body. Done.

For example, in the case of FIG. 20, if the rotational speed of the left wheel is controlled rapidly and the rotational speed of the right wheel is controlled slowly, the vehicle body rotates to the right as a whole, so that the vehicle body is maintained in a horizontal state. The part can run.

In addition, while measuring the angle between the frame 611 and the main support 621 through the steering angle sensor 660 in the control mechanism, the angle between the frame 611 and the main support 621 is maintained at 90 degrees in the straight section. Traveling while controlling the rotational speed of both wheels 630, respectively.

Therefore, even when the vehicle body travels on a curved pipe or the like, the vehicle body can stably run even in a curved section while maintaining the overall horizontal state, and when the vehicle enters the normal section, that is, the straight section again, the frame ( 611 and the main support 621 is 90 degrees so that the vehicle body can run stably, and thus the tube rehabilitation work by various equipment mounted on the upper portion of the vehicle body can be more smoothly performed.

17 to 19, the magnetic force generating mechanism 670 will be described.

17 to 19 are side cross-sectional views, front cross-sectional views, and front operational state diagrams showing the installation structure of the magnetic force generating mechanism 670 in the automatic steering apparatus 600.

The magnetic force generating mechanism 670 is basically configured to provide a magnetic force so that the wheels can be in close contact with the inner surface of the pipe such as steel pipe, cast iron pipe. The magnetic force generating mechanism 670 may be useful to prevent the vehicle body from slipping when driving the inclined section. The magnetic force generating mechanism 670 generates magnetic force only in a necessary section as in the inclined section. It is configured to.

To this end, the magnetic force generating mechanism 670 is mounted to the magnetic body mounting block 671 and the magnetic body mounting block 671 installed so as to be freely rotated between the wheel connecting shafts 625 to generate the magnets as necessary. And an electromagnet 675 having an electromagnet structure.

The magnetic body mounting block 671 may be configured in a substantially hexahedral structure, it is preferable that the block shaft 672 is provided so that both sides thereof can be freely rotated while being supported by the wheel connecting shaft 625.

The electromagnetic body 675 may be fixed to the magnetic mounting block 671 using a fixing bolt 676, and the fixing bolt 676 may be deformed to a certain degree according to the curvature of the inner surface of the steel pipe as shown in FIG. 19. It is preferable that it is comprised so that axial movement may be possible.

In FIG. 19, reference numeral 677 denotes a connection bracket which is installed in the electromagnetic body 675 and to which the fixing bolt 676 is connected.

Electromagnetic body 675 has an electromagnet structure, and is configured to generate magnetic force while electricity is applied only when a control signal is input (or directly by the driver) from the control mechanism, such as when traveling on an inclined section. Since the structure of such an electromagnet is a general known technique, a detailed structure description is omitted.

On the other hand, in the embodiment of the automatic steering device 600 according to the present invention, an embodiment configured to enable automatic steering by a method of varying the number of revolutions of both wheels in the control mechanism according to the signal of the horizontal sensor 650 Although described, the present invention is not necessarily limited thereto, and the linear actuator fixed to the frame 611 may be configured such that the wheel support 620 is forcibly rotated.

That is, the linear actuator may include a hydraulic cylinder or a ball screw type, and the main support may be a frame 611 when the length of the linear actuator connected between the frame 611 and the main support 621 of the wheel support 620 is variable. By rotating around), it can be configured to enable automatic steering.

The technical idea described in each embodiment of the present invention may be implemented independently, or may be implemented in combination with each other. In addition, the present invention has been described through the embodiments described in the drawings and detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and equivalent other implementations therefrom. Yes it is possible. Therefore, the technical protection scope of the present invention will be defined by the appended claims.

1 is a flow chart illustrating a tube regeneration method according to the present invention.

2 is a schematic diagram showing a working state using the pipe rehabilitation equipment according to the present invention.

3 to 10 are views showing the film removal equipment according to the present invention,

3 is an overall configuration diagram of the film removal equipment,

4 to 6 is an exploded perspective view showing a side view, a plan view, a fixing frame and a lifting frame showing the film removing device;

7 to 10 are side views, plan views, front views, and rear views showing the dust collecting apparatus.

11 is a view showing a transport cart according to the present invention.

12 is a view showing the shot blasting equipment according to the present invention.

13 is a view showing the painting equipment according to the present invention.

14 to 20 are diagrams showing the automatic steering device provided in the old pipe rehabilitation equipment according to the present invention,

14 is a perspective view of an automatic steering device,

15 is a side view of the automatic steering device,

16 is a plan view of the automatic steering device,

17 to 19 are views for explaining the magnetic force generating mechanism provided in the steering apparatus,

20 is a schematic view for explaining an operating state of the automatic steering apparatus.

Claims (10)

A vehicle body configured to be movable inside the tube; A fixed frame body supported by the vehicle body and having a rectangular frame structure formed long in the vertical direction; A lifting frame body formed in a rectangular frame structure and inserted into and coupled to the outside of the fixed frame body; A lifting mechanism for lifting and lowering the lifting frame body with respect to the fixed frame body; A rotation support projecting forward from the lifting frame body and being rotated by a rotation driving mechanism; A plurality of head supports protruding from the rotatable support in a radial structure in a circumferential direction of the inner surface of the tube; The old pipe coating film removal equipment, characterized in that provided with an end portion of the head support is provided with a film removal device including a removal head for removing the coating film or scale on the inner surface of the tube. The method according to claim 1, The vehicle body may include a frame provided with wheels to enable driving, and a horizontal support rotatably connected to the end of the frame in a horizontal direction with respect to the frame to support the fixing frame of the film removing apparatus. Old tube paint removal equipment. The method according to claim 1, The elevating mechanism includes an elevating motor provided on both sides of the elevating frame body and a pinion provided on the motor shaft, and a rack in which the pinion is fitted in a vertical direction to the fixed frame body to engage the old pipe coating film. Removal equipment. The method according to claim 1, The head support is old pipe coating film removal equipment, characterized in that made of a hydraulic cylinder structure to vary the length thereof. The method according to claim 1, The head support is disposed on the rotary support in a two-row structure, the rotational support is composed of a double structure so that the rotation direction of the head support in each row can be opposite to each other, the rotary drive mechanism also the rotary support of the double structure Old pipe coating film removal equipment, characterized in that configured to drive in both directions. The method according to claim 1, The removal head is old pipe coating film removal equipment, characterized in that consisting of a rolling cutter for cutting and removing the coating film while rotating contact with the inner surface of the tube. The method according to any one of claims 1 to 6, In the car body, A dust collector is provided at a rear position of the film removing apparatus, The dust collecting apparatus may include a support supported on the vehicle body, a dust collecting container installed on the support and the pieces and foreign substances removed through the coating film removing device being sucked in and stored therein, a piece connected to the dust collecting container and stored in the dust collecting container; Separating the foreign matter in a cyclone method, the solid material is discharged and the suspended solids are transported back to the dust collector, and the old pipe coating film removal equipment, characterized in that it comprises a blower connected between the dust collector and the separator to provide a transfer force. The method of claim 7, The dust collecting chamber has a dust collecting chamber located at a lower portion thereof, a blowing discharge chamber is provided at an upper portion thereof, and a filter is installed between the dust collecting chamber and the blowing discharge chamber, and when a predetermined amount of dust collecting material is accumulated in the dust collecting chamber, the dust is discharged to the separator. In addition, the old pipe coating film removal equipment, characterized in that configured to be discharged to the outside through the air blowing discharge chamber through the filter after the floating material introduced again from the separator into the dust collecting chamber. The method of claim 7, The separator is provided with a solid discharge portion at the bottom, old pipe coating film removal equipment, characterized in that configured to be discharged to the collection container mounted on the bottom. The method of claim 7, The old pipe coating film removal equipment, On the body frame interconnected by the link structure, from the front in the direction of work progress of the entire equipment, the controller equipment, the power supply device, the power supply with the film removing device, the driver's seat for driving operation of the equipment, and various control mechanisms for the equipment control. Equipment for removing old pipe coating film, characterized in that arranged in the order of the wire reel device, the wire winding device for supplying the dust collector.

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