KR20100094920A - Coating device for regenerating superannuated pipes and method using the same - Google Patents

Abstract

PURPOSE: A coating device for regenerating an old pipe and a coating method using the same are provided to perform a coating work inside an old pipe by easily pumping and mixing a main material and a hardening agent. CONSTITUTION: A coating device(400) for regenerating an old pipe comprises a vehicle body(410), a coating head device(470), and a paint feeder(500). The vehicle body is moved inside a pipe. The coating head device is moved along the inner surface of the pipe and coats the inner wall of the pipe by spraying paint. The paint feeder pumps a main material and a hardening agent, and supplies the main material and the hardening agent to the coating head device.

Description

Coating device for regenerating superannuated pipes and method using the same}

The present invention relates to a painting equipment for rehabilitation of old pipes, such as water pipes, sewage pipes, gas pipes, etc., through which the fluid passes, and a coating method using the same.

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 pipe rehabilitation work to proceed more quickly, the pipe rehabilitation method to enable more efficient pipe rehabilitation work and the old pipe rehabilitation equipment used in this, and old pipe rehabilitation An object of the present invention is to provide a painting equipment and a coating method using the same.

In particular, the present invention, by continuously forming the paint supply device and the painting head apparatus in one bogie to facilitate the pumping and mixing of the main material and the curing agent, as well as to facilitate the renovation of the old pipe to facilitate the painting work inside the old pipe An object of the present invention is to provide a painting equipment and a painting method using the same.

In addition, the present invention provides a painting equipment for rehabilitation of old pipes and the coating method using the same so that the coating head can be continuously rotated in one direction to enable continuous coating with a uniform thickness to improve the coating film quality. There is a purpose.

The painting equipment for the retirement pipe rehabilitation according to the present invention for realizing the above object is a vehicle body made possible to run inside the pipe; A painting head device provided at the rear of the vehicle body and spraying paint on the inner surface of the tube while moving along the inner surface of the tube to coat the inner wall of the tube; The vehicle body is provided in front of the paint head device, and configured to supply the paint head device by pumping the main material and the hardener stored in each storage tank, respectively, by using a pumping bar rotating around one support point. It is characterized in that it comprises a paint supply device for pumping and supplying the paint by operating the pump and the curing agent pump at the same time.

Here, the painting head device is a vertical support provided in the vertical direction behind the vehicle body, a rotating body rotatably supported on the vertical support, and spraying the coating liquid is installed on the rotating body mixed with the main material and the curing agent It is comprised including a painting head.

At this time, the painting head is preferably configured to be capable of continuous rotation in at least one direction about the vertical support with the rotating body.

To this end, the painting head device, a vertical support provided in the vertical direction at the rear of the vehicle body, a rotating body rotatably supported on the vertical support, and a rotational drive provided in the vertical support to rotate and drive the rotating body A mixer, which is installed on the rotating body and sprays the coating liquid in which the main body and the curing agent are mixed, and a mixer which is installed in the structure supported by the vehicle body and mixes the main body and the curing agent supplied from the paint supply device to the painting head. And a rotational supply provided on the vertical support or the painting head and provided on a path for delivering the coating liquid mixed in the mixer to the painting head, the non-rotating supply line connected to the mixer side, and connected to the painting head side to rotate together. It is preferred to include a rotary connector that interconnects the lines.

The vehicle body is configured to include a frame provided with wheels to enable running, and a horizontal support that is rotatably connected in a horizontal direction with respect to the frame behind the frame, the vertical support is rotatable back and forth to the horizontal support In the connected state, it is preferable to be configured to be rotated in the front-rear direction by the tilting drive mechanism provided in the horizontal support.

The paint supply device includes a plurality of pump housings, a pump piston for generating a pumping force while reciprocating within each pump housing, a respective piston rod connected to the pump piston outside of the pump housings, A pumping bar connected to a plurality of piston rods, one end of the pumping bar being rotatably supported about a support point in a peripheral fixed structure, and the pumping bar reciprocating around the support point by reciprocating the respective piston rod and the pump piston It may be configured to include a pumping drive mechanism for movement.

The pump housing is installed to be supported by a support frame erected perpendicularly to the vehicle body, and the pumping bar is preferably rotatably connected to a support bracket having one end of the support point fixed to the support frame.

The paint equipment for rehabilitation of the old pipe is a wire reel device in which a wire is wound for power supply from the front in a work progress direction of the entire equipment on a body frame interconnected by a link structure, the paint supply device, and equipment control It is preferable that the various control mechanisms are arranged and arranged in the order of the controller equipment, the driver's seat, and the paint head device.

A frame constituting the vehicle body; A wheel support rotatably connected to the frame; Both wheels provided at both sides of the wheel support; Drive mechanisms respectively supported by the wheel supports to drive the both wheels in rotation; A horizontal sensor provided at the wheel support for detecting an inclination of the frame or the wheel support; A steering angle sensor for detecting a steering angle of the wheel support with respect to the frame; It is preferably configured to include a control mechanism for receiving the signals of the horizontal sensor and the steering angle sensor and outputs a control signal to the drive mechanism.

The coating method for the retirement pipe rehabilitation according to the present invention for realizing the above object is a coating method for rehabilitation of the old pipe using the coating equipment for rehabilitation of the old pipe, the moving body along the inside of the pipe, It rotates at a constant speed, it characterized in that the coating liquid sprayed from the coating head is continuously coated in a spiral manner on the inner wall of the tube.

The retirement pipe rehabilitation method according to the present invention, the retirement pipe rehabilitation equipment used therein, and the painting equipment for the retirement pipe rehabilitation, and the coating method using the same, each of the trolley, that is, the coating film removal equipment, shot blasting equipment, coating equipment, etc. on the vehicle body In this way, it is configured to allow sequential work while continuously moving, so that the pipe rehabilitation work can be performed more quickly, and more efficient pipe rehabilitation work is possible.

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 It is more effective to proceed more quickly and smoothly.

In addition, the present invention is configured to support the shot blasting equipment and painting equipment by configuring the transport bogie, there is also an effect that can increase the efficiency of the overall equipment operation.

In addition, the present invention, the paint supply device and the paint head device is continuously configured in one bogie, and is configured to facilitate the pumping and mixing of the main body and the hardener, so that the painting work inside the old pipe more quickly and smoothly. There is an effect to proceed.

In addition, the present invention has the effect that the coating head of the painting equipment can be continuously rotated in one direction to enable continuous coating with a uniform thickness to improve the coating film quality.

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, in the pipeline (P) to proceed with the rehabilitation work, such as a water pipe or sewage pipe, the pipe regeneration section (RP) is set, and the flow of fluid such as constant or sewage passing through the set section (RP).

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, so that the entire case is constructed independently. 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 into 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. 5 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 may be made by dividing the road and the top, concrete configuration of the painting equipment 400 will be described in detail with reference to Figures 6 to 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 time can be shortened, and the coating quality can be applied immediately after the surface treatment of the pipe, 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 is a view showing the coating film removal equipment 100, FIG. 4 is a view showing the transport cart 200, FIG. 5 is a view showing the shot blasting equipment 300, 6 to 13 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.

The coating film removal equipment 100 is demonstrated with reference to FIG.

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 have a long link. It is preferable that the structure is configured to be interconnected in a line.

Next, the film removing apparatus 120, the fixed frame body having a horizontal support 121 which is rotatably connected to the frame 111 in a horizontal direction, and a rectangular frame structure provided on the horizontal support 121 and formed long in the vertical direction. (125), the lifting frame body 130 is formed in a rectangular frame structure is inserted and coupled to the outside of the fixed frame body 125, and elevating mechanism for lifting and lowering the lifting frame body 130 with respect to the fixed frame body (125) 135, a rotation support body 140 protruding rearwardly from the lifting frame body 130 and being rotated by a rotation driving mechanism, and a plurality of head supports 145 protruding radially from the rotation support body 140. And a removal head 147 provided at the end of the head support 145 to remove the coating film on the inner surface of the tube.

Here, the removal head 147 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 removal head 147 may be configured by applying various known film removal mechanisms (for example, scrapers, etc.) as long as the removal head 147 can be removed. In the embodiment of the present invention, the removal head 147 is disclosed in Korean Patent No. 863263. The configuration using the rolling cutter of the descaling device is shown.

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

The film removal apparatus 120 as described above, by securing the lifting structure through the structure of the fixed frame body 125 and the lifting frame body 130 are mutually coupled to ensure a stable film removal structure as a whole, and more It is configured to proceed stably and efficiently.

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

Next, the controller equipment 160 is equipped with a variety of control equipment for controlling the entire paint film removal equipment 100, the overall appearance is made of a cabinet structure.

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

Next, the wire reel device 166 is a device for supplying or winding the wires according to the movement of the equipment to supply the power to the film removal equipment 100, is connected to the outside of the pipe regeneration section (RP) to supply power It is a device to be supplied.

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

The dust collecting device 170 can easily collect and process pieces of the coating film removed by using the film removing device 120, and in particular, a separator 175 is provided, so that bulky material and suspended matter are collected from the collected material. By separating the material, the bulky solids can be easily discharged and processed by using a bag or the like, and the suspended solids are again transported into the dust collector 172 to be reprocessed with a filter and then discharged. It will be easy to create a cleaner working environment.

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).

First, the conveyance trolley 200 is demonstrated with reference to FIG.

4 is a side view of the transport 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.

A moving wheel 213 and a driving device for driving the moving wheel are provided below the vehicle body 210. 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 the top and bottom of the paint respectively. 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. 5.

5 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, the arrangement order may be changed 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. Such a dust collector 325 can also be configured with the dust collector 170 described above with reference to FIG. 3.

 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 The two blaster 330 is configured in a continuous configuration. 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. Installed on both sides of the power brush 390 to brush the surface of the tube with the friction of the brush while moving along the inner surface of the tube, and is installed on both sides of the rotary support 370 to spray the shot ball while moving along the inner surface of the tube It is configured to include a blasting head 380 to inhale again 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 FIGS. 6 to 13.

6 is a side view showing the entire coating equipment 400, 7 to 11 is a view showing a paint supply device 500, Figure 7 is a side view of the paint supply device 500, Figure 8 is a paint supply device ( 9 is a plan view of the paint supply apparatus 500, FIG. 10 is a back view of the paint supply apparatus 500, and FIG. 11 is a back detail view for explaining an operation state of the paint supply apparatus 500. FIG. to be. 12 is a side view of the painting head apparatus 470, and FIG. 13 is a front view of the painting head apparatus 470.

 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 device 500 and the painting head device 470 will be described in detail with reference to FIGS. 7 to 13.

7 and 11, the paint supply device 500 is configured to pump the main material and the hardener stored in each of the storage tanks 511 and 513 to supply the paint head device 470. By using the pumping bar 540 which rotates about one support point S, the main pump P1 and the hardener pump P2 are operated at the same time to be configured to pump and supply paint.

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

The paint replenishment hose reel device 430 is a part of winding a hose for connecting to the hopper of the paint filling device 230 provided in the feed cart 200 of FIG. 4 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 all four tanks 511 and 513 so as to store the main and hardeners of the top and top coats, respectively.

The main storage tank 511 and the curing agent storage tank 513 are preferably provided in diagonal directions, respectively. These two types of storage tanks (511, 513) has a lid (511a, 513a) is configured in the upper portion to the main or the curing agent, the discharge port (511b, 513b) for discharging the main or hardener at the bottom Each is composed.

The stirring device may include a stirring motor 515 installed on the top of the tank lid 511a and a stirring blade 517 rotating in the main storage tank 511 by the stirring motor 515.

As described above, since the stirring motor 515 and the stirring vane 517 having a considerable load are installed in the lid 511a of the main storage tank 511, opening of the lid 511a may not be easy. Therefore, it is preferable to install the opening and closing guide 520 supported on the side of the main storage tank 511, so that the lid 511a can be opened while moving up and down along the opening and closing guide 520. At this time, if the lid 511a is closed too rapidly by the load after the opening, safety accidents may occur, so that the opening and closing guide 520 is configured in a slow closing structure to prevent this, so as to close slowly after opening. It is preferable to construct.

The opening and closing guide 520 is, as shown in Figure 9, the guide pipe 521 of the cylindrical structure provided on the side of the main storage tank 511, the horizontal arm is inserted into the guide pipe 521 so as to be movable up and down 522 is connected to a guide rod 523 connected to the lid 511a, and a shock absorbing member such as a compression coil spring for providing a force to slowly move the guide rod 523 in the guide pipe 521 ( Not shown).

The pumping machine 530 is configured to supply the paint stored in the paint reservoir 510 toward the paint head device 470 by using the lever principle, which is stored in the main storage tank 511 and the hardened storage tank 513. The main body and the hardener are configured to be pumped and supplied at the same time using the main pump P1 and the hardener pump P2 at a predetermined mixing ratio of the main body and the hardener.

The configuration of the pump 530 will be described in detail.

The pump housing 535 is disposed long in the vertical direction, and the pump inlet 535a through which the main body or the hardener can be introduced is located at the lower end thereof, and the pump outlet 535b through which the main body or the hardener is discharged is located at the top. The configuration of the pump housing 535 may be implemented by variously changing the position of the pump inlet 535a or the pump outlet 535b as well as the arrangement structure according to the implementation conditions.

Each pump housing 535 is provided with a pump piston (not shown) for generating a pumping force while reciprocating. In general, a structure in which the pump piston is inserted into the pump housing 535 and reciprocates is a well known configuration, and the illustration of the pump piston is omitted in the drawings.

Piston rods 536 and 537 are connected to the upper end of the pump piston. The piston rods 536 and 537 are connected to the pumping bar 540 which will be described later in the state of being out of the pump housing 535.

The main pump P1 and the hardener pump P2 configured as described above are configured to be operated by a single pumping drive mechanism 545, with respect to the interlocking structure of the two pumps P1 and P2 enabling such operation. Explain.

The interlocking structure of the two pumps P1 and P2 is made through one pumping bar 540 and a pumping drive mechanism 545 for moving the pumping bar 540 up and down.

The pumping bar 540 is connected to both the piston rods 536 and 537 of the two pumps P1 and P2, and one end thereof is rotatably supported by the pump support 531 which is a peripheral fixed structure. It is configured to reciprocate the piston rods 536 and 537 of the two pumps P1 and P2 while being rotated up and down according to the operation of the pumping drive mechanism 545.

Here, the pump support 531 is provided with a support bracket 538 for rotatably supporting one end of the pumping bar 540 (hereinafter referred to as one end) 541 (see FIG. 11). It is preferable that the support bracket 538 be described.

In the figure, the support bracket 538 shows a structure installed to extend downward from the horizontal support 533. The lower end of the support bracket 538 is formed with a hole so that one end 541 of the pumping bar 540 can be rotatably coupled.

In particular, the support bracket 538 is a portion that is coupled to one end 541 of the pumping bar 540 in a plurality of portions in the horizontal direction. That is, a plurality of support points S for supporting rotation of the pumping bar 540 of the support bracket 538 are formed. This is to change the support position of the pumping bar 540 in accordance with the ratio of the discharge amounts of the two pumps P1 and P2, so as to properly adjust the mixing ratio of the main material and the curing agent.

In the drawings, the support bracket 538 is fixed to the pump support 531 in the form of a bracket, but according to the embodiment, the support bracket 538 is installed to be movable in the horizontal direction with respect to the pump support 531. It is also possible. In this case, the mixing ratio of the main material and the curing agent can be set in a linear manner. At this time, between the support bracket 538 and the pump frame 501 must be provided with a fixing device for fixing the position of the support bracket 538 of course. Since the fixing device may use various fixing means known in the art, such as a fixing pin or a fixing clamp, drawings and detailed description thereof will be omitted.

On the other hand, in the case of changing the position of the support point coupled to the support bracket 538, of course, the pumping bar 540 should also be made of a length corresponding thereto.

The other end of the pumping bar 540 (hereinafter referred to as 'the other end') 542 has a piston rod 536 of the pump P1 having a relatively large pumping amount among the two pumps P1 and P2. The piston rod 537 of the pump P2 having a relatively small pumping amount is connected to the middle portion of the pumping bar 540.

This is to mix the pumping amount of the two pumps (P1) (P2), the main and the curing agent is to mix in an appropriate ratio, the coating liquid, that is, the coating agent, that is, the amount of the main agent in the coating than the curing agent, the pumping bar 540 The piston rod 536 of the main pump P1 is connected to the other end 542 of), and the piston rod 537 of the curing agent pump P2 is connected to the center portion.

The connecting portion of the pumping bar 540 and the two piston rods 536 and 537 is mutually coupled through a connecting pin 543, and the connecting portion of the piston rods 536 and 537 through which the connecting pin 543 passes. Since the linear movement up and down, the coupling portion of the pumping bar 540 is a circular movement around the support point (S), the difference occurs in the movement direction of the two coupling portions. Therefore, two coupling parts to which the connection pins 543 are coupled should have a structure capable of absorbing displacement due to the difference in the direction of movement.

To this end, when the piston rods 536 and 537 and the pumping bar 540 are interconnected via a connecting pin 543, at least one of the pin holes through which the connecting pin 543 passes is connected to the connecting pin 543. It is preferable to form an elliptical structure so that a clearance space with) is formed. At this time, when the piston rods 536 and 537 reciprocate in the vertical direction, the amount of movement in the vertical direction of the piston rods 536 and 537 should always move exactly as set, so that the pin holes 544 as shown in the drawing. It is preferable that the elliptic diameter is positioned in the vertical direction of the ellipse to minimize the clearance with the connecting pin 543, and the long diameter of the ellipse is positioned to have the clearance space in the horizontal direction of the pin hole 544. In the drawings of the present invention, such a pin hole 544 is formed in the pumping bar 540.

The pumping drive mechanism 545 which reciprocates the piston rods 536 and 537 of each pump P1 and P2 including the pumping bar 540 connected in this way is demonstrated.

The pumping drive mechanism 545 may be configured in any of a manner of directly connecting to any one of the piston rods 536 and 537 or a method of directly connecting to the pumping bar 540.

In the drawing of the present embodiment, the other end 542 of the pumping bar 540 is connected to the piston rod 536 of the main pump P1 to vertically reciprocate the piston rod 536 of the main pump P1 to pump the bar ( 540 and the piston rod 537 of the hardener pump P2 show an example configured to reciprocate up and down simultaneously.

As such, when the pumping drive mechanism 545 is configured in such a manner as to be directly connected to the piston rod 536 of the main pump P1, the pumping bar 540 is located at the center of rotation of the pumping bar 540, that is, farthest from the support point S. Since the piston rod 536 is driven up and down, the main pump P1 and the hardener pump P2 can be driven simultaneously with a relatively small force by the lever principle.

If the pumping drive mechanism 545 is configured to generate a linear reciprocating motion to linearly move the piston rod 536, it may be adopted in various ways, preferably the piston is directly connected to the piston rod 536 It is preferred that the hydraulic cylinder 546 reciprocate the rod 536. In this case, as shown in the drawing, the piston rod 536 on the main pump P1 side extends to an upper portion of the portion connected to the pumping bar 540, and the piston rod 547 of the hydraulic cylinder 546 is connected to the upper end thereof. It is preferable to be configured. Of course, the hydraulic cylinder 546 is also preferably fixed to the upper portion of the pump support 531.

Such a pump 530 moves the support point S of the pumping bar 540 to the rear to increase the mixing ratio of the curing agent to the main body, and to reduce the mixing ratio of the curing agent to the main body of the pumping bar 540. By moving the support point S to the front side, it becomes possible to change the mixing ratio of a main material and a hardening | curing agent suitably, and to supply.

The hydraulic device 550 provided next to the pumping machine 530 is configured to operate the hydraulic cylinder of the pumping machine 530. Like the conventional hydraulic generating and providing device, the electric motor and the hydraulic pump 552 ), The hydraulic tank 554 and the like. Of course, various valves and control controller 555, etc. to adjust the hydraulic supply force may also be installed together.

Next, the painting head device 470, as shown in Figures 12 and 13, is configured to apply the coating by spraying the paint while rotating the inside of the tube around the center.

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 connector 490 connected to the painting head 485 side to rotate the rotation supply line to rotate together.

Here, the vertical support 471 is configured to enable a tilting movement with respect to the vehicle body 410. That is, the vehicle body 410 may include a frame 411 having wheels 413 so as to travel, and a horizontal support rotatably connected to the frame 411 at the rear of the frame 411. It is configured to include a 415, the vertical support 415 is rotated in the front and rear direction by the tilting drive mechanism provided in the horizontal support 415, while being connected to the horizontal support 415 to be rotated back and forth. It is configured to be.

The tilting drive mechanism includes a tilting motor 417 provided on the horizontal support 415, and a tilting transmission shaft 418 which is rotated by the motor 417 and whose end is connected in a screwing structure to the vertical support 471. It can be made of).

In addition, the rotating body 480 is configured to be adjustable in height from the vertical support 471, for this purpose the rack 474 is configured on the vertical support 417, the rack 474 and the side of the rotating body 480 A pinion to be engaged and a motor 473 for rotating the pinion are configured.

Of course, the vertical support 471 is provided with a support plate 495 to move up and down along the vertical support, the support plate 495 is provided with the rotary drive mechanism 475 and the motor 473 for height adjustment. .

The painting head 485 is installed at the end of the pipe-shaped head support 482 protruding from the rotating body 480, and consists of a configuration of the expandable cover to facilitate the diffusion and spraying of the coating liquid. Of course, the coating liquid injection nozzle is installed inside.

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.

To this end, a coating liquid supply line for supplying the mixed paint from the mixer 488 is connected to the rotating body 480 that forms the rotation center of the painting head 485. That is, a non-rotating supply line connected to the mixer 488 side is introduced in the rotating body 480 to which the painting head 485 is connected, and the rotating body 480 is connected to the painting head 485 side to rotate together. Supply line is configured, the rotary connector 490 is connected to the non-rotating supply line and the rotation supply line, the paint head 485 is configured to be painted while continuing to rotate 360 degrees, that is, in one direction .

Here, since the configuration of the rotary connector 490 is well known, detailed illustration and description thereof will be omitted.

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 coating of 180 degrees left and right, the coating portion can be continuously coated on the inner wall of the tube without breaking, thereby improving the coating quality.

As described above, the painting equipment 400 also, as in the shot blasting equipment 300, it is preferable that each of the car body 410 is made of a configuration that can be moved at the same time connected to each other in a joint structure, each wheel, When driving the bent portion, such as the shot blasting equipment 300 described above, it is preferable to have an automatic steering device for horizontally positioning the painting equipment 400 while the wheel is automatically steered.

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 620 to drive the two wheels 630 to rotate, and the wheel support 620 is provided in the vehicle body A horizontal sensor 650 for detecting a tilt, a steering angle sensor 660 for detecting a state of a steering angle of the wheel support 620 with respect to the frame 611, and a signal of the horizontal sensor 650 and a steering angle sensor 660. It is configured to include a control mechanism (not shown) that receives the input and outputs 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 may be installed on both sides 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 the two pairs of wheels 630, and the wheel connecting shaft is located in parallel with the main support 621 at the front and rear of the main support 621 to connect both wheels 630 It is preferably composed of 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, it is preferable that the outer diameter is gradually formed from the inner side of the wheel toward the outside so as to increase the contact area in the state 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 several 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 each of the electric motors 641 so that the rotational speed of both wheels 630 is different 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. While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. 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 is an overall configuration diagram showing the film removal equipment according to the present invention.

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

5 is a diagram illustrating a shot blasting apparatus according to the present invention.

6 to 13 is a view showing the painting equipment according to the invention,

6 is a side view showing the entire painting equipment,

7 to 11 is a side view, a detailed view, a plan view, a rear view showing a paint supply device, Figure 11 is a rear detailed view,

12 is a side view of the painting head device;

It is a front view of a painting head apparatus.

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 (9)

A vehicle body configured to be capable of traveling inside the tube; A painting head device provided at the rear of the vehicle body and spraying paint on the inner surface of the tube while moving along the inner surface of the tube to coat the inner wall of the tube; The vehicle body is provided in front of the paint head device, and configured to supply the paint head device by pumping the main material and the hardener stored in each storage tank, respectively, by using a pumping bar rotating around one support point. Painting equipment for rehabilitation of old pipes comprising a paint supply device for pumping and supplying the paint by operating the pump and the curing agent pump at the same time. The method according to claim 1, The painting head apparatus includes a vertical support provided in the vertical direction at the rear of the vehicle body, a rotating body rotatably supported by the vertical support, and a painting head which is sprayed on the rotating body to mix the main liquid and the curing agent. It is configured to include, And the painting head is configured to enable continuous rotation in at least one direction about a vertical support with the rotating body. The method according to claim 1, The painting head device, A vertical support installed in the vertical direction at the rear of the vehicle body, A rotating body rotatably supported by the vertical support; A rotation driving mechanism provided in the vertical support to rotate the rotating body; A coating head installed on the rotating body and spraying a coating liquid mixed with a main material and a curing agent; A mixer which is installed on a structure supported by the vehicle body and mixes a main material and a curing agent supplied from the paint supply device to the painting head; A non-rotational supply line connected to the mixer side and a rotational supply line connected to the painting head side and provided on a path for delivering the coating liquid mixed in the mixer to the painting head provided on the vertical support or the painting head side; Painting equipment for rehabilitation of old pipes, characterized in that it comprises interconnecting rotary joints. The method according to claim 1, The vehicle body is configured to include a frame provided with wheels to enable running, and a horizontal support that is rotatably connected in a horizontal direction with respect to the frame behind the frame, And the vertical support is configured to be rotated in the front and rear direction by a tilting driving mechanism provided in the horizontal support in a state connected to the horizontal support so as to rotate back and forth. The method according to claim 1, The paint supply device, A plurality of pump housings, a pump piston that generates a pumping force while reciprocating in each of the pump housings, each of the piston rods connected to the pump pistons outside of the respective pump housings, and the plurality of piston rods A pumping bar having one end rotatably supported around a support point at a peripheral fixed structure, and a pumping drive mechanism for reciprocating each of the piston rod and the pump piston by rotating the pumping bar about the support point. Painting equipment for rehabilitation of old pipes, characterized in that included. The method according to claim 5, The pump housing is installed to be supported by a support frame standing perpendicular to the vehicle body, The pumping bar is paint equipment for renovation of old pipes, characterized in that the support point of one end is rotatably connected to the support bracket fixed to the support frame. The method according to claim 1, The painting equipment for rehabilitation of the old pipe, On the body frame interconnected by the link structure, from the front in the direction of work progress of the entire equipment, the wire reel device that the electric wire is wound for power supply, the controller equipment equipped with the paint supply device, various control mechanisms for equipment control, driver's seat Paint equipment for rehabilitation of old pipes, characterized in that arranged in the order of the painting head. The method according to claim 1, A frame constituting the vehicle body; A wheel support rotatably connected to the frame; Both wheels provided at both sides of the wheel support; Drive mechanisms respectively supported by the wheel supports to drive the both wheels in rotation; A horizontal sensor provided at the wheel support for detecting an inclination of the frame or the wheel support; A steering angle sensor for detecting a steering angle of the wheel support with respect to the frame; And a control mechanism for receiving signals from the horizontal sensor and the steering angle sensor and outputting a control signal to the drive mechanism. As a coating method for rehabilitation of old pipes using the coating equipment for rehabilitation of old pipes according to claim 2, While moving the vehicle body along the inside of the tube, while rotating the paint head at a constant speed, A coating method for rehabilitation of an old tube, characterized by continuously coating the coating liquid sprayed from the coating head in a spiral manner on the inner wall of the tube.

Images