KR20110021647A - Self-propelled excavating and repairing apparatus - Google Patents

Abstract

PURPOSE: A cross section excavating and repairing device of self-propelled type is provided to prevent the rotating stop of a digging head due to overload or front obstacles by sensing and decreasing the running speed and rotating speed of the head. CONSTITUTION: A cross section excavating and repairing device of self-propelled type comprises a traveling cart(10), a rotary shaft(254), a shaft rotating unit, a digging head(271), and an excavating head control member(40). The traveling cart has a driving wheel(21) and a driving member. The rotary shaft is installed in the front of the traveling cart. The shaft rotating unit rotates the rotary shaft. A plurality of unit heads(272) of the digging head is arranged based on the center of the rotary shaft in a radial direction. One end of the unit head is connected to end of the rotary shaft with a hinge, and the unit head gets folded and unfolded toward the rotary shaft.

Description

Self-Propelled Excavating and Repairing Apparatus}

The present invention is a device for removing and repairing the obstacles accumulated in the underground buried pipe, more specifically, the connection between the mortar, protruding branch pipe, tree roots, buried pipe existing inside the buried pipe The present invention relates to a self-propelled shearing surface excavation and repair device capable of simultaneously removing the step difference and plastering mortar.

In general, sewage and rainwater flow in natural sewage systems due to the gradient of the pipe (difference in height) within the sewage pipe (right, sewage pipe), and when the gradient of the pipe is gentle, sediment is deposited inside the pipe. . In this case, by using a general suction dredging car, the sediment inside the pipe is periodically sucked by a water jet method, and the sediment is removed after dredging.

However, when constructing a structure around a pipeline, mortar flows into the inside of the pipe through the joints, damaged parts, or manholes of the concrete when the concrete is poured, and a hard mortar layer is formed inside the pipe. When the right and sewage pipes are connected, the right and sewage pipes of the new building protrude into the existing pipe. In addition, when the roots of roadside trees planted on the sidewalk blocks on the side of the road extend into the gaps of the pipe joints and grow while absorbing moisture, and block the inside of the pipes, the sewage flows back to the upper manhole due to lack of a communication surface during flooding. The phenomenon may also occur. Therefore, among the obstacles (mortar, protruding branches, tree roots, etc.) inside the tubes, the protruding branches, tree roots, etc. are primarily sucked and dredged the sediments inside the tube, and then a small grinder (chainsaw device) is placed inside the tube. Partly removed by technician repeatedly working on the ground by remote control.In case of mortar that flowed into the inside of the pipe, safety accident is to be inputted in the large pipe (over 800mm diameter). It is removed in an inefficient and primitive way, and in small pipes, traffic is blocked and partially replaced. This obstacle removal work must be preceded by the maintenance work inside the pipe. However, up to now, there is no method for removing the step of mortar and pipe joint inside the pipe at home and abroad.

On the other hand, in Patent Publication 10-2008-0091039, there is disclosed an excavation device for removing obstacles in the tube, the device includes a traveling vehicle body and an excavation head installed in front of the traveling vehicle body. A bit is attached to the excavation head. Such an excavation device is introduced into the inside of the pipe and travels along the inside of the pipe to crush and remove obstacles.

However, the excavation device of the above publication had to be replaced with an excavation head of the same size as the inner diameter (pipe diameter) of the pipe before being introduced into the pipe. That is, when the excavation head is larger than the diameter, the excavation device cannot be introduced into the tube. On the contrary, when the excavation head is smaller than the diameter, obstacles are partially removed. It should be selected and applied to the suitable diameter.

On the other hand, the existing excavation device is located on the inner circumferential surface of the tube during the obstacle removal work to press the excavation equipment at the bottom, the support wheel for closely contacting the driving wheel of the excavating equipment under the inner circumferential surface of the tube was a single support wheel, A lack of traction on the support wheels and frequent hole in phenomena in which the support wheels fall into the inside of the protruding branch pipes (inability to move the wheels) occurred frequently.

The present invention has been made to solve the above problems, the object of the present invention is to remove various obstacles (mortar, protruding branches, tree roots, etc.) inside the tube without a single remote control without a separate remote control ( To provide a self-propelled self-propelled shearing surface drilling and repair device.

Another object of the present invention is to provide a self-propelled shear surface excavation and repair apparatus that can be applied to various sizes of diameter by adjusting and varying the diameter of the excavation head to any size.

Another object of the present invention is to automatically control and decelerate the running speed and the rotational speed of the excavation head when the obstacle removing operation is not smooth (that is, when the solid obstacle is removed), so that the excavation head is overloaded and the obstacles ahead. It is to provide a self-propelled shear surface excavation and repair device that can prevent the rotation of the excavation head is stopped due to the phenomenon that it is squeezed (struck).

Still another object of the present invention is to support the support wheel radially at four points to prevent hole in phenomenon of excellent traction and the support wheel falling into the inside of the protruding branch pipe. It is to provide a self-propelled shearing surface excavation and repair device that can prevent the phenomenon that the support wheel of the excavating equipment is separated from the inner peripheral surface of the pipe, slip and conduction phenomenon according to various diameters can be adjusted.

Still another object of the present invention is to sequentially contact the inner surface of the buried pipe while the rotary trawler and the compaction roller rotates, so that the compaction roller compacts the mortar attached to the buried pipe after the rotary trolley first plasters the mortar on the buried pipe. The mortar can be uniformly applied to the inner circumferential surface of the buried pipe, to provide a self-propelled shearing surface excavation and repair device that can smoothly compact the surface of the applied mortar and further improve the adhesion.

According to an embodiment of the present invention, a driving vehicle having a driving wheel and the driving means; A rotating shaft mounted to the front of the traveling vehicle body; Shaft rotating means for rotating the rotating shaft; An excavating head comprising a plurality of unit heads disposed radially with respect to the center of the rotating shaft and hinged to one end of the rotating shaft so as to be folded and unfolded with respect to the rotating shaft in this state; A self-propelled shearing surface drilling and repair apparatus is provided that includes a drilling head adjusting means for rotating the plurality of unit heads to be folded or unfolded about the rotation axis to change the size of the drilling head.

Here, the rotating shaft is formed with a male screw on the outer circumference and the sleeve is rotatably coupled to the front end portion, the unit head is hinged to one end of the sleeve, respectively, the drilling head adjusting means is screwed with the male screw A movable member moving along the rotating shaft when rotated; One end portion may each be connected to the other end portion of the unit head and the other end portion may include a link member connected to the movable member.

The drilling head adjusting means may further include a locking mechanism for restraining and releasing the movement of the movable member. At this time, the locking mechanism and the nut is screwed to each other a plurality of the movable member between the male screw; It may include a fastening means for fastening so as to be detachable from the plurality of nuts respectively located on one side and the other side relative to the movable member.

Each link member may be a cylinder in which both ends are hinged to the unit head and the movable member.

On the other hand, the excavation head adjusting means includes a movable member coupled to the rotary shaft to be movable along the rotary shaft; A link member having one end connected to the other end of the unit head and the other end connected to the movable member; It may include a lock mechanism for restraining and releasing the movement of the movable member.

According to an embodiment of the present invention, a driving vehicle having a driving wheel and the driving means; A rotating shaft mounted to the front of the traveling vehicle body; Shaft rotating means for rotating the rotating shaft; The self-propelled shear surface excavation device including an excavation head mounted to the tip of the rotary shaft, the sensor and a sensor for detecting the workload acting on the self-propelled shear surface excavating device and when the workload is detected by the sensor means and the drive means A self-propelled shearing surface excavation device may be provided that includes a controller that slows down the rotational speed of at least one of the shaft rotation means.

Self-propelled shear surface excavation and repair apparatus according to an embodiment of the present invention as such a moving vehicle body; A rotating shaft mounted to the front of the moving body; Shaft rotating means for rotating the rotating shaft; An excavating head comprising a plurality of unit heads disposed radially with respect to the center of the rotating shaft and hinged to one end of the rotating shaft so as to be folded and unfolded with respect to the rotating shaft in this state; And a drilling head adjusting means configured to change the size of the drilling head by rotating the plurality of unit heads to be folded or unfolded with respect to the rotating shaft, wherein the moving body is a connecting member fixed to a central shaft, and one end of the connecting head. The variable link arm member, which is hinged to the member and the other end is coupled to the support wheel part which makes contact with the inner circumferential surface of the pipe and performs the rolling motion, and the fastening member which is coupled to the variable link arm member while intersecting with each other to facilitate deployment and folding. It is characterized by.

Preferably, the variable link arm member and the support wheel portion is characterized in that a plurality of radially arranged, more preferably, the support wheel portion is characterized in that it is made of a caterpillar structure interlocking with each other.

According to an embodiment of the present invention, a moving vehicle body; A rotating shaft mounted to the front of the moving body; Shaft rotating means for rotating the rotating shaft; The mortar supply unit is coupled to the distal end of the rotary shaft and is provided with a rotary trawl for mounting mortar on the buried tube and a compaction roller for chopping mortar with the rotary trawl installed to face each other. The movable body is a variable link arm member and the variable link coupled to the support member fixed to the central axis, one end is hinged to the connection member and the other end is coupled to the support wheel to make a rolling motion in contact with the inner peripheral surface of the tube It is characterized in that the fastening member is configured to combine the arm members while crossing each other to facilitate deployment and folding.

Preferably, the adjusting means of the excavation head is characterized in that it can be applied to various sizes of the diameter by moving the movable member to the front and rear using a motor around the rotation axis.

Preferably, the adjusting means of the moving vehicle body is characterized in that it can be applied to various sizes of the diameter by moving the connecting member to the front and rear using a motor based on the central axis.

Preferably, a plasterboard is elastically coupled to the plurality of supporting rods extending from the rotary troule by a spring to maintain a constant thickness of the mortar supplied between the inner circumferential surface of the buried pipe and the plasterboard of the rotary troule. It is done.

The present invention can adjust the diameter of the excavation head to any size to be applied to various diameters with one drilling equipment, it is possible to remove obstacles (mortar, protruding branches, tree roots, etc.) inside the pipe to the shear surface at the same time In addition, since the running speed or the excavation head rotation speed is adjusted according to the hardness of the obstruction, the obstacle removal operation can be continuously performed without the phenomenon that the excavation head is overloaded or the excavation head is stuck and the rotation of the excavation head is stopped. The support wheels are radially supported at four points to provide excellent grip, while preventing the in-hole phenomenon in which the support wheels are pulled out by the protruding branch pipe, preventing obstacles from being removed without remote control. It can proceed conveniently, it is possible to apply the mortar uniformly to the inner circumferential surface of the buried pipe, and smooth the surface of the applied mortar The.

Figure 1 is a schematic diagram showing the removal of obstacles in the tube by the self-propelled shear surface excavation and repair apparatus according to the first embodiment of the present invention.
2 to 4 are a perspective view, a side view, and a plan view showing a first embodiment.
5 is a perspective view of the drilling head and its adjustment means shown in FIGS.
6a and 6b is an operating state diagram showing the excavation head and its adjustment means.
Fig. 7 shows the supporting means shown in Figs. 2 and 3 as the rear view of the first embodiment.
8 is a plan view showing the support means.
Figure 9 is a side view showing the main part of the self-propelled shear surface excavation and repair apparatus according to a second embodiment of the present invention.
10 is a perspective view showing a self-propelled shearing surface excavation and repair apparatus according to a third embodiment of the present invention.
11 is a side view showing the main portion of the self-propelled shear surface excavation and repair apparatus according to a fourth embodiment of the present invention.
12 and 13 are perspective views showing a self-propelled shearing surface excavation and repair apparatus according to a fifth embodiment of the present invention.
14 and 15 are perspective views showing the self-propelled shearing surface excavation and repair apparatus according to the sixth embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

Figure 1 is a schematic diagram showing the removal of obstacles in the tube by the self-propelled shear surface excavation apparatus according to the first embodiment of the present invention, the first embodiment is a tube 5 in the interior of the tube (5) Remove obstacles while driving along the road. 2 to 4 show such a first embodiment in detail, FIG. 2 is a perspective view, FIG. 3 is a side view, and FIG. 4 is a plan view.

5 is a perspective view of the excavation head 271 and the excavation head adjusting means 40 shown in FIGS. 2 to 4, wherein the excavating head 271 is of any size by the excavating head adjusting means 40. Is variable. 6A and 6B are side views showing the operating state of the excavation head 271, FIG. 6A shows a state in which the diameter of the excavating head 271 is reduced, and FIG. 6B shows the diameter of the excavating head 271 reversed. Indicates an expanded state.

FIG. 7 is a rear view of the first embodiment, showing how the support means 300 shown in FIGS. 2 and 3 work inside the tube 5. 8 is a plan view showing the support means 300.

9 is a side view showing the main part of the self-propelled shearing surface drilling apparatus according to the second embodiment of the present invention, showing that the drilling head adjusting means 40 can be configured differently from that of the first embodiment.

FIG. 10 is a perspective view showing the self-propelled shearing surface drilling apparatus according to the third embodiment of the present invention, which shows that the support wheel 315 of the support means 300 may be arranged differently from that of the first embodiment.

11 is a side view showing the main part of the self-propelled shearing surface drilling apparatus according to the fourth embodiment of the present invention, showing that the lifting unit 320 of the supporting means 300 can be configured differently from that of the first embodiment. .

[First Embodiment]

Looking at the order from the first embodiment, as shown in Figures 1 to 4, the first embodiment includes a traveling vehicle body 10 and the support means 300, the traveling vehicle body 10 is left and right A plurality of driving wheels 160 and 21 mounted on the driving wheel and driving means 20 for forward and reverse rotation of the driving wheels 160 and 21, respectively. ) Rotates at a constant speed, and the support means 300 contacts the upper side of the inner circumferential surface of the tube 5 when the obstacle is removed from the inside of the tube 5 and presses the traveling vehicle body 10 to The traveling vehicle body 10 traveling along this pipe 5 is in close contact with the inner peripheral surface.

Here, the left and right driving wheels 160 and 21 are connected to each other by the axle 56. The drive means 20 includes an electric or hydraulic motor 27, a reducer 28, and chain drive mechanisms 41 and 43. The rotational force generated by the motor 27 is reduced by the chain drive mechanism 41. And the output from the speed reducer 28 is transmitted to the rear axle 56 by the chain transmission mechanism 43. At this time, the motor 27 is operated by receiving the necessary energy from the support vehicle 3.

A gearbox 62 is mounted in front of the traveling vehicle body 10, and a rear portion of the rotation shaft 254 is mounted in front of the gearbox 62, and the rotation shaft 254 is driven by the shaft rotation means 30. Rotate at a constant speed. The shaft rotating means 30 includes an electric or hydraulic motor 53 and a gear box 62, and a gear mechanism in which the rotational force from the motor 53 of the shaft rotating means 30 is built into the gear box 62. It is configured to be transmitted to the rotating shaft 254 through.

An excavation head 271 having a conical structure is mounted to the tip portion of the rotating shaft 254. As shown in Figs. 5, 6A and 6B, the excavation head 271 comprises a plurality of (preferably 4 to 6) unit heads 272, which unit heads 272 It is arranged radially with respect to the center of rotation of the rotary shaft 254, and in this state, the parts are connected in a hinged manner so that each of the rotary shafts 254 can be folded and retracted like an umbrella with respect to the rotary shaft 254. That is, the unit heads 272 are folded when rotating to the rear of the rotating shaft 254 and unfolded when rotating to the front of the rotating shaft 254 in the opposite direction.

Such a plurality of unit heads 272 is folded or unfolded by the excavation head adjusting means 40. Excavation head adjustment means 40 includes a movable member 260 and a link member 280 as its components.

The movable member 260 is screwed onto the rotation shaft 254. Of course, for the screw coupling between the two, the outer thread of the rotating shaft 254 is provided with a male screw 255 over a predetermined section. According to this structure, the movable member 260 makes a linear movement while rotating.

The link members 280 are provided in the same number as the unit heads 272. That is, if four unit heads 272, four link members 280 are also provided. One end portion of the link member 280 is connected to the other end portion of the unit head 272, and the other end portion thereof is connected to the outer circumference of the movable member 260. At this time, the link member 280 is all made of a hinge method.

The movable member 260 is accompanied by a rotational movement in the straight movement, the role of the link member 280 transmits the movement force of the movable member 260 to the unit head 272 to transfer the unit head 272 to the axis of rotation ( Since the front and rear directions of the 254 are rotated, when the movable member 260 is rotated, the excavation head 271 should be rotated together with the movable member 260. Accordingly, the rotating shaft 254 is rotatably coupled to a sleeve 256 at the outer circumference of the tip portion thereof, and the unit head 272 is hinged at one end thereof to the outer circumference of the sleeve 256.

The drilling head adjusting means 40 further includes a lock mechanism 290 for restraining and releasing the movement of the movable member 260. The lock mechanism 290 includes first and second nuts 291a and 291b coupled to the male screw 255 of the rotating shaft 254, respectively, and is movable between the first and second nuts 291a and 291b. Positioned to place 260. Accordingly, when the first and second nuts 291a and 291b are rotated to closely contact the movable member 260, the movable member 260 is restrained.

Two first and second nuts 291a and 291b are provided, and the locking mechanism 290 is a fastening means 292 for fastening between these two first nuts 291a and two second nuts 291b, respectively. It includes more. The fastening means 292 comprises a bolt. One of the two first nuts 291a has at least one through hole and the other has a screw hole coinciding with the through hole. Of course, the two second nuts 291b also have through-holes and screw holes similarly to the first nuts 291a. The bolt of the fastening means 292 is coupled to the screw hole corresponding thereto through the through hole, thereby fastening between two first nuts 291a and fastening between two second nuts 291b.

Here, the excavation head adjusting means 40 may be configured to be moved to the front and rear of the movable member 260 using a motor around the rotating shaft 254 to be applied to various sizes of diameter.

According to the drilling head adjusting means 40 as described above, the drilling head 271 operates as follows.

Loosen the bolts of the fastening means 292 and release the fastening between the first nut 291a and the fastening between the second nut 291b, and then loosen the first and second nuts 291a and 291b to separate them from the movable member 260. In this case, the movable member 260 is released from the restraint. When the movable member 260 is rotated in this state, the movable member 260 moves along the length of the rotation shaft 254, and the plurality of unit heads 272 move the movable member 260 via the link member 280. It is folded or unfolded about the rotating shaft 254 by receiving the movement force of the). At this time, the diameter of the excavation head 271 is variable.

FIG. 6A illustrates a state in which the movable member 260 is retracted to reduce the diameter of the excavation head 271 to approximately the same size as that of a small-diameter tube having a relatively small diameter, and FIG. 6B is a movable member 260 opposite to FIG. 6A. ), And the diameter of the excavation head 271 is expanded to almost the same size as that of a large diameter tube with a relatively large diameter. As such, in the first embodiment, since the diameter of the excavation head 271 is changed to an arbitrary size according to the front and rear movement distance of the movable member 260, the excavation is performed with one device regardless of whether a large diameter tube or a small diameter tube is distinguished. By adjusting the size of the head 271 arbitrarily, various obstacles in the tube 5 can be removed to the shear surface. If necessary, only the unit head 272 may be replaced with a longer or shorter one. Thus, replacing each unit head 272 with a longer or shorter one, the maximum and minimum variable range of the drilling head 271 may be replaced. Can be amplified and applied to more diverse diameters. That is, it is possible to overcome the application limit due to the limited range of the excavation head 271 is limited.

As shown in FIG. 4, a sensor for detecting a workload applied to the first embodiment is built into the traveling vehicle body 10, which is caused when the sensor hits a relatively hard obstacle during a removal operation. Problems that may occur by proceeding (advancing) under the same conditions as when the operation is smooth even when the operation is not smooth while removing the water, that is, an overload acts on the excavation head 271, and the excavation head 271 is damaged, The excavation head 271 is squeezed to the obstacle so that the obstacle cannot be removed, and the rotation of the excavation head 271 is stopped.

The signal from the sensor is input to a controller (not shown), which outputs a control signal and controls the operation of the driving means 20 or the shaft rotating means 30 to control the driving means 20 or the shaft rotating means ( 30) to reduce the rotational speed from the bar, by automatically adjusting the excavation speed according to the hardness of the obstacle when removing the obstacle according to the first embodiment so that the removal (grinding) operation of the obstacle is made without interruption . For reference, the controller may be operated by receiving an operation signal from the operator of the support vehicle 3 via a cable.

On the other hand, in the case of removing a relatively hard obstacle, the traveling vehicle body 10 does not move smoothly to remove it. That is, the driving means 20 continuously provides power, but the axle 56 does not drive smoothly with the provided power. At this time, a change occurs in the axle 56 different from when the obstacle removal operation such as a reduction in the number of revolutions is smooth, and this change may be defined as a workload acting on the first embodiment. Therefore, the rotation speed measurement sensor 400 for measuring the rotation speed of the axle 56 is used as the sensor, the rotation speed measurement sensor 400 is mounted on the rear axle 56 side. As such, as the sensor is the rotation speed measuring sensor 400, the controller is configured to output a control signal when the measured value is less than the set value (low speed) by comparing the measured value from the rotation speed measuring sensor 400 with a predetermined set value. . Of course, the set value at this time refers to the number of rotation of the rear axle 56 when the obstacle removal operation is smooth.

On the other hand, the rotation speed measurement sensor 400 may be provided not only to measure the rotation speed of the axle 56, but also to measure the rotation speed of at least one of the axle 56 and the rotation shaft 254. In addition, as a sensor, instead of the rotation speed measuring sensor 400, a load measuring sensor for measuring a load acting on at least one of the motor 27 of the driving means 20 and the motor 53 of the shaft rotating means 30 is provided. May be applied. At this time, if the motors 27 and 53 are hydraulic, it is preferable to use a pressure sensor as the load measuring sensor. For reference, in the case of applying such a load measuring sensor, the controller is configured to compare the measured value from the load measuring sensor with a predetermined set value and output a control signal if the measured value is equal to or larger than the set value.

As shown in FIG. 7 and FIG. 8, the support means 300 for closely contacting the traveling vehicle body 10 to the inner circumferential surface of the tube 5 during the obstacle removing operation is mounted on the upper side of the traveling vehicle body 10. The support means 300 includes a support unit 310 disposed on the traveling vehicle body 10 and a lifting unit 320 for moving the support unit 310 up and down.

Here, the support unit 310 has a plurality of support wheels 315, the support wheels 315 are each arranged in a row on the left and right with respect to the center of the support unit 310 when the obstacle removal operation Contact with the upper side of the inner circumferential surface of the tube (5), perform a cloud movement. The lifting unit 320 is applied to the pneumatic or hydraulic cylinder, the cylinder housing of the cylinder is mounted on the traveling vehicle body 10, the piston rod of the cylinder is connected to the end of the lower end of the support unit 310 Support the support unit 310.

And the support means 300 further includes an elastic member 330, the elastic member 330 is connected between the support unit 310 and the lifting unit 320, these two units (310, 320), the support unit 310 Support elastically. In this case, the coil spring is applied as the elastic member 330.

The support means 300 further includes a drive means 350 for rotating the support wheel 315 forward and backward. The driving means 350 for the support wheel 315 includes an electric or hydraulic motor 351, a gear transmission mechanism 352, and a chain transmission mechanism 353. The driving means 350 for the support wheel 315 includes: The motor 351, the gear transmission mechanism 352, and the chain transmission mechanism 353 are all provided inside the support unit 310. At this time, the rotational force from the motor 351 is transmitted to one of the shafts 316 connecting the left and right support wheels 315 by the gear transmission mechanism 352, and the rotational force of the shaft 316 is transmitted to the chain transmission mechanism. It is transmitted to the remaining shaft 316 connecting the left and right support wheels 315 by 353, the support wheel 315 is rotated.

The supporting means 300 configured as described above operates as follows.

When the piston rod is moved (moves up and down) by operating the cylinder, which is the lifting unit 320, the support unit 310 is lifted according to the movement direction of the piston rod, and the height is adjusted by the support unit 310 when the obstacle is removed. The support wheels 315 in the left and right rows are brought into contact with the upper inner circumferential surface of the pipe 5. At this time, the driving wheels 10 are in close contact with the driving wheels 160 and 21 under the inner circumferential surface of the pipe 5 by the action (pressing) of the support means 300. In this state, when the driving means 350 for the support wheel 315 is operated, the support wheel 315 is rotated, driving the drive wheels 160 and 21 and the support wheel 315 simultaneously when the obstacle is removed. The driving force is further improved.

Accordingly, when the obstacle is removed while driving along the pipe 5, an improved traction force of the support wheel 315 can be expected, and the driving wheels 160 and 21 are brought into close contact with the inner circumferential surface of the pipe 5 regardless of the diameter. It is possible to prevent the wheels 160 and 21 from being spaced apart from the inner circumferential surface of the pipe 5 and from slipping and falling. In addition, although the shape of the inner circumferential surface of the tube 5 is somewhat irregular due to the elasticity of the elastic member 330, the driving wheels 160 and 21 are maintained in close contact with the inner circumferential surface of the tube 5, while flexibly responding to the irregular shape. It is possible to prevent the hole in phenomenon in which the support wheel 315 falls into the inside of the protruding branch pipe due to the structure in which the support wheels 315 are arranged in a line from right to left. At this time, in order to prevent hole-in phenomenon, the interval between the left and right support wheels 315 and the length of the rows formed by the support wheels 315 are preferably wider and longer than the diameter of the protruding branch pipe.

2 to 4, the driving vehicle 10 is equipped with a front body (front wheel 160, rotation shaft 254, shaft rotation means 30, excavation head 271, excavation head adjustment means 40). And a rear body (rear wheel 21, driving means 20, rotation speed measuring sensor 400, support means 300 are mounted), and before and after the rear body can be deflected vertically and horizontally It is shown to be connected to each other by a hinge method, according to this structure, the front and rear body is refracted in left and right up and down in the curved section of the pipe (5), the gap between the joint portion and the like when the obstacle is removed, the pipe (5) You can drive naturally along.

Such a refractive structure of the traveling vehicle body 10 may not be applied depending on the implementation conditions. That is, it may be configured as a body without being refracted.

In addition, the front body and the rear body can be configured to be quickly assembled, disassembled in the working tool (manhole) using a fastening means such as a flange.

[Second Embodiment]

As shown in Fig. 9, the second embodiment has a pneumatic or hydraulic cylinder as the link member 285 of the drilling head adjusting means 40, while the other configuration and action are the same as compared with the first embodiment. Only the point that applies is different. Accordingly, in the cylinder of the link member 285, the cylinder housing and the end of the piston rod corresponding to both ends thereof are connected to the unit head 272 and the movable member 260 in a hinged manner.

According to this second embodiment, the diameter of the excavation head 271 can be changed to any size without releasing the restraint of the movable member 260 by the lock mechanism 290. Of course, the diameter of the excavation head 271 may be changed in parallel with the operation of moving the movable member 260 and the operation of moving the piston rod of the cylinder, which is the link member 285, so that the diameter of the excavation head 271 The variable range can be greatly increased as compared with that of the first embodiment.

On the other hand, the link member 285 is applied to the cylinder method, the diameter of the excavation head 271 may be configured to be automatically adjusted according to the inner diameter of the pipe (5), this configuration changes the pipe diameter during the obstacle removal operation In this case, the diameter of the drilling head 271 may be automatically adjusted by adjusting the length of the link member 285 by the pressure of the cylinder and changing the angle of the unit head 272. That is, the diameter of the excavation head 271 is implemented in such a way as to reduce or expand to a size similar to the changed diameter.

[Third Embodiment]

As shown in FIG. 10, the third embodiment has the same configuration and operation as those of the first embodiment, whereas the support unit 310 of the support means 300 has a slightly different configuration. Only the points are different. That is, the third embodiment shows that the plurality of support wheels 315 may be arranged in a line on the center of the support unit 310, not on the left and right. At this time, in order to effectively prevent the hole-in phenomenon of the support wheel 315, the length of the row formed by the support wheel 315 is preferably longer than the diameter of the protruding branch pipe.

Such a third embodiment may be constructed based on the second embodiment rather than the first embodiment.

[Fourth Embodiment]

As shown in Fig. 11, the fourth embodiment has the support means 300 with respect to all other configurations and actions being the same as compared with the first embodiment (or the second or third embodiment). Only the configuration of the lifting unit 320 constituting the slightly different.

Referring to this, the elevating unit 320 of the fourth embodiment is disposed in the up and down direction and mounted so as to be able to elevate on the upper side of the traveling vehicle body 10, and the upper end is connected to the lower side of the support unit 310 to support the support unit 310. And a pin 341 engaged with the rack 341, and further including a motor 343 for forward and reverse rotation of the pinion 342. Of course, the elastic member 330 is interposed between the support unit 310 and the rack 341.

In this fourth embodiment, when the pinion 342 is rotated by operating the motor 343 of the lifting unit 320, the rack 341 engaged with the pinion 342 is raised in accordance with the rotation direction of the pinion 342. Or lowered, and thus the support unit 310 also moves in the same direction as the rack 341.

[Example 5]

As shown in Figs. 12 and 13, in the fifth embodiment, the construction and operation of the excavation head 271 and the excavation head adjusting means 40 are substantially the same as compared with the first embodiment. Only the configuration of the moving vehicle body 600 replacing the vehicle body 10 is different.

In this case, the moving vehicle 600 is connected by an external power supply source and a wire to move in the conduit, and the rotating shaft 610 is mounted in front of the moving vehicle 600 to rotate the rotating shaft 610. A shaft rotating means 620 such as a motor is provided, and the drilling head 271 and the drilling head adjusting means 40 are disposed at the tip portion of the rotating shaft 610.

On the contrary, in the present embodiment, the connecting member 630, the variable link arm member 640, and the fastening member are configured in the moving vehicle body 600, and the connecting member 630 is the central axis 605 of the moving vehicle body 600. The variable link arm member 640, which will be described later, is connected to a radially vertically protruding flange to be inserted so as to be slidable back and forth.

Accordingly, the moving vehicle 600 may be moved to the front and rear of the connecting member 630 using a motor based on the central axis 605 to be applied to various sizes of diameters.

Variable link arm member 640 is one end is hinged to the connecting member 630 and the other end is coupled to the support wheel portion 650 to make a rolling motion in contact with the inner peripheral surface of the tube, the fastening member (not shown) The variable link arm member 640 is coupled to each other while crossing the through-holes perforated at the end to facilitate deployment and folding. 12 shows a state in which the variable link arm member 640 is folded, and FIG. 13 shows a state in which the variable link arm member 640 is deployed.

At this time, the variable link arm member 640 is disposed radially with respect to the central axis 605 of the moving vehicle 600 (supporting four points in the drawing), accordingly, the support wheel 650 also radially A plurality is arranged.

Each of the support wheels 650 may be arranged so that a plurality of support wheels may perform a rolling motion in a row or in a row (in the drawing, two support wheels are arranged in a row for each support wheel part 650). The wheels may be configured to have a caterpillar structure (connecting a chain to the front and rear support wheels) to interlock with each other to enable four-wheel drive.

In the fifth embodiment, the support wheel part 650 of the rear body is configured in a four-point support method, so that the support wheel 600 does not fall or twist, and the central axis (rotation axis) can always be located in the center. Therefore, the hall-in phenomenon in the connection pipe can be prevented.

In addition, by using the expansion (increase) motor of the support wheel unit 650, it is possible to prevent the support wheel slip (slip) phenomenon of the moving vehicle body 600, which is the rear body in a state in which four points are always pressed against the tube diameter.

On the other hand, in the case of installing a camera (not shown) on the moving body 600, which is the rear body, after the cutting operation inside the tube is completed, the front body including the excavation head 271 is dismantled and the camera attached to the rear body By adjusting the forward and backward speeds, it is possible to facilitate all-inner tube irradiation (shooting) such as distance measurement and endoscopic strain measurement.

In addition, when the obstacle is partially removed inside the pipe, the drilling head 271 is minimized and then quickly moved to the obstacle removal position, and then the drilling head 271 is expanded and the camera is used to check the cutting situation. It is possible.

[Sixth Embodiment]

As shown in Figs. 14 and 15, the sixth embodiment is similar to the fifth embodiment in that the configuration and operation of the moving vehicle 600 are substantially the same, and the excavation head 271 and the excavation head adjustment Only the configuration of the conduit repair mortar supply unit 500 replacing the front body including the means 40 is different.

To explain this, the front body is configured to include a rotary trawl 510 and the compaction roller 550 in which the mortar supply unit 500 functions as a plastering hand, wherein the rotary trawl 510 is mortar in the buried pipe Plastering, the compaction roller 550, the rotary trawl 510, the compacted mortar, the rotary trawl 510 and the compaction roller 550 are installed to face each other around the rotating inner tube (131) And rotate.

Accordingly, when the rotary trawl 510 and the compaction roller 550 rotate and sequentially contact the inner surface of the buried pipe, and the rotary trawl 510 first coats the mortar with the buried pipe, the compaction roller 550 is buried. By compacting the mortar attached to the mortar, the adhesion of the mortar can be further improved.

In addition, a plurality of support rods 511 are vertically extended from the rear surface of the rotary trol 510, and a support plate 513 having a flat plate shape is elastically coupled to the support rods 511 by a spring 515. The thickness adjusting nut N is coupled to the supporting rod 511 extending through the supporting plate 513 so that the plastering plate 516 of the rotary trol 510 is elastically moved along the supporting rod 511. The thickness of the mortar supplied between the plastering plate 516 of the rotary trout 510 and the inner circumferential surface of the buried pipe can be adjusted constantly.

By such a configuration, by adjusting the interval between the inner peripheral surface of the buried pipe and the plastering plate 516 of the rotary trawl 510 by using the adjustment nut (N) for adjusting the thickness, the thickness of the plaster mortar is kept constant. The amount of mortar plastered in the buried pipe by the right 510 can always be constantly adjusted to the working speed.

In addition, the length adjusting means for stepwise adjusting the length of the support rod 517 to the inner diameter of the buried pipe in each of the support rods 517 connecting the rotary trawl 510 and the compaction roller 550 to the inner tube 131. 560 may be provided.

The length adjusting means 560 includes a first adjusting part 561, a second adjusting part 562, and a third adjusting part 563, and the first adjusting part 561 is the support plate 513. Hinge (H) is coupled to the rear of the elongated toward the inner tube 131 and a plurality of first adjustment holes (not shown in the figure) are vertically drilled at regular intervals.

The second adjusting unit 562 is a H-beam shape of the coupling hole 562a is inserted into the inner tube 131 in the center portion, the plurality of second adjusting holes at regular intervals along the sides extending long sides ( 562b) is perforated vertically.

At this time, one side of the second control unit 562 accommodates the extended portion of the first control unit 561, the interval of the second control hole 562b perforated in the second control unit 562 is the first By forming the same as the interval of the first adjusting hole of the adjusting unit 561, the support rod 517 is positioned in a predetermined length in accordance with the inner diameter of the buried pipe, and then the second adjusting hole (562b) and the first adjusting hole to connect A pin or the like may be used to fix the position of the rotary trawl 510.

The third adjusting unit 563 extends long from the bracket 551 in which the compaction roller 550 is rotatably installed toward the inner tube 131 and drills a plurality of third adjusting holes 563a vertically at regular intervals. The extended portion is accommodated on one side of the second control unit 562.

At this time, the interval of the third adjustment hole (563a) perforated in the third adjustment portion 563 is formed by the same as the interval of the second adjustment hole (562b) formed on the other side of the second adjustment portion 562, 517 is positioned at a predetermined length in accordance with the inner diameter of the buried pipe, and then the position of the compaction roller 550 is adjusted by using a connecting pin (P) to align the third adjusting hole 563a and the second adjusting hole 562b. Can be fixed

On the other hand, the front portion of the rotary trawl 510 (part facing the buried pipe) senses the pressure of the supplied mortar, the rotation timing or rotational speed of the rotary trawl 510, that is, of the rotary trawl 510 A pressure sensor 521 may be provided to adjust the number of rotations of the rotary trout 510 according to the mortar pressure.

In addition, each of the support rods 517 connecting the rotary trout 510 and the compaction roller 550 to the inner tube 131 can be flexibly worked regardless of the change in the inner diameter of the buried tube (cross section change, bending portion). The spring of the solenoid method for suppressing the rotary troules 510 and the compaction roller 550 in the buried pipe direction may be further installed.

On the other hand, each of the support rods 517 for connecting the rotary trout 510 and the compaction roller 550 to the inner tube 131 is provided with a stopper protruding to the side and connected to the main tube of the buried pipe (T-shaped) Connection part) in order to prevent the hole in (Hole in) by limiting the elongation of the support rod 517 over a certain length so that the rotary troules 510 or the compaction roller 550 is caught on the rim of the main building so as not to fall into the interior of the connection pipe. .

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

For example, the sleeves 256 shown in FIGS. 2-6 (6a, 6b), 9 and 10 may be absent, such that the plurality of unit heads 272 are at the leading end of the rotation shaft 254. Each part may be connected once, and there may also be no male screw 255, so that the movable member 260 is coupled to the rotary shaft 254 so that only the slide movement is possible. The unit head 272 may be folded and unfolded so that the diameter of the excavation head 271 may be changed. In such a configuration, it is preferable to include a locking mechanism 290 for restraining and restraining the movable member 260 that slides, and the locking mechanism 290 here slides on the rotating shaft 254, for example. It may include a plurality of clamps respectively fastened with the movable member 260 therebetween. Alternatively, instead of the lock mechanism 290, it may include a movable member moving means for sliding the movable member 260, the pneumatic or hydraulic cylinder may be applied as the movable member moving means.

In addition, the rotary trout 510 and the compaction roller 550 facing each other may be configured to replace the mortar and the paint on the inner circumferential surface of the tube by replacing the grinding wheel with a steel brush.

10: driving body 20: driving means
21,160: drive wheel 30: shaft rotation means
40: drilling head adjusting means 56: axle
254: axis of rotation 255: male thread
256: sleeve 260: movable member
271: excavation head 272: unit head
280, 285: link member 290: locking mechanism
291a, 291b Nut 292 Fastening means
300: support means 310: support unit
315: support wheel 320: lifting unit
330: elastic member 340: drive means for the support wheel
400: sensor 500: mortar supply
600: moving body

Claims (14)

A traveling vehicle body having a drive wheel and the drive means;
A rotating shaft mounted to the front of the traveling vehicle body;
Shaft rotating means for rotating the rotating shaft;
An excavation head comprising a plurality of unit heads disposed radially with respect to the center of the rotation shaft and hinged to one end of the rotation shaft so as to be folded and unfolded with respect to the rotation shaft in this state;
Self-propelled shear surface excavation device comprising a drilling head adjusting means for rotating the plurality of unit heads to be folded or unfolded about the rotation axis to change the size of the drilling head. The method according to claim 1,
The rotating shaft is formed with a male screw on the outer circumference and the sleeve is rotatably coupled to the tip portion,
Each of the unit heads is hinged to one end of the sleeve,
The excavation head adjusting means includes: a movable member which is screwed with the male screw and moves along the rotating shaft when rotated; One end portion is respectively connected to the other end portion of the unit head and the other end portion of the self-propelled shear surface excavation apparatus comprising a link member connected to the movable member. The method according to claim 2,
The excavation head adjusting means further includes a locking mechanism for restraining and releasing the movement of the movable member. The method according to claim 2,
Excavation head adjusting means is a self-propelled shear surface excavation device, characterized in that the movable member is moved to the front and rear by using a motor around a rotating shaft to apply to various sizes of diameter. The method according to any one of claims 2 to 4,
Each of the link members is a self-propelled shear surface excavation device is a cylinder hinged to both ends of the unit head and the movable member. The method according to claim 1, wherein the drilling head adjusting means,
A movable member coupled to the rotary shaft to be movable along the rotary shaft;
A link member having one end connected to the other end of the unit head and the other end connected to the movable member;
Self-propelled shear surface excavation device comprising a lock mechanism for restraining and releasing the movement of the movable member. A traveling vehicle body having a drive wheel and the drive means; A rotating shaft mounted to the front of the traveling vehicle body; Shaft rotating means for rotating the rotating shaft; It is a self-propelled shear surface excavation device including an excavation head mounted to the tip portion of the rotary shaft,
Self-propelled shear surface excavation comprising a sensor for detecting a workload acting on the self-propelled shear surface excavation device and a controller for reducing the rotational speed of at least one of the drive means and the shaft rotation means when the workload is detected by the sensor Device. A moving body; A rotating shaft mounted to the front of the moving body; Shaft rotating means for rotating the rotating shaft; An excavating head comprising a plurality of unit heads disposed radially with respect to the center of the rotating shaft and hinged to one end of the rotating shaft so as to be folded and unfolded with respect to the rotating shaft in this state; It comprises a drilling head adjusting means for changing the size of the drilling head by rotating so that the plurality of unit heads folded or unfolded about the rotation axis,
The movable body has a variable link arm member and the variable link arm member coupled to a support member fixed to a central axis, one end of which is hinged to the connection member, and the other end of which is coupled to a support wheel to make a rolling motion in contact with the inner circumferential surface of the tube. Self-propelled shear surface excavation and repair device, characterized in that the fastening member is configured to be coupled to cross each other to facilitate deployment and folding. The method according to claim 8,
The variable link arm member and the support wheel portion is a self-propelled shear surface excavation and repair apparatus characterized in that the plurality is disposed radially. The method according to claim 8 or 9,
The self-propelled shear surface excavation and repair apparatus, characterized in that the support wheel portion is made of a caterpillar structure that interlocks with each other. A moving body; A rotating shaft mounted to the front of the moving body; Shaft rotating means for rotating the rotating shaft; The mortar supply unit is coupled to the distal end of the rotary shaft and is provided with a rotary trawl for mounting mortar on the buried tube and a compaction roller for chopping mortar with the rotary trawl installed to face each other. Is composed,
The movable body has a variable link arm member and the variable link arm member coupled to a support member fixed to a central axis, one end of which is hinged to the connection member, and the other end of which is coupled to a support wheel to make a rolling motion in contact with the inner circumferential surface of the tube. Self-propelled shear surface excavation and repair device, characterized in that the fastening member is configured to be coupled to cross each other to facilitate deployment and folding. The method of claim 11,
The moving body is a self-propelled shearing surface excavation and repair apparatus, characterized in that it can be applied to various sizes of pipe diameter by moving the connecting member to the front and rear using a motor based on the central axis. The method of claim 11,
Plastering plate is elastically coupled to the plurality of supporting rods extending from the rotary troule by a spring to maintain the thickness of the mortar supplied between the inner circumferential surface of the buried pipe and the plastering plate of the rotary trawl constant. Sectional excavation and repair device. The method according to any one of claims 11 to 13,
Self-propelled shear surface excavation and repair apparatus, characterized in that the removal of the mortar and paint on the inner circumferential surface of the tube by replacing the rotary trawl and the compaction roller facing each other with a grinding wheel or steel brush.

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