KR20170127161A - A Robot Apparatus for Repairing a Underground Pipe and A System for Repairing a Underground with the Same - Google Patents

Abstract

The present invention relates to a sewage pipe automatic repair robot apparatus and a sewage pipe repair system therefor. More particularly, the present invention relates to a sewage pipe repair system, An automatic repair robot apparatus and a sewage pipe maintenance system therefor. The sewage pipe repair system of the automatic robot structure is movable to a predetermined position inside the sewage pipe and includes a vision unit 17 for confirming the repair point RP and a block for fixing the repairer supply block 15 to the maintenance point RP An automatic maintenance robot apparatus comprising a supporter (14) and a fixed supporter (16) fixed to the inner wall surface of the sewer pipe together with the block supporter (14); And a repairing agent supply unit (121, 122) for supplying a repair agent to the automatic repair robot apparatus. The repair agent supply unit (121, 122) is disposed outside the sewage pipe .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a sewage pipe automatic repair robot apparatus,

The present invention relates to a sewage pipe automatic repair robot apparatus and a sewage pipe repair system therefor. More particularly, the present invention relates to a sewage pipe repair system, An automatic repair robot apparatus and a sewage pipe maintenance system therefor.

Various underground pipes including sewer pipes may be defective in a buried state, and a repair robot or the like may be used for repairing such defects. However, in the case of an underground conduit such as a sewage pipe having a large diameter of 800 mm or more, for example, it may be difficult to repair the robot by the robot, so that a person must be directly inserted into the sewage pipe for repair. In addition, when the repair process is performed by the robot, it is difficult to fix the robot in a predetermined position. Regardless of the diameter of the repair pipe, it is advantageous that the maintenance of the sewer pipe is automatically performed by the robot. Therefore, it is necessary to develop a sewer repair robot that enables automatic repair of the underground conduit.

Prior art relating to sewer repair is disclosed in Patent Publication No. 10-2004-0045557. The prior art includes a head having a hydraulic shaft formed with a hydraulic hole to which hydraulic pressure is supplied from a hydraulic sub-valve is rotatably inserted therein and formed with hydraulic bores at both sides thereof; A rotation sensing sensor mounted in the main body and equipped with a sensor gear meshing with the driven gear formed on the head to sense the rotation angle of the head; A pair of arms having a hydraulic shaft formed therein and having a hydraulic hole formed therein so as to be disposed on both upper sides of the head; A first cylinder installed in a shaft mounted on a lower side of the head and on the front side of both arms; A cutter installed between the tip ends of the arms so as to rotate the hydraulic motor and having a bracket and a cutter blade mounted on the hydraulic motor; A second cylinder mounted on the bracket of the shaft and the hydraulic motor mounted on the rear side of the arm; A camera head mounted on one side of the arm and rotated by driving of a deceleration motor and equipped with a camera and a light; The present invention relates to a sewer inspection and maintenance robot provided with an airbag on an upper portion of a main body and a support bracket mounted on an airbag so that the support bracket is rotated at an upper portion of the main body.

Patent Registration No. 10-0825902 discloses a mobile unit having a wheel and moving along a duct of a main pipe; A maintenance unit connected to a distal end of the mobile unit and moving together with the mobile unit; A branch tube mounted on an upper end of the maintenance unit; Height adjusting means for raising and lowering the branch tube through the maintenance unit; Rotating means for rotating the maintenance unit clockwise or counterclockwise with respect to a longitudinal centerline of the mobile unit; Angle adjusting means for adjusting the inclination of the branch tube through the maintenance unit; And a detachment means provided between the mobile unit and the maintenance unit.

The disclosed prior art underground conduit does not have a structure that allows the entire process for maintenance to be done automatically. When the repair robot is inserted into the underground conduit, it is necessary that the maintenance robot and the related equipment for maintenance are put in together so that the repair process is automatically performed entirely. The prior art does not disclose such a repair method.

The present invention has been made to solve the problems of the prior art and has the following purpose.

Prior Art 1: Patent Publication No. 10-2004-0045557 (Pusuko Co., Ltd., published on June 02, 2004) Sewer inspection and maintenance robots Prior Art 2: Patent Registration No. 10-0825902 (Plain Development Co., Ltd., April 28, 2008)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a sewage pipe automatic repair robot device for automatically repairing a repair point by a maintenance agent which is moved to a predetermined point by confirming a repair point of a sewer pipe and a sewage pipe repair system by the same.

According to a preferred embodiment of the present invention, the sewage pipe repair system of the automatic robot structure is movable to a predetermined position inside the sewage pipe and includes a vision unit for confirming a repair point, a block supporter for fixing the repairer supply block to a repair point, An automatic maintenance robot device comprising a fixed supporter fixed to an inner wall surface of a sewer pipe together with a supporter; And a repairing agent supplying unit for supplying the repairing agent to the automatic repairing robot apparatus, wherein the repairing agent supplying unit is disposed outside the sewage pipe and connected to the automatic repairing robot apparatus by a supply conduit.

According to another preferred embodiment of the present invention, the vehicle further includes a vehicle having a receiving space, and a solar power generating module is installed in the vehicle.

According to another preferred embodiment of the present invention, a sewer automatic repair robot apparatus comprises: a robot body having a moving block and a moving means; A block supporter and a fixed supporter disposed in front of the moving block; A repairing agent supply block including an elastic pad fixed to one end of the block supporter to supply a repair agent to a repair point; A vision unit disposed in the moving block to enable confirmation of a maintenance point; And a supply tube disposed inside the moving block for allowing the repair agent to be transferred from the outside to the repairing agent supply block, wherein the block supporter or the fixed supporter is adjustable in length.

According to another preferred embodiment of the present invention, the filler is supplied to the filler feed block through the main feed tube and the hardener feed tube, and the elastic fixing pad is disposed at the lower end of the fixed supporter.

According to another preferred embodiment of the present invention, the rotating shaft connecting the moving means disposed on the opposite side of the moving block may be bent according to the shape on the inner surface of the sewer pipe And has a stretching part.

The automatic repair robot according to the present invention replaces the input of manpower in the maintenance process of the large pipe of 800 mm or more to prevent industrial disaster. The automatic repair robot according to the present invention is applied to sewer pipe maintenance of 400 to 800 mm to improve the construction efficiency, thereby reducing the construction cost. Further, the automatic repair robot according to the present invention is manufactured to have a suitable structure, so that it can be applied to pipes having arbitrary diameters to enable automatic repair of sewage pipes. In addition, the sewage pipe repair system of the automatic robot structure according to the present invention can prevent the need of a separate power supply facility by supplying power by solar power generation, thereby simplifying the structure of the repair process, .

1 shows an embodiment of a sewage pipe repair system of an automatic robot structure according to the present invention.
2 shows an embodiment of an automatic repair robot apparatus applied to a system according to the present invention.
FIG. 3 shows an embodiment of a repair agent supply structure applied in the automatic repair robot apparatus according to the present invention.
Fig. 4 shows an embodiment of the operating structure of the sewage pipe repair system according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings, but the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so that they will not be described repeatedly unless necessary for an understanding of the invention, and the known components will be briefly described or omitted. However, It should not be understood as being excluded from the embodiment of Fig.

1 shows an embodiment of a sewage pipe repair system of an automatic robot structure according to the present invention.

1, the sewage pipe repair system is movable to a predetermined position inside the sewage pipe, and the vision unit 17 for confirming the repair point RP, the repairer supply block 15 is fixed to the maintenance point RP And a fixed supporter (16) fixed to the inner wall surface of the sewer pipe together with the block supporter (14); And a repairing agent supply unit (121, 122) for supplying a repair agent to the automatic maintenance robot apparatus, wherein the repair agent supply unit (121, 122) Lt; / RTI >

The sewer repair system according to the present invention can be used to repair defects in various underground conduits including sewage pipes. Specifically, the repairing apparatus according to the present invention can be applied to repair of a sewer pipe having a diameter of 800 mm or more, or a sewer pipe having a diameter of 400 to 800 mm, but is not limited thereto. Defects are mainly caused by cracks, and defects can be repaired by injecting repair agents such as an exponent.

The automatic repair robot apparatus can be made to be movable along the inner wall MR of the sewer pipe buried in the underground and can be made to be movable to any point in contact with the cylindrical inner wall MR . When the robot apparatus moves to the fixed point maintenance point RP along the inner wall MR of the sewage pipe, the robot apparatus can be fixed to the inside of the sewer pipe by the block supporter 14 and the fixed supporter 16. [ The block supporter 14 and the fixed supporter 16 may be disposed in front of the robot apparatus and the block supporter 14 and the fixed supporter 16 may be formed of a linear cylinder extending in a linear direction or a circular member having a circular cross- Lt; / RTI > The block supporter 14 or the fixed supporter 16 can be made into a length adjustable structure. The length of the block supporter 14 or the fixed supporter 16 can be reduced for movement of the robot apparatus. When the length of the block supporter 14 or the fixed supporter 16 is reduced, the robot apparatus becomes movable in the sewage pipe. In this state, the robot apparatus moves to the maintenance point RP, and the length of the block supporter 14 or the fixed supporter 16 can be extended at the maintenance point. At the upper end of the block supporter 14, a filler feed block 15 including an elastic pad material may be engaged. The replenisher supply block 15 may have a contact surface that can contact the inner wall MR of the sewer pipe. The contact surface may have elasticity or elasticity, whereby the replenisher supply block 15 can be brought into close contact with the inner wall surface MR of the sewer pipe. Further, the elastic pads can be joined to the end portions of the fixed supporters 16. And the fixed supporter 16 can be fixed to the inside of the sewer pipe by the elastic pads. The robot apparatus can be fixed to the robot apparatus at the maintenance point RP by a length adjuster of the block supporter 14 or the fixed supporter 16 and the elastic replenishing block 15 and elastic pads 15 having elasticity or elasticity.

The automatic repair robot apparatus may have the robot body 11 and the vision unit 17 may be installed in the robot body 11. [ The vision unit 17 may be an image acquiring unit such as CCTV as an apparatus for confirming the position of the maintenance point RP. The vision unit 17 can be arranged on the upper surface of the robot body 11, for example, in a direction-adjustable structure. The vision unit 17 may have a function of monitoring a maintenance position search, maintenance position confirmation or maintenance process. When the robot apparatus is fixed to the maintenance point RP, the repair agent may be supplied from the repair agent supply units 121 and 122 to the repair agent supply block 15.

The repairing agent supply units 121 and 122 may be disposed in the vehicle 12 having the receiving space or the loading space and the automatic repair robot apparatus described above may be loaded on the vehicle 12 and moved. Then, the automatic repair robot apparatus can be taken out from the vehicle 12 and positioned inside the sewer pipe to be moved to a predetermined point. The repair agent supply units 121 and 122 can supply the repair agent to the automatic maintenance robot apparatus through the supply conduit SL in a state where the repair agent supply units 121 and 122 are loaded on the vehicle 12 or taken out of the vehicle. The repair agent can be transferred to the repair agent supply block 15 through the supply tube disposed inside the robot body 11 and then supplied to the repair point RP to be hardened. The repairing agent supply units 121 and 122 may be two-fluid supply systems such as a main supply unit and a hardener supply unit, but are not limited thereto, and may be a one-fluid supply system or a different system.

The display unit 123 can be disposed in the loading space of the vehicle 12 and a control unit for controlling the operation of the automatic repair robot apparatus can be disposed. In addition, the solar power generation module SG may be disposed on the roof of the vehicle 12. [

The photovoltaic power generation module SG may be installed on the roof or side of the vehicle and may have a function of supplying power necessary for operation of the automatic maintenance robot apparatus. The photovoltaic power generation module SG may include a capacitor, and the capacitor may be installed independently of the capacitor of the vehicle 12. [ For the operation of the automatic repair robot device and related devices, a battery cable may be prepared independently or a wiring cable for supplying electric power from the outside may be prepared. An independently prepared battery can be connected to the battery of the solar cell module. Photovoltaic modules (SG) can be made in a variety of structures known in the art. A detection unit for detecting the state of the battery or the battery can be disposed, and the information detected in the detection unit can be displayed on the screen. The charging of the battery by the battery can be done automatically according to the information detected by the detection unit.

A mobile unit 13 such as a winch may be installed for movement within the sewer pipe of the robot apparatus. The mobile unit 13 can be connected to the robot body 11 by a traction cable ML wound on a reel. The mobile unit 13 may be operated by a drive unit such as a motor or may be operated manually, and the tow cable ML may be of any type known in the art. The mobile unit 13 can be disposed inside or outside the vehicle 12 and can be made in a movable structure. The robot repair device may be connected to a drive device such as a motor, for example, and the drive device may be connected to a control unit disposed inside the vehicle 12 by a power cable. Then, the robot apparatus can be moved to a predetermined position by the control unit. During the movement, the robot device may become obstructed by the obstacle in the sewer pipe, overturned, or otherwise unable to move by the driving device due to other causes. In such a state, the robot unit can be forcibly moved by the mobile unit 13. The robot apparatus can be forcibly moved along the traction cable ML by the operation of the mobile unit 13. [ The state of the robot apparatus for the operation of the mobile unit 13 can be confirmed by the vision unit 17. [ The mobile unit 13 can be disposed inside or outside the vehicle 12 and can be automatically or manually operated to forcibly move the robot apparatus.

As described above, in the sewage pipe repair system according to the present invention, maintenance of the maintenance point (RP) is performed by the automatic repair robot device without the attraction of the manpower to the sewer pipe.

2 shows an embodiment of an automatic repair robot apparatus applied to a system according to the present invention.

2, the automatic repair robot apparatus includes a robot body 11 having a moving block 111 and a moving means 112; A block supporter 14 and a fixed supporter 16 disposed in front of the moving block 111; A repairing agent supply block (15) including an elastic pad (151) fixed to one end of the block supporter (14) to supply a repair agent to the repair point (RP); A vision unit (17) arranged in the moving block (111) to enable confirmation of a maintenance point (RP); And a supply tube (24) disposed inside the moving block (111) and allowing the repair agent to be transferred from the outside to the repair agent supply block (15), wherein the block supporter (14) or the fixed supporter (16) It is possible.

The moving block 111 can be made to an appropriate size according to the diameter of the sewer pipe and the moving means 112 can be made of a rotatable structure similar to a wheel of a vehicle or similar to a wheel of a pulley, for example. The moving means 112 provided below the moving block 111 and allowing the automatic repair robot apparatus to move can be made to have a structure capable of contacting with the peripheral wall surface of the sewage pipe while having elasticity. Since the circumferential wall surface of the sewage pipe can be circular, the moving means 112 can also be formed into a shape that can contact with the circumferential wall surface of the sewer pipe. Alternatively, the rotary shaft connecting the moving means 112 disposed on the opposite side of the moving block 111 may have a stretchable portion 112a that can be bent according to the shape on the inner surface of the sewage pipe. The moving means 112 may be arranged in the automatic repair robot apparatus in a structure in which the moving means 112 is connected by a pair of rotating shafts facing each other on both sides of the moving block 111. One pair of the moving means 112 may be disposed on the front side and the rear side of the moving block 111, respectively. Each of the pair of moving blocks 112 can be connected to each other by a rotation shaft including a stabilizing portion 112b made of a rigid material and a stretching portion 112a extending to both sides of the stabilizing portion 112b. The stabilizing portion 112b may be made of a rigid material having a relatively large diameter or plate shape, and the stretching portion 112a may be made of a synthetic resin material having a small diameter and having elasticity or elasticity. The rotating shaft is made to have such elasticity so that the repairing robot can stably be fixed at a predetermined position while being moved along a sewer pipe having a cylindrical shape. A rotary operation unit 112c corresponding to the transmission is disposed on the stable portion 112b so that the rotary shaft is connected to the drive unit 23 disposed inside or below the movable block 111. [

As described above, the vision unit 17 can be installed above the moving block 111, and can be a closed-circuit camera capable of image acquisition. A mounting bracket 172 disposed above the moving block 111 may be provided to fix the vision unit 17 and a lighting unit 171 such as an LED element may be disposed in front of the vision unit 17. [ have. The vision unit 17 can be coupled to the mounting bracket 172 so as to be vertically adjustable or rotatable. The vision unit 17 can be controlled from the outside or can receive power from the outside by the power cable CA.

The camera unit 21 can be disposed independently of the vision unit 17 or in place of the vision unit 17. [ The camera unit 21 can be installed to be rotatable on the rear side of the moving block 111 and can have lighting means 214. [ The camera 211 for image acquisition may be coupled to the moving block 111 by a fastening bracket 212 coupled to a fastening bracket 213 fixed to the rear of the moving block 111. [ The illuminating means 214 may be arranged to be rotatable by a linker connected to the extension block. The camera 211 and the illuminating means 214 may be disposed on the moving path of the automatic repairing robot apparatus, The camera unit 21 can be connected to the power cable CA and can be operated independently of the vision unit 17. [

The replenisher supply block 15 may have a shape that can be in contact with the inner wall surface of the underground conduit T, and may specifically include a contact portion having a curved plate shape. For example, the replenisher supply block 15 may be made of a rigid material inside and a structure in which the outside of the rigid material is surrounded by an elastic material such as silicone, rubber or synthetic resin. The repairing agent supply block 15 may be formed into a plate shape as a whole and may have a curved contact portion corresponding to the inner curved shape of the underground conduit. Specifically, the filler supply block 15 may include a contact pad 151, which is made of a material having a generally rectangular shape and having elasticity.

The adjustment unit 27 can be disposed in front of the moving block 111 and the block supporter 14 and the fixed supporter 16 can be combined with the adjustment unit 27. [ The block supporter 14 and the fixed supporter 16 may be disposed so as to extend opposite to each other with respect to the adjustment unit 27. And the adjusting unit 27 may be arranged to be rotatable with respect to the moving block 111. [ By the rotation of the regulating unit 27, the refill supplying block 15 can be fixed to a maintenance point RP formed at an arbitrary position on the inner wall surface of the underground conduit. And the block supporter 14 or the fixed supporter 16 can be made into a length adjustable structure. The block supporter 14 may consist of a fixed cylinder 141 and a regulating cylinder 142 movable relative to the fixed cylinder 141. The adjustment cylinder 142 may be movably coupled to the fixed cylinder 141, and may be a pressure system such as, for example, hydraulic pressure, or a rotary motion system that is rotated by a motor. An expansion tube 143 connected to the supply tube 24 into the fixed cylinder 141 and the adjustment cylinder 142 may be disposed. The extensible tube 143 can be made to have a length-adjustable structure by adjusting the length of the block supporter 14. The adjustment of the length of the extensible tube 143 can be done in the manner of the fixed cylinder 141 and the regulating cylinder 142 or in a manner that the extensible tube 143 is made of a material that can be bent. The length adjustment of the first embodiment can be performed in various ways, and the present invention is not limited to the embodiments shown. The fixed supporter 16 can be made length-adjustable in a structure similar to that of the block supporter 14. Further, a fixing pad 28 made of a stretchable material may be disposed at the lower end of the fixed supporter 16. The fixing pad 28 may be a waterproof material and may be made of various materials capable of contacting the inner wall surface of the underground conduit and fixing the fixed supporter 16 to the wall surface.

The length adjustment of the block supporter 14 or the fixed supporter 16 can be performed in various ways, and the present invention is not limited to the embodiments shown.

A drive unit 23 such as a motor is disposed inside or below the moving block 111 and connected to the rotation operation unit 112c to rotate the rotation axis to move the automatic repair robot apparatus to a predetermined position. In addition, a traction cable ML is connected to the drive unit 23 or the moving block 111 so that the movement of the automatic repair robot apparatus can be controlled by the mobile unit. The supply tube 24 may also be provided with a supply control unit 25 to control the supply level of the repair agent supplied through the supply tube 24 connected to the supply conduit SL. A supply conduit SL may be connected to the supply tube 24.

FIG. 3 shows an embodiment of a repair agent supply structure applied in the automatic repair robot apparatus according to the present invention.

3 (A), the block supporter 14 may extend upwardly of the adjustment unit 27 and may be connected to the contact pad 151. [ The contact pads 151 can be formed into a plate shape having a constant thickness by using a material having elasticity. The supply nozzle block 152 may be disposed at the center portion of the contact pad 151 and the repair agent may be supplied to the repair point RP through the supply nozzle block 152 and a plurality of Cracks can be formed. Repair of the crack can be performed by the repairing agent supplied through the supply nozzle block 152. The supply nozzle block 152 may be connected to a curtain supply tube SL2 for supplying a curling agent and a main supply tube SL1 for supplying a main component in a repair agent composed of a main component and a hardener. The main supply tube SL1 and the hardener supply tube SL2 may be disposed inside the block supporter 14 or may be disposed outside the block supporter 14 as shown in Fig. The main supplying tube SL1 and the hardening agent supplying tube SL2 can be made of a length adjustable structure or material. For example, the main supply tube SL1 and the hardener supply tube SL2 may be made of a flexible material. A fixing pad 28 is disposed below the fixed supporter 16 so that the robot apparatus is securely fixed to the inside of the underground conduit T. [

The block supporter 14 or the fixed supporter 16 can be made in various structures.

Referring to FIG. 3 (B), the filler supply block 15 may have a curved shape corresponding to the shape of the inner surface of the underground conduit T while being entirely plate-shaped. The replenisher supply block 15 includes a pad body 311, an injection groove 312 formed in the contact surface contacting the inner surface of the underground conduit T, an injection hole 314 formed in the injection groove 312, And an airtight groove 313 formed along the outer circumferential surface. As described above, the pad body 311 may have a structure in which a stretchable material is wrapped around a rigid material, or a contact surface of the pad body 311 may be made of a stretchable material. The pad body 311 can be supported by the connection block 325 and the block supporter 14 can be connected to the lower side of the connection block 325. The block supporter 14 may be composed of a regulating member 332 and a fixing member 331 and the regulating member 332 and the fixing member 331 may be connected to each other so as to be adjustable in length by a screw engagement surface. Specifically, the lower side of the adjusting member 332 can be coupled to a fixing bracket 324 installed in a control unit coupled to the moving block 111. The rotary gear 323 is coupled to the lower portion of the adjusting member 332 and the rotary gear 323 can be connected to the operating gear 322 connected to the driving motor 321. Then, the fixing member 331 is rotated by the operation of the driving motor 321, whereby the replenisher supply block 15 can be moved up and down. Alternatively, the fixing member 331 and the adjusting member 332 may be connected by a cylinder and a piston structure, and the up and down movement of the filler supply block 15 may be adjusted in accordance with the operation of the piston.

The injection grooves 312 of the filler supply block 15 can be made in various shapes and the injection nozzles can be selectively arranged in the injection grooves 312. The injection groove 312 may be formed inwardly concave from the contact surface of the pad body 311 and the injection hole 314 may be connected to the main feed tube SL1 and the curing agent feed tube SL2. A pressure detecting unit may be installed in the injection groove 312 to detect the close contact state of the filler supply block 15 as required. The operating structure of the replenisher supply block 15 can be made in various forms, and the present invention is not limited to the embodiments shown.

Fig. 4 shows an embodiment of the operating structure of the sewage pipe repair system according to the present invention.

4, the operation state of the mobile unit 13 and the repair agent supply unit 42 can be detected by the operation detection unit 43 for repairing the sewage pipe. The vision unit 17 is operated to check the internal state of the sewage pipe, and the position of the maintenance point can be confirmed. The image obtained by the vision unit 17 can be displayed on the display unit 123 and the control unit 41 can check the image displayed on the display unit 123 to control the operation of the robot apparatus. The control unit 41 can detect the amount of power supplied from the solar power generation module 47. [ Specifically, a charge detection unit 471 is provided to detect the supplyable electric power of the battery, and can be transmitted to the control unit 41, and the control unit 41 can determine the power supply path of the robot apparatus. When the robot apparatus moves to the maintenance point, the length of the block supporter and the fixed supporter is adjusted by the supporter control unit 45 to fix the robot apparatus to the maintenance point. When the repairing agent supply block 15 is brought into contact with the maintenance point, the contact state of the repairing agent supply block 15 can be confirmed by the detection unit 44. The information detected by the detection unit 44 may be transmitted to the control unit 41 and the control unit 41 may control the operation of the adjustment unit 27 to adjust the supply level of the repairer, Can supply. When the repairing agent is supplied to the repairing point and hardened, the control unit 41 operates the supporter adjusting unit 45 to adjust the length of the block supporter and the fixed supporter so that the robot apparatus can move have. Then, the mobile unit 13 is operated to move the robot apparatus to the manhole position of the underground conduit.

The sewer repair system according to the present invention may include various devices related to the repair of the sewer, and the present invention is not limited to the embodiments shown.

The automatic repair robot according to the present invention replaces the input of manpower in the maintenance process of the large pipe of 800 mm or more to prevent industrial disaster. The automatic repair robot according to the present invention is applied to sewer pipe maintenance of 400 to 800 mm to improve the construction efficiency, thereby reducing the construction cost. Further, the automatic repair robot according to the present invention is manufactured to have a suitable structure, so that it can be applied to pipes having arbitrary diameters to enable automatic repair of sewage pipes. In addition, the sewage pipe repair system of the automatic robot structure according to the present invention can prevent the need of a separate power supply facility by supplying power by solar power generation, thereby simplifying the structure of the repair process, .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention . The invention is not limited by these variations and modifications, but is limited only by the claims appended hereto.

11: robot body 12: vehicle
13: mobile unit 14: block supporter
15: replenisher supply block 16: stationary supporter
17: vision unit 21: camera unit
23: drive unit 24: supply tube
25: supply control unit 27: control unit
28: Fixing pad 41: Control unit
42: repairing agent supply unit 43: operation detection unit
44: Detection unit 45: Supporter control unit
47: PV module 111: Moving block
112: Moving means 112a:
112b: stable portion 112c: rotation operation unit
121, 122: repair agent supply unit 123: display unit
141: stationary cylinder 142: regulating cylinder
143: elastic tube 151: elastic pad
152: Supply nozzle block 171: Illumination unit
172: mounting bracket 211: camera
212: fastening bracket 213: fastening bracket
214: illumination means 311: pad body
312: injection groove 313: sealing groove
314: injection hole 321: drive motor
322: actuating gear 323: rotary gear
324: Fixing bracket 325: Connecting block
331: fixing member 332: adjusting member
471: Power detection unit CA: Power cable
ML: Towing cable MR: Inner wall
RP: Maintenance point SG: PV module
SL: Feed conduit SL1: Main feed tube
SL2: hardening agent supply tube T: underground conduit

Claims (5)

A vision unit 17 for confirming the maintenance point RP, a block supporter 14 for fixing the repair supply block 15 to the maintenance point RP, a block supporter And a fixed supporter (16) fixed to the inner wall surface of the sewage pipe together with the main supporter (14); And
And a repair agent supply unit (121, 122) for supplying a repair agent to the automatic repair robot apparatus,
The repairing agent supply unit (121, 122) is disposed outside the sewage pipe and connected to the automatic repair robot apparatus by a supply conduit (SL). 2. The sewer repair system of claim 1, further comprising a vehicle (12) having a receiving space, wherein a solar power generation module (SG) is installed in the vehicle (12). A robot body 11 having a moving block 111 and a moving means 112;
A block supporter 14 and a fixed supporter 16 disposed in front of the moving block 111;
A repairing agent supply block (15) including an elastic pad (151) fixed to one end of the block supporter (14) to supply a repair agent to the repair point (RP);
A vision unit (17) arranged in the moving block (111) to enable confirmation of a maintenance point (RP); And
And a supply tube (24) disposed inside the moving block (111) to allow the repair agent to be transferred from the outside to the repair agent supply block (15)
Wherein the block supporter (14) or the fixed supporter (16) is adjustable in length. The fixing device according to claim 1, wherein the filler is supplied to the filler feed block (15) through a main feed tube (SL1) and a curing agent feed tube (SL2), and a flexible fixing pad (28) is provided at a lower end of the fixed supporter (16) Wherein the automatic maintenance robot apparatus comprises: The apparatus according to claim 1, further comprising a drive unit (23) for driving the moving means (112), the rotating shaft connecting the moving means (112) arranged on the opposite side of the moving block (111) And a stretchable portion (112a) which can be bent according to the shape of the elastic member (112a).

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