KR20220013211A - Method and device of repairing sewer pipe by non-excavation - Google Patents

Abstract

The present invention relates to a trenchless repair method and device for sewer pipes and more specifically, to a repair method for sewer pipes, comprising: a step of preparing first and second movable bodies connected to each other by a power transmission unit and configured to become close to or separated from each other according to a power transmission direction; a rubber tube installation step of fixing both ends of a high-elasticity rubber tube having an adhesive layer on an outer surface to each end of the first and second movable bodies; a sewer image acquisition step of putting the first and second movable bodies, to which the rubber tube is connected, into a sewer, acquiring an image of the inside of the sewer through a camera module provided in the movable bodies, and identifying a damaged portion of the sewer; a step of aligning the first and second movable bodies so that the rubber tube is disposed at a lower end of the damaged portion by moving the first and second movable bodies to appropriate positions based on the acquired image; a rubber tube expansion and adhesion step of narrowing a distance between the first and second movable bodies through the control of a control unit after aligning the first and second movable bodies and at the same time, applying an external force to the rubber tube to expand the rubber tube outward so that the adhesive layer of the rubber tube adheres to an inner surface of the sewer; a rubber tube end separation/adhesion step of making both ends of the rubber tube, which has been expanded due to the approaches of the first and second movable bodies, be separated from the rubber tube fixing ends of the first and second movable bodies and come into contact with the inner surface of the sewer by elasticity; and a rubber tube adhesion confirmation and movable bodies retrieval step of acquiring an image of a rubber tube adhesion state and checking the same through the camera module while moving the first and second movable bodies, from which the rubber tube has been separated, to the left and right inside the sewer. The present invention can reduce costs required for preparing complex peripheral devices.

Description

Method and device of repairing sewer pipe by non-excavation

The present invention relates to a non-excavated sewage pipe repair method and a repair device, and more particularly, to repair a damaged sewage pipe pipe in a non-excavating method, it is possible to simply repair the damaged part of the sewage pipe without the configuration of many peripheral devices. It relates to a non-excavated sewage pipe repair method and repair device.

Pipelines for various purposes (water supply pipes, sewage pipes, storm pipes, etc., hereinafter collectively referred to as 'sewage pipes') are buried underground. As the back occurs, relatively weak areas are frequently damaged.

When the sewage pipe is damaged, the sewage inside the sewage pipe leaks to the outside, contaminating the soil and groundwater, or causing various safety accidents by causing ground subsidence.

When a sewage pipe is damaged, the most preferable method is to excavate the surrounding soil through which sewage flows out, find the damaged sewer pipe, and replace the entire sewer pipe. Therefore, it is not easy to replace the entire damaged sewer pipe even if you find the location of the sewage leak.

Therefore, if it is difficult to replace the entire sewage pipe or it is unnecessary to replace the entire sewage pipe, use a partial repair method that partially repairs only the damaged part of the sewage pipe by inserting a specially manufactured repair device such as a manhole without excavating the ground. do.

A lot of inventions have been devised for the partial repair method and device of the sewage pipe, and partial repair work is being performed on the damaged part of the sewage pipe using various methods and devices.

Looking at some embodiments of the partial repair method and repair apparatus for a sewage pipe devised in the prior art, the repair method disclosed in Patent Registration No. 10-1861488, 'Non-excavated water and sewage partial repair apparatus and repair method' is a plurality of repair methods on the front and rear surfaces of the body. Provides a non-excavating water and sewerage partial repair method that forms a moving wheel of the pipe to move along the inside of the pipe, and installs an expansion tube and a repair material on the circumferential surface of the body to attach the repair material to the damaged or leaked part of the pipeline.

In the maintenance method according to the conventional embodiment, the expansion tube 14 is installed on the body 11 of the maintenance device 10, and a compressed air supply and discharge device pressure control device is installed on the expansion tube 14, A maintenance device and guide device installation step of inserting the guide device 40 and the maintenance device 10 into the inside of the conduit by installing a traction line and the like during auxiliary traction; A repair material that prevents the repair material 16 from being damaged while being dragged to the bottom surface while the expansion tube 14 and the repair material 16 installed on the circumferential surface of the body 11 move in a horizontal or curved pipeline. protection stage; A repair material curing step of moving the repair device (10), supplying heated compressed air into the expansion tube (14) through the compressed air heating device (30), and curing the repair material; A temperature and pressure maintenance step of curing the repair material 16 while maintaining the temperature and pressure through the temperature and pressure control unit 37 and the automatic valve 38; and the guide device 40 and the maintenance device 10 A finishing step of pulling out of the pipe and separating other devices to finish the work; the repair method of the sewage pipe is very complicated and required preparation of many devices.

In addition, as shown in FIG. 1, the repair apparatus used in the above-described conventional method includes a guard member 12, a plurality of guard rollers 13, and an expansion tube 14 on the front and rear surfaces of the cylindrical body 11. and supply holes 11a and 14c and a compressed air supply member 20, a rubber plate 22, a supply pipe 25, and At the end of the compressed air supply hose 28, a compressed air heating device 30 is installed to expand the shell 14a, control the internal pressure of the shell 14a, and a repair material on the circumferential surface of the expansion tube 14 ( 16) Formation and supplying the compressed air heated to the compressed air supply member 20, and the expansion tube 14 expands while the adjustment line 18 inside the adjustment pin 19 is separated to attach it to the damaged part of the pipeline. The repair apparatus 10 to which the repair material 16 attaches and hardens; consists of a configuration including the composition of the repair apparatus, the process of preparing it, and the work using it is very difficult and cumbersome, and requires a lot of preparation time and work time. had difficulties

As another conventional embodiment, the 'wireless non-excavated pipe part repair apparatus using an expansion tube and a non-excavated pipe part repair method using the same' of Patent Registration No. 10-2082180 has been devised.

The non-excavated pipeline repair method according to the embodiment includes a first step of assembling a wireless non-excavated pipeline partial repair device using an expansion tube outside the pipeline, a second step of installing the non-excavated pipeline partial repair device in the pipeline, and an air injector The third step of controlling the on-controlling to inject air into the expansion tube to inflate the expansion tube, and the third step of expanding the maintenance tube so that it is attached to the inner wall of the conduit by the expansion tube, the UV module is turned on to impregnate the maintenance tube with UV The fourth step of curing the cured UV cured resin to line the repair tube in the pipeline, the fifth step of turning off the UV module and discharging the air injected into the inflation tube to the outside to contract the inflation tube to separate it from the repair tube, the pipeline and a sixth step of recovering the repair device to the outside of the .

In addition, as shown in FIG. 2, the non-excavated pipe part repair apparatus according to the embodiment includes a UV module 30 for curing the cured resin, and first and second heads 10 and 20 connected to both sides of the UV module. ), a cooling tube 40 connected to the first and second heads to create a cooling space in the periphery of the curing module, and an expansion tube forming a closed space in the periphery of the UV module together with the first and second heads (51), an air injector 60 that expands the expansion tube by injecting air into the interior of the expansion tube or contracts the expanded expansion tube by discharging air, and the periphery of the expansion tube impregnated with UV curing resin The repair tube 50, which is coupled to be separated from the expansion tube, expands so as to adhere to the inner wall of the pipe when the expansion tube is expanded, and the UV cured resin is cured by the UV module to line the pipe, and the water inside the pipe flows to the UV module It consists of a cooling water pipe for cooling the air, and a configuration including a first socket portion and a second socket portion provided in the first and second heads.

That is, the above-mentioned other conventional embodiments are also composed of very various devices such as an air supply device for supplying air to the expansion tube, a curing resin curing device, a UV module cooling means, etc. This had the disadvantage of being difficult and taking a lot of time to prepare.

In addition, many non-excavated sewage pipe repair methods and repair devices have been devised, such as Utility Model Registration No. 20-0404515, Patent Registration No. 10-2048524, and Patent Registration No. 10-1849618, but these conventional embodiments use air By expanding the tube to partially repair the damaged part of the sewer pipe, the construction of the repair device is complicated and the repair method is difficult, and in order to use these devices and methods, a lot of preparation time and a large number of peripheral devices are required, resulting in a high cost. It has a common disadvantage that it takes a lot of work time and the like, so an improved repair device and repair method were needed for this.

- Patent Registration No. 10-2082180 (Registration Date: 2020.02.21) - Patent Registration No. 10-2048524 (Registration Date: 2019.11.19) - Patent Registration No. 10-1849618 (Registration Date: 2018.04.11)

The present invention has been devised to solve the disadvantages of the above-mentioned conventional non-excavated sewage pipe repair method and repair apparatus, and the composition of the repair apparatus and repair method is simplified so that the work can be performed easily and quickly. An object of the present invention is to provide a repair method and a repair device for a non-excavated sewer pipe.

In particular, the present invention provides a non-excavated sewer pipe repair method and repair device that reduces the time required to prepare for sewage pipe repair work by minimizing ancillary auxiliary devices required for sewage pipe repair work, and reduces costs for repair work. There is another purpose to provide.

A non-excavated sewer pipe repair method according to the present invention for achieving the above object is configured to be mutually connected by a power transmission means to be close to or spaced apart from each other according to a power transmission direction, and a camera that captures an image inside the sewage pipe and transmits it to the operation unit preparing a pair of first and second movable bodies for checking the communication state of the module, the driving unit, and the operating unit; A rubber tube installation step of fixing both ends of a high elastic rubber tube of a certain length having an adhesive layer on an outer circumferential surface to opposite ends of the prepared first and second movable bodies; A sewage pipe image acquisition step of inserting the first and second movable bodies connected to the rubber tube into the sewage pipe, and photographing an image inside the sewage pipe while operating a camera module provided on either side or both sides of the movable body to find and confirm the damage point of the sewage pipe; a movable body alignment step of moving the first and second movable bodies to appropriate positions based on the acquired image to align the first and second movable bodies so that the center of the rubber tube is located at the lower end of the damaged part; When the first and second movable bodies are aligned, an external force is applied to the rubber tube installed between the first and second movable bodies while narrowing the distance between the first and second movable bodies by the operation of the driving unit and the power transmission means through the control of the manipulation unit. A rubber tube center expansion and rubber tube bonding step of applying the pressure to expand the center of the rubber tube in an outward direction so that the outer surface of the rubber tube is in close contact with the inner circumferential surface of the sewage pipe; Both ends of the rubber tube are separated from the fixed ends of the first and second movable bodies temporarily fixed by the continuous approach of the first and second moving bodies, and the rubber tube ends are separated/ bonding step; Including the rubber tube adhesion confirmation and moving body withdrawal step of photographing/confirming the rubber tube adhesion state image through the camera module while moving the first and second movable bodies with the separated rubber tubes left and right inside the sewage pipe to which the rubber tube is attached. .

In addition, the non-excavated sewage pipe repair apparatus according to the present invention for achieving the above object is provided with a communication unit, a driving unit, and a camera module so that it is put into the sewage pipe and enables autonomous driving through remote operation, and a rubber on each end opposite to each other a pair of first and second movable bodies having a tube fixed end and configured to be movable by remote control; a power transmission means connected between the first and second movable bodies and configured to approach or separate a second movable body on the opposite side toward the first movable body according to power transmitted from a driving unit installed on one side of the first movable body; It is composed of a cylindrical or hemispherical shape having a certain length with an adhesive layer on its outer surface, and is put into the sewer pipe with both ends fixed to the fixed tube fixed ends of the first and second movable bodies, respectively, and is formed between the first and second movable bodies. As the distance gets closer, the central part protrudes (expands) outward by the external force acting on both ends, and the adhesive layer adheres to the inner wall of the sewage pipe with the damaged part, and the continuous pressing force of the first and second moving bodies reaches the maximum. a rubber tube in which the outer circumferential surface is in close contact with the inner wall of the sewage pipe while both ends are separated from the fixed ends of the rubber tube of the first and second movable bodies; a camera module installed on both of the first and second movable bodies or one side of the movable body to capture an image of the inside of the sewer pipe through the remote control of the operating unit and transmit it to the operating unit; Including; an image display unit for displaying the image captured and transmitted from the camera module on a screen, and an operation control unit and a communication unit for controlling the movement of the first and second movable bodies and the angle of the driving unit and the camera module; including is done

If the non-excavated sewage pipe repair method and repair apparatus according to the present invention are used, partial repairs to the damaged part of the sewage pipe are possible without the preparation of various peripheral devices required for partial repair of the sewage pipe as in the prior art, and the work is easy, It helps to reduce the cost of preparing complex peripherals.

1 and 2 are some embodiments of a conventional non-excavated sewage pipe repair method and repair apparatus,
3 is a flowchart showing a method for repairing a non-excavated sewage pipe according to an embodiment of the present invention;
4 is a schematic overall configuration diagram of a repair apparatus used in a method for repairing a non-excavated sewage pipe according to an embodiment of the present invention;
5 is a state diagram in which a power transmission means and a gomube are installed in first and second mobile robots in a non-excavated sewage pipe repair apparatus according to an embodiment of the present invention;
6 is a block diagram of the main components of a maintenance apparatus according to an embodiment of the present invention;
7 is a cross-sectional view of a state in which the rubber tube is expanded outward in a state in which the repair device according to the embodiment of the present invention is put into the sewage pipe and the second mobile robot is moved toward the first mobile robot by a certain distance;
8 is an operation example of a rubber tube fixed end provided for installing a rubber tube of the mobile robot according to the approach of the mobile robot on one side;
9 is a state diagram in which one rubber tube pusher is installed in the power transmission means of the non-excavated sewage pipe repair apparatus according to an embodiment of the present invention;
10 is a state diagram in which two rubber tube pushers are installed in the power transmission means of the non-excavated sewage pipe repair apparatus according to an embodiment of the present invention;
11 is a state diagram in which a rubber tube is installed in FIG. 9;
12 is a diagram illustrating a state in which a mobile robot injected into a sewage pipe is expanded to an inner wall of a sewage pipe with the assistance of a rubber tube and a rubber tube pusher as the mobile robots approach each other.

The non-excavated sewage pipe repair method according to an embodiment of the present invention is configured to be mutually connected by a power transmission means to be close to or separated from each other according to a power transmission direction, and a camera module is provided to transmit the photographed image to the operation unit and preparing a pair of first and second movable bodies each having a fixed end of a rubber tube at one end; A rubber tube installation step of fixing both ends of a high elastic rubber tube of a certain length having an adhesive layer on its outer circumferential surface to each end of the prepared first and second movable bodies; A sewage pipe image acquisition step of inserting the first and second moving objects connected to the rubber tube into the sewer pipe and photographing the inside of the sewage pipe through a camera module to find and confirm the damage point of the sewage pipe; a movable body alignment step of moving the first and second movable bodies to appropriate positions based on the acquired image to align the first and second movable bodies so that the center of the rubber tube is located at the lower end of the damaged part; When the first and second movable bodies are aligned, an external force is applied to the rubber tube installed between the first and second movable bodies while narrowing the distance between the first and second movable bodies by the operation of the driving unit and the power transmission means through the control of the manipulation unit. A rubber tube center expansion and rubber tube bonding step of applying the pressure to expand the center of the rubber tube in an outward direction so that the outer surface of the rubber tube is in close contact with the inner circumferential surface of the sewage pipe; Both ends of the rubber tube are separated from the fixed ends of the first and second movable bodies temporarily fixed by the continuous approach of the first and second moving bodies, and the rubber tube ends are separated/ bonding step; Including the rubber tube adhesion confirmation and moving body withdrawal step of photographing/confirming the rubber tube adhesion state image through the camera module while moving the first and second movable bodies with the separated rubber tubes left and right inside the sewage pipe to which the rubber tube is attached. .

In addition, the non-excavated sewage pipe repair apparatus according to an embodiment of the present invention is provided with a wireless communication unit, a driving unit, and a camera module to be put into the sewage pipe and run through remote operation, and a rubber tube fixing end is provided at each opposite end. a pair of first and second movable bodies provided; a power transmission means connected between the first and second movable bodies, the second movable body on the opposite side approaching or spaced apart from the first movable body according to power transmitted from a driving unit installed on one side of the first movable body; It is composed of a cylindrical or hemispherical shape of a certain length with an adhesive layer on the outer surface, and is put into the sewer pipe while both ends are fixed to the fixed ends of the fixed tubes of the first and second movable bodies, and the distance between the first and second movable bodies is getting closer and the central part protrudes (expands) outward by the external force acting on both ends, the adhesive layer is in close contact with the inner wall of the sewage pipe with the damaged part, and the continuous pressing force of the first and second moving bodies reaches the maximum limit. a rubber tube in which the outer circumferential surface is in close contact with the inner wall of the sewage pipe while both ends are separated from the fixed ends of the rubber tube of the first and second movable bodies; a camera module installed on both of the first and second movable bodies or one side of the movable body to capture an image of the inside of the sewer pipe through the remote control of the operating unit and transmit it to the operating unit; It comprises a; a monitor for displaying the image captured and transmitted by the camera module on a screen, and an operation unit provided with an operation control unit for controlling movement of the first and second movable bodies, control of the driving unit, and operation of the camera module; .

On the other hand, the terms used in the detailed description of the present invention used terms generally used in the art and terms arbitrarily selected by the applicant in consideration of the function of the configuration of the present invention, and in this case, the meaning of the term is the present invention It is defined based on the overall content of

In addition, among the terms used in the detailed description of the present invention, 'mobile body' is a device that can move by receiving a control command from the manipulation unit through wired/wireless communication. It means a remote control moving means including all electric and electronic components such as a driving means for driving.

In addition, when a part in the detailed description of the present invention 'includes' a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated. do.

In addition, in the detailed description, terms such as '~ part' and '~ means' mean an independent device capable of performing at least one function or operation, which is implemented as hardware or software, or implemented as a combination of hardware and software. can be

In addition, when a part is 'connected' with another part in the detailed description, it is not only 'direct connection' but also 'indirectly connected' with other elements, parts, devices, etc. in between. interpreted as including

In addition, among the devices and terms used in the detailed description of the present invention, specific functions or operation descriptions for configurations that are generally widely used in the art or that can be easily devised from known techniques are omitted as much as possible and focus on the features of the present invention Explain.

Hereinafter, a method for repairing a non-excavated sewage pipe (hereinafter abbreviated as 'repair method') and a repair apparatus according to an embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

3 is a flowchart schematically illustrating a maintenance method according to an embodiment of the present invention.

As shown in Fig. 3, the repair method according to the present invention includes the steps of preparing first and second movable bodies (S10) that are put into the sewage pipe and adhere the rubber tube to the damaged part of the sewage pipe (S10), and the prepared first and second A sewage pipe in which the rubber tube installation step (S20) of fixing the rubber tube to each opposite end of the movable body and the first and second movable bodies connected to the rubber tube are put into the sewer pipe to take an image of the inside of the sewage pipe to find and check the damage point of the sewage pipe The image acquisition step (S30), the moving body alignment step (S40) of aligning the first and second movable bodies put into the sewage pipe to the position where rubber tube adhesion is required, and the movement of the aligned first and second movable bodies The rubber tube pressurization and rubber tube adhesion step (S50) of adhering the rubber tube to the damaged part, and the rubber tube pressurization through the continuous approach of the first and second movable bodies Separation/adhesion step (S60) of both ends of the rubber tube to be separated and adhered to the inner wall of the sewage pipe, and the rubber tube adhesion confirmation and moving body withdrawal step of withdrawing the moving object after confirming the rubber tube adhesion by shooting an image inside the sewage pipe to which the rubber tube is attached (S70) is included.

In the first and second mobile body preparation step (S10), a camera module for photographing an image inside the sewer pipe is installed in the first and second mobile bodies connected to the power transmission means in the middle to be spaced apart from left and right at regular intervals, and the first, Check whether the driving unit provided in the second moving body, that is, the battery for moving the moving body, the operating state of the power transmission means, and the communication state with the operating unit, etc., is possible to move smoothly according to the control of the operating unit when it is put into the sewer pipe. do.

In addition, the step of installing the rubber tube on the first and second movable bodies (S20) is a step of installing a rubber tube of a certain length required for sewage pipe repair at each end of the first and second movable bodies arranged to face each other, In order to install the rubber tube, a rubber tube fixed end is installed at each end of the first and second movable bodies.

The installation of the rubber tube fixing end includes a rubber tube installation process (S20-1) of installing a spherical or hemispherical rubber tube installation rod on one side of the first and second moving bodies according to the shape of the rubber tube, and the installed rubber tube installation table. It is provided on the rim of the rubber tube fixing section for fixing both ends of the rubber tube, including the installation process (S20-2).

The rubber tube mounting base installation process (S20-1) and the rubber tube fixing part installation process (S20-2) are one of the rubber tube mounting base installation process and the rubber tube fixing part installation process when the rubber tube fixing part is integrally configured with the rubber tube. process may be omitted.

The next moving body sewage pipe input and image acquisition step (S30) is a process of putting the first and second movable bodies into the sewage pipe that needs repair with rubber tubes installed in the middle of the first and second movable bodies on the left and right sides. The first and second moving objects put into the sewer pipe are moved to a point that needs repair according to the control command transmitted from the control unit outside the sewage pipe, and the first and second moving bodies are moved to the sewage pipe while taking an image inside the sewage pipe through the camera module installed in the moving body. It is the process of accurately finding the internal repair point.

In addition, in the first and second movable body alignment step (S40), the maintenance point is identified based on the image captured by the camera module, and then the center of the rubber tube installed between the first and second movable body is located below the maintenance point. This is the process of setting the appropriate position to accurately attach the rubber tube to the maintenance point by moving the first and second movable bodies.

And, in the rubber tube expansion and rubber tube adhesion step (S50), the rubber tube located below the repair point expands the rubber tube outward by the pressing action of the first and second moving bodies so that the outer surface of the rubber tube is at the point requiring repair. It is a process that adheres closely to achieve adhesion.

That is, the first and second movable bodies are either side movable bodies according to the control of the operation unit, and in the embodiment of the present invention, the first movable body is provided with a power transmission means driving part, so that the power transmission means driving part of the first movable body is controlled by the operation part. When the power transmission means is rotated in one direction while being rotated accordingly, the second movable body moves toward the first movable body according to the rotation of the power transmission means.

As the second movable body moves toward the first movable body, the rubber tube installed between the first and second movable bodies receives lateral pressure from both ends in the horizontal direction and the middle part expands outwardly, and the distance between the first and second movable bodies increases As it gets closer, the middle part of the rubber tube also expands to the inner surface of the sewer pipe due to continued expansion, and as the outer surface of the central part comes into contact with the inner surface of the sewer pipe, adhesion is made to the inner surface of the sewer pipe.

In this way, in the rubber tube expansion and rubber tube adhesion step (S50), the center of the rubber tube installed between the first and second movable bodies is reduced by an external force applied while the distance between the first and second movable bodies is reduced. It is a process in which the adhesive layer with the outer surface is adhered to the inner surface of the sewer pipe while being expanded into a sewer pipe and closely adhered to the inner surface of the sewer pipe. It enables the rubber tube bonding operation to be performed while watching the video display unit provided on the operation unit for the expanded state of the .

In addition, when the rubber tube expansion and rubber tube bonding step (S50) is performed, a rubber tube pusher that protrudes in the vertical direction of the rotating screw when the second moving body approaches the first moving body is added to the outer periphery of the rotating screw, which is a power transmission means. It is preferable that the rubber tube pusher pressing step (S50-1) is further included so that the rubber tube pusher can further improve the adhesion of the rubber tube to the inner surface of the sewage pipe by pressing the inner surface of the rubber tube outward.

In addition, in the step of separating/adhering both ends of the rubber tube (S60), the central portion of the rubber tube is no longer expanded in the outward direction due to the continued pressing of the first and second moving bodies, and the pressing force acting in the radial direction of the rubber tube is the rubber. As it is delivered in the horizontal direction of the tube, the end of the rubber tube is transferred to the fixed end of the rubber tube.

Since the rubber tube fixing part provided at the fixed end of the rubber tube is configured so that the end of the rubber tube is separated when the external force acting in the horizontal direction of the rubber tube exceeds a certain degree, it is at the maximum limit of fixing the rubber tube in the rubber tube fixing part. When it arrives, the end of the rubber tube is automatically separated from the rubber tube fixing part, and the rubber tube is attached to the inner surface of the sewer pipe by the elastic force of the rubber tube.

And, the rubber tube adhesion confirmation and moving body withdrawal step (S70) performed last is the rubber tube and the sewage pipe through the camera module while moving the first and second movable bodies from which the rubber tube is separated from the inside of the sewage pipe to the rubber tube to the left and right. By filming the adhesion state between the two, it is remotely checked whether the rubber tube is firmly attached to the inner surface of the sewage pipe, and after checking the image, the first and second moving objects are withdrawn from the sewage pipe to complete the repair work of the sewage pipe.

Meanwhile, FIGS. 4 to 12 show the configuration, operation state, and operation state of a repair apparatus for repairing a sewage pipe using the repair method described above, respectively.

4 is a schematic exploded view of the entire configuration of the repair apparatus according to the embodiment of the present invention.

As shown in FIG. 4 , the maintenance apparatus 100 according to the present invention includes a pair of first and second movable bodies 110 and 111 configured to be movable by remote control, and the first and second movable bodies 110 and 111 . ), a power transmission means 130 connected and installed between, and a rubber tube 140 having a cylindrical or hemispherical shape having a predetermined length and having both ends separably installed in the first and second movable bodies 110 and 111, and the A camera module 150 installed on both or either side of the first and second movable bodies 110 and 111 to capture an image inside the sewage pipe through remote control of the operating unit and transmit it to the operating unit, and the first and second moving units ( 110 , 111 ) and has a configuration including a manipulation unit 160 for controlling the operation of the camera module 150 and the power transmission means 130 .

The pair of first and second movable bodies 110 and 111 are put into the sewer pipe and are driven through a remote control so that a plurality of movable wheels 116, a communication unit 115, a movable body driving unit 112, and a power transmission means driving unit are provided. A camera module driving unit 114 for operating the 113 and the camera module 150 is provided.

In addition, power supply means including a battery (not shown) for supplying power for operating the moving body driving unit 112, the power transmitting unit driving unit 113 and the camera module driving unit 114 is not provided in the moving body, but separately outside the sewage pipe. It may be provided so that the power supply line can be connected to each part.

The power transmission means driving unit 113 is preferably composed of a servomotor that rotates forward and reverse according to the control of the operation unit 160 , and the power transmission means 130 connected and installed between the first and second movable bodies 110 and 111 . ) is preferably composed of a rotational screw 134 of a certain length that is rotated by the rotational force transmitted from the power transmission means driving unit 113, and one end of the rotational screw 134 is provided in the first moving body 110 It is connected to the power transmission means driving unit 113 and is configured to receive rotational force, and the other end is configured to extend outwardly by a predetermined length from one side of the first movable body so as to penetrate the second movable body 111 .

Accordingly, the rotational screw 134 is rotated forward and reverse according to the rotational direction of the driving unit 113 of the power transmission means. A horizontal movable body 135 coupled to the second movable body 111 is coupled to the outer periphery of the screw 134 , and the first movable body 110 while the second movable body moves left and right according to the rotation direction of the rotating screw 134 . It is configured to approach or move away from the first moving body 110 .

In addition, the rubber tube 140 is put together with the first and second moving bodies into the sewage pipe and is used to repair the damaged part of the sewage pipe. A cylindrical shape having an adhesive layer 142 of a certain thickness on its outer surface. or a hemispherical shape.

Both ends of the rubber tube 140 constructed in this way are respectively fixed to the fixed tube fixed ends 120 provided at each end of the first and second movable bodies 110 and 111, and are put into the sewer pipe, and the first and second As the distance between the movable bodies 110 and 111 gets closer and closer, the central part protrudes (expands) outward by an external force acting on both ends, so that the adhesive layer is in close contact with the inner wall of the sewage pipe having the damaged part, and the first and second movable bodies ( When the continuous pressing force of 110 and 111) reaches a certain maximum limit, the rubber tube is separated from the fixed end 120 and its distal end is in close contact with the inner wall of the sewage pipe.

In addition, the operation unit 160 includes an operation control unit for movement of the first and second movable bodies, rotational driving of the power transmission means and operation control of the camera module, and an image photographed and transmitted from the camera module to display on the screen. It consists of a configuration in which the image display unit 165 is provided.

That is, the operation unit 160 includes a movable body operation control unit 161 for controlling the movement of the first and second movable bodies 110 and 111, and a camera module control unit 162 for controlling the angle of the camera module to photograph the inside of the sewer pipe. ), an image capturing/storing unit 163 for taking an image through the camera module and storing the captured image, and a power transmitting means controlling unit for controlling the operation of the power transmitting means driving unit for rotation of the power transmitting means 164 and a communication unit 166 are included.

In addition, the rubber tube fixing end 120 provided at each end of the first and second movable bodies 110 and 111 includes a rubber tube mounting base 122 having the same shape as the cross-sectional shape of the rubber tube to be installed, and the rubber tube mounting table. It consists of a configuration including a rubber tube fixing portion 124 formed on the edge of the (122).

The rubber tube fixing part 124 is configured to engage both ends of the rubber tube 140 , so that when the second movable body 111 moves toward the first movable body 110 , a constant pressing force is generated at both ends of the rubber tube 140 . It is preferable to have a structure formed with a groove of a certain depth so as not to be separated while as much as possible.

In addition, the rubber tube fixing part 124 has the rubber tube 140 in a state in which both ends of the rubber tube 140 expanded outwardly while the second movable body 111 approaches the first movable body 110 are maximally expanded. ) has a structure that can be rotated or folded in the outward direction by an external force applied to both ends of the rubber tube 140, leaving both ends of the rubber tube fixing part 124 in close contact with the inner surface of the sewer pipe by means of vertical expansion force. It is more preferable to be configured so that

The state in which the rubber tube 140 is installed between the first and second movable bodies 110 and 111 of the repair apparatus 100 according to the embodiment of the present invention configured as described above is shown in FIG. 5 .

The process of installing the rubber tube 140 to the first and second movable bodies 110 and 111 is a second movable body ( 111) to the rotating screw 134 of the power transmission means to rotate the power transmission means while moving the second movable body 111 toward the first movable body 110 by the length of the rubber tube 140, and then, the second movable body After making the other end of the rubber tube 140 span the fixed end 120 of the rubber tube at (111), the power transmission means is rotated again to bring the second movable body 111 to the first movable body 110 side, thereby bringing the first movable body to the first movable body. The rubber tube is taut and integrally coupled between the 110 and the second movable body 111 .

6 is a block diagram schematically illustrating the main components of the operation unit 160 and the first movable body 110, which are the main components of the maintenance apparatus 100 described above.

The operation unit 160 is provided with a moving object operation control unit 161 that allows the operator to remotely control the first and second moving objects put into the sewage pipe in a state in which the rubber tube is coupled.

A device for controlling the rotation of a moving wheel so that the first moving body moves forward or backward in one direction by controlling the moving body operation control unit 161. A second moving body connected to the first moving body by a power transmission means according to the moving direction of the first moving body. The movable body is moved along the first movable body.

In addition, the operation unit 160 is provided with a camera module control unit 162 is configured to enable various angle adjustment of the camera module provided on one or both sides of the moving body, so that the inside of the sewage pipe can be photographed at various angles, so that the inside state of the sewage pipe is checked by the operator make it easy to understand.

In addition, the operation unit 160 has an image recording storage unit 163 that controls the operation so that the camera module can photograph/store the inside of the sewage pipe in real time, and a power transmission unit driving control unit 164 for controlling the rotation of the power transmission unit. ), an image display unit 165 that displays an image of the inside of the sewer pipe captured by the camera module so that an operator can check it, and a communication unit 166 for transmitting a control command of the manipulation unit to the first moving object or receiving information of the first moving object It consists of a configuration that further includes.

And, in the first moving body 110 that performs an operation according to the control command transmitted from the manipulation unit 160, the moving wheel is driven by the control command of the moving body operation control unit 161 and the power transmission means driving control unit 164 to make the first moving body 110. 1 A moving body driving unit 112 for moving a moving body and a power transmitting means driving unit 113 are provided, and a camera module driving unit 114 for adjusting a camera angle through control of the camera module control unit 162, and control of the manipulation unit It consists of a configuration including a communication unit 115 for receiving a command and performing communication with the operation unit to enable control of each unit.

The communication units 166 and 115 provided in the operation unit 160 and the first moving body 110 are equipped with wired and wireless communication modules so that communication can be made with communication modules set according to the environment in which sewage pipe repair work is performed or the characteristics of the repair apparatus. As configured, the construction of such a communication module can be easily implemented by those skilled in the art through commonly known techniques, and thus a detailed description thereof will be omitted.

7 shows that the maintenance device 100 according to the embodiment of the present invention described above is put into the sewage pipe 200 and the second movable body 111 approaches the first movable body 110, and the distance between the two movable bodies is narrowed. According to the load, the rubber tube 140 installed therebetween expands outward and is in close contact with the inner surface of the sewage pipe and is adhered.

As shown in FIG. 7 , the maintenance device 100 according to the present invention is put into the sewage pipe 200 in a state in which the rubber tube 140 is connected and installed between the first movable body 110 and the second movable body 111 . do.

The first and second movable bodies 110 and 111 injected into the sewage pipe 200 are placed on the first movable body 110 through the control of the camera module control unit in a state in which the operator turns on the operation of the image recording storage unit provided in the operation unit. While checking the real-time image inside the sewage pipe 200 through the operation control of the installed camera module driving unit 114, the first and second movable bodies 110 and 111 are moved to a position that requires maintenance through the movement of the first movable body 110. .

The operator, who confirmed the repair point of the damaged sewage pipe through the image displayed on the image display unit, aligns the first and second movable bodies 110 and 111 so that the longitudinal center of the rubber tube is located below the repair point (P).

After the alignment of the first and second movable bodies 110 and 111 is completed, the operator operates the power transmission means driving unit 113 provided in the first movable body 110 under the control of the power transmission means driving control unit to operate the rotating screw 134 . ) is rotated in the forward direction to slowly move the second movable body 111 supporting the rubber tube 140 in a horizontal state toward the first movable body 110 .

As the second moving body 111 slowly moves toward the first moving body 110, the cylindrical rubber tube 140 receives lateral pressure in the longitudinal direction, and the rubber tube ( 140) is in an expanded state in which the middle part swells outward.

As the second movable body 111 continues to approach the first movable body 110 due to the continued rotation of the power transmission means 130, the rubber tube 140 also has its middle part continuously expanded outward, and then the sewage pipe 200. of the inner surface, and the adhesive layer provided on the outer surface of the rubber tube 140 comes into contact with the inner surface of the sewer pipe by the continuous expansion force, and adhesion is made.

As the second movable body 111 continues to approach the first movable body 110, the rubber tube 140 expanded in the outward direction is transferred from the middle part to both sides while the expansion force concentrated in the middle part is transferred to the edge part of both ends. As the contact area with the inner surface of the sewage pipe is widened, the adhesion area is gradually increased, and the maximum lateral pressure and expansion pressure at both ends of the rubber tube 1430 fixed to the rubber tube fixed end 120 of the first and second movable bodies 110 and 111 While acting at the same time, the adhesive layer provided on the outer surface of the rubber tube is brought into close contact with the inner surface of the sewer pipe by the elastic force generated as both ends of the rubber tube are separated from the fixed end 120 of the rubber tube toward the inner surface of the sewer pipe.

After the rubber tube 140 is detached from the fixed end 120 of the rubber tube of the first and second movable bodies 110 and 111 and is adhered to the inner surface of the sewage pipe 200, the operation of the power transmission means 130 is stopped and the movable body operation control unit After checking the adhesion state of the rubber tube 140 with the image captured through the camera module 150 while moving the first and second movable bodies 110 and 111 left and right through control, the first and second movable bodies 110 and 111 are transferred to the sewer pipe. Withdrawal from the sewer pipeline completes partial repair work.

8 schematically shows a state in which one end of the rubber tube caught on the fixed end of the rubber tube of the first moving body 110 is separated from the fixed end of the rubber tube while maintaining the expanded state according to the approach of the second moving body.

The fixed end of the rubber tube may be configured to be rotated outwardly by the pressure attached to the tip of the expanded rubber tube when the rubber tube is expanded in the outward direction so that the front end of the rubber tube is separated.

That is, an example in which the rubber tube fixing portion 124 is provided with a locking portion 125 that can be turned outward when the expansion force applied to both ends of the rubber tube acts to the maximum is shown in FIG. 8 .

As the above-described second movable body 111 approaches the first movable body 110 side, a constant lateral pressure is applied to the rubber tube fixing part 124 on the rubber tube fixing end 120 side of the first movable body 110 in the longitudinal direction of the rubber tube. (P1) occurs (a).

As the second moving body 111 continues to approach the first moving body, the lateral pressure (P1) acting in the longitudinal direction of the rubber tube gradually increases and a vertical drag (V1) is generated in the radial direction (outer direction) of the rubber tube, causing the rubber tube to move. It is pushed toward the inner side of the sewer pipe (b).

As the second movable body 111 approaches the first movable body more and more, a larger vertical drag V1 is generated to move the rubber tube 140 outward, and the tip of the rubber tube caught in the rubber tube fixing part 124 is outside. An external force acts on the locking part 125 as it is gradually pushed out in the direction, and the locking part 125 to which the external force is applied is also slightly bent outward (c).

The component force (R1) of the normal force (V1) that pushed the rubber tube outward due to the continuous increase in lateral pressure (P1) according to the approach of the second moving body pushes the tip of the rubber tube outward to the tip of the locking part 125 move (d).

The rubber tube caught at the tip of the locking part 125 is separated from the locking part as the vertical drag (V1) and its component (R1) acting in the outward direction become a little larger and is in close contact with the inner surface of the sewer pipe by the elastic force of the rubber tube. Adhesion is instantaneous.

On the other hand, Figures 9 to 12 show an embodiment in which the rubber tube pusher 170 is installed in the power transmission means in the repair apparatus of the present invention described above and its operation state.

That is, FIG. 9 shows a state in which one rubber tube pusher 170 is installed in the power transmitting means, and FIGS. 10 to 12 show a state in which two rubber tube pushers are installed in the power transmitting means.

The rubber tube pusher 170 installed on the outer periphery of the power transmission means maintains a horizontal state with the installation direction of the power transmission means 130 before the second movable body 111 approaches the first movable body 110, and Then, as the second moving body 111 approaches the first moving body 110, it is gradually spaced apart from the outer periphery of the power transmission means 130 and pushes the inner circumferential surface of the rubber tube outward, and the adhesive layer of the rubber tube is on the inner surface of the sewage pipe. It performs the function of making it adhere closely.

Accordingly, the rubber tube pusher 170 is coupled to both ends of the outer periphery of the power transmission means 130, and the left and right movable bodies 172 and 174 are mutually adjusted according to the rotation direction of the power transmission means 130, and the left and right. Each end is coupled to the movable body 172 and 174, and the left and right rotational supports 175 and 176 are configured such that the other end is erected in a horizontal state or at a predetermined angle with respect to the power transmission means 130 according to the moving direction of the left and right movable bodies 172 and 174, and the left and right A vertical movable body 177 coupled to the other end of the left and right rotational supports 175 and 176 so that the other ends of the left and right rotation supports 175 and 176 are erected at a predetermined angle with respect to the power transmission means 130 according to the movement of the movable bodies 172 and 174, and a constant A pressing member that is formed to have a displacement of a size and a curved surface slope and is in close contact with the inner circumferential surface of the rubber tube when the central part is coupled to the vertical movable body 177 and the other ends of the rotation supports 175 and 176 move in the outward direction to press the rubber tube toward the sewage pipe. (178).

The left and right movable bodies 172 and 174 coupled to the left and right sides of the power transmission means 130 according to the one-way rotation of the power transmission means 130 are horizontally moved in opposite directions based on the center of the power transmission means 130 Threads in different directions are formed on the left and right sides so that the left and right movable bodies 172174 are mutually approached when the power transmission means 130 rotates in the forward direction, and the height of the vertical movable body 177 can be adjusted while being spaced apart when rotating in the reverse direction.

In this way, when the rubber tube pusher 170 is installed in the power transmission means 130, in the process of bonding the rubber tube to the inner surface of the sewer pipe by the expansion force of the rubber tube, the inner surface of the rubber tube to the sewage pipe can be more perfectly adhered. let it be

In the above, in the detailed description of the present invention, the present invention has been mainly described with reference to some embodiments shown in the drawings, but those skilled in the art will be able to implement it with various modifications within the scope of the same technical spirit of the present invention.

100: repair device
110: first movable body 111: second movable body
112: moving body driving unit 113: power transmission means driving unit
114: camera module driving unit 115: communication unit
116: moving wheel
120: fixed tube fixed end 122: fixed tube installation stand
124: fixing tube fixing part 125: hooking part
130: power transmission means 132: driving unit
134: rotating screw 135: horizontal moving body
140: rubber tube 142: adhesive layer
150: camera module
160: operation unit 161: moving object motion control unit
162: camera module control unit 163: video recording / storage unit
164: power transmission means control unit 165: image display unit
166: communication department
170: rubber tube pusher 172, 174: left and right moving body
173: rotation support 175, 176: left and right rotation support
177: vertical moving body 178: pressing member
200: sewage pipe

Claims (5)

A camera module that is interconnected by a power transmission means and configured to be close to or spaced apart from each other according to the power transmission direction, a camera module that captures an image inside the sewer pipe and transmits it to the operation unit, a pair of firsts that check the communication state between the driving unit and the operation unit; preparing a second movable body;
A rubber tube installation step of fixing both ends of a high elastic rubber tube of a certain length having an adhesive layer on an outer circumferential surface to opposite ends of the prepared first and second movable bodies;
A sewage pipe image acquisition step of inserting the first and second movable bodies connected to the rubber tube into the sewage pipe, and photographing an image inside the sewage pipe while operating the camera module provided on either side or both sides of the movable body to find and confirm the damage point of the sewage pipe;
a movable body alignment step of aligning the first and second movable bodies so that the center of the rubber tube is located at the lower end of the damaged part by moving the first and second movable bodies to appropriate positions based on the acquired image;
When the first and second movable bodies are aligned, an external force is applied to the rubber tube installed between the first and second movable bodies while narrowing the distance between the first and second movable bodies by the operation of the driving unit and the power transmission means through the control of the manipulation unit. a rubber tube expansion and rubber tube adhesion step in which the central portion of the rubber tube is expanded in an outward direction so that the outer surface of the rubber tube is in close contact with the inner peripheral surface of the sewage pipe;
Both ends of the rubber tube are separated from the fixed ends of the first and second movable bodies temporarily fixed by the continuous approach of the first and second moving bodies, and the rubber tube ends are separated/ bonding step;
A rubber tube adhesion confirmation and moving body withdrawal step of photographing/confirming an image of the rubber tube adhesion state through a camera module while moving the first and second moving objects in which the rubber tube is separated from the inside of the sewage pipe to which the rubber tube is adhered; A non-excavated sewer pipe repair method, characterized in that. According to claim 1,
The rubber tube installation step is,
Installing a rubber tube mounting stand capable of being coupled to each end of a rubber tube having a cylindrical or hemispherical shape at one end of each of the first and second movable bodies;
A rubber that allows both ends of the rubber tube to be easily fixed to the rubber tube installation stand, and the tip of the rubber tube is easily separated from the rubber tube installation stand by the elastic force of the rubber tube expanded outward as the first and second moving objects approach Including; a rubber tube fixing part installation step of installing the tube fixing part on the edge of the rubber tube installation table;
In the step of expanding the rubber tube and bonding the rubber tube,
As the distance between the first and second moving bodies gets closer, the rubber tube pusher installed in the power transmission means protrudes toward the inner center of the rubber tube and presses the rubber tube inner circumferential surface toward the inner wall of the sewage pipe. A non-excavated sewer pipe repair method. A pair of products that are put into the sewer pipe and equipped with a communication unit, a driving unit, and a camera module to enable autonomous driving through remote operation, and a rubber tube fixing end at each opposite end to enable remote control. 1, the second movable body;
a power transmission means connected between the first and second movable bodies and configured to approach or separate a second movable body on the opposite side toward the first movable body according to power transmitted from a driving unit installed on one side of the first movable body;
It is composed of a cylindrical or hemispherical shape having a certain length with an adhesive layer on its outer surface, and is put into the sewer pipe with both ends fixed to the fixed tube fixed ends of the first and second movable bodies, respectively, and is formed between the first and second movable bodies. As the distance gets closer, the central part protrudes (expands) outward by the external force acting on both ends, and the adhesive layer adheres to the inner wall of the sewage pipe with the damaged part, and the continuous pressing force of the first and second moving bodies reaches the maximum. a rubber tube in which the outer circumferential surface is in close contact with the inner wall of the sewage pipe while both ends are separated from the fixed ends of the rubber tube of the first and second movable bodies;
a camera module installed on both of the first and second movable bodies or one side of the movable body to capture an image of the inside of the sewer pipe through the remote control of the operating unit and transmit it to the operating unit;
Including; an image display unit for displaying the image captured and transmitted from the camera module on a screen, and an operation control unit and a communication unit for controlling the movement of the first and second movable bodies and the angle of the driving unit and the camera module; including A non-excavated sewage pipe repair device, characterized in that it is made. 4. The method of claim 3,
The power transmission means includes a driving unit that rotates forward and reverse according to a control command of the operation unit;
a rotating screw of a certain length in which forward and reverse rotation is made in the rotational direction of the driving unit;
A horizontal movable body that moves the second movable body toward or away from the first movable body while horizontally moving along the outer periphery of the rotary screw according to the rotation direction of the rotary screw in a state in which the rotary screw is coupled to the second movable body through which it is installed including,
The rubber tube fixing end,
A rubber tube mounting base fixed to the outer surface of each end of each of the first and second movable bodies and having a spherical or hemispherical shape having the same size as the cross-sectional shape of the rubber tube;
Both ends of the rubber tube are inserted and fixed to a certain depth to generate a constant lateral pressure in the longitudinal direction of the rubber tube when the second movable body approaches the first movable body. A non-excavated sewage pipe repair apparatus comprising a; a rubber tube fixed end configured to be rotated outwardly by a rubber tube to separate the rubber tube tip. 5. The method according to claim 3 or 4,
The outer periphery of the power transmission means maintains a horizontal state with the installation direction of the power transmission means before the second movable body approaches the first movable body, and as the second movable body approaches the first movable body, the outer periphery of the power transmission means is maintained. A rubber tube pusher that extends toward the inner circumferential surface of the rubber tube as it is gradually separated from the periphery is installed,
The rubber tube pusher,
A left and right movable body coupled to both ends of the outer periphery of the power transmission means to mutually adjust perspective according to the rotational direction of the power transmission means;
a left and right rotation support configured such that one end is coupled to the left and right movable body and the other end is erected in a horizontal state or at a constant angle with respect to the power transmission means according to the moving direction of the left and right movable body;
A vertical movable body coupled to the other end of the left and right rotation support so that the other end of the left and right rotation support is erected at a predetermined angle with respect to the power transmission means according to the movement of the left and right movable body;
A pressing member formed to have a certain size of displacement and a curved slope, the central part is coupled to the vertical movable body, and is in close contact with the inner circumferential surface of the rubber tube when the other end of the rotating support moves in the outward direction to press the rubber tube toward the sewage pipe; A non-excavated sewage pipe repair device, characterized in that it consists of.

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