KR20240030557A - Mat adhesion module comprising spray apparatus for resin and hardener mixture - Google Patents

Abstract

The mat adhesion module including the resin hardener mixture injection device of the present invention is a mat adhesion module for joining pipes by attaching a fiber-reinforced mat inside the pipe, a plurality of driving wheels; Bobbins on which fiber-reinforced mats are wound; A plurality of transfer rollers for moving the fiber-reinforced mat; A resin hardener mixture spray device for spraying a mixture of an adhesive resin and a hardener toward the outer and inner surfaces of the fiber-reinforced mat; And a plurality of pressure rollers that press the fiber-reinforced mat onto which the mixed solution is sprayed against the inside of the pipe, wherein the resin curing agent mixed solution spraying device includes a first spray nozzle member that sprays the mixed solution on the outer surface of the mat, and the mat. It includes a second spray nozzle member that applies the mixed liquid to the inner surface of.

Description

Mat adhesion module including a resin hardener mixture sprayer {MAT ADHESION MODULE COMPRISING SPRAY APPARATUS FOR RESIN AND HARDENER MIXTURE}

The present invention relates to a mat adhesion module including a resin hardener mixture injection device.

Piping provides a sealed passage for the movement of fluid or powder. These pipes are sometimes buried underground and are installed in various plants, buildings, and facilities for the production of liquid and powder products.

In particular, piping made of fiber-reinforced plastic composites is widely used to construct chemical storage tanks, piping systems, devices, and other types of industrial process equipment, and is used for chemical and corrosion resistance purposes. Fiber-reinforced piping has the advantage of being easier to maintain and has a longer product life than metal piping, and a variety of products made of glass fiber in various combinations with thermosetting resin are distributed on the market.

A lot of manpower is required when joining these fiber-reinforced pipes, and as the installation length of the pipes increases, there is a risk of suffocation and gas poisoning. In addition, when the diameter of the pipe is large, excessive load is imposed on the inside of the pipe due to the installation of a workbench, resulting in an increase in incidental costs, and various problems are raised, such as the work burden on safety managers.

Patent Publication No. 10-2022-0046238 filed by the present applicant discloses a reinforced mat adhesion module and a pipe joining robot including the same.

According to the prior art, a pipe joining robot can automatically stack mats on the inside of a pipe, but the adhesive resin and hardener are sprayed separately on the mat, so they are not mixed evenly, and the adhesive resin is not applied to the inside and outside of the mat. There was a problem.

Public Patent Publication No. 10-2022-0046238

The present invention provides a mat adhesion module including a resin curing agent mixture spray device that can evenly spray and impregnate the outer and inner surfaces of the mat with a mixture of adhesive resin and curing agent and improve the degree of defoaming in the mat adhesion module of the pipe joining robot. The purpose is to provide

A mat adhesion module including a resin hardener mixture injection device of the present invention for achieving the above object is a mat adhesion module for joining pipes by attaching a fiber-reinforced mat inside the pipe, a plurality of driving wheels; Bobbins on which fiber-reinforced mats are wound; A plurality of transfer rollers for moving the fiber-reinforced mat; A resin hardener mixture spray device for spraying a mixture of an adhesive resin and a hardener toward the outer and inner surfaces of the fiber-reinforced mat; And a plurality of pressure rollers that press the fiber-reinforced mat onto which the mixed solution is sprayed against the inside of the pipe, wherein the resin curing agent mixed solution spraying device includes a first spray nozzle member that sprays the mixed solution on the outer surface of the mat, and the mat. It includes a second spray nozzle member that applies the mixed liquid to the inner surface of.

The first spray nozzle member may have a plurality of spray nozzles formed at predetermined intervals on one side to spray the mixed liquid toward the outer surface of the mat transported by the plurality of transfer rollers.

The first injection nozzle member may be lifted and lowered at an angle at a predetermined angle with respect to the radial direction of the pipe by a pair of pneumatic cylinders connected to both ends.

The first injection nozzle member may further include a mixed liquid inlet provided on one side in the longitudinal direction and a cleaning port provided on the other side in the longitudinal direction for cleaning the internal flow path.

The first spray nozzle member may further include a pair of spray guide wheels mounted on both ends and supported on the inner surface of the pipe.

The second injection nozzle member includes a mat pressing roller that presses the conveyed mat against the inner surface of the pipe, a pair of pneumatic cylinders that elevate and lower the mat pressing roller by a pair of pneumatic cylinders connected to both ends, and a mat pressing roller. It may include a mat guide member mounted next to the roller to prevent the mat from being rolled up on the mat pressing roller, and a plurality of spray nozzles formed at predetermined intervals to spray the mixed solution toward the outer peripheral surface of the mat pressing roller.

The mat pressing roller may have a groove in the left-hand thread direction and a groove in the right-hand thread direction formed on the outer peripheral surface.

According to the mat adhesion module including the resin curing agent mixture injection device of the present invention described above, the mixture of adhesive resin and curing agent can be evenly sprayed and impregnated on the outer and inner surfaces of the mat and the degree of defoaming can be improved.

Figure 1 is a perspective view showing a pipe joining robot according to an embodiment of the present invention.
Figure 2 is a diagram showing a state in which the pipe joining robot according to an embodiment of the present invention is installed inside the pipe.
Figure 3 is a perspective view showing a center frame according to an embodiment of the present invention.
Figure 4 is a perspective view showing a mat adhesive module according to an embodiment of the present invention.
Figure 5 is a longitudinal cross-sectional view showing a mat adhesive module according to an embodiment of the present invention.
Figure 6 is a perspective view showing a mat adhesive module according to an embodiment of the present invention.
Figure 7 is a perspective view showing a plurality of transport roller driving units.
Figure 8 is a cross-sectional view showing the automatic mat stacking device.
Figure 9 is a perspective view showing a plurality of pressure rollers.
Figure 10 is a perspective view showing a resin hardener mixture injection device.
Figure 11 is a cross-sectional view of Figure 10.
Figure 12 is a perspective view and a side view showing the first injection nozzle member.
Figure 13 is a perspective view and a side view showing the second injection nozzle member.
Figure 14 is a rear perspective view showing the mat adhesive module.
Figure 15 is a perspective view showing a putty application module according to an embodiment of the present invention.
Figure 16 is a downward perspective view showing the putty application module of Figure 15.
Figure 17 is a perspective view showing a pressurizing module according to an embodiment of the present invention.
Figure 18 is a bottom view showing the pressurizing module of Figure 17.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Figure 1 is a perspective view showing a pipe joining robot according to an embodiment of the present invention, Figure 2 is a diagram showing a state in which the pipe joining robot according to an embodiment of the present invention is installed inside the pipe, and Figure 3 is a diagram showing a pipe joining robot according to an embodiment of the present invention. This is a perspective view showing a center frame according to one embodiment.

The pipe joining robot 1000 according to an embodiment of the present invention includes a center frame 100, a plurality of multi-stage cylinders 200, a mat adhesion module 400, a putty application module 500, and a pressing module 600. Includes.

The center frame 100 is made of long bars and is placed in the center of the pipe joining robot 1000. A sensor unit 120 is installed on the center frame 100. The sensor unit 120 may be equipped with a sensor that measures the inner diameter of the pipe using a laser and a camera for process monitoring.

Additionally, a plurality of tubing connection members 150 for the inflow of air, resin, fluid, etc. may be installed on the center frame 100. A distance measuring sensor 140 that measures the moving distance may be installed on one side of the center frame.

Additionally, a rotary unit 130 that rotates the center frame is installed in the center frame 100 to prevent cables from being twisted. The rotary unit 130 rotates to prevent cables from being twisted when the pipe joining robot 1000 rotates. An inertial measurement sensor is installed in the center frame 100 to measure the degree of rotation of the pipe joining robot 1000, and the motor and planetary gear reducer installed inside the rotary unit 130 are based on the information measured by the inertial measurement sensor. You can prevent the cable from being twisted by rotating through it.

A plurality of multi-stage cylinders 200 supporting drive modules are connected and installed on the center frame 100. One drive module is supported by two multi-stage cylinders 200, and six multi-stage cylinders 200 can be connected and installed on the center frame 100. The multi-stage cylinder 200 has a structure that can be expanded and contracted by hydraulic pressure and can be expanded and contracted in three stages. However, the present invention is not limited to this, and the multi-stage cylinder may be expanded into 2 or 4 stages.

The multi-stage cylinder 200 supporting the mat adhesion module 400 and the multi-stage cylinder 200 supporting the putty application module 500 may be disposed inclined at an angle of 120 degrees. In addition, the multi-stage cylinder 200 supporting the pressing module 600 may be disposed at an angle of 120 degrees with the multi-stage cylinder 200 supporting the mat adhesion module 400 and the putty application module 500. The length of the multi-stage cylinder 200 can be increased or decreased by hydraulic pressure.

A sub-control module 310 is installed in the center frame 100 to control the expansion and contraction of the multi-stage cylinder 200. The sub-control module 310 not only controls the movement of the working fluid supplied to the multi-stage cylinder 200, but also controls the movement of the working fluid supplied to the multi-stage cylinder 200. The length of the multi-stage cylinder 200 can be measured using .

When the pipe joining robot 1000 is inserted into the pipe 10, the multi-stage cylinder 200 is expanded to match the pipe diameter measured by the sensor. At this time, each multi-stage cylinder 200 is expanded at the same speed and length, and the multi-stage cylinder 200 can be expanded to an appropriate length through the pressure measured by the pressure sensor.

The pipe 10 is made of fiber-reinforced plastic, and the pipe joining robot 1000 of the present invention can be inserted inside to join the two pipes 10 to each other.

The mat adhesion module 400 can adhere a fiber reinforced mat (20) to the inner peripheral surface of the connection portion of the two pipes (10) so that they are stacked about three times.

The putty application module 500 can apply putty to fill the groove at the connection area between the two pipes 10.

The pressing module 600 can strengthen the adhesion to the pipe 10 by pressing the attached fiber-reinforced mat 20.

The configuration of the mat adhesion module 400 of the present invention will be described with reference to FIGS. 4 to 13.

The mat adhesion module 400 of the present invention includes a plurality of driving wheels 710, a bobbin 480 on which the fiber-reinforced mat 20 is wound, a plurality of transfer rollers 420 and 430 for moving the fiber-reinforced mat, and a fiber-reinforced mat. A resin curing agent mixture spray device 470 that sprays the adhesive resin and curing agent mixture toward the outer and inner surfaces of the mat, and a plurality of pressure rollers 443 and 445 that press the fiber-reinforced mat onto which the mixed solution is sprayed against the inside of the pipe 10. ) includes.

The mat adhesion module 400 includes a support frame 405 to which a pair of multi-stage cylinders 200 are connected. The support frame 405 may be equipped with an automatic stacking case 410 having a plurality of transfer rollers 420 and 430 therein.

The mat adhesive module 400 is connected to the sub-control module 310 through the link assembly 320, and various wires and supply lines may be installed inside the link assembly 320. The link assembly 320 may include a plurality of pipes rotatably coupled.

A pair of the plurality of driving wheels 710 is mounted on both sides of the support frame 405 and can perform rolling movement within the pipe 10. A traveling motor and a steering motor may be connected to each driving wheel 710. Accordingly, the pipe joining robot 1000 can move in the circumferential, longitudinal, and spiral directions of the pipe by the steering motor.

A pair of guide wheels 720 may be mounted on both sides of each driving wheel 710 in the support frame 405. The two pairs of guide wheels 720 may have a plurality of auxiliary wheels installed on their outer surfaces that rotate in a direction intersecting the guide wheels 720. Accordingly, the guide wheel 720 can stably support the pipe joining robot 1000 moving in various directions.

The bobbin 480 can be rotatably mounted by a pair of brackets 485 coupled to the automatic stacking case 410. The fiber-reinforced mat 20 may be wound around the bobbin 480 and unwound into the automatic stacking case 410.

The fiber-reinforced mat 20 may include glass fibers and may have a structure in which a surface mat and a chopped strand mat are combined. The fiber-reinforced mat 20 may have a structure in which a surface mat and a chopped strand mat are stacked, and may also have a structure fixed by tape, stitch, etc. Here, the chopped strand mat is discharged facing the inner surface of the pipe. In this way, if the fiber-reinforced mat 20 includes a surface mat and a chopped strand mat, the pipe 10 can be more firmly fixed.

A plurality of transport rollers 420 and 430 are installed inside the automatic stacking case 410 to transport the fiber-reinforced mat 20 unwound from the bobbin 480 toward the inner peripheral surface of the pipe 10.

The resin hardener mixture spray device 470 sprays a mixture of adhesive resin and hardener toward the fiber-reinforced mat 20. As shown in FIG. 11, the resin hardener mixed solution injection device 470 includes a first spray nozzle member 471 that sprays the mixed solution on the outer surface of the fiber-reinforced mat 20, and the inner surface of the fiber-reinforced mat 20. It may include a second spray nozzle member 477 for applying the mixed liquid.

The plurality of pressure rollers 443 and 445 can press and adhere the fiber-reinforced mat 20 onto which the mixed solution is sprayed against the inside of the pipe 10.

The plurality of pressure rollers includes a first pressure roller 443 in which a plurality of grooves are formed in the longitudinal direction on the outer peripheral surface and a plurality of rollers are arranged in rows and columns, and a plurality of grooves are formed in the circumferential direction on the outer peripheral surface and a plurality of rollers It may include second pressure rollers 445 arranged in rows and columns.

As shown in FIG. 10, the first pressure roller 443 and the second pressure roller 445 may be composed of multiple small rollers rather than one roller. Specifically, the first pressure roller 443 consists of two relatively long rollers and one relatively short roller forming one row, and such rollers may be arranged in two rows, alternating with each other. The second pressure roller 445 may be arranged in a first row consisting of two relatively long rollers and one relatively short roller and a second row consisting of one relatively long roller and two relatively short rollers. .

The first pressure roller 443 may have a plurality of grooves formed on its outer peripheral surface in the longitudinal direction, and the second pressure roller 445 may have a plurality of grooves formed on its outer peripheral surface in the circumferential direction.

The surfaces of the first pressure roller 443 and the second pressure roller 445 may be coated with Teflon. Teflon coating refers to the process of converting fluoropolymer into paint, spraying an appropriate amount on the surface like paint, then heating and firing at a certain temperature to form an inert, hard coating layer. Teflon coating not only has unique release properties, but also has chemical resistance, heat resistance, insulation safety, and a low coefficient of friction.

The first pressure roller 443 and the second pressure roller 445 may be lifted and lowered by a pneumatic cylinder 447 and supported by a spring 446, respectively. Both ends of the plurality of rollers constituting the first pressure roller 443 and the second pressure roller 445 are elastically supported by springs 446 on the support plate and can be rotatably mounted. A pair of pneumatic cylinders 447 may be connected to both sides of the two support plates through a roller hinge 448.

As shown in FIG. 5, the plurality of transfer rollers are each compressed by a pneumatic cylinder and rotated by the transfer motors 421 and 431 to transfer the fiber-reinforced mat 20, including a first transfer roller 420 and a second transfer roller. It may include a transfer roller 430.

As shown in FIGS. 7 and 8, the first transfer roller 420 and the second transfer roller 430 may be installed as a pair of rollers inside the automatic stacking case 410. One of the pair of rollers of the first transport roller 420 is rotatably mounted on the fixed first transport pulley 423 and can be driven by the first transport motor 421 and the motor drive 422. . The other of the pair of rollers may be mounted on the cylinder rod end of the first pneumatic cylinder 427.

One of the pair of rollers of the second transfer roller 430 is rotatably mounted on the fixed second transfer pulley 433 and can be driven by the second transfer motor 431 and the motor drive 422. . The other one of the pair of rollers may be mounted on the cylinder rod end of the second pneumatic cylinder 437.

As shown in FIG. 7, pneumatic fittings 425 through which pneumatic fluid is supplied or discharged may be connected to both sides of the first pneumatic cylinder 427 and the second pneumatic cylinder 437.

As shown in FIG. 8, the mat adhesion module 400 includes a cutter 490 disposed between the first transfer roller 420 and the second transfer roller 430 to cut the fiber-reinforced mat 20, and a cutter It may further include a proximity sensor 496 to recognize the location.

The cutter 490 may be movably mounted between the first transfer roller 420 and the second transfer roller 430 inside the automatic stacking case 410. The cutter 490 is mounted on the cutting guide 492 to move forward and backward toward the fiber-reinforced mat 20, and can be moved by the air actuator 415 to cut the fiber-reinforced mat 20 and return. The cutter 490 can cut the fiber-reinforced mat 20 to an appropriate length when the mat adhesion operation is completed or stopped.

The proximity sensor 496 is installed adjacent to the air actuator 415 and accurately recognizes the position of the cutter 490, that is, the cutting blade, so that the fiber-reinforced mat 20 can be cut at an accurate position.

The cutter 490 can cut the mat 20 while supporting it on the cutting base 491.

As shown in Figure 5, the mat adhesion module 400 may further include a guide roller 411 installed between the bobbin 480 and the first transfer roller 420 to guide the fiber-reinforced mat 20. there is.

A pair of guide rollers 411 may be rotatably mounted on one outer surface of the automatic stacking case 410. A pair of guide rollers 411 are installed at the transfer inlet of the fiber-reinforced mat 20 of the automatic stacking case 410 and can gently guide the injected fiber-reinforced mat 20.

Meanwhile, as shown in FIG. 6, the bobbin 480 is easily detached from the bracket 485 by a detachable pin, so that a new bobbin 480 can be easily replaced.

As shown in FIGS. 5 and 10 to 13, the resin hardener mixed solution injection device 470 includes a first spray nozzle member 471 that sprays the mixed solution on the outer surface of the mat 20, and the mat 20. It may include a second spray nozzle member 477 that applies the mixed liquid to the inner surface.

The first spray nozzle member 471 can spray the mixed liquid onto the outer surface of the mat 20, that is, the area where the mat 20 is attached to the pipe 10. As shown in Figures 11 and 12, the first spray nozzle member 471 has a plurality of spraying mixed liquids toward the outer surface of the mat 20 transported by a plurality of transport rollers 420 and 430 on one side. Spray nozzles 471a may be formed at predetermined intervals.

As shown in FIGS. 10 and 11 , the first injection nozzle member 471 may be lifted and lowered at an angle at a predetermined angle with respect to the radial direction of the pipe by a pair of pneumatic cylinders 475 connected to both ends. A plurality of spray nozzles 471a may be formed penetrating from inside the upper center of the first spray nozzle member 471 to one corner of the top, that is, toward the outer surface of the mat 20.

As shown in FIG. 12, the first injection nozzle member 471 may include a mixed liquid inlet 472 provided on one side in the longitudinal direction and a cleaning port 473 provided on the other side in the longitudinal direction for cleaning the internal flow path. there is.

As shown in FIG. 4, the adhesive resin and the curing agent can be respectively modified by the on-off switch 462, supplied to the mixing chamber 460, and mixed in the mixing chamber 460. The mixed liquid may reach the mixed liquid inlet 472 of the first spray nozzle member 471 and be sprayed on the outer surface of the mat 20 through the plurality of spray nozzles 471a.

The cleaning port 473 is provided on the other side of the first injection nozzle member 471 in the longitudinal direction, and can clean the internal passage of the first injection nozzle member 471 after the mixed liquid injection process.

As shown in FIGS. 10 to 12, the first spray nozzle member 471 may further include a pair of spray guide wheels 474 mounted on both ends thereof and supported on the inner surface of the pipe 10.

A pair of spray guide wheels 474 can support the first spray nozzle member 471 to maintain an appropriate distance from the inner surface of the pipe 10 while making a rolling motion on the inner surface of the pipe 10.

As shown in FIGS. 10, 11, and 13, the second injection nozzle member 477 is connected at both ends to a mat pressing roller 476 that presses the conveyed mat 20 against the inner surface of the pipe 10. a pair of pneumatic cylinders 475 that elevate and lower the mat pressing roller 476, and a mat guide mounted next to the mat pressing roller to prevent the mat from being rolled up on the mat pressing roller. It may include a member 478 and a plurality of spray nozzles 477a formed at predetermined intervals to spray the mixed liquid toward the outer peripheral surface of the mat pressing roller.

The mat pressing roller 476 may be rotatably mounted while being lifted and lowered by a pair of pneumatic cylinders 475 mounted on the upper surface of the automatic stacking case 410. Therefore, the mat pressing roller 476 can press the transferred mat 20 while rotating toward the inner surface of the pipe 10.

The mat guide member 478 may be coupled to the second spray nozzle member 477 and extend adjacent to the mat pressing roller 476. The mat guide member 478 can prevent the mat 20 from being attached to the mat guide member 478 and curling when the mat 20 is compressed by the mat pressing roller 476.

A plurality of injection nozzles 477a may be formed to penetrate upward from the upper interior, that is, toward the outer peripheral surface of the mat pressing roller 476, and may be arranged at predetermined intervals. The second spray nozzle member 477 does not spray the mixed liquid directly onto the mat 20, but sprays the mixed liquid onto the outer peripheral surface of the mat pressing roller 476 to impregnate the mat with the mixed liquid.

For this purpose, the mat pressing roller 476 may have a spiral groove formed on the outer peripheral surface. In particular, the mat pressing roller 476 may have a groove in the left-hand thread direction and a groove in the right-hand thread direction formed on the outer peripheral surface. Accordingly, as the mat pressing roller 476 rotates, the sprayed mixed liquid is smoothly delivered to the mat 20, and impregnation and defoaming performance can be improved.

Meanwhile, as shown in FIG. 5, inside the automatic stacking case 410, injection and discharge are carried out in the first pneumatic cylinder 427 and the second pneumatic cylinder 437 of the transfer roller and the pneumatic cylinder 447 of the pressure roller. A solenoid valve 414 that controls the amount of air may be installed.

As shown in Figures 5 and 6, the mat adhesion module 400 of the present invention includes a mixed solution hood 440 installed below the spray device and a plurality of pressure rollers to receive the falling mixed solution, and is connected to the mixed solution hood to apply the mixed solution. It may further include a mixed liquid recovery tank 416.

The mixed liquid hood 440 can be mounted below the first spray nozzle member 471, the impregnation roller 441, the first pressure roller 443, and the second pressure roller 445 on the automatic stacking case 410. there is. The mixed liquid hood 440 may be formed in a tray shape, and may be formed to gradually lower toward the outlet where the central portion is formed.

The mixed liquid tank 416 may be installed in the automatic stacking case 410 and a drain pipe may be connected to the outlet of the mixed liquid hood 440.

According to the present invention, a mixed liquid hood is installed under the spray device and a plurality of pressure rollers to receive and store the falling mixed liquid.

As shown in Figures 4 and 14, the heater 450 is composed of a fan blower and blows heated air to the entire surface of the mat through the heater hood 455, thereby promoting a chemical reaction between the adhesive resin and the curing agent mixture. You can.

Figures 15 and 16 are diagrams showing a putty application module according to an embodiment of the present invention.

The putty application module 500 includes a putty tank 510, a putty supply pipe 520, a putty nozzle 530, a putty pocket 540, a scraper 550, a transfer unit 560, a driving wheel 710, and a guide wheel. (720) and may include a plurality of pressure rollers (730, 740).

The putty application module 500 can apply putty to the groove of the connection part of the two pipes 10, pressurize it with a pressure roller, and heat it with a heater.

Figures 17 and 18 are diagrams showing a pressurizing module according to an embodiment of the present invention.

The pressure module 600 includes a drive wheel 710 and a guide wheel 720 mounted on both sides of the support frame 610, a first pressure roller 730 and a second pressure roller 740 provided at the bottom, and a pipe ( 10) and a heater 620 that heats the putty and mat 20.

The pressing module 600 can strengthen the adhesion to the pipe 10 by pressing and heating the pipe 10 and the putty and fiber-reinforced mat 20.

Above, an embodiment of the present invention has been described, but those skilled in the art will be able to understand the addition, change, deletion or addition of components without departing from the spirit of the present invention as set forth in the claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of the rights of the present invention.

10: Piping 20: Fiber-reinforced mat
1000: Pipe joining robot
100: Center frame 120: Sensor unit
130: Rotary unit 140: Distance measurement sensor
150: Tubing connection member
200: multi-stage cylinder
310: Sub-control module 320: Link assembly
400: Mat adhesive module 405: Support frame
410: Automatic stacking case 411: Guide roller
414: Solenoid valve 415: Air actuator
416: Mixed liquid tank
420: first transfer roller 421: first transfer motor
422: Motor drive 423: First transport pulley
425: Pneumatic fitting 427: First pneumatic cylinder
430: second transfer roller 431: second transfer motor
433: second transport pulley 437: second pneumatic cylinder
440: mixed liquid hood 443: first pressure roller
445: second pressure roller 446: spring
447: Pneumatic cylinder 448: Roller hinge
450: heater 455: heater hood
460: mixing chamber 462: on-off switch
470: Resin hardener mixture injection device 471: First injection nozzle member
471a: Spray nozzle 472: Mixture inlet
473: Cleaning port 474: Spray guide wheel
475: Pneumatic cylinder 476: Mat pressing roller
477: second injection nozzle member 477a: injection nozzle
478: Mat guide member
480: Bobbin 485: Bracket
490: Cutter 491: Cutting Base
492: Cutting Guide 495: Mat Guide
496: Proximity sensor
500: Putty application module 505: Support frame
510: Putty tank 520: Putty supply pipe
530: Putty nozzle 540: Putty pocket
542: Tilt base 546: Training wheels
550: scraper 552: front scraper
554: Rear scraper 555: Groove
560: transfer unit 562: rotation unit
564: Pneumatic cylinder 565: Pneumatic cylinder guide
570: Home tracking camera 572: LED
580: heater 582: air duct
584: heater hood
600: Pressurizing module 610: Support frame
620: heater 622: air duct
624: heater hood
710: driving wheel 720: guide wheel
730: first pressure roller 732: spring
734: Pneumatic cylinder
740: second pressure roller 742: spring
744: Pneumatic cylinder

Claims (7)

In the mat adhesion module for joining pipes by attaching a fiber-reinforced mat inside the pipe,
a plurality of driving wheels;
Bobbins on which fiber-reinforced mats are wound;
A plurality of transfer rollers for moving the fiber-reinforced mat;
A resin hardener mixture spray device for spraying a mixture of an adhesive resin and a hardener toward the outer and inner surfaces of the fiber-reinforced mat; and
It includes a plurality of pressure rollers that pressurize the fiber-reinforced mat sprayed with the mixed solution against the inside of the pipe,
The resin hardener mixture injection device is
a first spray nozzle member that sprays a mixed liquid on the outer surface of the mat;
A mat adhesion module comprising a second spray nozzle member for applying the mixed liquid to the inner surface of the mat. According to paragraph 1,
A mat adhesion module, wherein the first spray nozzle member has a plurality of spray nozzles formed at predetermined intervals on one side to spray the mixed liquid toward the outer surface of the mat transported by the plurality of transfer rollers. According to paragraph 2,
A mat adhesion module, wherein the first injection nozzle member is inclined and lifted up and down at a predetermined angle with respect to the radial direction of the pipe by a pair of pneumatic cylinders connected to both ends. According to paragraph 2,
The first injection nozzle member is a mat adhesion module, characterized in that it further includes a mixed liquid inlet provided on one side in the longitudinal direction, and a cleaning port provided on the other side in the longitudinal direction for cleaning the internal flow path. According to paragraph 2,
The first spray nozzle member is a mat adhesive module, characterized in that it further includes a pair of spray guide wheels mounted on both ends and supported on the inner surface of the pipe. According to paragraph 1,
The second injection nozzle member is
a mat pressing roller that presses the conveyed mat against the inner surface of the pipe;
a pair of pneumatic cylinders for elevating and lowering the mat pressing roller by a pair of pneumatic cylinders connected to both ends;
a mat guide member mounted next to the mat pressing roller to prevent the mat from being rolled up by the mat pressing roller;
A mat adhesion module comprising a plurality of spray nozzles formed at predetermined intervals to spray the mixed liquid toward the outer peripheral surface of the mat pressing roller. According to clause 6,
The mat pressing roller is a mat adhesion module, characterized in that a groove in the left-hand screw direction and a groove in the right-hand screw direction are formed on the outer peripheral surface.

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