The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of the Pipe Construction Robot for Rehabilitation Work Process of the Water Pipe Lines

상수도 배관의 갱생 공정을 위한 배관 건설 로봇 개발

  • Received : 2021.05.14
  • Accepted : 2021.07.26
  • Published : 2021.08.31
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Abstract

In this paper describes the research and development of a pipe robot for pipe rehabilitation construction of old water pipes. After the water supply pipe construction, the pipe is leaking, damaged, and aging due to corrosion. Eventually, resistance to the flow of water in lower supply efficiency and contaminated water such as rusty water, finally in various consumer complaints. In order to solve this problem, rehabilitation construction robot technology is required to secure the construction quality of pipe rehabilitation construction and restore the function of the initial construction period. The developed pipe rehabilitation construction robot required a hydraulic actuator for high traction and was equipped with a small hydraulic supply device. In addition, we have developed a hydraulic cylinder and a link system that supports the pipe inner diameter to develop a single pipe robot corresponding to 500 to 800mm pipe diameter. The analysis and experimental verification of the driving performance and unit function of the developed pipe reconstruction robot are explained, and the result of the integrated performance test of the pipe reconstruction robot at the water supply pipe network site is explained.

Keywords

Acknowledgement

This project was funded by the Ministry of Trade, Industry and Energy, and is currently supported by the publication grant

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