Sewer pipe repair device

Sewer Pipe Repair Device

This technology is a repair device designed to reduce vibration and reaction forces during the chipping process of sewer pipe repair robots. It utilizes a passive compliance mechanism with buffer springs placed on both sides of a linear motion block equipped with a pneumatic rock drill, and controls the workload through displacement and reaction force sensors.

Conventional drum-type chipping tools have faced challenges such as difficulty in installation within box-shaped sewer pipes, damage to structures and equipment due to vibration and reaction forces, and increased operator fatigue and reduced control efficiency during remote operation.

This technology establishes a hardware structure that absorbs vibration by combining a linear motion block reciprocating on a linear guide with buffer springs. It features displacement and force sensors for real-time measurement of reaction forces, and uses a rotary support and servo cylinder to precisely control the work area. Applicable to robot gripping, precision measurement, and automated equipment, it enhances the durability of both the work platform and the chipping tools by reducing vibration and reaction forces.

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Key Features:

• A displacement sensor positioned between a pair of linear guides on the top surface of the base block, which measures the displacement of the linear motion block when the pneumatic rock drill is in operation.
• A linear motion block coupled to a pair of linear guides, configured to move in a linear reciprocating motion along the guides.
• A chipping tool including a plurality of buffer springs provided on both sides of the linear motion block to suppress vibrations generated in the linear motion block when the pneumatic rock drill is in operation.
• A work platform that rotates selectively so that one end faces the target work area, either autonomously or via operator control, based on pre-set work trajectory information.

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This invention was developed with the support of the Ministry of Science and ICT for the commercialization of reinforced concrete chipping robots for the automation of box-shaped sewer pipe maintenance.