한국건설순환자원학회논문집 (Journal of the Korean Recycled Construction Resources Institute)

한국건설순환자원학회 (Korean Recycled Construction Resources Institute)
권호 표지
DOI QR코드

DOI QR Code

하수관로 돌출부 절삭을 위한 로봇장치 개발 및 절삭성능 평가

Development of a Cutting Robot for Repairing Lateral Protrusions of the Sewer Pipe and Evaluation of Cutting Performance

  • 양인환 (군산대학교 토목공학과) ;
  • 황철성 (가천대학교 토목환경공학과)
  • Yang, In-Hwan (Department of Civil Engineering, Kunsan National University) ;
  • Hwang, Chul-Sung (Department of Civil and Environmental Eng. Gachon University)
  • 투고 : 2018.03.07
  • 심사 : 2018.03.09
  • 발행 : 2018.03.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 연구에서는 하수관의 접합부 돌출부 절삭용 로봇을 개발하고, 이의 성능평가를 수행하였다. 하수관로 절삭 성능평가를 위해 주하수관의 재질 및 직경, 가지관의 재질을 실험변수로 설정하였다. 주하수관의 재질은 콘크리트 흄관과 PE관을 사용하고, 직경은 300 및 500mm를 적용하였다. 가지관의 재질은 PE 및 PVC로 설정하고, 직경은 100mm로 설정하였다. 절삭로봇을 개발된 이용하여 절삭성능 실험을 수행하였다. 절삭실험 후의 가지관의 잔여 돌출 길이는 5mm 이하로서 목표 절삭 잔여 길이를 모두 만족하고 있다. 따라서 개발된 하수관로 절삭로봇을 이용하여 하수관 접합부 돌출관을 효과적으로 절삭할 수 있다.

In this study, cutting robot system which could cut lateral protrusion into main pipes at the connection of sewer pipes was developed. In addition, the cutting test of the robot for the lateral protrusions were performed. The test parameters included materials used in the main pipes and diameters of the pipes, and materials used in the protruded pipes. The materials type of the main pipes were concrete and PE, and the diameters of the pipes were 300 and 500 mm. The materials type used in the protruded pipes were PE and PVC, and the diameter of the pipes was 100 mm. Remaining length of each lateral protruded pipe was less than 5 mm which was an target value of cutting performance. It showd that test results were within the target value. Therefore, in the repair of sewer pipes, the lateral protruded pipes can be cut by using the robot system developed in this paper.

키워드

참고문헌

  1. Abidin, A.S.Z., Zaini, M.H., Pauzi, M.F.A.M., Sadini, M.M., Chia, S.C., Mohammadan, S., Jamali, A., Muslimen, R., Ashari, M.F., Jamaludin, M.S., Ming, C.Y. (2015). Development of cleaning device for in-pipe robot application, Procedia Computer Science, 76, 506-511. https://doi.org/10.1016/j.procs.2015.12.326
  2. Chung, J.K., Kim, J.Y., Kim, W.J. (2006). The development of robot that is detecting of sewage pipe and cutting of connection projecting part, Journal of the Koran Society of Tribologists and Lubrication Engineers, 22(4), 225-229 [in Korean].
  3. Jeong, J.H., Yoon, J.S., Lee, J.Y., Kim, S.H. (2001). Development of the packer for sewages maintenance, Korea Atomic Energy Research Institute, 1-64 [in Korean].
  4. Kim, J.Y., Kim, Y.S., Kwac, L.K., Song, K.S., Lee, C.S. (2003). "Development of unit for cutting of projecting parts connects with interior parts of drainpipe," Proceedings of Spring Conference of Korea Machine Tool Manufactures Association, 143-148 [in Korean].
  5. Lee, S.Y., Jeong, J.U., Choi, B.S. (2016). "Design of a chipping robot for maintaining reinforced concrete box culverts," Proceedings of Korean Society of Civil Engineers, 227-228 [in Korean].
  6. Lee, D.W., Park, G.W., Yook, G.H., Yang, H.K. (2012). Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types, Mechanism and Machine Theory, 56, 52-68 [in Korean]. https://doi.org/10.1016/j.mechmachtheory.2012.05.004
  7. Nayak, A.K., Pradhan, S.K. (2014). Design of a new in-pipe inspection robot, Procedia Engineering, 97, 2081-2091. https://doi.org/10.1016/j.proeng.2014.12.451
  8. Paul, M., Francesco, C. (2015). A robotic cutting tool for contaminated structure maintenance and decommissioning, Automation in Construction, 58, 109-117. https://doi.org/10.1016/j.autcon.2015.07.006
  9. Yoon, J.S., Jeong, K.W., Lee, B.S. (2001) An inspection robot of sewerage pipes, Ifac Mobile Robot Technology, 51-56.
  10. Zhang, Y.W., Yan, G.Z. (2007). In-pipe inspection robot with active pipe-diameter adaptability and automatic tractive force adjusting, Mechanism and Machine Theory, 42, 1618-1631. https://doi.org/10.1016/j.mechmachtheory.2006.12.004