TRAVELING ROBOT FOR SUPERANNUATED PIPE REGENERATION PROVIDED WITH VARIABLE CENTERING MODULE AND VARIABLE SUPPORT MODULE AND ALLOWING DOUBLE HEIGHT ADJUSTMENT

摘要

The present invention relates to a traveling robot for superannuated pipe regeneration provided with a variable centering module and a variable support module and allowing double height adjustment. The present invention includes a body frame that constitutes a vehicle body; a plurality of wheel track devices that are arranged in pair on both sides of the body frame, have an embedded bearing which is capable of relative rotation with wheels provided for traveling in a superannuated pipe, and are capable of a linear movement in an axial direction of the superannuated pipe while oscillating vertically based on a central portion; a variable centering module that is disposed in an upper portion of the body frame and performs an elevation operation so that the center of a vehicle main body corresponds to the central axis of the superannuated pipe in a case where the vehicle main body coupled with regeneration equipment required for a regeneration operation in the superannuated pipe is linearly moved in the axial direction of the superannuated pipe by the plurality of wheel track devices; and a variable support module that is disposed in an upper portion of the centering module that performs an elevation operation and supports the vehicle main body so that a constant strength of a load is maintained in contact with an inner surface of the superannuated pipe in a case where the vehicle main body is linearly moved by the plurality of wheel track devices in the axial direction of the superannuated pipe. According to the present invention, the variable centering module and the variable support module are provided at the same time to allow double height adjustment. Also, a three-degree of freedom parallel platform is provided to facilitate direction change of the regeneration equipment during passage through a curved pipe portion. In addition, the wheel track device is provided to be pivotable, not fixed to the frame constituting the vehicle body, and thus free oscillation is possible depending on the state of the contact surface in the pipe.;COPYRIGHT KIPO 2015