DE202004002132U1 - Steerable inspection module for channels and underground pipelines has flexible pressure chamber with reinforcing strip on one side which bends when pressure inside is increased - Google Patents

Abstract

The steerable inspection module is designed to move along a pipeline (1) with a side branch (2). It has a drive motor (10) inside a pressure chamber (7). The chamber has a flexible tubular housing (17) with a reinforcing strip on one side so that it bends when the pressure inside is increased. The motor and a propulsion housing (3) are attached to the rear end of the flexible housing and a camera (4) with an objective lens (5) and illumination lights (6) is attached to the front end. Steering is performed by rotating the bending module (30) about its longitudinal axis using a rotary joint (11) and then bending.

Description

The innovation relates to a device for inspecting channels with a curve-steerable bending module according to the preamble of protection claim 1. Such a bending module is, for example, the subject of DE 198 15 579 C1 known.

The Innovation relates to a device for inspecting channels a bending module according to the preamble of claim 1.

Such a bending module is, for example, with the subject of DE 198 15 579 C1 known.

This Known bending module is used for processing, coating and / or cleaning of pipelines and the like cavities.

On a feed housing are evenly offset on the circumference three different pull ropes arranged through each other extend clamping pieces arranged axially one behind the other. On the front the free end of the last, foremost clamping piece is the inspection or processing unit arranged.

The bendability of the bending module is achieved by a coil spring, which on Scope of a centrally laid air supply line is arranged.

The bendability of the bending module is centered on the one hand by a arranged coil spring and on the other hand by radially outward at an equal distance Ropes distributed around the circumference reached.

The Control of the bending module is complex. The controlled length change independent of three Pull ropes to be moved from one another is with control electronics difficult to master. Another disadvantage is that the pull cables are laid open and unprotected against damage are. Furthermore the coil spring is also open, creating a risk of contamination consists. When inspecting sewer pipes, especially sewage pipes Such a unit cannot be used because it deals with the corresponding Would add waste.

Another The disadvantage of the known bending module is its lack of a universal one Applicability. For example, no leak test can be carried out the in some cases is required when inspecting such channels.

The Innovation is therefore based on the task of a device for Inspection of channels with a bending module of the type mentioned in such a way that they are also used in dirty and waste channels can and by the way works reliably.

to solution The task is innovation through technical teaching of claim 1.

essential A feature of the innovation is that at the front free end of a feed rod Curvable bending module is arranged, which is essentially from a cylindrical body consists of one opposite sealed from the atmosphere, has elastomeric bending jacket and the interior in the bending jacket is designed as a pressure chamber and that at least one One side of the bending jacket, the axial extension of the bending jacket preventing fixing insert is arranged.

With the given technical teaching results in a steerable Bending module, which is created by pressurizing the inside Pressure chamber causes that the bending jacket is at least partially exposed to pressure expands in the axial direction.

The innovation is now an axial fixing element in the bending jacket, on the bending jacket or under the bending jacket arranged such that in the area of the fixing insert the axial expansion of the bending jacket is omitted at this point. The bending jacket is therefore only permitted when pressure is applied. expand in all axial directions (increase in length), with an increase in length is prevented in the area of the fixing insert. Because of the prevented elongation the fixing insert will become the bending jacket when pressurized bend exactly in the direction in which the fixing insert is located.

In order to a particularly simple curve-steerable bending module is shown, which without mechanically movable traction ropes or other mechanical, driven elements works.

Alone the pressurization is sufficient, the bending jacket in the direction to bring, in which the fixing insert is arranged.

to There are various options for steering the bending module:

In a first embodiment it is provided that the bending jacket is designed to be non-rotatable with a base-like receptacle on the feed housing and that the feed housing rotates as a whole is also firmly connected to a push rod. When the push rod is rotated, the entire feed housing is thus rotated with the bending module arranged in the front area, so that when the bending module is pressurized, it deflects in a certain direction, and by turning the push rod, the bent bend of the bending jacket can now be rotated so that the rotated Feed housing can be inserted into the secondary channel.

In Another embodiment of the innovation provides that the bending jacket over one driven slewing ring with the non-rotatable base the recording is connected.

in the A gear motor is arranged inside the pressure chamber drives the slewing ring, so the entire bending module around its longitudinal axis to bend.

Instead of An electrically driven gear motor can also be an air motor be used, because an air exposure to the pressure chamber anyway is preferred in the bending module.

Of course, the It also novelty to the pressure chamber with a liquid to act upon.

In a preferred embodiment of the innovation, that the fixing insert according to the innovation is directly integrated in the bending jacket itself, which makes it special small external dimensions result. Such a fixing insert can, for example, consist of a Fixing tape exist, which on a non-extensible mesh, e.g. B. there is a woven or knitted fabric. This braid is used as a fixation insert integrated in the elastomeric bending jacket. Integration can by vulcanization, by gluing or also by mechanical connecting means can be achieved.

In Another embodiment of the innovation provides that the fixing insert is designed as a steel cable, which one or can have multiple strands. In addition to a single steel cable, which integrated into the bending jacket at one point in the circumferential direction can be, it is also possible arrange several steel cables next to each other in the bending jacket.

Next The use of steel cables also comes with other non-extensible ones Train elements into consideration, such as. B. also plastic ropes or others Elements such as B. also spiral springs or metal springs.

In A third embodiment of the innovation provides that in the circumferential cylindrical spiral is integrated in the bending jacket, which gives the bending jacket a particularly favorable resilience.

Around to prevent the spiral from expanding evenly in all circumferential directions, it is envisaged that a certain zone of the spiral (in the circumferential direction seen) is designed as a fixing zone. In this area the Spiral coils glued, welded or in some other way to one another be connected.

As well Is it possible, the bending ability of the Spiral turns in this in the longitudinal axis extending fixation zone through physical measures such. B. by hardening change.

In order to care is taken to ensure that the length of the bending jacket is uniform with the inserted spiral only the parts in the longitudinal direction a greater increase in length reach, as compared to the spiral bindings in the fusing zone are arranged.

In A fourth embodiment of the innovation provides that the bending jacket itself is a corresponding element that can only be expanded slightly has, this element made of one piece with the bending jacket, for. B. is connected by vulcanization. It is sufficient here a certain point in the circumferential direction, the thickness of the bending jacket at this point to enlarge compared to the other digits to achieve that this point has less length growth, than comparatively the others arranged in the circumferential direction Put.

The The subject of the present innovation does not arise only from the subject of the individual protection claims, but also from the combination of individual protection claims among themselves.

All in the documentation, including the information and features disclosed in the summary, in particular the spatial training shown in the drawings claimed as essential to the invention, insofar as they are used individually or in Combination versus the state of the art are new.

in the The following is the innovation based on several execution options illustrative drawings explained. Here go from the drawings and their description features and advantages of the innovation essential to the invention.

It demonstrate:

1 : schematically shows an illustration in section through a feed housing with a bending module connected to it before being bent into a secondary duct

2 : Section through the bending jacket of the bending module 1

3 : the unit after 1 when turning into the secondary channel

4 : a second embodiment of a unit in longitudinal section

5 : Cut along the line V – V

6 : the longitudinal section through a further unit in a third embodiment

7 : Section along line VII – VII in 6

8th : schematizes a fixing spiral

9 Longitudinal section through a fourth embodiment with a bending jacket thickened at one point

10 : Section along the line X – X in 9 ,

In 1 is generally shown that a feed unit in a main channel 1 is retracted, the term "main channel" is not to be understood narrowly.

The one here as the “main channel 1 "designated channel can already be a secondary channel, of which another secondary channel 2 branches.

The task of the innovation is a feed unit consisting of a feed housing 3 and a bending module arranged at the front end 30 so that the entire feed unit with simple means from the main channel 1 in the side channel 2 can be controlled when on the push rod 16 a corresponding axial thrust is given.

It is shown that several supply lines in the interior of the push rod 15 are arranged, which can be provided, for example, as electrical signal lines and as one or more compressed air lines.

In the exemplary embodiment shown is the push rod 16 not rotatable, but is only pushed forward in the axial direction.

In the general description it was already pointed out that in another embodiment the push rod 16 can also be rotatable.

At the front end of the push rod 16 is a recording 14 attached, at the front end of a turntable 11 is arranged.

The fixed part of the slewing ring is with the admission 14 connected while the rotatable part of the slewing ring 11 the bending module 30 formed.

This bending module 30 consists essentially of an elastomeric bending jacket 17 which is expandable at least in the axial direction under the action of an internal pressure application.

The innovation here also provides that the bending jacket 17 still extends so far that it is on all sides of the inner wall of the main channel 1 or the secondary channel 2 creates a packer effect.

In another embodiment, it can also be provided that instead of a single-walled bending jacket 17 a double-walled bending jacket is present, so that there are two bending jackets which can be acted upon independently of one another and are arranged coaxially to one another.

A pressure medium can then be introduced into the space between the outermost bending jacket and the inner bending jacket, causing the outer bending jacket to rest against the wall of the main or secondary channel 1 . 2 brings, so as to achieve the packer effect.

In the exemplary embodiment shown is the bending jacket 17 however, only single-walled and defines a pressure chamber in its interior 7 ,

The pressure chamber is in the direction of the slewing ring 11 through a first wall 9 formed, a second wall parallel to and at an axial distance 8th is arranged.

Between these two walls 8th . 9 and the wall of the bending jacket 17 becomes the aforementioned pressure chamber 7 educated. The geared motor is preferred in the area of this pressure chamber 10 arranged of the slewing ring 11 drives rotatable.

Beyond and outside the pressure chamber 7 is a camera 4 arranged by a lens 5 looks ahead, with one or more lights in the front part of the arrangement 6 are arranged.

Instead of the rigid camera head, beyond the wall 8th , the entire front part can also be designed as a swivel head.

When current is applied to the geared motor 10 in any case, the entire bending module 30 around the longitudinal axis 13 around in the direction of the arrow 12 or rotated in the opposite direction.

Now over one of the supply lines 15 the pressure chamber 7 pressurized, the bending jacket expands accordingly 17 in the direction of the arrows 18 , At the same time, the elastomeric bending jacket tries 17 in the longitudinal direction (arrow direction 20 in 3 ) to expand.

This is done at one point in the circumferential direction on the bending jacket 17 prevented. According to the innovation 2 at one point in the circumferential direction in the bending jacket 17 a fixation insert that is not or only slightly expandable in length 19 integrated, for example a width 22 having.

The width 22 can be varied over a wide range. It can extend from an angular range of one degree to less than 180 degrees.

A uniform longitudinal expansion of the bending jacket acting in the axial direction 17 then leads to the fixation insert 19 At this circumferential point, the length expansion is prevented, so that the entire bending module 30 according to 3 around this fixation insert 19 around bends.

With appropriate turning of the slewing ring 11 can therefore - the previously arbitrary - bend now in a controlled bend in the mouth of the secondary channel 2 be implemented.

The 4 and 5 show, instead of a woven or knitted band also one or more ropes that are in the material of the bending jacket 17 can be integrated.

So after 4 shown that a fixing rope 21 in the material of the bending jacket 17 is vulcanized.

The 5 shows that also several fixing ropes 21a can be arranged side by side at a mutual distance.

The 6 to 8th show the application of a circumferential bending spiral 23 which, for example, are cylindrical 8th is formed and from a variety of metal or plastic compounds 24 consists.

The bending spiral 23 is preferably again in the material of the bending jacket 17 integrated.

In order to achieve that with the pressurization and the uniform length expansion of the bending jacket 17 in the axial direction only a certain circumferential direction does not take part in the longitudinal expansion, it is provided that in the area of a certain fixing zone running in the axial direction 25 the length extension of the bending spiral 23 omitted.

In the area of the fixing zone 25 are, for example, the turns 24 glued together, hooked or mechanically connected in some other way.

The mechanical resilience can also be in the region of the fixing zone extending in the axial direction 25 to be changed. For example, the windings can be in this area 24 be hardened so that outside the fixing zone 25 the turns 24 have a different elasticity than in the area of the fixing zone 25 ,

When the pressure chamber is pressurized 7 will be the bending jacket 17 try to expand evenly in all circumferential directions. This uniform axial expansion is, however, due to the fixing zone 25 prevented, so that in turn the entire bending jacket 17 around the fixation zone 25 bends around what is indicated by the arrow directions 26 in 8th is indicated.

Advantage of using a bending spiral 23 is that the elastomeric resilience of the flexural module 30 significantly improved because of the bending ability of the turns 24 the bending spiral 23 outside the fixation zone 25 is used.

The 9 and 10 show as a further embodiment that just the wall of the bending jacket 17 can be thickened at a certain circumferential point in the axial direction, as is the case by additionally attaching a fixing web 27 in 10 is shown.

This fixation track 27 is a material thickening of the bending jacket 17 to look at and is made of one piece of material with the bending jacket 17 educated.

It is important in all embodiments that the fixing insert, which is not or only flexibly expandable in length, is clamped between two anchor points, namely once on the wall 8th and secondly on the wall 9 , In this way, a length increase in the pressure chamber 7 prevented at this circumferential point, while in the other other circumferential points of the bending jacket 17 can expand in the direction of the axial length.

It is common to all of the embodiments that the fixing inserts mentioned directly in the material of the bending jacket are not necessary for a solution 17 integrate yourself.

In The general description has already indicated that these fixation inserts also above or below the bending jacket can be arranged.

1

main channel

2

secondary channel

3

feed housing

4

camera

5

lens

6

lighting

7

pressure chamber

8th

wall

9

wall

10

gearmotor

11

slewing ring

12

arrow

13

longitudinal axis

14

admission

15

supply line

16

pushrod

17

bending sheath

18

arrow directions

19

fusible

20

arrow

21

Fixierseil 21a

22

width

23

bending spiral

24

convolution

25

fixing zone

26

arrow

27

Fixierbahn

28

29

30

flexural modulus

Claims (11)

Device for inspecting channels with a curve-steerable bending module ( 30 ) at the front free end of a feed housing ( 3 ) is arranged and its controlled steering lock against a spring-loaded restoring force of at least one fixing rope ( 21 . 21a ) is adjustable, one end of which is on the feed housing ( 3 ) and its other end near the front end of the bending module ( 30 ) is attached, and at the front end of the feed housing ( 3 ) a rotating driven slewing ring ( 11 ) is arranged on which one end of an approximately tubular bending sleeve is fastened, characterized in that at the front free end of a push rod ( 16 ) the steerable bending module ( 30 ) is arranged, which essentially consists of a cylindrical body which has an elastomeric bending jacket sealed against the atmosphere ( 17 ) and the interior in the bending jacket ( 17 ) as a pressure chamber ( 7 ) and that furthermore at least on one side of the bending jacket ( 17 ) one, the axial extension of the bending jacket ( 17 ) preventive fixing insert ( 19 ) is arranged. Device for inspecting channels according to claim 1, characterized in that the inside of the bending jacket ( 17 ) located pressure chamber ( 7 ) is charged with a gaseous or liquid pressure medium. Device for inspecting channels according to claim 1 and 2, characterized in that the bending jacket ( 17 ) when the pressure chamber is pressurized ( 7 ) extends at least partially in the axial direction. Device for inspecting channels according to claims 1 to 3, characterized in that the fixing insert ( 19 ) on, under or in the bending jacket ( 17 ) is arranged. Device for inspecting channels according to claims 1 to 4, characterized in that the fixing insert ( 19 ) at least one fixing strap, one fixing rope ( 21a ), a fixing sheet ( 27 ) and / or a bending spiral ( 23 ) having. Device for inspecting channels according to claim 1 to 5, characterized in that the bending jacket ( 17 ) when pressure is applied in the area of the fixation insert ( 19 ) has no axial length extension. Device for inspecting channels according to claim 1 to 6, characterized in that the bending jacket ( 17 ) when pressure is applied in the direction of the fixing insert ( 19 ) bends. Device for inspecting channels according to claims 1 to 7, characterized in that the bending jacket ( 17 ) non-rotatable with a base-like receptacle ( 14 ) on the feed housing ( 3 ), which is rotatably fixed with a push rod ( 16 ) connected is. Device for inspecting channels according to claim 1 to 8, characterized in that the bending jacket ( 17 ) by means of a driven slewing ring ( 11 ) with the non-rotatable socket base ( 14 ) connected is. Device for inspecting channels according to claims 1 to 9, characterized in that the inside of the pressure chamber ( 7 ) drive of the slewing ring ( 11 ) electric or pneuma table is formed. Device for inspecting channels according to claims 1 to 10, characterized in that the bending jacket ( 17 ) has a different material thickness in the circumferential direction, which has a one-piece connection.