EP0723643A1 - Tool for a pipe-repair robot - Google Patents
Tool for a pipe-repair robotInfo
- Publication number
- EP0723643A1 EP0723643A1 EP95926826A EP95926826A EP0723643A1 EP 0723643 A1 EP0723643 A1 EP 0723643A1 EP 95926826 A EP95926826 A EP 95926826A EP 95926826 A EP95926826 A EP 95926826A EP 0723643 A1 EP0723643 A1 EP 0723643A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- opening
- chamber
- tool
- robot
- fabric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/179—Devices for covering leaks in pipes or hoses, e.g. hose-menders specially adapted for bends, branch units, branching pipes or the like
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
Definitions
- the present invention relates to a tool according to the preamble of claim 1.
- the object of the present invention is to create a tool of the type mentioned at the outset which eliminates the disadvantages mentioned. According to the invention, this invention is achieved by the characterizing features of claim 1.
- the invention has the advantage that the repair can be carried out so quickly that the house connection line 9 no longer has to be shut off during the repair. After removing the formwork panel with the balloon and while milling out the patch, the domestic waste water can continue to flow through the remaining opening formed by the balloon.
- FIG. 1 shows a section from a sewage pipeline system with a rehabilitation device in use
- FIG. 2 shows a section from FIG. 2 with the robot of FIG
- FIG. 3 shows a detail from FIG. 2 in an enlarged representation.
- reference numeral 1 denotes a sewer pipe to which two control shafts 2 and 3 lead.
- Sewer pipe 1 has a leak 4 when connecting a secondary line (for example a house connection pipe), which is identified by a movable video camera 5 and which is to be sealed.
- a secondary line for example a house connection pipe
- the video camera 5 is a commercially available product and is sold, for example, under the name BCS 85 II by BCS System AG, Zufikon. It is connected by means of a transmission line and a command line 6 to a command center 7, in which the operator's workplace equipped with a monitor is located. There the latter observes the images transmitted by the camera 5 and controls them from there by means of a control device Transmission and command line 6 inter alia the forward and backward movement of the camera 5, its focal length of the lens and spotlights present on the camera for illuminating the leakage 4.
- a robot 8 is arranged opposite the camera 5 at a distance in the tube 1, which is axially oriented Longitudinal pipe axis is aligned and is provided with a tool 9 for processing the leak 4.
- the robot 8 is driven with compressed air, which is fed in by means of a compressed air line 10 from a compressed air source, not shown, accommodated on a vehicle 11.
- Pressure line 12 supplies the tool 9 with a pasty patch. This is processed in a processing system (not shown) arranged on the vehicle 11 and pressed into the pressure line 12 by means of a screw pump. Synthetic resins, rapid setting mortar and the like can be used as the patch. Parallel to the lines 10, 12 there is also a power supply line S and a pressure line 13, which is connected to a compressed air vacuum source located on the vehicle 11. If the compressed air source, the patch preparation system and the screw pump can be driven by a motor, their drive units can be remotely controlled by the operator via a control line 14 led to the control device of the command center 7.
- the robot 8 After inserting the camera 5 and the robot 8 through the inspection shafts 2 and 3 into the pipe 1, the operator takes his place in the command center 7 and controls the camera 5 and the robot 8 from his place to the leak 4 and leads there the necessary renovation work. If the leak 4 is, as mentioned, a defective connection of a house connection pipe, the robot 8 is first equipped with a milling tool and the leak 4 is freed of brittle material. Then the robot 8 is moved out of the tube 1 and the milling tool (as described later) is replaced by a tool 9 according to the invention and lines 12 and 13 are connected for the patch material or the pressure-vacuum medium. The robot 8 is now again for the repair of the leak 4 through the inspection shaft 3 into the pipe 1 inserted and advanced to the leak 4. After the leak point 4 has been sealed, the robot 8 is converted to a milling and / or grinding tool and, if appropriate, to a spray water cleaning nozzle in order to precisely calibrate, fine-tune or clean the patch location.
- a set of pressure line hoses 12 of different lengths is preferably located on the vehicle 11. This has the advantage that the length of the pressure line 12 can be selected according to the distance of the leak 4 from the vehicle 11. By selecting the shortest possible pressure line 12, the pressure drop and the patch mass remaining after filling in the pressure line 12 can be kept small. This also simplifies the cleaning of the pressure line 12.
- FIG. 2 shows a robot known per se (BJR Trading, DK-Roskilde, type Bearer Cutter) with a part 15 that can be locked relative to the tube 1 and a movable part 16 that can be displaced relative to the lockable part 15 in the direction of the longitudinal axis 17 and is rotatable about this axis.
- a ring 18 is fixedly attached, to which a plurality of longitudinal bars 19 are attached, offset radially symmetrically with respect to the axis 17.
- two further rings 20 and 21 are firmly connected to the longitudinal rods 19.
- the rings 18, 20, 21 and the longitudinal bars 19 form a cage.
- Interchangeable spacers are provided between the rings 18, 20, 21 and the longitudinal bars 19, so that the outside diameter of the cage can be adapted to the inside diameter of the tube 1 and the robot 8 can be aligned axially to the longitudinal axis 17 of the tube 1.
- the longitudinal bars 19 which can be used as sliding runners, however, preferably freely rotatable or drivable rollers 22 are arranged, which reduce the effort required to move the robot 8 in the tube 1.
- the lockable part 15 has at least two pneumatically actuated locking levers 23 distributed radially symmetrically about the axis 17, which are pneumatically against the inner wall of the pipe are braced and are used to fix the part 15 at a certain point on the tube 1.
- the lockable part 15 also has a fixed, axial piston rod 24, on which the movable part 16 is axially displaceably mounted in the manner of a movable piston. For axial guidance, it is also slidably mounted with its cylindrical outer casing in the two rings 20 and 21.
- a flexible, helical pressure line 25 connects the two parts 15 and 16 and feeds, among other things, the pneumatic motors for the displacement and rotational movement of the movable part 16 and further the tool 9 and a swivel device 26 connecting it to the movable part 16.
- the swiveling device 26 is a parallel crank mechanism with a pair of cranks 27 and a pair of rockers 28. Of the pair of cranks 27 or pair of rockers 28, only the front crank or rocker is visible in FIG. 2.
- the crank pair 27 is fixedly connected to a shaft 29 which is rotatably mounted in the movable part 16 and which, as already mentioned, can be driven by a pneumatic motor accommodated in the part 16.
- the pair of rockers 28 is pivoted freely on an axis 30 which is parallel to the shaft 92 and is arranged on the movable part 16.
- the coupling of the parallel crank mechanism forms an adapter plate 31 which is part of the tool 9.
- the pair of cranks 27 and the pair of rockers 28 are articulated on pivot pins 32, 33 screwed into the adapter plate 31.
- the swiveling device 26 can, however, also be designed as a kit with differently length and interchangeable crank or rocker arm pairs. This enables a four-bar linkage with a different length of crank or rocker pair 27, 28 to be assembled, in which the length ratio is preferably selected so that the inclination of the center axis of the milling cutter 34 in the working position to the axis 17 is 45 °.
- This embodiment of the swivel device 26 is particularly suitable for milling oblique pipe connections.
- the pivot pins 32, 33 are detachably screwed to the adapter plate 31, so that, if necessary, the entire tool 9 can be removed or exchanged for another tool.
- a house connection pipe 36 connects to the sewer pipe 1, the connection to the sewer pipe 1 being broken off. Dirty water can escape through the fracture gap 38 forming the leak 4. This must therefore be sealed permanently.
- the construction of the suitable tool 9 is described below with reference to FIG. 3.
- This tool 9 has a formwork plate 34 which is firmly connected to the adapter plate 31. The latter is provided with threaded bores 35 into which the pivot pins 32, 33 (FIG. 2) can be screwed.
- the formwork plate 34 has a circular segment-shaped cross section with a radius of curvature which is equal to the inner radius of the sewer pipe 1.
- the formwork plate 34 is provided in the region of the mouth of the house connection pipe 36 with an opening 39, in which a pressure pipe 40 ends, to which the pressure line 12 for the supply of the flowable sealing compound is connected.
- a plate 41 is welded to it, protruding transversely, through which a hole for a screw 42 passes.
- the screw 42 screwed into a threaded sleeve 52 welded on the inside of the formwork plate 34 firmly connects the plate 41 to the formwork plate 34.
- the pressure pipe 40 passing through the adapter plate 31 and welded to it is also firmly connected to the formwork plate 34 by this.
- the formwork plate 34 has a second opening 43, which has a circular sealing seat for the open end on the inside of the formwork plate a closed sleeve with a cylindrical cross section
- a radially projecting web is on the sleeve 44
- the half-shell 47 which is complementary to the half-shell 46, has one
- Screw 48 is screwed against the half-shell 46 from the opposite side of the pressure pipe, so that it is pulled together with the web 45 against the pressure pipe 40.
- the open end of the sleeve 44 is pressed into the sealing seat of the opening 43 in accordance with the prestress applied to the web 45 with the screw 48.
- a protective sleeve 49 welded to the formwork plate 34 surrounds the sleeve 44 axially.
- the sleeve 44 forms a pressure and vacuum chamber 50, to which a pressure and vacuum-tight pipeline 51 is connected.
- the already mentioned pressure line 12 connects to the pipeline 51.
- the open end of the sleeve 44 is closed by a rubber-elastic, tubular membrane 53 in a pressure-tight and vacuum-tight manner.
- the free end 54 of the membrane 53 is closed and lies in the rest position (drawn with solid lines) within the sleeve 44.
- the open membrane end is placed over the open end of the sleeve 44 and radially against the outside of the sleeve with a clamp 55 presses. Due to the axial clamping force generated with the screw 48 on the sleeve 44, the annular edge 56 of the membrane 53 resting on the free end of the sleeve 44 is pressed onto the sealing seat, which, so to speak, forms an elastic sealing ring.
- the membrane 53 pushes out of the sleeve 44 and expands in a balloon-like manner in front of the formwork plate 34 (shown in broken lines).
- the robot 8 is moved in the sewer pipe 1 to the house connection pipe 36 in such a way that the two openings 39 and 43 of the formwork panel 34 lie in front of the mouth of the house connection pipe 36.
- the sleeve 44 is aligned essentially axially with the house connection pipe 36.
- the formwork plate 34 is pressed against the wall of the sewer pipe 1 so that it closes the mouth of the house connection pipe 36.
- a pressure medium is applied to the chamber 50 and the membrane 53 is turned outwards and inflated until it seals the house connection pipe 36 beyond the fracture gap 38.
- the membrane 53 and the formwork plate 34 now seal an annular cavity 57 in the area of the fracture gap 38 in connection with the house connection pipe 36. Thereafter, a pasty, flowable sealing compound with excess pressure is pressed into the cavity 57 through the pressure line 12 and the pressure pipe 40. The sealing compound penetrates the fracture gap 38 and fills it completely. After the sealing compound has at least partially hardened or set, the pressure and vacuum chamber 50 is subjected to vacuum and the membrane 53 is sucked back into the sleeve 44.
- the robot 8 can now move out of the sewer pipe 1 and the tool 9 can be replaced by a milling cutter. After the sealing compound has completely hardened, the mouth of the house connection pipe 36 can be milled out to its nominal diameter. The opening in the house connection pipe 36 left free by the membrane 53 forms a precise fixed point for the operator to attach the milling head.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Sewage (AREA)
- Pipe Accessories (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US291890 | 1988-12-29 | ||
US08/291,890 US5527133A (en) | 1994-08-17 | 1994-08-17 | Tool for a sewer robot |
PCT/CH1995/000181 WO1996005463A1 (en) | 1994-08-17 | 1995-08-15 | Tool for a pipe-repair robot |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0723643A1 true EP0723643A1 (en) | 1996-07-31 |
Family
ID=23122306
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP95926826A Withdrawn EP0723643A1 (en) | 1994-08-17 | 1995-08-15 | Tool for a pipe-repair robot |
Country Status (4)
Country | Link |
---|---|
US (2) | US5527133A (en) |
EP (1) | EP0723643A1 (en) |
AU (1) | AU3108195A (en) |
WO (1) | WO1996005463A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5527133A (en) * | 1994-08-17 | 1996-06-18 | Csillag; Robert | Tool for a sewer robot |
DE19520755C2 (en) * | 1995-06-07 | 1999-10-28 | D T I Dr Trippe Ingenieurgesel | Device for sealing damaged duct walls |
US5681131A (en) * | 1995-07-18 | 1997-10-28 | The Consumers' Gas Company Ltd. | Cable feeding system and umbilical cable therefor |
DE19641365C2 (en) * | 1996-10-08 | 2000-09-21 | Jt Elektronik Gmbh | Device for renovating the branch point of a house connection to a sewer pipe |
DE19644466A1 (en) * | 1996-10-25 | 1998-04-30 | Herbert Dietrich | Renovation equipment |
ATE192559T1 (en) * | 1997-01-25 | 2000-05-15 | Ludwig Dorr Staedtereinigung | DEVICE FOR RECONDITIONING SEWER PIPES |
AT407064B (en) * | 1999-06-02 | 2000-12-27 | Klug Kanal Leitungs Und Umwelt | METHOD FOR DAMAGE RESTORATION OF PIPES |
US6386797B1 (en) * | 2001-02-02 | 2002-05-14 | Stephen V. Gearhart | Conduit liner cutter |
EP1519100B1 (en) * | 2003-09-25 | 2008-11-05 | Trelleborg epros GmbH | Apparatus and method of renovating pipes |
DE102008049238A1 (en) * | 2008-05-30 | 2009-12-03 | Wabco Gmbh | Device for operating an auxiliary unit of a vehicle, in particular utility vehicle |
CN107405781A (en) * | 2015-04-07 | 2017-11-28 | 株式会社湘南合成树脂制作所 | Punching machine and method for punching |
DE102017109980A1 (en) * | 2017-05-09 | 2018-11-15 | Pipetronics Gmbh & Co. Kg | Apparatus for remediating defective conduit walls with a heater for faster curing of the refurbishment mass |
US20220010913A1 (en) * | 2018-11-15 | 2022-01-13 | Sml Verwaltungs Gmbh | Method for renovating damaged line walls in the region of the connection of an auxiliary line to a main line |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0078816A1 (en) * | 1981-05-12 | 1983-05-18 | Haxey Engineering Limited | Pipe connecting method |
US4728223A (en) * | 1982-11-24 | 1988-03-01 | Pirelli Construction Co. Ltd. | Methods of renovating sewers |
US4484602A (en) * | 1983-01-17 | 1984-11-27 | Cues, Inc. | Packer for sealing lateral lines |
GB8506556D0 (en) * | 1985-03-13 | 1985-04-17 | Brickhouse Dudley Plc | Grouting method |
DE3730315A1 (en) * | 1987-09-10 | 1989-03-30 | Guenter Rogalski | Process and apparatus for repairing sewer pipes |
CH676495A5 (en) * | 1988-11-21 | 1991-01-31 | Himmler Kunststoff Tech | |
CH682945A5 (en) * | 1989-12-01 | 1993-12-15 | Sika Robotics Ag | Remote controlled formwork installation in inaccessible pipe branches and junctions. |
US5285817A (en) * | 1989-01-12 | 1994-02-15 | Sika Robotics | Remote-controlled insertion of sheathing in inaccessible manifolds and junctions |
DE9407896U1 (en) * | 1994-05-17 | 1994-09-01 | D.T.I. Dr. Trippe Ingenieurgesellschaft Mbh, 76133 Karlsruhe | Device for sealing duct walls in the area of the connection of a secondary duct to a main duct |
US5527133A (en) * | 1994-08-17 | 1996-06-18 | Csillag; Robert | Tool for a sewer robot |
-
1994
- 1994-08-17 US US08/291,890 patent/US5527133A/en not_active Expired - Fee Related
-
1995
- 1995-08-15 AU AU31081/95A patent/AU3108195A/en not_active Abandoned
- 1995-08-15 WO PCT/CH1995/000181 patent/WO1996005463A1/en not_active Application Discontinuation
- 1995-08-15 EP EP95926826A patent/EP0723643A1/en not_active Withdrawn
- 1995-11-24 US US08/564,382 patent/US5664912A/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO9605463A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO1996005463A1 (en) | 1996-02-22 |
US5664912A (en) | 1997-09-09 |
US5527133A (en) | 1996-06-18 |
AU3108195A (en) | 1996-03-07 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 19960513 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IT LI NL SE |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: CORNAZ, JEAN-LUC, DR. Owner name: CSILLAG, ROBERT |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: CSILLAG, ROBERT |
|
RAP3 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: CORNAZ, JEAN-LUC, DR. Owner name: CSILLAG, ROBERT |
|
17Q | First examination report despatched |
Effective date: 19980629 |
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GRAG | Despatch of communication of intention to grant |
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GRAG | Despatch of communication of intention to grant |
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GRAG | Despatch of communication of intention to grant |
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GRAH | Despatch of communication of intention to grant a patent |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20000125 |