JP2000186494A - Device for milling or expanding inside contour or inner diameter of ground structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid a trouble that rough cutting work cannot be easily conducted, by providing a milling tool supported on the extension arm of a carrier capable of being arranged on an object cross section, and mounting the extension arm around a rocking axis like gimbals. SOLUTION: A frame 1 serving as a carrier rotatably supports travel wheels 2 and travel wheels 3 in a device for milling or expanding the inside contour or inner diameter of a ground structure such as a conduit 4. A milling tool 9 is supported on the extension arm 7 of the carrier capable of being arranged on a milling object face, a support roller 19 for the carrier to traverse on the milling object cross section is provided, the extension arm 7 is mounted around a rocking horizontal axis and another rocking axis 8 on the carrier like gimbals, and the height of the pivotal fulcrum of the extension arm 7 is made adjustable. A large degree of freedom is given to the support structure of the extension arm 7, the milling tool 9 is adjustably moved to an optional position on the inner wall of the ground structure, and accurate milling can be easily applied according to the inside contour.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for milling or enlarging the inner contour or inner diameter of an earthwork such as a conduit, comprising an extension arm of a carrier which can be arranged in a section to be milled. The present invention relates to a device having a supported milling tool, and having a supporting roller for the carrier to traverse the cross section to be milled.

[0002]

2. Description of the Prior Art A milling device for enlarging the inside diameter of a conduit is described, for example, in AT 396 270. In this known device, a tool is movably supported along a connecting link, which is manufactured according to the profile to be milled so as to be compatible with the milling machine. This known device is provided with a carrier which is braced within said inner diameter. Basic proposals have already been made to support a milling tool on a frame by a free-guide robot arm whose movement can be controlled according to a profile.

[0003] WO 90/12979 includes a working pipepi configured as a small go-devil supported by a plurality of support wheels.
ngsystem) is disclosed. This small cart has a tool mounted on an extension arm. The extension arm is pivotally mounted on a pivot bogie so as to be pivotable in a radial direction.
The bogie is pivotable about a longitudinal axis. With this configuration, the tool can be moved to any desired position on the pipe wall. Such a device is particularly suitable for inspection and small-scale maintenance, in piping systems with small cross sections.

[0004]

SUMMARY OF THE INVENTION However, WO9
It has been found that rough work cannot be easily performed with a device having a configuration such as 0/12979. In particular, enlarging the cross section by milling has been a problem because the above-described method does not provide a suitable angle at which the milling tool acts.
Another problem is that the relatively large generated force cannot be optimally absorbed by the gear mechanism.

[0005] It is therefore an object of the present invention to avoid the disadvantages mentioned above and furthermore to adapt a device of the type described above to known basic moving tools very easily for any desired contour. It is an object of the present invention to provide a device capable of automatically controlling its progress, for example, by a line control device.

[0006]

In order to solve the above-mentioned problems, the characteristic structure of the apparatus according to the present invention is as described in claims 1 to 11 in the claims. Specifically, it is as follows.

According to the present invention, a gimbal mount is provided on the carrier so that the extension arm can swing about a horizontal axis and another axis.
nt), and the pivot point of the extension arm is configured to be adjustable in height.

That is, there is provided a gimbal-mounted extension arm, and a substantially horizontal swing axis of the extension arm for swinging the extension arm in a height direction has an outer envelope circle around a predetermined profile.
The device is positioned within or near the horizontal diameter of the ircle, thereby directing the device to a directional or guide beam.
The necessary prerequisites for alignment to beam) to form the desired target profile are satisfied. For this purpose, it is advantageous for the substantially horizontal pivot axis to be arranged on a height-adjustable carriage or rocker. In order to be able to be in close contact with the exact geometric conditions of the planned profile of the bore to be cut or enlarged, the precise control is to align the substantially oscillating horizontal axis exactly on the cross-section guide beam. Is enough.

According to the invention, it is advantageously possible, by means of its construction, to absorb the forces generated through the structure. More importantly, the support structure of the extension arm has a greater degree of freedom than would actually be required for a milling tool. Even without the height adjustment of the pivot point, it would be possible if the milling tool was to reach all points of the conduit wall within certain limits, but for the first time with the present invention, It is possible to accurately control the tool and secure a suitable working angle of the tool.

According to a preferred embodiment of the present invention, a swing axis for horizontally swinging the extension arm extends substantially perpendicular to the substantially horizontal swing axis, whereby: In particular, it is possible to reliably cover the inner contour or inner diameter portion different from the circular shape by the extension arm and the milling tool. The necessary control signals are expressed, for example, as XY coordinate values of each target profile of the section to be milled in order to enable automatic traverse movement along the guide beam, similarly to the method by the line control device.

In a particularly simple embodiment of the present invention, the driving force for vertically and horizontally swinging the extension arm is constituted by a hydraulic cylinder, and the position of the hydraulic cylinder is monitored by a control device. And its position is adjusted based on a predetermined target profile. The gimbal mount and the device for adjusting the height position of the oscillating horizontal axis can in principle be retrofitted to known traverse mobile devices, the mounting of which depends on its geometry. Because of the typical shape,
It can be done automatically in a simple way.

[0012] The reliable adjustment and positioning of the device at the inner diameter can be performed in a simple manner,
For example, at least three support rollers are mounted on the carrier, these support rollers being arranged in a Y-shape in a sectional plane and mounted on an arm which is adjustable in a direction towards the inner surface of the profile. By arranging the support rollers in a substantially Y-shape, it is possible to center the device substantially automatically, especially in the case of non-circular cross-sections, and thus subsequent modification of the section guide arm The effort can be kept very low. A process controller can be used to accurately select different profiles by hydraulic piston. This means can be used for general purposes without significant modification.

According to a further preferred development of the invention, according to a further preferred embodiment, the milling tool is mounted on the extension arm at the end of the carrier which is the rear end in the direction of travel or traverse movement. Be placed. According to this configuration, it is possible to easily wash away the cut material so as not to hinder the subsequent progress, so that it is not necessary to remove the material.

[0014] The milling tool can be configured very simply by a milling roller or milling head having a rotation axis aligned with the axis of the extension arm. In this configuration, the geometry of the head allows the drilling tool to make substantially planar contact with the inner contour and inner wall of the inner diameter to be enlarged, thereby increasing the working speed. Can be increased. Alternatively, the axis of rotation of the milling tool can be arranged in a direction transverse to the axis of the extension arm.

As already mentioned, the device is preferably arranged such that the two pivot axes of the extension arm can be aligned with the guide beam, in particular the laser beam. This device
For a completely automatic traverse movement inside the inner diameter part according to the target point of the guide beam, for example, at least one of the rollers is connected to a traverse mechanism.

The present invention further relates to a method for milling or enlarging the inside diameter or inner contour of an earth structure, such as a conduit, preferably using the apparatus described above. According to the invention, a milling tool is used which is fixed to a gimbal mounted extension arm at a point located at the height of the horizontal diameter of the outer envelope circle around the target shape of the profile. According to this method, it is possible to achieve particularly accurate enlargement work.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a frame 1 as a carrier which rotatably supports running wheels 2 and 3. The running wheels 3 are connected to a drive motor (not shown), both of which are movable on the bottom of the conduit profile 4.

In the base frame 1 of the fuselage, the extension arm 7 is pivotally supported by the rocker 5 in a height direction about a substantially horizontal axis 6. The extension arm 7 is provided with a gimbal-mount.
And the substantially vertical swing axis is denoted by reference numeral 8.
Indicated by Furthermore, this extension arm 7
A milling or cutting tool 9 is mounted on its end face, which is rotatably supported coaxially with respect to the axis of the extension arm 7, the respective drive motors being indicated by the reference numeral 10. ing. The substantially vertical swing axis 8 is provided on the fork 11 of the extension arm 7.
Surrounded, thereby ensuring reliable absorption of the reaction force.

The extension arm 7 is connected to a substantially horizontal axis 6.
The turning drive force for turning the upper and lower parts around the hydraulic cylinder 1 acts on the arm 13 of the cardan joint.
2 is formed. Substantially horizontal turning is performed by the hydraulic cylinders 14 and both hydraulic cylinders 1
4 and 12 are connected to the central control unit 1 via lines 15 and 16
7 is connected. This central controller also processes the signals of the line controller (not shown).

In order to accurately adjust the height of the substantially horizontal swing shaft core 6, the rocker 5 is provided with a hydraulic cylinder 18
Is swung about the horizontal axis P, so that the swinging horizontal axis 6 forms an envelope circle of the cross section of the conduit 4.
Op circle) is configured to extend and move substantially diametrically. Centering and additional support of the device is ensured by support rollers 19 which can be pressed against the inner wall of the conduit 4 by a hydraulic cylinder 20 and which are held in a joint carrier 21. As shown in FIG. 2, these carriers 21, shown by dash-dot lines, are preferably arranged in a Y-shape, and in the case of a substantially egg-shaped cross-section, the self-adjustment takes place with the lower driven support roller 3 below. Is made possible by the cooperation of The support roller 19 can be positioned at a desired position away from the position shown by the dashed line, as shown by the solid line in the figure.

Referring to FIG. 2, the envelope circle enclosing the profile cross section is indicated by reference numeral 22. The substantially horizontal oscillating shaft core 6 is formed by the envelope circle 22.
By being aligned to the horizontal diameter 23 of
Accurate adjustments to the cross-sectional guide beam of the entire device can be made. As shown in FIG. 2, a separate hydraulic cylinder 14 can be used to swing the extension arm 7 in either side direction, and the substantially horizontal swing axis 6 is milled. The height can be adjusted along the center surface 24 in the vertical longitudinal direction of the target inner diameter portion.

[0023]

As described above, in the apparatus for milling or expanding the inner contour or inner diameter of an earth structure such as a conduit according to the present invention, a milling tool is mounted on an extension arm of a carrier which can be arranged on a section to be milled. And a support roller for the carrier to traverse the cross section to be milled, and an extension arm is gimbal-mounted on the carrier around a swing horizontal axis and another swing axis. The height of the pivot point is adjustable. By providing a large degree of freedom in the support structure of the extension arm, the tool can be adjusted and moved to an arbitrary position on the inner wall of the earth structure, and accurate milling according to the inner contour can be easily performed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a device according to the invention.

FIG. 2 is a rear view of the device of the present invention viewed from the traveling direction.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Carrier 6 Oscillating horizontal axis 7 Extension arm 8 Another oscillating axis 9 Milling tool 19 Supporting roller

 ──────────────────────────────────────────────────続 き Continuation of the front page (71) Applicant 500003877 OBORE LANDSTRASSE 19, A-4053 PUCKING, AU STRIA

Claims (11)

[Claims] An apparatus for milling or enlarging the inner contour or inner diameter of an earth structure such as a conduit, supported on an extension arm (7) of a carrier (1) that can be arranged on a cross section to be milled. A milling tool (9), wherein the carrier (1) includes a supporting roller (19) for traversing the section to be milled, wherein the extension arm (7) is provided on the carrier (1). A gimbal mount around the swinging horizontal axis (6) and another swinging axis (8), and a pivot point of the extension arm (7) is configured to be adjustable in height. Equipment to do. 2. The pivot point of the extension arm (7),
Device according to claim 1, characterized in that it is arranged on a rocker (5) pivotally arranged with respect to the carrier (1). 3. The oscillating horizontal axis (6) of the extension arm (7) is arranged in the area of the horizontal diameter (23) of the outer envelope circle (22) around the target shape of the profile. The apparatus according to claim 1 or 2, wherein 4. The oscillating shaft center (6) is arranged substantially perpendicularly to the oscillating horizontal shaft center (6). The described device. 5. A hydraulic cylinder (12, 14) for swinging the extension arm (7) is provided.
5. The device according to claim 1, wherein the positions of the hydraulic cylinders (12, 14) are monitored by a control circuit and can be adjusted according to a predetermined target profile. . 6. The carrier (1) comprises at least three support rollers (19), preferably Y
6. The device according to claim 1, wherein the device is mounted on an arm which is arranged in a character shape and is adjustable in a direction toward an inner surface of the profile. 7. The milling tool (9) is attached to the extension arm (7) at an end of the carrier (1) which is a rear end in a traveling direction or a traverse movement direction, and the milling tool (9) is mounted on the carrier. Device according to any of the preceding claims, characterized in that 9) has a rotation axis preferably aligned with the axis of the extension arm (7). 8. The device according to claim 1, wherein said pivot axis of said extension arm is positionable with a guide beam. Item. 9. The carrier (1) comprises traveling wheels (2, 2).
3) Apparatus according to claim 1, supported on at least one running wheel (2, 3).
An apparatus characterized by comprising a driving device. 10. At least one support roller (19)
Is provided with a driving device.
An apparatus according to any one of the preceding claims. 11. A method for milling or enlarging the inner contour or inner diameter of a soil structure, such as a conduit, preferably using the apparatus according to any one of claims 1 to 9, wherein the profile is about a target shape of the profile. A method characterized in that a milling tool (9) fixed to a gimbal-mounted extension arm (7) at a point located at the height of the horizontal diameter of the outer envelope circle is used.