A7 534966 五、發明說明（/ ) 本發明之領域 本發明係相關於一種用於更換襯料的系統’尤其是相 關於地下輸送管系統之輸送管的系統，並且尤其係相關於 藉著該設備而可以在地面上操作以及控制一種在地下運作 的輸送管更換襯料機。 本發明之背景 在更換輸送管襯料的製程中，一種連續長條的塑膠材 料係以螺旋的方式被舖設在一個管子內側並且沿著縱向邊 緣被結合，以提供用於像是污物或是水之流體流過的一個 新的表面。被使用於輸送管中之輸送管更換襯料的裝置需 要從一個遠距的位置處操作，並且本發明的一個目的是要 從一個遠距的位置處提供一種用於像是輸送管更換襯料係 裝置之液壓控制裝置的系統，以及用以提供一種失效安全 的操作系統。 S ί架作輸迗g更換襯料系統時需要· ^個電源组控制設 備，用以正確地操作以及控制該更換襯料裝置。通常在施 工困難的地點也會需要獲得控制與操作單元，並且本發明 的力個目的疋女匕供一種设備，藉者該設備本發明的此 目的係可以被達成。 本發明之槪要 在本發明的-個形式中（雖然此形式不需要是本發明 唯一的形式或是最廣範圍的形式）’本發明係屬於一種用 於輸送管更換襯料機的液壓控制設備，該液蟬制 括有-個流體壓力供應輸送管與-個通到流^存箱的流 4 本紙張尺度適用中國國豕標準（CNS)A4規格（210 X 297公愛） --------^--------- (請先閱讀背面之注意事項再填寫本頁) A7 534966 五、發明說明（Υ) 體回流輸送管、一個馬達控制器，用於控制一個由該流體 壓力輸送管供應的馬達、以及一個徑向位置控制器，該徑 向位置控制器係將處於壓力之下的流體供應到一個徑向定 位設備，用以設定一個被更換襯料之輸送管的直徑’該徑 向位置控制器具有一個通常是關閉的第一閥門以及一個通 常是開啓的第二閥門，該第一閥門係將處於壓力之下的流 體供應到一個徑向定位設備並且該第二閥門係容許流體從 該徑向定位設備處抽出。 較佳的方式是，從徑向定位設備被抽回的流體係被排 放到一個排放箱。 根據一個構造性的實施例、並且其中可以使用本發明 之液壓控制電路的輸送管更換襯料機可以具有一個固定部 位以及一個旋轉部位。在該固定部位之內可以具有用電的 以及液壓流體的連接裝置，該等連接裝置是從地面上或是 輸送管外部的遙控位置提供。因此可以使用一個旋轉聯合 裝置來將液壓的液體以及電子控制與回饋訊號傳輸到在該 旋轉部位之內的各種操作元件處或是從操作元件傳輸該液 體以及該等訊號。在該旋轉部位之內可以具有一個以液壓 流體控制集合控制的電子螺線管，該控制集合是可以從地 面上或是輸送管外部遙控。 可以注意到的是，該徑向定位設備可以正常地在壓力 低於流體壓力供應輸送管與流體回流輸送管中之壓力的情 況下運作，並且因此係不可能將流體從該徑向定位設備中 排出而回到該儲存箱。因爲這個目的，較佳地是使用位於 5 ^纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公爱Γ --------------------訂 *-------- (請先閱讀背面之注意事項再填寫本頁) 534966 A7 ^---------^__B7_____ 售 五、發明說明（j ) β方疋轉ρβ位內的排放箱。 如果失去到達更換襯料裝置的液壓作用或失去電子控 制動力’那麼會產生的一個危險爲該更換襯料裝置可能會 在管路中被堵塞並且可能會需要一個挖掘裝置將其移除。 因此’〜個失效安全裝置係根據本發明而被提供。藉著通 常爲開啓的第二閥門來提供失效安全裝置，該第二閥門係 容g午流體從徑向定位設備處被抽出。如果失去電力，那麼 通常爲開啓的第二閥門將會開啓而容許液壓流體排放到該 排放箱’藉以容許該徑向定位設備反射其壓力而抵著管路 或7H S路襞部的前一個轉彎而容許該更換襯料裝置被抽回 °同樣地’如果失去液壓作用（也許是因爲破裂的液壓管 路或是類似的情況），那麼可以除去到達該通常是開啓之 第二閥門的電力，容許流體從該徑向定位設備處抽出而使 得更換襯料的裝置可以被收回。 S亥向定位設備可以使得其液壓致動器具有彈力恢復 的#力’用以幫助在失效的情況下、或是當需要移除該更 換襯料裝置時，將流體從該致動器處排放出去。 可以用一個與徑向定位設備聯結的壓力轉換器來觀察 在該徑向定位設備之內的流體壓力，並且可以容許以手動 或是自動的方式對該徑向定位設備進行遙控。 在固定尺寸的運作中，當徑向定位設備被維持在一個 固定的壓力時，這個固定的壓力係決定了將會被形成之新 管路抵抗主要管路的困難度。該壓力係被保持在一個足夠 高的壓力値，以迫使被形成的輸送管或是管路抵抗主要的 6 ^紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公f " ' 〜 (請先閱讀背面之注意事項再填寫本頁) 訂-- -線一 534966 A7 B7 五、發明說明（f) 或是原來的管路，使得一個最大直徑的管路被形成。該壓I 力應該要很高，以便於造成該管路更換襯料裝置停頓。〜 般來說，在一個分段的污水管或是一個p v c管路中，由 於製造公差、管路的傷害、或是該管路內側上固體材料的 增加，每個片段將會具有稍微改變的尺寸。當遭遇到這些 直徑改變時，該壓力轉換器係容許操作者或是自動控制系 統將該壓力維持在一個固定的水準。如果像是密封件的摩 擦而導致壓力下降到低於一個標稱水準以下時，該徑向定 位設備以及因此形成被更換襯料之管路的滾軸將會在受到 彈簧的作用下縮回，並且正在形成之管路的直徑將會減小 。如果這種情形發生得太快，塑膠長條會無法夠快速地減 小其尺寸，並且正在鋪設的長條無法銜接先前的長條。在 一個中間的設定中，操作者或是自動控制器可以將液壓流 體從使用通常爲開啓之第二閥門的徑向定位設備處排放， 其排放的速率係使得正在形成的管路直徑被減小，同時仍 然能夠確保正在鋪設的長條會銜接先前的長條。這樣係容 許蜿蜒的管路尺寸以一種受到控制的速率減小其直徑，同 時轉彎仍然保持在對於先前轉彎爲固鎖的狀態。 可以在本發明之液壓控制電路內提供另外之用於一個 側向標記裝置的液壓控制裝置，用以在更換襯料管路時標 記分支的管路，並且可以提供一個輔助的液壓供應源，用 以操作像是長條切割器或是側向分支開口工具的裝置。 在一個替代的構造之中，本發明可以說是一種包括有 一個液壓控制電路的管路更換襯料機，該更換襯料機具有 7 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------訂---------線 f%先閱讀背面之注意事項再填寫本頁) A7 534966 ______B7_______ 五、發明說明（j ) 一個非旋轉部位、一個旋轉集合、以及一個旋轉部位，該 非旋轉部位具有一個從地面上或管路外部的一個遙控位置 處供應的電子與液壓連接裝置，該旋轉集合係用以將液壓 流體以及電子控制與回饋訊號從該非旋轉部位處傳輸到在 該旋轉部位內的各種操作元件、或是從該等操作元件處傳 輸出來，該旋轉部位具有以液壓控制集合所控制的電子螺 線管，該液壓控制集合可以從地面上或是管路外部遙控， 該液壓控制電路包括有通到一個流體儲存箱的一個流體壓 力供應輸送管與一個流體回流輸送管、一個用於控制一個 由該流體壓力輸送管供應之馬達的馬達控制器、以及一個 徑向位置控制器，該徑向位置控制器係將處於壓力之下的 流體供應到一個徑向定位設備，用以設定被更換襯料之輸 送管的直徑，該徑'向位置控制器具有一個通常是關閉的第 一閥門以及一個通常是開啓的第二閥門，該第一閥門係將 處於壓力之下的流體供應到徑向定位設備並且該第二閥門 係容許流體從該徑向定位設備處抽出。 較佳地，該回饋作用是藉著觀測一個供應該徑向定位 設備之液壓流體的液壓而進行的。直徑的控制可以是藉著 手動或是自動的方式來進行。 在一個替代的構造之中，本發明可以說是一種用於管 路更換襯料機的一個遙控電路，該管路更換襯料機包括有 通到一個流體儲存箱的一個流體壓力供應輸送管與一個流 體回流輸送管、一個用以供應更換襯料之長條的馬達以及 一個用於控制一個由該流體壓力輸送管供應之馬達的馬達 8 本紙張尺度ϋ中國國家標準（CNS)A4規格（210 X 297公釐） "" --------------------訂 *-------- (請先閱讀背面之注意事項再填寫本頁) A7 534966 五、發明說明（t ) 控制器、以及一個徑向位置控制器’該徑向位置控制器係 將處於壓力之下的流體供應到一個徑向定位設備，用以設 定被更換襯料之輸送管的直徑’該遙控電路包括有用以觀 測在該徑向定位設備中之液壓的機構，使得施加於一個先 前已被鋪設之長條上的作用力得以被觀測與控制’藉以被 更換襯料的管線直徑可以被改變或是被維持不變。 該用以觀測在該徑向定位設備中之液壓的機構可以是 一個壓力轉換器。 較佳地，該徑向位置控置器具有一個通常是關閉的第 一閥門以及一個通常是開啓的第二閥門’該第一閥門係將 處於壓力之下的流體供應到徑向定位設備並且該第二閥門 係容許流體從該徑向定位設備處抽出’從該徑向定位設備 處被抽出的流體會被排放到一個排放箱。這也就是說’如 果失去到達該管路更換襯料機的動力，通常是開啓的第一 閥門將會開啓，因而容許流體從該徑向定位設備處被抽出 Ο 在一個替代的構造之中，本發明可以說是一種用於一 個遠距操作裝置的一個自行驅動的動力與控制單元，該單 元具有一個馬達、用於被該馬達驅動之單元的驅動機構、 一個被該馬達驅動的動力產生設備、一個用以支持電源與 控制纜線的纜線滾筒’該纜線滾筒係適用於被該馬達驅動 以解開或是纏繞該纜線與一個在該單元上的控制設備’藉 此，操作者可以觀測以及控制該遠距操作裝置的運作。 將可以明白的是，藉由本發明的這個構造，該動力源 9 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） ------------—----訂---------線 (請先閱讀背面之注意事項再填寫本頁) 534966 A7 ___B7__________ 五、發明說明（j ) 與控制單元是被其馬達自行驅動的，以致於該單元是被操 作者驅動到一個工作站並且該單元上具有所需的動力源與 控制功能，以使得該遠距操作裝置（像是管路更換襯料裝 置）可以運作。 該動力產生設備可以是電源、液壓動力源 '或是電源 與液壓動力源二者。液壓動力源所需要的容器以及油料交 互冷卻器與類似者可以被提供在該動力源與控制單元上。 該驅動機構可以使用來自於該馬達的直接驅動或是藉 著以液壓驅動或電子驅動的方式，並且可以包括有輪子或 軌道以及可以在滑形控制系統上運作。該驅動機構可以適 合於被減小寬度，使得該動力源與控制單元可以被驅動進 入或通過緊張的情況；或是該該驅動機構可以被加寬以提 供使用期間較佳的穩定性。 該纜線滾筒可以使用電子的方式或是液壓的方式驅動 ，並且可以包括有一個離合器設備來提供在該動力源與控 制纜線上的固定張力，用以當該遠距操作裝置被移動時纏 繞纜線。可以提供與該纜線滾筒聯結的集電環，用以將必 須的液壓動力與控制纜線從該單元處傳輸到該纜線。 如於上文所討論的，在本發明的一個構造中該遠距操 作裝置可以是一個管線更換襯料裝置。該遠距操作裝置也 可以是與管線更換襯料相關的其他裝置。這些裝置可以包 括有錄影檢測裝置’該裝置可以被動力與控制單元所供應 的動力驅動並且承載著一個可以被該控制設備看到的錄影 機。替代地，其可以是一個淸潔器單元、側向切割器、或 10 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） · I--I---訂·-------- (請先閱讀背面之注意事項再填寫本頁) A7 534966 rv ' --——--- — _ 五、發明說明l) 是其他的裝置。有需要時，各種裝置都可以被連接到該動 力源與控制纜線。 根據本發明，該自行驅動的動力與控制單元也可以包 括有一個夾具曲柄臂與絞車設備，其係使得在需要時可以 收回或是運送一個遠距操作裝置。 根據本發明的遠距操作裝置可以包括有一個操作者座 位，使得操作者可以實際地坐在該單元上，用以將該單元 驅動到所需的工作站，並且從該位置處觀測各種控制裝置 以及在有需要時操作該遠距操作裝置。該控制設備可以包 括有用於從遠處觀測該遠距操作裝置之動作的電視螢幕、 以及控制面板與需要的電腦系統。 因此，將可以大致地了解到，一個根據本發明之自行 驅動的裝置係被提供有用於控制所需要的裝置以及用於遠 距操作裝置的動力供應源。 胤式之簡單說明 用了要整體地描述本發明並且也是爲了促進了解本發 明，現在係參照附圖，該等附圖係說明本發明的一個較佳 實施例。 在圖中： 第一圖說明管路更換襯料裝置之一個實施例的槪要性 配置，該管路更換襯料裝置包括有一個根據本發明的液壓 控制系統； 第二圖說明管路更換襯料裝置之地下部份的一個實施 例，該管路更換襯料裝置包括有一個根據本發明的液壓控 11 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公t ~---- (請先閱讀背面之注意事項再填寫本頁) --------訂---------一 534966 A7 五、發明說明（） 制系統； 第三圖說明用於第二圖之實施例的一個槪要性液壓電 路； 第四圖說明根據第二圖實施例的詳細液壓電路； 第五圖說明根據本發明一個實施例之徑向定位設備的 一個竇施例，該徑向定位設備係以液壓的方式被操作； 第六圖爲說明一個根據本發明地面上方部份之自行驅 使的動力與控制單元之前方立體圖； 弟七圖爲g兌明弟/、圖所不之單兀的一個後視圖：以及 弟八圖爲§兌明弟/、圖所不之單兀的一' 個側視圖。 元件符號說明 1 地面上的部位 2 地面下的部位 3 電子控制訊號纜線 5 液壓供應輸送管 6 回流輸送管 10 控制面板 11 顯示器 1 2 液壓流體儲存槽 13 蓄電池 2 0 固定部位 2 1 旋轉部位 2 3 更換襯料長條佈置頭 2 8 非旋轉部位 12 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 請 先 閱 讀 背A7 534966 V. Description of the invention (/) Field of the invention The present invention relates to a system for changing linings', especially to a system for a conveying pipe of an underground conveying pipe system, and in particular to the use of the device It is possible to operate on the ground and control a lining changer operating underground. BACKGROUND OF THE INVENTION In the process of changing the lining of a conveying pipe, a continuous strip of plastic material is spirally laid on the inside of a pipe and bonded along the longitudinal edges to provide for use as dirt or Water flows through a new surface. The device for changing the lining of the conveying pipe used in the conveying pipe needs to be operated from a remote location, and an object of the present invention is to provide a lining for changing the lining like a conveying pipe from a remote location. The system is a hydraulic control device of the device, and is used to provide a fail-safe operating system. In order to replace the lining system, a power supply control device is required for correct operation and control of the lining replacement device. Control and operation units are often required in places where construction is difficult, and the present invention provides a device for which the purpose of the present invention can be achieved. One aspect of the present invention is in one form of the present invention (although this form does not need to be the only form or the widest form of the present invention) 'The present invention belongs to a hydraulic control for a pipe changing lining machine Equipment, the liquid cicada is made up of a fluid pressure supply duct and a flow to the storage tank. 4 This paper size is applicable to China National Standard (CNS) A4 (210 X 297 public love) --- ----- ^ --------- (Please read the precautions on the back before filling out this page) A7 534966 V. Description of the invention (Υ) Body return conveying pipe, a motor controller for controlling A motor supplied by the fluid pressure delivery pipe, and a radial position controller, the radial position controller supplies a fluid under pressure to a radial positioning device for setting a changed lining material. The diameter of the delivery tube. The radial position controller has a first valve, which is usually closed, and a second valve, which is usually open. The first valve supplies a fluid under pressure to a radial positioning device and The second valve is allowed Body withdrawn from the radial positioning device. Preferably, the flow system withdrawn from the radial positioning device is discharged into a discharge tank. According to a constructive embodiment, and in which the pipe replacement lining machine in which the hydraulic control circuit of the present invention can be used, can have a fixed portion and a rotating portion. There may be electrical and hydraulic fluid connections within the fixed location. These connections are provided from the ground or from a remote location outside the duct. Therefore, a rotary joint device can be used to transmit hydraulic liquid and electronic control and feedback signals to various operating elements within the rotating part or to transmit the liquid and the signals from the operating elements. An electronic solenoid controlled by a hydraulic fluid control set may be provided in the rotating part, and the control set can be remotely controlled from the ground or outside the pipe. It can be noted that the radial positioning device can normally operate at a pressure lower than the pressure in the fluid pressure supply pipe and the fluid return pipe, and therefore it is impossible to remove fluid from the radial positioning device Drain and return to the storage tank. For this purpose, it is better to use 5 ^ paper size to apply Chinese National Standard (CNS) A4 specifications (210 X 297 public love Γ ------------------- -Order * -------- (Please read the notes on the back before filling this page) 534966 A7 ^ --------- ^ __ B7_____ Selling 5. Description of the Invention (j) β 方 疋 转Drain box in ρβ position. If there is a loss of hydraulic pressure or loss of electronic control power to reach the replacement lining device, then there is a danger that the replacement lining device may be blocked in the pipeline and an excavation device may be required Remove it. Therefore, ~~ fail-safe devices are provided in accordance with the present invention. Fail-safe devices are provided by a normally open second valve that holds the fluid from the radial positioning device If it loses power, the normally open second valve will open and allow hydraulic fluid to drain to the discharge tank ', thereby allowing the radial positioning device to reflect its pressure against the pipe or 7H S road section. The previous turn allowed the replacement lining device to be withdrawn ° Likewise 'if Loss of hydraulic pressure (perhaps because of a broken hydraulic line or the like), then the power reaching the normally open second valve can be removed, allowing fluid to be withdrawn from the radial positioning device, making replacement of the lining The device can be retracted. The S.H. positioning device can make its hydraulic actuators have a spring force recovery force to help remove fluid from the lining device in the event of a failure or when the replacement lining device needs to be removed. The actuator is vented. A pressure converter connected to the radial positioning device can be used to observe the fluid pressure in the radial positioning device, and the radial positioning device can be allowed to be manually or automatically. Remote control. In a fixed-size operation, when the radial positioning device is maintained at a fixed pressure, this fixed pressure determines the difficulty of the new pipeline being formed to resist the main pipeline. The pressure system It is maintained at a pressure high enough to force the formed duct or piping to resist the main 6 ^ paper size applicable to Chinese national standards (CNS) A4 specification (210 X 297 male f " '~ (Please read the precautions on the back before filling out this page) Order --- line one 534966 A7 B7 V. Description of the invention (f) or the original pipeline , So that a pipe with the largest diameter is formed. The pressure I should be high in order to cause the lining device to stop changing. ~ In general, in a segmented sewage pipe or a PVC pipe Due to manufacturing tolerances, damage to the pipe, or the increase in solid material on the inside of the pipe, each segment will have a slightly changed size. When these diameter changes are encountered, the pressure converter allows the operator Or the automatic control system maintains the pressure at a fixed level. If, for example, the friction of the seal causes the pressure to drop below a nominal level, the radial positioning device and the rollers that form the line of the replaced lining will be retracted by the spring, And the diameter of the pipeline being formed will be reduced. If this happens too quickly, the plastic strip will not be able to reduce its size quickly enough, and the strip that is being laid cannot join the previous strip. In an intermediate setting, the operator or automatic controller can discharge hydraulic fluid from a radial positioning device using a normally open second valve at a rate such that the diameter of the pipeline being formed is reduced , While still being able to ensure that the bar being laid out will converge with the previous bar. This allows the meandering pipe size to reduce its diameter at a controlled rate, while the turn remains locked to the previous turn. Another hydraulic control device for a lateral marking device can be provided in the hydraulic control circuit of the present invention to mark a branched pipeline when the lining pipeline is replaced, and an auxiliary hydraulic supply source can be provided for To operate devices like strip cutters or side branched open tools. In an alternative configuration, the present invention can be said to be a line replacement lining machine including a hydraulic control circuit. The replacement lining machine has 7 paper standards that are applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) -------- Order --------- line f% first read the notes on the back before filling out this page) A7 534966 ______B7_______ 5. Description of the invention (j) A non-rotating Parts, a rotating set, and a rotating part, the non-rotating part has an electronic and hydraulic connection device supplied from the ground or at a remote location outside the pipeline, the rotating set is used to control and feedback hydraulic fluids and electronics The signal is transmitted from the non-rotating part to various operating elements in the rotating part, or from these operating elements. The rotating part has an electronic solenoid controlled by a hydraulic control set, which can Remotely controlled from the ground or outside the pipeline, the hydraulic control circuit includes a fluid pressure supply delivery pipe to a fluid storage tank and a fluid return line. Tube, a motor controller for controlling a motor supplied by the fluid pressure delivery tube, and a radial position controller, which supplies fluid under pressure to a radial positioning device , Used to set the diameter of the conveying pipe of the replaced lining. The radial position controller has a first valve that is usually closed and a second valve that is usually open. The first valve will be under pressure. The fluid is supplied to the radial positioning device and the second valve system allows fluid to be withdrawn from the radial positioning device. Preferably, the feedback is performed by observing the hydraulic pressure of a hydraulic fluid supplying the radial positioning device. The diameter can be controlled manually or automatically. In an alternative configuration, the present invention can be said to be a remote control circuit for a line changing lining machine, the line changing lining machine comprising a fluid pressure supply delivery pipe communicating with a fluid storage tank and A fluid return pipe, a motor for supplying a strip of replacement lining, and a motor for controlling a motor supplied by the fluid pressure pipe 8 Paper size ϋ Chinese National Standard (CNS) A4 specification (210 X 297 mm) " " -------------------- Order * -------- (Please read the notes on the back before filling in this Page) A7 534966 V. Description of the invention (t) Controller and a radial position controller 'The radial position controller supplies a fluid under pressure to a radial positioning device for setting the liner to be replaced The diameter of the conveying pipe of the material 'The remote control circuit includes a mechanism for observing the hydraulic pressure in the radial positioning device, so that the force applied to a previously laid strip can be observed and controlled' to be replaced Liner pipeline diameter can be changed Change or be maintained. The mechanism for observing the hydraulic pressure in the radial positioning device may be a pressure converter. Preferably, the radial position controller has a first valve that is usually closed and a second valve that is usually open. The first valve supplies a fluid under pressure to the radial positioning device and the The second valve system allows fluid to be withdrawn from the radial positioning device. The fluid drawn from the radial positioning device is discharged to a discharge tank. This means' if the power to reach the line to change the lining machine is lost, the normally open first valve will open, thus allowing fluid to be drawn from the radial positioning device. 0 In an alternative configuration, The invention can be said to be a self-driving power and control unit for a remote operation device. The unit has a motor, a driving mechanism for a unit driven by the motor, and a power generating device driven by the motor. A cable drum to support power and control cables 'The cable drum is suitable for being driven by the motor to unwind or wind the cable and a control device on the unit' whereby the operator The operation of the remote operation device can be observed and controlled. It will be understood that with this configuration of the present invention, the paper size of the power source 9 paper is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) --------------- --- Order --------- line (please read the precautions on the back before filling this page) 534966 A7 ___B7__________ V. Description of the invention (j) and the control unit are driven by the motor itself, so that The unit is driven by an operator to a workstation and has the required power source and control functions on the unit to enable the remote operation device (such as a pipe replacement lining device) to operate. The power generating device may be a power source, a hydraulic power source, or both a power source and a hydraulic power source. A container required for a hydraulic power source and an oil cooler and the like can be provided on the power source and the control unit. The drive mechanism can use direct drive from the motor or by hydraulic or electronic drive, and can include wheels or rails and can operate on a slip control system. The driving mechanism may be adapted to be reduced in width, so that the power source and the control unit may be driven into or through a stressful situation; or the driving mechanism may be widened to provide better stability during use. The cable drum may be driven electronically or hydraulically, and may include a clutch device to provide a fixed tension on the power source and control cable for winding the cable when the remote operation device is moved line. A slip ring connected to the cable drum can be provided to transmit the necessary hydraulic power and control cables from the unit to the cables. As discussed above, in one configuration of the invention the teleoperating device may be a line changing lining device. The remote operation device may also be other devices related to line changing lining. These devices may include a video detection device 'which can be driven by the power supplied by the power and control unit and carries a video recorder which can be seen by the control device. Alternatively, it can be a cleaner unit, a side cutter, or a 10-paper size that applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) · I--I --- Order ·- ------- (Please read the precautions on the back before filling this page) A7 534966 rv '--——----_ V. Description of the Invention l) It is another device. Various devices can be connected to the power source and control cable when needed. According to the present invention, the self-driving power and control unit may also include a clamp crank arm and winch equipment, which makes it possible to retract or transport a remote operation device when needed. The remote operation device according to the present invention may include an operator seat, so that the operator can actually sit on the unit to drive the unit to a desired workstation, and observe various control devices from this position, and Operate the remote operation device when necessary. The control device may include a television screen for observing the operation of the remote operation device from a distance, a control panel and a required computer system. Therefore, it will be roughly understood that a self-driven device according to the present invention is provided with a device for controlling a required device and a power supply source for a remote operation device. A brief description of the formulae is used to describe the present invention as a whole and also to promote understanding of the present invention. Now, referring to the drawings, these drawings illustrate a preferred embodiment of the present invention. In the drawings: The first figure illustrates the essential configuration of an embodiment of a pipeline replacement lining device, which includes a hydraulic control system according to the present invention; the second diagram illustrates the pipeline replacement lining An embodiment of the underground part of the feeding device, the pipeline replacement lining device includes a hydraulic control according to the present invention. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm t ~- -(Please read the notes on the back before filling this page) -------- Order --------- One 534966 A7 V. Description of the invention () system; An essential hydraulic circuit in the embodiment of the second diagram; the fourth diagram illustrates a detailed hydraulic circuit according to the embodiment of the second diagram; the fifth diagram illustrates a sinus embodiment of a radial positioning device according to an embodiment of the present invention The radial positioning device is operated hydraulically; the sixth diagram is a front perspective view illustrating a self-driven power and control unit according to the upper part of the ground according to the present invention; the seventh diagram is g / mingdi /, A rear view of what's different: and The eight diagram is a side view of § Dumingdi /, which is different from the one shown in the figure. Description of component symbols 1 On the ground 2 On the ground 3 Electronic control signal cable 5 Hydraulic supply duct 6 Return duct 10 Control panel 11 Display 1 2 Hydraulic fluid storage tank 13 Battery 2 0 Fixed part 2 1 Rotating part 2 3 Replacement of lining strip layout head 2 8 Non-rotating part 12 This paper size applies to China National Standard (CNS) A4 specifications ( 210 X 297 mm) Please read the back first
I 填 寫 本 頁 534966 A7 B7 五、發明說明 3 4 3 6 3 7 3 8 3 9 4〇 4 2 4 4 4 5 4 6 4 8 5〇 5 2 5 5 6 1 6 2 6 3 6 5 6 6 6 7 6 8 向前區段 液壓流體入口/液壓流體供應輸送管 液壓流體出口/回流輸送管 電子連接設備 閃光燈 前方或第一錄影機 旋轉用部位/非旋轉部位 旋轉集合 旋轉部位 後方傳動裝置 滾軸 支撐臂 徑向定位設備/電子控制與監測輸送管 中央管件 標記裝置 第二錄影機 液壓致動器 電子旋轉集合 非旋轉部位 旋轉部位 電子控制輸送管 - 控制區塊 馬達 輔助供應源 13 II----------f------- —訂---------線· (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 534966 A7 B7 五、發明說明（ί ) 7 0 壓力轉換器 7 2 分路箱 7 3 電子輸送管 7 4 電子輸送管 8 0 馬達控制閥 8 1 閥 8 2 閥 8 4 閥 8 5 輸送管 8 6 排放箱 1 0 2 主體 1 0 3 履帶 1〇5 操作者座位 1 0 7 驅動面板 1 0 8 控制裝置 110 向前框架 112 向後框架 114 鐵曲柄臂 116 絞車 118 曲柄纜線與鉤子 1 2〇 油料冷卻器 - 12 2 電視螢幕 12 4 控制面板 1 3〇 纜線滾筒 14 --------------------訂—-------- (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 χ 297公釐） A7 534966 ___B7 _ 五、發明說明（/l) 13 2 控制纜線 13 4 鏈條 13 6 馬達 13 8 鏈條殼體 140 電子集電環設備 14 2 液壓集電環 14 6 鏟刀 本發明的詳細說明 現在請更加詳細地參照圖示、並且特別參照第一圖而 可以明白的是，根據本發明的管線更換襯料設備具有一個 地面上的部位與一個地面下的部位，該地面上的部位係被 圏在虛線1之內而地面下的部位係被圈在虛線2之內。在 該等部位之間的是一個電子控制訊號纜線3以及液壓供應 輸送管5與回流輸送管6。 該地面上的部位係爲被圈在虛線1之內的部位並且將 會參照第六圖到第八圖來詳細地討論，但是大體上該部位 包括有一個控制面板1 0與一個顯示器1 1。液壓流體儲 存槽1 2係供輸液壓吸抽與加壓的流體到蓄電池1 3，用 於沿著液壓供應輸送管5供輸。液壓回流輸送管6將液壓 流體回流到該液壓流體儲存槽1 2。 該地面下的部位係爲被圈在虛線2之內的部位並且將 會參照第二圖到第五圖來詳細地討論。大體上該部位包括 有一個固定部位2 0、一個旋轉部位2 1、以及一個更換 襯料長條佈置頭2 3。 15 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------------------訂---------線 (請先閱讀背面之注意事項再填寫本頁) A7 534966 __________B7___ 五、發明說明) 現在請更加詳細地參照第二圖而可以明白的是，本發 明管路更換襯料裝置之一個實施例的地面下部位包括有一 個整體地以元件符號3 1表示的向前區段，該區段具有一 個液壓流體入口 3 2與一個液壓流體出口 3 3。亦使用一 個電子連接設備3 4。該向前區段3 1具有向前的閃光燈 3 6與一個前方或是第一錄影機3 7。 在這個管路更換襯料工具的一個實施例之中，該前方 區段3 1並不會旋轉，而一個整體地以元件符號4 0表示 的旋轉部位會在發生更換襯料時旋轉並且因此介於該前方 區段3 1與該旋轉部位4 0之間係提供了一個旋轉集合3 9。該旋轉集合3 9具有用於液壓入口與出口輸送管之旋 轉連接關係（稍後將會討論）以及在有需要時具有用於在 該旋轉部位4 0中之電子裝置的旋轉電子連接關係。 旋轉集合3 9的旋轉用部位3 8係包覆著根據本發明 的液壓控制電路。 在該旋轉部位4 0中，一個後方傳動裝置4 2包括有 一個液壓馬達，用以饋送更換襯料的長條（未顯示於圖中 )來更換襯料在一個討論於P CT公告第W〇0 0/1 7 5 6 4號之系統類型中的管路。 在以螺旋的方式更換襯料管路的一個製程中，更換襯 料的長條材料係被迫而抵住前一個螺旋之更換襯料的長條 材料，並且以一種公與母型式的連接方式、藉著位於支撐 臂4 5上的滾軸4 4而被結合到該前一個長條材料，其中 ，該支撐臂被支撐在一個徑向定位設備4 6的每個端部處 16 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------------------訂---------線 (請先閱讀背面之注意事項再填寫本頁) A7 534966 五、發明說明（/^/) 。該徑向定位設備4 6提供了一種徑向壓力，用以確保更 換襯料的管路是緊固地被應用而抵住前一個螺旋更換襯料 長條或是抵住正在被更換襯料之管路的壁部。如第五圖所 不’在這個實施例之中，該徑向定位設備4 6在每個端咅K 處具有四個徑向的支撐臂4 5，但是可以根據可使用的空 間或是正在更換襯料之管路的標稱直徑而提供更多個或更 少個支撐臂。每個支撐臂4 5可以具有一個徑向延伸的液 壓成動窃：’或是在每個提供徑向壓力的11而部處可以藉者一' 系列的操縱桿或齒輪而有一個單獨的致動器。 在第五圖所說明的圖示中已經刪略了數個滾軸，使得 在該等滾軸內之旋轉裝置4 0的區域可以被看到。 一個側向的標記裝置5 0係被安裝於該旋轉裝置的中 央管件4 8。一個第二錄影機5 2係觀察著一個側向管路 的區域’該側向管路是從被更換襯料之管路被施用以更換 襯料材料處延伸，並且在已經施加更換襯料的材料之後， 該側向的標記裝置5 0可以在當觀察到位於用來標記該更 換襯料材料之側向分支管路區域處時運作，使得在後來的 情況中可以在該位置處切出一個開口。 如詳細地說明於第五圖之中，該徑向定位設備4 6係 使得該更換襯料裝置之旋轉部位的中央管件4 8具有其從 每個端部延伸出去的徑向支撐臂4 5。在每個徑向支撑臂 中有一個液壓致動器5 5，在該等致動器縱向相鄰而成對 的末端上係支承著滾筒4 4，該滾筒則承載抵住正在更換 襯料之管路的壁部。在每個支撐臂4 5中的彈簧（未顯示 17 才:紙張尺度適用中國g家標準（CNS)A4規格（210 X 297公爱) --- -----------會------- —訂---------線· (請先閱讀背面之注意事項再填寫本頁) 534966 B7 五、發明說明（/f) 於圖中）係適用於在缺少液壓動力的情況中縮回該液壓致 動器5 5。 根據本發明之液壓控制電路的一個實施例係被顯示於 第三圖與第四圖之中。 第三圖說明一個根據本發明實施例之槪要的電子與液 壓電路。在這個實施例之中，加壓的液壓流體供應輸送管 3 2與一個回流輸送管3 3係饋送到旋轉集合3 9的非旋 轉部位3 8中，並且經由纜線3 (參見第一圖）而受到供 應的電子控制與監測輸送管4 6係饋送到電子旋轉集合6 1的非旋轉部位6 2中。某些電子控制與監測輸送管4 6 會保持在該旋轉集合6 1的非旋轉部位6 2中，用以通到 像是第一錄影機的電子裝置以及相關的燈光。其他的電子 控制輸送管6 5係從該旋轉集合6 1的旋轉部位6 3處延 伸。 液壓輸送管係從該液壓旋轉集合3 9的非旋轉部位2 8處延伸而進入該旋轉集合3 9的旋轉用部位3 8以及進 入一個控制區塊6 6中。在該控制區塊6 6中一系列用於 更換襯料裝置各種功能之以電子方式致動的閥將會參照第 四圖來討論。加壓的流體會被供應到一個馬達6 7。液壓 流體亦會被供應到該徑向定位設備4 6、如上文所討論地 被供應到側向的檢路器或是標記裝置5 0、並且在有需要 時會被供應到用於其他以液壓致動之工具與裝置的一個輔 助供應源6 8。壓力轉換器7 0會觀察被施加至該徑向定 位設備46處的壓力。 18 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐) -----------—--------訂·--------線 (請先閱讀背面之注意事項再填寫本頁) 534966 A7 ___________B7____ 五、發明說明（f 6) 電子控制輸送管6 5係從該旋轉集合6 1的旋轉部位 6 3處延伸到一個分路箱7 2，從該分路箱處，某些電子 輸送管7 3係通達到該控制區塊6 6以操作電子螺線管， 並且電子輸送管7 4係通達到其他像是第二錄影機5 2與 相關燈光（第二圖）的電子裝置以及壓力轉換器7 〇。 詳細地被描述於第四圖之中的液壓控制電路具有饋送 進入一控制區塊6 6之一個加壓的液壓流體供應輸送管3 2以及一個回流輸送管3 3。在該控制區塊6 6之內係有 用於更換襯料裝置之各種功能的一系列電子致動閥。一個 Μ胃控制閥8 0係在被引動時提供加壓的流體到該馬達6 7 °該馬達控制閥8 〇容許了該馬達可以在任何方向被驅 動’使得可以鋪置或是拆開更換襯料的長條材料。液壓流 體也會如上文所述地經由閥81被供應到側向的檢路器或 是標記裝置5 0，並且在有需要時經由閥8 2供應於輔助 的供應源，用於其他以液壓致動的工具以及裝置。 該液壓控制電路亦提供加壓的液壓流體至徑向定位設 備4 6。通常是關閉的閥8 3會被致動以將液壓流體供應 到該徑向定位設備4 6，並且閥8 4 (該閥8 4通常在不 被引動時是開啓的並且在被引動時是關閉的）係在裝置的 正常運作期間防止液壓流體在輸送管8 5中排放到排放箱 8 6 ° —個壓力轉換器7 〇使得被供應到徑向定位設備4 6之液壓流體的壓力能夠在遠距處被監測以及在有需要時 被調整。也可以使用自動的監測與調整方式。 如上文所討論的，如果失去到達該更換襯料裝置的液 19 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------------------訂·-------1 (請先閱讀背面之注意事項再填寫本頁) 534966 A7 t 五、發明說明（iI) 體壓力或是失去電子控制動力，那麼係會有更換襯料裝置 在管路中被堵塞住的危險，並且可能會需要控掘以將該裝 置移出，因此根據本發明係提供了一個失效安全系統。該 失效安全系統被提供有閥8 4，其容許流體能夠從該徑向 定位設備4 6被抽出。如果失去了電子動力，那麼閥8 4 將會開啓而容許液壓流體排出到該排放箱8 6，因而容許 該徑向定位設備4 6釋放其壓力而抵住管路的壁部，而使 得該更換襯料的裝置可以被取出。同樣地，如果失去液體 壓力（或許是因爲液壓輸送管破裂或是相似的情形），那 麼可以撤回到達該閥8 4的動力以容許流體從該徑向定位 設備4 6處被抽回到排放箱8 6，以致於可以取回該更換 襯料裝置。 更加詳細地參照第六圖到第八圖，現在將會討論一個 用於該管路更換襯料裝置之地面上的遙控與動力供應設備 之一個實施例。這個實施例是一種自行驅動的單元，但是 一個靜力的單元（像是可以被運輸到一個卡車背部的單元 )亦是落入於本發明的範疇之內。 將可以在第六圖之中可以看到的是，該地面上的遙控 與動力供應設備包含有一個被支撐在履帶1 〇 3上的主體 1 0 2。在該主體之內、且並未被顯示出來的是一個馬達 與動力產生系統，該系統包括有一個液壓泵（第一爵之中 的部件1 3 )以及發電機。該履帶能夠以液壓而被驅動並 且可以包括有用於較寬或是較穩定地移動該履帶的設備。 在該主體上的是一個操作者座位1 0 5以及帶有所需要之 20 ^紙張尺度適用中國國家標準(CNS)A4 ^格（210 X 297公ϋ~一 --------------------訂---------線 (請先閱讀背面之注意事項再填寫本頁) A7 534966 _____B7 _ 五、發明說明（(/Γ) 控制裝置1 0 8的一個驅動面板1 0 7，用於驅動該單元 0 被安裝在該主體1 0 2上的一個向前框架1 1 0與一 個向後框架1 1 2係支撐著一個鐵曲柄臂1 1 4。一個位 於該鐵曲柄臂114上的絞車116係驅動一個曲柄纜線 與鉤子1 1 8。 一個用於液壓泵的油料冷卻器1 2 0被支撐在該向後 框架1 1 2上。爲了淸楚說明，在第七圖之中的油料冷卻 器係被刪略。 一對電視螢幕1 2 2係被支撐在該向前框架上1 1 〇 。坐在座位1 0 5上的操作者可以觀看該電視螢幕1 2 2 來經由錄影機3 7與5 2 (第二圖）密切地注意在遠處之 管路更換襯料裝置的地下部位發生什麼事。一個控制面板 1 2 4亦被支撐在該向前框架1 1 〇上，該控制面板使得 該操作者可以觀看管路更換襯料裝置之地下部位功能的讀 數並且據此控制管路更換襯料裝置的地下部位。 一個纜線滾筒1 3 0係被安裝在自行驅動動力與控制 單元的前方，在一個動力供應與控制纜線1 3 2係捲繞於 g亥纜線ί哀筒上。該纜線浪筒是被一個馬達1 3 6經由位於 鏈條殼體1 3 8內的鏈條1 3 4驅動。 電子集電環設備1 4 0係位於該纜線滾筒的左側，用 於遠距操作裝置的電子控制係被該電子集電環設備傳送到 控制纜線1 3 2 ’並且在右側的裝置係爲液壓集電環1 4 2，用於管路更換襯料裝置之地下部位的液壓動力係被該 21 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------------------訂---------線 (請先閱讀背面之注意事項苒填寫本頁) 534966 — j_ΒΤ.___ 五、發明說明（^/ ) 液壓集電環供應到該纜線滾筒。 雖然顯示於這個實施例中的一個組合的動力與控制纜 線是被纏繞在一個單獨的纜線滾筒上，在一個替代性實施 例中可以具有個別的控制纜線以及動力供應纜線。該等動 力供應纜線可以是液壓動力纜線或是電子動力纜線。 根據本發明的單元也可以包括有一個鏟刀1 4 6，其 可以被用來淸潔需要的工作區域，並且當該鏟刀壓抵著地 面時可以在該曲柄運作的期間提供穩定性。 將可以被看出的是，藉著這個設備係提供了一種自行 驅動的單元，操作者可以將該單元驅動到一個工作地點， 並且用於操作一個遠距操作裝置（像是管路更換襯料機） 所有需要的功能皆被提供於該單元上。 在整個本說明書中已經提供了關於本發明的範疇的各 種說明，但是$胃日月+應、亥K局P艮方以壬<可白勺胃@言兌日月+ ’ 而是可以存在於這些說明的二個或更多個組合之中。該等 示例係用於說明2目的而被提彳兵’並不是要用Μ形成#限 制。 22 ί：紙張尺度適用中(CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) -费 訂---------線I fill in this page 534966 A7 B7 V. Description of the invention 3 4 3 6 3 7 3 8 3 9 4〇4 2 4 4 4 5 4 6 4 8 5〇5 2 5 5 6 1 6 2 6 3 6 5 6 6 6 7 6 8 Forward section Hydraulic fluid inlet / Hydraulic fluid supply duct Hydraulic fluid outlet / Return duct Electronic connection equipment Flash front or first video recorder Rotating part / Non-rotating part Rotating assembly Rotating part Rear transmission device Roller support Arm radial positioning equipment / Electronic control and monitoring tube central pipe marking device Second video recorder Hydraulic actuator Electronic rotation set Non-rotating part Rotating part electronic control conveying tube-Control block motor auxiliary supply source 13 II ---- ------ f ------- --Order --------- line · (Please read the notes on the back before filling this page) This paper size applies to Chinese National Standard (CNS) A4 specification (210 X 297 mm) 534966 A7 B7 V. Description of the invention (ί) 7 0 Pressure converter 7 2 Shunt box 7 3 Electronic delivery pipe 7 4 Electronic delivery pipe 8 0 Motor control valve 8 1 Valve 8 2 Valve 8 4 Valve 8 5 Conveying pipe 8 6 Drain box 1 0 2 Main body 1 0 3 Track 105 Operation Author seat 1 0 7 Drive panel 1 0 8 Control unit 110 Forward frame 112 Rear frame 114 Iron crank arm 116 Winch 118 Crank cable and hook 1 2 Oil cooler-12 2 TV screen 12 4 Control panel 1 30 cable Roller 14 -------------------- Order —-------- (Please read the precautions on the back before filling this page) This paper size applies China National Standard (CNS) A4 specification (210 χ 297 mm) A7 534966 ___B7 _ V. Description of the invention (/ l) 13 2 Control cable 13 4 Chain 13 6 Motor 13 8 Chain housing 140 Electronic slip ring equipment 14 2 Hydraulic slip ring 14 6 Shovel blade Detailed description of the present invention Now please refer to the drawings in more detail, and in particular with reference to the first figure, it can be understood that the pipeline replacement lining equipment according to the present invention has a part on the ground With a part below the ground, the part on the ground is enclosed within the dotted line 1 and the part below the ground is enclosed within the dotted line 2. Between these parts is an electronic control signal cable 3 and a hydraulic supply duct 5 and a return duct 6. The part on the ground is a part circled within the dotted line 1 and will be discussed in detail with reference to FIGS. 6 to 8, but generally the part includes a control panel 10 and a display 11. The hydraulic fluid storage tanks 12 and 2 are used to transport hydraulically pumped and pressurized fluid to the battery 13 and are used to supply and transport along the hydraulic supply delivery pipe 5. The hydraulic return conveying pipe 6 returns hydraulic fluid to the hydraulic fluid storage tank 12. The part under the ground is the part circled within the dotted line 2 and will be discussed in detail with reference to the second to fifth figures. Generally, this part includes a fixed part 20, a rotating part 21, and a replacement lining strip arrangement head 23. 15 This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) -------------------- Order -------- -Line (please read the precautions on the back before filling this page) A7 534966 __________B7___ V. Description of the invention Now please refer to the second figure in more detail and it can be understood that one embodiment of the lining replacement device of the present invention The lower part of the ground includes a forward section which is generally indicated by the component symbol 31, and the section has a hydraulic fluid inlet 32 and a hydraulic fluid outlet 33. An electronic connection device 3 4 is also used. The forward section 31 has a forward flash 36 and a forward or first video recorder 37. In one embodiment of the lining replacement tool, the front section 31 does not rotate, and a rotating part indicated by the component symbol 40 as a whole will rotate when the lining replacement occurs and therefore A rotation set 39 is provided between the front section 31 and the rotation part 40. The rotation set 39 has a rotation connection relationship for a hydraulic inlet and outlet duct (to be discussed later) and a rotation electronic connection relationship for an electronic device in the rotation portion 40 when necessary. The rotation part 3 8 of the rotation set 39 is covered with the hydraulic control circuit according to the present invention. In the rotating part 40, a rear transmission 42 includes a hydraulic motor for feeding a strip (not shown in the figure) of the replacement lining to change the lining. 0 0/1 7 5 6 Piping in system type No. 4. In a process of replacing the lining pipe in a spiral manner, the strip material of the replacement lining material is forced to resist the strip material of the previous spiral replacement lining material, and a male and female connection method is used. Is bonded to the previous strip by means of a roller 4 4 on a support arm 45, wherein the support arm is supported at each end of a radial positioning device 4 6 16 papers Standards are applicable to China National Standard (CNS) A4 specifications (210 X 297 mm) -------------------- Order --------- line (please (Please read the notes on the back before filling this page) A7 534966 V. Description of Invention (/ ^ /). The radial positioning device 46 provides a radial pressure to ensure that the lining replacement pipe is tightly applied against the previous spiral replacement lining strip or against the lining being replaced. The wall of the pipe. As shown in the fifth figure, in this embodiment, the radial positioning device 46 has four radial support arms 45 at each end 咅 K, but can be replaced according to the available space or being replaced. The nominal diameter of the lining tubing provides more or fewer support arms. Each support arm 45 can have a radially extending hydraulic actuator: 'or each of the 11 providing radial pressure can be borrowed by a series of joysticks or gears to have a separate actuator. Actuator. In the illustration illustrated in the fifth figure, several rollers have been omitted so that the area of the rotating device 40 in the rollers can be seen. A lateral marking device 50 is mounted on the central pipe piece 48 of the rotating device. A second video recorder 5 2 observes the area of a lateral pipeline. The lateral pipeline extends from the line where the replacement lining is applied to replace the lining material, and where the replacement lining has been applied. After the material, the lateral marking device 50 can be operated when it is observed at the area of the lateral branch pipe used to mark the replacement lining material, so that in a later case, one can be cut at this position. Opening. As illustrated in detail in the fifth figure, the radial positioning device 46 is such that the central pipe 48 of the rotating part of the lining changing device has a radial support arm 45 extending from each end. In each radial support arm there is a hydraulic actuator 5 5. A roller 4 4 is supported on the pair of longitudinally adjacent ends of the actuators, and the roller bears against the lining being replaced. The wall of the pipe. Springs in each support arm 4 5 (17 is not shown): Paper size applies Chinese Standard (CNS) A4 (210 X 297 public love) --- ----------- will ------- —Order --------- Line · (Please read the notes on the back before filling out this page) 534966 B7 V. Description of the invention (/ f) in the figure) is applicable to The hydraulic actuator 55 is retracted in the absence of hydraulic power. An embodiment of the hydraulic control circuit according to the present invention is shown in the third and fourth figures. The third figure illustrates an essential electronic and hydraulic circuit according to an embodiment of the present invention. In this embodiment, the pressurized hydraulic fluid supply pipe 32 and a return pipe 3 3 are fed into the non-rotating portion 38 of the rotating set 39, and via the cable 3 (see the first figure) The supplied electronic control and monitoring conveying pipe 4 6 is fed into the non-rotating part 62 of the electronic rotating assembly 61. Some electronic control and monitoring ducts 4 6 will be held in the non-rotating parts 6 2 of the rotating set 6 1 to pass to the electronic device such as the first video recorder and related lights. The other electronically controlled conveyance pipes 65 are extended from the rotating parts 63 of the rotating assembly 61. The hydraulic conveying pipe system extends from the non-rotating part 28 of the hydraulic rotating set 39, enters the rotating part 38 of the rotating set 39, and enters a control block 66. A series of electronically actuated valves in the control block 66 for replacing various functions of the lining device will be discussed with reference to the fourth figure. The pressurized fluid is supplied to a motor 67. Hydraulic fluid is also supplied to the radial positioning device 46, as described above, to the lateral detector or marking device 50, and to other hydraulic devices when needed. An auxiliary supply of actuating tools and devices 68. The pressure converter 70 observes the pressure applied to the radial positioning device 46. 18 This paper size is applicable to China National Standard (CNS) A4 specification (210 X 297 mm) --------------------- Order · -------- Line (please read the precautions on the back before filling this page) 534966 A7 ___________B7____ 5. Description of the invention (f 6) The electronically controlled conveying pipe 6 5 extends from the rotating part 6 1 of the rotating set 6 1 to a shunt box 7 2. From the branch box, some electronic conveying pipes 7 3 pass through to the control block 66 to operate the electronic solenoid, and the electronic conveying pipe 7 4 pass through to others like the second video recorder 5 2 Electronic devices with related lights (second picture) and pressure converter 7 〇. The hydraulic control circuit described in detail in the fourth figure has a pressurized hydraulic fluid supply pipe 32 and a return pipe 33 which feed into a control block 66. Within this control block 66 is a series of electronically actuated valves for various functions of the replacement lining device. An M stomach control valve 80 provides a pressurized fluid to the motor 67 when it is actuated. The motor control valve 80 allows the motor to be driven in any direction 'so that it can be laid or disassembled to replace the liner. Long strip of material. The hydraulic fluid is also supplied to the lateral detector or marking device 50 via the valve 81 as described above, and is supplied to the auxiliary supply source via the valve 8 2 when necessary for other hydraulically actuated sources. Moving tools and devices. The hydraulic control circuit also provides pressurized hydraulic fluid to the radial positioning device 46. The normally closed valve 8 3 is actuated to supply hydraulic fluid to the radial positioning device 4 6, and the valve 8 4 (the valve 8 4 is normally open when not activated and is closed when activated The system prevents the hydraulic fluid from being discharged into the discharge tank 8 6 ° in the conveying pipe 85 during the normal operation of the device. A pressure converter 70 allows the pressure of the hydraulic fluid supplied to the radial positioning device 46 to be far away. Distances are monitored and adjusted as needed. You can also use automatic monitoring and adjustment methods. As discussed above, if the fluid reaching the replacement lining device is lost, this paper size is applicable to China National Standard (CNS) A4 (210 X 297 mm) ------------- ------- Order · ------- 1 (Please read the notes on the back before filling this page) 534966 A7 t V. Description of Invention (iI) Body pressure or loss of electronic control power, then There is a danger that the replacement lining device will become blocked in the pipeline, and control and digging may be required to remove the device, so a fail-safe system is provided according to the present invention. The fail-safe system is provided with a valve 8 4 which allows fluid to be extracted from the radial positioning device 46. If the electronic power is lost, the valve 8 4 will be opened to allow hydraulic fluid to be discharged to the discharge tank 86, thus allowing the radial positioning device 46 to release its pressure against the wall of the pipeline, making the replacement The lining device can be removed. Similarly, if fluid pressure is lost (perhaps because of a hydraulic pipe rupture or a similar situation), the power reaching the valve 84 can be withdrawn to allow fluid to be drawn back to the discharge tank from the radial positioning device 46 8 6 so that the replacement lining device can be retrieved. Referring to Figures 6 to 8 in more detail, an embodiment of a remote control and power supply device on the ground for the pipe changing lining device will now be discussed. This embodiment is a self-driven unit, but a static unit (such as a unit that can be transported to the back of a truck) also falls within the scope of the present invention. As can be seen in the sixth figure, the remote control and power supply equipment on the ground includes a main body 102 supported on a track 103. Within the body, and not shown, is a motor and power generation system that includes a hydraulic pump (part 1 3 of the first tier) and a generator. The track can be driven hydraulically and can include equipment for moving the track wider or more stably. On the main body is an operator's seat 105 and the required 20 ^ paper size is applicable to the Chinese National Standard (CNS) A4 ^ grid (210 X 297 cm) ~ a --------- ----------- Order --------- line (Please read the precautions on the back before filling this page) A7 534966 _____B7 _ V. Description of the invention ((/ Γ) Control device A drive panel 1 0 7 of 1 0 8 is used to drive the unit. 0 A forward frame 1 1 0 and a rear frame 1 1 2 are mounted on the main body 1 0 2 and support an iron crank arm 1 1 4. A winch 116 on the iron crank arm 114 drives a crank cable and a hook 1 1 8. An oil cooler 1 2 0 for a hydraulic pump is supported on the rear frame 1 12 2. For the 淸Chu explained that the oil cooler system in the seventh picture has been omitted. A pair of TV screens 1 2 2 are supported on the forward frame 1 1 0. The operator sitting on seat 105 can watch The TV screen 1 2 2 is closely watching what happens to the underground part of the lining changing device in the remote pipeline through the video cameras 37, 5 and 2 (picture 2). A control panel 1 2 4 is also supported on the forward frame 110, and the control panel allows the operator to view the readings of the function of the underground part of the pipe changing lining device and control the underground part of the pipe changing lining device accordingly. The cable drum 1 30 series is installed in front of the self-driving power and control unit, and a power supply and control cable 1 3 2 is wound around the ghai cable. The cable seam is A motor 1 3 6 is driven by a chain 1 3 4 located in a chain housing 1 3 8. The electronic slip ring device 1 40 is located on the left side of the cable drum, and the electronic control system for the remote operation device is controlled by the The electronic slip ring device is transmitted to the control cable 1 3 2 ′ and the device on the right is a hydraulic slip ring 1 4 2. The hydraulic power system for the underground part of the pipe replacement lining device is the 21 paper size Applicable to China National Standard (CNS) A4 specification (210 X 297 mm) -------------------- Order --------- line (please first Read the notes on the back and fill in this page) 534966 — j_ΒΤ .___ 5. Description of the invention (^ /) The hydraulic slip ring is supplied to the cable roll Although a combined power and control cable shown in this embodiment is wound on a separate cable drum, there may be individual control cables and power supply cables in an alternative embodiment. The The isoelectric power supply cable may be a hydraulic power cable or an electronic power cable. The unit according to the invention may also include a shovel blade 1 4 6 which can be used to clean the required work area and when the shovel When the blade is pressed against the ground, it can provide stability during the operation of the crank. It will be seen that by virtue of this equipment system, a self-driving unit is provided, which can be driven by the operator to a work site and used to operate a remote operation device (such as pipe replacement lining) All required functions are provided on the unit. Various descriptions of the scope of the present invention have been provided throughout this specification, but $ stomach sun moon + Ying, Hai Kou Pong Fang Yi Ren < 可 白 勺 wei @ 言 兑 日月 + 'can exist in these Among the two or more combinations described. These examples are for the purpose of illustration 2 and the raided soldiers' are not intended to use # to form a # restriction. 22 ί: Paper size applicable (CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back before filling this page) -Fees Order --------- Line