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
  • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
• • 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

Definitions

• the present invention relates to a method for the rehabilitation of non-accessible pipelines with branch lines leading away to the side by subsequently introducing a tubular lining and to a device for carrying out the method.
• the presented task is solved according to the present method in that
• a precise measurement plan of all intervening branch openings is recorded by means of a camera which can be moved between two fixed points of a pipe section, both the exact axial position and the position on the pipe circumference and, if appropriate, the geometric dimensions of the openings being recorded;
• tubular lining is then introduced into the pipe to be renovated for the purpose of forming a double-walled ' pipe and is fixed with respect to the existing pipe;
• Pipe movable controlled tool the tubular lining is cut out at the branch points according to the position and geometry of the branch openings;
• the gap between the two pipe walls at the branch points is sealed by attaching sealing elements using a controlled tool.
• the operations of the surveying camera and the movable controlled tool are generally monitored by a camera and, if necessary, corrected by hand in the case of the actual work using tools.
• the cutting out of the branch openings and the attachment of the sealing elements is preferably carried out in two separate work steps, although this is basically one after the other, i.e. by driving the pipe once with the controlled tool.
• the procedure in two work steps has the advantage that the movable vehicle is not overloaded with tools and drive units for the various tools and the dimensions of the vehicle can thereby be kept to a minimum.
• the basic vehicle is preferably driven and moved along a grid element, for example a chain, which is arranged between the fixed points and whose longitudinal dimensions are unchangeable.
• a monitoring and control device with an observation screen is usually provided outside the pipeline system, the working processes being monitored and possibly influenced from this device.
• the work carried out can also be recorded if necessary. If not just a single pipe section needs to be renovated, the measurement plan can be done independently and are taken up and recorded at different times from the other work processes.
• the invention also relates to a device for carrying out the method, which according to the invention is characterized by means for arranging a raster element which is unchangeable in its longitudinal dimensions, e.g. a chain, between two fixed points of a pipeline section, at least one basic vehicle that can be moved along the grid element with impellers that are supported on the inside of the pipe, the vehicle being equipped with at least one camera and / or tools for cutting out side branch openings and / or tools is designed for attaching sealing elements, further by drive means for the vehicle and a monitoring and control device which can be designed between the vehicle and a monitoring and control device to be arranged outside the piping system.
• a raster element which is unchangeable in its longitudinal dimensions, e.g. a chain, between two fixed points of a pipeline section
• at least one basic vehicle that can be moved along the grid element with impellers that are supported on the inside of the pipe
• the vehicle being equipped with at least one camera and / or tools for cutting out side branch openings and / or tools
• the basic vehicle can be equipped with measuring devices which, in addition to measuring or setting the axial position of the device, also record the axial and radial inclination of the device and use these measured values to correct the control coordinates.
• a fixed observation camera is preferably provided.
• Means can also be provided to block the vehicle in any working position with respect to the pipe. These are used in particular where through openings have to be cut out and where sealing elements are to be used. The invention is explained in more detail below with reference to exemplary embodiments shown in the drawing. It shows:
• Figure 1 is a purely schematic representation of an underground pipe section to be renovated with schematically drawn tools.
• FIG. 4-6 cross-sections, purely schematic, through pipelines, partly with renovation pipes inserted, in which the position of the vehicle (robot) carrying the camera and possibly the tools is entered.
• FIG. 1 of the drawing shows an underground pipeline 1, for example a water collecting pipe, which has a diameter of a predetermined size but cannot be walked on.
• Several branch lines 2, 3 lead away from the pipeline 1, for example feeder lines, which generally have a somewhat smaller diameter than the main pipelines 1.
• the main pipeline 1 is usually accessible via shafts 4, 5, a pipeline section generally running in a straight line between two shafts.
• stop elements 6 and 7 are attached at predetermined points through the shafts 4 and 5 at the beginning and end of the pipeline section to be machined, in order to create distance markings in this way; which are repeatably adjustable.
• a grid element 8 for example in the form of a link chain, is fixed in its longitudinal dimensions.
• This chain is used to move a base vehicle 9 with great and repeatable accuracy along the pipe section, the base vehicle 9 being provided with a drive motor (not shown) for this purpose.
• an accurate survey map of the pipe section will now 'by means of a built-up on the basic vehicle 9 camera recorded lying branch openings with all between the start and end points of the section, whereby both the precise axial position and the position on the pipe periphery of these openings, as well as if necessary, the geometric dimensions of the latter are recorded.
• the data of the measurement plan created in this way are preferably stored and later or subsequently serve to bring the vehicle 9 which can be equipped with tools to desired locations where certain work processes are to be carried out.
• the measuring device is removed again, ie the positioning elements 6, 7 and the raster element 8 (chain) are removed in order to then immediately or at a later stage a lining in the form of a wound inner tube 1 'in the tube section
• the device consisting of positioning elements 6, 7 and the grid element in the form of the chain 8 is reassembled, a basic vehicle 9, which can be moved precisely along the chain 8, is inserted into the pipe section and this vehicle with suitable tools 16 moved through the pipe section in accordance with the measurement plan drawn up beforehand, the vehicle being blocked at suitable points in front of a pipe branch and by means of the built-in, remote-controlled tool
• Wall of the inner tube 1 1 is cut out in accordance with the branch opening to be produced. This process is observed by means of a camera 17, so that the work to be carried out by the robot tool can be influenced or corrected by a monitoring or control device. At the same time, this operation can be recorded via the camera 17 and, if necessary, recorded on a film or the like. This process is, of course, repeated for each additional branch line.
• sealing elements are those which are in the form of an expandable, sleeve-shaped
• Such sealing elements have the advantage that they do not have to correspond to the exact dimensions of the branch openings, but can be adapted to the geometry of the points to be sealed by widening by means of a hardenable filler material. In such a case, of course, the filling material required to expand the sealing elements is also guided from the vehicle 9 with the tools to the sealing elements.
• the vehicle 9 Via a control cable 11, which can be unwound from a cable reel 13, the vehicle 9 is connected to a monitoring and control device 12 located outside the pipe section.
• This device has an observation screen via which the movement of the vehicle can be tracked on the one hand and the work of the tools can be observed and, if necessary, controlled. Due to the available measurement data, the whole process of both cutting out of the inner tube and also of the attachment of the sealing elements take place fully automatically, the control device in this case only serving to correct the work processes.
• each point can be controlled precisely in accordance with the previously recorded measurement data (coordinates).
• the vehicle 9 is usually provided with impellers 14, 15 which are supported on the inner tube wall. Since the vehicle 9 itself is moved by a driven drive pinion 19, it is completely irrelevant whether the wheels 14, 15 run along the tube walls with more or less slip. Furthermore, a mechanism (not shown) is provided, which serves to block the vehicle in predetermined positions, for example at locations where certain work processes are to be carried out (for example cutting out the pipe wall).
• a separate camera 18 is usually used, which overlooks both the inside of the pipe to the front and in the radial direction and is able to record the exact coordinates of the branch openings and, if appropriate, their geometrical dimensions, and, if appropriate, navigation devices such as Spinning tops and the like.
• the observation camera 17 is used to monitor the actual work processes.
• the surveying camera 18 could also be used as an observation camera. 10
• FIG. 3 of the drawing shows a purely schematic front view of the vehicle or device according to FIG. 2. The following briefly describes again how the pipeline section is renovated:
• Positioning elements are first attached to the beginning and end of the pipe cut and a grid element (chain) is stretched between them. Thereafter, a precise measurement plan of the pipe section is recorded by means of a vehicle equipped with a camera, and in particular the exact position of the branch openings is measured and recorded. After carrying out this work, the installations are removed again and the tubular liner introduced into the pipe to be rehabilitated (described this per se known operation, for example by means of a front of the pipe in situ gewickel ⁇ th plastic pipe, ⁇ is here in any detail).
• the positioning elements are reinserted at the predetermined locations and the grid element is attached between them.
• a vehicle equipped with a drilling or cutting tool is then moved along this grid element, the data from the measurement plan recorded earlier being used to control the device.
• sealing elements are preferably used, which are expandable sleeves are formed so that they can be widened after the provisional insertion at the branch points by means of a preferably curable material, so as to adapt to the geometry of the branch points.
• the filling material used for expansion hardens after a predetermined time and then forms a sufficient seal of the connection points.
• the sealing elements of a pipe section have hardened, for example the space between the outer pipe 1 and the inner pipe 1 'used can be poured out to increase the stability. This process is not described in detail here.
• the basic vehicle has measuring devices for measuring and recording the data of the pipe section, devices also being provided to record the axial and radial inclination of the device, in order to correct the measured coordinates, if necessary, furthermore a working head which can be rotated about the longitudinal axis of the vehicle and on which a camera is arranged, which observes the pipe to the front and to the side, and is optionally equipped for attaching cutting tools.
• the working head which can be rotated about the longitudinal axis, can of course also be used to insert the sealing elements.
• an observation camera can be used on its own, the work steps of this tool being controlled via an observation screen.
• the monitoring and control device located outside the pipeline monitors each work process and, if necessary, controls it directly.
• the basic vehicle 9 robottic vehicle
• the basic vehicle 9 is preferably also provided with an additional follower, e.g. equipped in the form of an auxiliary wheel 20 which is uniformly and simultaneously adjustable with the wheels 14, 15.
• the longitudinal axis L of the vehicle can be precisely aligned with the longitudinal axis of the pipeline 1 by adjusting the position of the wheels 14, 15 and 20 in order to e.g. to record the situation plan.
• the position can be corrected accordingly of the wheel 20 (or the wheels 14, 15) by the amount b and subsequent simultaneous retraction of all the wheels 14, 15 and 20, the vehicle 9 can in turn be set in the longitudinal axis of the pipeline 1.
• wheels 14 and 15 could also (like wheel 20) be arranged on radially extending supports.

Landscapes

• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Pipe Accessories (AREA)
• Examining Or Testing Airtightness (AREA)
• Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
• Sewage (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=4229423

Family Applications (1)

Country Status (5)

Cited By (3)

Families Citing this family (1)

Citations (5)

• 1987
  • 1987-06-15 CH CH2252/87A patent/CH673884A5/de not_active IP Right Cessation
• 1988
  • 1988-06-09 AU AU17912/88A patent/AU1791288A/en not_active Abandoned
  • 1988-06-09 WO PCT/CH1988/000105 patent/WO1988010394A1/de unknown
  • 1988-06-13 ZA ZA884208A patent/ZA884208B/xx unknown
  • 1988-06-14 ES ES8801835A patent/ES2007924A6/es not_active Expired

Patent Citations (5)

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