WO1992004575A1

WO1992004575A1 - Device for moving loads inside ducts

Info

Publication number: WO1992004575A1
Application number: PCT/CH1991/000164
Authority: WO
Inventors: Harry Züst; Guido KÄPPELI
Original assignee: A. Käppeli's Söhne Ag
Priority date: 1990-09-03
Filing date: 1991-08-08
Publication date: 1992-03-19
Also published as: AU8302091A; CH682415A5

Abstract

A conveyor device is useful for transporting and if necessary also for bracing tools (3) inside difficulty accessible pipes (20) having a diameter that does not allow them to be entered, for purposes of inspection, cleaning, repair, sanitation or the like. The conveyor device is adaptable to various pipe diameters (20.1, 20.2). The conveyor device moves by remote-control in two directions, on wheels that are pressed against the pipe inner wall and roll in a direction parallel to the pipe axis. The conveyor device has at least two groups of wheels (5, 9) with at least three wheels each which have partly a driving function (5) and partly a supporting function (9). For bracing the tools in the pipe the driven wheels (5) are blocked. The wheels having a driving function (15) are driven each by a hydraulic motor (16). Another hydraulic motor (7) operates the adjustment to the real pipe diameter and supplies the force that presses the wheels against the pipe inner wall.

Description

DEVICE FOR MOVING A LOAD IN A CONDUCT

The invention relates to a transport device according to the preamble of patent claim 1, with which a load, for example tools, can be transported or held within contacts, such as pipes, etc.

Sewers need to be repaired from time to time. This also includes pipes with a diameter that does not allow people to penetrate them and, because of their location, are not accessible to long-handled tools. And yet they have to be repaired, refurbished, cleaned or inspected from time to time. If these operations are not possible in any way, such pipes must be replaced periodically. Not only does the material of the pipes have to be used for this, but also, particularly in the case of pipes laid underground, such as sewer pipes, a very complex work and considerable work is done. For this reason, attempts have repeatedly been made to develop methods and devices which allow tools and materials for repair, refurbishment, cleaning or inspection to be remotely brought into such pipes and operated there. For inspections of such pipes, sled-like transport devices have been proposed that are pulled through the pipe with a line and carry a camera or other inspection means. Such vehicles can also be used for cleaning or repairs if appropriate tools are mounted on them. So that the vehicle cannot be moved during work, for example, a kind of balloon is filled with compressed air, which fills the entire cross-section of the tube and thus holds the tool and vehicle in the tube. Such drawn transpo devices can only be used in pipes for which an inlet shaft is available at both ends.

Remote controlled caterpillars have also been proposed. However, these show little adhesion, especially in slippery sewer pipes and in pipes which are not laid horizontally, since they cannot be built with sufficient difficulty because of the limited size. Not only do they have difficulty in withstanding the counterforce that a tool exerts on them, but in many cases liability is not sufficient for movement. To achieve better adhesion, vehicles with telescopic stilts have been developed, which are extended in all directions against the pipe wall to brace the vehicle. Such stilts have the disadvantage that they easily get stuck on an unevenness in the pipe surface or in a damaged area and thus block the vehicle.

So far, various methods have been used for the rehabilitation of pipes, in which a hose soaked with hardening material is turned inside out and pressed against the inner wall of the pipe with overpressure. After curing, this hose behaves like a new pipe. It is an object of the invention to provide a transport device with the tools for renovation (eg interior coating), inspection, repair, cleaning or the like in a pipe that is difficult to access, even with a diameter that does not allow entry, transported and ver there if necessary ¬ can be aimed. The means of transport should be able to be introduced through an inlet shaft which is perpendicular or at an oblique angle to the tube and should be able to be carried out again from the same shaft. Control and supply of means of transport and tools should be possible through hoses and lines through the same shaft. The means of transport should be usable in pipes of different diameters and it should be able to overcome slight unevenness on the inside of the pipe and differences in pipe diameter during its movement. The means of transport should be as short as possible so that it can also be let in through an inlet shaft of small diameter, and it should be of a light construction so that it can be moved with little force. Nevertheless, its adhesion to the inner tube wall must be large enough so that it can move on slippery inner tube surfaces and can be blocked during work if necessary.

This object is achieved by the invention specified in the characterizing part of patent claim 1.

An embodiment of the transport device according to the invention is described in detail with the aid of the following figures and further embodiments are presented. Fig. 1 shows an overview of the transport device (section parallel to the longitudinal axis of the transport device). ,

2 (A and B) show the arrangement for a wheel in an iris-like adjustable wheel group in its two extreme positions (plan view in the direction of the longitudinal axis of the transport device).

FIG. 3 shows the same arrangement as FIG. 2 (top view perpendicular to the longitudinal axis of the transport device).

FIG. 4 shows an entire wheel group set for the largest possible tube diameter (top view as in FIG. 2).

Fig. 5 shows the drive for the iris-like setting of the wheel groups (section parallel to the longitudinal axis of the transport device).

Fig. 6 shows the application of the transport device.

Figure 1 gives an overview of the transport device according to the invention. A central carrier tube 1 carries a flange 2 on one side. The tool 3 (or several tools) is fastened to the flange 2: fixed, rotatable or pivotable, depending on the tool and application. The tool is indicated in FIG. 1 as a simple box. In reality it can be a camera for inspections, a centrifugal or spray head for internal coatings or cleaning, or for example a welding tool for repairs. The attachment of the tool to flange 2 must be set up accordingly. All cables and hoses 4 that are necessary for the control and for the supply of the tool are through the flange 2 and the carrier tube 1 out. The carrier tube 1 carries a driving wheel group 5 against the flange 2 and a supporting wheel group 9 away from the flange. The two wheel groups 5 and 9 are shown in simplified form in FIG. 1 as cylindrical bodies. They are described in detail using the following figures. The driving wheel group 5 has the task of moving the transport device in one or the other direction of its longitudinal axis or blocking it at one point. Cables and hoses 6 necessary for controlling and feeding the driving wheel group are led through corresponding cutouts in the carrier tube 1 and leave the transport device like the supply means 4 of the tool. The supporting wheel group 9 has the task of holding the carrier tube 1 and thus the flange 2 in the center of the tube and thus the tool 3 in a defined position. As the means of transport moves, the supporting wheel group rolls along the tube wall.

The driving and the supporting wheel groups 5.1 and 9.1 are shown in their solid form with the smallest possible diameter, corresponding to a tube 20.1. The dashed lines 5.2 and 9.2 correspond to an expanded shape for a pipe 20.2 with a larger diameter. A spreading drive 7 drives the enlargement and reduction of the wheel groups 5 and 9. Cables and hoses 8, which are necessary for the supply and control of the spreading drive 7, are guided through corresponding cutouts in the carrier tube 1 and leave the transport device like the supply means 4 for the tool.

FIGS. 2A and 2B show the arrangement for a wheel in the driving wheel group as a top view in the direction of the longitudinal axis of the transport device. The center forms the support tube 1. Around the support tube closes a sleeve 10. When the sleeve 10 opposite the support tube 1 in the direction of arrow rsp. rotated in the opposite direction, rsp. The spreading arrangement, which carries a wheel 15 and an associated wheel drive 16, stretches and moves the wheel and wheel drive against the center rsp. away from the center. In this way, the diameter of the driving wheel group can be changed.

The arrangement for a wheel of the driving wheel group is shown in FIG. 2 in its two extreme positions. 2A shows the most extended position with the smallest possible spreading angle α ^. In this position the transport device has the largest possible radius r _{^ «} (eg 70 cm). 2B shows the most spread position with the largest possible spread angle a ^ and the smallest possible diameter r ^ (eg 25 cm).

The spreading arrangement, which carries the wheel 15 and the wheel drive 16, consists of two spreading legs, the wheel-carrying spreading leg 12 and the second spreading leg 13. The two spreading legs are rotatably connected to one another by the bolt B. The wheel-carrying spreading leg 12 is rotatably connected to a spreading lever 11 by the bolt A. This spreading lever 11 is fixedly mounted on the carrier tube 1. The sleeve 10 has a recess so that it can rotate around the support tube 1 without coming into conflict with the expansion lever 11. The second expansion leg 13 is rotatably connected by the bolt C to a second expansion lever 14. The spreading lever 14 is fixedly mounted on the sleeve 10 and rotates with it.

Figure 3 shows the same arrangement as Figure 2, in a plan view perpendicular to the longitudinal axis of the transport device. It illustrates the structure of the Spreading arrangement for a wheel 15 of the driving wheel group 5. The spreading arrangement is depicted on it in its most spread position.

Figure 4 shows a plan view of the entire driving wheel group. It consists of three spreader assemblies, each with a wheel, as shown in Figures 2 and 3. The three wheels 15.1 / 2/3 are driven by the three wheel drives 16.1 / 2/3 in the direction indicated by arrows (or in the opposite direction) and thereby move the transport device in the tube 20. The wheel drives are in this Embodiment of the transport device hydraulic rotary motors according to the invention. The advantage of such motors is that they deliver the full torque even when starting off and at low speeds, and thus the wheels can be driven without a clutch and without gear ratio. Another advantage of hydraulic motors in this application is that their direction of rotation can be reversed by simply reversing the direction of flow of the hydraulic supply. The wheels have a rounded, trapezoid-like shape on average, which makes it possible for them to have a sufficient contact surface on the inner tube wall in tubes with a small diameter and in tubes with a large diameter. The wheels preferably consist of a soft material which ensures good adhesion or are coated on the treads with a material such as polyurethane, for example, so that they have the best possible grip in any position and so that they have minor unevenness in the surface The inner wall of the pipe cannot be prevented from moving.

If the transport device is to be braced in the pipe while working, the wheels are driven by the wheel. blocked. This is when Fertilization of hydraulic motors as a drive is possible by simply closing the hydraulic supply.

A driving wheel group with three wheels, as shown in Figure 4, offers the highest stability. It is entirely possible to build corresponding driving wheel groups with only 2 or with more than 3 wheels. However, the wheel group with only 2 wheels does not offer adequate stability, while with the wheel group with more than 3 wheels more power can be transmitted, the wheel group becomes significantly more complex.

The supporting wheel group corresponds exactly to the driving wheel group, except for the wheel drives 16.1 / 2/3, which are missing for the supporting wheel group. The wheels of the supporting wheel group rotate freely when the transport device moves.

FIG. 5 shows the expansion drive 7 as a section parallel to the longitudinal axis of the transport device. The expansion drive 7 drives the rotation of the sleeve 10 relative to the support tube 1. A pinion 18 seated on the drive shaft of the expansion drive engages in a toothed ring 19 which is fixedly mounted on the sleeve 10 and thereby drives the sleeve 10 itself. The spreading drive 7 is in turn fixedly mounted on the carrier tube 1. The drive fastening (not visible in the figure) is guided through corresponding recesses in the sleeve 10 so that the sleeve 10 can rotate without coming into conflict with the drive fastening. The expansion drive is a hydraulic rotary motor. The advantage of this type of drive is that the hydraulic motor can be driven to the stop without damage and held there under force. In other words, the power of the hydraulic motor does not only drive the wheel group into one desired position, but also presses the wheels against the inner tube wall and thus generates the friction which is necessary for a movement of the transport means.

FIG. 6 shows an application of the transport device according to the invention. The transport device is connected by hoses and cables for the supply and control of tools and drives to a control and supply unit 22 positioned above the inlet shaft 21. The hoses and cables must be long enough so that the transport device can reach the point in the tube 20 which is furthest from the inlet shaft. The transport device is let through the inlet shaft 21 into the pipe to be processed. Since the transport device is only approx. 50 cm long, the inlet shaft only needs a diameter of approx. 70 cm. Driving and supporting wheel groups are set at the inlet for a tube diameter that is somewhat smaller than the effective diameter of the tube 20 to be machined. As soon as the transport device has reached the level of the tube 20, the wheel drives are switched on and the transport device moves away from the inlet shaft. When the driving wheel group is in the tube 20, the spreading drive is switched on and moved to its stop. As a result, the wheels of the driving wheel group are pressed against the inner tube wall and the transport device can move into the tube. The movement of the transport device can be controlled from the control and supply unit. Depending on the application, the tools are activated during the movement in one or the other direction, or only at certain pipe locations, where the hydraulic supply to the wheel drive motors is then closed, which affects the wheel drives and the wheels and thus the entire transport device blocked at this point. After the work has been completed, the transport device is returned to the inlet shaft and is removed from the pipe 20 by the latter.

In particular, the transport device according to the invention is suitable for use for the inner coating of pipes with a liquid, later hardening plastic. For this application, the tool consists of a centrifugal head. The transport device is fully inserted into the pipe to be coated. The direction of movement is then reversed and the centrifugal head started up. The inner pipe wall is coated on the way back to the inlet shaft.

An embodiment variant of the described embodiment of the transport device according to the invention consists in that instead of a supporting wheel group with three non-driven wheels, it comprises a further driving wheel group with three driven wheels. Such a transport device can also move when the one driving wheel group is located in a tube section with a larger diameter than the other and its wheels therefore rotate in an empty state.

An embodiment with two driving wheel groups, which are driven independently of one another with two separate spreading drives and can therefore be set to different pipe diameters, is even better movable in pipes with an uneven diameter.

Design variants with more than two driving and supporting wheel groups are advantageous for the transport and bracing of heavy tools or of those that work with great force in the direction of movement of the transport device.

Design variants of the described embodiment of the transport device according to the invention further consist in that the drive and the support function are not each performed by separate groups of three wheels, but that both driven and non-driven wheels occur in the same group. This means that each wheel group can contain up to 3 driven wheels. For example, a transport device can be built with almost the same effort as for the transport device described in detail above, which contains 2 wheels driven in the wheel group against the tool and 1 non-driven wheel, while the wheel group at the other end Contains 1 driven wheel and 2 non-driven wheels. Such an embodiment variant already shows advantages when overcoming points with an uneven pipe diameter, since that wheel group can take over the drive function that is located at the point with the smaller pipe diameter.

Claims

P A T E N T A N S P R Ü C H E

1. Device for transporting and guiding tools of all

Type in tubes (20), with a fastening means (2) for tools (3) to be carried along, with drive means (15, 16) for the longitudinal movement of the device in the tube and with drive means (7, 18) for moving device parts ( 12, 13, 15, 16) to the tube wall, characterized 5 in that drive means (15, 16) for the continuous longitudinal movement of the device are arranged on a lever mechanism (11, 12, 13, 14) whose lever parts (11, 14) by rotating on a path around the longitudinal axis of the device move relative to one another such that a drive means 10 (15.16) arranged on a lever (12) describes a pivoting movement about a point (A) outside the longitudinal axis of the transport device.

Transport device according to claim 1, characterized in that 15 drive means (15, 16) for the continuous longitudinal movement of the device are arranged on a first lever (12), the other lever end of which is spaced apart on a support tube (1) aligned with the longitudinal axis of the device ) is articulated and a second lever (13) is articulated at one end to the first lever (12) and at the other end is articulated at a distance from a sleeve (10) that rotatably surrounds the support tube, so that by mutual rotation of Carrier tube (1) and sleeve (10) the first lever (12) is pivoted about a point (A) outside the longitudinal axis.

25th Transport device according to claim 2, characterized in that, in addition to the drive means (15, 16), support means are arranged on the same lever mechanisms.

5

Transport device according to claim 3, characterized in that the lever mechanisms provided with driven or supporting wheels are each grouped into at least three groups of wheels, that the wheels of a group of wheels are equally spaced from one another around 10 the inner cross section of the pipe to be processed and are parallel to Move the pipe axis.

Transport device according to claim 4, characterized in that it comprises at least one wheel group with driven wheels for the drive and at least one wheel group with non-driven wheels with a support function.

20th

6. Transport device according to claim 4, characterized in that it comprises at least 2 wheel groups, each with both driven wheels and supporting, non-driven wheels.

25

Transport device according to one of claims 1 to 6, characterized ge indicates that it has a hydraulic rotary motor (16) for each driven wheel.

30th 8. Transport device according to one of claims 3 to 7, characterized in that the wheel groups can be adjusted to different tube diameters with the aid of an iris-like mechanism.

5

9. Transport device according to claim 8, characterized in that it has at least one hydraulic rotary motor (7) as a drive for the iris-like adjustment mechanism.

10

10. Transport device according to claim 8, characterized in that it each has a hydraulic rotary motor for driving the iris-like adjustment mechanism of each wheel group.

15

11. Transport device according to one of claims 8 to 10, characterized in that the iris-like adjustment mechanism of the wheel groups consists of a sleeve (10) which is around a support tube

(1) rotates and consists of a spreading arrangement for each wheel, consisting of 20 a spreading lever (11) fixed to the support tube (1), a wheel-carrying spreading leg (12), a second spreading leg (13) and a fixed one on the sleeve (10) mounted second spreading lever (14).

25

12. Transport device according to one of claims 8 to 11, characterized in that the iris-like setting mechanism is driven via a pinion (18) and a toothed ring (19) fixedly mounted on the sleeve (10).

30th 13. Transport device according to one of claims 1 to 12, characterized in that a flange (2) is attached to a central support tube (1) on which one or more tools (3) can be attached. 5

14. Use of the transport device according to one of claims 1 to 13 for the inner coating of pipes.

10