WO1996027098A1

WO1996027098A1 - Device for repairing inaccessible pipelines

Info

Publication number: WO1996027098A1
Application number: PCT/EP1996/000676
Authority: WO
Inventors: Gerhard Eisinger
Original assignee: Gerhard Eisinger
Priority date: 1995-03-01
Filing date: 1996-02-19
Publication date: 1996-09-06
Also published as: DE19507057A1

Abstract

The invention concerns a device (10) for repairing inaccessible pipelines (11) by compressing a self-hardening sealant into damaged areas. The device comprises an apparatus carriage (27) which can travel along the pipe undergoing repair and carries a television camera (28), a tool head (31) provided with a rotary tool drive and capable of being fitted with boring or milling tools (44), a compression unit (29) and a drive unit (32) by which the tool head, compression unit and television camera can be rotated about a central longitudinal trolley axis (33) which during operation of the device is aligned parallel to the pipeline's longitudinal axis; the tool head and compression unit can be made by these individually assigned drive units to advance and withdraw at least radially, the tool head (31) and compression unit (29) are mounted diametrically opposite one another in a common frame (38) which can rotate through at least 360° under the action of the drive unit (32), and the optical axis (37) of the camera (28) can be aligned towards the working area of the compression unit (29) and towards that of the tool head (31).

Description

Device for the rehabilitation of inaccessible pipes

description

The invention relates to a device for the rehabilitation of non-accessible pipelines of a gas or water supply network or a sewer system by pressing defective areas with a sealing, self-curing, viscous or pasty plastic material and with the other generic type mentioned in the preamble of claim 1 characteristics.

A device of this type is known from CH 675 620 A5.

The device comprises a device carriage which can be moved back and forth in the pipe to be renovated and which is pushed or pulled by a drive car depending on the direction of travel and which serves as a support for

a) a television camera for locating damaged areas and for monitoring remotely controlled remedial work,

b) a tool head provided with a rotary tool drive, which can be equipped with drilling or milling tools, for the preparatory expansion of the compressible renovation area,

c) a pressing unit for filling and pressing the renovation area with the sealing material and

d) a drive unit is used, by means of which the tool head, the pressing unit and the television camera can be rotated about a central longitudinal axis of the equipment trolley oriented parallel or at least approximately parallel to the longitudinal axis of the tube during operation of the device. Here, the tool head and the pressing unit can be pushed at least radially into the working area and retracted into a radially inner starting position distant therefrom by means of these individually assigned drives, and the camera can be oriented around the working area by means of its own swivel drive about a right angle to the longitudinal axis of the Drive unit running axis swiveling.

The known sewer rehabilitation device is designed in such a way that for a first exploration and preparation trip, the equipment cart is equipped with a milling or drilling head, by means of which, as soon as a damaged point is located with the help of the television camera, this point is e.g. is brought into a defined shape by drilling or milling. In this way, in the course of the preparatory trip, all renovation areas that can be distributed over a length of 50 or more are located and prepared. The device then moves back to the service station, where the tool head is removed and a pressing unit is now mounted on the rotary drive of the device carriage, which carries out the sealing operations on a next work trip to be carried out.

Due to this concept, the known sewer rehabilitation device has the disadvantage that renovation work is very time-consuming and associated with correspondingly high costs, since converting the device for its various functions is time-consuming and also because the areas in need of renovation are, as it were need to be located twice, additional time is required. In addition, in order not to have to dismantle the television camera which is expediently arranged at the free inner end of the work train after the preparatory trip and to have to reassemble it for the work trip on the equipment trolley, it is practically essential that both the one for the preparatory work The tool head used and the pressing unit used for the repair are each equipped with their own camera, which contributes considerably to the cost of the device.

The object of the invention is therefore to improve a sewer rehabilitation device of the type mentioned at the outset in such a way that renovation work can be carried out in a significantly shorter time and the device is also associated with lower investment costs.

This object is achieved in accordance with the characterizing part of patent claim 1 in that the tool head and the pressing unit are arranged diametrically opposite one another with respect to the central longitudinal axis of the drive unit on a common mounting frame which can be rotated by at least 360 'by means of the drive unit and that the optical axis of the camera can be oriented both towards the working area of the pressing unit and towards that of the tool head.

The device according to the invention conveys the fact that after location and preparation of an area in need of renovation, e.g. by drilling them out, the sealing of which can be done directly by pressing with plastic material, a substantially more efficient sewer rehabilitation and can therefore be used at a considerably lower cost. In addition, only a single television camera is required which, if its swivel range also includes an orientation of its optical axis directed away from the mounting frame and parallel to the central longitudinal axis of the sewer pipe, is also used to provide an overview of the pipe area to be renovated can.

If, according to a preferred embodiment of the device, a metering device is provided, preferably between the Drive trolley and the equipment trolley of the device, by means of which components of the hardenable material used to fill a damaged point can be provided in the required mixing ratio for the pressing unit, the components that are not hardenable per se being able to be conveyed from a service station, and the mixture to the hardenable material only takes place on site - by means of the metering device - so all defective areas can be repaired in the course of a single run of the device through the pipe to be renovated, within a length range of 60 m, for example, whereby a particular rational use of the device is made possible.

In an advantageous embodiment of the device, the tool head, in relation to the arrangement of the tool axis of rotation oriented at right angles to the central longitudinal axis of its rotary drive unit, can be pivoted forwards or backwards by at least 45 ′, it being particularly expedient if these three Cut axes in one point. The device is then also suitable for processing house connection pipes opening at an angle into the main line by means of the tool head.

As a rotary drive for the drilling, milling or grinding tool with which the tool head is equipped, an electric motor is provided in a preferred embodiment of the device, which operates at speeds between 5,000 and 25,000 rpm and on an electrical power input of about 0.8 to 1.5 kW is designed and can be provided with an electronic torque control which enables regulation to an essentially constant torque within the mentioned speed range. With such an electric motor as a tool drive, relatively high cutting, milling or drilling tools can also be used thanks to its high speeds and nevertheless high cutting speeds can be achieved at a favorable price. that give defined contours of the openings to be created.

Due to the design of the swivel drive provided for setting the orientation of the axis of rotation of the tool drive motor and / or the linear drives for the feed and retraction movements of the tool drive motor and / or a radial drive for the tool axis of rotation the formwork shield of the pressing unit as hydraulic drives, these drives can also be designed for relatively high forces, even with small dimensions, which are favorable for rapid work with the sewer rehabilitation device according to the invention.

The hydraulic drive, by means of which the tool drive motor can be displaced in the direction of the tool axis of rotation, can be implemented by means of at least one multi-stage, in particular three-stage telescopic cylinder, preferably two slender telescopic cylinders, which are arranged in diametrically opposite corners of a housing of the tool head, whereby the central telescopic piston tubes of these two telescopic cylinders are connected to one another by a bridge on which the drive motor is mounted between the telescopic cylinders, so that they can develop their feed force in a moment-balanced manner, and has the great advantage that large feed strokes can be achieved and a correspondingly large radius of action of the working tool can be achieved.

Such telescopic cylinders can be designed as single-acting, hydraulically extendable cylinders that can be retracted into their basic position with a minimum length by return springs, which can be controlled with minimal hydraulic circuitry, alternatively as double-acting telescopic cylinders that are Feed as well as retreat direction can develop larger forces, since they do not have to work against the restoring force of return springs in the extended operation and can develop forces in the return operation which correspond to approximately half the amount of the forces deployable in the feed operation.

Two mutually opposite housing sides of the tool head, which are provided as pivot drives for the provided rack and pinion drives, which each have two racks acting on diametrically opposite sides of the pinion and which comprise individually assigned, linear hydraulic cylinders, are of space-saving construction of such a swivel drive can be realized with single-acting cylinders, which can develop the same forces in mechanical directions via the drive pinion in both swivel directions and can be controlled with little expenditure of electrohydraulic switching.

In an advantageous embodiment, the radial drive for the formwork shield of the pressing unit is realized as a hydraulic tripod, the linear cylinders of which can be controlled individually and are connected to the shield or its support via articulated joints, as a result of which additional degrees of freedom of movement are achieved which adjust the angle enable the orientation of the formwork shield so that it can also be used as a spatula, which can be used with a linear contact on the inner wall of the pipe to scrape off excess grouting material.

In a further preferred embodiment of the sewer rehabilitation device according to the invention, the work unit formed by the tool head and the pressing unit is arranged on the equipment trolley so that it can be moved back and forth parallel to its longitudinal axis. This creates the possibility, when the work train is stationary, of its working unit in the direction of the longitudinal axis of the To be able to move pipe to be rehabilitated at least within a limited area, gives the advantage of being able to use a "adjusted" position of the equipment trolley once it has been found for a work area which is extended in the axial direction before the work train as a whole has to be moved.

If, as provided in accordance with claim 16, the lithium drive provided for shifting the work unit on the equipment trolley and its rotary drive are designed as hydraulic drives, it is advantageous if the pressure supply unit for the hydraulic drives of both the equipment trolley as well as the tool head and the pressing unit is arranged on the equipment trolley in order to achieve minimum lengths of the supply lines and accordingly to minimize line losses.

The preferred design of the rotary drive of the equipment trolley as a swashplate axial piston motor, while having a slim design, offers the advantageous possibility of designing the output shaft of this motor as a hollow shaft through the flexible hose lines leading to the pressing unit for the supply of sealing material to the pressing unit and electrical supply lines for the tool head and the television camera and also hydraulic supply lines for the hydraulic drives of the working unit can be directed.

The cross section that can be used in this regard remains sufficiently large if the hollow shaft has a thick-walled ring-cylindrical section that can be axially displaced in the rotor of the axial piston motor, into which the linear drive provided for displacing the hollow shaft is integrated and a rotary bushing that is designed as a rotary leadthrough for supply lines section which is connected in a manner fixed against displacement, nes inner sealing tube is tightly connected to the displaceable hollow shaft section.

Single-acting cylinders which are provided as drive cylinders for the feed and retraction movements of the hollow shaft are expediently grouped in a duplicate manner, each in an axially symmetrical arrangement with respect to the central longitudinal axis of the axial piston motor, so that a torque-free feed and retraction operation is possible.

The linear drive cylinders for the feed movements of the hollow shaft can be implemented in a structurally simple manner by means of a bore penetrating the jacket of the hollow shaft and a plug tube sealed against it, which is firmly connected to the rotary feedthrough, while the return cylinders can be implemented by a plugged through hole which is delimited by a piston, which is firmly connected to a plug-in tube, which in turn is anchored to the rotary feedthrough, connected to the reservoir of the pressure supply unit against an annular space, which is connected to the high-pressure connection of the Pressure supply unit in communicating connection.

The sum of the effective cross-sectional areas of the annular space and the plug-in tube of the drive cylinder for the retraction movement of the hollow shaft is expediently equal to the effective cross-sectional area of the cylinder bore of the respective feed drive cylinder, so that feed and retraction movements are controlled in a closed hydraulic circuit are cash.

Further details of the sewer rehabilitation device according to the invention result from the following description of a special exemplary embodiment with reference to the drawing. It shows gene

1 shows a schematically simplified view of a device according to the invention for the rehabilitation of non-accessible pipelines with a work unit comprising a tool head and a pressing unit and a television camera, which can be moved back and forth on an equipment cart in the axial direction and rotated about its central longitudinal axis ;

2 shows a hydraulic circuit diagram of the rotary and linear drives of the equipment trolley as well as the swivel and feed drive of the tool head and the positioning drive of the pressing unit and

3 shows the drive device installed on the equipment trolley of the sewer rehabilitation device for rotations of the work unit about its central longitudinal axis and for its axial back and forth movement, on average along two planes intersecting at right angles along the central longitudinal axis of the drive unit.

The device designated as 10 in FIG. 1 for the renovation of inaccessible pipelines, for example the main lines 11 of one in FIG. 1, only by a short section of such a line and a section of a house connection line 12 opening radially into it represented water supply network 13 is designed as a work train which can be inserted into the network 13 via a walk-through maintenance shaft (not shown). In the special exemplary embodiment selected for explanation, the rehabilitation device 10 comprises a drive carriage 14 with four driven wheels 16, which, via a common or individually assigned to the two axes 17 and 18, not shown electric or hydraulic drive motor ( e) with reversible Direction of rotation and equal amounts of the deployable propulsion moments can be driven.

A non-driven carriage 21 is coupled to the drive carriage 14 by means of a schematically indicated coupling 19, which also conveys the function of a universal joint, on which a metering device 22, indicated only schematically, is installed, which is only schematically indicated A service station (not shown), which is arranged outside the pipe network, can be supplied with separate, flexible, high-pressure-resistant supply lines 23 and 24 components of a self-curing two-component resin which is used to seal a damaged point 26, for example a crack, the main line 11 and / or for filling larger defects in the piping system 13 is used. The metering device 22 provides the components in the stoichiometric quantitative ratio to be maintained for the component resin used in each case and brings them together in a mixer (not shown) in which the components are first mixed to form a homogeneous, processable resin composition which hardens quickly after processing can. This mixer is arranged on a clutch 19, which is in turn pull-and-push-proof on the non-driven middle carriage 21 of the work train carrying the metering device 22, on which a television camera 28, a compression unit designated overall by 29, a tool head 31 and a Hydraulic drive unit 32 are installed, with which the tool head 31, the pressing unit 29 and the television camera 28 can be rotated and rotated together about a central longitudinal axis 33 of the equipment carriage 27, which in its working position runs parallel to the central longitudinal axis of the pipe 11 to be renovated if necessary, can also be advanced and retracted along this axis 33 with a limited stroke, without having to move the work train as a whole. - 11 -

The television camera 28 is between the free ends of two frame legs 34 which are parallel to the central longitudinal axis 33 of the equipment trolley 27 and which are fixedly mounted on the housing 36 of the pressing unit 29, about an axis 36 which runs at right angles to the central longitudinal axis 33 and intersects it arranged swivel bar and provided with an electric swivel drive, not shown, by means of which the "viewing direction" - orientation of the optical axis 37 of the television camera 28 - can be set as desired within an angular range of approximately 300 ', such that the camera 28 alternatively on the one hand, the working areas of the pressing unit 29, which, viewed in the axial direction, are arranged adjacent to the camera 28, on the other hand also the tool head 31, which is arranged between the pressing unit 29 and the drive unit 32, can be observed, but also the camera 28 to the central longitudinal axis 33 aligned orientation of their optical axis from work unit can look away into the free part of the tube 11.

The tool head 31 is between frame plates 38 which run parallel to one another and parallel to the central longitudinal axis 33 and which are fixedly connected to a mounting flange 39 of the drive unit 32 on the one hand and to the housing 36 of the pressing unit 29 on the other hand, by a parallel to the swivel axis 36 axis 41 of the television camera 28, which also cuts the central longitudinal axis 33 of the drive unit 32 and is provided with a swivel drive, designated overall by 42, by means of which the orientation of the tool head can be adjusted, which can be adjusted by the axis of rotation 43 a milling or drilling tool 44, which can be driven in rotation by means of an electric motor of the tool head 31 and with which the tool head 31 can be fitted, is marked, this tool axis of rotation 43 being the pivot axis 41 of the tool head 31 and the central longitudinal axis 33 at their common intersection cuts. Based on the illustrated, for The central longitudinal axis, the right-angled orientation of the tool axis of rotation 43 can be adjusted clockwise and counterclockwise by up to 45 '. An electric motor 52 with an electrical input power of approximately 1 KW is provided as the rotary drive for the tool 44, the rotational speed of which can be adjusted between 5000 rpm and 24000 rpm and the current consumption of which can be regulated to a constant torque.

The working unit of the tool head 31 formed by the electric motor 52 and the tool 44 can be moved back and forth in the direction of the tool axis of rotation by means of a linear drive 46 shown schematically in FIG. 2, to which reference is now made additionally, whereby the tool 44 in Work intervention with a defective point 26 of the tube 11 to be brought to a defined shape can be brought. In order to achieve the largest possible working stroke of the tool 44, this linear drive is formed by two equally dimensioned, slim, 3-stage hydraulic telescopic cylinders 47, which are arranged in diametrically opposite corner areas of a square-pot-shaped housing 49 of the tool head 31 , the central telescopic piston tubes 49 being rigidly connected to one another by a bridge 51, on which, arranged between the telescopic cylinders 47, the electric drive motor 52 can be fixedly mounted, which in turn is still opposite the bridge within the axial length of its housing 51 is displaceable and can be fixed thereon. The range of the tool 44 which can thereby be achieved in connection with the axial stroke of the telescopic cylinder 47 is large enough to be able to advance the tool 44 radially beyond the joint 53 with which the house connection pipe 12 is connected to the connecting piece 56 of the main line pipe within a socket area 54 11 connects.

Due to the pivotability of the tool head 31 is with this internal machining of a house connection pipe 12 opening at an angle into the main line 11 is also possible.

The swivel drive provided for the relevant orientation adjustment of the axis of rotation 43 of the tool head 31 is realized by means of slim, alternatively pressurizable and relievable linear hydraulic cylinders 57 and 58, each with their central longitudinal axes parallel to the central longitudinal axis 33 of the drive unit 32 are arranged on the outside of the frame plates 38 pivotably supporting the tool head 31 and engage toothed racks 61 and 62 which are guided on these frame plates 38 in the direction of movement of the pistons 63 and 64 of these linear cylinders 57 and 58 and are diametrically opposed within ¬ lying areas with the housing 49 of the tool head 31 rotatably connected pinion 66 with their toothings are in meshing engagement, so that by pressurizing the linear cylinder 57 and relieving pressure on other linear cylinder 58 the tool head 31 clockwise and with counterclockwise meaningful r Pressurization and relief of these drive cylinders 57 and 58 can be pivoted counterclockwise.

The tool head 31 is provided, on the one hand, for the purpose of being able to eliminate cross-sectional constrictions of a pipe 11 to be rehabilitated, which have arisen as a result of deposits on the pipe wall or as a result of blockages thereof, and, on the other hand, for defective areas 26 of the pipe 11, cracks or holes relatively small cross-section, through which water can emerge into the adjacent soil 67 and rinse it out with the formation of cavities 68, to be able to enlarge openings of defined shape and width to such an extent that these openings and, if appropriate, the rinsed cavities adjacent to them 68 can be reliably and mechanically stably sealed by means of the pressing unit 29 by filling the cavities 68 and the tube openings 26. The pressing unit 29 comprises a shield 69 which is curved on the outside with the inside radius of the pipe 11 to be pressed out and which, as the inner formwork of a limited jacket region of the pipe 11, can be brought into a position that completely seals the area to be repaired 26 and with a positive overlap of its edge, and a spray nozzle 72 opening within the area 71 to be filled, which includes the enlarged opening 26 and the cavity 68 adjoining it, via which the sealing material required for filling the tube defect and the cavity 68 can be displaced into the latter, this spray nozzle 72 being fixed is connected to the formwork shield and via a flexible hose 73 to the mixer, which provides the sealing material with the component ratio required for the self-curing.

In order to press the shuttering plate 69 against the regions of the pipe 11 which border the damaged area 26 after pre-machining by means of the tool head 31, three hydraulic linear cylinders 74, 76 and 77 are provided in the exemplary embodiment of the device 10 chosen for the explanation, the pistons of which 78 are extendable and retractable in the direction of mutually parallel central cylinder axes 79, which run at right angles to the central longitudinal axis 33 of the drive unit 32 and, through their intersections with the plane marked by the pivot axis 36 of the television camera 28 and the pivot axis 41 of the tool head 31, the corners of the same Mark ¬ legged triangle on which the linear cylinders 74, 76 and 77 of the pressing unit 29 are supported on the housing 35 thereof. The piston rods 78 of these linear cylinders 74, 76 and 77 are connected to the formwork shield 69 via uniaxial joints 81, the axes of which run parallel to one another. These joints 81 are afflicted with sufficient play that pivoting movements of the formwork shield 69 both around the Axis of symmetry of the articulated triangle as well as about the axes running parallel to one another are possible, and therefore the formwork shield 69, even if the central longitudinal axis 33 of the device 10 is not oriented exactly parallel to the central longitudinal axis of the pipe 11 to be repaired, nevertheless covers a large area Pipe wall, smoothly against this, can be pressed.

After the pressing of a damaged area 26, the formwork shield 69 can also be used for smooth filling of the inner pipe wall in the area of the repaired area 26, in that the pressing unit 29 is rotated or pivoted back and forth about the central longitudinal axis 33 thereof by actuating the drive unit 32, wherein the linear cylinder 73, 76 and 77 carrying the compression plate 69 carry out the necessary compensating movements even when the central longitudinal axis 33 of the drive unit 32 is not exactly coaxial with the central longitudinal axis of the tube 11 and hold the compression plate 69 in contact with the inner surface of the tube. The compression plate 69 can also be moved in the longitudinal direction by means of a linear drive of the drive unit 32 with a limited stroke and can also be used as an alternative to pivoting movements or in superposition with those for smooth filling.

To explain structural details of the drive unit 32, reference is now also made to FIG. 3. The drive unit 32, which conveys both rotational movements of the tool head 31 and the pressing unit 29 about their common central longitudinal axis 33 and translatory movements in the direction of this axis 33, is designed as a hydraulic drive unit which acts as a rotary drive includes a swash plate axial piston hydromotor, designated 82, from the rotor 83 of which a thick-walled hollow shaft 84 is accommodated centrally, which is coupled to the rotor 83 of the axial piston hydraulic motor 82 in a rotationally fixed, opposite manner this, however, is axially displaceable. This hollow shaft is at its output-side end section 84 ', ie facing the tool head 31, which emerges from the housing 86 through an annular end flange 86' of the housing of the axial piston hydraulic motor 82, which is denoted overall by 86, and which also has the basic shape annular Montage¬ flange 39 firmly connected to which the tool head 31 and the pressing unit 29 are mounted by means of the frame plates 38.

Hydraulic linear cylinders 89 and 91, which are integrated in the hollow shaft 84, convey the axial displaceability of the hollow shaft 84 in the feed direction represented by the arrow 87, alternatively in the feed direction marked by the arrow 88.

The drive unit 32 is provided with two hydraulically parallel feed cylinders 89, which are arranged diametrically opposite one another with respect to the central longitudinal axis 33 of the drive unit 32, and with two retraction cylinders 91 likewise in an axially symmetrical arrangement with respect to the central longitudinal axis 33.

The two feed linear cylinders 89, of which only one can be seen above the central longitudinal axis 33 of the drive unit 32 in FIG. 3, corresponding to the longitudinal section plane chosen for the illustration, are each through one the thick-walled jacket of the hollow shaft 84 in the axial direction penetrating cylinder bore 92, which is tightly closed at the end on the mounting flange, and a plug-in tube 93 axially penetrating this bore 92 over most of its length is formed, which is anchored to be displaceable on a turntable-shaped hollow tubular rotary union 94, which is non-rotatable is connected to the rotor 83 of the axial piston motor 82, the plug-in tube 94 by means of a mechanical seal 96, which is arranged inside the end section of the continuous cylinder bore 92 of the displaceable hollow tube 84 facing the rotary union 94, is sealed against this cylinder bore 92. The plug-in tube 93 connects tightly to a supply channel 97 of the rotary feedthrough 94, which has a section 97 'which continues the axially as it were the pluggable tube 93 and a radial section 97''which opens into an outer annular groove 98 of the rotary feedthrough 94 and which is connected to one in the FIG. 3, not shown, in which FIG. 2 is represented by a supply line 99 is in a communicating connection, which runs within a thick-walled, ring-cylindrical, housing-side block 101 on the supply side and can be connected in a valve-controlled manner to a supply connection 102 of a hydraulic pump 103 , which, depending on the operating state of the pump 103, is used either as its high-pressure outlet or as its inlet connection.

In the case of the feed cylinders 89, the outer diameter of the plug-in tubes 93 corresponds approximately to the diameter of the cylinder bore 92, so that when this linear cylinder 89 is pressurized, the entire cross-sectional area of the bore 92 is effective for the deployment of the feed force.

The two retracting linear cylinders 91 are also realized with the aid of plug-in pipes 104, which are anchored in the same way as the plug-in pipes 93 to be fixed on the rotary feedthrough 94 and connect tightly to a supply duct 106 running in the rotary feedthrough 94, which axially axles the respective plug-in pipe 106 continued section 106 'and a radial section 106''which opens into an outer annular groove 107 of the rotary feedthrough 94 and which is in communication with a supply channel, again not shown in FIG. 3, represented in FIG. 2 by a supply line 108, the inside the housing terminating block 101 runs and in turn valve-controlled can be connected to a further supply connection 109 of the hydraulic pump 103, which, depending on the operating state of the pump, is also used as a high-pressure outlet or as its inlet connection.

The plug-in tubes 104 in turn extend over the major part of the length of the jacket of the axially displaceable hollow shaft with cylinder bores 111 penetrating parallel to the central axis 33, the diameter of which is larger than the outer diameter of the plug-in tubes 104 and are fixed at one end to their flange side Piston 112 is provided with a sliding seal against the respective hollow shaft bore 111, by means of which the annular space 113, which is delimited radially on the outside by the respective bore 111 and radially on the inside by the plug-in tube 104, is delimited in a pressure-tight manner from the remaining space 114 on the mounting flange side, which is in a constantly communicating manner ¬ bond with an unpressurized reservoir 116 (Fig. 2) is ge. The hollow shaft bore 111 of the respective retraction linear cylinder 91 is in turn sealed against the plug-in tube 104 by means of a mechanical seal 117 arranged on its lead-through end. The plug-in tube 104 is provided in the immediate vicinity of the piston 112 with transverse bores 119, via which the interior of the plug-in tube 104 communicates with the annular space 113.

The rotary leadthrough 94 and the axially displaceable hollow shaft 84 have the same inner diameter which - essentially - is determined by the clear radial width of a leadthrough channel 118 which penetrates the drive unit 82 centrally, by what is not shown specifically to the mixer which is in the region of the Compression unit 29 is arranged, leading sealant component lines are passed through, as are electrical supply lines for the camera 28 and its - electrical - swivel drive. For carrying out hydraulic supply lines 121 to 128 (FIG. 2) for the swivel drive 42 of the tool head

31 and the radial drive of the pressing unit 29 formed by the three linear cylinders 74, 76, 77 by the drive unit

32 are provided on the axially displaceable hollow shaft 84 further, a total of eight, continuous jacket bores and plug-in tubes in an arrangement and configuration analogous to the cylinder bore 92 and the plug-in tube 93 of the feed cylinder 89 of the drive unit 32, which form line sections of variable length and are structurally different from the ones The only difference between feed cylinders 89 is that the bores are in communicating connection with further line sections, which can be provided on the frame plates 38. As explained for the feed cylinders 89 and the retraction cylinders 91, the plug-in tubes of these line connections 121 to 128 are in communicating connection via channels (not shown) of the rotary union 94 with annular grooves 131 to 138 of the rotary union 94, which in turn are also not shown - Supply channels of the housing end block 101 are connected to the pressure outlet 102 of the hydraulic pump 103, which is used for the pressure supply of the swivel drive 42 of the tool head 31 and the radial drive 74, 76, 77 of the pressing unit 29. The ring grooves 131 to 138 are each arranged between these sealing ring seals 139 against one another and against the other cavities of the drive device. In order to seal the annular space 141, which enlarges or shrinks depending on the direction of displacement 87 or 88 when the hollow shaft 84 is axially displaced, between the bushing-side annular end face of the hollow shaft 84 and the side of the rotary leadthrough 94 facing this, one is provided on this as well as on the Provided on the inside of the hollow shaft is a thin-walled sealing tube 142 which is anchored with its ring disk 143 to the rotor 83 of the axial piston motor 82 so as to be fixed against displacement protrudes with its lead-through end portion 142 'into the rotary leadthrough 94 and is sealed there by means of a mechanical seal 144 against the rotary leadthrough 94 and is sealed at its other end portion 142''with a pair of annular lip seals 146 against the hollow shaft 84, such that it is securely sealed within its possible displacement path against the central feed-through channel 118, which is formed by the rotary feedthrough 94, the sealing tube 142 and the hollow shaft 84.

The hydraulic pump 103 can be driven by means of an electric motor 147 with a reversible direction of rotation. It is designed as a gear pump which, depending on which of its alternative directions of rotation the electric motor 147 operates, either provides the high output pressure at its A supply connection 109 and is supplied with hydraulic oil via its B connection 102 or at gives the B supply connection high output pressure and is fed with hydraulic oil via its A supply connection.

For the purposes of the explanation, it is assumed that the latter is the case when the electric motor 147, as illustrated by the directional arrow 148 in FIG. 2, works clockwise "clockwise" and high output pressure at the A supply connection 109 in FIG Pump 103 is provided when the electric motor 147 drives the pump 103, as illustrated by the directional arrow 149 in a counterclockwise direction - counterclockwise.

To limit the pressure relief valves provided by the hydraulic pump 103, the pressure relief valves are designated by 151.

The axial piston motor 82 is alternatively rotated by the hydraulic pump 103 or its Drive motor 147 controlled, its A supply connection 152 and its B supply connection 153 acting alternatively as a pressure medium inlet and pressure medium outlet.

For the purpose of explanation, it is assumed that the axial piston motor 82 is clockwise when hydraulic oil under pressure flows in via its A supply connection 152 and flows back to the pump 103 via the B supply connection 153.

Between the A-connection of the hydraulic pump 103 and the A-connection 152 of the axial piston motor 82, on the one hand, and between its B-connection 153 and the B-connection 102 of the hydraulic pump, on the other hand, there is an unlockable back Impact valve 154 or 156 switched, which by the relatively higher pressure at the respective pump connection 149 or 102 than at the motor connection 152 or 153 connected to it in the opening direction and by the relatively higher pressure at the respective motor connection 152 or 153 than at the associated one Supply connection 149 or 102 of hydraulic pump 103 is acted upon in the blocking direction. The check valves 154 and 156 can be unlocked by acting on their control inputs 157 with the high output pressure of the hydraulic pump 103. For the relevant opening control of the unlockable check valves 154 and 156, an opening control valve 158 or 159 is assigned to each one individually, which hydraulically connects the control input of the check valve 154 or 156 to be opened and that supply connection 102 or 109 respectively Pump 103 is connected, to which the other check valve 156 or 154 is also connected. These opening control valves 158 and 159 are designed as electrically controllable 2/2-way solenoid valves, which have a spring-centered blocking position as the basic position 0 and a flow position as the excited position I, which unlocks the check valve 154 or 156 is assigned. Thereafter, if the axial piston motor 82 is to be operated clockwise, it must be the hydraulic pump 103 may also be controlled clockwise, so that pressure is provided at the A supply connection 109, which acts as a pressure medium outlet, through which the one connected between this A connection 109 of the hydraulic pump 103 and the A connection 152 of the axial piston motor 82 unlockable check valve 154 is opened by itself, while the other unlockable check valve 156 must be opened by controlling its opening control valve 158 in its flow position I, so that pressure oil flows through the motor 82 and this in the direction of rotation of the Pump 103 can rotate in the predetermined direction. The opening control valve 158 of the unlockable check valve 154, which has already been opened by the operating pressure, remains in its basic position 0. For the counter-rotating operation of the axial piston hydromotor 82, the pump 103 is activated in the opposite direction and the opening control valve 158 of the other unlockable check valve 154 is switched to its flow position I.

When the axial piston motor 52 rotates alone, it works with the hydraulic pump 103 in a closed circuit, in which the same amount of hydraulic oil flows in from the motor 82 as is displaced by the pump 103.

To extend the hollow shaft 84, pressure must be injected into the pressure chambers 161 of those linear cylinders 89 in which, according to the illustration in FIG. 3, the diameter of the cylinder bores 92 is substantially equal to the outer diameter of the plug-in tubes 93, via which hydraulic oil can be displaced into these pressure spaces 161. At the same time, hydraulic oil must be supplied from the annular spaces 113 of the hydraulic linear cylinders 91, which are provided to control the retraction movements of the hollow shaft 84 and are also connected in parallel. be pushable, the cross-sectional dimensions of the feed cylinders 89 and those of the pull-back cylinders 91 being matched to one another in such a way that the same amount of oil is displaced from the annular spaces 113 of the pull-back cylinders 91 that is fed into the pressure spaces 161 of the feed cylinders 89. The plug-in tubes 93 of the feed cylinders 89 are jointly connected to the B-supply connection 102 of the hydraulic pump via a movement control valve 162, while the plug-in pipes 104 of the return hydraulic cylinder 91 are jointly connected to the A-supply connection 109 of the hydraulic pump 3 via a further movement control valve 163 . The two movement control valves 162 and 163 are designed as 2/2-way solenoid valves, which have a blocking basic position 0 and a flow position as the excited position I. Both the movement control valves must be switched to their flow position I both for feed movements of the hollow shaft 84 and for their retraction movements. The direction of the movement is in turn determined by the direction of rotation of the electric motor 147, which drives the hydraulic pump 103. In the special embodiment shown, the feed movement direction 87 of the hollow shaft 84 is assigned the "right" operation of the hydraulic pump 103, in which operating pressure is output at the B supply connection 102 of the pump.

1 and 2, the swivel drive 42 is designed such that a clockwise rotation of the hydraulic pump 103 about a pivoting movement of the tool head 31 about its pivot axis 41 and a counterclockwise pivoting of the counterclockwise operation of the same are assigned to the same. The linear cylinders 57 and 58 arranged diametrically opposite one another are designed as single-acting cylinders, the two linear cylinders 57 imparting the clockwise rotation of the pinion 66 being hydraulically connected in parallel and the opposite ones Rotation of the pinion 66 mediated linear cylinder 58 are also hydraulically connected in parallel. The "right-turning" - as shown in FIG. 2 - upper linear cylinders 57 are connected to the B pump connection 107 via a common movement control valve 164, while the lower linear cylinders 58 are connected via a common movement control valve

166 are connected to the A connection 109 of the hydraulic pump 103. Between the motion control valves 164 and 166 and the pressure chambers to which drive pressure can be applied

167 and 168 of the upper linear cylinder 57 and the lower linear cylinder 58 of the swivel drive 42, a pressure-controlled, non-return valve 169 and 171, respectively, is switched, which, due to the relatively higher pressure in the connected pressure chambers 167 and 168, than the associated one Movement control valve 164 or 166 is acted on in the blocking direction and is acted upon in the opening direction by relatively higher pressure on the valve side.

The check valve 169 or 171, via which hydraulic oil must flow back to the hydraulic pump 103, is unlocked by the output pressure of the pump 103, under the hydraulic oil via the other check valve 171 or 169, the pressure chambers 168 or 167 of the other hydraulic cylinder 58 or 63 is supplied.

The movement control valves 164 and 166 in the special embodiment shown are designed as 3/2-way solenoid valves, which have a basic position 0, in which the releasable check valve 169 or 171 is connected to the reservoir 116 of the pressure supply unit and against the associated pump connection 102 or 109 is shut off and, as the excited position I, a flow position in which the respective unlockable check valve 169 or 171 is shut off against the reservoir 116, but with the associated supply connection 102 or 109 the hydraulic pump 103 is connected.

For the - radial - extension and retraction of the telescopic cylinder 47 of the linear drive 46 of the tool head 31, which are required as single-acting cylinders in the special embodiment shown, in which the extension is achieved by pressurizing their pressure chambers 172 and the retraction by prestressed return springs 173 ¬ telt, the hydraulic pump 103 is used in only one of its two conveying directions, in the example selected for explanation in the clockwise rotation of its drive motor 147. Accordingly, an extension control valve 174 is provided for connecting the hydraulically parallel-connected telescopic cylinder 47 to the B connection 102 of the hydraulic pump 103, which is designed as a 3/2-way solenoid valve, which has a spring-centered basic position 0, in which a flow path 176 which is released in this basic position 0, the pressure chambers 172 of the telescopic cylinders 47 can be connected to the storage container 116 of the pressure supply unit, but are blocked off from the B connection 102 of the hydraulic pump 103 and, as the excited position I, has a functional position in which one of the B supply connection 102 of the hydraulic pump 103 to the pressure chambers 172 of the telescopic cylinder 47 leading flow path 177 of the extension control valve 174 is released, but the pressure chambers 172 of the telescopic cylinder 47 are blocked off from the reservoir 116. Between the extension control valve 174 and the pressure chambers 172 of the telescopic cylinder 47, a pressure-controlled unlockable check valve 178 is connected, which is controlled by its relatively higher pressure at its valve port 179 than in the pressure chambers 172 of the telescopic cylinder 47 into its open position, by its relatively higher pressure in the Control chambers 172 as at its valve port 179 is pushed into its blocking position and in this state by acting on its control port 181 with the outlet pressure of the hydraulic pump 103 is controllable in its open position.

To control the opening of the unlockable check valve 178 in this regard, a retraction control valve 182 is provided between the control connection 181 of the check valve 178 and the B supply connection 102 of the hydraulic pump 103, which, like the extension control valve 174, is designed as a 3/2-way solenoid valve which is formed in it Spring-centered basic position 0 connects the control connection 181 of the unlockable check valve 178 to the reservoir 116 of the pressure supply unit and, in its excited position I, connects the control connection 181 of the unlockable check valve 178 to the B supply connection 102 of the hydraulic pump 103 and, in this functional position, unlocks the Check valve 178 mediates so that hydraulic oil can flow out of the pressure chambers 172 of the telescopic cylinder 47 to the reservoir 116 and the telescopic cylinder via this and the extension control valve 174 in its basic position 0 47 can be retracted into their minimal length configuration by the action of their return springs 173.

The type of extension and retraction control of the hydraulic linear cylinders 74, 76, 77 for the shuttering plate 69 of the pressing unit 29, which are also provided as single-acting hydraulic cylinders, which can be extended by pressurizing their pressure chambers 183 and by relieving the pressure of the same can be retracted under the action of return springs 184, is completely analogous to the type of control described on the basis of the movement control of the telescopic cylinder 47, so that reference can be made to this extent. The only difference is that the linear cylinders 74, 76,77 each individually a pressure-controlled pilot operated non-return valve 178 and 178 and 178 and this, in turn, ^J e j a Einfahrsteuerventil 1821.1822 and 1823 while the

Pressure coupling into the pressure chambers 183 of the linear cylinder 74,76,77 is controlled via only one extension control valve 174. Different extension strokes of the linear cylinders 74, 76, 77 can be achieved by individually controlling the entry control valve 182 1 and 1822 or 1823 respectively assigned to them with simultaneous switching back of the exit control valve in its basic position 0.

Claims

claims

1. Device for the rehabilitation of inaccessible pipelines of a gas or water supply network or a sewage system by pressing defective areas with a sealing, self-curing, viscous or pasty plastic material, with a pipe in the pipe to be rehabilitated Retractable equipment trolleys pushed or pulled by a drive trolley depending on the direction of travel as carriers for

c) a pressing unit for filling and pressing the renovation area with the sealing material and ei¬ ne

d) drive unit, by means of which the tool head, the pressing unit and the television camera can be rotated about a central longitudinal axis of the tool carriage oriented parallel or at least approximately parallel to the pipe longitudinal axis during the operation of the device, the tool head and the pressing unit using the die These individually assigned drive units can be advanced at least radially into the work area and retracted into a starting position distant therefrom, and the camera can be moved by one by means of its own swivel drive for orientation to the work area The axis running at right angles to the longitudinal axis of the drive unit can be pivoted, characterized in that the tool head (31) and the pressing unit (29) are diametrically opposite on one another with respect to the central longitudinal axis (33) of the drive unit (32) common, by means of the drive unit (32) a total of at least 360 'rotatable mounting frame (38) are arranged, and that the optical axis (37) of the camera (28) both to the working area of the pressing unit (29) and to that the tool head (31) can be oriented.

2. Apparatus according to claim 1, characterized in that the swivel angle range of the television camera (28) also includes a direction of the optical axis (37) parallel or approximately parallel to the central longitudinal axis of the sewer pipe (11) directed away from the mounting frame (38) .

3. Device according to claim 1 or 2, characterized in that a metering device is provided, preferably between the drive carriage (14) and the device carriage (27) of the device (10), by means of which components of the for filling a damaged point (26th ) used, in the mixed state of the material components hardenable material in the required mixing ratio for the pressing unit (29) can be provided, whereby the components that cannot be hardened by themselves can be conveyed from a service station.

4. Device according to one of claims 1 to 3, characterized gekenn¬ characterized in that the tool head (31), based on the perpendicular to the central longitudinal axis (33) of its rotary drive unit (32) oriented arrangement of the tool axis of rotation (43) can be pivoted forwards and backwards by at least 45 '.

5. Apparatus according to claim 4, characterized in that the pivot axis (41) of the tool head (31) intersects the central longitudinal axis (33) of the drive unit (32).

6. Device according to one of claims 1 to 5, characterized gekenn¬ characterized in that the rotary drive for the drilling, milling or grinding tool (44) with which the tool head (31) is equipped is designed as an electric motor, which is designed for speeds between 5000 and 25000 rpm and for an electrical input power of 1 / kW.

7. Device according to one of claims 1 to 6, characterized gekenn¬ characterized in that the pivot drive (57,58,61, 62,66) for adjusting the orientation of the axis of rotation of the tool drive motor (52) and / or the linear drive for the In the direction of the tool axis of rotation (43), advancing and retracting movements of the tool drive motor (52) and / or a radial drive (74, 76, 77) for the formwork shield (69) of the pressing unit (29) are designed as hydraulic drives.

8. Apparatus according to claim 7, characterized in that the hydraulic drive, by means of which the tool drive motor (52) in the direction of the tool axis of rotation (43) is displaceable, at least one multi-stage, preferably three-stage telescopic cylinder (47 and / or 48).

9. Apparatus according to claim 8, characterized in that two slim telescopic cylinders (47 and 48) are provided, which are arranged in diametrically opposite one another Corners of a housing of the tool head (31) are arranged, the central telescopic piston tubes (49) of these two telescopic cylinders (47 and 48) being connected to one another by a bridge (51) on which the drive motor (52) is between the telescopic cylinders is mounted.

10. Apparatus according to claim 8 or 9, characterized in that the at least one telescopic cylinder (47 and / or 48) of the linear drive of the tool head (31) is designed as a single-acting cylinder which by at least one return spring (173 ) in its minimum length corresponding basic position can be pushed.

11. Apparatus according to claim 8 or 9, characterized in that the / the telescopic cylinder (47 and / or 48) is / are double-acting.

12. Apparatus according to claim 7 or claim 7 in combination with one of the further claims 8 to 11, characterized gekenn¬ characterized in that two on opposite housing sides of the tool head (31) arranged rack and pinion drives are provided as a pivot drive (42) which each comprise two toothed racks (61, 62) which engage on diametrically opposite sides of the pinion (66) and linear hydraulic cylinders (57, 58) individually assigned to them.

13. Apparatus according to claim 12, characterized in that the drive cylinders (57, 58) of the swivel drives (42) are designed as single-acting cylinders which are mechanically coupled to one another via the drive pinion (66).

14. Device according to one of claims 1 to 13, characterized is characterized in that the radial drive for the formwork shield (69) of the pressing unit (29) is realized as a hydraulic tripod with three linear cylinders (74, 76 and 77) which can be controlled individually and by means of play-prone joints with the shield (69) or their Support are connected.

15. Device according to one of claims 1 to 14, characterized gekenn¬ characterized in that the work unit formed by the tool head (31) and the pressing unit (29) on the device carriage (27) parallel to its longitudinal axis (33) back and forth can be moved.

16. Apparatus according to claim 15, characterized in that the linear drive and / or its rotary drive (82) provided for displacing the working unit (31, 29) on the device carriage (27) are designed as hydraulic drives.

17. Apparatus according to claim 16, characterized in that the pressure supply unit (103) for the hydraulic An¬ drives the equipment carriage (27), the tool head (31) and the pressing unit (29) is arranged on the equipment carriage (27) an¬.

18. Device according to one of claims 15 to 17, characterized ge indicates that the rotary drive (82) of the equipment carriage

(27) is designed as an axial piston motor, preferably as a swash plate axial piston motor.

19. Apparatus according to claim 18, characterized in that the output shaft (84) of the axial piston motor (82) is designed as a hollow shaft through which flexible hose lines leading to the pressing unit (29) for the supply of sealing material to the pressing unit (29) and / or electrical supply lines for the tool head and / or the television camera (28) and / or hydraulic supply lines for the hydraulic drives of the working unit (29, 31) are routed.

20. Apparatus according to claim 19, characterized in that the hollow shaft has a in the rotor (83) of the axial piston motor (82) axially displaceable, thick-walled ring-cylindrical section (84) into which the linear drive provided for displacing the hollow shaft ( 89, 91) is integrated and a section designed as a rotary feedthrough (94) for supply lines, which is connected to the rotor (83) in a rotationally and displaceably fixed manner and which is sealed to the displaceable hollow shaft by means of an inner sealing tube (142). Section (84) is connected.

21. Apparatus according to claim 20, characterized in that the drive cylinders (89 and 91) for the feed and Rück¬ pulling movements of the hollow shaft (84) are designed as single-acting cylinders.

22. Apparatus according to claim 21, characterized in that at least two linear cylinders are provided as a feed drive and at least two linear cylinders are provided as a retraction drive, which are each grouped axially symmetrically with respect to the central longitudinal axis (33) of the axial piston motor (82) .

23. Apparatus according to claim 21 or 22, characterized in that the / the linear (s) drive cylinder (89) for the feed movements of the hollow shaft (84) through a respective bore penetrating its jacket (92) and a plug tube sealed against this (93) is / are realized, which are / are firmly connected to the rotary union (94).

24. Device according to one of claims 21 to 23, characterized ge indicates that the / the retraction cylinder (91) is / are realized by a plugged through hole (111), within which by a piston (112) which is fixed to a Plug-in tube (104) is connected, which is firmly anchored on the rotary feedthrough (94), a residual space (114) connected to the reservoir of the pressure supply unit is delimited against an annular space (113) which is at least one transverse bore (119) of the plug-in tube (104) communicates with the high-pressure connection of the pressure supply unit (103).

25. Apparatus according to claim 24, characterized in that the sum of the effective cross-sectional areas of the annular space (113) and the plug-in tube (104) of the drive cylinder

(91) for the retraction movement of the hollow shaft (84) equal to the effective cross-sectional area of the cylinder bore

(92) of the feed drive cylinder (89).