Abstract
The invention relates to a device (1) for sewage pipe work, comprising: a base unit (2), which can be moved in a sewage pipe; a rotary head (3), which is disposed on the base unit (2) and can be rotated about an axis of rotation (A) associated with the rotary head (3); a first lifting arm (4), which is rotatably mounted on the rotary head (3); a holding portion (5), which is rotatably mounted on the first lifting arm (4) and is designed to hold a working device (6); a first actuator (7) for moving the holding portion (5), the first actuator being mounted on the rotary head (3); a working circuit, which is associated with the first actuator (7); and a line, which can be connected to the working device (6); wherein the working circuit associated with the first actuator (7) extends within the device (1) from the interior of the base unit (3) to the interior of the first actuator (7), and wherein the line which can be connected to the working device (6) extends within the device (1) from the interior of the base unit (2) to the interior of the holding portion (5).
Claims
1. A device for sewer pipe work including sewer pipe rehabilitation and sewer pipe inspection work, the device comprising: a base unit movable in a sewer pipe; a rotary head which is arranged on the base unit and rotatable about an axis of rotation assigned to the rotary head; a first lifting arm rotatably mounted on the rotary head; an accommodation portion which is rotatably mounted on the first lifting arm and configured to accommodate a working device comprising a milling cutter; a first actuator mounted on the rotary head for moving the accommodation portion; a working circuit assigned to the first actuator; and a line connectable to the working device; wherein the working circuit assigned to the first actuator extends, originating from the interior of the base unit, to the interior of the first actuator inside the device, and wherein the line connectable to the working device extends, originating from the interior of the base unit, to the interior of the accommodation portion inside the device.
2. The device according to claim 1, further comprising: a second actuator rotatably mounted on the rotary head, which is configured to move the accommodation portion, and a working circuit assigned to the second actuator, wherein the working circuit assigned to the second actuator extends, originating from the interior of the base unit, to the interior of the second actuator inside the device.
3. The device according to claim 1, wherein a first rotary union assigned to the rotary head is arranged inside the base unit and forms a subsection of the working circuit assigned to the first actuator.
4. The device according to claim 3, wherein the first rotary union additionally forms a subsection of the working circuit assigned to the second actuator.
5. The device according to claim 1, further comprising: a second lifting arm rotatably mounted on the rotary head, on which the accommodation portion is rotatably mounted; a camera accommodation device arranged on the first lifting arm and/or the second lifting arm, which is configured to accommodate a camera; and a line assigned to the camera; wherein the line assigned to the camera extends, originating from the interior of the base unit, to the interior of the chamber accommodation device inside the device.
6. The device according to claim 1, wherein the rotary head is continuously and/or endlessly rotatable about the axis of rotation (A) assigned to the rotary head with respect to an angle of rotation (?) assigned to the rotary head.
7. The device according to claim 1, wherein the first actuator is mounted on the rotary head with a second rotary union, which forms a subsection of the working circuit assigned to the first actuator.
8. The device according to claim 2, wherein the second actuator is mounted on the rotary head with a third rotary union, which forms a subsection of the working circuit assigned to the second actuator, and wherein the second actuator is mounted on the rotary head along an axis of rotation (B) common to the first actuator.
9. The device according to claim 1, wherein the first lifting arm comprises a longitudinal bore which is designed as a subsection of the line connectable to the working device or which is designed to accommodate the line connectable to the working device.
10. The device according to claim 1, wherein the second lifting arm comprises a longitudinal bore which is designed to accommodate the line assigned to the camera.
11. The device according to claim 1, wherein the first actuator is a first hydraulic cylinder and wherein the working circuit assigned to the first actuator is a hydraulic circuit, and wherein the first hydraulic cylinder comprises multiple bores which are designed to form subsections of a supply section or a return section of the hydraulic circuit assigned to the first hydraulic cylinder.
12. The device according to claim 3, wherein the second actuator is a second hydraulic cylinder, and wherein the working circuit assigned to the second actuator is a hydraulic circuit, and wherein the second hydraulic cylinder comprises multiple bores which are designed to form subsections of a supply section or a return section of the hydraulic circuit assigned to the second hydraulic cylinder.
13. The device according claim 1, wherein the rotary head comprises slip rings which are configured to form a subsection of the line connectable to the working device.
14. The device according to claim 5, wherein some of the slip rings are configured to form a subsection of the line assigned to the camera.
15. The device according to claim 1, wherein the accommodation portion is mounted on the first lifting arm with a third mounting union.
Description
[0041] A specific exemplary embodiment of the invention is explained in greater detail below with reference to the accompanying drawings. The drawings show in:
[0042] FIG. 1 a perspective view of the device for sewer pipe work according to the invention;
[0043] FIG. 2 a view of a longitudinal section of selected components of the device according to the invention, wherein the longitudinal section extends through an axis of rotation of a rotary head of the device;
[0044] FIG. 3 a perspective view of a cross-section of selected components of the device according to the invention, wherein the cross-section extends through a mount of two lifting arms on the rotary head;
[0045] FIG. 4 a perspective view of a cross-section of selected components of the device according to the invention, wherein the cross-section extends through a mount of two hydraulic cylinders on the rotary head; and
[0046] FIG. 5 a perspective view of a component of hydraulic cylinders of the device, with visible internal contour lines.
[0047] As shown in FIG. 1, the device 1 according to the invention comprises a base unit 2 and a rotary head 3 arranged on the base unit 2. The rotary head 3 can be rotated continuously and endlessly about an axis of rotation A in regards to an angle of rotation a. For this purpose, the rotary head 3 comprises an internal rotary drive, not shown, with a rotary encoder, which is configured to rotate the rotary head in positive and negative directions of rotation about the axis of rotation A. A first lifting arm 4 and a second lifting arm 11 are rotatably mounted on the rotary head. The first lifting arm 4 and the second lifting arm 11 are connected to one another via a crossbar. An accommodation portion 5 is rotatably mounted on both lifting arms 4, 11, which is configured to accommodate a working device 6. In the present case, the working device 6 comprises a milling head and an associated motor which is detachably connected to the accommodation portion 5. The working device 6 may of course also comprise other tools, in particular a drill or the like. A camera accommodation device 12 is arranged on both lifting arms 4, 11, to which device a swivel camera 13 is attached via a bayonet mount. A first actuator 7, which in the present case is a first hydraulic cylinder 7, and a second actuator 9, which in the present case is a second hydraulic cylinder 9, are mounted rotatably on the rotary head 3 about a common axis of rotation B. The first hydraulic cylinder 7 is connected to the crossbar arranged between the lifting arms 4, 11 in order to move the lifting arms 4, 11 and thus the accommodation portion 5 and the working device 6 up and down, for example in the position of the rotary head 3 shown in FIG. 1. In contrast, the second hydraulic cylinder 9 is connected to the accommodation portion 5 in order to rotate the accommodation portion 5 and thus the working device 6 in a swivel range of 110? about an axis of rotation C associated with the accommodation portion 5.
[0048] The longitudinal section of the device 1 shown in FIG. 2 shows selected components of one half of the device 1 by way of example. As can be seen from 2, a first rotary union 10 extending along the axis of rotation A is arranged inside the base unit 2, which in each case forms a subsection of a hydraulic circuit associated with the first hydraulic cylinder and the second hydraulic cylinder 9. For this purpose, the first rotary union 10 comprises a cylindrical inner section and a cylindrical outer section, which each extend along the axis of rotation A of the rotary head 3. In the present case, the cylindrical inner section of the first rotary union 10 is formed to be static. In this case, the cylindrical outer section is rotatable about the axis of rotation A of the rotary head 3. The cylindrical inner section comprises several recesses along its circumferential surface which are configured to transport hydraulic fluid of the hydraulic circuit assigned to the first hydraulic cylinder and the hydraulic circuit assigned to the second hydraulic cylinder 9. In addition, the cylindrical inner section of the first rotary union 10 comprises several bores corresponding to the recesses, which are also configured to transport hydraulic fluid of the hydraulic circuit assigned to the first hydraulic cylinder and the hydraulic circuit assigned to the second hydraulic cylinder 11. The hydraulic circuits comprise a hydraulic tank 33 formed in the type of a hose for storing the hydraulic fluid. In addition, the hydraulic circuits have a common hydraulic pump 31. In contrast, each hydraulic circuit in each case comprises a hydraulic valve 32.
[0049] As can be seen from the conjunction of FIGS. 1 to 4, a plurality of slip rings 19 are arranged inside the rotary head 3 in regions adjacent to the outer circumferential surface of the rotary head 3, which rings are configured to form a subsection of a line 8 shown in Figured 4 which can be connected to the working device 6 and a subsection of a line 14 shown in FIG. 4 which is assigned to the camera 13. This configuration of the device 1 and the arrangement of the first rotary union 10 make it possible to realize an internal routing of the hydraulic circuits assigned to the two hydraulic cylinders 7, 9, the line 8 connectable to the working device and the line 14 assigned to the camera in the transition region between the base unit 2 and the rotatable rotary head 3.
[0050] As can be taken from the conjunction of FIGS. 2 to 4, the rotary head 3 comprises a supply bore 21 and a return bore 22 of the hydraulic circuit assigned to the first hydraulic cylinder 7, which communicate with the first rotary union 10. In addition, the rotary head 3 comprises a supply bore 23 and a return bore 24 of the hydraulic circuit assigned to the second hydraulic cylinder 9, which communicate with the first rotary union 10. The supply bore 21 and the return bore 22 of the hydraulic circuit assigned to the first hydraulic cylinder 7 communicate with a second rotary union 15, which supports the first hydraulic cylinder 7 on the rotary head 3. The supply bore 23 and the return bore 24 of the hydraulic circuit assigned to the second hydraulic cylinder 9 communicate with a third rotary union 16, which supports the second hydraulic cylinder 9 on the rotary head 3.
[0051] As shown in FIG. 5, the two hydraulic cylinders 7, 9 each comprise a first hydraulic cylinder bore 27 extending substantially centrally and axially, which penetrates a rotary union accommodation portion of the corresponding hydraulic cylinder 7, 9 and communicates with a hydraulic fluid chamber of the corresponding hydraulic cylinder 7, 9. In addition, the hydraulic cylinders 7, 9 each have a second hydraulic cylinder bore 28 extending substantially perpendicular to the first hydraulic cylinder bore 27. Furthermore, the hydraulic cylinders 7, 9 each comprise a de-centrally arranged third hydraulic cylinder bore 29 extending substantially parallel to the first hydraulic cylinder bore 27. In addition, the two hydraulic cylinders 7, 9 each comprise a fourth hydraulic cylinder bore 30 extending substantially perpendicular to the third hydraulic cylinder bore 29 and connecting the rotary union accommodation portion.
[0052] As can be seen from FIGS. 2 to 5, the hydraulic circuit assigned to each of the two hydraulic cylinders 7, 9 is divided into a supply section and a return section. The respective supply section extends from the hydraulic tank 33 via the hydraulic pump 31, the corresponding hydraulic valve 32, the first rotary union 10, the corresponding supply bore 21 or 23, the second rotary union 15 or third rotary union 16, and the first hydraulic cylinder bore 27 into the hydraulic fluid chamber of the respective hydraulic cylinder 7, 9. Of course, the supply section may extend through other additional components not mentioned herein. The return section extends from the second hydraulic cylinder bore 28, via the third decentrally arranged hydraulic cylinder bore 29, the fourth hydraulic cylinder bore 30 connecting the third hydraulic cylinder bore 29 and the rotary union accommodation portion, the second rotary union 15 or the third rotary union 16, the corresponding return bore 22 or 24 and the first rotary union 10 into the hydraulic fluid tank 33. Of course, the return section can also extend through other additional components not mentioned here.
[0053] Due to this configuration, the two hydraulic circuits extend inside the device 1 and are therefore protected from damage. In addition, the field of view of the camera 13 shown in FIG. 1 is not impaired by conventionally used, external hydraulic hoses.
[0054] As can be seen from the conjunction of FIG. 1 to FIG. 4, the first lifting arm 4 is mounted on the rotary head 3 by means of a first mounting union 20 and the second lifting arm 11 by means of a second mounting union 25, wherein the two mounting unions 20 and 25 are configured to guide the line 8 connectable to the working device 6 and the line 14 assigned to the camera 13 from the rotary head 3 into the first lifting arm 4 and the second lifting arm 11. The first lifting arm 4 has a longitudinal bore 17, which accommodates the line 8 connectable to the working device 6 and leads to a third mounting union (not illustrated), by means of which the holding device 5 is mounted on the first lifting arm 4. The third mounting union is designed similar to the first mounting union 20 shown in FIG. 3. In addition, the second lifting arm 11 comprises a longitudinal bore 18 and a transverse bore 26, which together guide the line 14 associated with the camera 13. The camera accommodation device 12 shown in FIGS. 1 and 2 has a bore corresponding to the transverse bore 26, which is not shown, so that the line 14 assigned to the camera 13 can be guided into the interior of the camera accommodation device 12, where a connector plug, which is not shown, is arranged for connection to the camera 13. In the present case, the line 8, which can be connected to the working device 6, like the two hydraulic circuits and the line 14 assigned to the camera 13, extends inside the device 1 in such a way that a cross-section of the line 8 (an X-Y sectional surface) is enclosed by the device 1, from four coordinate directions, perpendicular to the direction of travel with respect to a Cartesian coordinate system connected to the cross-section of the line 8, the zero point of which is located at the center of the cross-section of the line 8.
[0055] Due to this configuration, the line 8 connectable to the working device 6 and the line 14 assigned to the camera 13 extend inside the device 1 and are thereby protected from damage. In addition, the field of view of the camera 13 shown in FIG. 1 is not impaired by external lines.
LIST OF REFERENCE CHARACTERS
[0056] 1 device for sewer pipe work [0057] 2 base unit [0058] 3 rotary head [0059] 4 first lifting arm [0060] 5 accommodation portion [0061] 6 working device [0062] 7 first hydraulic cylinder/first actuator [0063] 8 line connectable to working device [0064] 9 second hydraulic cylinder/second actuator [0065] 10 first rotary union [0066] 11 second lifting arm [0067] 12 camera accommodation device [0068] 13 camera [0069] 14 line assigned to the camera [0070] 15 second rotary union [0071] 16 third rotary union [0072] 17 longitudinal bore of the first lifting arm [0073] 18 longitudinal bore of the second lifting arm [0074] 19 slip rings [0075] 20 first mounting union [0076] 21 supply bore of first hydraulic circuit located in rotary head [0077] 22 return bore of first hydraulic circuit located in rotary head [0078] 23 supply bore of second hydraulic circuit located in rotary head [0079] 24 return bore of second hydraulic circuit located in rotary head [0080] 25 second mounting union [0081] 26 transverse bore of second lifting arm [0082] 27 first hydraulic cylinder bore [0083] 28 second hydraulic cylinder bore [0084] 29 third hydraulic cylinder bore [0085] 30 fourth hydraulic cylinder bore [0086] 31 hydraulic pump [0087] 32 hydraulic valve [0088] 33 hydraulic tank [0089] A axis of rotation of the rotary head [0090] B axis of rotation of the first and second hydraulic cylinders [0091] C axis of rotation of the accommodation portion [0092] ? angle of rotation
