Turning device

Abstract

Bending device (10) for a sewer inspection and / or cleaning system, comprising: - a support (11) for attaching work equipment to the turning device (10), - a return means (13) cooperating with the carrier (11), and - at least one adjusting means cooperating with the carrier (11) for deflecting the carrier (11) from a neutral position against a restoring force of the restoring means (13), wherein - the adjusting means comprises at least one shape memory element (20) which reversibly changes its shape depending on at least one influencing variable, - the change in shape of the shape memory element (20) causes the carrier (11) to deflect from the neutral position, and - the restoring means (13) is designed as a bending rod which has a certain restoring force, wherein the restoring force of the bending rod causes the carrier (11) to be brought back into the neutral position.

Description

Field of the invention

[0001] The invention relates to a turning device, in particular for an inspection and / or cleaning system, preferably a sewer inspection and / or cleaning system, as well as an inspection and / or cleaning system, in particular a sewer inspection and / or cleaning system with a turning device according to the invention. Background of the invention and prior art

[0002] To carry out pipe or sewer inspections, or sewer cleaning or maintenance work, it is known to use so-called sewer inspection and / or maintenance systems. These systems can be inserted into the pipe or sewer pipe to be inspected or maintained and can be moved, for example, traversed, or advanced within the sewer pipe. A service sewer is usually a highly branched pipe network that flows into a main sewer, into which the sewer inspection and / or maintenance systems are inserted.

[0003] The inspection and maintenance systems must be designed in such a way that they can branch off from the main channel into a secondary channel in order to be able to inspect and maintain the secondary channel as well.

[0004] Known inspection or cleaning systems use guide and / or pressure relief devices that protrude beyond the contour of the front end of the inspection or maintenance system and can be pivoted relative to the inspection or maintenance system.

[0005] Such a system is known, for example, from DE 203 17 314 U1. A camera unit is arranged at the front end of the inspection system, which is rotatable about an axis running in the feed direction. A steering rod is attached to a rotating mechanism. When approaching a side channel, the rotating mechanism is rotated so that the steering rod protrudes at least partially into the side channel. As the inspection system advances further, the steering rod rests against the side wall of the side channel, thus causing the inspection system to bend into the side channel.

[0006] From DE 101 02 056 A1, a satellite camera of a pipe inspection system is known, on which a guide device is arranged which is provided for deflecting the satellite camera, wherein the guide device is designed as a push-off device which can be moved beyond the outer contour of the satellite camera.

[0007] However, such systems have the disadvantage that the guidance or steering devices that extend beyond the camera contour may be in the field of view of the camera image, thus negatively impacting the inspection. Furthermore, these guidance devices can negatively impact the mobility of, for example, a camera head.

[0008] If a tool, such as a milling tool, is provided instead of a camera head, the guidance device can even prevent the tool from reaching the area to be machined if appropriate means are not provided by which the steering rod can be retracted or folded away.

[0009] DE 103 06 714 B4 discloses a device for internal pipe work that can be bent over its length in a worm-like manner and can navigate a pipe branching system. The device is defined by a headpiece with a camera on one side and an endpiece on the other. At least three centered and length-adjustable tension or compression elements are arranged in the body for actively bending the device. Object of the invention

[0010] The invention is therefore based on the object of at least partially avoiding the disadvantages known from the prior art and of providing solutions with which it is possible to turn into a side channel better and more easily without negatively affecting the function of the inspection and / or maintenance units. Inventive solution

[0011] According to the invention, this object is achieved with a turning device and with an inspection and / or cleaning system with a turning device according to the invention according to the independent claims. Advantageous developments and refinements of the invention are specified in the respective dependent claims.

[0012] Accordingly, a turning device for a sewer inspection and / or cleaning system is provided, comprising: - a support for attaching work equipment to the turning device, - a return means cooperating with the carrier, and - at least one adjusting means cooperating with the carrier for deflecting the carrier from a neutral position against a restoring force of the restoring means, wherein - the adjusting means has at least one shape memory element which reversibly changes its shape depending on at least one influencing variable, - the change in shape of the shape memory element causes the carrier to deflect from the neutral position, and - the restoring means is designed as a bending rod which has a certain restoring force, whereby the restoring force of the bending rod causes the carrier to be brought back into the neutral position.

[0013] In order to turn the inspection and / or cleaning system into a side channel, the actuating means or the shape memory element of the actuating means can advantageously be activated so that the shape of the shape memory element changes. As a result of this change in the shape memory element, the carrier, i.e. the front end of the turning device, is deflected from its neutral position so that the front end of the turning device points or projects into the side channel and the inspection and / or cleaning system can thus be moved into the side channel. After entering the side channel, the shape memory element of the actuating means can be deactivated again so that the carrier returns to its neutral position due to the restoring force of the restoring means, in which the shape memory element has its original shape.

[0014] This prevents, in particular, guide and / or pressure relief devices from protruding beyond the outer contours of the front end of the inspection and / or cleaning system after bending into the side channel and thus negatively influencing inspection or maintenance.

[0015] The turning device may further comprise a fastening unit for fastening the turning device to a carriage and / or to a sliding unit, for example a sliding eel, of the inspection and / or cleaning system.

[0016] The influencing variable can be the temperature of the shape memory element, whereby the temperature required for a predetermined deflection of the carrier from the neutral position can be applied directly or indirectly to the shape memory element. Depending on the applied temperature, it is thus advantageously possible to deflect the carrier by different amplitudes.

[0017] The shape memory element can be coupled to a control and / or regulating device adapted to apply the required temperature to the shape memory element. Advantageously, the control and / or regulating device can be adapted to feed electrical current into the shape memory element to thereby heat the shape memory element and thus cause a change in the shape of the shape memory element.

[0018] The shape memory element may comprise an elongated shape memory element, in particular shape memory wire, which changes its length, preferably reduces it, depending on the influencing variable.

[0019] The adjusting means is preferably arranged eccentrically to the restoring means, with the adjusting means being connected to the support on one side and to the fastening unit on the other. As a result, when the shape memory element is subjected to a predetermined temperature, the length of the shape memory element is reduced, so that the shape memory element is shorter than the restoring means, which causes the bending device to bend and thus deflect the support from its neutral position.

[0020] In one embodiment of the invention, the shape memory element of the actuating means - be directly or indirectly connected with the carrier, and - be connected directly or indirectly to the fastening unit.

[0021] The adjusting means may additionally comprise at least one tension element, which - on the one hand directly or indirectly with the shape memory element and - on the other hand, is directly or indirectly connected to the support or to the fastening unit. This allows the material required for the shape memory element to be significantly reduced, thus ensuring cost-effective production of a bending device according to the invention.

[0022] The indirect connection can have a pulley system, which has the advantage that the shape memory element has to provide lower forces for deflecting the support, so that even cost-effective shape memory elements can be used.

[0023] The adjusting means can be assigned at least one deflection device, in particular a deflection roller, which is arranged eccentrically to the return means.

[0024] In one embodiment of the invention, the bending device can have at least one guide means arranged between the support and the fastening unit, as well as concentrically on the return means, and firmly connected to the return means. The guide means has at least one through-hole extending substantially parallel to the longitudinal axis of the bending device, through which the shape memory element and / or the tension element are guided. This ensures that the shape memory element and / or the tension element run along a predetermined path upon activation or deactivation of the shape memory element, which ensures safe and, in particular, targeted deflection of the support.

[0025] In one embodiment of the invention, the return means can have a through-channel through which supply lines, in particular power and / or data lines and / or a water hose, in particular a high-pressure hose, can be passed. This also allows the lines required to supply the working equipment arranged on the support to be arranged in or within the turning device, so that no supply lines need to run outside the turning device.

[0026] It is advantageous if the return means has a return force to return the deflection device to the neutral position, especially when the actuating means is not or no longer exposed to a temperature. This also ensures that the deflection device automatically returns to the neutral position in the event of an interruption in the power supply.

[0027] It is advantageous if the deflection device has a protective tube that is connected to the support on one side and to the fastening unit on the other. The actuating means and the restoring means, and optionally the other elements of the deflection device, are arranged in the protective tube. It is advantageous if the protective tube is connected to the support and the fastening unit in an airtight and / or fluid-tight manner.

[0028] A circuit board containing the control and / or regulating device can be arranged on the fastening unit.

[0029] In a particularly advantageous embodiment of the invention, the deflection device can have at least three adjusting means which are preferably arranged uniformly around the return means in the radial direction in order to enable the carrier to be deflected from the neutral position in any desired direction and with any desired amplitude.

[0030] In a particularly advantageous embodiment of the invention, the bending device has exactly three adjusting means, each of which is arranged offset from one another by an angle of 120° in the radial direction around the return means.

[0031] In one embodiment of the invention, the adjusting means can comprise a number of tilting elements, wherein two tilting elements can be moved relative to each other about a rotation axis by means of the shape memory element.

[0032] It is advantageous if two tilting elements are coupled to each other with a shape memory element, whereby the change in shape of the shape memory element causes the two tilting elements to move around the axis of rotation and thus the deflection of the carrier from the neutral position.

[0033] Alternatively or additionally, the tilting elements can have through-holes through which the shape memory element and / or the tension element are guided. The change in shape of the shape memory element causes two tilting elements to move relative to each other around the axis of rotation, thus causing the carrier to deflect from the neutral position. A tension element guided through the through-holes is coupled directly or indirectly to the shape memory element.

[0034] In an advantageous embodiment of the invention, an actuating means forms an actuating means module, wherein a plurality of actuating means modules are arranged one behind the other along the longitudinal axis of the bending device and eccentrically to the return means, wherein each actuating means module is adapted to deflect the carrier by a predetermined angle, wherein the sum of the individual deflection angles forms the total deflection angle of the carrier.

[0035] This makes it possible, for example, to bend the turning device to varying degrees at different sections. It would even be possible to bend the turning device in one direction in a first section and in a different, perhaps opposite, direction in a second section.

[0036] The invention further provides an inspection and / or cleaning system, in particular a sewer inspection and / or cleaning system, which has at least one turning device according to the invention.

[0037] The inspection and / or cleaning system can be designed as a sliding system, wherein a sliding eel is arranged on the fastening unit of the turning device.

[0038] In an alternative embodiment of the invention, the inspection and / or cleaning system may comprise a carriage on which the turning device is arranged.

[0039] For example, a camera or a camera module, a flushing head, a gripping tool, a milling machine or the like can be arranged or fastened to the support of the turning device, these devices being supplied with energy, water, etc. via the supply lines passing through the core of the turning device.

[0040] The deflection device according to the invention or the inspection and / or cleaning system according to the invention is not only suitable for use in sewer or pipe systems. They can also be used for the inspection and / or maintenance of inaccessible areas, such as in industrial facilities. Furthermore, the deflection device according to the invention can be used not only in inspection and / or cleaning systems, but also anywhere where equipment or devices need to be deflected to enable a change of direction. Short description of the characters

[0041] Further details and features of the invention, as well as concrete, particularly advantageous embodiments of the invention, will become apparent from the following description in conjunction with the drawing. It shows: Fig. 1 shows an embodiment of a turning device according to the invention with an adjusting means; Fig. 2 shows an example of a turning device according to the invention with an alternatively designed actuating means; Fig. 3 shows a further example of a turning device according to the invention with a further alternative embodiment of an actuating means; Fig. 4 shows a further alternative embodiment of an actuating means of a turning device according to the invention; Fig. 5 shows yet another alternative embodiment of an actuating means of a turning device according to the invention; Fig. 6 an example of a turning device according to the invention with two adjusting means; and Fig. 7 a concrete example of a turning device according to the invention in a perspective view, wherein the turning device has at least two adjusting means. Detailed description of the invention

[0042] Fig. 1 shows a non-scale schematic diagram of a turning device 10 according to the invention.

[0043] The bending device 10 essentially comprises a carrier 11, a fastening unit 12, a return means 13, an adjusting means and a protective hose 14.

[0044] Working equipment, for example an inspection camera or a camera module, gripping tools, flushing nozzles or a flushing head, milling means or the like can be arranged or fastened to the carrier 11. For example, a push rod of a sewer inspection system (not shown here) can be connected or fastened to the fastening unit 12. Advantageously, the control board 15, on which the control and / or regulating devices 30 required for controlling or regulating the deflection are arranged, is arranged in the fastening unit. Control / data cables and / or water lines, for example a high-pressure flushing hose, can be fed to the board 15 or the fastening unit 12. The cables orLines 16 can be guided through the turning device 10 to the carrier via a corresponding channel, for example to supply a camera unit arranged on the carrier with energy or to supply a rinsing nozzle arranged on the carrier 11 with rinsing water.

[0045] At the Fig. In the bending device 10 shown in Figure 1, the restoring means is designed as a bending rod 13, which has a certain restoring force. After the support 11 is deflected from its neutral position, the restoring force of the bending rod 13 causes the support 11 to be returned to its neutral position. Instead of the bending rod 13, the bending device 10 can also have a core that has a through-channel through which the lines or hoses 16 can be passed. The core 13 can also have a restoring force for returning the support to its neutral position.

[0046] The adjusting means is provided to deflect the support from a neutral position against the restoring force of the restoring means 13. Figure (a) shows the deflection device 10 with the support in a neutral position. Figure (b) shows the deflection device with the support 11 deflected from its neutral position by bending the deflection device.

[0047] To deflect the carrier 11 from its neutral position, the adjusting means is shortened so that the bending device 10 is bent upwards, i.e. in the direction of the adjusting means, against the restoring force of the restoring means 13.

[0048] At the Fig. In the embodiment of a bending device 10 according to the invention shown in Figure 1, the actuating means comprises a shape memory element 20, which here is designed as an elongated shape memory wire. The shape memory element 20 is connected on the one hand to the fastening unit 12 and on the other hand to the carrier 11, wherein the shape memory element 20 runs or is arranged eccentrically to the restoring means 13, i.e. radially outside the restoring means 13. The shape memory element 20 is coupled to the control and / or regulating device 30 such that the control and / or regulating device can apply a physical variable to the shape memory element 20, which causes a change in the shape of the shape memory element 20. The change in the shape of the shape memory element 20 is preferably such that when the shape memory element 20 is subjected to the physical variable, the length of the shape memory element is reduced.Due to the reduced length of the shape memory element 20, the carrier 11 is deflected upwards.

[0049] In the embodiment of a bending device according to the invention shown here, materials are used for the shape memory element 20 that change their shape or length when exposed to a temperature change, for example, an increase in temperature. The use of shape memory elements as adjusting means has the advantage that very high adjusting forces can be achieved with very little material. This makes it possible to provide a particularly space-saving adjusting means, which in turn enables the production of very compact and space-saving bending devices.

[0050] It has proven advantageous to use shape memory alloys or shape memory polymers for the shape memory element 20, which exhibit the so-called two-way effect, i.e., they return to their original shape upon cooling. Advantageous shape memory alloys include nickel-titanium, nickel-titanium-copper, copper-zinc, copper-zinc-aluminum, copper-aluminum-nickel, iron-nickel-aluminum, iron-manganese, silicon, or zinc-gold-copper.

[0051] The heating of the shape memory element 20 required to deflect the deflection device can be achieved, for example, via resistance elements, inductive heating, or the like. In a simple form, the shape memory element 20 is subjected to an electric current, which causes a corresponding heating of the shape memory element.

[0052] The protective tube 14 is connected to both the carrier 11 and the fastening unit 12, with this connection preferably being airtight and / or fluid-tight. The restoring means 13 and the shape memory element 20 are arranged inside the protective tube 14, with the restoring means 13 also being firmly connected to the carrier 11 and the fastening unit 12. Materials that are particularly suitable for the protective tube include break-resistant, abrasion-resistant, yet flexible materials.

[0053] Fig. 2 shows an alternative embodiment of a turning device 10 according to the invention.

[0054] The basic structure of the Fig. The turning device 10 shown in Figure 2 essentially corresponds to the one shown in Fig. 1. The only difference is the design of the adjusting means used to deflect the carrier 11 from the neutral position.

[0055] The actuating means here comprises a shape memory element 20, a tension element 21, and a pulley block 22. The pulley block 22 is connected, on the one hand, to the fastening unit 12 via a tension element 21. On the other hand, the pulley block 22 is connected to the support 11 via another tension element 21. Wires, ropes, or the like can be used as tension elements, for example. To enable a large number of deflection cycles with a constant deflection amplitude, it is advantageous if the tension elements 21 do not change their length when subjected to a tensile force.

[0056] The shape memory element 20 is arranged in the pulley 22, the length of which reduces when heated, so that the distance between the two rollers of the pulley 22 is also reduced and thus causes the bending device 10 to bend, as shown in Figure (b) of the Fig. 2 shown.

[0057] The use of a pulley 22 as a component of the actuating means has the advantage that the actuating forces to be provided by the shape memory element 20 are kept low.

[0058] Fig. 3 shows a further embodiment of a turning device 10 according to the invention. Fig. The turning device shown in Figure 3 has essentially the same basic shape as the one shown in Fig. 1. The difference essentially lies in the fact that the adjusting means comprises a tension element 21, a shape memory element 20, and a deflection device, for example, a deflection roller 23. The shape memory element 20 is connected here, on the one hand, to the fastening unit 12 via a tension element 21 and, on the other hand, to the carrier 11 via another tension element 21. However, the shape memory element 20 can also be connected directly to the carrier on one side or directly to the fastening unit on the other side.

[0059] In Figure (a), the bending device is shown in a neutral position. Heating the shape memory element 20 shortens its length, causing the bending device 10 to bend toward the actuating means, while the tension element 21, which can be a wire, a rope, or the like, is deflected around the roller 23.

[0060] Fig. 4 shows an alternative embodiment of an actuating means of a turning device according to the invention, wherein in figure (a) the actuating means is shown in a neutral position and in figure (b) the actuating means is shown in a deflected position.

[0061] The adjusting means here comprises a number of tilting elements 25, wherein two adjacent tilting elements are movable relative to one another about a rotation axis 25a, ie are rotatable about the rotation axis 25a, so that the tilting elements 25 move towards one another on one side of the rotation axis.

[0062] Between each two tilting elements 25, a shape memory element 20 is arranged, which reduces its length when heated, so that the two tilting elements 25 coupled to the shape memory element 20 are moved toward each other around the rotation axis 25a. The shape memory elements 20 can either be connected directly to the respective tilting elements on both sides, or, as shown in Fig. 4, each be coupled to the respective tilting elements 25 via a tension element 21. It is advantageous that the shape memory elements 20 can be heated independently of one another and to different degrees, so that different deflection angles can be set between each two tilting elements. The first tilting element is preferably fixedly arranged on the fastening unit 12, or as shown in Fig. 4, connected to the fastening unit 12 via a tension element 21. Each of the individual shape memory elements 20 is further coupled to the control and / or regulating device 30.

[0063] The Fig. The adjusting device shown in Fig. 4 can also be arranged within the protective tube of the bending device 10, wherein the last or right tilting element 25 is firmly connected to the carrier either directly or indirectly, for example via another stable, preferably non-bendable element.

[0064] The Fig. The adjusting means shown in Figure 4 can be an adjusting means module, wherein several such adjusting means modules can be arranged one behind the other along the longitudinal axis of the bending device. This ensures that different sections of the bending device 10 can be bent independently of one another.

[0065] Furthermore, such an actuating module can be equipped with the Fig. 1 to Fig. 3 shown adjusting devices.

[0066] Fig. 5 shows an alternative embodiment of an actuating means of a turning device according to the invention, wherein in figure (a) the actuating means is shown in a neutral position and in figure (b) the actuating means is shown in a deflected position.

[0067] The adjusting means here also has a number of tilting elements 25, wherein two tilting elements are movable relative to each other about a rotation axis 25a, as described with reference to Fig. 4 explained.

[0068] The tilting elements 25 have through-bores which preferably run parallel to the longitudinal axis of the bending device 10. A tension element 21 is passed through the bores and is connected at one end to the last tilting element 25 and at the other end to the fastening unit 12 via a shape memory element 20. Heating the shape memory element 20 causes the overall length of the shape memory element and tension element to be reduced, so that the tilting elements 25 tilt against one another and thus cause the bending device to deflect. Here too, it is advantageous if the first, i.e. left, tilting element 25 is firmly connected to the fastening unit or is arranged stationary relative to the fastening unit 12 so that this tilting element cannot be moved or tilted.

[0069] The support 11 of the turning device can be arranged on the last, ie right, tilting element 25.

[0070] Also in Fig. The actuating means shown in Figure 5 can form an actuating means module, so that several such actuating means modules can be arranged one behind the other along the longitudinal axis of the bending device in order, for example, to define sections of the bending device which can be deflected or bent independently of one another and to different degrees.

[0071] In Fig. 4 and Fig. 5, adjusting means are shown which have four tilting elements 25. According to the invention, two, three, or more than four tilting elements can also be provided.

[0072] Fig. 6 shows a further embodiment of a turning device 10 according to the invention.

[0073] The structure essentially corresponds to that in Fig. 1. In contrast to the turning device shown in Fig. 1 shown turning device has the Fig. The bending device 10 shown in Figure 6 has two shape memory elements or shape memory wires 20, each of which is connected to the carrier 11 and the fastening unit 12 and arranged radially outside the restoring means or bending rod 13. By providing two shape memory elements 20, the bending device can be bent or deflected in two directions, namely in the direction of the first shape memory element and in the direction of the second shape memory element. If both shape memory elements are heated simultaneously, so that the two shape memory elements shorten to the same or different extents, the bending device 10 can also be deflected or bent in a direction that lies between the two shape memory elements.

[0074] In Figure (a) the turning device 10 is shown in a non-deflected position and in Figure (b) in a deflected position.

[0075] When providing three shape memory elements or shape memory wires 20 (or when providing three adjusting means, as described with reference to Fig. 2 to Fig. 5), which are arranged uniformly in the radial direction around the bending rod or core 13, the bending device 10 can be deflected within a radius of 360° in any direction and by any amplitude, wherein the desired deflection direction and deflection amplitude are achieved by appropriate heating of the respective shape memory elements 20. More than three adjusting means can also be provided to enable deflection or bending of the bending device 10 in any direction.

[0076] At the Fig. The bending device 10 according to the invention shown in Figure 6 has a number (here two) of guide means 24, which can be designed as guide discs and which have a bore for each shape memory element, which extends substantially parallel to the longitudinal axis of the bending device 10. The shape memory elements or the shape memory wires 20 are guided through the bores 24a. Furthermore, the guide means 24 are preferably firmly connected to the core or to the bending rod 13. This ensures that the shape memory elements 20 always run along a predetermined path during heating and cooling, as well as when the bending device is in a neutral position.

[0077] In an alternative, in Fig. 6, the through holes 24a of the guide means 24 can be dispensed with, wherein the shape memory elements or shape memory wires 20 extending between two guide means 24 or between a guide means 24 and the fastening unit 12 or between a guide means 24 and the carrier 11 are firmly connected to the respective guide means 24 or carrier 11 or fastening unit 12. In the embodiment shown in Fig. The example of a bending device 10 according to the invention shown in Figure 6 would accordingly have six individual shape memory elements or shape memory wires 20, which can preferably be heated independently of one another and to different degrees. This advantageously makes it possible, for example, for the first section of the bending device 10 assigned to the fastening unit 12 to be bent upwards, while the second section, extending between the two guide means 24, is bent downwards. By providing nine shape memory elements 20, which are arranged uniformly in the radial direction around the core or bending rod 13, the three sections of the bending device could be bent independently of one another in any desired direction and to different degrees.

[0078] Fig.Figure 7 shows a concrete example of a turning device according to the invention, with Figure (a) showing the turning device 10 in a perspective view and Figure (b) showing a side view. A support 11 is provided at the front end, to which a camera unit or camera module can be plugged, for example, via an electrical plug connection. At the rear end, the turning device 10 has a fastening unit 12, to which, for example, a sliding eel of a sewer inspection system can be connected or attached.

[0079] The core or bending rod 13 is located inside the protective tube 14, and a number of shape memory elements 20 are arranged around the bending rod, allowing the bending device 10 to be deflected in any desired direction. The core or bending rod 13 has a continuous channel through which power and / or data lines can be routed, on the one hand to supply the camera arranged on the carrier with energy and, on the other hand, to transmit control commands to the camera and / or to transmit image data from the camera to a control device. A circuit board with the control and / or regulating device is arranged in the fastening unit 12, wherein the fastening unit 12 has corresponding connection means or connection contacts, for example, to transmit control commands to the control and / or regulating device.The control and / or regulating device is in turn coupled to the shape memory elements 20 in order to control them accordingly for a deflection of the bending device 10, ie to heat them accordingly. Reference symbol: 10 Turning device 11 supports for attaching work equipment 12 Mounting unit 13 Restoring means, in particular core or bending rod 14 Protective hose 15 Circuit board of the control and / or regulating device 16 Control / data cable and / or water supply line (hose or high-pressure hose) 20 shape memory element 21 Tension element (e.g. wire, rope) 22 pulley 23 Deflection device (e.g. deflection pulley) 24 Guide means (e.g. guide disc) 24a Through hole in the guide means 25 tilting elements 25a Rotation axis 30 Control and / or regulating device LA longitudinal axis

Claims

[1] Turning device (10) for a sewer inspection and / or cleaning system, comprising: - a support (11) for attaching work equipment to the turning device (10), - a return means (13) cooperating with the carrier (11), and - at least one adjusting means cooperating with the carrier (11) for deflecting the carrier (11) from a neutral position against a restoring force of the restoring means (13), wherein - the adjusting means comprises at least one shape memory element (20) which reversibly changes its shape depending on at least one influencing variable, - the change in shape of the shape memory element (20) causes the carrier (11) to deflect from the neutral position, and - the restoring means (13) is designed as a bending rod which has a certain restoring force, wherein the restoring force of the bending rod causes the carrier (11) to be brought back into the neutral position. [2] Bending device according to the preceding claim, wherein it comprises a fastening unit (12) for fastening the turning device (10) to a carriage and / or to a sliding unit of the inspection and / or cleaning system. [3] Bending device according to one of the preceding claims, wherein the influencing variable is the temperature of the shape memory element (20) and wherein the temperature required for a predetermined deflection of the carrier (11) from the neutral position can be applied to the shape memory element (20) directly or indirectly by a control and / or regulating device (30) coupled to the shape memory element, wherein the control and / or regulating device (30) is adapted to feed electrical current into the shape memory element (20) in order to heat it thereby. [4] Turning device according to one of the preceding claims, wherein - the shape memory element (20) comprises an elongated shape memory element which changes its length depending on the influencing variable, and / or - the adjusting means is arranged eccentrically to the return means (13), wherein the adjusting means is connected on the one hand to the carrier (11) and on the other hand to the fastening unit (12). [5] Bending device according to the preceding claim, wherein the shape memory element (20) of the actuating means - is directly or indirectly connected to the carrier (11), and - is connected directly or indirectly to the fastening unit (12), and / or wherein the adjusting means additionally comprises at least one tension element (21) which - on the one hand directly or indirectly with the shape memory element (20) and - on the other hand, is connected directly or indirectly to the support (11) or to the fastening unit (12). [6] Bending device according to the preceding claim, wherein the indirect connection comprises a pulley (22). [7] Bending device according to one of the preceding claims, wherein the actuating means is assigned at least one deflection device (23) which is arranged eccentrically to the return means (13). [8] Bending device according to one of the preceding claims, wherein it has at least one guide means (24) which is arranged between the carrier (11) and the fastening unit (12) and concentrically on the return means (13) and is firmly connected to the return means (13), wherein the guide means (24) has at least one through hole (24a) running substantially parallel to the longitudinal axis (LA) of the bending device, through which the shape memory element (20) and / or the tension element (21) is guided. [9] Bending device according to one of the preceding claims, wherein the return means (13) has a through-channel through which supply lines can be passed. [10] Bending device according to one of the preceding claims, wherein it comprises a protective tube (14) which is connected in an air-tight and / or fluid-tight manner on the one hand to the carrier (11) and on the other hand to the fastening unit (12) and in which the adjusting means and the restoring means (13) are arranged. [11] Bending device according to one of the preceding claims, wherein it comprises at least three adjusting means arranged uniformly around the return means (13) to enable deflection of the carrier (11) from the neutral position in any direction. [12] Bending device according to one of the preceding claims, wherein the adjusting means comprises a number of tilting elements (25), wherein two tilting elements are movable relative to each other about an axis of rotation (25a) by means of the shape memory element, wherein - two tilting elements (25) are coupled to one another by means of a shape memory element (20), wherein the change in shape of the shape memory element (20) causes the two tilting elements to move about the axis of rotation (25a) and thus the deflection of the carrier (11) from the neutral position, and / or - the tilting elements (25) have through-bores through which the shape memory element (20) and / or the tension element (21) are guided, wherein the change in shape of the shape memory element (20) causes two tilting elements to move relative to one another about the axis of rotation (25a) and thus cause the carrier (11) to deflect from the neutral position. [13] Bending device according to one of the preceding claims, wherein an adjusting means forms an adjusting means module and wherein a plurality of adjusting means modules are arranged one behind the other along the longitudinal axis (LA) of the bending device, wherein each adjusting means module is adapted to deflect the carrier (11) by a predetermined angle, wherein the sum of the individual deflection angles forms the total deflection angle of the carrier. [14] Sewer inspection and / or cleaning system, comprising at least one turning device according to one of the preceding claims, wherein the sewer inspection and / or cleaning system - is designed as a sliding system, wherein a sliding eel is arranged on the fastening unit (12), and / or - has a carriage on which the turning device is arranged.

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