Carriage with milling device for pipe rehabilitation

Abstract

The invention relates to a carriage with a milling device for pipe rehabilitation. The object is to create a carriage in which a milling head can reach a large processing area. The carriage consists of one, two or more travel sections on which cameras and / or sensors are arranged. For positioning and locking, each travel section is provided with adjustable locking devices. If there are several travel sections, at least two shafts are connected to each other. These shafts are arranged off-center in the space. One shaft is designed as a rigid shaft 8. The second shaft is designed as a displacement shaft 7. The displacement shaft 7 is guided inside one of the travel sections and can be extended or retracted axially. A deflection gear 9 is arranged on the displacement shaft 8 and is driven via a drive shaft arranged inside the displacement shaft 8.An extendable and retractable milling shaft 10, which is equipped with a milling head 11, is guided in the deflection gear 9. The displacement shaft 7 is adjustable in position by means of two inner bearing discs 17. This is achieved by rotating the bearing discs 17 on both sides in the same direction within the housing of the travel sections 1 and 2 by means of a drive. The rotation is enabled by suitable adjustment mechanisms arranged inside the travel section housings 27. This inventive design allows the milling head 11 to be freely adjusted in space as desired.

Description

[0001] The invention relates to a universal carriage with a milling device for pipe rehabilitation for non-accessible pipes, which can consist of different materials and which are lined internally by means of a linear hose pipe rehabilitation, and wherein the linear hose is hardened and wherein the inlets and outlets in the renovated part must be reopened.

[0002] A variety of different milling devices for milling free pipe inlets and outlets are known. AT 525 867 A4 discloses a robot for trenchless pipe and shaft rehabilitation consisting of several interconnected segments. In these robots, individual segments comprise at least two expansion segments, each with a self-locking expansion mechanism and equipped with at least one double-action shear for expanding and pressing against the inner wall of the pipe or shaft. At least one feed segment is arranged between the expansion segments. An expansion segment is arranged as the frontmost segment, with the expansion mechanism having a lead screw for actuating the double-action shear. The lead screw is designed to rotate in the direction of movement of the robot, is mounted in the expansion segment, and on which a milling segment is arranged at the front. This technical solution is very complex in terms of construction.

[0003] DE 10 2014 104 504 A1 describes a pipe processing device and an arrangement and a method for measuring a distance from a predetermined position and a method for processing at least one inner wall of a non-accessible pipe. This device claims a type of automatically operating milling robot, which is designed as a carriage and connected by a trailing cable to a control computer arranged separately outside the pipe. The measuring device is intended to enable the milling robot to remove hardened fabric linings from an installed inliner in such a way that pipe inlets or pipe inlets can once again be freely flowed through without obstructions. The subsequent milling positions are initially determined by measurement during an initial scan of the entire pipe, with all pipe inlets or pipe inlets of the pipeline to be rehabilitated being measured one after the other and saved.The measuring device, which is mounted on a carriage, must then be completely removed from the pipe. The pipe is then lined with a conventional liner. After the liner has hardened, the actual milling robot is inserted, and all previously identified pipe inlets and pipe inlets are milled out one after the other in a second pass. This technical solution is very complex and, above all, time-consuming. Furthermore, inaccuracies can occur during the second pass, which can lead to leaks during the milling process.

[0004] DE 10 2010 055 045 A1 further discloses a milling robot that can be remotely controlled using a camera for machining the inner walls of small-diameter pipes. A rotary tool is designed with a recess or perforation so that a camera installed on the milling robot's tool arm can view the machining point through the rotary tool, both when the tool is stationary and when the tool is rotating. However, this milling robot has only limited pivoting capabilities within the pipe interior.

[0005] The technical solution according to DE 10 2010 017 838 A1 describes another milling robot for machining the inner walls of inaccessible pipelines. The robot arm carrying the milling head is designed to be remotely deflected toward the inner pipe wall. This deflection is achieved by attaching an eccentrically arranged core off-center, and the milling head is axially adjustable in length by means of an inflatable pressure sleeve made of rubber-elastic material. However, in conjunction with the inflation of the pressure sleeve, this sleeve deflects the milling head only slightly and can therefore only mill freely within limited areas.

[0006] US Pat. No. 4,701,988 A shows a technical solution in which a cutter head can be positioned in underground pipes that are too small for human access. The cutter head is used to cut holes in already installed pipe linings that have previously covered the lateral inlets and outlets. The cutter operation is controlled externally above ground. Flexibility and positionability are achieved by mounting the cutting head on a free end of a boom body, to which the cutter is attached to a bracket via a cardan joint, allowing the boom to be pivoted in any direction. Because the cutter is only guided on one side, it cannot be positioned precisely. Furthermore, universal engagement in all required directions is not possible.

[0007] The technical solution according to US Pat. No. 5,088,553 A demonstrates another system for cutting lateral holes in plastic pipe linings at the locations where lateral inlets and outlets are located in a surrounding pipe. The one-piece device comprises a cylindrical machining unit that is inserted into the inserted pipe lining. This machining unit is remotely controlled and monitored from the outside using appropriate devices. A milling head with axial and radial cutting teeth can be moved three-dimensionally within the machining unit via remote control, thus enabling the cutting of non-circular holes. The machining unit can also be rotated about its axis within the lining. A video camera in the machining unit enables observation of the milling cutter.The precise localization of lateral exits is achieved by monitoring the return signals of a microwave transmitter / receiver and identifying the detected points with the largest deviation in microwave reflection.

[0008] The invention is based on the object of creating a universal carriage with a milling device for pipe rehabilitation for non-accessible pipes which have been partially renovated with hardened linear hose, whereby the milling head can reach a large processing area, can be swiveled through 360 degrees, can process the entire inner pipe wall, the milling head can also be engaged at an angle, the pipe inlets and outlets can be milled completely free again with precise contours and, if necessary, the milling head can also be engaged a little way into the pipe inlets and outlets.

[0009] The object is achieved according to the invention by the features of patent claim 1 or 2. Advantageous embodiments and further developments are set forth in the accompanying dependent claims. The universal carriage according to the invention can be configured with one or more processing devices as required, at least one of which is designed as a milling device for pipe rehabilitation of non-accessible pipes.

[0010] The universal carriage with one or more processing devices, at least one of which is designed as a milling device for pipe rehabilitation for non-accessible pipes, consists in a simple embodiment of a complex driving section, i.e. a front driving section 1, on which one or more cameras 4 and / or 5 and / or 6 and / or measuring devices 20, 21 and / or sensor arrangements 23 are arranged and connected. At least two, but preferably four, laterally arranged support wheels 13 are arranged on the front driving section 1. This one front driving section 1 is provided with an erectable locking device 12 so that, after being erected, the locking device can immovably lock the front driving section 1 at a specific point in the pipe to be renovated. All processing devices and drives, i.e. all parts, are interconnected and can be controlled by at least one microcomputer.Shafts are arranged centrally and / or off-center on both sides of this front travel section 1, wherein the shafts are designed as rotatable displacement shafts 7, which are axially adjustable and radially rotatable in the front travel section 1. In this case, at least one of the displacement shafts 7 preferably has a deflection gear 9, on which a separately driven milling head 11 is arranged via a milling shaft 10. At least one of the two displacement shafts 7 is designed to be radially adjustable in space by means of a front bearing disk 18 or an inner bearing disk 17. The displacement shafts 7 are arranged at right angles or oblique angles to the surface of the inner bearing disk 17 and the front bearing disk 18. The inner bearing disk 17 and the front bearing disk 18 are rotatably mounted in the travel section housing 27, so that they can be rotated separately from one another or together.A front milling head 3 is mounted on one of the displacement shafts 7, which is designed to be individually axially adjustable and driven. This allows the spatial position of the arranged front milling head 3 or also of the milling head 11 to be precisely adjusted in space, allowing them to engage in three axes of movement. The adjustable locking device 12 serves as a pipe locking device and consists of one or two pressurizable hose rings and / or one or two mechanically adjustable swivel arm assemblies.

[0011] The preferred embodiment of the carriage according to the invention consists of at least two or more interconnected, individual, separate travel sections 1 and 2, on which one or more cameras 4 and / or 5 and / or 6 and / or measuring devices 20, 21 and / or sensor arrangements 23 are arranged and interconnected. Each travel section 1 and 2 contains at least two laterally arranged support wheels 13. As is generally known and customary, four specially designed lateral support wheels 13 are provided for each travel section 1 and 2. For positioning and locking relative to the inner pipe wall, each travel section is provided with adjustable locking devices 12. All parts of the processing devices, their drives, the arranged cameras, measuring devices and sensor arrangements are interconnected and are specifically controlled by at least one microcomputer using installed and implemented software.The universal carriage according to the invention consists of a front travel section 1, hereinafter referred to as the front travel section 1, and a second rear travel section 2, hereinafter referred to as the drive travel section 2, which are interconnected by at least two shafts 7 and 8. These two shafts 7 and 8 are preferably arranged radially distributed off-center in space. One of these shafts is designed as a rigid shaft 8, which rigidly connects the front travel section 1 and the drive travel section 2 in a defined manner and spaced apart from one another. It is firmly connected to the two inner bearing disks 17, so that they are rigidly coupled. In principle, the rigid shaft 8 can also be arranged axially centrally, although this would severely restrict the accessible machining space of the milling head 11. The second shaft is designed as a rotatable displacement shaft 7. This means that this displacement shaft 7 is guided inside one of the travel sections and can be axially extended or retracted therein.To ensure that this displacement shaft 7 can be moved axially lengthwise, it is suitably mounted in the two inner bearing disks 17. The displacement shaft 7 can optionally only be driven on one side. As a rule, a drive block 14 for axially displacing the displacement shaft 7 is arranged in one of the two travel sections 1 and 2, and, for example, a drive block 14 for rotating the displacement shaft 7 is arranged in the other travel section. Therefore, with the travel sections 1 and 2 locked, the displacement shaft 7 can travel over a certain axial range depending on the type of actuation, i.e. it performs an axial linear movement. As a rule, it is sufficient if the displacement shaft 7 has an axial adjustment range that is twice as long as the diameter of the integrated pipe inlets and outlets.A T-shaped deflection gear 9 is arranged on the displacement shaft 7 and is driven by a drive shaft (not shown in the drawing) arranged inside the displacement shaft 7 by means of a separate internal drive block 14. The displacement shaft 7 is therefore correspondingly hollow. A rotating milling shaft 10, which is preferably extendable and retractable and is provided with a milling head 11, is guided in the T-shaped deflection gear 9. The milling shaft 10 is advantageously designed to be height and depth adjustable, but can also be designed to be fixed. If it is adjustable, however, the driven milling head 11 can also work in an area that extends beyond the pipe cross-section of the pipe to be renovated. The displacement shaft 7 is also radially adjustable in space by means of two internal bearing disks 17.Shafts 7 and 8 can be mounted at right angles to the surface of the inner bearing disks 17, creating a rigid carriage. To ensure that the carriage can easily travel through multiple travel sections and also bends in the pipeline to be rehabilitated, it is advantageous if shafts 7 and 8, and if necessary 16, are cardanically mounted and connected to the inner bearing disks 17. However, it is also possible to divide shafts 7 and 8 into two or three shaft sections and connect them using suitable joints to allow travel through pipe bends or distortions. The two inner bearing disks 17 are mounted in the travel section housing 27 and are designed to be rotatable up to 360 degrees. This is achieved by rotating the bearing disks 17 evenly on both sides in the same direction in the housing of travel sections 1 and 2 using corresponding inner drive blocks 14.The rotation is enabled by suitable adjustment mechanisms arranged inside the travel section housings 27. This inventive design allows the milling head 11 to be freely engaged in any position in space, i.e., pivoted three-dimensionally along all possible axes of movement x, y, and z. This enables very precise machining of the pipe sections to be milled freely in the areas of the pipe inlets and outlets.

[0012] A second front milling head 3 for frontal milling work can be arranged on the front bearing disc 18, which is designed to be individually adjustable and driven axially. This is primarily used to be able to mill existing pipe closures freely in the direction of advance. For this purpose, it is guided in the front driving section 1 in an axially adjustable manner. It can also be arranged off-center, for example to mill an inliner node at the end of a laid liner. In this case, the front bearing disc 18 is again rotatably mounted and adjustable up to approximately 360 degrees in the driving section housing 27. This allows a larger working area to be opened up than before. In order for the two driving sections 1 and 2, ieTo ensure that the front travel section 1 and the drive travel section 2 can be firmly and reliably secured in the tube, one or two pressurizable hose rings or one or two mechanically adjustable swivel arm assemblies are arranged as adjustable locking devices 12 per travel section on the outside of each of the travel section housings 27. A combination of a pressurized hose ring and a mechanically adjustable swivel arm assembly is also possible.

[0013] A complex design of the universal carriage with a milling device for pipe rehabilitation is also possible if, instead of two shafts, only one shaft is arranged between the front travel section 1 and the drive travel section 2. The rigid shaft 8 must then be slotted over a longer section and be designed to be detachable, rotatable, and separately lockable in order to enable axial displacement via an internally arranged displacement shaft 7. In addition, a third shaft must be designed internally as a drive, or the milling head is driven in a separate manner. However, this means that a suitable line for the energy supply must be available, which would limit the possible milling space. This shaft-in-shaft-in-shaft solution is also encompassed by the invention.

[0014] It is also possible to arrange three shafts on the universal carriage with a milling device for pipe rehabilitation. In this case, one shaft is designed as a purely sliding shaft 7, one shaft as a purely rigid shaft 8, and one shaft as a so-called hollow auxiliary shaft 16. The hollow auxiliary shaft 16 can be primarily designed to accommodate one or more media lines. This also increases the mechanical torsional rigidity of the entire carriage system, especially during the actual milling process, and enables precise milling without protruding edges.

[0015] Within the universal carriage with a milling device for pipe rehabilitation, it is useful if at least one front camera 4, and / or at least one interior camera 5 and / or at least one rear camera 6 are arranged on the travel sections 1 and 2 at suitable locations so that the spaces before, between and after the travel sections 1 and 2 can be optically monitored and the work processes can be recorded, evaluated and saved.

[0016] In order to achieve the most accurate documentation possible of the rehabilitated pipe route, including the precise location of all respective pipe inlets and outlets, using the universal carriage with a milling device for pipe rehabilitation, at least one front measuring device 20 and / or at least one internal measuring device 21 and / or at least one rear measuring device 22 are arranged. Furthermore, it is also possible to arrange a suitable radar sensor or a suitable sonic measuring head at suitable locations in order to also document the condition of the pipe wall behind the installed liner wall.

[0017] It is also possible to connect a third or additional travel section to the universal carriage with a milling device for pipe rehabilitation. These can be coupled either rigidly or flexibly as required. This third processing travel section 24 can also be equipped with sensor devices 23, such as a UV head, a microwave generator, an LED head, a hot air head, or, in particular, as a curing section. In principle, it is also possible to equip it with a type of glow head, filament, or filament 28, or even with a high-power laser for burning pipe inlets and outlets.

[0018] In principle, it is also sensible to couple a further travel section as a processing travel section 24 to the universal carriage with a milling device for pipe rehabilitation to accommodate a hydraulic unit consisting of an electric drive and at least one hydraulic pump in order to be able to operate all processing devices in the two travel sections 1 and 2 arranged in front of it purely hydraulically.

[0019] Optionally, the individual actuation devices of the universal carriage with a milling device for pipe rehabilitation can be driven electrically, hydraulically, and / or pneumatically. This depends on the structural design of carriage sections 1 and 2 and the existing on-site utility systems.

[0020] It may also be useful for a universal carriage with a milling device for pipe rehabilitation to have a cleaning section designed as a cleaning section that can be pressurized with water or air. This allows for adequate cleaning of milled pipe inlets and outlets, in particular, so that subsequent inspection can be carried out to ensure that the pipe connection at the treated area is free of further damage and, above all, leak-proof.

[0021] In order to enable good image documentation, it is advantageous if the cameras 4, 5 and 6 arranged at appropriate locations on the universal carriage are equipped with automatic shutters with a cleaning function, which are closed during a milling or cleaning process and can temporarily protect the camera lenses from contamination and clean them if necessary.

[0022] To enable the most self-sufficient universal operation possible, an additional driving section designed as a battery-powered driving section 25 can be coupled to supply power to the universal carriage with a milling device for pipe rehabilitation, i.e., when the individual driving sections and processing equipment are driven purely electrically. The advantage of this solution is that no heavy, unwieldy media supply cable 26 needs to be pulled through the pipe section to be rehabilitated. A lighter traction cable or a lighter data cable is then sufficient. This allows for faster travel over the pipe section to be rehabilitated.

[0023] If, in the universal carriage, a pressure line 29 is additionally arranged up to or into a travel section 1 and 2 or up between the travel sections 1 and 2, this can be used for heating and curing the inserted liner or for tempering a heat-generating curing device.

[0024] It is also advantageous if, on a universal crawler with a milling device for pipe rehabilitation, an additional pressure line 29 is arranged and formed up to or into a driving section or up between the driving sections. When inserting a liner hose, it can happen that wrinkles remain in the liner hose in certain places and the liner hose has not adhered correctly to the inner pipe wall. If such a defect is discovered when driving over it with the crawler, overpressure can be generated in the liner hose again via the additional pressure line 29 until the defect has adhered correctly to the pipe wall. This requires that the relevant pipe section has been sealed in the meantime. The cameras provided allow this process to be monitored and the pressure to be precisely controlled.In conjunction with suitable curing devices arranged on one of the travel sections, such as a UV head, a microwave generator, an LED head, or a hot air head, the liner tube can then be cured immediately at this damaged area and further wrinkling can be prevented.

[0025] The invention will be described below with reference to Fig. 1 to 5 will be explained in more detail in various embodiments. Fig. 1 shows a schematic plan view with two driving sections 1 and 2 with a front milling head 3 and a milling head 11 Fig. 2 shows a front view of the front carriage 1 with the front milling head 3 Fig. 3 shows an axial plan view of an inside of the drive section 2 with the possible positions of the milling head 11 Fig. 4 shows two oblique views (from the front (4a) and rear (4b)) of a carriage consisting of two driving sections 1 and 2 with three shafts 7, 8, and 16 and a further coupling processing driving section 24 or battery driving section 25 Fig. 5 shows schematically the arrangement of internal drive blocks for operating the processing devices

[0026] Preferably, the carriage consists of Fig. 1 from the travel sections 1 and 2, i.e. the front travel section 1 and the drive travel section 2. A front milling head 3 is arranged facing forward on the front travel section 2. The front milling head 3 is operated by means of a front milling shaft which passes through the radially adjustable front bearing disk 18 and is suitably driven internally, so that it can mill a large area to the front as required. The circular working area is influenced by the arrangement of the front milling shaft and the size and type of the front milling head 3. However, it is also possible to guide and mount the front milling shaft through the front bearing disk 18 at an angle to the pipe wall. This is then also designed to be extendable and retractable. This makes it possible to mill the entire pipe cross-section as required if the front milling shaft is extended far enough forward.If, however, the front milling shaft with the front milling head 3 is retracted, the outer diameter of the front milling head 3 does not protrude beyond the outer dimensions of the carriage, and the carriage can be moved accordingly without any problems. A front camera 4 and, if required, a front measuring device 20 or additional sensor arrangements 23 are arranged on the front side of the drive section 1 on the carriage housing 27. Two separately drivable support wheels 13 are arranged on the left and right sides of the carriage housings 27 of the front carriage section 1 and also on the drive section 2 so that the carriage can be moved as a whole in the pipe to be rehabilitated. Once the carriage has been moved to a location in the pipe to be rehabilitated and precisely positioned, the elastic hoses arranged and suitably fastened in the end areas of each drive section 1 and 2 are inflated as locking devices 12.These four hoses adhere to the inner pipe wall and reliably and firmly lock the assembly of the two travel sections 1 and 2 in place so that their position relative to the pipe inlets or outlets currently being milled cannot change during milling. A rigid shaft 8 is arranged off-center between the front travel section 1 and the drive travel section 2 as an axial connection. This rigid shaft is fixed to the two inner bearing discs 17 and mechanically connects the two travel sections 1 and 2 and maintains a defined spacing.Because the rigid shaft 8 according to the invention is arranged between the front travel section 1 and the drive travel section 2, which rigidly and mechanically connects the two travel sections 1 and 2, in conjunction with the inflated hoses, a very stable, sufficiently immovable milling device is created which also distributes the forces acting during free milling and introduced into the carriage in such a way that the carriage remains unchanged in its position relative to the pipe wall and in its position relative to the corresponding travel distance even during milling. Furthermore, the displacement shaft 7 is mounted eccentrically in the inner bearing disks 17 between the two travel sections 1 and 2 and is guided so as to be axially displaceable, i.e. so as to be linearly axially movable. The axial displacement takes place via an inner drive block 14 arranged inside one or both travel section housings 27, which drive block 14 is connected to a specific power supply 15 depending on the design.The position of the displacement shaft 7 in the working space between the two travel sections 1 and 2 is changed by radially rotating the two inner bearing disks 17. This is done by means of a suitable inner drive block 14 so that an adjustment in space through 360 degrees is possible. It is possible that the inner drive block 14 with the associated adjustment mechanism for this purpose is only arranged in one travel section. However, it is also possible to design both inner bearing disks 17 with drive blocks and suitable adjustment devices. The displacement shaft 7 is also itself rotatable, i.e. it is itself rotatably mounted and suitably connected to at least one inner drive block 14 so that it can also be rotated through 360 degrees. A T-shaped deflection gear 9 is formed on the displacement shaft 7. A milling shaft 10 is mounted and guided in the T-shaped deflection gear 9.This milling shaft 10 can be either directly coupled or telescopic in the deflection gear 9. If the milling shaft 10 is telescopic, it can be milled deeper into the pipe inlets and outlets. A suitable, replaceable milling head 11 is attached to the end of the milling shaft 10.

[0027] In order to set the milling head 11 in rotation via the T-shaped deflection gear 9, the displacement shaft is designed as a hollow shaft which drives the milling head 11 via the T-shaped deflection gear. A drive shaft is mounted and guided within its interior (not shown), which is driven via another internal drive block 14. This universal adjustability of the position of the milling head 11 between the travel sections 1 and 2 makes it possible to engage the milling head 11 in any of the three spatial axes x, y, and z. This enables precise, full-surface milling deep into the pipe inlets and outlets without leaving any disruptive projections or edge overhangs. A media supply cable 26 and a traction cable are arranged on the rear bearing disk 19. It is possible for the media supply cable 26 to also serve as a traction cable if it is designed to be tensile-stable.

[0028] In the Fig. Figure 2 shows a front view of the front crawler 1 with a simple (not obliquely arranged) off-center rotating front milling head 3. On the crawler section housing 27 of the front crawler 1, two support wheels 13 are arranged on the left and right, with which the crawler is moved inside the pipe. As is generally known, they are dimensioned and designed accordingly depending on the respective pipe cross-section to be traveled. On the crawler section housing 27, at the front, outside the rotatable front bearing disc 18, a front camera 4 and / or a front measuring device 20 and / or other sensor arrangements 23 are configured to monitor, control, and document the work process. Furthermore, the milling head 11, arranged between the crawler sections 1 and 2, with the milling shaft 10 is shown in an upwardly directed working position.

[0029] In the Fig. Figure 3 shows an axial plan view of the inside of the drive section 2 with four exemplary positions of the milling head 11, from which the 360-degree adjustability of the milling head 11 is evident. This adjustment within the working area is achieved by rotating the displacement shaft 7 accordingly. Corresponding intermediate positions are not shown. Arranged at the bottom of the drive section housing 27 are a rigid shaft 8 for the fixed connection of the two drive sections 1 and 2 and two hollow auxiliary shafts 16 for energy transmission and for accommodating the necessary line connections for various media between the front drive section 1 and the drive section 2. The inner bearing disc 17, in turn, is designed to be freely rotatable through 360 degrees.

[0030] Fig. Figure 4a shows an oblique view of a carriage consisting of two carriage sections 1 and 2 with three shafts, i.e., the sliding shaft 7, the rigid shaft 8, a hollow auxiliary shaft 16, and a pressure line 29. It may also be useful, for larger carriages for large pipe cross-sections, to use two rigid shafts 8 instead of one rigid shaft 8 to improve the mechanical stability and rigidity of the entire carriage structure. Here, the hollow auxiliary shaft 16 is designed as the power supply and media connection. It is also possible to design two or more hollow auxiliary shafts 16, for example, to carry the power supply, a fiber optic cable, and a data cable.Both the rigid shaft 8 and the hollow auxiliary shafts 16 can also have other cross-sections, such as elliptical, square, or polygonal. A front camera 4, internal cameras 5, a rear camera 6, and / or a front measuring device 20, internal measuring devices 21, and a rear measuring device 22, and / or other sensor arrangements 23 are generally arranged on top of the travel section housings 27 in order to directly monitor, control, and document the respective work processes to be carried out. However, if necessary, these can also be arranged on the front bearing disk 18, the internal bearing disks 17, and the rear bearing disk 19. In addition to the front milling head 3, a forwardly extendable filament 28 is arranged on the front bearing disk 18 for burning away any interfering liner material, such as, in particular, a liner node. This filament, which can also be designed as a filament coil, consists of an annular resistance wire.It is heated to such an extent that it can melt through the inserted liner hose material. This makes it possible to quickly melt through and separate the liner knot formed at the advancing end of the liner hose, whereby the pipe cross-section becomes largely freely passable again at this point. The eccentrically arranged displacement shaft 7 with the T-shaped deflection gear 9 of the milling shaft 10 and the milling head 11 is shown in an upper position between the two travel sections 1 and 2. The displacement shaft 7 can be rotated about its own axis, whereby the machining direction of the milling cutter in the working area can be changed. The displacement shaft 7 can be moved linearly and axially, so that the distance of the milling head from the two inner bearing disks 17 can be adjusted. Thirdly, by turning the inner bearing disks 17, the displacement shaft 7 can be adjusted radially in the working area following a circular ring.This allows any required milling position or milling direction of the milling head 7 to be set. Furthermore, a third possible travel section is shown here, which can be coupled to the other two travel sections 1 and 2 either flexibly via a connecting cable or rigidly (not shown) via another rigid shaft. This can be an additional processing travel section 24, for example with LED lamps, UV lamps, or infrared radiators for curing the impregnated liner. Alternatively, this third travel section can be designed as a battery travel section 25 with internally arranged rechargeable batteries. At the end of the travel sections, an eyelet 30 is arranged for connecting a traction cable 26 or traction band, so that the travel carriage can be removed from the pipe section to be renovated at any time. A power supply 15 and a possible pressure line are also connected.

[0031] In the Fig. 4b shows a carriage according to the invention from the opposite view to better illustrate the arrangement. As in Fig. As shown in Figure 4a, corresponding cameras and / or measuring devices and / or additional sensor arrangements are again arranged and interconnected on the drive section housings 27. An opening in the front drive section 1 or a T-piece in the pressure line 29 can be arranged as an outlet point for generating an overpressure, i.e., introducing a suitable medium to rebuild pressure (not shown).

[0032] Fig.Figure 5 shows a schematic side view of the possible arrangements of the important internal drive blocks 14, for example, suitable electric motors for generating the axial movement of the displacement shaft 7, for rotating the displacement shaft 7, for rotating the inner bearing discs 17 and a drive for generating the rotational movement of the milling head 11 via an inner shaft to the T-shaped deflection gear 9. Further drives for operating the front milling head 3, the front bearing disc 18 and the arranged support wheels 13 are arranged in the two travel section housings 27. The milling shaft of the front milling head 3 can be retracted into the front section 1 to engage the filament 28. However, it is also possible for the filament to be extended forward out of the travel section housing 27 up to in front of the front milling head 3.On the casing of the travel section housings 27 of each of the two carriages 1 and 2, two locking devices 12 are arranged as pipe locking devices for securing the carriage to the inner pipe wall, i.e. the carriage is immovably locked in a specified position. The pipe locking devices 12 can be designed as inflatable tubes, as shown, or as purely mechanically adjustable locking arms (not shown and described in more detail). An eyelet 30 for connecting a separate media supply cable or pull rope 26 is also arranged on the rear bearing disc 19. The pull rope is necessary, for example, if the media supply cable is not designed to be sufficiently tensile to allow the entire carriage to be withdrawn from the pipe to be renovated.

[0033] The carriage according to the invention with a milling device for pipe rehabilitation for non-accessible pipes can be used for a wide variety of pipe cross-sections in the range from 80 to 1000 mm, depending on the size and structural design. List of reference symbols 1 driving section, front driving section 2 Driving section, drive driving section 3 front milling head 4 front camera 5 indoor cameras 6 rear camera 7 Shaft, sliding shaft 8 Shaft, rigid shaft 9 Deflection gear 10 milling shaft 11 Milling head 12 Locking device (tube-shaped pipe locking device) 13 support wheels 14 inner drive blocks 15 Energy supply 16 hollow auxiliary shaft 17 inner bearing discs 18 Front bearing disc 19 Rear bearing disc 20 front measuring device 21 Internal measuring device 22 Rear measuring device 23 sensor arrangements 24 Machining section 25 Battery driving section 26 Media supply cable or pull rope 27 Driving section housing 28 filament 29 Pressure line 30 eyelets

Claims

[1] Universal carriage with one or more processing devices, at least one of which is designed as a milling device for pipe rehabilitation of non-walkable pipes, consisting of a complex driving section (1), on which one or more cameras (4, 5,) and / or measuring devices (20, 21) and / or sensor arrangements (23) are arranged and connected, wherein the driving section (1) includes at least two laterally arranged support wheels and the driving section (1) is equipped with adjustable locking devices, and all parts are controlled by at least one microcomputer. characterized by , that shafts are arranged on both sides of the drive section (1) in the center and / or off-center, wherein the shafts are designed as rotatable displacement shafts (7) which are axially adjustable and radially rotatable in the drive sections (1), a deflection gear (9) is formed on at least one of the displacement shafts (7), on which a separately driven milling head (11) is arranged via a milling shaft (10), the two displacement shafts (7) are designed to be radially adjustable in position in space by means of two bearing discs (17, 9), the displacement shafts (7) are arranged at right angles or oblique angles to the surface of the inner bearing disk (17) and the front bearing disk (18), the inner bearing disc (17) and the front bearing disc (18) are rotatably mounted in the drive section housing (27), on which a second front milling head (3) is arranged on one of the displacement shafts (7), which is designed to be axially individually adjustable and driven, the deployable locking device (12) per driving section consists of one or two pressurizable hose rings and / or one or two mechanically deployable swivel arm arrangements. [2] Universal carriage with one or more processing devices, at least one of which is designed as a milling device for pipe rehabilitation of non-walkable pipes, consisting of at least two or more interconnected driving sections, on which one or more cameras and / or sensors are arranged and connected, each driving section containing at least two laterally arranged support wheels and The driving sections are equipped with adjustable locking devices and all parts are controlled by at least one microcomputer. characterized by , that two drive sections (1 and 2) are connected to each other by at least two shafts (7 and 8) arranged centrally and / or off-center, a shaft is designed as a rotatable displacement shaft (7), which is axially adjustable and radially rotatable in the two driving sections (1 and 2), a deflection gear (9) is formed on the displacement shaft (7), on which a separately driven milling head (11) is arranged via a milling shaft (10), and the other shaft as a rigid shaft (8) firmly connects and separates the two driving sections (1 and 2), the shafts (7 and 8) are designed to be radially adjustable in position in space by means of two inner bearing discs (17), the shafts (7 and 8) are mounted and connected perpendicular to the surface of the inner bearing discs (17) or gimbal-mounted to the inner bearing discs (17), or the shafts (7 and 8) are divided into two or three shaft sections and connected by means of joints, the inner bearing discs (17) are rotatably mounted in the drive section housings (27), a second front milling head (3) is arranged on the front bearing disc (9), which is designed to be axially individually adjustable and driven, the deployable locking devices (12) per driving section consist of one or two pressurizable hose rings and / or one or two mechanically deployable swivel arm arrangements. [3] Universal carriage with a milling device for pipe rehabilitation according to claim 2, characterized by , that three shafts are arranged, wherein one shaft is designed as a sliding shaft (7), one shaft as a rigid shaft (8) and one shaft as a hollow auxiliary shaft (16) for receiving one or more media lines. [4] Universal carriage with a milling device for pipe rehabilitation according to claim 2 or 3, characterized by , that at least one front camera (4) and / or at least one interior camera (5) and / or at least one rear camera (6) are arranged on the driving sections (1 and 2). [5] Universal carriage with a milling device for pipe rehabilitation according to claim 2, 3 or 4, characterized by, that at least one front measuring device (20) and / or at least one inside measuring device (21) and / or at least one rear measuring device (22) are arranged. [6] Universal carriage with a milling device for pipe rehabilitation according to claim 3, 4 or 5, characterized by , that a third driving section is designed as a processing driving section (24) with a UV head, or a microwave generator, or an LED head, a hot air head as a curing section or a glow head, glow coil, filament (28) or high-performance laser for burning off. [7] Universal carriage with a milling device for pipe rehabilitation according to claim 2 or 3, characterized by , that a further drive section is designed as a processing drive section (24) to accommodate a hydraulic unit consisting of an electric drive and at least one hydraulic pump. [8] Universal carriage with a milling device for pipe rehabilitation according to claim 2, 3 or 4, characterized by , that a driving section is designed as a processing section (24) with LED spotlights, UV light generators, infrared light generators, hot air generators or steam generators for curing. [9] Universal carriage with a milling device for pipe rehabilitation according to one of the preceding claims, characterized by that the individual driving sections are electrically and / or hydraulically and / or pneumatically driven. [10] Universal carriage with a milling device for pipe rehabilitation according to claim 1 or 2, characterized by , that the front milling head (3) is designed to be off-center and pivotable in three dimensions [11] Universal carriage with a milling device for pipe rehabilitation according to claim 4, characterized by , that the cameras (4, 5 and 6) are equipped with shutter apertures with cleaning function. [12] Universal carriage with a milling device for pipe rehabilitation according to claim 9, characterized by, that if the driving sections are purely electrically driven, a further driving section is coupled, which is designed as a battery driving section (25) with suitable batteries. [13] Universal carriage with a milling device for pipe rehabilitation according to claim 1 or 5 or 7, characterized by , that additionally a pressure line (29) is arranged to or into a driving section or to between the driving sections for heating or cooling. [14] Universal carriage with a milling device for pipe rehabilitation according to claim 1, 2 or 6 or 8, characterized by , that additionally a pressure line (29) is arranged to or into a driving section or to between the driving sections.

Images