DEVICE FOR SEWER PIPE WORK

Description

[0001] The present invention relates to a device for sewer pipe work, in particular for sewer pipe rehabilitation and sewer pipe inspection work.

[0002] Remotely controlled devices for sewer pipe work, so-called sewer robots, are used, for example, for trenchless rehabilitation and inspection of water and wastewater pipes or other pipelines.

[0003] Such devices typically comprise a base unit to which a rotating head is attached, rotatable around a pivot axis. Two parallel, rotatably mounted lifting arms, connected to a working device, such as a milling head, are usually mounted on the rotating head. The two lifting arms are generally movable via an actuator, such as a hydraulic cylinder. The working device is also rotatably mounted on the lifting arms. Accordingly, such devices can have at least three joints by means of which the working device can be steered into the desired position. The devices further include a swiveling camera, which can be used, for example, to inspect water or sewage pipes and monitor the corresponding rehabilitation or repair work.To operate the work device and the swiveling camera, appropriate cables, in particular power supply and / or data cables, are necessary. Due to the numerous joints, these cables are exposed and are generally located either between the two parallel lifting arms or below, above, or beside the lifting arms.

[0004] One particularly problematic issue has been that, during sewer work, especially with devices for sewer pipe work where one or more actuators are designed as hydraulic cylinders, the exposed pipes necessary for the operation and movement of the device and the camera can cause the device to become entangled in obstacles such as tree roots, stones, or similar obstructions, potentially damaging the exposed pipes in the worst-case scenario. Furthermore, it has been observed that the pipes often restrict the camera's field of view, preventing the monitoring of all areas of the sewer pipe work that the camera could detect.

[0005] Furthermore, a sewer cleaning robot according to the preamble of claim 1 is known from KR 101 719 362 B1. This robot is capable of improving its performance and function by pulverizing adhering substances that have accumulated and solidified over a long period of time among various types of foreign materials generated in the sewer system to be cleaned. A frame mounting housing is formed within a body frame that includes front and rear wheels. A rotatable inner housing and an articulating unit are formed within the frame mounting housing. A working head unit is mounted in a head unit coupling unit, which is formed at a predetermined distance on a front face at a point remote from the articulating unit. A lateral adjustment device, a vertical adjustment device, and a rotary adjustment device are installed between an arm plate, the articulating unit, and the inner housing.An autonomous compressed air generator is installed inside the inner housing. A flexible hose is connected between the autonomous compressed air generator and the working head unit. A hammer cylinder and the internal piston hammer of the hammer cylinder are installed in the head unit. A crushing striker is formed in a lower part of the head unit.

[0006] US Patent 4,819,721 A further relates to a remotely controlled, hydraulically operated cutting device for use in a pipeline. The cutting device includes a control panel for generating a variety of control signals to regulate operation and a source of pressurized hydraulic fluid.

[0007] FR 2 877 071 A1 relates to a robot with an inspection unit attached to a frame and comprising a fork attachment that articulates a manipulator arm. An accessory, e.g., a pneumatic milling head, is mounted at the free end of the arm. A handling unit moves the arm in a central plane to move the accessory laterally. The handling unit is arranged longitudinally, and its drive motor is located in the robot body.

[0008] EP 0 618 398 A1 relates to a device for processing the inner surface of a non-walkable pipeline. A vehicle that can travel inside the pipeline contains a rotatably mounted shaft that carries a processing unit. According to the invention, channels are provided in a housing shell of the vehicle for transmitting the operating media required for supplying this processing unit. These channels are connected via rotary feedthroughs to lines that are fixedly connected to the processing unit. This measure practically eliminates the possibility of the supply lines leading to the processing unit becoming entangled.

[0009] One object of the present invention is therefore to provide a novel device for sewer pipe work which ensures improved protection for lines of components of the device.

[0010] This problem is solved by a device for sewer pipe work with the features of the independent claim. Preferred embodiments and special configurations of the device according to the invention are defined in the dependent claims.

[0011] The device according to the invention for sewer pipe work, in particular for sewer pipe rehabilitation and sewer pipe inspection work, comprises the features of claim 1.

[0012] The device according to the invention advantageously prevents obstacles in sewer pipes undergoing rehabilitation or repair, such as tree roots or larger deposits like stones or the like, from becoming entangled in the device or damaging the pipe or working circuit due to the pipe or exposed outer sections of the working circuit associated with the first actuator. Instead, only the more robust outer surfaces of the device, compared to the pipe or working circuit, can come into contact with obstacles in the pipe, while the pipe or working circuit of the first actuator remains protected.

[0013] Within the scope of the present invention, the wording "that a line of the device, connectable to or associated with a component of the device, extends within the device" means that this line, along its direction of travel from the interior of the base unit to the interior of the component, is enclosed by the device in each cross-section of the line perpendicular to the direction of travel with respect to a Cartesian coordinate system associated with the line cross-section, the zero point of which lies at the center of the line cross-section, from at least three coordinate directions, preferably from all four coordinate directions. The same applies to a working circuit associated with an actuator of the device. In other words, if, for example, the line connectable to the working device extends at least partially along the first lifting arm, then the first lifting arm can, for example,The device may be designed in a partial area such that the conductor cross-section (an XY cross-sectional area) of said conductor is enclosed, for example, at least in the positive and negative X-direction (from left and right) and in the positive Y-direction (from above) by side surfaces of the first lifting arm of the device. Preferably, however, the first lifting arm may also be designed in a partial area such that the conductor cross-section of said conductor is enclosed in both the positive and negative X- and Y-directions (from left, right, above, and below) by side surfaces of the first lifting arm. To ensure the greatest possible protection for said conductor, the conductor is thus preferably completely enclosed by the device from the interior of the base unit to the interior of the corresponding component. As already mentioned, the same applies to a working circuit associated with an actuator of the device.

[0014] In general, the device according to the invention can have a rotary feedthrough in joint areas, i.e., in areas where two coupled components of the device are movable relative to each other. The respective rotary feedthrough can be configured such that one of the two components is rotatably mounted on the other component and simultaneously accommodates the line and / or the working circuit running between the two components, and / or the rotary feedthrough forms a section of the line and / or the working circuit running between the two components. For this purpose, the rotary feedthrough can be designed as a cylindrical hollow body and have one or more recesses along at least part of its outer circumferential surface.In the case of a line running between the components, the rotary feedthrough can be designed with slip rings to achieve larger rotation angles of the rotatably mounted component.

[0015] According to a preferred embodiment, the first actuator can be a first hydraulic cylinder, and the working circuit associated with the first actuator can be a hydraulic circuit. Designing the first actuator as a hydraulic cylinder is particularly advantageous when especially high forces are to act on the working device or when particularly high forces are to be exerted on a sewer pipe wall by means of the working device, for example, when milling the sewer pipe wall, which cannot be generated, or can only be generated with difficulty, by means of an electric actuator. The hydraulic circuit associated with the first hydraulic cylinder, which extends from the interior of the base unit to the interior of the first hydraulic cylinder within the device, can comprise a hydraulic fluid tank, a hydraulic pump, and one or more hydraulic valves, each preferably arranged within the base unit.

[0016] The hydraulic circuit associated with the first hydraulic cylinder can extend from the interior of the base unit, via the rotary head, to the interior of the first hydraulic cylinder, which is rotatably mounted on the rotary head, i.e., within the device. For this purpose, the device according to the invention can be equipped with a rotary feedthrough in the joint areas between the base unit and the rotary head, as well as between the rotary head and the first hydraulic cylinder, which is configured to transport hydraulic fluid of the hydraulic circuit associated with the first hydraulic cylinder.

[0017] This ensures that only the robust outer surfaces of the device according to the invention can come into contact with obstacles such as tree roots or stones located in the sewer pipes to be rehabilitated or repaired, thus protecting the hydraulic circuit associated with the first hydraulic cylinder from damage. Furthermore, the device according to the invention prevents the external hoses of the hydraulic circuit associated with the first hydraulic cylinder from becoming entangled in obstacles located in the sewer pipes.

[0018] Preferably, the device according to the invention can also include a second actuator rotatably mounted on the rotary head, which is configured to move the receiving section. In this context, the device can also have a working circuit associated with the second actuator, which extends from the interior of the base unit to the interior of the second actuator within the device.

[0019] According to a preferred embodiment, the second actuator can be a second hydraulic cylinder and the working circuit associated with the second actuator can be a hydraulic circuit.

[0020] To move the first lifting arm, the first actuator can be connected to it, for example, via a support section. In contrast, the second actuator can be connected to the receiving section, which is rotatably mounted on the first lifting arm, in order to move the receiving section and thus the working device that can be mounted on it, for example, a corresponding motor including a milling head. The working circuit assigned to the second actuator can be designed analogously to the circuit assigned to the first actuator. This applies particularly if the aforementioned actuators are each designed as hydraulic cylinders.

[0021] In general, the working circuit associated with the second actuator can extend from the interior of the base unit, via the rotary head, to the interior of the second actuator, which is rotatably mounted on the rotary head, i.e., within the device. For this purpose, the device according to the invention can be equipped with a rotary feedthrough in the joint areas between the base unit and the rotary head, and between the rotary head and the second actuator, each of which is configured to form a section of the working circuit associated with the second actuator.

[0022] In the case of the second actuator being configured as a second hydraulic cylinder, the hydraulic circuit associated with the second hydraulic cylinder can extend from the interior of the base unit, via the rotary head, to the interior of the second hydraulic cylinder, which is rotatably mounted on the rotary head, i.e., within the device. For this purpose, the device according to the invention can be equipped with a rotary feedthrough in the joint areas between the base unit and the rotary head, and between the rotary head and the second hydraulic cylinder, which is configured to transport hydraulic fluid of the second hydraulic circuit.

[0023] This ensures that only the robust outer surfaces of the device according to the invention can come into contact with obstacles such as tree roots or stones located in the sewer pipes to be rehabilitated or repaired, and that the hydraulic circuit associated with the second hydraulic cylinder is protected from damage. Furthermore, the device according to the invention prevents the external hoses of the hydraulic circuit associated with the second hydraulic cylinder from becoming entangled in obstacles located in the sewer pipes. More precisely, within the base unit, a first [missing information] is associated with the rotary head.

[0024] A rotary union is arranged, forming a section of the hydraulic circuit associated with the first hydraulic cylinder. The first rotary union can be positioned in a transition area between the rotary head and the base unit, corresponding to the rotary head's axis of rotation. The first rotary union can be located downstream of a hydraulic valve in the hydraulic circuit associated with the first hydraulic cylinder. The first rotary union can also have a cylindrical inner section and a cylindrical outer section, each extending along the rotary head's axis of rotation. The cylindrical inner section of the first rotary union can be static. In this case, the cylindrical outer section is rotatable about the rotary head's axis of rotation. A correspondingly reversed configuration with a rotatable cylindrical inner section and a static cylindrical outer section is also conceivable.The cylindrical inner section and / or the cylindrical outer section may have one or more recesses along their circumferential surface, which are designed to transport hydraulic fluid of the hydraulic circuit associated with the first hydraulic cylinder. Depending on the design of the cylindrical inner section and the cylindrical outer section, the first rotary union may have bores corresponding to the one or more recesses, which are also designed to transport the hydraulic fluid of the hydraulic circuit associated with the first hydraulic cylinder.

[0025] Preferably, in this context, the first rotary union also forms a section of the hydraulic circuit associated with the second hydraulic cylinder. For this purpose, the first rotary union can include one or more further recesses in the cylindrical inner section and / or the cylindrical outer section. Furthermore, the first rotary union can have one or more bores corresponding to the one or more further recesses, so that hydraulic fluid from the hydraulic circuit associated with the second hydraulic cylinder can be transported within the first rotary union.

[0026] This design eliminates the need for conventionally used external hydraulic hoses associated with the hydraulic cylinders. This ensures that the device according to the invention does not become stuck or entangled on obstacles within the sewer pipes during operation due to external hydraulic hoses.

[0027] In an alternative embodiment, which is not covered by the claimed invention, the first actuator and / or the second actuator can also be designed as electrically operated actuators. In this case, the corresponding working circuit can be designed as an electrical conductor, which extends within the device analogously to the above description.

[0028] According to a further preferred embodiment, the device can comprise a second lifting arm rotatably mounted on the rotary head, on which the receiving section is rotatably mounted. Furthermore, the device according to the invention can have a camera receiving device arranged on the first lifting arm and / or the second lifting arm, which is configured to receive a camera. In this context, the device can also have a line associated with the camera, which extends from the interior of the base unit to the interior of the camera receiving device within the device.

[0029] The second lifting arm can be connected to the first lifting arm via the support section. Furthermore, the second lifting arm can be configured to allow the camera section to be rotatably mounted. The camera mounting device, preferably arranged on both lifting arms, can have a bayonet fitting by means of which the camera can be attached to the camera mounting device. Advantageously, the camera is designed as a pan-tilt camera, so that larger areas can be captured by the camera during sewer work. The cable associated with the camera can, for example, be designed as a power supply cable and / or a data transmission cable. The cable associated with the camera can extend from inside the base unit, via the rotating head and the first lifting arm or the second lifting arm, into the camera mounting device.

[0030] This offers the advantage that the camera cable is particularly well protected, and only the more robust outer surfaces of the device's components come into contact with obstacles in the sewer pipes during sewer work. Furthermore, it prevents the device from becoming entangled in obstacles within the sewer pipes during operation due to external camera cables. The device according to the invention also allows all areas detectable by the camera, which is preferably a pan-tilt camera, to be monitored without the camera's field of view being at least partially obstructed by conventionally arranged external camera cables.

[0031] The rotary head can be designed such that it can be rotated continuously and / or endlessly around its axis of rotation with respect to a rotation angle assigned to the rotary head. For this purpose, the rotary head can, for example, include a rotary drive with an encoder. The rotary drive can be designed such that the rotary head can be rotated in both positive and negative directions.

[0032] The rotary head can also have several slip rings, which are configured to form a section of the cable connectable to the working device and a section of the cable assigned to the camera. The corresponding slip rings can be arranged, in particular, within the rotary head in areas adjacent to the outer circumferential surface of the rotary head.

[0033] In this configuration, sections of the working circuit assigned to the first actuator and, if present, of the working circuit assigned to the second actuator can run centrally within the rotary head towards the first rotary feedthrough extending along the axis of rotation of the rotary head.

[0034] According to the invention, the first actuator is mounted on the rotary head by means of a second rotary feedthrough, which forms a section of the working circuit associated with the first actuator.

[0035] In the case of the actuators being designed as hydraulic cylinders, the first hydraulic cylinder and the second hydraulic cylinder can each comprise several bores. In particular, each of the two hydraulic cylinders can have a first hydraulic cylinder bore extending substantially centrally and axially, which penetrates a rotary union section of the respective hydraulic cylinder and is connected to a hydraulic fluid chamber of the respective hydraulic cylinder. Furthermore, each of the two hydraulic cylinders can comprise a second hydraulic cylinder bore extending substantially perpendicular to the first hydraulic cylinder bore. Finally, each of the hydraulic cylinders can have a third hydraulic cylinder bore extending substantially parallel to the first hydraulic cylinder bore and arranged off-center.Furthermore, each of the two hydraulic cylinders can include a fourth hydraulic cylinder bore extending essentially perpendicular to the third hydraulic cylinder bore and connecting to the rotary union section. The second and fourth hydraulic cylinder bores are advantageously sealed at their outer circumferential surfaces using suitable sealants.

[0036] Alternatively, instead of the respective third hydraulic cylinder bore, the corresponding hydraulic cylinder can also have a recess extending parallel to the first hydraulic cylinder bore, which is designed to accommodate a hydraulic hose connecting the third and fourth hydraulic cylinder bores. The recess can, for example, have a U-shaped cross-section. In the case of an embodiment with said recess, the corresponding hydraulic hose forms a section of the hydraulic circuit assigned to the first or second hydraulic cylinder. The hydraulic hose extends along the recess within the corresponding hydraulic cylinder and thus within the device. Preferably, the respective recess can be provided with a removable cover so that the respective hydraulic cylinder completely encloses the accommodated hydraulic hose.This design offers the advantage of improved maintenance of the hydraulic cylinders.

[0037] The hydraulic circuit associated with the first hydraulic cylinder can be divided into a supply and a return line. The supply line can, for example, extend from the hydraulic fluid tank through a hydraulic fluid pump, a corresponding hydraulic valve, the first rotary union, the second rotary union, and the first hydraulic cylinder bore of the first hydraulic cylinder, all the way to the hydraulic fluid chamber of the first hydraulic cylinder. Naturally, the supply line can also include other components not mentioned here.The return flow can, for example, extend from the second hydraulic cylinder bore, via the decentralized third hydraulic cylinder bore of the first hydraulic cylinder, the fourth hydraulic cylinder bore connecting the third hydraulic cylinder bore and the rotary union mounting section, the second rotary union, and the first rotary union into the hydraulic fluid tank. Naturally, the return flow can also route through other additional components not mentioned here.

[0038] According to a further preferred embodiment, the second actuator, in particular the second hydraulic cylinder, can be mounted on the rotary head by means of a third rotary union, which forms a section of the working circuit assigned to the second actuator. Preferably, the second actuator can be mounted on the rotary head along a common axis of rotation with the first actuator.

[0039] In the case of the actuators being designed as hydraulic cylinders, the hydraulic circuit assigned to the second hydraulic cylinder can also be divided into a supply and a return, whereby the supply and return can be designed analogously to the supply and return of the hydraulic circuit assigned to the first hydraulic cylinder.

[0040] By means of the embodiment described above according to the invention, it can be ensured that the working circuit belonging to the first actuator and, if present, the working circuit belonging to the second actuator each extend within the device. This protects the working circuit belonging to the respective actuators from damage. In addition, the device cannot become entangled or stuck during operation on obstacles located in sewer pipes due to external conventional hydraulic lines or electrical lines.

[0041] According to the invention, the first lifting arm has a longitudinal bore which is designed as a section of the line connectable to the working device. For example, the longitudinal bore can be designed as a section of a pneumatic line. In this case, the line connectable to the working device is entirely designed as a pneumatic line.

[0042] Alternatively, the longitudinal bore can also be designed to accommodate the cable that can be connected to the working device. In this case, the longitudinal bore has a larger cross-sectional diameter than the cable that can be connected to the working device, and the cable that can be connected to the working device is, for example, an electrical cable. As an alternative to the longitudinal bore, the first lifting arm can also have a U-shaped cross-section along its extension. Preferably, a cover that can be attached to the first lifting arm by means of fasteners can be arranged to protect the cable that can be connected to the working device from damage during operation of the device. This design offers particular advantages for the maintenance of the lifting arms.

[0043] According to a further preferred embodiment of the device according to the invention, the second lifting arm can also have a longitudinal bore designed to accommodate the cable associated with the camera. Alternatively, the second lifting arm can also be designed with a U-shaped cross-section along its extension and optionally with a correspondingly designed, detachably fastened cover.

[0044] The receiving section can be rotatably mounted on the first lifting arm by means of a third bearing bushing. Depending on the embodiment of the device according to the invention, the receiving section can also be mounted on the second lifting arm. The third bearing bushing can be designed as a hollow body and have one or more recesses. The third bearing bushing and the receiving section are preferably designed such that the receiving section has a swivel angle range of up to 110°.

[0045] Advantageously, the end sections of the lifting arms are designed such that any lines extending within the lifting arms, particularly the line connectable to the working device and / or the line associated with the camera, are completely enclosed by the device. For example, a first end section of the first lifting arm, which is configured to accommodate the third bearing bushing, may have only one opening through which the line connectable to the working device can be guided into the bearing bushing. Similarly, a second end section of the first lifting arm, opposite the first end section and configured to accommodate a first bearing bushing, may have only one opening through which the line connectable to the working device can be guided into the first bearing bushing.Similarly, the second lifting arm can be designed at one end to accommodate a second bearing bushing and to guide the cable associated with the camera. This protects the camera cable and the cable connecting to the work device from damage, particularly in joint areas.

[0046] A particular embodiment of the invention is explained in more detail below with reference to the accompanying drawings. These show: Fig. 1 a perspective view of the device according to the invention for sewer pipe work; Fig. 2 a longitudinal section view of selected components of the device according to the invention, wherein the longitudinal section passes through an axis of rotation of a rotary head of the device; Fig. 3a perspective view of a cross-section of selected components of the device according to the invention, wherein the cross-section passes through a bearing of two lifting arms on the rotary head; Fig. 4 a perspective view of a cross-section of selected components of the device according to the invention, wherein the cross-section passes through a bearing of two hydraulic cylinders on the rotary head; and Fig. 5 A perspective view of a component of the hydraulic cylinders of the device, with visible internal contour lines.

[0047] As in Fig. 1As shown, 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 is continuously and endlessly rotatable about an axis of rotation A with respect to a rotation angle α. For this purpose, the rotary head 3 has an internal rotary drive (not shown) with an encoder, which is configured to rotate the rotary head in both positive and negative directions 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 each other via a cross member. A receiving section 5 is rotatably mounted on both lifting arms 4 and 11, which is configured to receive a working device 6. In this case, the working device 6 comprises a milling head and an associated motor, which is detachably connected to the receiving section 5.The work device 6 can, of course, also include other tools, in particular a drill or the like. A camera mounting device 12 is arranged on both lifting arms 4, 11, to which a swivel camera 13 is attached via a bayonet mount. A first actuator 7, which in this case is a first hydraulic cylinder 7, and a second actuator 9, which in this case is a second hydraulic cylinder 9, are rotatably mounted on the rotary head 3 about a common axis of rotation B. The first hydraulic cylinder 7 is connected to the cross member arranged between the lifting arms 4, 11 in order to rotate the lifting arms 4, 11 and thus the recording section 5 and the work device 6, for example, during the operation described in [reference to relevant section]. Fig. 1The rotary head 3 is moved up and down in the position shown. In contrast, the second hydraulic cylinder 9 is connected to the receiving section 5 in order to rotate the receiving section 5 and thus the working device 6 in a swivel range of 110° about a rotation axis C belonging to the receiving section 5.

[0048] The in Fig. 2 The longitudinal section shown of device 1 illustrates selected components of one half of device 1. As shown Fig. 2As can be seen, a first rotary union 10 extending along the axis of rotation A is arranged within the base unit 2. This first rotary union 10 forms a section of a hydraulic circuit belonging to the first hydraulic cylinder and the second hydraulic cylinder 9, respectively. The first rotary union 10 comprises a cylindrical inner section and a cylindrical outer section, each extending along the axis of rotation A of the rotary head 3. The cylindrical inner section of the first rotary union 10 is statically shaped. In this case, the cylindrical outer section is rotatable about the axis of rotation A of the rotary head 3. The cylindrical inner section includes several recesses along its circumferential surface, which are designed to transport hydraulic fluid from the hydraulic circuit belonging to the first hydraulic cylinder and the hydraulic circuit belonging to the second hydraulic cylinder 9.Furthermore, the cylindrical inner section of the first rotary union 10 includes several bores corresponding to the recesses, which are also designed to transport hydraulic fluid from the hydraulic circuit assigned to the first hydraulic cylinder and the hydraulic circuit assigned to the second hydraulic cylinder 11. The hydraulic circuits include a common, hose-like hydraulic tank 33 for storing the hydraulic fluid. The hydraulic circuits also share a common hydraulic pump 31. Each hydraulic circuit, however, has its own hydraulic valve 32.

[0049] As seen in the overall view of the Figs. 1 to 4 As can be seen, several slip rings 19 are arranged within the rotary head 3 in areas adjacent to the outer circumferential surface of the rotary head 3, which are configured to engage a section of a Fig. 4shown, connecting line 8 to the working device 6 and a section of a line in Fig. 4 to form the line 14 associated with the camera 13 shown. This design of the device 1 and the arrangement of the first rotary feedthrough 10 allow for an internal routing of the hydraulic circuits associated with the two hydraulic cylinders 7, 9, the line 8 connectable to the working device, and the line 14 associated with the camera in the transition area between the base unit 2 and the rotatable rotary head 3.

[0050] As seen in the overall view of the Figs. 2 to 4As can be seen, 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 are connected to the first rotary union 10. The rotary head 3 also has a supply bore 23 and a return bore 24 of the hydraulic circuit assigned to the second hydraulic cylinder 9, which are connected to 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 are connected to 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 are connected to a third rotary union 16, which supports the second hydraulic cylinder 9 on the rotary head 3.

[0051] As in Fig. 5As shown, the two hydraulic cylinders 7, 9 each comprise a first hydraulic cylinder bore 27 extending substantially centrally and axially, which penetrates a rotary union section of the respective hydraulic cylinder 7, 9 and is connected to a hydraulic fluid chamber of the respective hydraulic cylinder 7, 9. Furthermore, the hydraulic cylinders 7, 9 each have a second hydraulic cylinder bore 28 extending substantially perpendicular to the first hydraulic cylinder bore 27. The hydraulic cylinders 7, 9 also each comprise a third hydraulic cylinder bore 29 extending substantially parallel to the first hydraulic cylinder bore 27 and arranged decentrally. Finally, the two hydraulic cylinders 7, 9 each have a fourth hydraulic cylinder bore 30 extending substantially perpendicular to the third hydraulic cylinder bore 29 and connecting the rotary union section.

[0052] As from the Figures 2 to 5As can be seen, the hydraulic circuit assigned to each of the two hydraulic cylinders 7 and 9 is divided into a supply and a return line. The respective supply line 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 to the hydraulic fluid chamber of the respective hydraulic cylinder 7 or 9. Naturally, the supply line can also run through other components not mentioned here. The return line runs from the second hydraulic cylinder bore 28, via the third, decentrally arranged hydraulic cylinder bore 29, the fourth hydraulic cylinder bore 30 (which connects the third hydraulic cylinder bore 29 and the rotary union mounting section), and the second rotary union 15 or 23.The third rotary union 16, the corresponding return bore 22 or 24, and the first rotary union 10 extend into the hydraulic fluid tank 33. Naturally, the return flow can also run through other additional components not mentioned here.

[0053] This design places the two hydraulic circuits within the device 1, thus protecting them from damage. Furthermore, the field of vision is improved. Fig. 1 The camera shown (13) is not affected by external, conventionally used hydraulic hoses.

[0054] As seen in the overall view of the Figs. 1 to 4As can be seen, the first lifting arm 4 is mounted on the rotary head 3 by means of a first bearing bushing 20, and the second lifting arm 11 by means of a second bearing bushing 25. The two bearing bushings 20 and 25 are configured to guide the line 8, connectable to the working device 6, and the line 14, associated with the camera 13, from the rotary head 3 into the first lifting arm 4 and the second lifting arm 11, respectively. The first lifting arm 4 has a longitudinal bore 17, which receives the line 8, connectable to the working device 6, and leads to a third bearing bushing (not shown), by means of which the receiving device 5 is mounted on the first lifting arm 4. The third bearing bushing is analogous to the one shown in Fig. 3 The first bearing opening 20 shown is designed. In addition, the second lifting arm 11 includes a longitudinal bore 18 and a transverse bore 26, which together guide the line 14 associated with the camera 13. The Fig. 1 and Fig. 2The camera mounting device 12 shown has a bore (not shown) corresponding to the transverse bore 26, so that the line 14 associated with the camera 13 can be routed into the interior of the camera mounting device 12, where a connector (not shown) for connection to the camera 13 is located. The line 8, which can be connected to the working device 6, extends, like the two hydraulic circuits and the line 14 associated with the camera 13, within the device 1, such that a cross-section of the line 8 (an XY cross-section) is enclosed by the device 1 perpendicular to its direction of travel with respect to a Cartesian coordinate system connected to the cross-section of the line 8, the origin of which lies at the center of the cross-section of the line 8, from four coordinate directions.

[0055] This design ensures that the cable 8, which can be connected to the working device 6, and the cable 14 assigned to the camera 13 extend within the device 1 and are thus protected from damage. Furthermore, the field of view of the camera is improved. Fig. 1 The camera shown (13) is not affected by external cables. Reference symbol list

[0056] 1 Device for sewer pipe work 2 Base unit 3 Rotary head 4 First lifting arm 5 Mounting section 6 Working device 7 First hydraulic cylinder / first actuator 8 Line connectable to working device 9 Second hydraulic cylinder / second actuator 10 First rotary union 11 Second lifting arm 12 Camera mounting device 13 Camera 14 Line assigned to camera 15 Second rotary union 16 Third rotary union 17 Longitudinal bore of the first lifting arm 18 Longitudinal bore of the second lifting arm 19 Slip rings 20 First bearing bushing 21 Supply bore of the first hydraulic circuit located in the rotary head 22 Return bore of the first hydraulic circuit located in the rotary head 23 Supply bore of the second hydraulic circuit located in the rotary head 24 Return bore of the second hydraulic circuit located in the rotary head 25 Second bearing bushing 26 Transverse bore of the second lifting arm 27 First Hydraulic cylinder bore 28 second hydraulic cylinder bore 29 third hydraulic cylinder bore 30 fourthHydraulic cylinder bore 31 Hydraulic pump 32 Hydraulic valve 33 Hydraulic tank A Rotation axis of the rotary head B Rotation axis of the first and second hydraulic cylinders C Rotation axis of the mounting section α Angle of rotation

Claims

1. A device (1) for sewer pipe work, in particular for sewer pipe rehabilitation and sewer pipe inspection work, comprising: a base unit (2) movable in a sewer pipe; a rotary head (3) arranged on the base unit (2) and rotatable about an axis of rotation (A) associated with the rotary head (3); a first lifting arm (4) rotatably mounted on the rotary head (3); a receiving portion (5) rotatably mounted on the first lifting arm (4) and designed to receive a working device (6), in particular a milling cutter; a first actuator (7), mounted on the rotary head (3), for moving the receiving portion (5); a working circuit associated with the first actuator (7); and a line (8) connectable to the working device (6); wherein the working circuit associated with the first actuator (7) extends from the interior of the base unit (2) to the interior of the first actuator (7) within the device (1), characterized in that a first rotary feedthrough (10) associated with the rotary head (3), which forms a section of the working circuit associated with the first actuator (7), is arranged within the base unit (2), the first actuator (7) is mounted on the rotary head (3) by means of a second rotary feedthrough (15) that forms a section of the working circuit associated with the first actuator (7), the line (8) connectable to the working device (6) extends from the interior of the base unit (2) to the interior of the receiving portion (5) within the device (1), and the first lifting arm (4) has a longitudinal bore (17) configured as a section of the line (8) connectable to the working device (6) or configured to receive the line (8) connectable to the working device (6).

2. The device (1) according to claim 1, further comprising: a second actuator (9) rotatably mounted on the rotary head (3) and designed to move the receiving portion (5), and a working circuit associated with the second actuator (9), wherein the working circuit associated with the second actuator (9) extends from the interior of the base unit (3) to the interior of the second actuator (9) within the device (1).

3. The device (1) according to claim 2, if dependent on claim 2, wherein the first rotary feedthrough (10) additionally forms a section of the working circuit associated with the second actuator (9).

4. The device (1) according to one of claims 1 to 3, further comprising: a second lifting arm (11) rotatably mounted on the rotary head (3) and on which the receiving portion (5) is rotatably mounted; a camera receiving device (12) arranged on the first lifting arm (4) and / or the second lifting arm (11) and designed to hold a camera (13); and a line (14) associated with the camera (13); wherein the line (14) associated with the camera (13) extends from the interior of the base unit (2) to the interior of the camera receiving device (12) within the device (1).

5. The device (1) according to one of claims 1 to 4, wherein the rotary head (3), with respect to a rotation angle (α) associated with the rotary head (3), is continuously and / or endlessly rotatable about the axis of rotation (A) associated with the rotary head (3).

6. The device (1) according to one of claims 2 to 5, wherein the second actuator (9) is mounted on the rotary head (3) by means of a third rotary feedthrough (16) that forms a section of the working circuit associated with the second actuator (9), and optionally, wherein the second actuator (9) is mounted on the rotary head (3) along an axis of rotation (B) shared with the first actuator (7).

7. The device (1) according to one of claims 5 to 6, wherein the second lifting arm (11) has a longitudinal bore (18) configured to receive the line (14) associated with the camera (13).

8. The device (1) according to one of claims 1 to 7, wherein the first actuator (7) is a first hydraulic cylinder (7), and wherein the working circuit associated with the first actuator is a hydraulic circuit, and optionally, wherein the first hydraulic cylinder (7) has a plurality of bores configured to form sections of a supply line or a return line of the hydraulic circuit associated with the first hydraulic cylinder (7).

9. The device (1) according to one of claims 1 to 8, if dependent on claim 2, wherein the second actuator (9) is a second hydraulic cylinder (9), and wherein the working circuit associated with the second actuator is a hydraulic circuit, and optionally, wherein the second hydraulic cylinder (9) has a plurality of bores configured to form sections of a supply line and a return line of the hydraulic circuit associated with the second hydraulic cylinder (9).

10. The device (1) according to one of claims 1 to 9, wherein the rotary head (3) comprises slip rings (19) designed to form a section of the line (8) connectable to the working device (6).

11. The device (1) according to claim 10, if dependent on one of claims 5 to 13, wherein some of the slip rings (19) are designed to form a section of the line (16) associated with the camera (15).

12. The device according to one of claims 1 to 11, wherein the receiving portion (5) is mounted on the first lifting arm (4) by means of a third bearing feedthrough.