Carriage with milling device for pipe rehabilitation

Abstract

The invention relates to a universal carriage having a milling device for rehabilitating inaccessible pipes. The problem addressed by the invention is that of providing a carriage having a milling device for pipe rehabilitation, wherein a milling head can reach a large processing space and the pipe inlets and pipe outlets can be completely milled free again with precise contouring. The carriage according to the invention consists of a single driving section or two or more individual separate driving sections (1 and 2) that are connected to one another and on which one or more cameras and / or sensors are arranged. Each driving section is provided with adjustable fixing devices for positioning and fixing in relation to the inner wall of the pipe. In the case of a plurality of driving sections, i.e. a forward driving section (1) and a driven driving section (2), at least two shafts are connected to one another. Said shafts are arranged so as to be distributed eccentrically radially in the space. A shaft is configured as a rigid shaft (8). The second shaft is designed as a rotatable displacement shaft (7). Said displacement shaft (7) is guided in the interior of one of the driving sections and can be axially retracted or extended. Depending on the type of actuation, the displacement shaft (7) can travel along a specific axial region. A deflection gear (9) is arranged on the displacement shaft (8) and is driven by means of a separate drive via a drive shaft arranged inside the displacement shaft (8). A rotating milling shaft (10) that can be extended and retracted is guided in the deflection gear (9) and is provided with a milling head (11). The displacement shaft (7) can also be radially adjusted in space by means of two inner bearing discs (17). This is achieved in that the bearing discs (17) are rotated on both sides uniformly in the housing of the driving sections (1 and 2) in the same direction by means of a corresponding inner drive. The rotation is made possible via suitable adjustment mechanisms arranged on the inside in the driving section housings (27). This design according to the invention allows the milling head (11) to be adjusted freely in space as desired, i.e. it can be adjusted in all possible movement axes.

Description

[0001] Trolley with milling attachment for pipe rehabilitation

[0002] The invention relates to a universal carriage with a milling device for pipe rehabilitation of non-walkable pipes, which can be made of different materials and which are lined internally by means of a linear hose pipe rehabilitation, wherein the linear hose is cured and wherein the inlets and outlets in the rehabilitated part must be reopened.

[0003] Numerous milling devices for clearing pipe inlets and outlets are known. From AT 525 876 ​​A4, a robot consisting of several interconnected segments for trenchless pipe and shaft rehabilitation is known. In this robot, each segment comprises at least two expansion segments, each with a self-locking expansion mechanism and equipped with at least one double-stroke shear for expanding and pressing against the inner wall of the pipe or shaft. At least one feed segment is positioned between the expansion segments. The foremost segment is an expansion segment, the expansion mechanism for actuating the double-stroke shear having a leadscrew that is rotatably aligned with the robot's direction of movement, mounted within the expansion segment, and to which a milling segment is attached at the front. This technical solution is structurally very complex.

[0004] German patent DE 102014 104504 describes a pipe processing device, 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-walkable pipe. This involves a type of automatically operating milling robot, designed as a mobile carriage and connected by a trailing cable to a control computer located separately outside the pipe. The milling robot is intended to be enabled by the measuring device to remove hardened fabric linings of an installed liner in such a way that pipe inlets or outlets can once again flow freely without obstruction. The subsequent milling positions are first determined by measurement during an initial pass along the entire pipe, with all pipe inlets or outlets of the pipeline to be rehabilitated being measured sequentially. (Pl 1224 Krasowski mobile carriage)

[0005] - 2 -

[0006] The measurements are taken and recorded. Then, the measuring device, which is mounted on a carriage, must be completely removed from the pipe. The pipe is then lined with a liner, as is generally known. After the liner has cured, the actual milling robot is deployed, and all previously identified pipe inlets and outlets are milled out sequentially in two passes. This technical solution is very complex and, above all, time-consuming. Furthermore, inaccuracies can occur during the second pass, potentially leading to leaks during milling.

[0007] German patent DE 102010055 045 Al further discloses a remotely controlled milling robot, monitored by camera, for machining the inner walls of small-diameter pipes. A rotary tool is designed with a recess or perforation so that a camera mounted on the robot's tool arm can see through the tool to the machining point, both when stationary and while the tool is rotating. However, this milling robot has limited swivel range within the pipe's interior.

[0008] The technical solution according to DE 102010017838 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 towards the inner pipe wall. This deflection is achieved by mounting an eccentrically arranged core off-center and by allowing the milling head to be axially length-adjustable via an inflatable pressure jacket made of a rubber-elastic material. However, the inflation of the pressure jacket only deflects the milling head slightly, thus limiting the area that can be milled freely.

[0009] The invention is based on the objective of creating a universal trolley with a milling device for pipe rehabilitation of non-walkable pipes that have been partially rehabilitated with cured linear tubing, wherein the milling head can reach a large working area, can be swivelled 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 completely milled free of contours, and if necessary, the milling head can also be engaged a short distance into the pipe inlets and outlets. Pl 1224 Krasowski trolley

[0010] - 3 -

[0011] The problem is solved according to the invention by the features of claim 1 or 2. Advantageous embodiments and further developments are shown in the accompanying dependent claims. The universal carriage according to the invention can be equipped with one or more processing devices as required, wherein at least one is designed as a milling device for pipe rehabilitation of non-walkable pipes.

[0012] The universal carriage with one or more processing units, at least one of which is designed as a milling unit for pipe rehabilitation of non-walkable pipes, consists in a simple embodiment of a complex drive section, i.e., a front drive section 1, on which one or more cameras 4 and / or 5 and / or measuring devices 20, 21 and / or sensor arrangements 23 are arranged and connected. The front drive section 1 has at least two, but preferably four, laterally arranged support wheels 13. This front drive section 1 is equipped with a deployable locking device 12 so that, after deployment, it can immovably fix the front drive section 1 at a specific point in the pipe to be rehabilitated. All processing units and drives, i.e., all parts, are interconnected and can be controlled by at least one microcomputer.On this front drive section 1, shafts are arranged centrally and / or eccentrically on both sides, the shafts being designed as rotatable sliding shafts 7, which are axially adjustable and radially rotatable within the front drive section 1. A preferably deflection gear 9 is provided on at least one of the sliding shafts 7, to which a separately driven milling head 11 is arranged via a milling shaft 10. At least one of the two sliding shafts 7 is radially adjustable in position by means of a front bearing disk 18 or an inner bearing disk 17. The sliding shafts 7 are arranged perpendicular or oblique 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 drive section housing 27, so that they can be rotated independently of each other or together.A front milling head 3 is arranged on one of the displacement shafts 7, and is designed to be individually adjustable and driven axially. This allows the spatial position of the arranged front milling cutter 3, or also of the milling head 11, to be precisely adjusted in space, so that they can engage in three axes of movement. The adjustable pipe locking device 12 consists of one or two pressurizable hose rings and / or one or two mechanically adjustable swivel arm assemblies. Pl 1224 Krasowski trolley.

[0013] - 4 -

[0014] The preferred embodiment of the carriage according to the invention consists of at least two or more interconnected, separate carriage sections 1 and 2, on which one or more cameras and / or measuring devices and / or sensor arrangements are arranged and interconnected. Each carriage section 1 and 2 contains at least two laterally arranged support wheels 13. Typically, as is generally known and customary, four specially designed lateral support wheels 13 are provided for each carriage section 1 and 2. For positioning and locking relative to the inner wall of the pipe, each carriage section is equipped with adjustable locking devices 12. All parts of the processing equipment, their drives, the arranged cameras, measuring devices, and sensor arrangements are interconnected and are selectively controlled by at least one microcomputer using integrated software.The universal carriage according to the invention consists of a front carriage section 1, hereinafter referred to as the front carriage section, and a second rear carriage section 2, hereinafter referred to as the drive carriage section 2, which are connected to each other by at least two shafts 7 and 8. These two shafts 7 and 8 are preferably arranged radially off-center in space. One of these shafts is designed as a rigid shaft 8, which rigidly connects and separates the front carriage section 1 and the drive carriage section 2. It is rigidly connected to the two inner bearing discs 17, so that these are rigidly coupled. In principle, the rigid shaft 8 can also be arranged axially centrally, which, however, severely restricts the accessible machining area of ​​the milling head 11. The second shaft is designed as a rotatable sliding shaft 7. This means that this sliding shaft 7 is guided inside one of the carriage sections and can be extended or retracted axially within it.To enable axial longitudinal movement of this displacement shaft 7, it is suitably mounted in the two inner bearing discs 17. Optionally, the displacement shaft 7 can be driven on only one side. Typically, a drive block 14 for axial displacement of the displacement shaft 7 is arranged in one of the two drive sections 1 and 2, and, for example, a drive block 14 for rotation of the displacement shaft 7 is arranged in the other drive section. Therefore, with drive sections 1 and 2 locked, the displacement shaft 7 can travel a certain axial range, i.e., it performs an axial linear movement. It is generally sufficient if the displacement shaft 7 has an axial adjustment range that is twice the diameter of the connected pipe inlets and outlets.On the sliding shaft 8 is a deflection gear 9, which is T-shaped, arranged, which is connected via an internally in the sliding shaft 8Pl 1224 Krasowski trolley.

[0015] - 5 -

[0016] The arranged drive shaft (not shown in the drawing) is driven by a separate drive block 14. The sliding shaft 7 is therefore correspondingly hollow. A rotating milling shaft 10, preferably retractable and extendable, is guided in the T-shaped deflection gear 9 and is equipped with a milling head 11. Advantageously, the milling shaft 10 is adjustable in height and depth, but can also be fixed. If it is adjustable, however, the driven milling head 11 can also operate in an area that extends beyond the cross-section of the pipe to be rehabilitated. The sliding shaft 7 is also radially adjustable in position by means of two inner bearing discs 17. The shafts 7 and 8 can be mounted perpendicular to the surface of the inner bearing discs 17, thus creating a rigid carriage.To enable the carriage to easily navigate bends in the pipeline being rehabilitated, including those in multiple sections, it is advantageous for shafts 7 and 8, and optionally 16, to be cardanically mounted and connected to the inner bearing discs 17. However, it is also possible to divide shafts 7 and 8 into two or three sections and connect them using suitable joints to allow passage around pipe bends or distortions. The two inner bearing discs 17 are mounted in the carriage section housing 27 and are designed to rotate up to 360 degrees. This is achieved by rotating the bearing discs 17 uniformly on both sides within the housings of carriage sections 1 and 2 in the same direction by means of corresponding internal drive blocks 14. This rotation is facilitated by suitable adjustment mechanisms located inside the carriage section housings 27.This design according to the invention allows the milling head 11 to be freely engaged in space, i.e., pivoted three-dimensionally in all possible axes of movement x, y, and z. This enables very precise machining of the pipe sections to be milled in the areas of the pipe inlets and outlets.

[0017] A second front milling head 3 for frontal milling operations can be arranged on the front bearing disc 9. This head is designed to be axially adjustable and driven independently. Its primary purpose is to mill out existing pipe closures in the direction of travel. For this purpose, it is guided axially adjustable within the front drive section 1. It can also be arranged off-center, for example, to mill out an inliner knot at the end of a laid liner. In this case, the front bearing disc 18 is again rotatably mounted and adjustable within the drive section housing 27 up to approximately 360 degrees. This allows for a larger working range.

[0018] - 6 -

[0019] than previously developed. In order to securely and reliably fix the two drive sections 1 and 2, i.e., the front drive section 1 and the drive drive section 2, in the tube, one or two pressurizable hose rings or one or two mechanically adjustable swivel arm assemblies are arranged externally on each of the drive section housings as adjustable tube locking devices 12 per drive section. A combination of a pressurised hose ring and a mechanically adjustable swivel arm assemblies is also possible.

[0020] A more complex design of the universal carriage with a milling unit for pipe rehabilitation is also possible if, instead of two shafts between the front drive section 1 and the drive section 2, only one shaft-within-a-shaft is arranged. The rigid shaft 9 must then be slotted over a longer section and be designed to be detachable, rotatable, and separately lockable in order to allow axial displacement via an internally arranged sliding shaft 8. In addition, a third shaft must be provided internally as a drive, or the milling head must be driven separately. However, this necessitates a suitable power supply line, which would restrict the available milling area. This shaft-within-a-shaft solution is included in the invention.

[0021] It is also possible to arrange three shafts on the universal carriage with a milling unit for pipe rehabilitation. In this configuration, one shaft is designed as a purely sliding shaft 7, one shaft as a purely rigid shaft 8, and one shaft as an auxiliary shaft 16. The auxiliary shaft 16 can be primarily designed to accommodate one or more utility lines. Furthermore, this increases the mechanical torsional rigidity of the entire carriage system, especially during the actual milling process, and enables precise milling without protruding edges.

[0022] Within the universal crawler equipped with a milling device for pipe rehabilitation, it is advantageous to position at least one front camera 4, and / or at least one interior camera 5, and / or at least one rear camera 6 at suitable locations on the travel sections 1 and 2 so that the areas before, between, and after travel sections 1 and 2 can be visually monitored and the work processes recorded, evaluated, and stored. Pl 1224 Krasowski crawler

[0023] - 7 -

[0024] To achieve the most accurate possible documentation of the rehabilitated pipe route, including the precise location of all pipe inlets and outlets, using the universal carriage with a milling unit 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 acoustic measuring head at appropriate locations to document the condition of the pipe wall behind the installed liner.

[0025] It is also possible to couple a third or further travel sections to the universal carriage with a milling unit for pipe rehabilitation. These can be coupled either rigidly or flexibly. 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, or a hot air head, particularly as a curing section. In principle, it is also possible to equip it with a type of heating element, heating coil, or filament 28, or even with a high-performance laser for burning out pipe inlets and outlets.

[0026] In principle, it is also useful to couple a further driving section as a processing driving section 24 to the universal carriage with a milling device for pipe rehabilitation, suitable for receiving 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 driving sections 1 and 2 arranged in front of it purely hydraulically.

[0027] Optionally, the individual operating devices of the universal carriage can be electrically and / or hydraulically and / or pneumatically driven by a milling unit for pipe rehabilitation. This depends on the design of travel sections 1 and 2 and the existing supply technology on site.

[0028] It can also be advantageous for a universal trolley equipped with a milling attachment for pipe rehabilitation to have a driving section that doubles as a cleaning section, capable of being pressurized with water or air. This allows for sufficient cleaning of milled pipe inlets and outlets, enabling subsequent verification that the pipe connection at the treated area is undamaged and, most importantly, leak-proof. (Pl 1224 Krasowski trolley)

[0029] - 8 -

[0030] In order to enable good image documentation, it is advantageous if cameras 4, 5 and 6 are arranged at appropriate points on the universal carriage and are equipped with automatic shutters with cleaning function, which are closed during a milling or cleaning process and can protect the camera lenses from contamination in the meantime and clean them if necessary.

[0031] To enable the most self-sufficient, universal operation possible, an additional drive section, designed as a battery-powered drive section 25, can be coupled to supply power to the universal carriage equipped with a milling unit for pipe rehabilitation, i.e., when the individual drive sections and processing devices are purely electrically driven. 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 pull rope or data cable is sufficient. This allows for faster travel through the pipe section to be rehabilitated.

[0032] If a pressure line 29 is additionally arranged up to or into a driving section 1 and 2 or up between driving sections 1 and 2 in the universal carriage, this can be used for heating and curing the inserted liner or for tempering a heat-generating curing device.

[0033] It is also advantageous if the universal crawler equipped with a milling unit for pipe rehabilitation has an additional pressure line extending to or into a travel section, or between travel sections. When inserting a liner, it can happen that wrinkles remain in the liner at certain points, preventing it from properly conforming to the pipe's inner wall. If such a defect is detected while the crawler is traversing the pipe, overpressure can be regenerated in the liner via the additional pressure line 29 until the defect has properly sealed against the pipe wall. This requires the corresponding pipe section to be temporarily sealed. The integrated cameras allow this process to be monitored and the pressure to be precisely controlled.In conjunction with suitable curing devices arranged on one of the transport sections, such as a UV head, a microwave generator, an LED head, or a hot air head, the liner hose can then be cured immediately at this damaged area, preventing further wrinkling. Pl 1224 Krasowski transport trolley.

[0034] - 9 -

[0035] The invention will be explained in more detail below with reference to Figures 1 to 5 in various embodiments.

[0036] Fig. 1 schematically shows a top view with two drive sections 1 and 2 with a front milling head 3 and a milling head 11.

[0037] Fig. 2 shows a frontal view of the front carriage 1 with the front milling head 3.

[0038] Fig. 3 shows an axial top view of an inside of the drive section 2 with the possible positions of the milling head 11.

[0039] Fig. 4 shows two oblique views (from the front and rear) of a carriage consisting of two drive sections 1 and 2 with three shafts 7, 8, and 16 and a further attachable machining drive section 24 or battery drive section 25.

[0040] Fig. 5 schematically shows the arrangement of internal drive blocks for actuating the machining equipment.

[0041] Preferably, the carriage, as shown in the top view in Fig. 1, consists of drive sections 1 and 2, i.e., the front drive section 1 and the drive section 2. A front milling head 3 is arranged facing forward on the front drive section 2. The front milling head 3 is actuated by means of a front milling shaft 3, which passes through the radially rotatable front bearing disc 18 and is driven internally, so that it can freely mill a large area forward as required. The circular working area is influenced by the arrangement of the front milling shaft 3 and the size and type of the front milling head 3. However, it is also possible to guide and support the front milling shaft 3 at an angle to the pipe wall through the front bearing disc 18. In this case, it is also designed to be extendable and retractable. This makes it possible to freely mill the entire pipe cross-section as required, provided the front milling shaft 3 is extended sufficiently far forward.If, on the other hand, the 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 therefore be moved without difficulty. A front camera 4 and, if required, a front measuring device 20 or additional sensor arrangements 23 are arranged on the front of the drive section 1 on the drive section housing 27. Two separately driven support wheels 13 are arranged on the left and right sides of the drive section housings 27 of the front drive section 1 and also on the drive section 2, so that the carriage as a whole can be moved within the pipe to be rehabilitated. Once the carriage is at a point in the pipe to be rehabilitated, [Pl 1224 Krasowski carriage].

[0042] - 10 -

[0043] After the process is carried out and precisely positioned, the elastic hoses arranged and appropriately attached at the ends of each drive section 1 and 2 are inflated. These four hoses conform to the inner wall of the pipe and reliably lock the assembly of the two drive sections 1 and 2 so firmly that they cannot change their position relative to the pipe inlets and outlets being milled during milling. An off-center rigid shaft 8 serves as an axial connection between the front drive section 1 and the drive drive section 2. This shaft is fixed to the two inner bearing discs 17 and mechanically connects and defines the distance between the two drive sections 1 and 2.The rigid shaft 8 according to the invention is arranged between the front drive section 1 and the drive drive section 2, rigidly and mechanically connecting the two drive sections 1 and 2. In conjunction with the inflated tubes, this creates a very stable and sufficiently immovable milling device. This device also distributes the forces acting during milling and introduced into the carriage in such a way that the carriage remains unchanged in its position relative to the tube wall and in its position relative to the corresponding travel distance, even during milling. Furthermore, the displacement shaft 7 is mounted off-center in the inner bearing disks 17 between the two drive sections 1 and 2 and is guided to be axially displaceable, i.e., linearly axially movable. The axial displacement is effected by a drive block 14 located inside one or both drive section housings 27, which, depending on the design, is connected to a specific power supply 15.The position of the displacement shaft 7 in the working space between the two drive sections 1 and 2 is changed by radially rotating the two inner bearing discs 17. This is achieved by means of a suitable inner drive block 14, allowing for a 360-degree rotation. The drive block 14 with its associated adjustment mechanism may be located in only one drive section. However, it is also possible to equip both inner bearing discs 17 with drive blocks and suitable adjustment devices. The displacement shaft 8 is also itself rotatable, i.e., it is mounted on a bearing suitable for rotation and connected to at least one inner drive block 14, enabling it to also rotate 360 ​​degrees. A T-shaped deflection gear 9 is mounted on the displacement shaft 7. A milling shaft 10 is supported and guided within the T-shaped deflection gear 9.This milling shaft 10 can optionally be directly coupled or telescopically integrated into the deflection gear 9. If the milling shaft 10 is telescopic, it is possible to mill deeper into the pipe using the Krasowski carriage (Pl 1224).

[0044] - 11 -

[0045] The milling head is used to mill into pipe inlets and outlets. A suitable, interchangeable milling head 11 is attached to the end of the milling shaft 10. To rotate the milling head 11 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. Inside this shaft (not shown), a drive shaft is mounted and guided, which is driven by a further internal drive block 14. This universal adjustability of the milling head 11's position between the drive sections 1 and 2 makes it possible to engage the milling head 11 in any direction along all three spatial axes x, y, and z. This allows for precise, full-surface milling deep into the pipe inlets and outlets without leaving any disruptive protrusions or edge overhangs. A media supply cable and a pull cable are arranged on the rear bearing disc.It is possible that the media supply cable 26 can also serve as a pull rope if it is designed to be tensile-resistant.

[0046] Figure 2 shows a front view of the front carriage 1 with a simple (not inclined, eccentrically arranged, rotating front milling head 3). Two support wheels 13 are arranged on the left and right of the carriage's drive section housing 27, which move the carriage inside the pipe. As is generally known, these wheels are dimensioned and designed according to the respective pipe cross-section to be traversed. A front camera 4 and / or a front measuring device 20 and / or other sensor arrangements 23 are mounted on the drive section housing 27 outside the rotatable front bearing disc 18 to monitor, control, and document the work process. The milling head 11, arranged between the drive sections 1 and 2, is also shown with the milling shaft 10 in an upward-facing working position.

[0047] Figure 3 shows an axial top 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 in the working area is achieved by correspondingly rotating the displacement shaft 7. Corresponding intermediate positions are not shown. At the bottom of the drive section housing 27, a rigid shaft 8 for the fixed connection of the two drive sections 1 and 2 and two hollow auxiliary shafts 16 for power transmission and for accommodating necessary pipe connections of various media between the front drive section 1 and the drive section 2 are arranged. The inner bearing disk 17 is itself designed to be rotatable through 360 degrees. Pl 1224 Krasowski-Fahrwagen

[0048] Fig. 4a shows an oblique view of a carriage consisting of two carriage sections 1 and 2 with three shafts: the sliding shaft 7, the rigid shaft 8, an auxiliary shaft 16, and a pressure line 29. For larger carriages with large pipe cross-sections, it can also be advantageous to use two rigid shafts 8 instead of one to improve the mechanical stability and rigidity of the entire carriage structure. Here, a hollow auxiliary shaft 16 is used for power supply and media connection. It is also possible to use two or more 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 auxiliary shafts 16 can also have other cross-sections, such as elliptical, quadrilateral, or polygonal shapes.The drive section housings 27 are typically equipped with a front camera 4, internal cameras 5, a rear camera 8, and / or a front measuring device 20, internal measuring devices 21, and a rear measuring device 22, and / or other sensor arrangements 23 to directly monitor, control, and document the respective work processes. These can also be arranged on the front bearing disk 18, the inner bearing disks 17, and the rear bearing disk 19, if required. In addition to the front milling head 3, a retractable filament 28 is arranged on the front bearing disk 18 for burning away interfering liner material, such as, in particular, a liner knot. This filament, which can also be designed as a heating coil, consists of an annular resistance wire. It is heated to such a temperature that it can melt through the inserted liner hose material.This makes it possible to quickly melt and cut through the liner knot formed at the drive end of the liner tube, thus restoring a largely unobstructed passage through the pipe cross-section at this point. Between the two drive sections 1 and 2, the off-center 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. The displacement shaft 7 can be rotated about its own axis, thereby changing the machining direction of the milling cutter in the working space. The displacement shaft 7 is linearly axially movable, allowing the distance of the milling head relative to the two inner bearing disks 17 to be adjusted. Thirdly, by rotating the inner bearing disks 17, the displacement shaft can be adjusted radially in the working space following a circular path. This allows any required milling position or milling direction of the milling head 7 to be set.Furthermore, here is a third possible driving section Pl 1224 Krasowski-Fahrwagen.

[0049] - 13 -

[0050] The figure shows which can be flexibly coupled to the other two travel sections 1 and 2 via a connecting cable or rigidly (not shown) via another rigid shaft. This could be a further processing travel section 24, for example with LED lamps, UV lamps or infrared emitters for curing the impregnated liner. Or this third travel section could be a battery-powered travel section 25 with internally arranged batteries. At the end of the travel sections, an eyelet 30 is provided for attaching a pull rope 26 or pull strap to ensure that the carriage can always be removed from the pipe section being rehabilitated. A power supply 15 and a possible pressure line are also connected.

[0051] Figure 4b shows a carriage according to the invention from the opposite perspective to better illustrate the arrangement. As shown in Figure 4a, corresponding cameras and / or measuring devices and / or additional sensor arrangements are again arranged and connected on the carriage section housings 27. An opening in the front carriage section 1 or a T-piece in the pressure line 29 can be arranged as an outlet point for generating overpressure, i.e., for introducing a suitable medium to rebuild pressure (not shown).

[0052] Fig. 5 schematically shows in a side view the possible arrangements of the important internal drive blocks 14, for example, suitable electric motors for generating the axial movement of the sliding shaft 7, for rotating the sliding shaft 7, for rotary actuation of the inner bearing discs 17, and a drive for generating the rotational movement of the milling head 11 via an internal shaft to the T-shaped deflection gear 9. Further drives for actuating the front milling head 3, the front bearing disc 18, and the support wheels 13 are arranged in the two drive section housings 1 and 2. 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 from the drive section housing 27 to in front of the front milling head 3.On the casing of the drive section housings 27 of the two carriages 1 and 2, two pipe locking devices 12 are arranged for securing the carriage to the inner wall of the pipe, i.e., the carriage is immovably locked in a fixed position. The pipe locking devices 12 can be, as shown, inflatable PI 1224 Krasowski carriages.

[0053] - 14 -

[0054] Hoses or purely mechanical locking arms (not shown and detailed) can be used. An additional eyelet 30 for attaching a separate pull rope 26 is provided on the rear bearing disc 19. This is necessary, for example, if the media supply cable is not sufficiently tensile-resistant to allow the entire carriage to be pulled out of the pipe being rehabilitated.

[0055] The inventive carriage with a milling device for pipe rehabilitation of non-walkable pipes is applicable to a wide variety of pipe cross-sections in the range of 80 to 1000 mm, depending on its size and design. Pl 1224 Krasowski carriage

[0056] - 15 -

[0057] Reference symbol list

[0058] 1. Driving section, front driving section

[0059] 2 Driving section, drive driving section

[0060] 3 Front milling head

[0061] 4 Front camera

[0062] 5 interior cameras

[0063] 6 Rear camera

[0064] 7 Shaft, Displacement Shaft

[0065] 8-shaft, rigid shaft

[0066] 9 deflection gears

[0067] 10 milling shaft

[0068] 11 milling head

[0069] 12 Pipe locking device (in hose form) 13 Support wheels

[0070] 14 internal drive blocks

[0071] 15 Energy supply

[0072] 16 hollow auxiliary shaft

[0073] 17 inner bearing washers

[0074] 18 front bearing discs

[0075] 19 Heckl bearing disc

[0076] 20 Front measuring device

[0077] 21 Internal measuring device

[0078] 22 Rear measuring device

[0079] 23 sensor arrangements

[0080] 24 Processing drive section

[0081] 25 Battery driving section

[0082] 26 Media supply cable or pull rope

[0083] 27 drive section housings

[0084] 28 filaments

[0085] 29 Pressure line

[0086] 30 eyelets

Claims

Pl 1224 Krasowski-Fahrwagen - 16 - Patent 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 front 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 includes at least 2 laterally arranged support wheels and the driving section is equipped with adjustable locking devices, and all parts are controlled by at least one microcomputer, as you have indicated. 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), the displacement shafts (7) are arranged at right angles or oblique angles to the surface of the inner bearing disk^) and the front bearing disk (9), the inner bearing disc (17) and the front bearing disc (9) 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 erectable pipe locking device (12) per driving section consists of one or two pressurizable hose rings and / or one or two mechanically erectable swivel arm arrangements.

2. Universal trolley with one or more processing devices, at least one of which is designed as a milling device for pipe rehabilitation of non-walkable pipes, Pl 1224 Krasowski trolley - 17 - 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, as you have indicated. that two drive sections (1 and 2) are connected to each other by at least two shafts 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) perpendicular to the surface of the inner bearing discs (17) or are gimbal-mounted and connected 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 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 erectable pipe locking device (12) per driving section consists of one or two pressurizable hose rings and / or one or two mechanically erectable swivel arm arrangements.

3. Universal carriage with a milling device for pipe rehabilitation according to claim 2, as characterized, that three shafts are arranged, one shaft being 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. Pl 1224 Krasowski trolley - 18 - 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 machining 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 beams, UV light generators, infrared light generators, hot air generators or steam generators for curing. Pl 1224 Krasowski-Fahrwagen - 19 - 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, another 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 in addition 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 in addition a pressure line (29) is arranged to or into a driving section or to between the driving sections.

Images