DE4243529C2 - Device for internal processing of pipes or channels - Google Patents

Description

The application relates to a device for internal machining of pipes or channels, which can be moved along the tube inside the tube and at predetermined locations can be fixed against the pipe wall and carries a work console on which at least one Device, e.g. B. a grinder, spatula, gripper or camera is included with a drive device controllable from outside the tube for positioning the Working console opposite the pipe wall with the device fixed.

Such a device is e.g. B. from European Patent 204 694 or German utility model 84 00 322 known. A comparable device for inspection of pipelines using a camera is also in the European patent application 511 934.

Such devices allow pipes to be checked for damage in a cost-saving manner and if necessary Repair damaged areas with various tools.

For such a device, a compact design is desirable, which the use of Device allows even with small diameter pipes. Furthermore, from technical Regarding a movement control from the outside of the pipe for the work console and the device to demand that allows complicated operations.

One difficulty now lies in the fact that complex movements are required considerable effort for the motion drive must be driven, which is the requirement is opposed to a compact design.

Based on this, the invention is based on the object for a device a drive concept for the movement of the tool, Device or the like. Carrying work console in the three degrees of freedom parallel, radial and in To create circumferential direction to the tube wall, which is an extremely compact, the Allowing miniaturization of the entire device design allows, even complicated movements of the work console should be controllable in a simple manner.

This object is achieved with the features specified in claim 1 and measures taken, the device in particular as listed below is trained:

• a) the drive device comprises three mutually independent, temporally and separately individual drives that can be controlled from each other, one of which acts as a linear drive to shift the Working console in the longitudinal direction of the tube allows another than the rotary drive Rotation of the work console around the pipe axis or about an axis parallel to this permitted and another as a radial drive for moving the work console in the transverse direction serves to the pipe wall;
• b) the device has an inner one and at least partially surrounding it outer housing on;
• c) each individual drive has its own gear unit with one acting on it DC motor on, the motors for the linear and for the rotary drive in the inner housing are included;  
• d) for realizing the linear movement is the inner housing by means of the linear drive slidable with respect to the outer housing in the longitudinal direction of the tube;
• e) the rotary drive comprises a bearing mounted in an end wall of the inner housing, hollow drive shaft acted upon by the motor-gear unit concerned;
• f) the DC motor for the radial drive is fixed in the hollow drive shaft recorded, rotates with it and applies this to one end of the hollow Drive shaft with its housing flanged gear for radial drive through the hollow drive shaft through.

Advantageous embodiments of the device according to the invention are in the subclaims reproduced.

The invention is described below in the context of an exemplary embodiment explained in more detail.

It shows:

Fig. 1 is a side view of the device with the grinder mounted on the work console

Fig. 2 is a front view of the device shown in Fig. 1

Fig. 3 is a side view of the work console with the grinder, the gear and the linkage for the radial drive

Fig. 4 is a front view of the work console with the grinder mounted thereon

Fig. 5 is a side view of the work console with the linkage and the gear for the radial drive and with a spatula as a tool on the work console

Fig. 6 is a front view of the working head with the spatula

Fig. 7 shows a longitudinal section through the device according to the invention

In all figures, the same components are provided with the same reference symbols.

The work console ( 3 ), on which the various devices can be attached, consists of a sheet. Side plates are welded to this plate for stiffening. Pipes are inserted and welded through these side plates.

Tensioning shafts are rotatably received in the tubes and carry coupling rods ( 19 ) and guide rods ( 20 ) at their ends, which form quadrilaterals in a parallelogram arrangement.

The guide rods ( 20 ) are coupled at their ends facing away from the work console ( 3 ) to the output of a worm gear ( 4 ). The coupling rods ( 19 ) are articulated on the housing of the worm gear or on a frame fixed in a manner fixed against relative rotation to the flange of the hollow drive shaft ( 21 ) for the rotary drive.

When torque is transmitted from the worm gear ( 4 ) to guide rods ( 20 ), the linkage ( 19 , 20 ) is adjusted and the work console is moved transversely to the longitudinal extent of the device or the pipe in which it is fixed.

The worm gear ( 4 ) for the radial drive is attached to the flange of the hollow drive shaft for the rotary drive. It is driven by a direct current motor ( 6 ), which is fixed in the hollow drive shaft ( 21 ) and thus drives the worm gear ( 4 ) out of the hollow shaft ( 21 ).

The hollow shaft ( 21 ) is mounted in an end wall of the inner housing ( 2 ). The inner housing ( 2 ) is at least partially surrounded by an outer housing ( 1 ).

When the rotary drive is activated, the DC motor ( 6 ) driving the worm gear ( 4 ) also rotates.

To ensure that the radial drive is independent of the rotational movement, this motor ( 6 ) is supplied with voltage via slip ring bodies ( 8 ).

To protect the worm gear ( 4 ) and the limit switches that are attached to it, the worm gear ( 4 ) is covered with a protective plate.

The rotary drive of the work console ( 3 ) takes place via the hollow drive shaft ( 21 ). This in turn is driven via a planetary gear by a DC motor ( 7 ) housed in the inner housing ( 2 ). Fig. 7 illustrates this fact in a schematic representation.

The linear drive is based on a DC motor ( 9 ), which is also housed in the inner housing ( 2 ). This motor ( 9 ) drives a trapezoidal threaded spindle ( 10 ), which screws into a trapezoidal threaded nut and the inner housing ( 2 ), the worm gear ( 4 ), the linkage ( 19 , 20 ) and the work console ( 3 ) with the Device ( 13 , 14 ) carries, linearly relative to the outer housing ( 1 ) or relative to the pipe to be machined. This linear movement is guided by means of two linear guide rods ( 11 ), which are mounted in recirculating ball units.

The inner housing ( 2 ) is watertight. This protects the motors and transmission components it contains from water and also from rust. The power supply cables are led into the inner housing ( 2 ) via tight cable glands.

The outer housing ( 1 ) has a base plate to which the linear guide is attached. It is provided on the outside with a clamping pad ( 17 ) for sprouting the device in the tube. It carries interchangeable wheel sets ( 15 ) on which the device can be moved in the tube. For this purpose, it is pulled on ropes which are fastened to pulling rope brackets ( 16 ).

The device is powered by cables. These cables can also serve as a pull rope. Compressed air for device operation is fed to the device via a twin hose. Working material, e.g. B. filler, is guided to the device via an additional material hose. Compressed air and working material pass the device in the longitudinal direction via trombone tubes ( 12 ) which compensate for the displacement movements of the housings ( 1 , 2 ) relative to one another. From the trombone tubes ( 12 ), the compressed air or the working material is passed on to the work console ( 3 ) via a twin spiral hose. Instead of this hose, a rotating union for compressed air and working material can be provided.

The DC motors are controlled via pulse width modulation. The detection of the End position happens with the help of limit switches, which lead the live line to the Stop the engine. This creates a process in the opposite direction enables a second live line to be detected by detecting the direction of rotation, which reverses the direction of rotation is switched on.

The device is operated via a control panel with latched joy sticks, a joy stick for the radial movement and a joy stick for the rotation and the linear movement. A snap switch can be used to switch between rapid and work steps, so that the individual stages of the joy stick can be used in both speed types. The joy sticks give the user the speed and the direction setting enables. Any feed can be set by the detent become.

The device according to the invention is based on a drive concept for the movement of the the tool, device or the like. Work console in the three degrees of freedom parallel, radial and circumferential to the tube wall, which is an extremely compact, the Miniaturization of the entire device allowing construction. The Device can be built so small that even pipes with a nominal size of no longer than 80 mm can still be processed.

Even complicated movements of the work console are simple controllable.

Reference list

1 outer housing
2 inner housing
3 work console
4 worm gears
5 clamping bolts
6 Motor for radial drive
7 Motor for rotary drive
8 slip ring bodies
9 Motor for linear drive
10 threaded spindle
11 linear guide rod
12 trombone tube
13 grinder
14 spatula
15 wheels / wheel sets
16 pull rope bracket
17 tension pads
19 coupling rod
20 guide rod
21 drive shaft

Claims (12)

1. Apparatus for the internal processing of pipes or channels, which can be moved along the pipe inside the pipe and can be fixed at predetermined points relative to the pipe wall and which carries a work console ( 3 ) on which at least one device ( 13 , 14 ), in particular grinder, spatula, Gripper or camera, is recorded, with a drive device that can be controlled from outside the tube for positioning the work console ( 3 ) relative to the tube wall when the device is fixed, with the further features:

• a) the drive device comprises three independent, at the same time and separately controllable individual drives, one of which as a linear drive enables the displacement of the work console ( 3 ) in the longitudinal direction of the tube, another as a rotary drive, the rotation of the work console ( 3 ) about the pipe axis or about one allowed to this parallel axis and another serves as a radial drive for moving the work console ( 3 ) in the direction transverse to the pipe wall;
• b) the device has an inner ( 2 ) and an outer ( 1 ) housing at least partially surrounding it;
• c) each individual drive has its own gear unit with a direct current motor ( 6, 7, 9 ) acting on it, the motors ( 9, 7 ) for the linear and for the rotary drive being accommodated in the inner housing ( 2 );
• d) for realizing the linear movement, the inner housing ( 2 ) is designed to be displaceable in the longitudinal direction of the tube with respect to the outer housing by means of the linear drive;
• e) the rotary drive comprises a hollow drive shaft ( 21 ), which is mounted in an end wall of the inner housing ( 2 ) and is acted upon by the relevant motor / gear unit;
• f) the DC motor ( 6 ) for the radial drive is firmly accommodated in the hollow drive shaft ( 21 ), rotates with it and acts on the gearbox ( 4 ) flanged at one end of the hollow drive shaft ( 21 ) for the radial drive through the housing hollow drive shaft ( 21 ) through.

2. Device according to claim 1, characterized in that the gear for the radial drive is a worm gear ( 4 ). 3. Apparatus according to claim 1 or 2, characterized in that between the gear ( 4 ) for the radial drive and the work console ( 3 ) a linkage ( 19 , 20 ) is provided, which with the work console ( 3 ) at least one quadrilateral joint in a parallelogram arrangement forms and for realizing the radial movement from the output of the transmission ( 4 ) can be acted upon and adjusted with a torque. 4. Device according to one or more of the preceding claims, characterized in that the motor ( 6 ) for the radial drive via at least one slip ring body ( 8 ) is supplied with voltage. 5. Device according to one or more of the preceding claims, characterized in that the linear drive comprises a threaded spindle ( 10 ) acting between the inner ( 2 ) and the outer housing ( 1 ) and arranged in the longitudinal direction of the housing. 6. The device according to one or more of the preceding claims, characterized in that for guiding the displacement movement of the inner ( 2 ) relative to the outer housing ( 1 ) one or more linear guide rods ( 11 ) mounted in recirculating ball units are provided. 7. The device according to one or more of the preceding claims, characterized in that for supplying the device ( 13 ) carried by the work console ( 3 ) with compressed air or working medium, in particular spatula material, between the inner ( 2 ) and the outer housing ( 1 ) arranged supply pipes are provided, which are designed to compensate for the displacement between the inner ( 2 ) and the outer housing ( 1 ) as trombone pipes ( 12 ). 8. The device according to one or more of the preceding claims, characterized in that the gear unit of the rotary drive comprises a planetary gear. 9. The device according to one or more of the preceding claims, characterized in that the control of the DC motors ( 6, 7, 9 ) via pulse width modulation. 10. The device according to one or more of the preceding claims, characterized in that limit switches are provided for the detection of the end position of a single movement, which the Interrupt the live line to the relevant motor. 11. The device according to one or more of the preceding claims, characterized in that devices for detecting the direction of rotation of the DC motors are provided. 12. The device according to one or more of the preceding claims, characterized in that the inner housing ( 2 ) is watertight.