Note: Descriptions are shown in the official language in which they were submitted.
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Device for installing an internal clamp in an
inaccessible pipe
The invention relates t:o a device for
installing an internal clamp in an inaccessible pipe.
It furthermore relates to a clamp carriage which is
suitable, in particular, for use with an installation
device of this type. Finally, t:he invention also
relates to the combination of an in~~tallation device of
this type and a clamp carriage of this type.
It is known from DE-U-29 700 912 to lay
conductor cables for light sources in inaccessible
conduit or pipe systems and to fasten them to the pipe
inner wall by means of fastening elements designed in
the manner of internal clamps. The use of fastening
elements of this type has the advantage that the pipe
does not have to be damaged, which would be necessary,
for example when fastening them on with pegs. Spring-
prestressed special steel rings are proposed as the
fastening means of the fastening e:Lements, said rings
being pressed against the inner wall of the pipe and
expediently bearing against the pipe inner wall over an
angular range at the circumference of at least 180°. To
insert these open special steel ring's into the pipe use
may be made of a self-propelled,, remote-controlled
robot which is fitted with a c<~mera, removes the
premanufactured fastening means from. a magazine carried
along by it and inserts them into the pipe. This
document does not reveal the design and operation of
the robot in detail.
The invention is based on the object of
providing a device for installing a:n internal clamp in
an inaccessible pipe and a clamp carriage which is
suitable, in particular, for use with an installation
device of this type.
With regard to the installation device, this
object is achieved by the features of Claim 1.
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The device according to thE~ invention is used
to act upon various sections of the internal clamp in
order to expand the latter in the circumferential
direction and therefore to install it in the
inaccessible pipe.
The device is particularly suitable for
installing a self-contained internal clamp as is
disclosed, for example in EP Patent Application 98 102
682.6 and in the corresponding International Patent
Application No. PCT [lacuna]. With regard to the design
and operation of this internal clamp, express reference
should be made to this patent application.
With regard to the clamp carriage, the object
is achieved by the characterizing features of Claim 19.
A clamp carriage of this type is suitable, in
particular, for use with the abovementioned
installation device.
Particularly preferred embodiments of the
device and of the clamp carriage a:re specified in the
dependent claims.
The invention is explained in greater detail
below using an exemplary embodiment and with reference
to the drawing; in the drawing:
Figure 1 shows a schematic illustration of a device
which is arranged an inaccessible pipe and
is intended for installing an internal clamp
using an assigned clamp carriage, with the
pipe cut open in the longitudinal direction,
Figure 2 shows an enlarged, partially sectioned
illustration of part of the installation
device,
Figure 3 shows a partially sectioned illustration of
the clamp-placing module of the installation
device in which, in addition, the supporting
elements can be seen taking up their
supporting position,
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Figure 4 shows a horizontal longitudinal section
through a part of the installation device
comprising the clamp-plat:ing module,
Figure 5 shows a cross section through the clamp-
s placing module of the in~~tallation device,
Figure 6 shows a partially transversely sectioned end
view of the clamp-placing module looking
from the associated coupling pipe,
Figure 7 shows a schematic partial illustration of
the clamp-placing module together with the
coupling adapter placed onto the coupling
pipe,
Figure 8 shows a schematic partial illustration of
the clamp-placing modulE=_ together with an
illustrated cylinder/piston unit for
actuating the holding jaws of the clamp
head,
Figures 9a show various views of the coupling region
-9f between the clamp-placing module of the
installation device and the clamp carriage,
Figure 10 shows a cross sectional illustration of the
clamp carriage,
Figure 11 shows a schematic, pari~ially transversely
sectioned view of the clamp carriage,
Figure 12 shows a schematic illustration of the clamp
magazine taking up its inoperative position
with the clamp carriacve coupled to the
clamp-placing module,
Figure 13 shows a schematic illustration of the clamp
magazine taking up its transfer position,
Figure 14 shows a schematic illustration of the clamp
magazine taking up its transfer position,
the conveying member already gripping the
foremost clamp of the clamp stack from
behind,
Figure 15 shows a schematic illustration of the clamp
magazine taking up its transfer position
with the foremost clamp pushed over the
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clamp-placing head by the conveying member,
and
Figure 16 shows a schematic illustration of the clamp
magazine moved back again into its
inoperative position, thf~ clamp-placing head
having already grasped the previously
transferred clamp and the conveying member
already again gripping the foremost clamp of
the remaining clamp stack from behind.
The installation device 10 which is shown in
Figures 1 to 16 together with the associated clamp
carriage 11 is intended for installing an internal
clamp 12, shown, for example, in Figure 1, in an
inaccessible pipe 14, such as, for' example, a sewage
pipe. A frame 16 of the installation device 10
comprises a remote-controlled, self-propelled robotic
conduit vehicle 18 which is supported via wheels 20 on
the pipe inner wall 14' and can be moved in the pipe
longitudinal direction R by means of a driving assembly
for the wheels 20, which assembly is arranged in the
robotic conduit vehicle 18. It is possible for a
measuring wheel (not shown) to be mounted in a freely
rotatable manner at the side of t:he robotic conduit
vehicle 18, which measuring wheel likewise bears
against the pipe inner wall 14' and can be connected to
a rotary sensor (not shown) which passes on its
signals, for example via a signaling and feeder cable,
to a .monitoring and control apparatus arranged outside
the pipe system, in order to determine the location of
the installation device 10 in the pipe 14.
A rotary plate 26 which is assigned to a rotary
apparatus of the robotic conduit vehicle 18 and serves
as a supporting element is mounted, in a manner such
that it can rotate about the longitudinal axis 18' of
the robotic conduit vehicle 18, on that end side of the
robotic conduit vehicle 18 which. faces the clamp
magazine 11. A rotary drive for this rotary plate 26 is
accommodated in the robotic conduit vehicle 18.
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A clamp-placing module 30 is fastened in a
boom-like manner to the rotary plate 26 via a locked
bayonet fastener 28. Connections 32 for control, feed
and signaling lines and also a compressed-air feed line
may also be provided on the rotary plate 26. In
addition, as can best be seen with reference to
Figure 4, two output shafts 34, 34' lying approximately
diametrically opposite each other ax:e mounted rotatably
on the rotary plate 26 and are connected to driving
assemblies accommodated in the robotic conduit vehicle
18.
The clamp-placing module 30 has a housing 36
which is, for example, approximately cuboidal and to
which that part of the bayonet fastener 28 which is
assigned to this clamp-placing module 30 is fastened.
In addition, two parallel supporting shafts 38 which
run at right angles to the longitudinal axis 18' are
mounted rotatably on the housing 36 and, at their ends
protruding on both sides over the housing 36, bear
supporting levers 40 with a supporting element, namely
a supporting roller 42 in each ease, mounted in a
freely rotatable manner on the ends thereof. Within the
housing 36 a worm wheel segment 44 is seated in each
case in a rotationally fixed manner on each supporting
shaft 38 (cf. Figures 2 and 3, in particular). The two
worm wheel segments 44 mesh with <~ worm 46 which is
formed on a worm shaft 46' which runs in the direction
of the longitudinal axis 18' and is mounted in a freely
rotatable manner on the housing 36.
Seated on that free end of the worm shaft 46'
which faces away from the worm wheel segments 44 (cf.
Figure 2) is a toothed wheel 50 which meshes with a
driving wheel 50' seated on a coupling shaft 52 which
is mounted in a freely rotatable manner in a region,
protruding laterally over the housing 36, of a
transmission housing part 48' which is connected
fixedly to the housing 36 (~~f. Figure 4, in
particular). The coupling shaft 52 is connected via a
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connecting shaft 54' (indicated by dashed lines) to the
corresponding output shaft 34' mounted on the rotary
plate 26. LVith this output shaft 34' being driven by
means of the corresponding driving assembly arranged in
the robotic conduit vehicle 18, the supporting levers
40 can be pivoted out of an inoperative position (shown
by dash-dotted lines in Figure 3), in which they run
approximately in the direction of the longitudinal axis
18' (cf. Figure 1, for example), into a supporting
position (illustrated in Figure 3 by unbroken lines) in
which the supporting rollers 42 are supported against
the pipe inner wall 14'. This enables the longitudinal
axis 18' to be centered with respect to the pipe 14.
As can be gathered from Figure 3, for example,
when the supporting levers 40 take up their supporting
position the axes of the supporting rollers 42 situated
at the top run at least approximately parallel to the
longitudinal axis 18' and the axes; of the supporting
rollers 42 situated at the bottom :run at right angles
to the longitudinal axis 18' . Damage to the pipe inner
wall 14' is thereby avoided and at the same time the
installation device 10 is blocked with regard to the
pipe 14. Mounting the supporting rollers 42 in such a
manner makes it possible, with the ~~upporting levers 40
slightly pivoted back out of the supporting position,
for the position of the installation device 10 to be
adjusted axially by an appropriate movement of the
robotic conduit vehicle 18.
ulountea ractially, i.e. in a perpendicularly
displaceable manner with respect t:o the longitudinal
axis 18', in the clamp-placing module 30 is a clamp-
placing head 64 which is provided at its outer, free
end with holding jaws 56 which, in particular, can be
actuated pneumatically and can be brought into
engagement with the fastening part 58 of a respective
clamp 12 (cf. Figures 1, 6, 7 and 8, in particular). In
this case, the holding jaws 56 can be provided with
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pins so as to ensure engagement with the respective
fastening part 58 in as reliable manner as possible.
The clamp-placing head 64 which is designed as
a slide, is arranged on a guide rail 60 fixed on the
housing and is connected to a rack 62 is
correspondingly moved in the radial direction via a
toothed wheel 66 which meshes with the rack 62. The
toothed wheel 66 is coupled via a further connecting
shaft 52 to a further output shaft. 34 which is again
connected to a relevant driving assembly accommodated
in the robotic conduit vehicle 18 (cf . Figures 4 to 6,
in particular).
Like the output shaft 34', the output shaft 34
is mounted rotatably on the rotary plate 26 of the
robotic conduit vehicle 18 and is coupled to a driving
assembly accommodated in the robot:ic conduit vehicle
18. Whereas the output shaft 34' is used for centering
purposes, the output shaft 34 is used to adjust the
clamp-placing head in the radial direction. The two
output shaft 34 and 34' may, in particular, be driven
under closed-loop control.
Furthermore, a pinion 88 which can be brought,
for expansion purposes, into engagement with a further
section of the clamp 12, i.e. a s~sction different to
the fastening part 58, is mounted pivotably about an
axis 68 in or on the clamp-placing head 64. In this
case, a lever 70 which can be pivoted about the axis 68
is provided and the pinion 88 is mounted rotatably at
the free end of said lever. The pivot axis 68 extends
parallel to the longitudinal axis 18' of the robotic
conduit vehicle 18, with the result that the pinion 68
can be pivoted in a plane perk>endicular to this
longitudinal axis 18' (cf. Figures 5 and 6, in
particular). The pinion 88 is driven by an electric
motor 72. In the present exemplary embodiment, this
electric motor 72 is also accommodated in the clamp-
placing head 64 (cf. Figure 6, i:rl particular). The
pivot_~lever 70 is pivoted by means of a cylinder/piston
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unit 74. As can be gathered from Figure 6, this
cylinder/piston unit 74 is also arranged in or on the
clamp-placing head 64.
A respective clamp 12 can therefore be expanded
by radial extension of the clamp-placing head 58 and
swinging out of the pinion 78 and driving said pinion
88, and can be placed against the inner wall 14' of the
inaccessible pipe 14. In addition, a t least some of the
electronics 76 required for the drives can also be
arranged in the clamp-placing head 64.
While the driving means 50, 50' serving for
centering purposes are accommodated in a transmission
housing part 48' connected fixedly t:o the housing 36 of
the clamp-placing module 30, the driving means 62, 66
assigned to the clamp-placing head Ei4 are arranged in a
transmission housing part 48" which is connected
fixedly to a support 78 which is itself connected
fixedly to a coupling pipe 80 used to couple on the
clamp carriage 11 (cf. also Figure 2, in particular).
The coupling pipe 80 and the support 78 connected
fixedly to it are connected via a joint 82 to the
clamp-placing module 30. In this case, the support 78
and the coupling pipe 80 can be jointly pivoted in all
directions by some degrees, for example by
approximately ~ 3°, with regard to the housing 36 of
the clamp-placing module 30.
Furthermore, a TV camera 84 used for monitoring
the clamp-placing process is provided on the housing 36
of the clamp-placing module 30. This camera 84 may be
mounted, for example pivotably, on the housing 36 of
the clamp-placing module 30.
As already indicated, the clamp-placing module
30 may contain at least some of the electronics and/or
pneumatics which are required. The clamp-placing head
64 may be centered and raised and lowered, in
particular via articulated shafts. For the purpose of
adaptation to different pipe inside diameters, the TV
camera 84 may be attached via corresponding adapters.
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Different support levers 40 may be used depending on
the pipe inside diameter. If appropriate, corresponding
centering adapters can also be used. In order to fix
the clamp-placing head 64 with respect to the housing
36 of the clamp-placing module 30 for the purpose of
placing individual clamps 12 ('without the clamp
carriage 11), a coupling adapter 8~, for example, may
be placed onto the coupling pipe 80 (cf. Figure 7, in
particular).
It can also again be gathc=red from Figures 7
and 8 that the two holding jaws 56 of the clamp-placing
head 64 which are expediently provided with pins and
are intended for holding a relevant fastening part 58
can be moved toward each other and away from each
other. According to Figure 8, a cylinder/piston unit 90
arranged on the housing 36 of the clamp-placing module
30 can be provided for this purpose. The TV camera 84
fixed on the housing 36 can also again be seen in
Figures 7 and 8. If required, the clamp-placing head 64
may also be assigned a lifting adapter 92, as is
indicated, for example, in Figure 7. Finally, if
appropriate, a casing adapter may also be used. As
already emerges from the above, the clamp-placing
module 30 is preferably actuated from the outside.
The covering 48' which is connected fixedly to
the housing 36 of the clamp-placing module 30 and is
intended for the toothed wheel mechanism serving for
centering purposes, and the support 78 which is
connected fixedly to the coupling pipe 80 and to which
the guide rail 60 is fastened and on which the toothed
wheel 66 meshing with the rack 62 is mounted rotatably
can again also be seen in Figure 5. The fastening of
the clamp-placing head 64 to the rack 62 is indicated
at 94. A corresponding drive then enables the clamp-
placing head 64 to be moved along the guide rail 60. In
Figure 6, the end side, facing the clamp carriage 11,
of the coupling pipe 80 assigned to the clamp-placing
module 30 can also be seen.
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As emerges best from Figure 6, a further
cylinder/piston unit 96, on whose piston rod an impact
weight can be seated is arranged on the clamp-placing
head 64. This cylinder/piston unit ~~6 serves to release
the fastening part 58, which is provided as a clamping
fastener, of the relevant clamp 12, after the clamp 12
has been expanded and placed against the pipe inner
wall 14', in order thereby to cause the clamp band 12
to be placed under compressive stress, by means of a
release spring force, and to be cor_=espondingly pressed
against the pipe inner wall 18', with the result that
it retains its position particularly even when there is
a relatively heavy flow of media in the pipe.
The fastening part 58 may be designed in
different ways for this. Thus, the; fastening part 58
designed as a clamping fastener may be provided, for
example, with a spring-loaded latching beam 102 which
is acted upon by the cylinder/pist~on unit 96 and is
flanked, for example, by two he:Lical springs (not
shown). That end wall of the housing of the fastening
part 58 which is adjacent to the c:ylinder/piston unit
96 may, for example, have a latching incision through
which a lug 104 of the latching beam 102 is passed for
the purpose of clamping the fastening part 58 (cf.
Figure 6, in particular). A radial~_y outer section of
the clamp band 12, which is initially wound up, for
example in coiled form, can be connected fixedly to the
fastening part 58. With the fastening part 58 still
under stress, an inner clamp-band section lying
radially within the outer clamp-bard section can then
be passed freely in the desired direction through the
fastening part 58 on account, for example, of a free
wheel. The lock can finally be rele;~sed by the lug 104
of the latching beam 102 being correspondingly acted
upon by the cylinder/piston unit ~i6. As soon as the
fastening part 58 is released via the cylinder/piston
unit 96, via the latching beam 102, which is now
released, and, for example, a blocking element assigned
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to the free wheel, the radially inner. clamp-band
section is placed under compressive stress,
corresponding to the spring force acting on the
latching beam 102, and is correspondingly pressed
against the pipe inner wall 14' thereby ensuring a
reliable fit. The fastening part 58 is generally only
released if the clamp band, which initially is wound up
in particular in coiled form, ha~> been sufficiently
expanded and at least substantially already bears
against the pipe inner wall 14'.
The track width of the robctic conduit vehicle
18 can be adjusted to match the particular pipe inside
diameter.
The installation device 10 can be coupled to
the clamp carriage 11 which is equipped with a
respective clamp magazine 106 (cf. Figures 1 and 9 to
16, in particular). To this end, the coupling pipe 80
provided on the clamp-placing modu7.e 30 interacts, in
the manner which can be seen, for example, in
Figures 1, 2, 4, 9 and 11, with a complementary
coupling pipe 108 provided on the clamp carriage 11. In
this case, the installation device 10 can be coupled,
in the manner which can be seen, for example, in
Figure 1, to the clamp carriage 17. in such a manner
that the latter can be pivoted up through approximately
90° relative to the installation device 10 into an
essentially perpendicular position for a respective
change of magazine. Moreover, to this end, means for
automatically separating and automatically restoring
the respective electrical and pneumatic connections
between the installation device 10 and the clamp
carriage 11 can be provided. As c:an be gathered in
particular from Figures 9a and 9d, the two coupling
pipes 80 and 108 are each provided with interacting
parts of a pneumatic plug-in coupling 111 and an
electrical plug-in coupling 110. Also, the support 78
which is connected fixedly to the coupling pipe 80 can
again be seen in Figures 9d and 9e.
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The coupling pipe 108 provided on the clamp
carriage 11 has a downwardly directE=d, hook-shaped part
112 which comes into engagement with a complementary
hook-shaped part 114 of the coupling pipe 80 on the
clamp-placing module 30 of the installation device 10.
As can best be seen with reference to Figure 9, a
sliding coupling 118 which can be Mid to and fro via
an actuating lever 116 is provided. By this sliding
coupling 118 being extended on the clamp carriage 11
into a coupling position, firstly the two coupling
pipes 80, 108 are connected fixedly to each other and
secondly, the electrical and pneumatic connections are
produced. Generally, the clamp=placing head 64 can be
equipped with an individual clamp 12 prior to the
coupling up of the clamp carriage 11, as is shown, for
example, in Figure 1. In Figure 9b, the sliding
coupling 118 is illustrated in its uncoupled position.
Starting from this uncoupled position it can be
displaced to the right into its coupling position, as a
result of which, as already mentioned, the pneumatic
and electrical connections are produced automatically
and the two coupling pipes 80,, 108 are locked
mechanically to each other, thereby preventing these
coupling pipes from separating.
As can be gathered in particular from Figures 1
and 11, the clamp carriage 11 comprises an
undercarriage 120 provided with at least one wheel 158,
and a base part 122 which is providE>.d with the coupling
pipe 108 and can be rotated relative to the
undercarriage 120 about an axis which extends in the
longitudinal direction and in particular can coincide
with the longitudinal axis 18'. They base part 122 can
therefore be rotated together with the clamp-placing
module 30 via the rotary plate 26 of the robotic
conduit vehicle 18. As can be gathered in particular
from Figure 11, a ball bearing 124 is provided between
the rotatable base part 122 and the undercarriage 120
of the clamp carriage 11. For movement purposes, the
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base part 122 can be locked in a rotationally fixed
manner to the undercarriage 120 by means of a lock 146.
As can be gathered in particular from Figures 1
and 11, the base part 122 of the clamp carriage 11
serves to hold a respective clamp magazine 106, the
respective clamp magazine 106 being displaceable along
this base part 122.
The coupling pipe 108 is provided on a lower
carrier part 122' of the base part 122. A
cylinder/piston unit 126 supported on the base part 122
or on its lower carrier part 122' serves to move the
respective clamp magazine 106 relative to the base part
122, in the longitudinal direction thereof, between an
inoperative position (cf. Figures 11 and 12, in
particular), and a transfer position (cf. Figures 13 to
15, in particular) in which the foremost clamp 12 in
each case situated nearest the clamp-placing head 30
can be transferred to the clamp-placing head 64.
In this case, the clamp magazine 106 which can
be displaced along the base part 122 can be coupled to
a slide 128 which is guided on thE; base part 122 and
can~be acted upon by the cylinder/piston unit 126 (cf.
Figures 10 and 11, in particular). As can best be
gathered from Figure 10, this slide 128 is guided in a
C-rail 130 which is arranged fixedly on the base part
122. In this case, the clamp magazine 106 can be
coupled to the slide 128 via at least one latching
coupling 132 (cf. Figures 10 and 11).
At least one conveying member 134, which is
guided displaceably on the clamp magazine 106, in the
longitudinal direction thereof, serves to isolate the
foremost clamp 12 in each case situated nearest the
clamp-placing head 64 for the tram>fer and to push it
over the clamp-placing head 64.
A spindle 136, which car..-. be rotated with
respect to the slide 228, but cannot be displaced in
the longitudinal direction, and a running nut 138,
which is seated on the spindle 136 and can be coupled
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to the conveying member 134, are provided for driving
the conveying member 134 (cf. Figures 10 and 11, in
particular) . The running nut 188 can be coupled to the
conveying member 134 via a latching coupling 140.
As can be gathered in. particular from
Figure 10, guide rails 142 on which the clamp magazine
106 is guided are provided on the base part 122 of the
clamp carriage 11.
According to Figure 11, the spindle 136 is
driven by an electric motor 144 which is arranged in
the base part 122 of the clamp carriage 11. With
reference to Figure 11, the lock l4Ei via which the base
part 122 can be locked in a rotationally fixed manner
to the undercarriage 120 for movement purposes, can
also be seen.
As can be seen in particular with reference to
Figures 10 and 12, the clamps 12 can be displaced
relative to the clamp magazine 106 along two receiving
rails 148 provided on the clamp magazine 106. Two clips
150 of a respective clamp 12 are i:n each case snapped
onto these rails 148 (cf. Figures 10 and 12, in
particular). In the present case, each clamp 12 is
provided with a total of seven such clips 150 (cf.
Figure 6, in particular). As Fig. 7_0 shows, the clamp
12 may, for example, also be provided with three clips
150 and, on both sides of this group of clips, with,
for example, two base structures 151. onto which further
clips can be subsequently fitted.
Looking in the circumferential direction of the
pipe 14, the fastening part 58, on the one hand, and
the clips 150 of a respective clamp 12, on the other
hand, are offset with respect to one another. As soon
as a respective clamp 12 is pushed over the clamp
placing head 64, the latter is brought into engagement
with the fastening part 58 of this clamp 12, for which
purpose the holding jaws 56 of said fastening part,
which in particular are provided with pins, are
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correspondingly brought together (cf. Figure 19, in
particular).
Like the robotic conduit vehicle 18, the clamp
carriage 11 or its undercarriage 120 can also be
adjusted in its track width to m<~tch the respective
pipe inside diameter.
The clamp magazine 106 may be provided with a
casing 152 (cf. Figure 1). In principle, a casing on
the clamp carriage 11 is also conceivable. Moreover, a
casing with a set of wheels is also conceivable. The
casings may differ depending on t:he respective pipe
inside diameters. Therefore, the use of shell-type
adapters is also conceivable, for example.
In addition, different clamp magazines 106 may
be provided for different clamps 12. In this case, a
respective magazine contains at least two clamps in
each case. In practice, ten clamps, for example, may be
provided per magazine. The respective magazine 106 can
be fixed in the clamp carriage 12. 'The advancing of the
clamps 12 and the isolation thereo:E may, for example,
take place in the previously described manner.
The clamp carriage provided with a magazine
holder and the pipe coupling 108 can in particular be
provided with the driving means serving for the
advancing and isolating of the clamps, as has
previously been explained in detail by way of example.
In addition, the electronic and pneumatic components
required for this can be provided in the clamp carriage
11. At a suitable location, such as in particular on
the undercarriage 122, a ring or the like serving for
recovery work may, for example, be provided.
As can be seen in particular with reference to
Figure 1, a camera 154 directed rearward is provided on
the undercarriage 122 of the clamp carriage 11.
In the case of a particular installation device
and a particular clamp carriage or in the case of a
particular combination of two ;>uch modules, the
previously described features can in each case be
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realized both individually and in various combinations
with one another.
The operation of the previously described
exemplary embodiment of an installation device 10
having an associated clamp carriage 11 during the
installation of internal clamps 12 is as follows:
Depending on the space conditions, the remote-
controlled, self-propelled robotic conduit vehicle 18
with or without the clamp-placing module 30 placed on
it is lowered into a shaft. The robotic conduit vehicle
18, with the rotary plate in front, is then moved to
the next shaft through the inacce~~sible pipe 14 into
which the internal clamps 12 are to be moved. The
clamp-placing head 64 is then equipped with a clamp 12.
The clamp carriage 11 is then lowered into this
shaft and equipped with a clamp magazine 106. For this
purpose, the clamp carriage 11 is erected in the manner
indicated in Figure 1 and the clamp magazine 106 pushed
onto the guide rails 148 on the base part 122 of the
clamp carriage 11 until the latching couplings 140, 132
have latched between the running nut 138 and the
conveying member 134 and between the slide 128 and the
clamp magazine 106. After that, the clamp carriage 11
is deposited, its coupling pipe 108 coming into
engagement, by means of the downwardly directed, hook-
shaped part 112, with the comp~.ementary, upwardly
directed, hook-shaped part 114 of the coupling pipe 80
provided on the clamp-placing module 30. The sliding
coupling 118 on the clamp carriage 11 is then extended
into the coupling position, as <~ result of which
firstly the two coupling pipes 80, 108 are connected
fixedly to each other and secondly the electrical and
pneumatic connections are produced via the plug-in
couplings 110, 111. As already mentioned, the clamp-
placing head 64 can be equipped with an individual
clamp 12 prior to the coupling up of the clamp carriage
11, as is illustrated, for example, in Figure 1.
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The installation device 10 is now moved, with
the robotic conduit vehicle 18 in front, to the
location in the inaccessible pipe 14 at which the first
clamp 12 is to be placed. For this purpose, the clamp-
s placing module 30 and the rotatable base part 122 of
the clamp carriage 11 having the clamp magazine 106 are
brought by means of the rotary plate 26 into the
desired rotational position. In order to place the
clamp 12, the clamp-placing head 64 is extended in the
radial direction and at the same time the pinion 88
causes the clamp to expand until the latter bears
against the inner wall 14' of the inaccessible pipe 14.
Unlocking of the fastening part 58 of the clamp
12 via the piston/cylinder unit 96 causes the clamp 12
to be placed under compressive stress, with the result
that it is fixed against the pipe inner wall 14'. By
moving the holding jaws 56 of the c7_amp-placing head 64
apart, the fastening part 58 is released, whereupon the
clamp-placing head 64 is retracted again in the radial
direction.
The abovementioned processes are monitored by
means of the TV camera 84, which mayy, in particular, be
a color TV camera. Then, by rotai~ion of the rotary
plate 26, the clamp-placing module ?.0 and the rotatable
base part 122 of the clamp carriage 11 are brought into
the position in which the base part: 122 can be locked
to the undercarriage 120 of the clamp carriage 11.
The installation device 10 :is now moved to the
next clamp-placing location. The clamp-placing head 64
is equipped there with a clamp 12 from the clamp
magazine 106, as is illustrated, for example, in
Figures 12 to 16.
Figure 12 shows a schematic illustration of the
clamp magazine 106 taking up its inoperative position
with the clamp carriage 11 coupled t.o the clamp-placing
module 30 via the coupling pipes 108 and 80. The
conveying member 134 holds back the ~~lamps 12.
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According to Figure 13, the clamp magazine 106
has already been displaced into its transfer position.
The conveying member 134 is now moved behind the
foremost clamp 12 of the clamp stack, which clamp is
situated nearest the clamp-placing head 64.
Figure 14 shows a schematic illustration of the
clamp magazine 106 taking up its transfer position, the
conveying member 134 already gripping the foremost
clamp 12 of the clamp stack from behind.
Figure 15 shows, in a schematic illustration,
the clamp magazine 106 taking up it.s transfer position
with the foremost clamp 12 pushed over the clamp-
placing head 64 by the conveying member 134. This
foremost clamp 12 has therefore been isolated by the
conveying member 134. The holding jaws 56 of the clamp-
placing head 64 are still at the ma~;imum distance apart
from each other. The clamp-placing head 64 is extended
in the radial direction into a take--over position so as
then, by moving the holding j aws 56 toward each other,
to grasp the clamp 12 on the fastening part 58 (also
cf. Figure 16).
Figure 16 shows, in a schematic illustration,
the clamp magazine 106 which has now been moved back
again into its inoperative position, the clamp-placing
head 64 having already grasped the fastening part 58 of
the previously transferred clamp 12 and the conveying
member 134 already gripping again behind the foremost
clamp 12 of the remaining clamp stack.
After the rotatable base part 122 has been
unlocked, the clamp-placing head 64 is brought together
with the clamp magazine 106 via the rotary plate 26
into the desired rotational position for placing the
clamp 12.
This process is repeated until the clamp
magazine 106 is empty. The installation device 10, with
the associated clamp carriage 11 in front, is then
moved back to the shaft. The further TV camera 154
provided on the undercarriage 120 is used for this.
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In the shaft, the sliding coupling 118 is
pulled back into the uncoupled position, as a result of
which the electrical and pneumatic connections are
automatically separated, so that the clamp carriage 11
can be put upright again. The latching couplings 132,
140 are now accessible and can be detached by hand. The
empty magazine 106 is removed from the clamp carriage
11, and a new, filled and complete clamp magazine 106
having the desired number of clamp~> 12 is placed onto
the base part 122 of the clamp carriage 11. After that,
the process described further above can be repeated.
Of course, parts or subassemblies of the device
may be of different design while retaining their
function. For example, the spindle drive for driving
the conveying member 134 may be designed as a chain
drive.
