CA2348628A1 - Device for installing an internal clamp in an inaccessible pipe - Google Patents
Device for installing an internal clamp in an inaccessible pipe Download PDFInfo
- Publication number
- CA2348628A1 CA2348628A1 CA002348628A CA2348628A CA2348628A1 CA 2348628 A1 CA2348628 A1 CA 2348628A1 CA 002348628 A CA002348628 A CA 002348628A CA 2348628 A CA2348628 A CA 2348628A CA 2348628 A1 CA2348628 A1 CA 2348628A1
- Authority
- CA
- Canada
- Prior art keywords
- clamp
- carriage
- placing
- magazine
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
- H02G1/088—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using pulling devices movable inside conduits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/165—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section
- F16L55/1655—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section a pipe being formed inside the old pipe by winding strip-material
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/46—Processes or apparatus adapted for installing or repairing optical fibres or optical cables
- G02B6/50—Underground or underwater installation; Installation through tubing, conduits or ducts
- G02B6/508—Fixation devices in ducts for drawing cables
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
- Clamps And Clips (AREA)
- Supports For Pipes And Cables (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
- Sampling And Sample Adjustment (AREA)
- Light Guides In General And Applications Therefor (AREA)
- Sewage (AREA)
- Materials For Medical Uses (AREA)
- Road Signs Or Road Markings (AREA)
- Glass Compositions (AREA)
- Automotive Seat Belt Assembly (AREA)
- Handcart (AREA)
Abstract
The invention relates to a device (10) for mounting an internal clamp in a pipe (14) which is not man-sized. Said device comprises a mount (16) which can be movably supported in the longitudinal direction (R) of said pipe, on its internal wall (14'), as well as a clamp mounting head (64) which is placed on the mount (16) in such a way that it can move in a radial direction relatively to the longitudinal direction (18') of said mount and engage a part (58) of the internal clamp (12). The inventive device also comprises a pinion (88) which can rotate relatively to the clamp mounting head (64) and engage another part (12') of the internal clamp (12), said pinion being used to move away the internal clamp (12) as well as driving elements used to displace in a radial outward direction the clamp mounting head (64) in order to mount the internal clamp (12) by means of its displacement, and also used to rotate and turn the pinion (8). The inventive mounting device (10) can be used to couple a clamp carriage (11) which can be equipped with an interchangeable clamp magazine (106).
Description
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.
ii 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, 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 _ WO 00/08506 - 4 - PCT/CH99/00362 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.
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 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 ii _ WO 00/08506 - 7 - PCT/CH99/00362 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 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.
WO 00/0$506 - 9 - PCT/CH99/00362 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.
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 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.
i;
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 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 o CA 02348628 2001-O1-09 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 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 w CA 02348628 2001-O1-09 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.
ii _ WO 00/08506 - 17 - PCT/CH99/00362 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.
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.
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.
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.
ii 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, 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 _ WO 00/08506 - 4 - PCT/CH99/00362 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.
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 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 ii _ WO 00/08506 - 7 - PCT/CH99/00362 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 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.
WO 00/0$506 - 9 - PCT/CH99/00362 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.
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 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.
i;
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 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 o CA 02348628 2001-O1-09 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 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 w CA 02348628 2001-O1-09 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.
ii _ WO 00/08506 - 17 - PCT/CH99/00362 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.
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.
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.
Claims (21)
1. A device (10) for installing an internal clamp (12) in an inaccessible pipe (14), having a frame (16) which can be supported on the pipe inner wall (14') in a manner such that it is movable in the pipe longitudinal direction (R), a clamp-placing head (64) which is arranged on the frame (16) in a manner which allows it to move radially with regard to the longitudinal direction (18') thereof, and can be brought into engagement with a section (58) of the internal clamp (12), and also a pinion (88) which can be brought into engagement with a further section (12') of the internal clamp (12) and is intended for expanding the internal clamp (12), and respective driving means (66, 66; 72, 74) which enable, in order to install the internal clamp (12) by expanding it, the clamp-placing head (64) to be moved radially outward and the pinion (88) to be made to rotate.
2. The device as claimed in claim 1, characterized in that the pinion (88) can be pivoted out and in in with respect to the clamp-placing head (64), preferably in a plane running at right angles to the longitudinal direction (18') of the frame (16), by means of driving means (74).
3. The device as claimed in claim 1, characterized by supporting elements (40, 42) which can be moved from an inoperative position into a supporting position in which they bear against the pipe inner wall (14') and keep the longitudinal axis (18') of the device (16) at least approximately in the central axis of the pipe (14).
4. The device as claimed in one of the preceding claims, characterized in that the frame (16) comprises a self-propelled robotic conduit vehicle (18) which is provided with a rotary apparatus (26) for rotating the clamp-placing head (64) about the longitudinal axis (18').
5. The device as claimed in one of the preceding claims, characterized in that the radially movable clamp-placing head (64) is mounted in or on a clamp-placing module (30) which can preferably be attached to the rotary apparatus (26) of tree robotic conduit vehicle (18).
6. The device as claimed in claim 5, characterized in that the supporting elements (40, 42) are arranged on the clamp-placing module (30).
7. The device as claimed in claim 5 or 6, characterized in that at least some of the respective driving means (66, 66; 72, 74; 50, 50') for the radially movable clamp-placing head (64), the pivotable pinion (88) and/or the supporting elements (40, 42) are provided in or on the clamp-placing module (30).
8. The device as claimed in claim 7, characterized in that the pinion (88) is mounted pivotably in or on the clamp-placing head (64).
9. The device as claimed in claim 7 and 8, characterized in that the pivotable pinion (88) can be pivoted out and in via a cylinder/piston unit (74) arranged in or on the clamp-placing head (64), and can be made to rotate by means of a motor (72) arranged in or on the clamp-placing head (64).
10. The device as claimed in one of the preceding claims, characterized in that, it can be coupled to a clamp carriage (11) which can be equipped with a respective clamp magazine (106).
11. The device as claimed in claim 10, characterized in that the coupling part (80) which is assigned to it and interacts with a complementary coupling part (108) of the clamp carriage (11) is arranged on the clamp-placing module (30).
12. The device as claimed in claim 10 or 11, characterized in that it can be coupled to the clamp carriage (11) in such a manner that the latter can be pivoted through approximately 90° relative to it into an essentially perpendicular position for a respective change of magazine.
13. The device as claimed in one of claims 10 or 12, characterized in that means (110, 111) are provided for automatically separating and automatically restoring respective electrical and pneumatic connections to the clamp carriage (11).
14. A clamp carriage (11), in particular for use with an installation device as claimed in one of the preceding claims, characterized in that it can be equipped with a respective interchangeable clamp magazine (106).
15. The clamp carriage as claimed in claim 14, characterized in that it comprises a base part (122) which serves to hold a respective clamp magazine (106) and along which the clamp magazine (106) can be displaced.
16. The clamp carriage as claimed in claim 14 or 15, characterized in that means (126) are provided in order to move the clamp magazine (106) concerned relative to the base part (122), in the longitudinal direction thereof, between an inoperative position and a transfer position in which the foremost clamp (12) in each case situated nearest the placing head (30) can be transferred onto the placing head (64).
17. The clamp carriage as claimed in claim 16, characterized in that means (134) are provided in order to isolate the foremost clamp (12) situated in each case nearest the placing head (64) for transfer and to push it over the placing head (64).
18. The clamp carriage as claimed in one of claims 14 to 17, characterized in that the clamps (12) can be displaced in the longitudinal direction of the clamp magazine (106) relative to the latter.
19. The clamp carriage as claimed in one of claims 14 to 18, characterized in that the clamp magazine (106) which can be displaced along the base part (122) can be coupled, preferably via at least one latching coupling (132), to a driveable slide (128) guided on the base part (122).
20. The clamp carriage as claimed in one of claims 14 to 19, characterized in that the clamps (12) can be isolated by at least one conveying member (134) which is guided displaceably on the clamp magazine (106) in the longitudinal direction thereof, and the conveying member (134) can be coupled, preferably via at least one latching coupling (140), to driving means (136, 138) mounted on the slide (128), and can be moved relative to the slide (128) by these driving means (136, 138).
21. The clamp carriage as claimed in one of claims 14 to 20, characterized in that it comprises an undercarriage (120), in that the base part (122) which can preferably be coupled to the placing module (30) of the installation device (10) can be rotated relative to the undercarriage (120) about an axis extending in the longitudinal direction, and in that the base part (122) can be locked in a rotationally fixed manner to the undercarriage (120) for movement purposes.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP98810760.3 | 1998-08-07 | ||
| EP98810760A EP0978743B1 (en) | 1998-08-07 | 1998-08-07 | Device for mounting a sleeve at the inside of a nonaccessible tube |
| PCT/CH1999/000362 WO2000008506A1 (en) | 1998-08-07 | 1999-08-04 | Device for mounting an internal clamp in a pipe which is not man-sized |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2348628A1 true CA2348628A1 (en) | 2000-02-17 |
Family
ID=8236238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002348628A Abandoned CA2348628A1 (en) | 1998-08-07 | 1999-08-04 | Device for installing an internal clamp in an inaccessible pipe |
Country Status (28)
| Country | Link |
|---|---|
| EP (1) | EP0978743B1 (en) |
| JP (1) | JP2002522800A (en) |
| KR (1) | KR20010081983A (en) |
| CN (1) | CN1311868A (en) |
| AT (1) | ATE199597T1 (en) |
| AU (1) | AU756704B2 (en) |
| BR (1) | BR9912857A (en) |
| CA (1) | CA2348628A1 (en) |
| CZ (1) | CZ2001488A3 (en) |
| DE (1) | DE59800511D1 (en) |
| DK (1) | DK0978743T3 (en) |
| ES (1) | ES2154931T3 (en) |
| GR (1) | GR3035933T3 (en) |
| HK (1) | HK1039983A1 (en) |
| HU (1) | HUP0103443A3 (en) |
| ID (1) | ID28830A (en) |
| IL (1) | IL140436A0 (en) |
| LT (1) | LT4849B (en) |
| LV (1) | LV12699B (en) |
| MX (1) | MXPA01000868A (en) |
| NO (1) | NO20010657L (en) |
| NZ (1) | NZ508914A (en) |
| PL (1) | PL345862A1 (en) |
| PT (1) | PT978743E (en) |
| SI (1) | SI20597A (en) |
| SK (1) | SK20402000A3 (en) |
| TR (1) | TR200100374T2 (en) |
| WO (1) | WO2000008506A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027981A1 (en) * | 2019-08-14 | 2021-02-18 | gwb.cz s.r.o. | Method of installing a pipe cable clamp with repeated tensioning of the clamping strap and a related installation device for its performance |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1018324C2 (en) * | 2001-06-19 | 2002-12-20 | Mathieu Christiaan J Bastiaans | System for protecting cables in underground pipeline, uses small robot carriage to spread protective layer of resin over cable |
| DE10229728A1 (en) | 2001-07-01 | 2003-02-06 | Gustav Trippe | Process for fixing object to be laid for fixing, especially glass fiber cable or empty duct for glass fiber cable, in the top of an underground pipe, especially sewer, uses bonding technology and fixing robot |
| KR100784371B1 (en) * | 2004-02-09 | 2007-12-11 | 주식회사 만도 | Seal assembly device for disk brake |
| KR101042193B1 (en) * | 2009-10-19 | 2011-06-20 | 최보규 | Necktie |
| CN102888807B (en) * | 2012-10-09 | 2014-10-29 | 中国矿业大学 | Equipment and method for paving roadway |
| CN106945050B (en) * | 2017-03-30 | 2023-08-22 | 上海量明科技发展有限公司 | Intelligent maintenance method, robot and system for vehicle |
| DE102017122472B4 (en) * | 2017-09-27 | 2021-05-27 | Axel Spering | Method for driving or rehabilitating a tubular sewer |
| CZ2018382A3 (en) * | 2018-07-30 | 2019-09-25 | gwb.cz s.r.o. | Pipe cable clamp and equipment for installing it |
| CN112636232A (en) * | 2020-11-02 | 2021-04-09 | 国网浙江省电力有限公司宁波供电公司 | Change fixed auxiliary device of electrified equipment drainage line |
| CN114465160A (en) * | 2021-12-31 | 2022-05-10 | 中建二局第二建筑工程有限公司山东分公司 | Limiting and quick-laying device for longitudinal cable of super high-rise building |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS637121A (en) * | 1986-06-25 | 1988-01-13 | 東京都 | Method and apparatus for installing cable in conduit |
| DE4231961A1 (en) * | 1992-09-24 | 1994-03-31 | Gerhard Eisinger | Sewage channel or pipe repair - using longitudinal carrier with carrier units to apply radial holding pressure on lining for inner side of channel |
| EP0626232A1 (en) * | 1993-05-26 | 1994-11-30 | Westinghouse Electric Corporation | Device and method for sleeving an inside surface of a tube |
| DE29700912U1 (en) | 1997-01-20 | 1997-02-27 | Hecht, Martin, 93167 Falkenstein | Fiber optic cable network |
| EP0936479A1 (en) | 1998-02-17 | 1999-08-18 | KA-TE System AG | Lining with tension fastener |
-
1998
- 1998-08-07 AT AT98810760T patent/ATE199597T1/en not_active IP Right Cessation
- 1998-08-07 EP EP98810760A patent/EP0978743B1/en not_active Expired - Lifetime
- 1998-08-07 DK DK98810760T patent/DK0978743T3/en active
- 1998-08-07 DE DE59800511T patent/DE59800511D1/en not_active Expired - Fee Related
- 1998-08-07 PT PT98810760T patent/PT978743E/en unknown
- 1998-08-07 ES ES98810760T patent/ES2154931T3/en not_active Expired - Lifetime
-
1999
- 1999-08-04 KR KR1020007015093A patent/KR20010081983A/en not_active Application Discontinuation
- 1999-08-04 MX MXPA01000868A patent/MXPA01000868A/en unknown
- 1999-08-04 CN CN99809382A patent/CN1311868A/en active Pending
- 1999-08-04 SK SK2040-2000A patent/SK20402000A3/en unknown
- 1999-08-04 BR BR9912857-8A patent/BR9912857A/en not_active IP Right Cessation
- 1999-08-04 CA CA002348628A patent/CA2348628A1/en not_active Abandoned
- 1999-08-04 AU AU48940/99A patent/AU756704B2/en not_active Ceased
- 1999-08-04 NZ NZ508914A patent/NZ508914A/en unknown
- 1999-08-04 HU HU0103443A patent/HUP0103443A3/en unknown
- 1999-08-04 ID IDW20010536A patent/ID28830A/en unknown
- 1999-08-04 CZ CZ2001488A patent/CZ2001488A3/en unknown
- 1999-08-04 PL PL99345862A patent/PL345862A1/en unknown
- 1999-08-04 JP JP2000564082A patent/JP2002522800A/en active Pending
- 1999-08-04 WO PCT/CH1999/000362 patent/WO2000008506A1/en not_active Application Discontinuation
- 1999-08-04 SI SI9920055A patent/SI20597A/en unknown
- 1999-08-04 TR TR2001/00374T patent/TR200100374T2/en unknown
- 1999-08-04 IL IL14043699A patent/IL140436A0/en unknown
-
2001
- 2001-02-07 NO NO20010657A patent/NO20010657L/en unknown
- 2001-02-08 LT LT2001007A patent/LT4849B/en not_active IP Right Cessation
- 2001-03-06 LV LVP-01-34A patent/LV12699B/en unknown
- 2001-05-25 GR GR20010400787T patent/GR3035933T3/en not_active IP Right Cessation
-
2002
- 2002-02-26 HK HK02101484.9A patent/HK1039983A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027981A1 (en) * | 2019-08-14 | 2021-02-18 | gwb.cz s.r.o. | Method of installing a pipe cable clamp with repeated tensioning of the clamping strap and a related installation device for its performance |
Also Published As
| Publication number | Publication date |
|---|---|
| PL345862A1 (en) | 2002-01-14 |
| ATE199597T1 (en) | 2001-03-15 |
| BR9912857A (en) | 2001-10-09 |
| SK20402000A3 (en) | 2001-09-11 |
| NZ508914A (en) | 2003-03-28 |
| LT2001007A (en) | 2001-06-25 |
| HUP0103443A3 (en) | 2002-02-28 |
| JP2002522800A (en) | 2002-07-23 |
| TR200100374T2 (en) | 2001-08-21 |
| WO2000008506A1 (en) | 2000-02-17 |
| DK0978743T3 (en) | 2001-04-17 |
| EP0978743A1 (en) | 2000-02-09 |
| EP0978743B1 (en) | 2001-03-07 |
| HUP0103443A2 (en) | 2002-01-28 |
| GR3035933T3 (en) | 2001-08-31 |
| CN1311868A (en) | 2001-09-05 |
| NO20010657D0 (en) | 2001-02-07 |
| DE59800511D1 (en) | 2001-04-12 |
| AU4894099A (en) | 2000-02-28 |
| AU756704B2 (en) | 2003-01-23 |
| CZ2001488A3 (en) | 2001-10-17 |
| LT4849B (en) | 2001-10-25 |
| PT978743E (en) | 2001-06-29 |
| ES2154931T3 (en) | 2001-04-16 |
| MXPA01000868A (en) | 2002-06-04 |
| HK1039983A1 (en) | 2002-05-17 |
| LV12699A (en) | 2001-07-20 |
| ID28830A (en) | 2001-07-05 |
| SI20597A (en) | 2001-12-31 |
| WO2000008506A8 (en) | 2001-03-01 |
| IL140436A0 (en) | 2002-02-10 |
| KR20010081983A (en) | 2001-08-29 |
| LV12699B (en) | 2001-12-20 |
| NO20010657L (en) | 2001-03-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |