公开(公告)号：US6101951A

公开(公告)日：2000-08-15

申请号：US3142

申请日：1998-01-06

申请人： Alwin Sigel

发明人： Alwin Sigel

IPC分类号： E03F3/06 ,  E03F7/12 ,  F16L55/28 ,  B61B13/10

CPC分类号： F16L55/28 ,  E03F3/06 ,  E03F7/12 ,  E03F2003/065

摘要： A robot for the repair of sewer pipes comprises a carriage unit driven by a traction motor (2) arranged internally of a carriage housing (1) with wheels (7,9). The carriage housing (1) is connected to a rotary head (15) arranged immediately before the carriage housing (1). The rotary head (15), having tools and/or inspection devices mounted thereon, is driven by rotary motor (22). The traction motor (2) and the rotary motor (22) are arranged in a mutually overlapping relationship. The rotary head (15) is connected to a hollow shaft (23) extending through the whole carriage housing (1). The rotary head (15) is adapted for attachment of a robot arm carrying a tool support. A swivel arm of the robot arm as well as the tool support can be swiveled by hydraulic cylinders. The end of the robot arm facing away from the rotary head (15) is provided with a support wheel.

摘要翻译： 用于修理下水管的机器人包括由设置在具有轮（7,9）的滑架壳体（1）内部的牵引马达（2）驱动的滑架单元。 滑架壳体（1）连接到紧邻滑架壳体（1）之前的旋转头（15）。 具有安装在其上的工具和/或检查装置的旋转头（15）由旋转马达（22）驱动。 牵引马达（2）和旋转马达（22）以相互重叠的关系布置。 旋转头（15）连接到延伸穿过整个托架外壳（1）的中空轴（23）。 旋转头（15）适于附接承载工具支架的机器人手臂。 机械臂的旋转臂以及工具支架可以由液压缸旋转。 机器人臂的远离旋转头（15）的端部设置有支撑轮。