Injection sealing system

The KASRO injection sealing systems make it possible to seal lateral duct connections with nominal widths of DN100 to DN200. The flexibility of the balloon allows injection of the widest range of geometric shapes and sizes. The injection system is positioned using the self-propelled unit, the rotary module and the camera. By means of compressed air cylinders, the system is braced inside the walls of the main duct. The balloon is then inserted into the lateral duct and inflated. Following this, the sealant is injected and the electrical heating systems in both the balloon and plate accelerate the hardening of the injected sealant. The injection of the sealant directly from the container onto the damaged part makes it possible to carry out controlled repairs in low-pressure zones. This means that ground water leakage into lateral ducts can now be repaired. The injection system blocks the lateral duct opening for a brief time only, thereby ensuring that there are no negative effects on the occupied duct area.

KASRO self-propelled unit

The KASRO self-propelled unit is equipped with a pneumatic cross-bar pressure system. The bars of this system hold the wheels and prevent them from slipping in damaged locations such as lateral duct connections. All the wheels on the self-propelled unit are equipped with their own drive so that obstacles can be driven over without problem. Although the weight of the unit is so low, a strong propulsive thrust is achieved by the gentle force exercised by the pneumatic pressure. For larger duct diameters, gear units with larger gear wheels are mounted onto the unit. The ensuing transmission reduction has the advantage of keeping the speed constant. As a result, the additional load does not affect the basic module.. The self-propelled unit can propel all the other working units: the working robot, the sealing systems and the camera.

Miniatur -pan-head color-camera

The KASRO cameras can be adapted to fit different working devices: the miniature pan-head color camera fits on the working robot and the rotary module. The miniature pan-head color camera light and the rotational pan-head camera light are for the light models of the working robots, and the rotational pan-head camera is designed for the self-propelled units. All cameras are equipped with a 1/3" CCD board and a commercially available lighting system of twice 12V/ 20W. They have long- and short-range focusing and the head can swivel by 340°. Rotational motion - apart from the rotational pan-head camera - is provided by the rotational drive of the working robot. The cameras are equipped with connectors and can be exchanged without problem.

Mobile control stand

With the combination of KASRO mobile control stand and KASRO mobile cable drum all KASRO working robots and the KASRO connecting reconstruction system can be controlled and operated. The mobile control stand is the compact version of the KASRO control unit installed in the vehicle. The standard combination cable with a diameter of approximately 40 mm and a length of 100 m is wound up on the mobile cable drum. Components such as pneumatic control and water pump are integrated in this drum. The advantage of this combination is that this “mobile unit” can be integrated everywhere and that it features all necessary functions of a KASRO control unit and drum. The KASRO mobile cable drum can also be designed as a mobile version and can thus – like the KASRO mobile control unit - be transported to places which are difficult to access, such as in factory buildings.

Working robot

KASRO working robots can work along four axes in the nominal widths: Rotation, forward motion, raising, lowering and tilting the pan head. All these motions can be carried out simultaneously with speed-control allowing three-dimensional operation of the units. The working robot is brought into position by the self-propelled unit and stabilized against the inner walls of the duct with pneumatic pressure. This stability allows the robot to perform its work with the required precision. Equipped with a tilting tool head, the working robot can operate even in the deepest, most inaccessible lateral ducts. The light working robot model is similar in function to the standard working robot without the tilting tool head option. The working robot light2 is the shortest model. This design does not have the forward motion mode making it suitable for use in cleaning shafts

Working robots (pipe elbow)

The light KASRO working robot that can be passed around pipe elbows can be employed in the aforementioned nominal widths in three degrees of freedom: rotation, back and forth and lifting and lowering of the working head. All three motions can be carried out simultaneously in a speed-controlled manner, allowing three-dimensional operation. The light working robot that can be passed around elbows is brought into position by the self-propelled unit, which is mounted onto the working robot as the last component and braced by pneumatic pressure. The tractive force of the drive unit can be varied by pneumatic pressure. Its one active and two passive joints enable the working robot to pass around certain pipe elbows. During operation the passive joints are tensioned by compressed air. As a result, the working robot is centrically and solidly positioned in the pipe.