KASRO cameras

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.

KASRO 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.

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.

KASRO single control unit

With the combination of KASRO single control unit and KASRO single drum all KASRO working robots can be controlled and operated. Unlike with “normal” control, here only the working robots are supplied and the connecting reconstruction systems cannot be activated. The single drum is equipped with two parallel cables, which are reeled up synchronously. One of the cables comprises circuit lines, control air lines and a tension braid, whereas the other cable is the supply line for the compressed-air multi-disc motor of the working robots. With this combination of drum and control unit the light KASRO working robot that can be passed around pipe elbows can be ideally operated since these cables can also be passed around an elbow without jamming. Even all other working robots can easily be connected and drive up to 80 m. Both the drum and the control unit are portable and can thus be positioned even in inaccessible places.

KASRO working robot

The KASRO working robot can be employed in the aforementioned nominal widths in three degrees of freedom: rotation, back and forth, lowering and tilting of the working head. All three motions can be carried out simultaneously in a speed-controlled manner, allowing three-dimensional operation. The working robot is automotive. A DC gear motor drives both axes. The robot drives, supported by its own weight, into the pipe line requiring renovation. In order to improve the stability of the working robot during milling it is possible to clamp it additionally with a compressed air buffer. By mounting various carriages the robot can be adjusted to different nominal widths (up to DN400). Using optional parts that are not included in the scope of delivery it is possible to build up to a nominal width of DN600. The working robot is supplied and controlled by a combination of “single drum” and single control unit.

The KASRO injection sealing systems

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.