KASRO self propelled unit DN150

The KASRO self-propelled unit is a drive module used to position the KASRO working robot 1.7, a drive and positioning module for the KASRO laminated cap placement system DN150, an independent carriage for TV inspection, a drive and positioning module for packers or a drive and positioning module for general transportation tasks. The KASRO self-propelled unit is driven by four electric motors, i.e. every axis is powered. Every axis is connected to the respective ends of a scissor-like chassis, that is spread by means of a compressed air tension buffer. This drive concept allows two axes to create tractive force in the sewer invert and two axes to create tractive force in the sewer crown. Similarly, this arrangement allows the driving axes to ride over any holes, breaks or lateral branch connections. The pressure within the compressed air tension buffer allows the drive module to accomodate step joints or restrictions within the sewer.