DE102020200654A1 - Method, device and system for cleaning elongated hollow bodies - Google Patents

Abstract

The invention relates to a method and a device for cleaning pipes, the device (10) being equipped in such a way that it contains a means for cleaning an inner surface of the pipe, that it contains a first expanding device (100) which can be expanded, that it contains a second spreading device (200), which can be spread, and that it has a spreading element (300) which is arranged between the first spreading device (100) and the second spreading device (200), the spreading element (300) so is designed that in a retracted state of the spreading element the distance between the first spreading device (100) and the second spreading device (200) decreases and that in an extended state of the spreading element (300) the distance between the first spreading device (100 ) and the second spreading device (200) enlarged.

Description

The invention relates to a method for cleaning elongated hollow bodies whose length is significantly greater than their diameter.

The invention also relates to a device suitable for carrying out the method and a system which contains the device.

The present invention relates in particular to the cleaning of chimney pipes, but is suitable for cleaning any elongated hollow body.

The object of the invention is to provide a method and a device which provide simple and reliable cleaning of elongated hollow bodies whose length is significantly greater than their diameter.

Such hollow bodies are referred to as tubes in this application text. Although pipes usually have a round cross-section, the present invention is not limited to hollow bodies with a round cross-section, but is also particularly suitable for pipes with an elliptical or square cross-section, as occurs, for example, in classic chimney pipes. It is clear to a person skilled in the art that the term tube in the context of the present application text is not to be understood as restrictive, but rather includes elongated hollow bodies with any cross-section.

According to the invention, the object is achieved by a method having the features of independent claim 1. The object is also achieved by a device according to claim 2. Advantageous embodiments of the device emerge from the dependent claims 3 to 6. The object is also achieved by a system according to claim 6 and devices according to claims 7 and 8.

Further advantages, special features and expedient developments of the invention emerge from the subclaims and the following illustration of preferred exemplary embodiments on the basis of the figures.

• Im Bereich einer in der beabsichtigten Bewegungsrichtung der Vorrichtung vorderen ersten Spreizeinrichtung erfolgt in wenigstens einer gegenüber der beabsichtigten Bewegungsrichtung senkrechten Spreizrichtung ein Aufspreizen der ersten Spreizeinrichtung;
• Eine zweite in Bezug auf die beabsichtigte Bewegungsrichtung hintere zweite Spreizeinrichtung befindet sich in einem eingezogenen Zustand;
• Während sich die erste Spreizeinrichtung in einem derart aufgespreizten Zustand befindet, dass sie eine mechanische Halterung gegenüber einer Innenwand des Rohres bewirkt und sich die zweite Spreizeinrichtung in einem eingezogenen Zustand befindet, so dass sie keine mechanische Halterung gegenüber der Innenwand des Rohres bewirkt, wird ein zwischen der ersten Spreizeinrichtung und der zweiten Spreizeinrichtung angeordnetes Spreizelement eingezogen, so dass sich der Abstand zwischen der ersten Spreizeinrichtung und der zweiten Spreizeinrichtung verringert;
• Nachdem sich der Abstand zwischen dem ersten Spreizelement und dem zweiten Spreizelement verringert hat, erfolgt in wenigstens einer gegenüber der beabsichtigten Bewegungsrichtung senkrechten Spreizrichtung ein Aufspreizen der zweiten Spreizeinrichtung;
• Sobald sich die zweite Spreizeinrichtung in einem derart aufgespreizten Zustand befindet, dass sie eine mechanische Halterung gegenüber der Innenwand des Rohres bewirkt, wird die erste Spreizeinrichtung so eingezogen, dass sie keine mechanische Halterung gegenüber einer Innenwand des Rohres bewirkt;
• Während sich die zweite Spreizeinrichtung in einem derart aufgespreizten Zustand befindet, dass sie eine mechanische Halterung gegenüber der Innenwand des Rohres bewirkt und sich die erste Spreizeinrichtung in einem eingezogenen Zustand befindet, so dass sie keine mechanische Halterung gegenüber der Innenwand des Rohres bewirkt, wird das zwischen der ersten Spreizeinrichtung und der zweiten Spreizeinrichtung angeordnete Spreizelement ausgestreckt, so dass sich der Abstand zwischen der ersten Spreizeinrichtung und der zweiten Spreizeinrichtung vergrößert;
• Nachdem sich der Abstand zwischen dem ersten Spreizelement und dem zweiten Spreizelement vergrößert hat, erfolgt in der gegenüber der beabsichtigten Bewegungsrichtung senkrechten Spreizrichtung ein Aufspreizen der ersten Spreizeinrichtung.

The method is characterized in that a device is inserted into a pipe in an intended direction of movement, that an inner surface of the pipe is cleaned while the device is present, and that the following method steps are carried out at least once:

• In the area of a first spreading device at the front in the intended direction of movement of the device, the first spreading device is spread apart in at least one spreading direction perpendicular to the intended direction of movement;
• A second, rear, second spreading device in relation to the intended direction of movement is in a retracted state;
• While the first spreading device is in such a spread-apart state that it effects a mechanical holding against an inner wall of the pipe and the second spreading device is in a retracted state, so that it does not cause any mechanical holding against the inner wall of the pipe, an between the first spreading device and the second spreading device arranged spreading element is retracted, so that the distance between the first spreading device and the second spreading device is reduced;
• After the distance between the first spreading element and the second spreading element has decreased, the second spreading device is spread apart in at least one spreading direction that is perpendicular to the intended direction of movement;
• As soon as the second spreading device is in an expanded state in such a way that it effects a mechanical retention with respect to the inner wall of the pipe, the first expansion device is retracted in such a way that it does not cause any mechanical retention with respect to an inner wall of the pipe;
• While the second spreading device is in an expanded state in such a way that it creates a mechanical holding against the inner wall of the pipe and the first spreading device is in a retracted state so that it does not cause any mechanical holding against the inner wall of the pipe, this is between the first spreading device and the second spreading device arranged spreading element extended so that the distance between the first spreading device and the second spreading device increases;
• After the distance between the first expansion element and the second expansion element has increased, the first expansion device is expanded in the expansion direction perpendicular to the intended direction of movement.

In an advantageous development of this method, this cycle is carried out several times.

In the context of this application, the front spreading device in relation to the intended movement of the device in the pipe is referred to as the first spreading device and the rear spreading device in relation to the intended movement of the device in the pipe is referred to as the second spreading device.

The use of the terms first spreading device and second spreading device serves to clearly designate the features of the device even when the device is not located in a pipe.

However, the invention also includes devices with more than two spreading devices, between which a spreading element is preferably located.

Devices with a small number of spreading devices and / or spreading elements are intended in particular for cleaning pipes with a length of a few meters up to several hundred meters in length, in each case in particular for cleaning chimney pipes.

The invention can realize both slow and fast caterpillar-like movements of the device in the pipe. Devices with several spreading elements are advantageous for particularly fast movements, so that movement patterns of snakes when attacking can be imitated.

In the case of very long pipes, an arrangement with several spreading devices and spreading elements is advantageous in order to achieve reliable positioning of the device in the pipe even over long distances, but the pipe length is always significantly longer than the length of the device.

A preferred embodiment of the device according to the invention for cleaning pipes is characterized in that it contains a means for cleaning an inner surface of the pipe, that it contains a first spreading device that can be spread, that it contains a second spreading device that can be spread , and that it has a spreading element which is arranged between the first spreading device and the second spreading device, wherein the spreading element is designed such that in a retracted state of the spreading element, the distance between the first spreading device and the second spreading device is reduced and that in an extended state of the spreading element, the distance between the first spreading device and the second spreading device increases.

An advantageous further development of the device according to the invention for cleaning pipes is characterized in that the first spreading device can be spread out in such a way that it creates a mechanical retention against an inner wall of the pipe and can be brought into a retracted state so that it does not have a mechanical retention with respect to the inner wall of the pipe has the effect that the second spreading device can be spread apart in such a way that it creates a mechanical retention against the inner wall of the pipe and can be brought into a retracted state so that it does not cause any mechanical retention with respect to the inner wall of the pipe.

A preferred embodiment of the device according to the invention for cleaning pipes is characterized in that it is designed as a robot.

A robot is a technical device that is usually used to relieve people of frequently recurring mechanical work. Robots can be stationary as well as mobile machines and are controlled by computer programs.

An advantageous development of the device according to the invention for cleaning pipes is characterized in that it can be controlled by a control unit for carrying out a method according to the invention.

The invention further relates to a system for cleaning a pipe, which is characterized in that it contains a device according to the invention for cleaning pipes and in that it contains an operating unit for transmitting commands to the device.

In particular, the present invention is suitable for independent cleaning (removal of ash, soot) in ceramic or stainless steel chimney pipes by a remotely controllable machine (device) inside the chimney pipe.

Compared to manual cleaning by chimney sweeps with typical brush systems, a preferred embodiment of the invention provides a device (ChimneyBot) which is inserted into the chimney pipe and automatically cleans the pipe by means of one or more rotating brushes.

The robot climbs independently or remotely from an entrance hatch along the pipe, cleans it with one or more brushes and transmits images and videos to the user.

The robot moves forwards in linear operation with the help of two spreading devices, each of which is offset by 90 degrees with the help of four Hold your feet in the pipe. If the upper (first) spreading device is now retracted, a vertically arranged spreading element located between the two spreaders can advance the upper (first) spreading device. If this is now spread again and then the lower spreading device is pulled in, the spreading element can pull in again and catch up with the lower spreading device, which then pushes apart again.

By repeating the cycle described, a caterpillar-like locomotion is achieved. The cleaning is done mechanically by rotating brushes. It is controlled via a wireless connection with a remote control or a mobile device. The energy is supplied by means of integrated accumulators.

The cleaning / inspection can be carried out from a single opening in the pipe, which is why no additional openings have to be built in. The most accessible access can be selected for existing systems so that hard-to-reach openings (e.g. in attic floors) or accesses in dangerous environments (e.g. chimney doors on roofs) do not necessarily have to be used. In contrast to manual cleaning, there is no physical work, which makes the cleaning process easier. In contrast to cable / hose-bound robots, there is no need to carry bulky hoses / cables.

Further advantages, special features and expedient developments of the invention emerge from the following illustration of preferred exemplary embodiments on the basis of the figures.

• 1 einen Querschnitt durch die erfindungsgemäße Vorrichtung
• 2 einen gegenüber dem ersten Querschnitt um 90 Grad gedrehten Querschnitt durch die erfindungsgemäße Vorrichtung
• 3 einen gegenüber dem zweiten Querschnitt um 90 Grad gedrehten Querschnitt durch die erfindungsgemäße Vorrichtung
• 4 eine Prinzipskizze eines erfindungsgemäßen Systems zur Reinigung von Rohren

From the pictures shows:

• 1 a cross section through the device according to the invention
• 2 a cross section through the device according to the invention rotated by 90 degrees compared to the first cross section
• 3 a cross section rotated by 90 degrees compared to the second cross section through the device according to the invention
• 4th a schematic diagram of a system according to the invention for cleaning pipes

The illustrations 1 , 2 and 3 show a device 10 for cleaning a pipe, not shown, which is characterized by the fact that it is an agent 400 for cleaning an inner surface of the pipe includes that it has a first spreading device 100 which can be spread, that it contains a second spreading device that can be spread, and that it has a spreading element which is arranged between the first spreading device and the second spreading device, the spreading element being designed so that it is in a retracted State of the spreading element, the distance between the first spreading device and the second spreading device is reduced and that in an extended state of the spreading element, the distance between the first spreading device and the second spreading device increases.

Preferably the device is 10 designed for cleaning a pipe so that the first spreading device 100 can be spread out so that it effects a mechanical retention against an inner wall of the tube and can be brought into a retracted state, so that it does not cause a mechanical retention against the inner wall of the tube, that the second expansion device can be expanded so that it can causes mechanical retention with respect to the inner wall of the pipe and can be brought into a retracted state, so that it does not cause any mechanical retention with respect to the inner wall of the pipe.

The device shown in the figures 10 is particularly suitable for cleaning pipes with a length of a few meters up to several 100 m, especially for cleaning chimneys.

The cleaning of chimneys poses special challenges. In particular, the device is an effective support because of the generally vertical order of chimneys 10 required inside the chimney or chimney pipe.

In principle, however, the invention is suitable for cleaning any pipes, chimney pipes, water pipes, sewage pipes, pipes in industrial plants and up to the cleaning of pipelines.

The ChimneyBot preferably consists of a scissors drive system, an exchangeable or two rotating brushes, a control unit and cameras and / or sensors.

That in the until The drive system shown consists of two units, one of which is clamped in the tube for movement and the second is made up and then clamps so that the first can move again (“caterpillar principle”).

The brushes rotate while moving 400 and clean an inner wall of the pipe.

The first unit is through a first spreader 100 formed, the second unit by a second spreading device 200 .

The spreading device 100 , 200 are formed by bodies that have long since become an axis of symmetry 111 , 211 can expand in a defined manner and can be withdrawn again in a defined manner.

The axes of symmetry are, for example, rods 111 , 211 formed, which are each connected, for example, to a base plate 180,280.

Between the base plates 180 and 280 there is an expansion element 300 .

In the in the illustrated embodiments of the invention are the spreading devices 100 , 200 each formed by a scissors arrangement.

The scissors arrangement of the first spreading device 100 consists of four scissors offset by 90 degrees, each forming a foot for holding onto the pipe.

The first of the scissors of the first spreader 100 is formed by scissor elements 110 and 120, each revolving around axes of rotation 101 , 102 and 103 can turn. The axis of rotation 103 is with a rod forming the axis of symmetry 111 connected and the axes of rotation 102 with a further scissors element, which is a holding element 150 to hold the spreading device inside the pipe ( 1 ).

A second of the scissors of the first spreading device 100 is opposite the first pair of scissors of the spreading device 100 offset by 90 degrees. The second of the scissors of the first spreading device 100 is formed by scissor elements 110a and 120a, each about axes of rotation 101a , 102a and 103a can turn. The axis of rotation 103a is with the rod forming the axis of symmetry 111 connected and the axes of rotation 102a with a further scissors element that holds the holding element 150a to hold the spreading device inside the pipe ( 2 , 3 ).

A third of the scissors of the first spreading device 100 is opposite the second pair of scissors of the spreading device 100 offset by 90 degrees. The third of the scissors of the first spreading device 100 is formed by scissor elements 130 and 140, which each revolve around axes of rotation 101 , 102 and 103 can turn. The axis of rotation 103 is with the rod forming the axis of symmetry 111 connected and the axes of rotation 102 with a further scissors element, which is a holding element 160 to hold the spreading device inside the pipe ( 1 ).

A fourth of the scissors of the first spreader 100 is opposite the third pair of scissors of the spreading device 100 offset by 90 degrees. The fourth of the scissors of the first spreader 100 is formed by scissor elements 130a and 140a, which each revolve around axes of rotation 101 , 102 and 103 can turn. The axis of rotation 103 is with the rod forming the axis of symmetry 111 connected and the axes of rotation 102 with a further scissors element, which is a holding element 160a to hold the spreading device inside the pipe ( 2 , 3 ).

The scissors arrangement of the second spreading device 200 also consists of four scissors offset by 90 degrees, each forming a foot for holding on to the pipe.

The first of the scissors of the first spreader 200 is formed by scissor elements 210 and 220, each about axes of rotation 201 , 202 and 203 can turn. The axis of rotation 203 is with a rod forming the axis of symmetry 211 connected and the axes of rotation 202 with a further scissors element, which is a holding element 250 to hold the spreading device inside the pipe ( 1 ).

A second of the scissors of the second spreading device 200 is opposite the first pair of scissors of the spreading device 100 offset by 90 degrees. The second of the scissors of the second spreading device 200 is formed by scissor elements 210a and 220a, each revolving around axes of rotation 201a , 202a and 203a can turn. The axis of rotation 103a is with the rod forming the axis of symmetry 111 connected and the axes of rotation 102a with em further scissors element, which is the holding element 250a to hold the spreading device inside the pipe ( 2 , 3 ).

A third of the scissors of the second spreading device 200 is opposite the second pair of scissors of the spreading device 200 offset by 90 degrees. The third of the scissors of the second spreading device 200 is formed by scissor elements 230 and 240, which each revolve around axes of rotation 201 , 202 and 203 can turn. The axis of rotation 203 is with the rod forming the axis of symmetry 211 connected and the axes of rotation 202 with a further scissors element, which is a holding element 260 to hold the spreading device inside the pipe ( 1 ).

A fourth of the scissors of the second spreader 200 is opposite the third pair of scissors of the spreading device 200 offset by 90 degrees. The fourth of the scissors of the second spreader 200 is formed by scissor elements 230a and 240a, which each revolve around axes of rotation 201 , 202 and 203 can turn. The axis of rotation 203 is with the rod forming the axis of symmetry 211 connected and the axes of rotation 202 with a further scissors element, which is a holding element 260a to hold the spreading device inside the pipe ( 2 , 3 ).

The holding elements 150 , 150 a, 160 , 160a , 250 , 250 a , 260 , 260a are preferably made of a rubber-elastic material with an elasticity which is sufficient to adapt to the surface of the pipe when held within the pipe.

In the , and three 3, the scissors are the spreader 100 shown in an expanded state. By moving the pipes 105 and 110 it is possible to have a relative movement along the axis 111 to effect. Provided that they move the axes of rotation through the relative movement 101 and 101A from the axes of rotation 103 , 100 3A are removed, pulls on the scissors of the spreader 100 together in such a way that the holding elements 150 , 150a , 160 and 160a are moved inward and detach themselves from the tube, not shown.

If then the axes of rotation 101 , 100 1A again in the direction of the axes of rotation 103 , 100 3A are moved, the spreader expands 100 again and is able to produce a sufficient holding force on the pipe. The sufficient holding force enables the cleaning device shown 400 can carry out their cleaning activity in a stable manner and that the other components of the spreading device, in particular the second spreading device 200 can be tightened.

The kinematics of the second spreading device 200 is analogous to the kinematics of the first spreading device.

The spreading element 300 is analogous to the spreading devices 100 and 200 constructed, but has the peculiarity that its scissors 310, 310a, 320, 320a, 330, 330a, 340 and 340a are shortened compared to the scissors of the spreading devices so that they do not touch the inner wall of the pipe in any state of motion.

An expedient development of the invention provides that the angles of rotation along the axes of rotation 301, 301a, 302, 302a are greater than the angles of rotation of the scissors in the spreading devices.

The angles of rotation along the axes of rotation 301, 301a, 302, 302a can advantageously be 0 degrees to 90 degrees.

The particularly preferred use of the device for cleaning chimneys and chimney pipes is shown below.

It is useful to use the second spreading device 200 just like the first spreading device 100 to be provided with a rotatable brush. This can be done with the same or different brushes for the first and the second spreading device. The use of two and possibly more brushes is particularly useful for cleaning heavy soiling, in particular to carry out pre- and post-cleaning with different brushes.

In a preferred embodiment of the invention, the cleaning agent is a rotationally symmetrically arranged rotatable brush 400 .

The accumulating dirt (especially soot and ash) can, if necessary, be sucked off directly via an encapsulated vacuum cleaner attached to a lower cleaning door for cleaning chimney pipes.

Other suction devices are expedient for other pipes, it being possible to combine the suction devices with the device 10 to connect or the suction devices in the device 10 to be integrated for cleaning pipes, so that residues that are removed from the inner walls of the pipe can be suctioned off immediately.

Such a configuration with a suction device provided inside the pipe increases the efficiency of the cleaning process and prevents the device from becoming dirty.

Such a configuration with a suction device provided inside the pipe is particularly useful when a total of few tools are to be used and / or when longer pipes are to be cleaned. This takes into account in particular the pressure conditions for the suction process, since this enables particularly effective direct suction.

It is basically possible to have different autonomy just for one device 10 to be provided for cleaning pipes.

In particular, it is advantageous because the invention can be configured in such a way that the device 10 for cleaning pipes is a robot. a robot is able to perform various tasks under the control of a control unit.

Depending on the complexity of the robot, different control commands can be issued. In the case of a rather simple robot, it is possible to only specify speeds and / or positions as control commands.

By designing a robot according to the invention with sensors for detecting the degree of soiling of the inner wall of the pipe, it is possible to adjust the cleaning speed of the brushes and / or the speed of movement of the robot so that effective cleaning of the pipe is combined with the shortest possible duration of the cleaning process.

It is useful here to determine both the original degree of soiling of the inner walls and the degree of soiling of the inner walls after a first cleaning process. Such a combination of cleaning process and evaluation of the degree of soiling is particularly useful when more than one cleaning agent is arranged. In this case it is possible to use the second cleaning device as a function of the degree of cleaning achieved in the first cleaning process.

In the case shown, the cleaning agent is a rotationally symmetrically arranged rotatable brush 400 . However, it is clear to the person skilled in the art that any cleaning agents can be used to carry out the invention.

Details of the control of the device 10 are in 4th shown. In 4th an inventive system for cleaning pipes is shown.

Within the system can be a control unit 1300 be arranged.

This control unit preferably detects 1300 Measurement data 1308 of sensors and / or cameras.

The measurement data 1308 can in a processing unit 1306 directly to control the device 10 and / or for communication with a control device, for example a mobile phone 1100 can be used.

The control unit is advantageous 1300 with a local store 1309 equipped for measurement data and / or control commands.

Via an interface 1310 can control commands from the cell phone 1100 be received.

The mobile phone 1100 preferably has a dynamically generated graphical user interface GUI 1305, with the operating states of the device 10 and one or more input options for controlling the device 10 can be represented,

Furthermore, the mobile phone 1100 an operating system 1304 and an evaluation unit 1303. A data transmission unit 1301 is used for communication with the control device 1300 the device 10 .

The transmission of control commands between the mobile phone and the control device 1300 the device 10 takes place via a suitable radio interface 1307 . At shorter intervals this can be Bluetooth or a WLAN (Wifi).

For larger connections, another transmission standard, for example a loT transmission standard, is used.

For even greater distances between the mobile phone 1100 and the device 10 , for example to control the device 10 In pipelines, transmission using other signaling means, possibly even via satellite signals, is expedient.

With the help of your own app and the wifi connection to the controller, it is possible to control the device and document image recordings and routes. In this way, damage can be determined and precisely localized. The cleaning result can also be verified.

Further advantages: Operation via an app and WiFi connection. No line is necessary here.

Optionally, smart glasses can be used as a mobile phone replacement. An operator of the system has his hands free here.

Video recordings of the tracking shot can serve as proof of the cleaning performance.

Measurements of the chimney or cleaning length enable a more precise price determination and the use of pay-per-use models.

Furthermore, manual positioning and location determination by the cameras at defective points on the pipe is possible, so that subsequent repairs can be carried out in a targeted manner.

• Im Bereich einer in der beabsichtigten Bewegungsrichtung der Vorrichtung 10 vorderen ersten Spreizeinrichtung erfolgt in wenigstens einer gegenüber der beabsichtigten Bewegungsrichtung senkrechten Spreizrichtung ein Aufspreizen der ersten Spreizeinrichtung.

With the help of the device shown in the figures 10 it is possible to carry out a method for cleaning a pipe so that the device 10 is inserted into the tube in an intended direction of movement that while the device is present 10 a cleaning of an inner surface of the pipe is carried out and that the following process steps are carried out at least once:

• In the area of one in the intended direction of movement of the device 10 At the front, first spreading device, the first spreading device is spreading open in at least one spreading direction that is perpendicular to the intended direction of movement.

A second, rear, second spreading device in relation to the intended direction of movement is in a retracted state.

While the front first spreader 100 is in such an expanded state that it causes a mechanical retention against an inner wall of the pipe and the second expansion device is in a retracted state, so that it does not cause any mechanical retention with respect to the inner wall of the pipe, between the first expansion device and the Second spreading device arranged spreading element is retracted, so that the distance between the first spreading device and the second spreading device is reduced.

After the distance between the first spreader 100 and the second spreading device 200 has reduced, a spreading of the second spreading device takes place in at least one spreading direction perpendicular to the intended direction of movement.

As soon as the second spreader 200 is in such an expanded state that it effects a mechanical retention with respect to the inner wall of the pipe, the first expansion device 100 so drawn in that it does not cause any mechanical retention with respect to an inner wall of the pipe 200 is in such an expanded state that it causes a mechanical retention relative to the inner wall of the pipe and the first expansion device 100 is in a retracted state so that it does not cause any mechanical retention relative to the inner wall of the pipe, the spreading element arranged between the first spreading device and the second spreading device is stretched out so that the distance between the first spreading device and the second spreading device increases.

After the distance between the first expansion element and the second expansion element has increased, the first expansion device is expanded in the expansion direction perpendicular to the intended direction of movement.

The embodiments shown here only represent examples of the present invention and must therefore not be understood as restrictive. Alternative embodiments contemplated by those skilled in the art are equally encompassed by the scope of the present invention.

List of reference symbols

10

Device for cleaning pipes

100

first spreading device

101, 101a

Axis of rotation

102, 102a

Axes of rotation

103, 103a

Axis of rotation

105

connecting rod

110.110a

Scissor element

111

Axis of symmetry, rod

150, 150a

Retaining element

160, 160a

Retaining element

180

Base plate

200

second spreading device

201,201a

Axis of rotation

202, 202a

Axes of rotation

203, 203a

Axis of rotation

205

connecting rod

210,210a

Scissor element

211

Axis of symmetry, rod

250, 250a

Retaining element

260, 260a

Retaining element

300

Expansion element

400

rotatable brush

1100

Cellphone

1300

Control unit

1307

Radio interface

1308

Measurement data

1306

Processing unit

1309

local memory

1310

interface

Claims (8)

A method for cleaning a pipe, characterized in that a device (10) is inserted into a pipe in an intended direction of movement, that while the device (10) is present in the pipe, an inner surface of the pipe is cleaned and that the following process steps are carried out at least once In the area of a first spreading device at the front in the intended direction of movement of the device (10), the first spreading device is spread apart in at least one spreading direction perpendicular to the intended direction of movement; A second, rear, second spreading device (200) in relation to the intended direction of movement is in a retracted state; While the first spreading device 100 is in an expanded state in such a way that it effects mechanical retention relative to an inner wall of the pipe and the second expansion device (200) is in a retracted state, so that it does not effect mechanical retention relative to the inner wall of the pipe , a spreading element arranged between the first spreading device and the second spreading device is drawn in, so that the distance between the first spreading device and the second spreading device is reduced; After the distance between the first expansion element and the second expansion element has decreased, the second expansion device is expanded in at least one expansion direction perpendicular to the intended direction of movement; As soon as the second spreading device (200) is in an expanded state in such a way that it effects a mechanical retention with respect to the inner wall of the pipe, the first expansion device 100 is retracted in such a way that it does not cause any mechanical retention with respect to an inner wall of the pipe; While the second spreading device (200) is in an expanded state that it creates a mechanical retention against the inner wall of the pipe and the first expansion device 100 is in a retracted state, so that it does not create a mechanical retention against the inner wall of the pipe , the spreading element arranged between the first spreading device and the second spreading device is stretched out, so that the distance between the first spreading device and the second spreading device increases; After the distance between the first spreading element and the second spreading element has increased, the first spreading device is spread apart in the spreading direction which is perpendicular to the intended direction of movement. Device (10) for cleaning a pipe, characterized in that it contains a means for cleaning an inner surface of the pipe, that it contains a first spreading device (100) which can be spread, that it contains a second spreading device (200) which spreads and that it has a spreading element (300) which is arranged between the first spreading device (100) and the second spreading device (200), the spreading element being designed such that in a retracted state of the spreading element (300) the Distance between the first spreading device (100) and the second spreading device (200) is reduced and that in an extended state of the spreading element (300) the distance between the first spreading device (100) and the second spreading device (200) increases. Device (10) for cleaning a pipe according to Claim 2 , characterized in that the first spreading device (100) can be spread open so that it effects a mechanical retention with respect to an inner wall of the pipe and can be brought into a retracted state, so that it does not cause any mechanical retention with respect to the inner wall of the pipe the second spreading device (200) can be spread apart in such a way that it effects a mechanical retention with respect to the inner wall of the pipe and can be brought into a retracted state so that it does not cause any mechanical retention with respect to the inner wall of the pipe. Device (10) for cleaning a pipe according to Claim 2 or 3 , characterized in that it is designed as a robot. Device (10) for cleaning a pipe according to one of the Claims 2 until 4th , characterized in that it is followed by a control unit for carrying out the method Claim 1 can be controlled. System for cleaning a pipe, characterized in that it includes a device (10) according to one of the Claims 2 until 5 and that it contains an operating unit for transmitting commands to the device (10). Use of the device according to one of the Claims 2 until 5 for cleaning chimneys. Using the system after Claim 7 for cleaning chimneys.

Images