EP0076434B1 - Automotive manipulator for the treatment of the inner surface of a round pipe or of a hollow cylindrical container - Google Patents

Automotive manipulator for the treatment of the inner surface of a round pipe or of a hollow cylindrical container Download PDF

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Publication number
EP0076434B1
EP0076434B1 EP82108816A EP82108816A EP0076434B1 EP 0076434 B1 EP0076434 B1 EP 0076434B1 EP 82108816 A EP82108816 A EP 82108816A EP 82108816 A EP82108816 A EP 82108816A EP 0076434 B1 EP0076434 B1 EP 0076434B1
Authority
EP
European Patent Office
Prior art keywords
pipe
manipulator
brush
brushes
wall
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP82108816A
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German (de)
French (fr)
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EP0076434A1 (en
Inventor
Robert Weber
Siegfried Förner
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Kraftwerk Union AG
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Kraftwerk Union AG
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Publication date
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Publication of EP0076434A1 publication Critical patent/EP0076434A1/en
Application granted granted Critical
Publication of EP0076434B1 publication Critical patent/EP0076434B1/en
Expired legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
    • B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
    • B08B9/035—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing by suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/047—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices having internal motors, e.g. turbines for powering cleaning tools

Definitions

  • the invention lies in the field of self-propelled manipulators, which are used for the remote-controlled use of tools for machining the inner surface of a round pipeline or a hollow cylindrical container, and can be used in the structural design of a manipulator, which consists of a feed unit and an articulated device Work unit exists and in which the work unit has a working head with a working device.
  • the implement should be designed as a brush-like cleaning device.
  • a self-powered manipulator y ⁇ rgeshIagenworden see EP-A3-0061078 is already composed of a feeding unit and a working unit in the EPC.
  • the working unit which is articulated to the feed unit via an intermediate link and can be transported through the interior of the pipeline and can be locked together with the feed unit in the respective working position, has two support flanges arranged one behind the other in the direction of the pipeline, between which a working head is arranged is.
  • Such a working head which can be moved in the circumferential direction of the pipeline along a defined feed path, can be designed as a welding, grinding or test head or can be equipped with a television camera ().
  • a particular problem with the use of such manipulators is the prior or subsequent cleaning of the inner surface of the pipe or the container, for example the removal of grinding dust or welding beads.
  • the dirt or. Metal particles are sometimes relatively firm on the inner surface of the pipeline, on the other hand, with pipeline lengths of the order of 20 to 40 m, which are also laid with a slope, significant pressure differences in the suction have to be overcome.
  • Corresponding cleaning processes are also desirable when looking at the inner parts of the pipeline want to take pictures or inspect them with a television camera or an optical fiber endoscope.
  • a manually operable device consists, for example, of a suction pipe on which two cylindrical brushes arranged at a distance from one another are fastened, suction openings being provided between the individual brush tufts, which lead to the suction pipe.
  • a vacuum pump with a pre-dialed dust bag is connected to the suction pipe (US Pat. No. 1,869,730).
  • Another cleaning device consists of a non-rotating support body which is axially movable in the pipeline and on which individual brushes are arranged in a radially elastic manner, the brushes extending sector-wise in the circumferential direction of the pipe in each case over about a third of the pipe circumference (US Pat. No. 2,957,189) .
  • a known device of this type contains, for example, rotating brushes arranged on a circumference, which are driven by compressed air.
  • the brushed-off dirt particles and the whirled up dust are pushed in front of the cleaning device by the compressed air emerging from the brushes, the cleaning device being sealed off from the pipe wall, so that the compressed air emerging from the brushes only flows away in one direction (US Pat. No. 4,027,349).
  • a chassis is provided, on which the cleaning brushes are arranged on outward, star-shaped axes of rotation.
  • the cleaning brushes have roller-shaped brush bodies that also serve as transport rollers for the chassis (DE-AS 2 335 868).
  • a suction device for the waste generated with the tool.
  • a suction device can consist of a compressed air-operated injector with a propellant nozzle, the propellant nozzle being guided to the source of the waste via a hose (GB-OS 2 070 493).
  • the invention is based on the object of designing the working head as a cleaning head, with whose cleaning device very effective cleaning with high suction power can be achieved.
  • the implement consists of a brush and a suction nozzle assigned to the brush with a downstream dust bag
  • the brush has an approximately sector-shaped brush holder adapted to the inner wall of the pipeline or the container, with its Is protruding over the arcuate outer circumference, against the inner wall elastically adjustable brushes obliquely to the pipe axis transverse plane
  • the suction nozzle is designed as an arcuate slot nozzle, which is downstream of the arcuate brush holder seen in the particle flight direction, and that the suction nozzle on the suction side of an injector operated with compressed air is connected, the propellant nozzle of which is acted upon by a propellant line brought from the outside to the injector, and on whose outflow side the dust bag is arranged.
  • Measuring and / or processing operations from the inside of the pipe R serves and is provided with appropriate devices. It can therefore also be called an inside pipe manipulator, which is used for wall and weld seam inspection and processing from the inside.
  • an equipment carrier can also be used for elongated cylindrical containers. It is essential that the device carrier can be transported invisibly from the outside through the tube interior and can be locked in the respective working position. For this purpose, it has a work unit m2 and a feed unit m1. Both units are coupled to one another via an intermediate link m3 by means of the two cardanic joints g1, g2, so that the implement carrier can also pass through pipe bends, as shown.
  • the feed unit m1 has an axially normal support flange f1 with pneumatically extendable clamping bodies 2 and guide rollers 3 on its outer circumference, furthermore an actuating cylinder C1 with axially displaceable stepping piston C2, the stepping cylinder being firmly connected to the supporting flange f1 and the stepping piston 02 with its piston rod is articulated on the intermediate link m3 at g1.
  • a strand of supply lines 4 is brought to the feed unit; these are electrical, pneumatic power and control lines, and water lines can also be provided for cooling and flushing purposes.
  • a second support flange which is arranged at an axial distance from the first support flange f1 and supports the ring with the guide rollers 3 is designated by f2.
  • the working head K is mounted, which in the example shown has a grinding unit 5 with a TV camera TV, the grinding unit with the TV camera running all around on a U-shaped bracket 6 on corresponding pivot bearings in the center of the support flanges f3, f4 is stored.
  • the motors for the rotary feed of the grinding unit and for pivoting its grinding wheel against the pipe seam are not shown for the sake of simplicity.
  • Pneumatically extendable clamping feet and guide rollers on the outer circumference of the support flanges f3, f4 are again labeled 2 and 3, respectively.
  • the ml moves (locking feet 2 extended) while the M2 feed unit is locked (m2 feet 2 retracted) - the latter moves to the left with the walking piston. If the work unit m2 is locked and the clamp connection on the feed unit ml is disengaged, the feed unit m1 moves to the left when pressure is applied to the left side of the walking piston.
  • the device carrier can advance inside the tube by any number of piston strokes or partial piston strokes to the left, ie up the tube, but can also be moved in the other direction to remove the device carrier.
  • the equipment carrier is centered automatically on the center of the pipe RO.
  • the device carrier M shown in the upper part of FIG.
  • suction nozzle 8 and the brushes 7 is arranged on a sector-shaped brush holder 9, which in turn is attached to a box-shaped support 10, the latter being mounted on guide rods 11 radially outwards and inwards.
  • the support 10 and an axially oriented rotary motor 12 are fastened between the two turntables 13, the latter each having a hub 13a for rotatably mounting the cleaning head on the two support flanges f3, f4.
  • the rotary motor 12 meshes with a pinion 12a on the inner circumference of a ring gear 14, which is attached to the inside of the support flange f4.
  • the rotary motor 12 which is expediently provided with a reduction gear, can thus slowly set the cleaning head in rotation in the circumferential direction.
  • a pneumatic adjusting cylinder is arranged inside the support 10, the piston of which is connected to the brush sector 9. Arrows within the brush sector indicate the start-up and feed movements.
  • the suction nozzle 8 is connected to the suction side 15s of an injector 15, the pressure side of which is designated 15d, via an elastic line 8a, which opens into a corresponding cavity of the support 10 and is guided through the hub of the plate 13.
  • the propellant nozzle 16 of the injector 15, which is designed as a Laval nozzle, is acted upon by a propellant line 17, which is preferably brought from the outside and is preferably a compressed air line.
  • the driving nozzle 16 is followed by a mixing chamber 18 and the diffuser 19, the latter of which opens into the dust bag 20.
  • the latter is connected with a flange 20a to the diffuser flange 19a in a sealing manner by means of a union nut 21.
  • the housing 22 of the injector is fastened to the outside of the support flange f3 with a flange on the foot side.
  • the propellant flow see arrow 17t, creates a strong suction at the outlet of the Laval nozzle 16, which takes effect via the flow connection at the inlet of the suction nozzle 8 and causes a very effective suction.
  • the extracted dirt and metal particles are collected in the dust bag 20, which has a fine, dustproof but air-permeable fabric.
  • This additional line 23 can be laid within the supply line 4. In this case, a particularly a junction through the hub of the lower turntable 13 is possible. Basically, however, a branch from the propellant line 17 is also conceivable.
  • the blowing agent line 17, a flexible, reinforced hose line, is unwound from a suitable line store * ) from the other pipe end A2.
  • the propellant line 17 is uncoupled from the injector and rolled in from the other pipe end A2.
  • Fig. 2 shows more clearly than Fig. 1 that an approximately circular sector-shaped, adapted to the inner wall curvature brush holder 9 (with 7 indicated brush bristles) * ) lowered, connected and aligned according to the driving program up or at an angle to the pipe axis transverse plane and with it Brushes 7 projecting over the arcuate outer circumference 9a and elastically adjustable against the wall inner circumference R 'can be moved in the pipe circumferential direction, ie around the pipe axis RO.
  • the suction nozzle 8 is designed as an arcuate slot nozzle, which is connected downstream of the brush arc in the particle flight direction, which would mean a bursting direction of rotation according to arrow 7 '.
  • FIG. 2 A variation is made in FIG. 2 in comparison with FIG. 1 in that the crack 12a of the rotary motor 12 does not rotate on the inner circumference of a gear flange 14 fixed to the supporting flange, but rather on the outer circumference of such a flange.
  • the middle guide rod 11a belongs to a pneumatic piston which can be acted upon from two sides, the cylinder of which is structurally combined with the box-shaped support 10. It can also be clearly seen that the two turntables 13 are connected to one another in a torsionally rigid manner via a base frame 24, on which the one ends of the guide rods 11, 11a are anchored.
  • the hubs 13a of the turntables 13 are each rotatably supported on the support flanges f3 and f4 by means of thrust bearings 25 and support bearings 26.
  • Guide balls 27 in the region of the two bow ends of the brush sector 9 ensure rolling friction on the inner circumference of the tube when the brushes wear out. They protrude somewhat further radially than the brush carrier arch 9b.
  • FIG. 3 and FIG. 4 show a modification, with a partial ring of individual brushes 70 rotating about their own axis and elastically drivable against the inner wall, the rotary movement of the individual brushes 70 (arrow 70 ') still showing the feed movement in the pipe circumferential direction according to arrow 7'. is superimposed.
  • the individual brushes 70 each form an angle of attack a to the wall or pipe axis direction RO.
  • the brush shafts are coupled to one another via friction wheels and belt drives 28, the drive motor for the individual brushes not being shown.
  • rotating individual brushes 700 are aligned with their axes of rotation transverse to the pipe axis and have a barrel-like outer contour 29 adapted to the inner circumference of the wall.
  • the drive can take place via a flexible shaft (not shown in detail).
  • the equipment carrier only needs to be axially displaced for the purpose of pipe cleaning, but does not have to be reinserted into the pipe.
  • the three-part design of the equipment carrier shown with the links m1, m2 and m3 has the advantage of a low weight and better mobility compared to a five-part link.
  • the work unit m2 as a combination unit with grinding head and cleaning head. Instead of the grinding head, other working heads (e.g. for welding, milling, ultrasonic testing, etc.) can naturally also be coupled to the feed unit m (.

Description

Die Erfindung liegt auf dem Gebiet der selbstfahrenden Manipulatoren, die zum fernbedienten Einsatz von Werkzeugen für die Bearbeitung der Innenfläche einer runden Rohrleitung oder eines hohlzylindrischen Behälters verwendet werden, und ist bei der konstruktiven Ausgestaltung eines Manipulators anwendbar, der aus einer Vorschubeinheit und einer gelenkig damit verbundenen Arbeitseinheit besteht und bei dem die Arbeitseinheit einen Arbeitskopf mit einem Arbeitsgerät aufweist. Dabei soll das Arbeitsgerät als bürstenartige Reinigungsvorrichtung ausgebildet sein.The invention lies in the field of self-propelled manipulators, which are used for the remote-controlled use of tools for machining the inner surface of a round pipeline or a hollow cylindrical container, and can be used in the structural design of a manipulator, which consists of a feed unit and an articulated device Work unit exists and in which the work unit has a working head with a working device. The implement should be designed as a brush-like cleaning device.

Zur Bearbeitung der Innenfläche einer runden Rohrleitung ist bereits ein selbstfahrender Manipulator yÞrgeshIagenworden, siehe EP-A3-0061078 im EPÜ der aus einer Vorschubeinheit und einer Arbeitseinheit besteht. Bei diesem Manipulator weist die Arbeitseinheit, die über ein Zwischenglied gelenkig mit der Vorschubeinheit verbunden und durch das Innere der Rohrleitung transportierbar und zusammen mit der Vorschubeinheit in der jeweiligen Arbeitsposition arretierbar ist, zwei in Richtung der Rohrleitung hintereinander angeordnete Stützflansche auf, zwischen denen ein Arbeitskopf angeordnet ist. Ein solcher Arbeitskopf, der in Umfangsrichtung der Rohrleitung längs einer definierten Vorschubbahn bewegbar ist, kann als Schweiß-, Schleif- oder Prüfkopf ausgebildet oder mit einer Fernsehkamera bestückt sein (). Ein besonderes Problem beim Einsatz solcher Manipulatoren ist die vorherige oder nachträgliche Reinigung der Innenfläche des Rohres oder des Behälters, beispielsweise das Entfernen von Schleifstaub oder Schweißperlen. Einerseits haften nämlich die Schmutz-bzw. Metallpartikel teilweise relativ fest an der Innenoberfläche der Rohrleitung, andererseits sind bei Rohrleitungslängen in der Größenordnung von 20 bis 40 m, die noch dazu mit Gefälle verlegt sind, erhebliche Druckdifferenzen bei der Absaugung zu überwinden Entsprechende Reinigungsvorgänge sind auch dann erwünscht, wenn man Innenpartien der Rohrleitung fotografieren oder mittels einer Fernsehkamera oder eines Lichtleiter-Endoskopes inspizieren möchte.For machining the inner surface of a round pipe, a self-powered manipulator y Þ rgeshIagenworden, see EP-A3-0061078 is already composed of a feeding unit and a working unit in the EPC. In this manipulator, the working unit, which is articulated to the feed unit via an intermediate link and can be transported through the interior of the pipeline and can be locked together with the feed unit in the respective working position, has two support flanges arranged one behind the other in the direction of the pipeline, between which a working head is arranged is. Such a working head, which can be moved in the circumferential direction of the pipeline along a defined feed path, can be designed as a welding, grinding or test head or can be equipped with a television camera (). A particular problem with the use of such manipulators is the prior or subsequent cleaning of the inner surface of the pipe or the container, for example the removal of grinding dust or welding beads. On the one hand, the dirt or. Metal particles are sometimes relatively firm on the inner surface of the pipeline, on the other hand, with pipeline lengths of the order of 20 to 40 m, which are also laid with a slope, significant pressure differences in the suction have to be overcome. Corresponding cleaning processes are also desirable when looking at the inner parts of the pipeline want to take pictures or inspect them with a television camera or an optical fiber endoscope.

Einrichtungen zur Reinigung der Innenoberfläche von Rohren sind an sich bekannt. Eine von Hand betätigbare Einrichtung besteht beispielsweise aus einem Saugrohr, auf dem zwei mit Abstand zueinander angeordnete zylindrische Bürsten befestigt sind, wobei zwischen den einzelnen Bürsten-Büscheln Saugöffnungen vorgesehen sind, die zum Saugrohr führen. An das Saugrohr ist eine Vakuumpumpe mit einem vorgesctialteten Staubfangsack angeschlossen (US-PS 1 869 730). Eine andere Reinigungsvorrichtung besteht aus einem in der Rohrleitung axial bewegbaren, nicht rotierenden Tragkörper, auf dem einzelne Bürsten radial elastisch angeordnet sind, wobei sich die Bürsten in Umfangsrichtung des Rohres sektorförmig jeweils etwa über ein Drittel des Rohrumfanges erstrecken (US-PS 2 957 189). Weiterhin ist es bekannt, Reinigungseinrichtungen einzusetzen, die mit einem Antrieb ausgerüstet sind und damit in der Rohrleitung verfahrbar sind. Eine bekannte Einrichtung dieser Art enthält beispielsweise auf einem Kreisumfang angeordnete rotierende Bürsten, die durch Preßluft angetrieben werden. Die abgebürsteten Schmutzpartikel und der aufgewirbelte Staub werden durch die aus den Bürsten austretende Preßluft vor der Reinigungseinrichtung hergeschoben, wobei die Reinigungseinrichtung zur Rohrwandung hin abgedichtet ist, damit die aus den Bürsten austretende Preßluft nur in einer Richtung wegströmt (US-PS 4 027 349). - Bei einer anderen selbstverfahrbaren Reinigungseinrichtung ist ein Chassis vorgesehen, an dem die Reinigungsbürsten auf auswärts gerichteten, sternförmig verlaufenden Drehachsen angeordnet sind. Die Reinigungsbürsten haben dabei walzenförmige Bürstenkörper, die zugleich als Transportrollen für das Chassis dienen (DE-AS 2 335 868).Devices for cleaning the inner surface of pipes are known per se. A manually operable device consists, for example, of a suction pipe on which two cylindrical brushes arranged at a distance from one another are fastened, suction openings being provided between the individual brush tufts, which lead to the suction pipe. A vacuum pump with a pre-dialed dust bag is connected to the suction pipe (US Pat. No. 1,869,730). Another cleaning device consists of a non-rotating support body which is axially movable in the pipeline and on which individual brushes are arranged in a radially elastic manner, the brushes extending sector-wise in the circumferential direction of the pipe in each case over about a third of the pipe circumference (US Pat. No. 2,957,189) . Furthermore, it is known to use cleaning devices which are equipped with a drive and can thus be moved in the pipeline. A known device of this type contains, for example, rotating brushes arranged on a circumference, which are driven by compressed air. The brushed-off dirt particles and the whirled up dust are pushed in front of the cleaning device by the compressed air emerging from the brushes, the cleaning device being sealed off from the pipe wall, so that the compressed air emerging from the brushes only flows away in one direction (US Pat. No. 4,027,349). - In another self-propelled cleaning device, a chassis is provided, on which the cleaning brushes are arranged on outward, star-shaped axes of rotation. The cleaning brushes have roller-shaped brush bodies that also serve as transport rollers for the chassis (DE-AS 2 335 868).

Im übrigen ist es an sich bekannt, Bearbeitungswerkzeuge, bei deren Benutzung Metallabfälle anfallen, beispielsweise ein Stanzwerkzeug, eine Säge oder einen Schleifer, mit einer Absaugeinrichtung für die mit dem Werkzeug erzeugten Abfälle auszurüsten. Eine solche Absaugeinrichtung kann aus einem druckluftbetriebenen Injektor mit einer Treibdüse bestehen, wobei die Treibdüse über einen Schlauch an den Entstehungsort der Abfälle herangeführt ist (GB-OS 2 070 493).In addition, it is known per se to equip machining tools with the use of metal waste, for example a punching tool, a saw or a grinder, with a suction device for the waste generated with the tool. Such a suction device can consist of a compressed air-operated injector with a propellant nozzle, the propellant nozzle being guided to the source of the waste via a hose (GB-OS 2 070 493).

Ausgehend von dem in der EP-A3-0061078 beschriebenen selbstfahrenden Manipulator liegt der Erfindung die Aufgabe zugrunde, den Arbeitskopf als Reinigungskopf auszugestalten, mit dessen Reinigungsgerät eine sehr effektive Reinigung bei hoher Saugleistung erreicht werden kann.Based on the self-propelled manipulator described in EP-A3-0061078, the invention is based on the object of designing the working head as a cleaning head, with whose cleaning device very effective cleaning with high suction power can be achieved.

Zur Lösung dieser Aufgabe ist gemäß Anspruch 1 vorgesehen, daß das Arbeitsgerät aus einer Bürste und aus einer der Bürste zugeordneten Absaugdüse mit nachgeschaltetem Staubfangsack besteht, daß die Bürste einen etwa kreissektorförmigen, an die Innenwand der Rohrleitung oder des Behälters angepaßten Bürstenträger aufweist, der mit seinen über den bogenförmigen Außenumfang überstehenden, gegen die Innenwand elastisch anstellbaren Bürsten schräg zur rohrachsqueren Ebene ausgerichtet ist, daß die Absaugdüse als bogenförmige Schlitzdüse ausgebildet ist, welche dem bogenförmigen Bürstenträger in Partikelflugrichtung gesehen nachgeschaltet ist, und daß die Absaugdüse an die Saugseite eines mit Druckluft betriebenen Injektors angeschlossen ist, dessen Treibdüse von einer an den Injektor von außen herangeführten Treibmittelleitung beaufschlagt ist und an dessen Abströmseite der Staubfangsack angeordnet ist.To solve this problem it is provided according to claim 1 that the implement consists of a brush and a suction nozzle assigned to the brush with a downstream dust bag, that the brush has an approximately sector-shaped brush holder adapted to the inner wall of the pipeline or the container, with its Is protruding over the arcuate outer circumference, against the inner wall elastically adjustable brushes obliquely to the pipe axis transverse plane, that the suction nozzle is designed as an arcuate slot nozzle, which is downstream of the arcuate brush holder seen in the particle flight direction, and that the suction nozzle on the suction side of an injector operated with compressed air is connected, the propellant nozzle of which is acted upon by a propellant line brought from the outside to the injector, and on whose outflow side the dust bag is arranged.

Mit einem derart ausgebildeten Reinigungskopf kann die erforderliche Reinigung vor und nach den Prüf-, Meß- oder Bearbeitungsvorgängen ausgeführt werden. Durch den Einsatz eines mit Druckluft betriebenen Injektors wird dabei jede Saughöhe, die in praktischen Anwendungsfällen auftritt, überwunden. - Es ist dabei möglich, den Reinigungskopf mit einem anderen Arbeitskopf des Manipulators, beispielsweise einem Schleifkopf, zu kombinieren, was den Vorteil hat, daß der Schleifstaub sofort beim Entstehen abgeführt wird. - Für den gemäß der Erfindung ausgebildeten Reinigungskopf kommen als Bürsten Drahtbürsten, insbesondere Stahldrahtbürsten, in Frage.With a cleaning head designed in this way, the necessary cleaning can be carried out before and after the testing, measuring or processing operations. By using an injector operated with compressed air, any suction head that occurs in practical applications is overcome. - It is possible to combine the cleaning head with another working head of the manipulator, for example a grinding head, which has the advantage that the grinding dust is removed immediately when it arises. - For the cleaning head designed according to the invention, wire brushes, in particular steel wire brushes, are suitable as brushes.

Ein Ausführungsbeispiel des neuen, mit einem Reinigungskopf ausgestatteten selbstfahrenden Manipulators, verbunden mit mehreren Varianten für die Reinigungsbürste, ist in den Figuren 1 bis 6 dargestellt. Dabei zeigen in zum Teil schematischer, stark vereinfachter Darstellung:

  • Fig.1 in ihrer unteren Hilfte einen Geräteträger, ausgebildet als Rohrinnen-Manipulator mit einem als Schleifkopf ausgebildeten Arbeitskopf in Arbeitsstellung innerhalb einer Rohrleitung und in ihrer oberen Hälfte den im Prinzip gleichartigen Geräteträger, jedoch mit einem Arbeitskopf, der eine Reinigungsvorrichtunng trägt, gleichfalls in Arbeitsstellung;
  • Fig. 2 vergrößert im Detail, allerdings seitenvertauscht, den umlaufenden Support für Bürste und Absaugdüse
  • Fig. 3 in Draufsicht und
  • Fig. 4 in Seitenansicht eine abgeänderte Ausführung eines Bürstensektors mit rotierenden Einzelbürsten, deren Drehachsen schräg zur Rohrachsrichtung verlaufen, und
  • Fig. 5 in Draufsicht sowie
  • Fig. 6 in Seitenansicht ein drittes Ausführungsbeispiel für einen Bürstensektor, bei dem die Achsen der rotierenden Einzelbürsten in einer rohrachsnormalen Ebene liegen. Innerhalb der S-förmig gekrümmten RohrleitungspartieR eines Kraftwerkes,insbesondere Kernkraftwerkes, mit den über umlaufende Schweißnähte 1.1 und 1.2 verbundenen Rohrleitungsschüssen r1, r2, r3 befindet sich der Geräteträger M, welcher zur Ausführung von Prüf-
An exemplary embodiment of the new self-propelled manipulator equipped with a cleaning head, combined with several variants for the cleaning brush, is shown in FIGS. 1 to 6. Here, in a partly schematic, highly simplified representation, show:
  • Fig.1 in its lower help an implement carrier, designed as a pipe manipulator with a working head designed as a grinding head in the working position within a pipeline and in its upper half the basically identical implement carrier, but with a working head that carries a cleaning device, also in the working position ;
  • Fig. 2 enlarged in detail, but reversed sides, the all-round support for the brush and suction nozzle
  • Fig. 3 in plan view and
  • Fig. 4 in side view of a modified version of a brush sector with rotating individual brushes, the axes of rotation of which run obliquely to the tube axis direction, and
  • Fig. 5 in top view and
  • Fig. 6 in side view of a third embodiment of a brush sector, in which the axes of the rotating individual brushes lie in a plane normal to the tube axis. Within the S-shaped curved pipe section of a power plant, in particular a nuclear power plant, with the pipe sections r1, r2, r3 connected via circumferential weld seams 1.1 and 1.2, there is the equipment carrier M, which is used to carry out test

. Meß- und/ oder Bearbeitungsvorgängen vom Inneren der Rohrleitung R aus dient und dazu mit entsprechenden Geräten versehen ist. Er kann deshalb auch als Rohrinnen-Manipulator bezeichnet werden, welcher zur Wand- und Schweiß-naht-Kontrolle und -bearbeitung von innen dient. Grundsätzlich läßt sich ein solcher Geräteträger auch für langgestreckte zylindrische Behälter verwenden. Wesentlich ist, daß der geräteträger von außen unsichtbar durch das Rohrinnere transportierbar und in der jeweiligen Arbeitsposition arretierbar ist. Er weist hierzu eine Arbeitseinheit m2 und eine Vorschubeinheit m1 auf. Beide Einheiten sind über ein Zwischenglied m3 mittels der beiden kardanischen Gelenke g1, g2 miteinander gekoppelt, so daß der Geräteträger auch Rohrkrümmungen, wie dargestellt, durchfahren kann.. Measuring and / or processing operations from the inside of the pipe R serves and is provided with appropriate devices. It can therefore also be called an inside pipe manipulator, which is used for wall and weld seam inspection and processing from the inside. In principle, such an equipment carrier can also be used for elongated cylindrical containers. It is essential that the device carrier can be transported invisibly from the outside through the tube interior and can be locked in the respective working position. For this purpose, it has a work unit m2 and a feed unit m1. Both units are coupled to one another via an intermediate link m3 by means of the two cardanic joints g1, g2, so that the implement carrier can also pass through pipe bends, as shown.

Die Vorschubeinheit m1 weist einen achsnormalen Stützflanch f1 mit pneumatich ausfahrbaren Klemmkörpern 2 und Führungsrollen 3 an seinem äuüßren Umfang auf, ferner einen Behreitzylinder C1 mit darin axial verschiebbarem- Schreitkolben C2, wobei der Schreitzylinder mit dem Stützflansch f1 fest verbunden und der Schreitkolben 02 mit seinen Kolbenstange an dem Zwischenglied m3 bei g1 angelenkt ist. An die Vorschubeinheit ist ein Strang von Versorgungleitungen 4 herangeführt; es handelt sich dabei um elektrische, pneumatische Kraft- und Steuerleitungen, ferner können Wasserleitungen zu kühl- und Spülzwecken vorgesehen sein. Ein in Axialabstand zum ersten Stützflansch f1 angeordneter und den Kranz mit den Führungsrollen 3 abstützender zweiter Stützflansch ist mit f2 bezeichnet.The feed unit m1 has an axially normal support flange f1 with pneumatically extendable clamping bodies 2 and guide rollers 3 on its outer circumference, furthermore an actuating cylinder C1 with axially displaceable stepping piston C2, the stepping cylinder being firmly connected to the supporting flange f1 and the stepping piston 02 with its piston rod is articulated on the intermediate link m3 at g1. A strand of supply lines 4 is brought to the feed unit; these are electrical, pneumatic power and control lines, and water lines can also be provided for cooling and flushing purposes. A second support flange which is arranged at an axial distance from the first support flange f1 and supports the ring with the guide rollers 3 is designated by f2.

Zwischen den beiden achsnormalen Stützflanschen f3 und f4 der Arbeitsenheit m2 ist der Arbeitskopf K gelagert, welcher im dargestellten Beispiel ein Schleifaggregat 5 mit Fernsehkamera TV aufweist, wobei das Schleifaggregat mit der Fernsehkamera umlaufend an einem U-förmigen Bügel 6 an entsprechenden Drehlagern im Zentrum der Stützflansche f3, f4 gelagert ist. Die Motore zum Drehvorschub des Schleifaggregates und zum Einschwenken seiner Schleifscheibe gegen die Rohrnaht sind der Einfachneit halber nicht dargestellt. Pneumatisch ausfahrbare Klemmfüße und Führungsrollen am Außenumfang der Stützflänsche f3, f4 sind wieder mit 2 bzw. 3 bezeichnet.Between the two axially normal support flanges f3 and f4 of the working unit m2, the working head K is mounted, which in the example shown has a grinding unit 5 with a TV camera TV, the grinding unit with the TV camera running all around on a U-shaped bracket 6 on corresponding pivot bearings in the center of the support flanges f3, f4 is stored. The motors for the rotary feed of the grinding unit and for pivoting its grinding wheel against the pipe seam are not shown for the sake of simplicity. Pneumatically extendable clamping feet and guide rollers on the outer circumference of the support flanges f3, f4 are again labeled 2 and 3, respectively.

Wenn die rechte Seite des Schreitkolben C2 mit Druckluft beaufschlagt wird, dann bewegt sich - bei arretierter Vorschubeinheit ml (Klemmfüße 2 ausgefahren), dagegen bei gelöster Arbeitseinheit m2 (Klemmfüße 2 eingefahren) - letztere mit dem Schreitkolben nach links. Ist die Arbeitseinheit m2 arretiert und die Klemmverbindung bei der Vorschubeinheit ml außer Eingriff gebracht, dann bewegt sich bei Druckbeaufschlagung der linken Schreitkolbenseite die Vorschubeinheit m1 nach links. Auf diese Weise kann der Geräteträger im Rohrinneren um beliebig viele Kolbenhübe oder auch Teilkolbenhübe nach link s, d.h. rohraufwärts, fortschreiten, jedoch auch zum Herausnehnen des Geräteträgers in der anderen Richtung bewegt werden. Der Geräteträger zentriert sich dabei selbsttätig auf Rohrmitte RO. Der im oberen Teil der Fig. 1 dargestellte Geräteträger M ist im Vergleich zum unteren dadurch abgewandelt, daß sein frontseitiger Arbeitskopf als Reinigungsvorrichtung für die Innenumfangsflächen der Rohrleitung R ausgebildet ist. Dazu sind am Arbeitskopf m2 rotierende, gegen die zu reinigenden Innenwandflächen andrückbare Bürsten 7 gelagert, insbesondere Stahldrahtbürsten. Mit den Bürsten 7 verstellbar, dh. in Umfangsrichtung drehbar und gegen die Rohrinnenwand bewegbar, ist eine auf den Bürsteneingriffsbereich ausrichtbare Absaugdüse 8 gelagert, die, wie es die radiale Draufsicht zeigt, schlitzförmig ist. Aus Fig. 1 ist weiter erkennbar, daß die Saugdüse 8 und die Bürsten 7 an einem sektorförmigen Bürstenträger 9 angeordnet ist, der wiederum an einem Kastenförmigen Support 10 befestigt ist, welch letzterer an Führungsstangen 11 radial auswärts und einwärts verschiebbar gelagert-ist. Der Support 10 und ein axial orientierter Drehmotor 12 sind zwischen den beiden Drehtellern 13 befestigt, welch letztere je eine Nabe 13a zur drehbaren Lagerung des Reinigungskopfes an den beiden Stützflanschen f3, f4 aufwesen. Der Drehmotor 12 kämmt mit einem Ritzel 12a am Innenumfang eines Zahnkranzes 14, welcher an der Innenseite des Stützflansches f4 befestigt ist. Der zweckmäßig mit einem Untersetzungsgetriebe versehene Drehmotor 12 kann also den Reinigungskopf in Umfangsrichtung langsam in Drehung versetzen. Zwecks pneumatischer Anstellung der Bürsten gegen die Rohrinnenwand ist im Inneren des Supports 10 ein pneumatischer Anstellzylinder angeordnet, dessen Kolben mit dem Bürstensektor 9 verbunden ist. Durch Pfeile sind innerhalb des Bürstensektors die Anstell- und die Vorschub-Bewegung angedeutet.When compressed air is applied to the right-hand side of the C2 walking piston, the ml moves (locking feet 2 extended) while the M2 feed unit is locked (m2 feet 2 retracted) - the latter moves to the left with the walking piston. If the work unit m2 is locked and the clamp connection on the feed unit ml is disengaged, the feed unit m1 moves to the left when pressure is applied to the left side of the walking piston. In this way, the device carrier can advance inside the tube by any number of piston strokes or partial piston strokes to the left, ie up the tube, but can also be moved in the other direction to remove the device carrier. The equipment carrier is centered automatically on the center of the pipe RO. The device carrier M shown in the upper part of FIG. 1 is modified in comparison to the lower one in that its front working head is designed as a cleaning device for the inner peripheral surfaces of the pipeline R. For this purpose, rotating brushes 7, in particular steel wire brushes, are mounted on the working head m2, which can be pressed against the inner wall surfaces to be cleaned. Adjustable with the brushes 7, ie. rotatable in the circumferential direction and against the inner tube wall movable, a suction nozzle 8, which can be aligned with the brush engagement area, is mounted, which, as the radial top view shows, is slit-shaped. From Fig. 1 it can also be seen that the suction nozzle 8 and the brushes 7 is arranged on a sector-shaped brush holder 9, which in turn is attached to a box-shaped support 10, the latter being mounted on guide rods 11 radially outwards and inwards. The support 10 and an axially oriented rotary motor 12 are fastened between the two turntables 13, the latter each having a hub 13a for rotatably mounting the cleaning head on the two support flanges f3, f4. The rotary motor 12 meshes with a pinion 12a on the inner circumference of a ring gear 14, which is attached to the inside of the support flange f4. The rotary motor 12, which is expediently provided with a reduction gear, can thus slowly set the cleaning head in rotation in the circumferential direction. For the pneumatic adjustment of the brushes against the inner tube wall, a pneumatic adjusting cylinder is arranged inside the support 10, the piston of which is connected to the brush sector 9. Arrows within the brush sector indicate the start-up and feed movements.

Die Absaugdüse 8 ist über eine elastische Leitung 8a, welche in einen entsprechenden Hohlraum des Supports 10 mündet und durch die Nabe des Tellers 13 hindurchgeführt ist, an die Saugseite 15s eines Injektors 15 angeschlossen, dessen Druckseite mit 15d bezeichnet ist. Die als Laval-Düse ausgebildete Treibdüse 16 des Injektors 15 wird von einer an diesen von außen herangeführten Treibmittelleitung 17 beaufschlagt, welche bevorzugt eine Druckluftleitung ist. In Strömungsrichtung gesehen folgt auf die Treibdüse 16 ein Mischraum 18 und der Diffusor 19, welchletzterer in den Staubfangsack 20 mündet. Letzterer ist mit einem Flansch 20a an den Diffusorflansch 19a mittels einer Überwurfmutter 21 dichtend angeschlossen. Das Gehäuse 22 des Injektors ist mit einem fußseitigen Flansch an der Außenseite des Stützflansches f3 befestigt.The suction nozzle 8 is connected to the suction side 15s of an injector 15, the pressure side of which is designated 15d, via an elastic line 8a, which opens into a corresponding cavity of the support 10 and is guided through the hub of the plate 13. The propellant nozzle 16 of the injector 15, which is designed as a Laval nozzle, is acted upon by a propellant line 17, which is preferably brought from the outside and is preferably a compressed air line. Viewed in the direction of flow, the driving nozzle 16 is followed by a mixing chamber 18 and the diffuser 19, the latter of which opens into the dust bag 20. The latter is connected with a flange 20a to the diffuser flange 19a in a sealing manner by means of a union nut 21. The housing 22 of the injector is fastened to the outside of the support flange f3 with a flange on the foot side.

Im Betrieb des Injektors wird durch den Treibmittelstrom, siehe Pfeil 17t, ein starker Sog am Ausgang der Laval-Düse 16 erzeugt, welcher über die Strömungsverbindung am Einlaß der Ansaugdüse 8 wirksam wird und eine sehr effektive Absaugung bewirkt. Die abgesaugten Schmutz- und Metall-Partikel werden im Staubfangsack 20 aufgefangen, welcher ein feines staubdichtes, jedoch luftdurchlässiges Gewebe aufweist. Es kann vorteilhaft sein, den Arbeitsraum der Bürste 7 und der Saugdüse 8 zur Verbesserung des Absaugvorganges mit zusätzlicher Druckluft zu beblasen, siehe gestrichelt angedeutete Druckluftleitung 23 mit Ventil V. Diese Zusatzleitung 23 kann innerhalb des Versorgungsstranges 4 verlegt sein. In diesem Falle ist eine besonders ein ache Einmündung durch die Nabe des unteren Drehtellers 13 hindurch möglich. Grundsätzlich ist aber auch eine Abzweigung von der Treibmittelleitung 17 denkbar.During operation of the injector, the propellant flow, see arrow 17t, creates a strong suction at the outlet of the Laval nozzle 16, which takes effect via the flow connection at the inlet of the suction nozzle 8 and causes a very effective suction. The extracted dirt and metal particles are collected in the dust bag 20, which has a fine, dustproof but air-permeable fabric. It may be advantageous to blow the working space of the brush 7 and the suction nozzle 8 with additional compressed air to improve the suction process, see compressed air line 23 with valve V indicated by dashed lines. This additional line 23 can be laid within the supply line 4. In this case, a particularly a junction through the hub of the lower turntable 13 is possible. Basically, however, a branch from the propellant line 17 is also conceivable.

Bevor der Geräteträger M mit der Reinigungsvorrichtung vom Rohrende A1 eingeführt wird, wird vom anderen Rohrende A2 die Treibmittelleitung 17, eine flexible, armierte Schlauchleitung, von einem geeigneten Leitungsspeicher*) abgespult. Wenn na-ch-beendeter Operation der Geräteträger durch das Ende A1 wieder heraus-genommen wird, so wird die Treibmittelleitung 17 vom Injektor entkuppelt und vom anderen Rohrende A2 her eingerollt.Before the device carrier M with the cleaning device is inserted from the pipe end A1, the blowing agent line 17, a flexible, reinforced hose line, is unwound from a suitable line store * ) from the other pipe end A2. When the device carrier is removed again after the end of the operation, the propellant line 17 is uncoupled from the injector and rolled in from the other pipe end A2.

Fig. 2 zeigt deutlicker als Fig. 1, daß ein etwa kreissektorförmiger, an die Innenwandkrümmung angepaßßter Bürstenträger 9 (mit bei 7 angedeuteten Bürsten-Borsten) *) herabgelassen, angeschlossen und entsprechend dem Fahrprogramm auf- oder schräg zur rohrachsqueren Ebene ausgerichtet und mit seinen über den bogenförmigen Außenumfang 9a überstehenden, gegen den Wandinnenumfang R' elastisch anstellbaren Bürsten 7 in Rohrumfangsrichtung, d.h. um die Rohrachse RO, bewegbar ist. Die Absaugdüse 8 ist als bogenförmige Schlitzdüse ausgebildet, welche dem Bürstenbogen in Partikelflugrichtung nachgeschaltet ist, das würde eine Berstendrehrichtung gemäß Pfeil 7' bedeuten. Gleiche Teile zu Fig. 1 sind in Fig. 2 auch mit den gleichen Bezugszeichen versehen. Eine Variation ist in Fig. 2 im Vergleich zü Fig. 1 insofern getroffen, als das Ritze) 12a des Drehmotors 12 nicht am Innenumfang eines stützflansch-festen Zahnkranzes 14 sondern am Außenumfang eines solchen Flansches umläuft. Die mittlere Führungsstange 11a gehört zu einem zweiseitig beaufschlagbaren pneumatischen Kolben, dessen Zylinder mit dem kastenförmigen Support 10 baulich vereinigt ist. Deutlich erkennbar ist auch, daß die beiden Drehteller 13 über einen Grundrahmen 24 drehsteif miteinander verbunden sind, an welchem die einen Enden der Führungsstangen 11, 11a verankert sind. Die Naben 13a der Drehteller 13 sind jeweils mittels Drucklagern 25 und Traglagern 26 an den Stützflanschen f3 bzw. f4 drehbar gelagert. Führungskugeln 27 im Bereich der beiden Bogenenden des Bürstensektors 9 gewährleisten eine rollende Reibung am Rohrinnenumfang bei Abnutzung der Bürsten. Sie stehen etwas weiter radial vor als der Bürstenträgerbogen 9b.Fig. 2 shows more clearly than Fig. 1 that an approximately circular sector-shaped, adapted to the inner wall curvature brush holder 9 (with 7 indicated brush bristles) * ) lowered, connected and aligned according to the driving program up or at an angle to the pipe axis transverse plane and with it Brushes 7 projecting over the arcuate outer circumference 9a and elastically adjustable against the wall inner circumference R 'can be moved in the pipe circumferential direction, ie around the pipe axis RO. The suction nozzle 8 is designed as an arcuate slot nozzle, which is connected downstream of the brush arc in the particle flight direction, which would mean a bursting direction of rotation according to arrow 7 '. The same parts as in FIG. 1 are also provided with the same reference symbols in FIG. 2. A variation is made in FIG. 2 in comparison with FIG. 1 in that the crack 12a of the rotary motor 12 does not rotate on the inner circumference of a gear flange 14 fixed to the supporting flange, but rather on the outer circumference of such a flange. The middle guide rod 11a belongs to a pneumatic piston which can be acted upon from two sides, the cylinder of which is structurally combined with the box-shaped support 10. It can also be clearly seen that the two turntables 13 are connected to one another in a torsionally rigid manner via a base frame 24, on which the one ends of the guide rods 11, 11a are anchored. The hubs 13a of the turntables 13 are each rotatably supported on the support flanges f3 and f4 by means of thrust bearings 25 and support bearings 26. Guide balls 27 in the region of the two bow ends of the brush sector 9 ensure rolling friction on the inner circumference of the tube when the brushes wear out. They protrude somewhat further radially than the brush carrier arch 9b.

Fig. 3 und Fig. 4 zeigen eine Abwandlung, mit einem Teilkranz von jeweils um ihre eigene Achse rotierenden und gegen die Innenwand elastisch andrüchbaren Einzelbürsten 70, wobei der Drehbewegung der Einzelbürsten 70 (Pfeil 70') noch die Vorschubbewegung in Rohrumfangsrichtung gemäß Pfeil 7' überlagert ist. Die Einzelbürsten 70 bilden dabei jeweils einen Anstellwinkel a zur Wand- bzw. Rohrachsrichtung RO. Die Bürstenwellen sind untereinander über Reibräder und Riementriebe 28 miteinander gekoppelt, wobei der Antriebsmotor für die Einzelbürsten nicht dargestellt ist.3 and FIG. 4 show a modification, with a partial ring of individual brushes 70 rotating about their own axis and elastically drivable against the inner wall, the rotary movement of the individual brushes 70 (arrow 70 ') still showing the feed movement in the pipe circumferential direction according to arrow 7'. is superimposed. The individual brushes 70 each form an angle of attack a to the wall or pipe axis direction RO. The brush shafts are coupled to one another via friction wheels and belt drives 28, the drive motor for the individual brushes not being shown.

Gemäß Fig. 5 und Fig. 6 sind rotierende Einzelbürsten 700 mit ihren Rotationsachsen rohrachsquer ausgerichtet und weisen dabei eine an den Wandinnenumfang angepaßte tonnenartige Außenkontur 29 auf. Der Antrieb kann dabei über eine biegsame Welle erfolgen (nicht näher dargestellt).According to FIGS. 5 and 6, rotating individual brushes 700 are aligned with their axes of rotation transverse to the pipe axis and have a barrel-like outer contour 29 adapted to the inner circumference of the wall. The drive can take place via a flexible shaft (not shown in detail).

Zurückkommend auf Fig. 1 kann man erkennen, daß eine Ankopplung der Reinigungsvorrichtung frontseitig an den unten in Fig. 1 dargestellten Arbeitskopf über ein weiteres Zwischenglied möglich wäre. In diesem Falle braucht zum Zwecke der Rohrreinigung der Geräteträger nur axial verschoben, muß aber nicht neu in das Rohr eingefuhrt werden. Die dargestellte dreigliedrige Ausführung des Geräteträgers mit den Gliedern m1, m2 und m3 hat gegenüber einer fünf gliedrigen jedoch den Vorteil des geringen Gewichtes und der besseren Beweglichkeit. Es ist, wie eingangs schon erwähnt, auch möglich, die Arbeitseinheit m2 als Kombinationseinheit mit Schleifkopf und Reinigungskopf auszuführen. Anstelle des Schleifkopfes sind natur-gemäß auch andere Arbeitsköpfe (z.B. zum Schweißen, Fräsen, Ultraschallprüfen usw.)-an die Vorschubeinheit m( ankuppelbar.Returning to FIG. 1, it can be seen that a coupling of the cleaning device on the front side to the working head shown below in FIG. 1 would be possible via a further intermediate member. In this case, the equipment carrier only needs to be axially displaced for the purpose of pipe cleaning, but does not have to be reinserted into the pipe. The three-part design of the equipment carrier shown with the links m1, m2 and m3 has the advantage of a low weight and better mobility compared to a five-part link. As already mentioned at the beginning, it is also possible to design the work unit m2 as a combination unit with grinding head and cleaning head. Instead of the grinding head, other working heads (e.g. for welding, milling, ultrasonic testing, etc.) can naturally also be coupled to the feed unit m (.

Claims (6)

1. An automotive manipulator for the remotecontrolled application of a tool for the treatment of the inner surface of a round pipe or of a hollow cylindrical container, consisting of a feed unit (ml) and an operating unit (m2) which are articulated to one another through a connecting link (m3) and which can be transported through the inside of the pipe (R), or of the container, and locked in the particular operating position, wherein the operating unit has two supporting flanges (f3, f4) which are arranged consecutively in the direction of the pipe and between which is arranged an operating head (K) which has an operating device and which can be moved in the peripheral direction of the pipe along a predetermined feed path, wherein the operating apparatus consists of a brush (7) and a suction nozzle (8) which is allotted to the brush and has a following dustcollecting sack (20), wherein the brush has a brush carrier (9, 9a) which is shaped approximately like a sector of a circle and adapted to the inner wall of the pipe, or of the container, and which has its brushes, which project beyond the curved outer periphery and can be elastically applied against the inner wall, obliquely aligned to the plane transverse to the pipe axis, wherein the suction nozzle (8) is formed as a curved, slotted nozzle which, viewed in the direction of movement of the particles, is connected after the curved brush carrier (9), and wherein the suction nozzle (8) is connected to the suction side of an injector (15) which is operated by compressed air and whose propelling nozzle (16) is acted upon by a propellant line (17) which is led to the injector from the outside and on the exhaust side of which the dust collecting sack (20) is arranged.
2. A manipulator as claimed in Claim 1, characterised in that the brush consists of a partial rim of individual brushes (70) which rotate about their own axes and can be elastically pressed against the inner wall; and that the individual brushes are adjusted with their axes of rotation at a setting angle to the direction (RO) of the axis of the wall.
3. A manipulator as claimed in Claim 2, characterised in that the rotating individual brushes (700) have their axes of rotation aligned transversely to the pipe axis and have a drum- shaped outer profile which is adapted to the inner periphery of the wall.
4. A manipulator as claimed in one of Claims 1 to 3, characterised in that a blast line, which opens into the zone of contact of the brushes through at least one blast nozzle, is branched off from the propellant line (17) of the injector (15), preferably through a flow-control element; or that there is provided a separate compressed air blast line (23) which is independent of the propellant line.
5. A manipulator as claimed in one of Claims 1 to 4, characterised in that the brush carrier (9) and the allotted suction nozzle (8) are arranged on a support (10) which can be moved inwardly and outwardly in radial manner by means of pneumatic driving means; that the support is fixed between two rotary plates (13) which are rotatably positioned in the supporting flanges (f3, f4) of the operating head; and that on the support (10), a torque motor (12) is arranged which engages into a toothed rim (14) by means of its pinion (12a), which toothed rim is secured to a supporting flange (f3).
6. A manipulator as claimed in Claim 5, characterised in that the suction nozzle (8) is connected to the suction side of the injector (15) through a hollow space of the support (10) and, by means of an elastic line (8a), through the hub of one rotary plate (13).
EP82108816A 1981-10-06 1982-09-23 Automotive manipulator for the treatment of the inner surface of a round pipe or of a hollow cylindrical container Expired EP0076434B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3139691 1981-10-06
DE19813139691 DE3139691A1 (en) 1981-10-06 1981-10-06 CLEANING DEVICE FOR THE INNER CIRCUMFERENTIAL SURFACES OF PIPELINES OR HOLLOW CYLINDRICAL CONTAINERS, ESPECIALLY ON TUBE TUBE MANIPULATORS

Publications (2)

Publication Number Publication Date
EP0076434A1 EP0076434A1 (en) 1983-04-13
EP0076434B1 true EP0076434B1 (en) 1986-03-19

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EP82108816A Expired EP0076434B1 (en) 1981-10-06 1982-09-23 Automotive manipulator for the treatment of the inner surface of a round pipe or of a hollow cylindrical container

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US (1) US4473921A (en)
EP (1) EP0076434B1 (en)
JP (1) JPS5874177A (en)
DE (1) DE3139691A1 (en)
ES (1) ES8306968A1 (en)

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Also Published As

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JPS5874177A (en) 1983-05-04
ES516236A0 (en) 1983-06-16
EP0076434A1 (en) 1983-04-13
DE3139691A1 (en) 1983-04-21
US4473921A (en) 1984-10-02
ES8306968A1 (en) 1983-06-16

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