EP0076434B1 - Selbstfahrender Manipulator zur Bearbeitung der Innenflächen einer runden Rohrleitung oder eines hohlzylindrischen Behälters - Google Patents

Selbstfahrender Manipulator zur Bearbeitung der Innenflächen einer runden Rohrleitung oder eines hohlzylindrischen Behälters 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
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0076434A1 (de
Inventor
Robert Weber
Siegfried Förner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kraftwerk Union AG
Original Assignee
Kraftwerk Union AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kraftwerk Union AG filed Critical Kraftwerk Union AG
Publication of EP0076434A1 publication Critical patent/EP0076434A1/de
Application granted granted Critical
Publication of EP0076434B1 publication Critical patent/EP0076434B1/de
Expired legal-status Critical Current

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Classifications

    • 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 (.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Nozzles (AREA)
EP82108816A 1981-10-06 1982-09-23 Selbstfahrender Manipulator zur Bearbeitung der Innenflächen einer runden Rohrleitung oder eines hohlzylindrischen Behälters Expired EP0076434B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19813139691 DE3139691A1 (de) 1981-10-06 1981-10-06 Reinigungsvorrichtung fuer die innenumfangsflaechen von rohrleitungen oder hohlzylindrischen behaeltern, insbesondere an rohrinnen-manipulatoren
DE3139691 1981-10-06

Publications (2)

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

Family

ID=6143511

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82108816A Expired EP0076434B1 (de) 1981-10-06 1982-09-23 Selbstfahrender Manipulator zur Bearbeitung der Innenflächen einer runden Rohrleitung oder eines hohlzylindrischen Behälters

Country Status (5)

Country Link
US (1) US4473921A (es)
EP (1) EP0076434B1 (es)
JP (1) JPS5874177A (es)
DE (1) DE3139691A1 (es)
ES (1) ES8306968A1 (es)

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Publication number Priority date Publication date Assignee Title
EP0061078A2 (de) * 1981-03-25 1982-09-29 Kraftwerk Union Aktiengesellschaft Selbstfahrender Rohrinnenmanipulator zum fernbedienten Transportieren von Prüfgeräten und Werkzeugen längs vorgegebener Vorschubbahnen, vorzugsweise für Kernkraftanlagen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005025736A1 (de) * 2005-06-04 2006-12-07 Daimlerchrysler Ag Verfahren zum Entfernen von an einer Werkstückoberfläche anhaftenden Schweißperlen

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

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