EP0795360A1 - Verfahren und Vorrichtung zur Reinigung von Rohren - Google Patents

Verfahren und Vorrichtung zur Reinigung von Rohren Download PDF

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Publication number
EP0795360A1
EP0795360A1 EP97400531A EP97400531A EP0795360A1 EP 0795360 A1 EP0795360 A1 EP 0795360A1 EP 97400531 A EP97400531 A EP 97400531A EP 97400531 A EP97400531 A EP 97400531A EP 0795360 A1 EP0795360 A1 EP 0795360A1
Authority
EP
European Patent Office
Prior art keywords
robot
carrying
arm
motor
microprocessor
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.)
Withdrawn
Application number
EP97400531A
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English (en)
French (fr)
Inventor
Jean-Paul Aquilina
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.)
Seps (sa)
Original Assignee
Seps (sa)
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Filing date
Publication date
Application filed by Seps (sa) filed Critical Seps (sa)
Publication of EP0795360A1 publication Critical patent/EP0795360A1/de
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B17/00—Methods preventing fouling
    • B08B17/02—Preventing deposition of fouling or of dust
    • B08B17/04—Preventing deposition of fouling or of dust by using removable coverings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0014—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by incorporation in a layer which is removed with the contaminants
    • 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
    • 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
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled

Definitions

  • the present invention relates to a method and a device for cleaning ventilation ducts or ducts intended in particular, but not exclusively, for industrial kitchens.
  • conduits are degreased manually using a pressurized water cleaner. This process has several drawbacks: use of water in large quantities, dirty water having to be recovered under difficult conditions. Access to the interior of the conduits is never easy and often impossible because of the long lengths, elbows and variations in section. Finally it is impossible to completely remove certain deposits.
  • FR-B-1 571 793 discloses a device with the aid of which the inner wall of a tube can be cleaned and / or provided with a protective coating comprising a motor for driving the working members rotate in opposite directions opposite rotation, a spring applying the guide rollers against the inner wall of the tube. The device is pulled by a pull cable inside the tube.
  • GB-B-719 254 describes a carriage for cleaning the interior of pipelines on which a motor drives a brush.
  • US-A-3037228 describes a machine for deburring internal welds in pipes.
  • FR-A-1 697 088 describes an apparatus for treating the internal walls of water supply conduits, comprising a carriage provided with two groups of three rollers distributed at 120 ° from one another, controlled by trains of 'gear.
  • DE-A-2 339 868 describes another cleaning device.
  • the object of the present invention is to overcome the drawbacks of known systems and to ensure correct operation whatever the configuration of the pipes.
  • the method of cleaning the duct walls is characterized in that it consists in spraying the walls with a peelable film of acrylic type.
  • the present invention also relates to a self-propelled device with distributed motivity constituting a remote-controlled robot and capable of carrying different tools and in particular an inspection camera, a film projection device and a film stripping device.
  • a self-propelled device with distributed motivity constituting a remote-controlled robot and capable of carrying different tools and in particular an inspection camera, a film projection device and a film stripping device.
  • the film projected in the liquid state, hardens by evaporation of a solvent when it is projected onto the wall. This projection takes place only after cleaning the tube.
  • the robot is provided with six drive wheels controlled independently carried by folding arms to adapt the size of the robot to the diameter of the duct, of an orientable turret on which the tools are fixed, of a evacuation pipe for lifting debris axially passing through the vehicle, the evacuation pipe being connected to the turret by a joint of electrical and pneumatic connections going to the turret via a rotary connector.
  • the robot is permanently connected to the outdoor station which includes a computer and a video signal receiver which allows visual monitoring of the internal condition of the duct at any time and the correction of any faults in the control software.
  • the "on-board intelligence" robot works normally by its internal program independently of the outdoor station, which usually only plays a controlling role.
  • the rotational movement of the turret allows the film to be torn off over the entire internal periphery of the duct by means of a single brush. This result is obtained by the combination of the rotational movement of the turret and the advance of the robot, the brush thus following a helical trajectory with constant pitch in the duct which ensures the removal and aspiration of a quantity regular polluted matter.
  • the robot To perform its cleaning or coating function, the robot must be able to cross the elbows. To this end, the robot comprises a body from each end of which protrude three wheels spaced 120 ° apart, the wheels rolling inside the duct without sliding.
  • the robot is remote-controlled and its body carries all the connectors and the robot's electronic control card. On the body are fixed the six motorized arms with an anti-blocking device which will be described later.
  • the body transmits the rotational movement for the operation of the brush and it is impermeable to dust brushed and sucked by the central pipe.
  • the robot's microprocessor control system makes it possible to adjust the speed of rotation of the brush holder assembly, the support force of the brush on the wall, the support force of the arms on the wall and the speed of the drive wheels.
  • the body of the machine or robot is in the shape of a diabolo, that is to say that its middle part is of smaller diameter than that of the ends.
  • the motorization and the control of the wheels allow an offset of the body compared to the neutral line in the elbows.
  • the robot comprises a body 1 has an axis of symmetry and a thinned central part, from which protrude according to the position of the robot six telescopic arms 2 of which only four appear on the figure.
  • the body 1 has from the left to the right, a rear crown 3, a fixed part 4 and coaxially with the part 4, a rotating part 5 ending at the other end by a turret or tool holder 6 projecting from the front crown 7.
  • the body further includes a turret motor 8, a transmission device 9, an electrical connector 10 and a pneumatic connector 11.
  • the body proper is constituted by the two rear crowns 3 and front 7 stiffened by longitudinal partitions 12.
  • the entire front part is in rotation to drive the turret 6.
  • the rotational movement of the turret 6 is provided by the turret motor 8 and by two front and rear bearings (not referenced).
  • the drive is provided by means of the gear 9.
  • the pneumatic connector 11 is intended to allow the passage of compressed air from the fixed part 4 to the rotating part 5. This passage is effected by a connector three-way.
  • the purpose of the electrical connector 10 is to pass the electrical current from the fixed part 4 to the turret 6.
  • the rings are made of brass and the brushes are made of bronze-berylium, this connector is eight-way including two ways for the video signal and two for motor power.
  • a coating projection device is mounted on the robot.
  • This device comprises a projection nozzle B passing through the body of the robot by a conduit 30 which is, at its other end connected to a gun C which injects the liquid under pressure into the conduit.
  • the nozzle B disperses the solvent-acrylic resin solution evenly inside the pipe.
  • a nozzle 30 on which the gun C is mounted allows connection to an evacuation duct, connected to the ground to a vacuum cleaner, making it possible to vacuum the particles detached from the wall during of the subsequent brushing operation.
  • the microprocessor 29 is electrically connected to the central station by a conductive cable (not shown).
  • an arm 2 is pivotally mounted by one end on an axis 14 of the body 1 of the robot, its second end carrying a wheel or roller 13.
  • Each arm is equipped with a motor 15, controlled by the microprocessor 29, intended to drive the wheel 13 on the wall.
  • a cylinder 16 At the upper part of the arm there is a cylinder 16 armed with a spring 17 for calibrating the nominal bearing force of the roller 13 on the wall.
  • the spring jack assembly makes it possible to obtain a greater or lesser inclination of the wheel relative to the body of the robot.
  • the jack 16 is coupled with the spring 17 which helps or thwarts it. During operation, especially during the passage of an elbow, it happens that one or more wheels 13 are in contact under high pressure against a wall while the others are in a vacuum.
  • the advance of the wheel therefore requires a greater current in the motor 15 thereof.
  • this increase is detected by the microprocessor 29 of the robot which acts immediately on the jack 16 of the arm 2 to modify its inclination relative to the wall and reduce the intensity of the motor 15 to its nominal value.
  • the motor 15 is connected to a gear train 18 which, with a given reduction ratio, drives the wheel 13.
  • the robot cannot fall thanks to the passive safety provided by the springs 17 motor arms. It is however necessary to provide a cable (not shown) allowing the removal of the robot in this situation.
  • the main part of the arm is an aluminum plate 19 on which is mounted the main pivot 14 connecting the arm to the body 1 of the robot, the bearing housing and the engine spacer.
  • the transmission is ensured between the motor and the roller by a belt, the rollers 13 are force-fitted in an aluminum housing and the inner rings are clamped between the shoulder of the shaft and the pulley.
  • the spring 17 is a compression spring and it requires good guidance because it is subject to buckling. This guidance is provided by a guide having the shape of a piston.
  • Figures 5 to 7 show the mounting of the brush 20 on a brush holder arm 21 which is itself secured on the turret 6.
  • the camera 23 carried by the arm 21.
  • the arm 21 is offset relative to the axis of the turret 6.
  • the camera 23 is lit by electric bulbs (not shown), the flow of which is also controlled by the microprocessor 29 to avoid saturation of the target which would very often occur without this precaution.
  • a rotary circular brush 20 rotated by a motor 27 and a belt 28.
  • the connecting piece or arm 24 allows the passage of the electrical wires the motor 27 and the passage of the compressed air conduits.
  • the gear motor 27 and the actuator 25 which determines the inclination of the brush relative to the axis of the turret 6 are themselves dependent on the microprocessor 29. This inclination of the brush 20 determines the pressure of the latter on Wall.
  • the brush 20 is included in a casing 31 and is preferably removably mounted on a core, which allows the wear part to be interchangeable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
EP97400531A 1996-03-12 1997-03-11 Verfahren und Vorrichtung zur Reinigung von Rohren Withdrawn EP0795360A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9603076 1996-03-12
FR9603076A FR2746039B1 (fr) 1996-03-12 1996-03-12 Procede et dispositif de nettoyage de conduits par robot telecommande

Publications (1)

Publication Number Publication Date
EP0795360A1 true EP0795360A1 (de) 1997-09-17

Family

ID=9490086

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97400531A Withdrawn EP0795360A1 (de) 1996-03-12 1997-03-11 Verfahren und Vorrichtung zur Reinigung von Rohren

Country Status (2)

Country Link
EP (1) EP0795360A1 (de)
FR (1) FR2746039B1 (de)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999046085A1 (en) * 1998-03-09 1999-09-16 System Hygienics Limited A method of cleaning the inside surface of ducts
KR100413058B1 (ko) * 2001-04-24 2003-12-31 한국과학기술연구원 모터 구동방식의 대장검사용 마이크로 로봇
ES2206023A1 (es) * 2002-04-22 2004-05-01 Juan Jose Gil Perez Sistema de inspeccion tecnica para canalizacion de aire acondicionado y similares.
EP1486755A3 (de) * 2003-06-06 2005-03-30 Breval Technical Services Limited Vorrichtung und Verfahren zur Inspektion von Rohrleitungen
US7181985B2 (en) 2005-05-27 2007-02-27 Breval Technical Services Limited Conduit inspection apparatus and method
ES2273610A1 (es) * 2006-07-13 2007-05-01 Javier Campuzano Talasac Aparato para la introduccion de una camisa tubular flexible a lo largo de un conducto.
WO2007057491A2 (es) * 2005-11-18 2007-05-24 Javier Campuzano Talasac Sistema de limpieza de conductos
CN100386181C (zh) * 2005-06-16 2008-05-07 武汉大学 检测机器人
CN100427226C (zh) * 2004-09-17 2008-10-22 清华大学 一种通风管道清污机器人
CN101847468A (zh) * 2010-05-10 2010-09-29 兴乐电缆有限公司 中高压电缆悬链式干法交联生产线管路观察镜
CN103727351A (zh) * 2013-12-10 2014-04-16 大连春光科技发展有限公司 管道爬行小车
WO2016007009A1 (en) * 2014-07-11 2016-01-14 Rz International B.V. Method for treating an inner surface of an extraction duct fouled with grease deposit, and thus treated duct
CN112554330A (zh) * 2021-01-13 2021-03-26 成都颜羽佳科技有限公司 一种防止管道堵塞的清理设备
CN115106347A (zh) * 2021-03-22 2022-09-27 湖南特力液压有限公司 内孔爬行清洗机器人
CN115854373A (zh) * 2022-11-23 2023-03-28 安徽恒创智能装备有限公司 一种分解炉清结皮机器人

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110284582B (zh) * 2018-03-19 2021-06-18 上海众理环境科技有限公司 下水道清淤机器人、清淤设备和清淤方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2616689A1 (fr) * 1987-06-18 1988-12-23 Viviant Herve Nettoyage chimique des ventilations
WO1992008555A1 (en) * 1990-11-16 1992-05-29 Cal-West Equipment Company, Inc. Protective coating and method of using such coating
WO1993010004A1 (en) * 1991-11-12 1993-05-27 S.C. Johnson & Son, Inc. Method of preventing grease buildup in ductwork

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2616689A1 (fr) * 1987-06-18 1988-12-23 Viviant Herve Nettoyage chimique des ventilations
WO1992008555A1 (en) * 1990-11-16 1992-05-29 Cal-West Equipment Company, Inc. Protective coating and method of using such coating
WO1993010004A1 (en) * 1991-11-12 1993-05-27 S.C. Johnson & Son, Inc. Method of preventing grease buildup in ductwork

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999046085A1 (en) * 1998-03-09 1999-09-16 System Hygienics Limited A method of cleaning the inside surface of ducts
US6402854B1 (en) 1998-03-09 2002-06-11 System Hygienics Limited Method of cleaning the inside surface of ducts
KR100413058B1 (ko) * 2001-04-24 2003-12-31 한국과학기술연구원 모터 구동방식의 대장검사용 마이크로 로봇
ES2206023A1 (es) * 2002-04-22 2004-05-01 Juan Jose Gil Perez Sistema de inspeccion tecnica para canalizacion de aire acondicionado y similares.
EP1486755A3 (de) * 2003-06-06 2005-03-30 Breval Technical Services Limited Vorrichtung und Verfahren zur Inspektion von Rohrleitungen
CN100427226C (zh) * 2004-09-17 2008-10-22 清华大学 一种通风管道清污机器人
US7181985B2 (en) 2005-05-27 2007-02-27 Breval Technical Services Limited Conduit inspection apparatus and method
CN100386181C (zh) * 2005-06-16 2008-05-07 武汉大学 检测机器人
WO2007057491A3 (es) * 2005-11-18 2007-07-05 Talasac Javier Campuzano Sistema de limpieza de conductos
WO2007057491A2 (es) * 2005-11-18 2007-05-24 Javier Campuzano Talasac Sistema de limpieza de conductos
ES2273610A1 (es) * 2006-07-13 2007-05-01 Javier Campuzano Talasac Aparato para la introduccion de una camisa tubular flexible a lo largo de un conducto.
CN101847468A (zh) * 2010-05-10 2010-09-29 兴乐电缆有限公司 中高压电缆悬链式干法交联生产线管路观察镜
CN101847468B (zh) * 2010-05-10 2012-02-29 兴乐电缆有限公司 中高压电缆悬链式干法交联生产线管路观察镜
CN103727351A (zh) * 2013-12-10 2014-04-16 大连春光科技发展有限公司 管道爬行小车
CN103727351B (zh) * 2013-12-10 2016-01-27 大连大科科技咨询有限公司 管道爬行小车
WO2016007009A1 (en) * 2014-07-11 2016-01-14 Rz International B.V. Method for treating an inner surface of an extraction duct fouled with grease deposit, and thus treated duct
CN112554330A (zh) * 2021-01-13 2021-03-26 成都颜羽佳科技有限公司 一种防止管道堵塞的清理设备
CN115106347A (zh) * 2021-03-22 2022-09-27 湖南特力液压有限公司 内孔爬行清洗机器人
CN115854373A (zh) * 2022-11-23 2023-03-28 安徽恒创智能装备有限公司 一种分解炉清结皮机器人

Also Published As

Publication number Publication date
FR2746039B1 (fr) 1998-05-22
FR2746039A1 (fr) 1997-09-19

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