EP0980721B1 - Mobile device for cleaning constructions for the transport of fluids, in particular sewers - Google Patents

Mobile device for cleaning constructions for the transport of fluids, in particular sewers Download PDF

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Publication number
EP0980721B1
EP0980721B1 EP99402033A EP99402033A EP0980721B1 EP 0980721 B1 EP0980721 B1 EP 0980721B1 EP 99402033 A EP99402033 A EP 99402033A EP 99402033 A EP99402033 A EP 99402033A EP 0980721 B1 EP0980721 B1 EP 0980721B1
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EP
European Patent Office
Prior art keywords
chassis
tool support
sediments
wheels
hydraulic
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 - Lifetime
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EP99402033A
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German (de)
French (fr)
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EP0980721A1 (en
Inventor
Léon Dautriche
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SITA
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SITA
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • 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
    • B08B9/051—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 the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
    • E02F3/7613—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers with the scraper blade adjustable relative to the pivoting arms about a vertical axis, e.g. angle dozers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
    • E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates

Definitions

  • the present invention relates to a mobile device for cleaning of fluids transport structures and more particularly of transport of effluents or wastewater.
  • WO-95/31 295 describes a method and a device for ensuring cleaning as well as the evacuation of sediments which settle in pipes underground intended in particular for the transport of waste water.
  • the device described in this publication consists of a rotary knife combined with a water injection for cleaning. It is operated from the outside and it presents therefore the disadvantage of being a non-independent system which is moved by cable to the interior of the pipe to be cleaned and whose dimensions, which cannot be adjusted, must correspond to those of the pipeline, which makes its use little flexible.
  • FR-A-2 658 438 describes a device for clearing pipes which comprises disintegration means, scraping means and cleaning means, these various means being assembled with each other and moved in the pipeline via a cable towed from the outside.
  • this device does not solve the problems set out above, in particular with regard to the necessary autonomy and the adaptability to different types and sizes of pipes.
  • EP-A-0 365 921 describes a device for cleaning of pipes capable of move in pipes.
  • the present invention provides an effective solution by producing a mobile device, autonomous, having the function of destructuring the sediments and moving them then to a point where their extraction and disposal are possible.
  • the evacuation of the sediments is done differently depending on their nature.
  • the means provided for ensure the destructuring of sediments are supported by one or more sleepers of said chassis, the choice being made according to the distribution of loads, depending on the desired power.
  • the means ensuring the destructuring of the sediments are positioned on the tool support.
  • the device according to the present invention is present in the form of a movable carriage intended to move, so self-contained, in the pipeline to be cleaned.
  • This cart consists of a chassis designated as a whole by the reference 10, which in this example of realization is composed of two beams 12 and 14 beams interconnected by sleepers such as 13, 15, 17 and 19.
  • the number, length and shape of these crosspieces can vary depending on the profile of the structure (staircase, arch circle, rectangular shape ...) in order to properly seat the carriage in the structure (for example at the bottom of this book, on the traffic benches when the structure is provided with it, by stepping over a low wall, etc.).
  • Some of these sleepers are provided with means intended to receive cleaning tools (not shown in the drawing) ensuring the destructuring of the sediments accumulated in the pipe to be cleaned, the choice of sleepers intended to receive these tools is depending on the load distribution, according to the desired power.
  • This chassis is provided at one of its ends (designated below end drive wheels 16, 18. Each of these wheels rotates in bearings provided respectively on each of the side members 12, 14 and it is driven by an independent motor.
  • the chassis 10 also has idle load wheels.
  • two pairs of idle load wheels are provided respectively 20, 22, 21 and 23, mounted respectively on the longitudinal beams 12, 14, at the end of the chassis opposite to the driving wheels 16, 18 (so-called rear end).
  • Each pair of idler wheels journalled in bearings provided respectively on the side members 12, 14.
  • the chassis 10 also includes guide wheels with an axle substantially vertical. In this nonlimiting exemplary embodiment, these wheels guides are distributed in pairs, respectively 24, 26 and 25, 27 on the side members 12, 14, at each end of the latter as can be clearly seen on the figures.
  • Each guide wheel is mounted at the end of a support such as 28 provided of the wheel rotation shaft, this support being itself mounted at the end of a stirrup 30 welded to a beam such as 12, 14 and having several holes intended to receive a fixing pin for the support 28-guide wheel assembly, so to be able to modify the position of each guide wheel.
  • a support such as 28 provided of the wheel rotation shaft
  • this support being itself mounted at the end of a stirrup 30 welded to a beam such as 12, 14 and having several holes intended to receive a fixing pin for the support 28-guide wheel assembly, so to be able to modify the position of each guide wheel.
  • FIG 1 there is shown in dashed lines different positions which can be occupied by different guide wheels 24, 25, 26, 27.
  • These guide wheels are therefore designed so as to ability to roll over the vertical walls of the item to be cleaned. Their characteristics make it possible to adapt the device according to the invention to the dimensions and to the shape of these works.
  • the wheels 24, 25, 26, 27 therefore have a role in guiding the device when the latter is not equipped with steered wheels, which is the case of the example of embodiment described and shown here. In particular, they allow the tool to circulate in curved pipes.
  • the longitudinal beams 12, 14 are cut between the wheels drive 16,18 and idler wheels 21,23 and 20,22 respectively so as to allow folding of the two parts of the chassis 10 thus produced.
  • These two parts are articulated around axes 31 or 32 (respectively upper and lower) so as to fold the frame around one or the other of its axes, according to one or other of the two positions indicated in dashed lines on Figure 2.
  • the axes 31 and 32 are of course locked. We pass from this locked position to the position allowing the folding the chassis simply by unlocking one of the axes. This provision makes it possible to introduce the device according to the invention into the structure to be cleaned, when the latter is low ceiling.
  • the device also includes a tool holder designated as a whole by the reference 33.
  • This tool support visible in FIG. 1 is presented under the form of a braced frame which is rotatably mounted on one of the crosspieces of the chassis 10, in this example, it is the cross member 17.
  • the tool support 33 is therefore positioned in front of the drive wheels 16.18. It is provided with means making it possible to adjust its position in height. In this exemplary embodiment, these means are produced in the form a rack winch 34 which is manually operated by the operator seated on the seat 35 mounted on the chassis 10.
  • This winch actuates the tool support by through a cable 36 fixed to the front end 37 of the tool holder 33 in passing over a pulley 38 mounted at the front of the chassis 10.
  • this manual height adjustment system of the tool holder 33 can be replaced by a sealed electrical mechanism comprising for example a sonar with a remote control, on the surface, for make the settings.
  • the front part of the tool holder 33 is provided with cleaning means and sediment disposal.
  • these means are produced in the form of two blades 40, 41 articulated at the end of a plate 39 mounted at the end 42 of the tool holder 33, via a pin horizontal articulation 46 (FIG. 2).
  • the blades 40, 41 can be deployed and laterally retracted by means of jacks 44, 45 respectively, the cylinders are mounted on the plate 39 using vertical axes so as to ability to drive blades in front-to-back movements allowing to adapt the length of the blade system 40, 41 to the width of the structure to clean.
  • FIG. 1 the positions which can be occupied by the blades when actuating the jacks 44, 45.
  • the tool holder 33 further comprises a jack 43 whose rod is coupled to the plate 39 and the piston of which is mounted on the tool support 33, so that the blade system 40, 41 can be oriented around a horizontal axis parallel to the tool holder, in a movement of approximately 90 ° upwards and approximately 15 ° towards the low. These positions have been illustrated in dashed lines in FIG. 2.
  • Tools for destructuring the sediments accumulated in the pipe to be cleaned can be mounted directly on one of the central crosspieces of the chassis 10, as mentioned above where they can be hung on the tool holder 33 at and under axis 46. In all the exemplary embodiments, these tools are at constant depth in the sediment and they allow to have a continuous destructuring action on sediments accumulated in the pipeline to clean.
  • the chassis 10 is further provided with an anti-tilting device intended to prevent the lifting of the part of the chassis opposite the drive wheels 16, 18.
  • this anti-rearing device is designed in the form of a horizontal beam 47 made integral with the chassis 10, above the tool support 33 on which the latter comes to rest in the event of an abrupt lifting of this support.
  • these means are further provided allowing the chassis 10 to rest on the ceiling of the work to be cleaned.
  • these means can be produced in the form of hydraulic risers positioned respectively at the front and rear of the chassis and which support at least one wheel coming to bear on the ceiling of the work. This is a device whose realization is easy for those skilled in the art: for this reason, they have not been shown in the drawing.
  • the attachment position of the tool support 33 allows, in the case where a sediment loading bucket is provided for disposal and which is fixed under the chassis 10, to obtain a higher lifting power since the force tends to crush the chassis on the ground, this force being more important than the mass of the device.
  • the invention also provides for taking power at the end of the tool holder 33 so as to position a pump therein sludge to ensure the removal of previously destructured sediment.
  • the chassis also includes a hauling winch 48 so as to ensure the exit of the device in case of blockage of the latter in the work to be cleaned.
  • the device according to the present invention is preferably powered hydraulically, so that it can be submersible.
  • Motor supply drive wheels 16, 18 as well as different cylinders control described above is carried out by hydraulic hoses and the power is supplied by a hydraulic group and pump which can be arranged on the surface.
  • a hose management system is provided (winding, unwinding) at constant voltage, at low pressure for unwinding and high pressure for winding. This function is automatically slaved, when ordering forward / reverse on the surface.
  • the invention also provides a variant according to which the hydraulic unit and the hydraulic pump are mounted on chassis 10, which makes it possible to The device which is the subject of the present invention is completely autonomous.
  • the hydraulic group and pump as well as the system ensuring the winding and unwinding of the hoses can be installed on a trailer fitted with stabilizers.
  • the device according to the invention can be positioned on edge, possibly in the folded position, on the trailer during transport and its installation in the pipeline.
  • the object device of the invention makes it possible to combine two cleaning effects: on the one hand, the destructuring of the sediments accumulated in the structure to be cleaned (thanks to the presence of destructuring tools) and on the other hand, a hunting effect (obtained by implementing the blade system 40, 41) ensuring the movement of destructured sediments up to the point where their evacuation takes place, the latter can be carried out by pumping or using a crane. Height adjustment under the blades 40 and 41 allows to obtain a maximum hunting effect, without impact on the working height of destructuring tools, this flushing effect ensuring the conveyance of destructured sediments to the extraction system.
  • the device which is the subject of the invention thanks to the possibilities of adjustment of blades 40 and 41 and guide wheels, allows adaptation to the profile of any work.
  • the invention effectively provides a solution effective at the various problems mentioned above.
  • the present invention is not limited to the examples of realization described and / or represented here but that it includes all the variants falling within the scope of the invention as defined by the appended claims.
  • the propulsion of the device described above instead of being provided by a drive wheel system such as 16 and 18 could be obtained using tracks facilitating changes of direction of the device in the structure to clean.
  • the position of the crosspieces 13, 15, 17, 19 can be made adjustable relative to the longitudinal beams 12, 14 constituting the chassis, in order to allow distribute the loads.
  • the device which is the subject of the invention can tow a trailer which is loaded by a hydraulic arm supported by the chassis.

Abstract

The sewer cleaner comprises a chassis (10) with side beams (12,14) connected by crosspieces (13,15,17,19). At one end are driving wheels (16,18) each driven by an independent motor. Pairs of idling wheels (20-23) at the other end of the chassis rotate in bearings in each side beam. Guide wheels (24-27) with vertical axles arranged along the side beams can roll along the side walls of the sewer. A tool support (33) with a height adjuster (34,36) is fitted with a plate (39) rotating at the end (42) of the support.

Description

La présente invention concerne un dispositif mobile destiné à assurer le nettoyage d'ouvrages de transport de fluides et plus particulièrement de canalisations de transport d'effluents ou d'eaux usées.The present invention relates to a mobile device for cleaning of fluids transport structures and more particularly of transport of effluents or wastewater.

On sait qu'au fil des temps, les canalisations de transport de fluides et notamment les canalisations de transport d'eaux usées s'obstruent par suite de la sédimentation et du dépôt des matières solides qui sont transportées par les fluides. Dans le cas des eaux usées, les sédiments sont généralement constitués de sables, de boues biologiques, de pierres et d'autres matériaux volumineux. Il est donc nécessaire de procéder régulièrement à un nettoyage de ces canalisations afin de maintenir une bonne circulation des effluents.We know that over time, the fluid transport pipes and in particular the sewage transport pipes become blocked as a result of sedimentation and the deposition of solids which are transported by the fluids. In the case wastewater, sediment usually consists of sand, sludge biological, stones and other bulky materials. It is therefore necessary to regularly clean these pipes in order to maintain a good flow of effluents.

Les problèmes qui doivent être résolus dans la conception d'un système de nettoyage sont notamment les suivants :

  • il faut tenir compte du fait que les canalisations peuvent être de dimensions et de formes différentes (circulaires, rectangulaires, présence de banquettes murales pour la circulation du personnel chargé de l'entretien...), ce qui nécessite une adaptation du matériel de nettoyage à ces contraintes,
  • l'intérieur des canalisations n'est généralement accessible qu'à partir de puits qui sont répartis régulièrement sur la longueur desdites canalisations,
  • les canalisations peuvent être en charge, ce qui est notamment le cas des canalisations à rejet direct en mer dans lesquelles, compte-tenu des effets des marées, ces canalisations sont pleines à marée haute,
  • les sédiments qui se déposent en partie supérieure des canalisations sont hétérogènes et compactés : il faut donc, en priorité, procéder à une déstructuration de cette couche supérieure de sédiments, ce qui nécessite ensuite un outil spécifique pour transporter les sédiments déstructurés vers leur lieu d'élimination.
Problems that need to be resolved in the design of a cleaning system include the following:
  • it must be taken into account that the pipes can be of different dimensions and shapes (circular, rectangular, presence of wall benches for the circulation of maintenance personnel ...), which requires an adaptation of the cleaning equipment to these constraints,
  • the interior of the pipes is generally accessible only from wells which are regularly distributed over the length of the said pipes,
  • the pipes can be loaded, which is particularly the case with direct discharge pipes at sea in which, taking into account the effects of the tides, these pipes are full at high tide,
  • the sediments which deposit in the upper part of the pipes are heterogeneous and compacted: it is therefore necessary, as a priority, to deconstruct this upper layer of sediment, which then requires a specific tool to transport the deconstructed sediment to its place of elimination.

WO-95 /31 295 décrit un procédé et un dispositif permettant d'assurer le nettoyage ainsi que l'évacuation des sédiments qui se déposent dans des conduites souterraines destinées notamment au transport d'eaux résiduaires. Le dispositif décrit dans cette publication est constitué d'un couteau rotatif combiné à une injection d'eau pour assurer le nettoyage. Il est actionné de l'extérieur et il présente donc l'inconvénient d'être un système non indépendant qui est déplacé par câble à l'intérieur de la canalisation à nettoyer et dont les dimensions, non modulables, doivent correspondre à celles de la canalisation, ce qui rend son utilisation peu souple.WO-95/31 295 describes a method and a device for ensuring cleaning as well as the evacuation of sediments which settle in pipes underground intended in particular for the transport of waste water. The device described in this publication consists of a rotary knife combined with a water injection for cleaning. It is operated from the outside and it presents therefore the disadvantage of being a non-independent system which is moved by cable to the interior of the pipe to be cleaned and whose dimensions, which cannot be adjusted, must correspond to those of the pipeline, which makes its use little flexible.

FR-A-2 658 438 décrit un dispositif de désobturation de canalisations qui comprend des moyens de désagrégation, des moyens de raclage et des moyens de nettoyage, ces divers moyens étant assemblés les uns aux autres et déplacés dans la canalisation par l'intermédiaire d'un câble tracté depuis l'extérieur. Comme le système précédemment mentionné, ce dispositif ne résout pas les problèmes exposés ci-dessus notamment en ce qui concerne l'autonomie nécessaire et les facultés d'adaptation à des canalisations de types et de dimensions différents.FR-A-2 658 438 describes a device for clearing pipes which comprises disintegration means, scraping means and cleaning means, these various means being assembled with each other and moved in the pipeline via a cable towed from the outside. As the previously mentioned system, this device does not solve the problems set out above, in particular with regard to the necessary autonomy and the adaptability to different types and sizes of pipes.

EP-A-0 365 921 décrit un dispositif de nettoyage de canalisations capable de se déplacer dans des canalisations.EP-A-0 365 921 describes a device for cleaning of pipes capable of move in pipes.

Il résulte de l'analyse des solutions actuellement connues de l'homme de l'art qu'aucune de celles-ci ne permet de résoudre la totalité des problèmes mentionnés ci-dessus.It results from the analysis of solutions currently known to those skilled in the art none of these solves all the problems mentioned above.

La présente invention apporte une solution efficace en réalisant un dispositif mobile, autonome, ayant pour fonction de déstructurer les sédiments et de les déplacer ensuite jusqu'en un point où leur extraction et leur évacuation sont possibles. Selon l'un des objectifs de la présente invention, l'évacuation des sédiments se fait de manière différente en fonction de leur nature. The present invention provides an effective solution by producing a mobile device, autonomous, having the function of destructuring the sediments and moving them then to a point where their extraction and disposal are possible. according to one of the objectives of the present invention, the evacuation of the sediments is done differently depending on their nature.

Cette invention a donc pour objet un dispositif mobile destiné à assurer le nettoyage d'ouvrages de transport de fluides, notamment de canalisations de transport d'effluents ou d'eaux usées caractérisé en ce qu'il comprend :

  • un châssis composé de poutres longerons reliées entre elles par des traverses et muni à une extrémité de roues motrices tourillonnant dans des paliers prévus respectivement sur chaque longeron, chaque roue étant entraínée par un moteur indépendant ;
  • des paires de roues porteuses folles prévues à l'autre extrémité dudit châssis, chaque paire tourillonnant dans des paliers prévus respectivement sur chaque longeron ;
  • des roues guides à axes sensiblement verticaux, disposées chacune le long des longerons dudit châssis et conçues de manière à pouvoir rouler sur les parois latérales dudit ouvrage à nettoyer,
  • des moyens de déstructuration des sédiments et,
  • un support d'outils, positionné devant les roues motrices et monté sur ledit châssis à l'aide d'un axe de rotation horizontal, ledit support d'outils étant muni de moyens pour régler sa position en hauteur et il est équipé de moyens de nettoyage et d'évacuation des sédiments déstructurés, constitués d'une platine montée à rotation à l'extrémité dudit support d'outils et portant un système de lames orientables pour assurer le nettoyage et l'évacuation des sédiments déstructurés, ladite platine étant munie de moyens pour adapter la longueur du système de lames à la largeur de l'ouvrage et de moyens pour régler la hauteur libre sous ledit système de lames.
The subject of this invention is therefore a mobile device intended for cleaning fluids transport structures, in particular effluent or waste water transport pipes, characterized in that it comprises:
  • a chassis composed of beams beams connected to each other by crosspieces and provided at one end with driving wheels journalling in bearings provided respectively on each beam, each wheel being driven by an independent motor;
  • pairs of idle load wheels provided at the other end of said chassis, each pair journalling in bearings provided respectively on each spar;
  • guide wheels with substantially vertical axes, each disposed along the longitudinal members of said chassis and designed so as to be able to roll on the side walls of said work to be cleaned,
  • means of destructuring the sediments and,
  • a tool support, positioned in front of the drive wheels and mounted on said chassis using a horizontal axis of rotation, said tool support being provided with means for adjusting its position in height and it is equipped with means for cleaning and evacuation of destructured sediments, consisting of a plate rotatably mounted at the end of said tool support and carrying a system of orientable blades for cleaning and evacuation of destructured sediments, said plate being provided with means for adapting the length of the blade system to the width of the structure and means for adjusting the free height under said blade system.

Selon un mode de réalisation de la présente invention, les moyens prévus pour assurer la déstructuration des sédiments sont supportés par une ou plusieurs traverses dudit châssis, le choix étant effectué en fonction de la répartition des charges, selon la puissance désirée. According to an embodiment of the present invention, the means provided for ensure the destructuring of sediments are supported by one or more sleepers of said chassis, the choice being made according to the distribution of loads, depending on the desired power.

Selon un autre mode de réalisation de l'invention, les moyens assurant la déstructuration des sédiments sont positionnés sur le support d'outils.According to another embodiment of the invention, the means ensuring the destructuring of the sediments are positioned on the tool support.

D'autres caractéristiques et avantages de la présente invention ressortiront de la description faite ci-après en référence aux dessins annexés qui en illustrent un mode de réalisation donné à titre d'exemple dépourvu de tout caractère limitatif. Sur les dessins :

  • la figure 1 est une vue en plan du dispositif objet de l'invention et;
  • la figure 2 est une vue en élévation latérale de la figure 1.
    • Other characteristics and advantages of the present invention will emerge from the description given below with reference to the accompanying drawings which illustrate an embodiment given by way of example without any limiting character. In the drawings:
  • Figure 1 is a plan view of the device object of the invention and;
  • Figure 2 is a side elevational view of Figure 1.

    • En se référant aux dessins, on voit que le dispositif selon la présente invention se présente sous la forme d'un chariot mobile destiné à se déplacer, de façon autonome, dans la canalisation devant être nettoyée. Ce chariot est constitué d'un châssis désigné dans son ensemble par la référence 10, qui dans cet exemple de réalisation est composé de deux poutres longerons 12 et 14 reliées entre elles par des traverses telles que 13, 15, 17 et 19. Le nombre, la longueur ainsi que la forme de ces traverses peuvent varier en fonction du profil de l'ouvrage (escalier, arc de cercle, forme rectangulaire...) afin d'asseoir correctement le chariot dans l'ouvrage (par exemple sur le fond de cet ouvrage, sur les banquettes de circulation lorsque l'ouvrage en est muni, en enjambant un muret, etc...). Certaines de ces traverses sont munies de moyens destinés à recevoir des outils de curage (non représentés sur le dessin) assurant la déstructuration des sédiments accumulés dans la canalisation à nettoyer, le choix des traverses destinées à recevoir ces outils se faisant en fonction de la répartition des charges, selon la puissance souhaitée.Referring to the drawings, it can be seen that the device according to the present invention is present in the form of a movable carriage intended to move, so self-contained, in the pipeline to be cleaned. This cart consists of a chassis designated as a whole by the reference 10, which in this example of realization is composed of two beams 12 and 14 beams interconnected by sleepers such as 13, 15, 17 and 19. The number, length and shape of these crosspieces can vary depending on the profile of the structure (staircase, arch circle, rectangular shape ...) in order to properly seat the carriage in the structure (for example at the bottom of this book, on the traffic benches when the structure is provided with it, by stepping over a low wall, etc.). Some of these sleepers are provided with means intended to receive cleaning tools (not shown in the drawing) ensuring the destructuring of the sediments accumulated in the pipe to be cleaned, the choice of sleepers intended to receive these tools is depending on the load distribution, according to the desired power.

    Ce châssis est muni à l'une de ses extrémités (désignée ci-après extrémité antérieure) de roues motrices 16, 18. Chacune de ces roues tourillonne dans des paliers prévus respectivement sur chacun des longerons 12, 14 et elle est entraínée par un moteur indépendant. This chassis is provided at one of its ends (designated below end drive wheels 16, 18. Each of these wheels rotates in bearings provided respectively on each of the side members 12, 14 and it is driven by an independent motor.

    Le châssis 10 comporte en outre des roues porteuses folles. Dans cet exemple de réalisation, on a prévu deux paires de roues porteuses folles respectivement 20, 22, 21 et 23, montées respectivement sur les poutres longerons 12, 14, à l'extrémité du châssis opposée aux roues motrices 16, 18 (extrémité dite postérieure). Chaque paire de roues folles tourillonne dans des paliers prévus respectivement sur les longerons 12, 14. Le châssis 10 comporte également des roues guides à axe sensiblement vertical. Dans cet exemple de réalisation non limitatif, ces roues guides sont réparties par paires, respectivement 24, 26 et 25, 27 sur les longerons 12, 14, à chacune des extrémités de ces derniers comme on le voit clairement sur les figures. Chaque roue guide est montée à l'extrémité d'un support tel que 28 muni de l'arbre de rotation de la roue, ce support étant lui même monté à l'extrémité d'un étrier 30 soudé sur un longeron tel que 12, 14 et comportant plusieurs trous destinés à recevoir une goupille de fixation de l'ensemble support 28-roue guide, de manière à pouvoir modifier la position de chaque roue guide. Sur la figure 1, on a représenté en traits mixtes différentes positions qui peuvent être occupées par les différentes roues guides 24, 25, 26, 27. Ces roues guides sont donc conçues de manière à pouvoir rouler sur les parois verticales de l'ouvrage à nettoyer. Leurs caractéristiques permettent d'adapter le dispositif selon l'invention aux dimensions et à la forme de ces ouvrages.The chassis 10 also has idle load wheels. In this example of realization, two pairs of idle load wheels are provided respectively 20, 22, 21 and 23, mounted respectively on the longitudinal beams 12, 14, at the end of the chassis opposite to the driving wheels 16, 18 (so-called rear end). Each pair of idler wheels journalled in bearings provided respectively on the side members 12, 14. The chassis 10 also includes guide wheels with an axle substantially vertical. In this nonlimiting exemplary embodiment, these wheels guides are distributed in pairs, respectively 24, 26 and 25, 27 on the side members 12, 14, at each end of the latter as can be clearly seen on the figures. Each guide wheel is mounted at the end of a support such as 28 provided of the wheel rotation shaft, this support being itself mounted at the end of a stirrup 30 welded to a beam such as 12, 14 and having several holes intended to receive a fixing pin for the support 28-guide wheel assembly, so to be able to modify the position of each guide wheel. In Figure 1, there is shown in dashed lines different positions which can be occupied by different guide wheels 24, 25, 26, 27. These guide wheels are therefore designed so as to ability to roll over the vertical walls of the item to be cleaned. Their characteristics make it possible to adapt the device according to the invention to the dimensions and to the shape of these works.

    Les roues 24,25,26,27 ont donc un rôle de guidage du dispositif lorsque celui-ci n'est pas équipé de roues directrices, ce qui est le cas de l'exemple de réalisation décrit et représenté ici. Elles permettent notamment à l'outil de circuler dans des canalisations courbes.The wheels 24, 25, 26, 27 therefore have a role in guiding the device when the latter is not equipped with steered wheels, which is the case of the example of embodiment described and shown here. In particular, they allow the tool to circulate in curved pipes.

    Selon l'invention, les poutres longerons 12, 14 sont coupées entre les roues motrices 16,18 et les roues porteuses folles 21,23 et 20,22 respectivement de manière à permettre un repliage des deux parties du châssis 10 ainsi réalisées. Ces deux parties s'articulent autour d'axes 31 ou 32 (respectivement supérieur et inférieur) de manière à effectuer le repliage du châssis autour de l'un ou de l'autre de ses axes, selon l'une ou l'autre des deux positions indiquées en traits mixtes sur la figure 2. Lorsque le dispositif est en service, les axes 31 et 32 sont bien entendu verrouillés. On passe de cette position verrouillée à la position permettant le repliage du châssis simplement en déverrouillant l'un des axes. Cette disposition rend possible l'introduction du dispositif selon l'invention dans l'ouvrage à nettoyer, lorsque ce dernier est bas de plafond.According to the invention, the longitudinal beams 12, 14 are cut between the wheels drive 16,18 and idler wheels 21,23 and 20,22 respectively so as to allow folding of the two parts of the chassis 10 thus produced. These two parts are articulated around axes 31 or 32 (respectively upper and lower) so as to fold the frame around one or the other of its axes, according to one or other of the two positions indicated in dashed lines on Figure 2. When the device is in service, the axes 31 and 32 are of course locked. We pass from this locked position to the position allowing the folding the chassis simply by unlocking one of the axes. This provision makes it possible to introduce the device according to the invention into the structure to be cleaned, when the latter is low ceiling.

    Le dispositif comporte par ailleurs un support d'outils désigné dans son ensemble par la référence 33. Ce support d'outils visible sur la figure 1 se présente sous la forme d'un cadre entretoisé qui est monté à rotation sur l'une des traverses du châssis 10, dans cet exemple, il s'agit de la traverse 17. Selon l'invention, on prévoit plusieurs possibilités de positionnements du support d'outils 33 sur cette traverse de manière que ce support d'outils puisse occuper plusieurs positions latéralement par rapport à l'axe du châssis 13. Le support d'outils 33 est donc positionné devant les roues motrices 16,18. Il est muni de moyens permettant de régler sa position en hauteur. Dans cet exemple de réalisation, ces moyens sont réalisés sous la forme d'un treuil à crémaillère 34 qui est actionné manuellement par l'opérateur assis sur le siège 35 monté sur le châssis 10. Ce treuil actionne le support d'outils par l'intermédiaire d'un câble 36 fixé à l'extrémité antérieure 37 du support d'outils 33 en passant sur une poulie 38 montée à l'avant du châssis 10. Selon une variante de réalisation de l'invention, ce système de réglage manuel de la position en hauteur du support d'outils 33 peut être remplacé par un mécanisme électrique étanche comportant par exemple un sonar avec une commande à distance, en surface, pour effectuer les réglages.The device also includes a tool holder designated as a whole by the reference 33. This tool support visible in FIG. 1 is presented under the form of a braced frame which is rotatably mounted on one of the crosspieces of the chassis 10, in this example, it is the cross member 17. According to the invention, provision is made several possibilities for positioning the tool support 33 on this crossmember so that this tool holder can occupy several positions laterally by relative to the axis of the chassis 13. The tool support 33 is therefore positioned in front of the drive wheels 16.18. It is provided with means making it possible to adjust its position in height. In this exemplary embodiment, these means are produced in the form a rack winch 34 which is manually operated by the operator seated on the seat 35 mounted on the chassis 10. This winch actuates the tool support by through a cable 36 fixed to the front end 37 of the tool holder 33 in passing over a pulley 38 mounted at the front of the chassis 10. According to a variant of embodiment of the invention, this manual height adjustment system of the tool holder 33 can be replaced by a sealed electrical mechanism comprising for example a sonar with a remote control, on the surface, for make the settings.

    La partie frontale du support d'outils 33 est munie des moyens de nettoyage et d'évacuation des sédiments. Dans cet exemple de réalisation, ces moyens sont réalisés sous la forme de deux lames 40, 41 articulées à l'extrémité d'une platine 39 montée à l'extrémité 42 du support d'outils 33, par l'intermédiaire d'un axe d'articulation horizontal 46 (figure 2). Les lames 40, 41 peuvent être déployées et rétractées latéralement par l'intermédiaire de vérins respectivement 44, 45 dont les cylindres sont montés sur la platine 39 à l'aide d'axes verticaux de manière à pouvoir entraíner les lames selon des mouvements avant-arrière permettant d'adapter la longueur du système de lames 40, 41 à la largeur de l'ouvrage à nettoyer. Sur la figure 1, on a représenté en traits mixtes les positions pouvant être occupées par les lames lors de l'actionnement des vérins 44, 45. The front part of the tool holder 33 is provided with cleaning means and sediment disposal. In this embodiment, these means are produced in the form of two blades 40, 41 articulated at the end of a plate 39 mounted at the end 42 of the tool holder 33, via a pin horizontal articulation 46 (FIG. 2). The blades 40, 41 can be deployed and laterally retracted by means of jacks 44, 45 respectively, the cylinders are mounted on the plate 39 using vertical axes so as to ability to drive blades in front-to-back movements allowing to adapt the length of the blade system 40, 41 to the width of the structure to clean. In FIG. 1, the positions which can be occupied by the blades when actuating the jacks 44, 45.

    Le support d'outils 33 comporte en outre un vérin 43 dont la tige est attelée sur la platine 39 et dont le piston est monté sur le support d'outils 33, de manière que le système de lames 40, 41 puisse être orienté autour d'un axe horizontal parallèle au porte-outils, selon un mouvement d'environ 90° vers le haut et d'environ 15° vers le bas. Ces positions ont été illustrées en traits mixtes sur la figure 2.The tool holder 33 further comprises a jack 43 whose rod is coupled to the plate 39 and the piston of which is mounted on the tool support 33, so that the blade system 40, 41 can be oriented around a horizontal axis parallel to the tool holder, in a movement of approximately 90 ° upwards and approximately 15 ° towards the low. These positions have been illustrated in dashed lines in FIG. 2.

    Les outils de déstructuration des sédiments accumulés dans la conduite à nettoyer peuvent être montés directement sur l'une des traverses centrales du châssis 10, comme on l'a mentionné ci-dessus où ils peuvent être accrochés sur le porte-outils 33 au niveau de l'axe 46 et sous ce dernier. Dans tous les exemples de réalisation, ces outils sont à profondeur constante dans le sédiment et ils permettent d'avoir une action continue de déstructuration sur les sédiments accumulés dans la canalisation à nettoyer.Tools for destructuring the sediments accumulated in the pipe to be cleaned can be mounted directly on one of the central crosspieces of the chassis 10, as mentioned above where they can be hung on the tool holder 33 at and under axis 46. In all the exemplary embodiments, these tools are at constant depth in the sediment and they allow to have a continuous destructuring action on sediments accumulated in the pipeline to clean.

    Le châssis 10 est en outre pourvu d'un dispositif anti-cabrage destiné à empêcher le soulèvement de la partie du châssis opposée aux roues motrices 16, 18. Dans cet exemple de réalisation, ce dispositif anti-cabrage est conçu sous la forme d'une poutre horizontale 47 rendue solidaire du châssis 10, au-dessus du support d'outils 33 sur laquelle vient prendre appui ce dernier en cas de soulèvement brusque de ce support.The chassis 10 is further provided with an anti-tilting device intended to prevent the lifting of the part of the chassis opposite the drive wheels 16, 18. In this example of embodiment, this anti-rearing device is designed in the form of a horizontal beam 47 made integral with the chassis 10, above the tool support 33 on which the latter comes to rest in the event of an abrupt lifting of this support.

    Selon la présente invention, on prévoit en outre des moyens permettant au châssis 10 de prendre appui sur le plafond de l'ouvrage à nettoyer. Selon un mode de réalisation non limitatif, ces moyens peuvent être réalisés sous la forme de rehausses hydrauliques positionnées respectivement à l'avant et à l'arrière du châssis et qui supportent au moins une roue venant prendre appui sur le plafond de l'ouvrage. Il s'agit là de dispositif dont la réalisation est aisée pour l'homme de l'art : pour cette raison, ils n'ont pas été représentés sur le dessin.According to the present invention, means are further provided allowing the chassis 10 to rest on the ceiling of the work to be cleaned. According to a mode of non-limiting embodiment, these means can be produced in the form of hydraulic risers positioned respectively at the front and rear of the chassis and which support at least one wheel coming to bear on the ceiling of the work. This is a device whose realization is easy for those skilled in the art: for this reason, they have not been shown in the drawing.

    On notera que la position d'accrochage du support d'outils 33 permet, dans le cas où l'on prévoit un godet de chargement des sédiments en vue de leur évacuation et qui est fixé sous le châssis 10, d'obtenir une puissance de levage plus importante étant donné que la force tend à écraser le châssis au sol, cette force étant plus importante que la masse du dispositif. L'invention prévoit également une prise de puissance à l'extrémité du porte-outils 33 de manière à y positionner une pompe à boues pour assurer l'évacuation des sédiments préalablement déstructurés. Le châssis comporte également un treuil de halage 48 de manière à assurer la sortie du dispositif en cas de blocage de ce dernier dans l'ouvrage à nettoyer.Note that the attachment position of the tool support 33 allows, in the case where a sediment loading bucket is provided for disposal and which is fixed under the chassis 10, to obtain a higher lifting power since the force tends to crush the chassis on the ground, this force being more important than the mass of the device. The invention also provides for taking power at the end of the tool holder 33 so as to position a pump therein sludge to ensure the removal of previously destructured sediment. The chassis also includes a hauling winch 48 so as to ensure the exit of the device in case of blockage of the latter in the work to be cleaned.

    Le dispositif selon la présente invention est propulsé de préférence hydrauliquement, de manière à pouvoir être submersible. L'alimentation des moteurs d'entraínement des roues motrices 16, 18 ainsi que des différents vérins de commande décrits ci-dessus s'effectue par des flexibles hydrauliques et la puissance est fournie par un groupe et une pompe hydrauliques pouvant être disposés en surface. Dans ce cas, on prévoit un système de gestion des flexibles (enroulement, déroulement) à tension constante, à basse pression pour le déroulage et haute pression pour l'enroulage. Cette fonction est asservie automatiquement, lors de la commande marche-avant/marche-arrière en surface. On peut prévoir un second poste de pilotage sur le châssis 10 de manière qu'un opérateur puisse travailler sur la canalisation à nettoyer.The device according to the present invention is preferably powered hydraulically, so that it can be submersible. Motor supply drive wheels 16, 18 as well as different cylinders control described above is carried out by hydraulic hoses and the power is supplied by a hydraulic group and pump which can be arranged on the surface. In this case, a hose management system is provided (winding, unwinding) at constant voltage, at low pressure for unwinding and high pressure for winding. This function is automatically slaved, when ordering forward / reverse on the surface. We can provide a second cockpit on chassis 10 so that an operator can work on the pipe to be cleaned.

    L'invention prévoit également une variante selon laquelle le groupe hydraulique et la pompe hydraulique sont embarqués sur le châssis 10, ce qui permet de rendre totalement autonome le dispositif objet de la présente invention. Selon une autre variante, le groupe et la pompe hydrauliques ainsi que le système assurant l'enroulement et le déroulement des flexibles peuvent être installés sur une remorque pourvue de stabilisateurs. Dans ce cas, le dispositif selon l'invention peut être positionné sur chant, éventuellement en position repliée, sur la remorque pendant le transport et sa mise en place dans la conduite.The invention also provides a variant according to which the hydraulic unit and the hydraulic pump are mounted on chassis 10, which makes it possible to The device which is the subject of the present invention is completely autonomous. According to another variant, the hydraulic group and pump as well as the system ensuring the winding and unwinding of the hoses can be installed on a trailer fitted with stabilizers. In this case, the device according to the invention can be positioned on edge, possibly in the folded position, on the trailer during transport and its installation in the pipeline.

    Ainsi qu'on le comprend de la lecture de la description qui précède, le dispositif objet de l'invention permet de combiner deux effets de nettoyage : d'une part, la déstructuration des sédiments accumulés dans l'ouvrage à nettoyer (grâce à la présence des outils de déstructuration) et d'autre part, un effet de chasse (obtenu par la mise en oeuvre du système de lames 40, 41) assurant le déplacement des sédiments déstructurés jusqu'au point où s'effectue leur évacuation, cette dernière pouvant être réalisée par pompage ou à l'aide d'une grue. Le réglage en hauteur sous les lames 40 et 41 permet d'obtenir un effet de chasse maximum, sans incidence sur la hauteur de travail des outils de déstructuration, cet effet de chasse assurant le convoyage des sédiments déstructurés vers le système d'extraction.As can be understood from reading the above description, the object device of the invention makes it possible to combine two cleaning effects: on the one hand, the destructuring of the sediments accumulated in the structure to be cleaned (thanks to the presence of destructuring tools) and on the other hand, a hunting effect (obtained by implementing the blade system 40, 41) ensuring the movement of destructured sediments up to the point where their evacuation takes place, the latter can be carried out by pumping or using a crane. Height adjustment under the blades 40 and 41 allows to obtain a maximum hunting effect, without impact on the working height of destructuring tools, this flushing effect ensuring the conveyance of destructured sediments to the extraction system.

    On notera en outre que le dispositif objet de l'invention, grâce aux possibilités de réglage des lames 40 et 41 et des roues de guidage, permet une adaptation au profil de n'importe quel ouvrage. Ainsi, l'invention apporte effectivement une solution efficace aux différents problèmes mentionnés ci-dessus.It will also be noted that the device which is the subject of the invention, thanks to the possibilities of adjustment of blades 40 and 41 and guide wheels, allows adaptation to the profile of any work. Thus, the invention effectively provides a solution effective at the various problems mentioned above.

    Il demeure bien entendu que la présente invention n'est pas limitée aux exemples de réalisation décrits et/ou représentés ici mais qu'elle en englobe toutes les variantes entrant dans le cadre de l'invention tel que défini par les revendications annexées. Ainsi, la propulsion du dispositif décrit ci-dessus, au lieu d'être assurée par un système de roues motrices telles que 16 et 18 pourraient être obtenues à l'aide de chenilles facilitant les changements de direction du dispositif dans l'ouvrage à nettoyer. On peut également prévoir des vérins au niveau des axes 31 et 32 autour desquels s'effectue le repliage du châssis 10, de manière à faciliter les changements de direction du dispositif lorsque ce dernier est entraíné par des roues motrices telles que 16, 18.It remains to be understood that the present invention is not limited to the examples of realization described and / or represented here but that it includes all the variants falling within the scope of the invention as defined by the appended claims. Thus, the propulsion of the device described above, instead of being provided by a drive wheel system such as 16 and 18 could be obtained using tracks facilitating changes of direction of the device in the structure to clean. It is also possible to provide jacks around axes 31 and 32 around which takes place the folding of the chassis 10, so as to facilitate the changes in direction of the device when the latter is driven by wheels driving such as 16, 18.

    Selon l'invention, la position des traverses 13, 15, 17, 19 peut être rendue réglable par rapport aux poutres longerons 12, 14 constituant le châssis, afin de permettre de répartir les charges.According to the invention, the position of the crosspieces 13, 15, 17, 19 can be made adjustable relative to the longitudinal beams 12, 14 constituting the chassis, in order to allow distribute the loads.

    Par ailleurs, le dispositif objet de l'invention peut tracter une remorque qui est chargée par un bras hydraulique supporté par le châssis.Furthermore, the device which is the subject of the invention can tow a trailer which is loaded by a hydraulic arm supported by the chassis.

    Claims (23)

    1. Mobile device for cleaning fluid-conveying works, in particular effluent- or waste water-conveying conduits, characterised in that it comprises:
      a chassis (10) composed of side rails (12, 14) connected to one another by cross rails (13, 15, 17, 19) and equipped, at one end, with driving wheels (16, 18) journalled in bearings provided on each respective side rail, each wheel being driven by an independent motor;
      pairs of idle carrying wheels (20, 21; 22, 23) provided at the other end of said chassis, each pair being journalled in bearings provided on each respective side rail;
      guide wheels (24, 25, 26, 27) with substantially vertical axes each disposed along the side rails of said chassis and designed so as to be able to roll on the lateral walls of said work to be cleaned,
      sediment-destructuring means and
      a tool support (33) positioned in front of the driving wheels (16, 18) and mounted on said chassis (10) by means of a horizontal axis of rotation, said tool support being equipped with means (34, 36) for adjusting its vertical position, and it is equipped with means for cleaning and discharging destructured sediments, consisting of a plate (39) rotatably mounted at the end (42) of said tool support and carrying a system of orientable blades (40, 41) to allow the cleaning and discharge of the destructured sediments, said plate being equipped with means (44, 45) for adapting the length of the blade system to the width of the work and with means (43) for adjusting the free height beneath said blade system.
    2. Device according to claim 1, characterised in that the means provided for destructuring the sediments are supported by one or more of the cross rails of the chassis (10), the choice being made as a function of the load distribution, depending on the desired power.
    3. Device according to claim 1, characterised in that the sediment-destructuring means are positioned on the tool support (33).
    4. Device according to claim 1, characterised in that said side rails (12, 14) are each produced in two parts held by locking means so as to allow the chassis to be folded.
    5. Device according to claim 1, characterised in that the two parts of the chassis are connected to one another by means of shafts (31, 32) disposed on the same vertical of the side rails, the unlocking of one of said shafts allowing the chassis to be folded by rotation round the other shaft.
    6. Device according to claim 1, characterised in that it comprises two blades (40, 41) each rotatably mounted on said plate (39) and provided with a jack (44 or 45 respectively) in order to modify the angular position thereof relative to the axis of the chassis (10) and therefore to adapt the length of the blade system to the width of the work to be cleaned.
    7. Device according to any one of the preceding claims, characterised in that the blade system (40, 41) is equipped with a jack (43) for modifying the height beneath said system, the rod of said jack being articulated to said plate (39) and its piston being mounted on said tool support (33).
    8. Device according to any one of the preceding claims, characterised in that the means for adjusting the vertical position of the tool support are produced in the form of a winch (34) mounted on the chassis and actuated manually from the device.
    9. Device according to any one of claims 1 to 7, characterised in that the means for adjusting the vertical position of the tool support are produced in the form of a sealed electrical mechanism with a remote-control sonar at the surface.
    10. Device according to any one of the preceding claims, characterised in that there is provided an anti-rearing system (47) which is designed and positioned so as to prevent the part of the device remote from the driving wheels (16, 18) from lifting.
    11. Device according to claim 10, characterised in that said anti-rearing system is produced in the form of a horizontal rail (47) mounted on the chassis (10) above the tool support (33) on which the tool support (33) rests in the event of abrupt lifting of said support.
    12. Device according to any one of the preceding claims, characterised in that it also comprises means which enable it to rest on the ceiling of the work to be cleaned.
    13. Device according to claim 12, characterised in that the means allowing the device to rest on the ceiling of the work to be cleaned consist of hydraulic lifts positioned at the front and rear respectively of said chassis (10) and supporting at least one wall which comes to rest on said ceiling.
    14. Device according to any one of the preceding claims, characterised in that it is propelled hydraulically.
    15. Device according to claim 14, characterised in that the unit and the pump for hydraulic propulsion are loaded on said chassis.
    16. Device according to claim 13, characterised in that the unit and the pump for hydraulic propulsion are positioned at the surface, the device being supplied with hydraulic energy by means of hydraulic hoses of which the constant tension winding/unwinding management system is also arranged at the surface.
    17. Device according to any one of the preceding claims, characterised in that the position of said cross rails (13, 15, 17, 19) can be adjusted relative to the side rails (12, 14) constituting said chassis, to allow the loads to be distributed.
    18. Device according to any one of the preceding claims, characterised in that it also comprises a sludge pump positioned at the end of the tool holder (33).
    19. Device according to any one of the preceding claims, characterised in that the position of the tool support (33) is adjustable laterally relative to the axis of said chassis (10).
    20. Device according to any one of the preceding claims, characterised in that it comprises a crane for discharging the destructured sediments conveyed to the point of extraction.
    21. Device according to any one of claims 1 to 19, characterised in that it comprises a pump for discharging the destructured sediments conveyed to the point of extraction.
    22. Device according to any one of the preceding claims, characterised in that a system of jacks is provided in the region of the axes (31, 32) round which said chassis (10), positioned and actuated so as to facilitate the changes of direction of the device, is folded.
    23. Device according to any one of the preceding claims, characterised in that it is designed to pull a trailer which is loaded by a hydraulic arm provided by the chassis (10).
    EP99402033A 1998-08-14 1999-08-10 Mobile device for cleaning constructions for the transport of fluids, in particular sewers Expired - Lifetime EP0980721B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR9810445A FR2782284B1 (en) 1998-08-14 1998-08-14 MOBILE DEVICE FOR CLEANING FLUIDS, ESPECIALLY SEWERS
    FR9810445 1998-08-14

    Publications (2)

    Publication Number Publication Date
    EP0980721A1 EP0980721A1 (en) 2000-02-23
    EP0980721B1 true EP0980721B1 (en) 2003-05-02

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    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP99402033A Expired - Lifetime EP0980721B1 (en) 1998-08-14 1999-08-10 Mobile device for cleaning constructions for the transport of fluids, in particular sewers

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    Country Link
    EP (1) EP0980721B1 (en)
    AT (1) ATE238847T1 (en)
    DE (2) DE980721T1 (en)
    ES (1) ES2147173T3 (en)
    FR (1) FR2782284B1 (en)

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    CN102784778B (en) * 2011-09-20 2014-04-23 雷学军 All-terrain ducted dust-removal robot
    CN103302068B (en) * 2013-06-28 2014-11-19 山东理工大学 Rear-mounted planetary three-side cleaning robot for square duct
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    DE980721T1 (en) 2000-10-05
    DE69907339D1 (en) 2003-06-05
    FR2782284B1 (en) 2000-11-03
    ES2147173T1 (en) 2000-09-01
    DE69907339T2 (en) 2003-10-16
    ATE238847T1 (en) 2003-05-15
    FR2782284A1 (en) 2000-02-18
    EP0980721A1 (en) 2000-02-23
    ES2147173T3 (en) 2003-11-01

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