EP2891526A1 - Device and method for processing channel walls by means of high pressure liquid jets - Google Patents

Abstract

Apparatus and method for processing duct walls of closed ducts 10 by means of high-pressure liquid jets with a jet nozzle 2 for producing a forward, focused beam of a liquid jet medium, with a carriage 1 for moving and positioning the nozzle body 15 in the channel 10 and with a media supply 17, for supplying the jet nozzle 2 with the high-pressure jet medium. To adhesions in channels, including closures, regardless of their nature and extent can be effectively eliminated, trolley 1 and the nozzle body 15 are formed such that both at least along its entire bottom at a distance from the wall of the channel 10 can be positioned and moved and that at the rear end of the trolley 1 and / or the nozzle body 15, a pneumatically or hydraulically activatable fixing pad 12 is arranged, which is designed such that it is in the activated state, the position of the trolley 1 and / or the nozzle body 15 by pressing the Fixierpolsters 12 in the channel 10 fixed without closing the channel 10.

Description

The invention generally relates to a device for processing duct walls by means of high-pressure liquid jet. It relates in particular to a device which operates in closed channels, even in non-accessible channels, thereby removing obstacles or adhesions to the surfaces of the channel wall with the high-pressure liquid jet.

The invention also relates to a high pressure liquid jet method using such a device.

Under the known term of high pressure liquid jet devices are known in which a high pressure generated jet of a liquid jet medium, often water, is directed by means of one or more nozzles on a surface to be machined and there causes a locally limited abrasive effect. At present, pressures in the range of about 80 bar to about 6000 bar are used, with pressure ranges above about 700 bar also referred to as maximum pressure and the development continues to progress to higher pressures, so that at least the upper limit in the future quite well can move.

By appropriate design and jet direction of the nozzles or their nozzle orifices and the pressure used, the devices can be designed for various processing, so that the applicability of the high-pressure liquid jet extends to very different areas. In order to maintain the ductility of a channel, obstacles or buildup on the channel walls, which can lead to blockages, are regularly eliminated. In contrast, with other devices with finely focused rays line cuts are made or cut through appropriate beam management even complex shapes. It is known to add solid particles to the liquid jet in order to enhance the abrasive action.

Of a placed in the channel device, which serves the elimination of obstacles and buildup in the channel by means of high-pressure liquid jets, the abrasive jet is directed in the channel direction or at a deviating from them by degrees angle for section or even progressing processing, so that an obstacle or an attachment is removed. During processing, but usually only after achieving a limited excavation depth, the device is moved forward through the channel. Depending on the extent of erosion, the device must then regularly moved out of the channel and the removed materials are eliminated. These forward and backward movements must be supported by a corresponding media supply especially for water and possibly also for the solid particles and gas, so that neither the processing nor the movement hindered nor damaged the media supply.

One application is the processing of the inner surfaces of closed channels with various cross-sections. When closed, a channel is to be understood, whose wall is fully formed, wherein the shape of the cross section may be arbitrary. Such channels often also have channel branches which lead into side channels. The latter usually have a smaller cross section than the main channel and are often not accessible for inspection and cleaning purposes. If channels and channel branches are described below, this is done only to distinguish the position and size. In any case, these are channels that work on their walls is.

The obstacles or adhesions to be removed from the channel wall, from main and side channels, can have very different extents. They may be localized or may be partially to nearly complete closures of the channel. In any case, a replacement is up to the sewer wall the goal. This often requires a very high radiation power and sometimes leads to large amounts accumulated Abraumguts. Both complicates the treatment of the channel wall itself as well as the forward movement of the device through the channel, especially in small inaccessible channels.

A device for cutting and removing obstacles and deposits in non-accessible and walk-in pipes and channels, for example, discloses DE 20 2010 016 857 U1 wherein the cutting and ablation takes place by means of a water abrasive suspension jet. In this case, a mobile, motorized tool carrier is moved in the channel, while the processing of the channel wall takes place, and thereby positioned by means of a supporting wheels having support device in the channel. This device is particularly designed for a targeted removal of uniform and, relative to the channel diameter, thin coatings such as protective layers, wherein it depends on a uniform effect of the jet medium on the entire circumference of the channel and the channel length. Uneven and extensive obstacles and closures are often not eliminated with the nozzle assembly and the tool carrier. Due to the high impact force required for larger obstacles or buildup, the device may be forced out of position so that the force does not efficiently act on the material being abraded.

In addition to efficient processing is another requirement to such devices that they should be as simple, as small and as light as the application allows. This can be processed even very small channels, the reliability of the device increases and the cost of the device and the execution of the processing can be reduced.

It is therefore an object of the invention to provide an apparatus and a method for high-pressure liquid jets, especially in the highest pressure range, can be effectively eliminated with the obstacles and adhesions in channels, including closures, regardless of their nature and extent. With the device and the method and auxiliary channels should be able to be edited.

To achieve the object, an apparatus for processing of channel walls of closed channels by means of high-pressure liquid jets according to claim 1 and a method according to claim 12 is proposed. Related dependent claims each represent advantageous embodiments of the apparatus and method.

The use of a channel not completely occlusive Fixierpolsters at the rear, ie at the jet nozzles opposite, the end of the trolley and / or the nozzle body in conjunction with the design of trolley and nozzle body in such a way that at least below the device along the entire longitudinal extent of both Components, ie along the entire bottom, in the channel is a distance between the channel and device, allows the device, even in the high recoil generated by the high-pressure and high-pressure liquid jet during processing in the channel fixed in contrast to the prior art remains positioned and yet the processing is not hindered by in the channel collecting spoil or blasting medium.

At the same time a propulsion of the device after a processing step, be it during an interruption of processing or after complete elimination of a bottleneck in the channel, done without always fetch the device from the channel to remove the spoil can. The passage between the processing space in front of the device and the space behind the device, which is left open by the device and the fixing pad, makes it possible to move the device as well as to flush out material to be excavated by the blasting medium or, optionally, to add additional flushes during operation. Thus, the processing can be significantly accelerated, without having to compromise on the result.

The reference to the term "bottom" is gravity, since the more or less inclined, d. H. essentially horizontally extending channels, the removal of blasting medium and overburden takes place predominantly in the lower region of the cross section. With vertically ascending channels no underside is to be defined in this sense. Nevertheless, according to the invention, at least one region of the cross section for removal, analogously to horizontal channels, should also be kept free here. For the sake of simplicity, this area should also be referred to as "underside", whereby it is irrelevant due to the uniform gravity which area serves as the "underside", in particular since according to the invention a distance to the channel wall can also exist in other areas of the cross section or completely.

As a reference for the arrangement of the "front" end of the blasting nozzle and the "rear" end of the carriage and / or the nozzle body and the "forward" beam direction, the propulsion direction of the device is used for processing the channel. In contrast to such processing methods, in which Only relatively thin coatings of the channel wall are eliminated, it is necessary in the elimination of bulky obstacles and adhesions that they must be removed in the direction of advancement, to allow movement through the channel.

The device or at least the component of the device which has the nozzle body is kept constant during the entire operation in the position in the channel cross-section, so that even with a locomotion the distance between the bottom and the channel wall is maintained. For this purpose, the trolley comprises suitable movement and support elements that allow the movement of the trolley and support it in at least two directions to the channel wall. Supporting in more than two directions allows clamping in the channel cross-section. Depending on the size of the device and the channel, the pressing force for supporting and the connection of the movement and support elements on the channel wall can vary. In the simplest case, the e.g. via slide bearings, skids or support wheels done.

Of course, if the distance of the device to the channel wall is fully sufficient, the device described can also be moved backwards through the channel and the processing on the front side, e.g. in sections, make. The alternating activation of the fixing pad during processing and deactivation during the movement also supports this mode of operation.

The fixing pad can basically be activated pneumatically or hydraulically, as far as the fixation can be ensured even under the load during operation of the device. With one or the other alternative, depending on the configuration of the device, the existing media supply can be used effectively. In particular, it is possible to match the required media with high-pressure liquid jets and the other components of the device, such as required motors, so that in the best case, only a liquid medium for the device must be supplied.

If the fixation pad is pneumatically activated, this has the additional advantage that activation and deactivation, i. Filling and emptying of the Fixierpolsters, can be done faster and, since a complete emptying is expensive, the volume of the deactivated Fixierpolsters and the weight of the device can be reduced.

The orientation of a forward beam includes that the beam direction coincides with the channel axis and also that the beam or beams have an angle of -90 ° <α <+ 90 ° with respect to the channel axis, depending on the nature and extent of the channel obstacles and attachments to be removed.

By contrast, a beam which is greatly limited in diameter by means of the nozzle opening is regarded as a "collimated" beam, with which a locally limited high force can be exerted on the material to be ablated. In order to remove large-area materials, either a larger number of nozzles is used and / or the surface is swept over by movement of the nozzle or the jet.

A sweeping is achieved, for example, by a rotary nozzle in which either the nozzle body rotates itself or rotates in the nozzle body in the region of the jet exit, for example, a finger-like insert in the cavity before the exit, so that the exiting jet gyrates and forms a conical jet as a result.

The media supply for the high-pressure jet is independent of to ensure the selected movement and processing regime of the vehicle and also in a remote-controlled operation. Alternatively, it can be mounted on the carriage, be guided through it or directly to the nozzle body, depending on the design of the device, the trolley and the movements of the nozzle to be performed.

According to an embodiment of the device, the carriage and the nozzle body are two components which can be moved and positioned separately in the channel. This makes it possible to introduce only the nozzle body in less accessible sections of the channel, especially in those in which the carriage can not retract due to a smaller cross-section or too sharp bend in the channel course. These can be bottlenecks or channel branches, for example. For these purposes, the carriage on a gripping and guiding element, with which the nozzle body can be held and moved and taken. The gripping of the nozzle body implies that it is either grasped on and detached from the vehicle or at a position away from the vehicle, provided that the nozzle body has already been separated from the vehicle before this step of insertion into the channel section. The holding and moving of the nozzle body by means of the gripping and guiding element includes that the nozzle body can be inserted into the respective channel section and positioned there. It may also include propulsion of the nozzle body for machining the channel wall. Since in this embodiment the nozzle body has the fixing pad described in detail in any case, the embodiments and advantages of the fixing pad for the processing of these sections with the beam can also be used in the sections of the channel not traveled by the carriage.

The extent of the required movement of the nozzle body using the gripping and guiding element depends on the equipment of the nozzle body. If this includes its own movement unit, it is sufficient to grasp and insert the nozzle body into the channel section. An additional support of the independent movement of the nozzle body by means of the gripping and guiding element is optionally possible as well as a movement by an external device. As movement units are various known, for example, wheels with or without drive. The latter can interact with the support of the gripping and guiding element. Also, mechanical muscle is described for small diameter channels. These are designed as a multi-limbed cylinder-like crawler body, whose sections are moved against each other, whereby a forward movement is generated.

One way of moving the nozzle body in such a channel section is also the use of propulsion nozzles, which, as set forth below for moving the device by means of such nozzles, are arranged on the nozzle body or on complementary components associated therewith and produce a jet counter to the direction of movement.

According to the invention, the fixing pad, which is inflated (hydraulically) for activation by compressed air (pneumatic) or a pressurized fluid, so that it compresses in the channel and thereby fixes the entire device or the separated nozzle body closes the channel or channel section, in which the nozzle body was introduced, not completely. In alternative embodiments, this is possible by a central, ie central open passage is formed or such passages between channel wall and fixing pad exist. In the first case, the fixing pad on the Outer shell surface of a hollow cylinder sitting. In the second case, the fixing pad may be made of a plurality of pad segments, which are at least in the region of the channel wall spaced from each other.

In the embodiment in which the nozzle body has its own fixation poster, it is also possible for the carriage, whether separate or connected to the nozzle body, to be positioned and held in the channel in other ways known from the prior art. For example, the position of the trolley can be realized by means of a pressure bar, while the nozzle body is fixed in position by pressing its fixing pad in the channel.

The design of the nozzle body can be very different. In order to be able to effectively perform large-area machining operations and / or large channel diameters until a closure of the channel is eliminated, the device according to the invention in one embodiment comprises a rotatable nozzle bar. This has an arrangement of a plurality of side by side, for example in series, lying jet nozzles for generating a plurality of front-directed, focused beams. This nozzle bar is rotatable by means of a motor, so that a uniform processing of the entire closure surface can take place. About the number of nozzles, their arrangement to each other and their angle α, the device for a variety of requirements can be assembled. It proves to be advantageous if the angles α of the jet direction of the jet nozzles, measured to the channel axis, in the range of -90 ° <α <+ 90 ° are independently adjustable. Often an angle adjustability in the range of -15 ° <α <+ 15 ° is sufficient. Alternatively, other nozzle body with one or more jet nozzles can be used, with the described angle adjustability also advantageous here can prove.

For example, in one embodiment, a pneumatic motor or in other alternatives, a hydraulic or Elekromotor used to rotate the nozzle beam. Such motors, in which, as a result of the flowing compressed air or the liquid flowing directly a rotational movement of the rotor of the motor is generated, provide a reliable and robust, with the advantageous for processing low and continuously variable speeds yet high-torque drive, which is also among the special Conditions in a channel during high-pressure liquid jet can be used. In addition, the two alternatives allow, as already explained above, an adaptation of the media used in the device, whereby the technical complexity of the device can be further reduced and the reliability can be increased. As an hydraulic motor is optionally also an oil hydraulic motor into consideration, which allows very precise movements and is very robust.

In a further embodiment, the carriage is formed from two or more carriage segments, which are mutually pivotable by means of a joint. Such a configuration supports the possibility of the device to be applicable even in small channels, for example, with diameters of 100 mm. Because with such small channels sometimes tight bends are linked. The articulated connection of the carriage segments facilitates cornering. The mobile curve radii can also be reduced in size if, alternatively or in addition to this embodiment, the fixing cushion also constitutes a separate carriage segment of the vehicle.

In a further embodiment, the device has at least one further nozzle which, as a propulsion nozzle, moves the device when the fixing pad is deactivated through the channel utilizing the recoil principle and for this purpose generates a backward liquid jet. This jet can be generated in a further advantageous embodiment with the jet medium by the media supply for the jet medium comprises a two-way valve, with which the jet medium can be selectively directed to the jet nozzle or to the tunneling nozzle. The one or more propulsion nozzles can be used for the carriage and / or for the nozzle body and are accordingly and depending on the possibility of separation of the nozzle body from the carriage on the vehicle and / or arranged on the nozzle body.

Also in these embodiments, the adjacent media, here the jet medium, multiple times used, which reduces the technical complexity of the device and the controller. Due to the high dynamic pressure of the high-pressure jet of the jet medium, a sufficiently high propulsive force is available in order to be able to overcome obstacles due to the waste lying in the canal. In addition, the waste can be flushed at the same time behind the device and in particular behind the Fixierpolster by appropriate arrangement of the propulsion nozzles, so that the movement of the device or the nozzle body is facilitated and the activation of the Fixierpolsters and fixation in the channel is not hindered with only a small propulsion ,

The drive of the device may alternatively be carried out by a combination of a motorized, such as a hydraulic or servo-electric drive, with the drive of the propulsion nozzles, so that, for example, longer distances with the motorized drive and the sections forward movement during the removal are realized by the propulsion nozzles. For shorter distances is also an external drive of the nozzle body, for example, by manually inserting the stiffened media supply conceivable.

The type of motorized drive depends in particular on the application areas. While a hydraulic drive, water- or oil-hydraulic, has a fixed relationship between the volume flow of the hydraulic working fluid and the speed and is very robust and less susceptible to interference, servo-electric drives for movements with high precision and dynamics are made. Here, the power consumption is controlled, so that with servo drives with the corresponding characteristics for the dynamic behavior and the precision, the quantities torque, speed and position can be kept constant with the required precision.

The drive used of the device can be mounted on the carriage and drive the device directly or alternatively formed as a separate component and connected by means of suitable transmission means. An external drive can be realized, for example, when the carriage is pulled through a channel and to a traction device is to be obtained evenly.

According to a preferred embodiment, the carriage is cylindrical in shape and the support of the device and its movement in the channel by support wheels, which are arranged such that the cylindrical carriage is positionable in the channel with a circumferential to the entire surface of the cylinder distance to the channel wall. This provides a robust device whose components are well protected against degradation or damage during operation and movement and which utilizes the advantages described above with respect to movement in the channel and removal of waste and blasting medium.

By means of the fixation of the trolley in a desired position in the cross section of the channel also a remote controlled operation of the device without manual intervention on site is possible. The remote controlled operation of the device is realized by a suitable control unit, which may be connected to an external operating unit via lines or by radio.

By means of the control unit can be stored on a memory unit in the complete movement of the trolley, the gripping and guiding element and the swivel head, even automated or semi-automated machining processes can be realized. This may be assisted by a camera capable of detecting the environment, e.g. branching in the channel or obstacles is suitable, so that according to the currently detected situation pre-programmed reactions of the device or messages to an operator can be done outside the channel. However, a camera also supports operator control by transmitting the captured images to the operator in real time and allowing the operator to control the device in response to events in the channel. In addition, it allows the documentation of processing on electronic data carriers.

Furthermore, the control unit allows process monitoring. For this purpose, the signals emitted by the high-pressure generating unit as well as the trolley or the nozzle body are processed and made available to the operator in a suitable manner. In combination with the preset limit and threshold values, it is also possible to create control circuits which influence the machining process when the input limit or threshold values are exceeded, in particular in the sense of an emergency stop function.

Fig. 1

eine Ausgestaltung der erfindungsgemäßen Vorrichtung in einem Kanal in Seitenansicht,

Fig. 2

eine Vorderansicht der Vorrichtung gemäß Fig. 1 von der Schnittlinie A-A aus betrachtet,

Fig. 3

eine Ausgestaltung der erfindungsgemäßen Vorrichtung mit segmentiertem Fahrwagen in Draufsicht und

Fig. 4

eine Ausgestaltung der erfindungsgemäßen Vorrichtung mit vom Fahrwagen getrenntem Düsenkörper.

The invention will be explained in more detail with reference to embodiments. In the accompanying drawing shows in

Fig. 1

An embodiment of the device according to the invention in a channel in side view,

Fig. 2

a front view of the device according to Fig. 1 viewed from section line AA,

Fig. 3

An embodiment of the device according to the invention with segmented carriage in plan view and

Fig. 4

An embodiment of the device according to the invention with separate from the carriage nozzle body.

Fig. 1 represents an embodiment of the device according to the invention, in which on a cylindrical carriage 1, which can move by means of front and rear four support wheels 8 in the direction of travel 7 in the direction of the obstacles and adhesions 4. The support wheels 8 hold as supporting and moving elements the carriage 1 approximately in the middle of the channel 10 (cylinder axis coincides with the channel axis 11 almost together), so that a risk of collision with residues of the ablated obstacles or adhesions 4 can be largely avoided and almost completely a removal of the worn material and blasting medium from the work area is possible. In the carriage 1, a servo-electric drive (not shown) is integrated.

The carriage 1 holds at its, viewed in the direction of travel 7, the front end of a nozzle body 15 in the form of a nozzle beam with several in the direction of travel 7 forwardly directed jet nozzles 2 (in Fig. 2 shown). The nozzle bar rotates by means of a motor 9, in Embodiment of a compressed air motor, which is arranged between the carriage 1 and nozzle bar, to the cylinder axis and thus to the channel axis eleventh

At the rear end of the carriage 1 holds a fixing pad 12, which is formed of four padding segments 13. The cushion segments 13 press against the wall of the channel 10 and each have a distance from the adjacent cushion segment 13, so that open passages to the channel section behind the device exist. The fixing pad 12 thus fixed in the illustrated activated state the carriage 1 in its position in the channel 10, without closing it completely. The activation of the fixing pad 12 is pneumatic, in that the compressed air provided by means of the media supply 5 inflates the pad so that it presses firmly against the wall of the channel 10. The compressed air is also used to operate the engine 9.

The media supply is realized in the embodiment by means of flexible lines, which are passed through the fixing pad 12 into the nozzle holder 1 at the rear end of the device.

The media supply 5 holds in addition to the compressed air and the power supply line and the jet medium ready. Also integrated in the power supply line are signal lines for transmitting the control signals to and from an operating unit (not shown) as well as images received by a camera (not shown). In the exemplary embodiment, the jet medium is water under a pressure of about 10,150 to 37,500 psi (about 70 to 250 MPa or 700 and 2,500 bar) or an abrasive suspension. Depending on the application, other pressures in the pressure range usual for high-pressure liquid jets can be used. The jet medium is within the nozzle device 1 and through the stator of the motor 9 to the Jet nozzles 2 led to the formation of forward, in the direction of the obstacles and adhesions 4, directed rays 3 of the jet medium (shown in phantom). Some of the jet nozzles 2 deviate with their orientation by angles α in the range of degrees from the channel axis 11, so that the obstacles and adhesions 4 can be removed in their entire thickness in one operation.

The media supply 5 comprises a two-way valve (not shown) arranged in the interior of the nozzle holder 1, which allows the jet medium to be selectively redirected to the jet nozzles 2 or to the propulsion nozzles 17. The latter are circumferentially distributed on the mantle surface of the nozzle holder 1 in a front and a rear portion with a jet direction to the rear, i. opposite to the direction of travel 7, arranged.

Fig. 2 provides the device according to Fig. 1 in the view from the front, viewed from the section line AA. In addition to the above explanations is the Fig. 2 to take the shape of the nozzle beam, the arrangement of the jet nozzles 2 in the nozzle beam and the circumferential distribution of the support wheels 8 and the propulsion nozzles 17.

The elongated nozzle bar arranged centrally on the nozzle holder 1 is positioned centrally in the channel 11. In order to fully ensure the effect of the water jet to be achieved, a series of eight jet nozzles 2 are arranged in the rotatable nozzle bar. Due to the rotation and the angular orientation of the jet nozzles 2, the rays (in Fig. 2 not shown) in a rotation the obstacles and adhesions 4 (in Fig. 2 not shown) in their entire thickness.

The embodiment of the device in Fig. 3 is different from the one in Fig. 1 through several features. Thus, the nozzle body 15 comprises only one nozzle, which as Rotary nozzle is formed and generates a cone-shaped spread beam 3 of the jet medium. The nozzle body itself is rigid in the embodiment.

The carriage 1 is composed of three carriage segments 6, which are pivotally connected to each other by joints 18 with each other as members of a chain. This facilitates cornering in tight radii. The two front carriage segments 6 each have two support wheels 8, which have such a diameter that the carriage segments 6 are positioned laterally and in height in the channel cross section. Alternatively, other arrangements of support wheels 8 can be used, as far as they are suitable to define the path of the trolley in the channel.

The last carriage segment 6 comprises a hollow cylinder as a holder 19 for an annular, arranged on the outer circumferential surface of the hollow cylinder Fixierpolster 12. The hollow cylinder is a central open passage through the Fixierpolster 12 for the discharge of blasting medium and spoil material to guide the last car segment 6, the Holder 19 of the Fixierpolsters front and rear four support wheels 8, all abutting the wall of the channel 10. The media supply 5 is guided in the embodiment by the entire carriage 1 to the nozzle body, may alternatively extend outside of the vehicle.

• Bewegen der Vorrichtung im Kanal 10 bis zu einem zu beseitigenden Hindernis oder einer zu beseitigenden Anhaftung 4,
• Aktivierung des Fixierpolsters 12 zur Fixierung der Vorrichtung in der angefahrenen Position im Kanal 10,
• Erzeugen eines gerichteten, gebündelten Strahls 3 von jeder der Strahldüsen 2 durch Zufuhr eines flüssigen unter Hochdruck stehenden Strahlmediums zu den Strahldüsen 2 mittels einer Medienzufuhr 5 über deren Zweiwegeventil (nicht dargestellt),
• Bewegen der Strahldüsen 2, im Ausführungsbeispiel durch Drehen des Düsenbalkens mittels des Motors 9, derart, dass die Strahlen 3 das Hindernis bzw. die Anhaftung 4 abtragen,
• nach Beendigung des Abtrags Unterbrechung der Zufuhr des Strahlmediums zu den Strahldüsen und Deaktivierung des Fixierpolsters 12,
• Zufuhr des unter Hochdruck stehenden Strahlmediums zu den Vortriebsdüsen 17 mittels der Medienzufuhr 5 durch Auswahl des entsprechenden Ausgangs des Zweiwegeventils der Medienzufuhr 5, wobei die Strahlrichtung nach hinten neben dem Vortrieb der Vorrichtung zudem das abgetragene Material hinter die Vorrichtung weiter abtransportiert,
• Bewegen der Vorrichtung zum nächsten Arbeitsort mittels der durch die Vortriebsdüsen 17 nach hinten gerichteten Strahlen des Strahlmediums,
• wobei die Steuerung der Rotation des Düsenbalkens und des Vortriebs der Vorrichtung sowie die Steuerung des Strahlmediums und die Aktivierung sowie Deaktivierung des Fixierpolsters 12 mittels einer geeigneten Steuereinheit erfolgt (nicht dargestellt).

To clarify the functional relationships of the components of the device according to the invention, the executable processing of duct walls based on the device according to Fig. 1 exemplified. With the apparatus described above, closed channel processing can be carried out with the following basic steps:

• Moving the device in the channel 10 to an obstacle to be removed or to be eliminated Attachment 4,
• Activation of the fixing pad 12 for fixing the device in the approached position in the channel 10,
• Producing a directed, collimated jet 3 from each of the jet nozzles 2 by supplying a liquid high-pressure jet medium to the jet nozzles 2 by means of a media supply 5 via its two-way valve (not shown),
• Moving the jet nozzles 2, in the exemplary embodiment by rotating the nozzle bar by means of the motor 9, such that the beams 3 remove the obstacle or the adhesion 4,
• after completion of the removal interruption of the supply of the jet medium to the jet nozzles and deactivation of the Fixierpolsters 12,
• Supply of the high-pressure jet medium to the propulsion nozzles 17 by means of the media supply 5 by selecting the corresponding output of the two-way valve of the media supply 5, wherein the beam direction to the rear in addition to the propulsion of the device also further removes the removed material behind the device,
• Moving the device to the next working location by means of the jets of the blasting medium directed backwards by the propulsion nozzles 17,
• wherein the control of the rotation of the nozzle beam and the propulsion of the device and the control of the jet medium and the activation and deactivation of the Fixierpolsters 12 by means of a suitable control unit (not shown).

According to various alternative embodiments of the liquid jet device, various variations of the method practicable with the device are possible.

Depending on the design of the jet nozzles and / or the propulsion nozzles whose effect can be increased by pivoting and / or reduce the number of nozzles. A more even or locally differentiable effect can be achieved by pivoting the nozzles.

The drive of the device can be effected by a combination of a motorized drive with the drive of the propulsion nozzles, so that, for example, larger distances with the motorized drive and the section-wise forward movement during the removal by the propulsion nozzles can be realized.

To control the removal and control of the method, the environment of the device can also be detected by means of a camera.

The described basic, the fixation of the device by means of Fixierpolster during beam exposure utilizing method is in an analogous manner with the embodiment of the device according to Fig. 4 executable. This differs from the previously described devices by a detachable from the carriage 1 nozzle body 15, which has its own Fixierpolster 12.

The embodiment according to Fig. 4 is used to edit the wall of a Kanalabzweigs 20, whose cross section does not allow the retraction of the trolley 1. The carriage 1 corresponds by way of example, but not limiting, almost that of Fig. 3 , so that reference can be made to the statements there. Alternatively, the fixing pad 12 can be omitted on the carriage, because of the separation of the Trolley 1 from the nozzle body 15, a fixation of the trolley 1 against the force of the beam 3 is not required. In cases where a fixation of the trolley 1 still makes sense, this can alternatively be achieved by means of a pressure bar or Andruckzylindern.

The carriage 1 is different from that of Fig. 3 merely by the arrangement of a gripping and guiding element 21 and the connection of the media supply 5 with the nozzle body 15 in addition to its own media supply 5 of the trolley 1. The latter serves in particular the power supply and control of trolley 1 and gripping and guide element 21 and the air supply of the fixing pad 12th of the trolley 1. The gripping and guiding element is used to grasp the nozzle body 15 and its introduction into the channel branch 20. In the exemplary embodiment, it then performs the media supply 5 of the nozzle body 15 to facilitate its movement in Kanalabzweig.

The nozzle body 15 comprises a nozzle head 22, which by way of example has two jet nozzles 2 for generating the jet 3 and for processing the wall of the channel branch 20. In addition, it has two propulsion nozzles 17, which are directed against the direction of movement 7 of the nozzle body 15 in the channel branch 20. In the illustrated arrangement of nozzle body 15 and its fixing pad 12, it is advantageous to arrange the propulsion nozzles 17, viewed in the direction of movement 7, behind the fixing pad 12. Due to this, the media supply 5 of the nozzle body 15 comprises a separate conduit for the propulsion nozzle 17. Alternatively, the liquid medium can be distributed to the individual nozzles 2, 17 by means of the media distributor 23 of the nozzle body 15 into which a part of the media supply 5 opens the location of Propulsion nozzle 17 favors this. At the media distributor 23 or alternatively at another suitable location a looking in the beam direction camera 25 is arranged.

The nozzle body further comprises a nozzle arm 24, with which media distributor 23 and nozzle head 22 with the holder 19 of the arranged at the end of the nozzle body 15 further fixing pad 12 are connected. In the embodiment, the media supply 5, unlike the fixing pad 12 of the trolley in Fig. 3 , passed between the wall of the channel branch 20 and fixing pad 12 on the fixing pad 12. As a result, the fixing pad 12 does not lie against the wall in this area, so that here too the channel is not completely closed and the blasting medium and the dissolved adhesions can flow away. This area of the Fixierpolsters 12 is therefore to be regarded as the "bottom" according to the description of the invention.

The operation of such an embodiment of the device according to the invention begins with the introduction of the nozzle body 15 with the fixing pad 12 and the media supply 5 in the Kanalabzweig. For this purpose, in the illustrated embodiment, the nozzle body 15, for example by means of its propulsion nozzles 17, moves from one side in the channel 10 to the channel branch 20 and the carriage 1 from the other side. There, the gripping and guiding element 21 engages the nozzle body 15 and introduces it into the channel branch, wherein the process can be observed and controlled by means of the camera looking to the front. Alternatively, both components can be moved from the same direction to the channel branch 20.

If the nozzle body 15 is positioned in the channel branch, the processing of the wall can be carried out as described above. In an analogous manner, a processing of the channel 10 can take place, if this has a constriction or the required processing of the wall makes the separation between the nozzle body 15 and trolley 1 required.

LIST OF REFERENCE NUMBERS

1

trolley

2

jet

3

Beam of the blasting medium

4

Obstacles and attachments

5

media feed

6

car segment

7

Driving or movement direction

8th

training wheels

9

engine

10

channel

11

channel axis

12

Fixierpolster

13

padded segment

14

central passage

15

nozzle body

16

atomiser

17

Vortriebsdüse

18

joint

19

bracket

20

channel branch

21

Gripper and guide element

22

nozzle head

23

media distribution

24

nozzle arm

25

camera

Claims (15)

Apparatus for processing channel walls of closed channels (10) by means of high-pressure liquid jets having a nozzle body (15) with at least one jet nozzle (2) arranged at the front end of the apparatus for producing a forwardly focused beam of a liquid jet medium , with a carriage (1) for moving and positioning the nozzle body (15) in the channel (10) and with a media supply (17), for supplying the jet nozzle (2) with the high-pressure jet medium characterized in that the carriage (1 ) and the nozzle body (15) are formed such that both at least along their entire underside with a distance to the wall of the channel (10) are positionable and movable and that at the rear end of the trolley (1) and / or the nozzle body (15) a pneumatically or hydraulically activatable fixing pad (12) is arranged, which is designed such that it in the activated state di e Position of the trolley (1) and / or the nozzle body (15) fixed by pressing the fixing pad (12) in the channel (10) without closing the channel (10). Apparatus according to claim 1, characterized in that at least the nozzle body (15) has said fixing pad (12) and the carriage (1) and the nozzle body (15) in the channel (10) are movable and positionable separately in the channel and the carriage ( 1) has a gripping and guiding element (20) for gripping, holding and moving the nozzle body (15) in the channel. Apparatus according to claim 2, characterized in that the nozzle body (15) has a moving unit for propelling the nozzle in the channel. Device according to one of the preceding claims, characterized in that the fixing pad (12) has a central open passage (14) and / or, at least in the region of the channel wall, mutually spaced upholstered segments (13). Device according to one of the preceding claims, characterized in that the nozzle body (15) is designed as a rotatable nozzle beam, which has an arrangement of a plurality of adjacent jet nozzles (2) for generating a plurality of front-directed, collimated beams, and a motor (9) for rotation of the nozzle bar. Apparatus according to claim 5, characterized in that the motor (9) is a compressed air motor or a hydraulic motor or an electric motor. Apparatus according to claim 6, characterized in that both the fixing pad (12) and said motor (9) is operable with the same medium. Device according to one of the preceding claims, characterized in that the carriage (1) from at least two carriage segments (6) is formed, which by means of a joint (18) are mutually pivotable. Device according to one of the preceding claims, characterized in that the device has at least one further nozzle as a propulsion nozzle (17) for generating a rearwardly directed liquid jet for advancing the device or the nozzle body (15) in the channel (10). Apparatus according to claim 9, characterized in that the media supply (5) comprises a two-way valve for selectively bypassing the jet medium to the jet nozzle (2) or to the propulsion nozzle (17). Device according to one of the preceding claims, characterized in that the carriage (1) is cylindrical and support wheels (8), wherein the support wheels (8) are arranged such that the cylindrical carriage (1) in the channel (10) with a can be positioned to the entire circumferential surface of the cylinder circumferential distance to the channel wall. A high pressure liquid jet method of machining a surface using a device according to any one of the preceding claims, wherein The carriage (1) and the nozzle body (15) are positioned at least along their entire underside at a distance from the channel wall, • The position of the trolley (1) and / or the nozzle body (15) by pressing the fixing pad (12) in the channel (10) is fixed without closing the channel (10) and • By means of the jet nozzle (2) a jet of a liquid, high-pressure medium is generated and directed to the surface to be processed. High-pressure liquid jet method according to claim 12, characterized in that the device in the channel (10) by means of propulsion nozzles (17) is moved. High-pressure liquid jet method according to claim 12 or 13, characterized in that , using a device according to one of claims 2 to 10, the nozzle body (15) is grasped by means of the gripping and guiding element and introduced into a channel section, where it is pressed during the generation of the beam by means of its fixing pad (12). is fixed. High-pressure liquid jet method according to claim 14, characterized in that the nozzle body (15) in the channel section by means of propulsion nozzles (17) or by means of the moving unit is moved or driven externally.

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