EP3181241A1 - Nozzle head of a high pressure liquid beam device and a high pressure liquid beam device - Google Patents

Abstract

The invention relates to a nozzle head (1) with two jet nozzles (2) for generating a jet (3) of a liquid jet medium and a high-pressure liquid jet device with such a nozzle head (1). To allow alignment of the jet nozzles (2) at the work site, the jet nozzles (2) are arranged at the front end of separate liquid supply lines (6) and at least one jet nozzle (2) formed displaceable by means of a nozzle manipulator between two end positions. The displacement of the jet nozzle (2) is guided by a slot opening (11) arranged in a nozzle holder (4) and has a radially extending component.

Description

The invention relates to a nozzle head of a high-pressure liquid jet device for processing a surface. Such a nozzle head comprises a media supply and at least two jet nozzles for producing a forwardly directed jet of high pressure liquid jet media. The nozzle head further comprises a nozzle holder for holding the jet nozzles and their fixation in a working position, based on the nozzle holder.

The invention also relates to a high-pressure liquid jet device for processing the wall surfaces of open or closed channels, even of non-accessible channels for people.

If a surface to be treated is mentioned below, it refers to surfaces which have coatings or adhesions or other components to be removed on the surface which are to be processed by the device.

As used herein, the term "forward" refers to the basic orientation of the jet as viewed from the nozzle orifice on a surface to be machined. In front, therefore, is the half-space from the nozzle opening, in which the jet medium propagates as a free jet to the surface to be processed. The machining direction "forward" denotes the central axis of this half-space. With reference to a high-pressure liquid jet device for processing duct walls, this definition of terms usually also takes place in relation to the duct axis and thus to the possible directions of movement of the device in the duct.

High pressure liquid jet devices are used for a variety of different applications, such as cutting materials, removing body deposited coatings, such as paints, or removing unwanted deposits, contaminants, or soils, generally referred to herein as buildup Surfaces, especially on surfaces known in channels. It is also known that the medium can have solid components to enhance the abrasive action. For the various applications and the performance requirements associated therewith, various pressure ranges are contemplated in which the water jet devices are operated.

Currently, pressures in the range of about 80 bar to about 6000 bar are used, with pressure ranges above about 500 bar are also referred to as maximum pressure. In the literature on liquid jet devices, the pressure ranges of the high pressure and the maximum pressure overlap, the upper limit of the high pressure, in the currently conventional liquid jet devices at about 700 bar, far below the upper limit of the maximum pressure. The transition from the area of high pressure to the area of maximum pressure takes place against the background, even very dense and hard adhesions on the surfaces to be machined, for example on surfaces of a channel to remove and on Because of this increased effect of the medium to reduce the area-related amount of the necessary medium for processing. Pressures above about 3000 bar are currently used mainly for stationary devices, since the flexible media feeders required for mobile devices become rigid due to the applied pressure. The above limits, at least the upper ones, can shift to higher pressures with the continuous development in the future. The term high-pressure liquid jet or similar device used hereinafter includes the configuration for high-pressure liquid jets, although the liquid jet devices for the two pressure ranges may differ in use cases and configuration.

For the processing and thus the conception of the device, in addition to the pressure data, in particular the amount of liquid per unit of time is of interest, which is provided by one, optionally also more than one pump of the device. For the high-pressure water jet method considered here with the above-mentioned pressure ranges, liquid quantities of 8 to 40 l / min are usual, although different configurations of pump parameters exist for the different volume ranges. Insofar as the available technique of the pumps improves, as set forth with respect to the upper pressure limit, the limits and the available pumps may also vary with respect to the amount of liquid usable for the method and apparatus.

For the two mentioned pressure ranges are devices, for example DE 20 2010 016 857 U1 and DE 20 2014 000 026 U1 , and methods are known in which a medium is brought by means of a working machine to a certain pressure and directed by flexible hoses or other media guides, such as pipes to a nozzle. The pressurized medium then emerges as a free jet from an opening of the nozzle. By positioning the nozzle, this free jet can be directed to the surface to be machined, where the beam in turn causes a locally limited abrasive effect on impact. For large-scale or full-scale processing often multiple nozzles are used simultaneously, which can form a common beam or radiate in different directions. Furthermore, nozzles with multiple openings are known.

Depending on the nozzle shape, the beam may be bundled or fan-shaped. While a collimated beam has a substantially circular cross-sectional shape, a fan-shaped beam is characterized in that the medium is spread in the form of a fan when exiting the opening, so that it strikes ellipse or line on the surface to be processed. There are also known nozzles in which the jet emerges in the form of the lateral surface of a cone. For an effective and / or targeted treatment of the channel surface, it is often necessary to vary the angle at which a nozzle is directed to the surface to be machined. For individual nozzles nozzle heads are known which are pivotable. But if these include a plurality of nozzles, only all of them are to be pivoted together, which does not result in the desired or optimal angle for some nozzles. Changes in the angular orientation of the individual nozzles are not possible or only by modifications to the nozzle head outside the channel.

An object of the present invention is to provide a nozzle head for a high-pressure liquid jet device having two or more jet nozzles and such a device which enables alignment of the nozzle at the work site while maintaining or improving the applicability to the named fields of application.

To solve the problem, a nozzle head is proposed, the jet nozzles can be deflected together or separately in different directions, wherein the deflection in each case has a radial component. Thus, a changed angle of attack can be set to the surface to be machined for the rays of each jet nozzle, without pivoting the entire nozzle head. This results, inter alia, more variable processing and adaptation possibilities of the beam itself and its angle of incidence on the surface to be processed to the conditions found on site. Such an adjustment can be made on site and is usually assisted by a camera with lighting on the nozzle head or other components of the processing device.

Furthermore, the nozzle head with a plurality of jet nozzles allows a variation of the beam diameter of a full-circumjacent beam with simultaneous variation of the angle of incidence, so that the beam power is not or only slightly reduced. Optionally, the nozzle head in addition to the jet nozzles also include a central main nozzle, for example, which is used depending on the type and extent of processing simultaneously or alternatively to the jet nozzles and can be moved in the known manner only with the nozzle head together. For the nozzles, various of the known nozzle shapes can be used, depending on the requirements of the processing to be performed. Also the rotation of the Nozzle head, as known from the prior art is possible with the nozzle head described in detail here.

To realize the deflection of the individual jet nozzles, the media supply of the nozzle head is designed such that each jet nozzle has a separate liquid feed line, at the front end of which the jet nozzle is arranged. As liquid supply in this sense, only that line should be named, which can be assigned from a distributor, such as a pressure distributor, only a single jet nozzle.

By means of slot openings in the nozzle holder, one for each jet nozzle, each jet nozzle, all of which project through a respective slot opening, can be guided for themselves between a first and a second end position. To adjust the angle of attack of the jet nozzle, based on the forward-oriented machining direction according to the above definition, the slot openings each have a radially extending component. This means that the slot openings do not run only as a circle segment about the axis of the machining direction, but the distances between the two end positions of a front end of a liquid supply line to the axis differ from each other.

The deflection of the jet nozzle, which can be performed by means of the slot profile, is realized for at least one of the jet nozzles by means of such a design of its liquid feed line, in which the front end of the liquid feed line is displaceable by means of a nozzle manipulator between the rest position of the jet nozzle and its end position.

The term slidably includes suitable configurations of the liquid supply lines of the jet nozzles, in which at least the front end and with this the thereto fixed jet nozzle by means of the nozzle manipulator in the range of movement, which allow the slot openings, is movable. It is irrelevant to what extent the further liquid supply is moved with.

Consequently, the liquid supply line can be made stiff and moved in its entire length or from a defined, spaced from the front end point and pivoted. For example, the liquid supply line may be tubular and the displaceability of the front end be realized by means of a liquid-conducting rotary joint or a hydraulic rotary feedthrough. Such hinges and rotary joints are known components in which a passage for a liquid is provided by the component to the respective degrees of freedom in the movement.

While the rotary joint is known to combine a rotation with the change of the angle and numerous angles of attack in the front half space or at least a meaningful section thereof can be set, the rotary feedthrough allows only one rotation of the two interconnected by means of the rotary feedthrough lines. For the displaceability of its front end, such a pipe between rotary union and front end additionally a pipe offset or pipe angle, whereby with the rotation with the suitable position of the offset or the angle always a radial component of the displacement can be generated.

Alternatively, the liquid supply can also be tubular and at least partially flexible, so that even with a fixed rear end, the front end of the movement of the nozzle manipulator can follow.

The nozzle manipulator can be formed by a variety of components that are suitable to move at least the front end of the liquid supply and thereby fit into the available space and work reliably under the often very aggressive operating conditions. Such components, referred to herein as positioning means, for example, may be an eccentric arranged between the liquid supply lines, a camshaft arranged between the liquid supply lines, a servo motor, at least one hydraulic or pneumatic cylinder or at least one press pad which can be filled with a pressurized gaseous or liquid medium is.

A camshaft arranged between the fluid supply lines shifts one or more fluid supply lines outwardly away from the shaft by means of the cams during rotation. The design of the camshaft defines the two end positions per se and the possible displacements of the individual fluid supply lines between their first and second end positions. The position to be set for machining a surface can thus either vary continuously or be fixed by stopping the camshaft a certain position.

Similar to the camshaft, an eccentric arranged on a shaft can cause the displacement of one or more fluid supply lines, but the variability of the movement is smaller.

A high variability and precision of the displacement of the front end can be achieved with a servomotor or several of them, as with this targeted individual positions can be approached.

In another alternative, a hydraulic or pneumatic cylinder or more thereof are used to realize the displacement of one or more jet nozzles, wherein the hydraulically or pneumatically in the cylinder initiated movement of the piston is used for the position control of a jet nozzle. By means of suitable adjusting means, the power transmission from the piston to a liquid supply can take place.

Alternatively, a press pad or more may be used to move the front end of the liquid feed lines from a first end position to the second one. For this purpose, the state of the press pad changes between unfilled and filled. In a press pad arranged between the liquid feed lines, the feed lines are pressed from their first position into the second position as a result of the filling and the associated volume increase. The second, radially outer position is determined by the volume increase of the press pad in conjunction with the shape of the slot openings. Alternatively, the press pad may also be arranged on the outside and surround the liquid supply lines. In this case, however, the motion sequence of the jet nozzles just described is effected by the transition from the filled to the unfilled pad. In certain applications, the movement can also take place in the opposite direction, from outside to inside, which is also feasible by both types of press pad. A combination of two press pads is, for example, to ensure a more precise positioning and fixing of the jet nozzles.

In both cases, a relative movement of the liquid supply to the press pad may be permitted by: the press pad is compliant in the region of contact with the liquid supply lines or has a lubricious surface.

It will be appreciated that the force application of said positioning means should be either at the front end or between the front end and that portion of the liquid supply line, which, according to the above teachings, permits the displaceability of the front end. It is also obvious that the nozzle manipulator comprises, in addition to the positioning means, further components for the movement or activation and control of the positioning means. The person skilled in the art will meaningfully coordinate the aforementioned alternative configurations of the nozzle holders, the liquid feed lines, the positioning means and the nozzle manipulator in order to achieve the nozzle arrangement and movement required for the application.

The use of an external pressing pad offers the possibility of fixing the nozzle head relative to adjacent walls, for example a closed channel, by pressing the pad against the walls as a result of the filling.

Alternatively, the nozzle head may have one or more fixing pads which, unlike the press pads, primarily serve to fix the nozzle head against adjacent walls. Such fixing pads are used for channel robots in the DE 20 2014 000 026 U1 which is referred to herein with respect to the function and configurations of a fixation pad. Such Fixierpolster position a nozzle head or the entire processing device also with respect to a high recoil generated by the high-pressure jet and can be designed such that waste produced during processing can be flushed out.

The Fixierpolster are filled with a pressurized gaseous or liquid medium and include the liquid supply lines. If these alone serve to fix the nozzle head, a force from a fixing pad on the liquid supply lines is to be prevented. According to one embodiment of the invention, they can also be used in conjunction with a press pad. In this case, two fixing pads are arranged one behind the other in the machining direction and at least one of them is designed as a positioning means of the nozzle manipulator for deflecting the front end of at least one liquid feed line, as described above for the outer press pad.

Comparable to the fixing pad and a press pad may be formed in segments. This makes it possible to provide passages for the rinsing of the overburden of processing and / or to assign the segments to the individual liquid supply lines and thus to move the jet nozzles differently with different degrees of filling.

In order to displace the ends of the liquid feed lines and thus their jet nozzles, in an alternative embodiment, the nozzle manipulator of the nozzle head has a torque generator for rotating at least the liquid feed lines with their jet nozzles. The torque generator is configured such that the torque that can be generated thereby is large enough to use the generated centrifugal force, the jet nozzles from one to the other To move to the final position. As a torque generator is preferably a prime mover into consideration, such as a hydraulic or pneumatic motor or an electric motor, as with these the required torques to achieve and are suitable for the applications described.

In the stated embodiments of the liquid supply lines and of the positioning means or the displacement can be limited to certain movements. The slot openings in the nozzle holder are to be matched to it.

The described nozzle head is usable because of its variability in the design and the movement of the jet nozzles for the above-mentioned and other processing devices, for example for a high-pressure liquid jet device for working channel walls of open or closed channels by means of high-pressure liquid jets. Such a jet device comprises a nozzle head, which is arranged at the front end of the device, for generating at least one forwardly, hereinafter referred to as machining direction directed jet of a liquid jet medium, with a carriage for moving and positioning the nozzle head in the channel and with a media supply, for supplying the nozzle head with the high-pressure jet medium.

From a high-pressure liquid jet device placed in the channel, the abrasive jet is directed in the channel direction or at an angle deviating therefrom by degrees so that an obstacle or an adhesion is removed, for the sections or even progressively processing. During the Machining, but usually only after achieving a limited excavation depth, the device is moved by a trolley forward through the channel. Depending on the extent of erosion, it may be necessary to move the device out of the channel and remove the removed materials. These forward and backward movements must be supported by an appropriate media supply, for example, 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.

In addition to efficient machining, another requirement of such devices is that they should be as simple, as small and as light as the particular application permits. 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.

In one embodiment of the high-pressure liquid jet device, a fixing pad which can be filled with a gaseous or liquid medium under pressure is arranged at the rear end of the carriage and / or the nozzle head, which is inflated for activation by compressed air or a pressurized fluid and is designed such that that it fixes the position of the trolley and / or the nozzle head in the activated state by pressing the Fixierpolsters in the channel, without closing the channel.

As described above for Fixierpolster the nozzle head, by means of this fixing pad and the carriage can be fixed without hindering the removal of spoil. The The fixation pad is inflated by compressed air (pneumatic) or a pressurized fluid (hydraulic) so that it compresses in the canal. An open passage in the channel with activated Fixierpolster is possible in alternative embodiments by a central, ie central open passage is formed or such passages between channel wall and Fixierpolster exist. In the first case, the fixing pad can sit on the outer circumferential surface of a hollow cylinder. 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.

The intensity of the pressing can be adapted to the force required to fix the device in the channel, wherein a fixing pad arranged and activated on the nozzle head can certainly also allow the rotation of the nozzle head.

If fixing pads are arranged both on the nozzle body and on the carriage, a very stable positioning of the trolley in the channel is possible, which also conditions the device for maximum pressure. In this embodiment, it is also possible to use a press pad of the nozzle head as a Fixierpolster and for adjusting the jet nozzles.

Fig. 1A und 1B

Ausgestaltungen des erfindungsgemäßen Düsenkopfes in Seitenansicht ,

Fig. 2

die Vorderansicht der Düsenköpfe nach Fig. 1A und

Fig. 3

eine Hochdruck-Flüssigkeitsstrahlvorrichtung in Seitenansicht der Vorrichtung.

The invention will be explained in more detail with reference to embodiments. The accompanying drawings show in

Fig. 1A and 1B

Embodiments of the nozzle head according to the invention in side view,

Fig. 2

the front view of the nozzle heads Fig. 1A and

Fig. 3

a high pressure liquid jet device in side view of the device.

The nozzle head according to Fig. 1A comprises a pressure manifold 8 and at a distance to this a nozzle holder 4. Starting from the pressure distributor, liquid supply lines 6 extend in the direction of the nozzle holder 4, a centric and four concentrically arranged. At the, viewed in the processing direction 15, front ends of each liquid supply line 6, a nozzle is arranged in each case. In the exemplary embodiment, the nozzle head comprises a central rotary nozzle 7 and four concentric jet nozzles 2.

The steel nozzles 2 protrude through slot openings 11 (cf. Fig. 2 ), which are formed in the nozzle holder 4, and are movably supported in the slot openings 11. The rotary nozzle 7 is fixedly mounted in the nozzle holder 4. Both nozzle types are evidence of a cone-shaped spread-out jet 3 of the jet medium, which is directed forward (in the machining direction 15) and can be varied by moving the jet nozzles 2 in the opening angle.

In the exemplary embodiment, the blasting medium is water under a pressure of about 10,150 to 37,500 psi (about 70 to 250 MPa or 700 and 2500 bar) with an abrasive. Depending on the application, other pressures in the pressure range usual for high-pressure liquid jets can be used. The blasting medium is guided into a rotary feedthrough 12 and from there through the stator of a motor 9 and through the pressure distributor 8, into which the liquid supply lines 6 open. Divided into the individual fluid supply lines 6, it reaches the jet nozzles 2 to form the jets 3 directed towards the front, in the direction of the obstacles and adhesions 4 the blasting medium. While the central rotating nozzle 7 is fixed with respect to the nozzle holder, the jet nozzles 2 are displaceable radially (as shown in phantom) in the circumference, as the slot openings 11 allow, radially spaced from the central rotating nozzle 7. Due to the rotation of the nozzle head 1 and the angular orientation of the jet nozzles 2, the beams sweep over the obstacles and adhesions 4 with each rotation, so that they can be removed in their entire thickness in one operation.

The displacement of the jet nozzles 2 is realized by a positioning means 13, which is formed in the embodiment by a press pad and can be inflated by means of compressed air. The press pad is disposed between the liquid supply lines 6 and adjacent to the nozzle holder 4. The liquid supply lines 6 are formed as tubes, which are flexible in its central portion 14.

When the press pad is inflated, its circumference increases, so that due to the flexible central portions 14, the front ends of the liquid supply lines 6 are displaced outwards (shown in dashed lines). In a restoring force sufficient by the strength of the flexibility of the liquid supply lines 6, the jet nozzles 2 can be fixed between their inner end position (solid line) and their outer end position (dashed line) by the degree of inflation of the press pad in any intermediate position.

By means of the motor 9, the entire nozzle head 1 can be rotated, wherein the rotary feedthrough 12 of the media supply realizes the conduction of the jet medium from the fixed media supply 5 into the rotatable pressure distributor 8.

Fig. 1B represents an alternative embodiment of the liquid supply lines 6. These are in contrast to Fig. 1A formed tubular and have in their central portion 14 a pipe offset, the offset correlates with the slot opening 11. The tubular liquid supply lines 6 are rotatably mounted relative to the pressure distributor 8 by means of further rotary feedthroughs 17, one for each liquid supply line 6. By means of a suitable positioning means 13, for example an eccentric, a camshaft, a servomotor or a hydraulic or pneumatic cylinder with suitable, the radial and simultaneous rotational movement allowing adjusting means, the liquid supply lines 6 can be rotated so that the jet nozzles 2 are moved to the outside.

Fig. 2 represents the nozzle head 1 according to the Fig. 1A in the view from the front. In this view, the slot openings 11 are visible with the jet nozzles therein. While in this embodiment of the nozzle head 1 due to the exclusively radial movement of the jet nozzles 2 as a result of the inflation of the press pad, the slot openings 11 are straight and radial, in other movements of the jet nozzles 2, the slot openings 11 must be tuned to the movement carried out or be formed so that there is sufficient freedom of movement and yet the jet nozzles 2 can be fixed at least in two end positions.

On the exemplary cylindrical nozzle holder 4 is a forward (to the viewer) directed camera 10 is mounted with lighting 15 to track the processing can.

Fig. 3 shows an embodiment of the high-pressure liquid jet device using a nozzle head 1 according to the invention. For the design and function of the nozzle head 1, reference is made to the above explanations regarding FIGS Fig. 1A . 1B and 2 unless otherwise specified. In this respect, the same components are identified by the same reference numerals.

The high-pressure liquid jet device comprises an example cylindrical carriage 31, which can move in the direction of the obstacles and adhesions 34 by means of support wheels 38 in the direction of travel 37. The support wheels 38 hold as supporting and moving elements, the carriage 31 approximately centrally in the channel 40 (cylinder axis coincides with the channel axis 11 almost together), so that a risk of collision with residues of ablated obstacles or adhesions 34 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 31, a servo-electric drive (not shown) is integrated. The representation of the support wheels 38 without contact with the channel wall can be seen on the proviso that the cut is not rectilinear for the presentation of the better overview. The cut in Fig. 3 cuts the channel wall 40 above and below the center and runs in the interior of the channel 40 along its lateral surface along to the lowest point, so that the high-pressure liquid jet device is fully displayed in the side view.

The carriage 31 holds at its, viewed in the direction of travel 37, the front end of a nozzle head 1 with a plurality of forwardly directed in the direction of travel 37 jet nozzles 2. The nozzle head 1 rotates by means of a motor 9, in Embodiment of a compressed air motor, which is arranged between carriage 31 and nozzle head 1, to the channel axis 36th

As a nozzle head 1 is merely exemplary of the Fig. 1A shown. Whose processing direction 15 is identical in the embodiment with the direction of travel 37. For its structure, reference is made to the above explanations.

At the rear end of the nozzle head 1 holds a fixing pad 32 which is formed of four cushion segments 33. The fixing pad 32 is disposed on a hollow cylinder (not shown), which surrounds the liquid supply lines 6 in full, but does not hinder the movement for the employment of the jet nozzles 2. The cushion segments 33 press against the wall of the channel 40 and close the channel 40 completely.

Another fixing pad 32, consisting of four padding segments 33 is arranged at the front end of the nozzle head 1, by way of example so that it comprises the nozzle holder 4. This is also activated so that press against the channel wall 40 and close it.

Alternatively, the cushion segments 33 of the two fixing pads 32 may each have a distance to the adjacent segment, so that open passages to the channel section behind the device exist.

The fixing pad 32 thus fix in the illustrated activated state the nozzle head 1 and the carriage 31 in their positions in the channel 40. The activation of the fixing pad 32 is pneumatically by the provided by means of the supply line 35 compressed air inflates the cushion segments 33 so that they firmly against the Press channel wall 40. The compressed air is also used to operate the engine 9.

The supply line 35 is realized in the embodiment by means of flexible lines, which is guided in the carriage 31 into the individual customers and to the motor 9 and the fixing pad 32 on the nozzle head 1.

The supply line 35 holds in addition to the compressed air and the power supply line 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 the camera 10. The blasting medium is conveyed by means of a media feed 5 on the carriage over into the pressure distributor. 8

As an alternative to the illustrated trolley, the nozzle head 1 can also be used with other embodiments of trolley 31 or it can be used independently in the channel 40 and moved, for example, by means of propulsion nozzles.

• Bewegen der Vorrichtung im Kanal 40 bis zu einem zu beseitigenden Hindernis oder einer zu beseitigenden Anhaftung 4,
• Aktivierung der Fixierpolster 32 zur Fixierung der Vorrichtung in der angefahrenen Position im Kanal 40,
• Erzeugen eines gerichteten, gebündelten Strahls 3 von jeder der Strahldüsen 2 und der Rotationsdüse 7 durch Zufuhr eines flüssigen unter Hochdruck stehenden Strahlmediums mittels einer Medienzufuhr 5 und der Flüssigkeitszuleitungen 6,
• Drehen des Düsenkopfs 1 mittels des Motors 9, derart, dass die Strahlen 3 das Hindernis bzw. die Anhaftung 4 vollumfänglich abtragen,
• nach Beendigung des Abtrags Unterbrechung der Zufuhr des Strahlmediums zu den Düsen und Deaktivierung der Fixierpolsters 32,
• Bewegen der Vorrichtung zum nächsten Arbeitsort und Fortsetzung der Bearbeitung,
• wobei die Steuerung der Rotation des Düsenkopfes 1, des Vortriebs der Vorrichtung, der Steuerung des Strahlmediums und die Aktivierung sowie Deaktivierung der Fixierpolster 32 mittels einer geeigneten Steuereinheit erfolgt (nicht dargestellt).

Only to clarify the functional relationships of the components of the devices according to the invention, a high-pressure liquid jet device or a self-movable nozzle head 1, the executable processing of duct walls based on the device according to Fig. 3 be presented briefly. With the apparatus described above, closed channel processing 40 can be performed with the following basic steps:

• Moving the device in the channel 40 to an obstacle to be removed or an adhesion 4 to be removed
• Activation of the fixing pad 32 for fixing the device in the approached position in the channel 40,
• Producing a directed, collimated beam 3 from each of the jet nozzles 2 and the rotary nozzle 7 by supplying a high-pressure liquid jet medium by means of a media supply 5 and the liquid supply lines 6,
• Turning the nozzle head 1 by means of the motor 9, such that the jets 3 remove the obstacle or the adhesion 4 in full,
• after completion of the removal interruption of the supply of the jet medium to the nozzles and deactivation of the Fixierpolsters 32,
• Moving the device to the next work site and continuing the processing,
• wherein the control of the rotation of the nozzle head 1, the propulsion of the device, the control of the jet medium and the activation and deactivation of the Fixierpolster 32 by means of a suitable control unit (not shown).

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

Mauerspecht GmbH Nozzle head of a high-pressure liquid jet device and a high-pressure liquid jet device LIST OF REFERENCE NUMBERS

1

nozzle head

2

jet

3

Beam of the blasting medium

4

nozzle holder

5

media feed

6

liquid supply lines

7

atomiser

8th

pressure distributor

9

engine

10

camera

11

slot opening

12

Rotary feedthrough of the media supply

13

positioning means

14

middle section

15

machining direction

16

lighting

17

Rotary feedthrough of a liquid supply line

31

trolley

32

Fixierpolster

33

padded segment

34

Obstacles and attachments

35

supply line

36

channel axis

37

Direction of travel, machining direction

38

training wheels

40

Channel, sewer wall

Claims (11)

Nozzle head of a high-pressure liquid jet device with a liquid feed and at least two jet nozzles (2) for producing at least one forward, hereinafter referred to as machining direction, directed jet (3) of a liquid jet medium, and with a nozzle holder (4) for holding the jet nozzles (2) and their fixation in a working position, relative to the nozzle holder (4), characterized in that - The liquid supply for each jet nozzle (2) has a separate liquid supply line (6), at whose front in the processing direction (15) end of the jet nozzle (2) is arranged, - The nozzle holder (4) for each of the jet nozzles (2) has a slot opening (11) for guiding the respective jet nozzle (2) between a first and a second end position of the jet nozzle (2), - The slot openings (11) have a, relative to the machining direction (15), radially extending component, - The jet nozzles (2) through the slot openings (11) protrude and - The front end of at least one liquid supply line (6) by means of a nozzle manipulator between the two end positions is displaceable. Nozzle head according to claim 1, characterized in that a liquid feed line (6) is tubular and has a liquid-conducting rotary joint or a hydraulic rotary feedthrough (17) with a pipe offset or pipe angle arranged towards the front end. Nozzle head according to claim 1, characterized in that a liquid supply line (6) is tubular and at least partially flexible. Nozzle head according to one of the preceding claims, characterized in that the nozzle manipulator has a positioning means (13) for deflecting the front end of at least one fluid supply line (6) from the following list: an eccentric arranged between the fluid supply lines (6), one between the liquid supply lines (6) ) arranged camshaft, a servomotor, at least one hydraulic or pneumatic cylinder, at least one press pad, which is filled with a pressurized gaseous or liquid medium and between the liquid supply lines (6) or this is arranged to surround. Nozzle head according to one of the preceding claims, characterized in that the nozzle head (1) has two fixing cushions (32) which are under pressure standing gaseous or liquid medium can be filled and the liquid supply lines (6) and in the processing direction (15) are arranged behind one another, wherein at least one fixing pad (32) as a positioning means (13) of the nozzle manipulator for deflecting the front end of at least one liquid supply line (6) is. Nozzle head according to one of claims 4 or 5, characterized in that the nozzle head (1) has a press pad or a fixing pad (32) as a positioning means (13) of the nozzle manipulator, which has at least two separately fillable segments. Nozzle head according to claim 3, characterized in that the nozzle manipulator has a torque generator for rotating at least the liquid supply lines (6) with their jet nozzles (2) such that such a torque can be generated that by means of the generated centrifugal force the jet nozzles (2) from one to other end position are displaced. Nozzle head according to one of the preceding claims, characterized in that the nozzle head (1) comprises, with respect to the jet nozzles (2), centrally arranged nozzle. Nozzle head according to one of the preceding claims, characterized in that the free rear ends of the liquid supply lines (6) open into a pressure distributor (8). High-pressure liquid jet device for processing channel walls (40) of open or closed channels (40) by means of high-pressure liquid jets with a nozzle head (1), which is arranged at the front end of the device, for generating at least one forwardly, hereinafter referred to as machining direction (15), directed jet (3) of a liquid jet medium, with a carriage (31) for moving and positioning the Nozzle head (1) in the channel (40) and with a media supply (5) for supplying the nozzle head (1) with the high-pressure jet medium, characterized in that the device comprises a nozzle head (1) according to one of the preceding claims. High-pressure liquid jet device for processing duct walls according to claim 10, characterized in that at the rear end of the trolley (31) and / or the nozzle head (1) with a pressurized gaseous or liquid medium fillable Fixierpolster (32) is arranged, which for activation by compressed air or by a pressurized fluid is inflated and is designed such that it in the activated state, the position of the trolley (31) and / or the nozzle head (1) by pressing the Fixierpolsters (32) in the channel (40) fixed without closing the channel (40).

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