EP3243576A1 - Dispositif de traitement l'interieur de tuyaux non accessibles et de tuyauterie a l'aide de projection de jet haute pression d'un fluide - Google Patents

Dispositif de traitement l'interieur de tuyaux non accessibles et de tuyauterie a l'aide de projection de jet haute pression d'un fluide Download PDF

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Publication number
EP3243576A1
EP3243576A1 EP16168758.7A EP16168758A EP3243576A1 EP 3243576 A1 EP3243576 A1 EP 3243576A1 EP 16168758 A EP16168758 A EP 16168758A EP 3243576 A1 EP3243576 A1 EP 3243576A1
Authority
EP
European Patent Office
Prior art keywords
nozzle
jet
pipe wall
pipe
parallel
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.)
Granted
Application number
EP16168758.7A
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German (de)
English (en)
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EP3243576B1 (fr
Inventor
Ljubisa Zlatkovic
Jens Bauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IMS Robotics GmbH
Original Assignee
Ims Ingenieurbuero GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ims Ingenieurbuero GmbH filed Critical Ims Ingenieurbuero GmbH
Priority to EP16168758.7A priority Critical patent/EP3243576B1/fr
Publication of EP3243576A1 publication Critical patent/EP3243576A1/fr
Application granted granted Critical
Publication of EP3243576B1 publication Critical patent/EP3243576B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/0433—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes provided exclusively with fluid jets as cleaning tools
    • 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
    • B08B9/0495—Nozzles propelled by fluid jets

Definitions

  • the invention relates to a device for processing the interior of inaccessible pipes and pipe networks by means of high-pressure blasting of a fluid with or without abrasive.
  • a corresponding device for cleaning pipes is in the DE 196 26 590 A1 disclosed. This device consists of a transport device and a rotary nozzle device. In order to avoid damage to the pipe inner wall due to a stoppage of the rotary nozzle, an additional rotational movement of the nozzle assembly is provided.
  • a guide of the rotary nozzle arrangement is described by means of guide slide in a guide sleeve.
  • the guide elements may also be designed collapsible to allow adaptation to different pipe diameters.
  • a minimum distance between the nozzle assembly and tube inner wall is desired.
  • an angle of the high-pressure jet deviating from 90 ° to the inside wall of the pipe is also desired.
  • JP 000 H 08141534 A discloses a cleaning robot capable of controlling the distance of the cleaning nozzles to the wall by sensors. The position of the nozzles can be adjusted so that even with larger unevenness or non-concentric shape of the tubes uniform cleaning is possible.
  • the nozzles are attached to cantilevers, which allow a circumferential movement of the nozzles along the pipe inner wall.
  • a device for processing channel walls of closed channels by means of high-pressure liquid jets is known from EP 2 891 526 A1 known.
  • the device has a nozzle body with at least one jet nozzle, which is arranged at the front end of the device and to Generation of a forward-looking, focused beam of a liquid jet medium is suitable.
  • the orientation of the beam "forward” implies that the beam direction coincides with the channel axis and also that the beam or the beams have an angle - 90 ° ⁇ a ⁇ + 90 ° with respect to the channel axis, depending on the type of eliminating obstacles and attachments.
  • this device comprises a carriage for moving and positioning the nozzle body in the channel and a media supply for supplying the jet nozzle with a high-pressure jet medium.
  • the carriage and the nozzle body are designed such that both can be positioned and moved at least along their entire underside with a distance from the wall. With a movement of the device, the distance between the channel wall and the underside of the device is maintained.
  • 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.
  • the support of the device to the channel wall can be done by means of plain bearings, skids or support wheels.
  • the angle a of the jet direction of the jet nozzles to the channel axis can be set in the range of - 90 ° ⁇ a ⁇ + 90 °, wherein in some cases an adjustability between -15 ° ⁇ a ⁇ + 15 ° is considered sufficient.
  • the object of the invention is to provide a device which, with high cleaning power, less stresses the pipe wall and thereby causes less damage.
  • the device comprises a guide device for guiding the nozzle.
  • the device is used for machining the interior of non-maneuverable pipes or pipe networks using the high pressure fluid technique.
  • the device is suitable both for use with and for use without abrasives.
  • the device is due to several bearings and gear in a position to bring by means of the guide means the nozzle in suitable positions and the Aligning nozzle steel align so that an optimal removal of dirt in the tube is guaranteed.
  • the device allows the implementation of different types of movement of the nozzle or the guide device, such as an axial movement, a rotational movement or a pivoting movement.
  • the device reaches all areas of the pipe wall, since in a direction parallel to the pipe inner wall guide the device rotation of the device about the tube axis or about an axis parallel to the tube axis is possible. In this way, all areas of the pipe can be efficiently cleaned without damaging the pipe walls by the high pressure jets of the fluid.
  • the jet is guided parallel to the pipe wall. A jet routed parallel to the pipe wall can not cause any damage to the pipe wall at the correct distance.
  • the guide device is additionally suitable for guiding the at least one nozzle with parallel alignment of the at least one nozzle jet emerging from the nozzle for guiding the at least one nozzle with an alignment of the at least one nozzle jet, in which the at least one jet within the tube to the pipe wall , to which the at least one nozzle is approximated or against which it bears, is slightly inclined or slightly inclined away from this pipe wall, such that the pipe wall is not damaged.
  • the guide device is designed as a sliding block and / or as a guide slide, which is / can be guided along the pipe wall /.
  • the guide means comprises a scanning device with an adjustment. By scanning the distance between the at least one jet and the pipe wall is kept as low as possible.
  • the guide device has a sensor, by means of which the distance of the at least one nozzle and / or the at least one exiting nozzle jet from the parallel spaced pipe wall are determined can, whereupon the drives of the device can be controlled so that the smallest possible distance of the at least one jet to the parallel spaced pipe inner wall is realized.
  • a correction or optimization of the position can be repeated at regular intervals.
  • a pivoting movement of the device allows the device to be deflected in such a way that the at least one nozzle points in the direction of the center of the pipe. As a result, dirt in the center of the pipe can be removed.
  • the delivery device and / or the pivoting device of the device comprises one or more inclination limiting devices, which ensure that the parallel to the pipe wall guided at least one jet can only be inclined so far in the direction of the pipe wall that the pipe wall is not damaged.
  • an inclination limitation can take place via a regulation.
  • An inclination of the jet in the direction of the pipe wall against which the guide is applied or to which the distance has been minimized, takes place only at very small angles, preferably in the range of 0 ° to 10 °, wherein the maximum angle also depends on the sensitivity of the respectively used Pipe material depends.
  • the nozzle jet can also be inclined away from the pipe wall against which the guide or to which the distance has been minimized, wherein also in this case an inclination limitation, preferably within a range of 0 ° to -10 °, takes place by means of the inclination limiting device.
  • an inclination limitation preferably within a range of 0 ° to -10 °, takes place by means of the inclination limiting device.
  • the feed device comprises one or more rearwardly directed holes or nozzles to which the fluid medium can be supplied and by means of which a thrust based on the recoil movement of the device can be generated by flowing out of the bores or nozzles beams of the fluid medium
  • the device comprises a chassis with wheels for the axial feed movement.
  • the distance between the at least one nozzle and / or the guide device to the pipe wall is fixed. That is, no feed device is provided in this embodiment.
  • this device includes a pivoting device for a deflection of the at least one nozzle jet from the parallelism to the pipe wall in the direction of the center of the pipe, in order to be able to remove soiling / deposits in the center of the pipe.
  • This device is particularly suitable for round tubes. In a fixed adjustment of the distance of the guide device to the pipe wall in round tubes can be dispensed with a regular position control. A regular scan is then not required.
  • the feed device is suitable for moving the at least one nozzle and / or the guide device in the direction of the center of the pipe in order to be able to remove the contaminations / deposits in the center of the pipe, wherein the at least one jet maintains the parallelism to the pipe wall.
  • the pivoting device is designed such that it in addition to the deflection of the at least one jet also for an approach and / or application of the at least one nozzle and / or the guide means to the pipe wall while maintaining the parallelism of at least one Nozzle jet is suitable for the spaced pipe wall.
  • This device 1 comprises a nozzle 3 movable relative to the pipe inner wall 2a and arranged at the front end of the device 1 for producing a forward-looking, bundled high-pressure jet 4a of a fluid, for example water.
  • the fluid can be present with or without abrasive.
  • the device 1 comprises a media supply 5 for supplying the nozzle 3 with the high-pressure fluid medium.
  • the media supply 5 is a hose 5 connected to the nozzle 3.
  • the device 1 comprises a housing 6 in which the hose 5 is guided along a housing 6 Through the housing 6 extending longitudinal axis 7 is passed through the housing 6, which in the Fig. 1 not shown in detail.
  • the nozzle 3 is attached to a front end portion 5a of the hose 5, which is located outside the housing 6, that is, in front of the housing 6.
  • the nozzle 3 is enclosed by a guide device 8 or at least held. This makes it possible to guide the nozzle 3 with an alignment of the nozzle jet 4a emerging from the nozzle 3 parallel to the pipe wall 2a.
  • the distance of the nozzle jet 4a exiting from the nozzle 3 to the pipe wall 2a can be minimized by a feed movement 9 by means of a feed device, not shown, for example, by the nozzle 3 and / or the guide device 8 is applied to the pipe wall 2a.
  • the nozzle 3 or the guide device 8 is in the axial direction, that is in the direction or parallel to the tube axis 16, by a corresponding feed movement 17 of the entire device 1 aligned.
  • the feed device for the axial feed of the nozzle 3 comprises a plurality of rearwardly directed bores 18, to which the fluid medium can be fed and by means of which a thrust-based feed movement 17 of the device is produced by the jets 4b of the fluid medium flowing out of the bores 18 can be generated.
  • the device comprises at least one camera 19 for detecting the contaminants 14 and observing the orientation and deflection of the nozzle 3.
  • Fig. 2 is a variant of the device 1 to see within a tube 2, which has a chassis 20 with wheels 20a, 20b, which is connected to the body 1a of the device 1, which serves as a carrier for the rotating device 15 for rotation, the pivoting device and the Delivery device acts. Together with the chassis 20 can thus be a feed movement 17 of the entire device 1 in the axial direction, that is, along or parallel to the tube axis 16, take place.
  • the pivoting device comprises in addition to the pivot axis 11, which is located on the body 1 a of the device 1, and the arm 12 mounted on the pivot axis, a further pivot axis 21 for the guide means 8, which is connected to the front part of the arm 12. On this pivot axis 21, a support member 22 is mounted for the guide device 8, so that about this pivot axis 21, the pivotal movement 10 of the guide device 8 can be done.
  • the arm 12 and the pivot axes 11, 21 can also be part of a feed device for approaching and / or applying the nozzle and / or the guide device to the pipe wall to minimize and / or maintain the distance of the jet to parallel spaced pipe wall 2a function.
  • the arm 12, the act on his front End is rotatably connected to the rear portion of a support member 22 of the guide means 8 via a first pivot axis 21 of the guide means 8, with a likewise pivotally mounted, adjustable support arm 23 for the support member 22 of the guide means 8 together.
  • This length-adjustable support arm 23 is connected at its rear end via a pivot axis 24 with the body 1a of the device 1 and at its front end via a further, second pivot axis 25 of the guide means 8 with the front portion of the support member 22.
  • the pivoting movement of the arm 12 and the movement of the length-adjustable support arm 23 can be coordinated so that remains in a feed movement 9 of the support member 22 and thus the guide means 8 with the nozzle 3, the exiting nozzle jet 4a parallel to the pipe wall 2a.
  • the type of interaction between the arm 12 and the length-adjustable support arm 23 decides whether a feed movement 9 with aligned parallel to the pipe wall 2a jet 4a or a pivoting movement 10 of the guide means 8 and thus a deflection of the nozzle jet 4a from the parallelism to the pipe wall 2a in the direction of the pipe center 13 in order to remove dirt / deposits 14 in the center of the pipe 13, takes place.
  • This device also comprises at least one (in Fig. 2 not shown) camera for the detection of the contaminants 14 and the observation of the orientation and deflection of the at least one nozzle. 3
  • the Fig. 3 schematically shows a guided within a tube 2 by means of a guide device 8 nozzle 3 with exiting nozzle jet 4a, which is inclined from the parallelism to the pipe wall 2a in the direction of the pipe center 13.
  • the Fig. 4 schematically shows a guided within a tube 2 by means of a guide device 8 nozzle 3 with exiting nozzle jet 4a, the from the parallelism to the pipe wall 2a - opposite the pipe center 13 - is inclined in the direction of the pipe wall 2a, that is, with an inclination in the direction of the closer spaced pipe wall 2a exits.
  • the nozzle jet 4a is only inclined so far in the direction of the pipe wall 2a, that the pipe wall 2a is not damaged. In any case, it should be prevented that the nozzle jet 4a hits the pipe wall 2a at too short a distance.
  • the nozzle jet 4a With a larger path of the nozzle jet 4a until it hits the pipe wall 2a, the nozzle jet is widened more and at a smaller angle, the impact point occupies a larger area. As a result, the force emanating from the nozzle jet per area of the tube wall is lower. For this reason, with a limitation of the angle, the probability of damage to the pipe wall is significantly lower.
  • the feed device and / or the pivoting device of the device 1 has / have one or more inclination limiting devices, which ensure that the nozzle jet 4a guided parallel to the pipe wall 2a can only be inclined in the direction of the pipe wall 2a to the extent that the pipe wall 2a is not damaged.
  • the maximum value for the adjustable angle depends on the pipe material used and the high pressure used. Due to an adjustable inclination between the pipe wall 2a and nozzle jet 4a, an efficient removal of the deposits 14 is ensured even in the edge regions of the pipe 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
EP16168758.7A 2016-05-09 2016-05-09 Dispositif de traitement l'interieur de tuyaux non accessibles et de tuyauterie a l'aide de projection de jet haute pression d'un fluide Active EP3243576B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16168758.7A EP3243576B1 (fr) 2016-05-09 2016-05-09 Dispositif de traitement l'interieur de tuyaux non accessibles et de tuyauterie a l'aide de projection de jet haute pression d'un fluide

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16168758.7A EP3243576B1 (fr) 2016-05-09 2016-05-09 Dispositif de traitement l'interieur de tuyaux non accessibles et de tuyauterie a l'aide de projection de jet haute pression d'un fluide

Publications (2)

Publication Number Publication Date
EP3243576A1 true EP3243576A1 (fr) 2017-11-15
EP3243576B1 EP3243576B1 (fr) 2021-09-01

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107999474A (zh) * 2017-12-15 2018-05-08 义乌市满旺机械设备有限公司 一种管件内壁清洁装置
CN108043831A (zh) * 2017-12-15 2018-05-18 义乌市满旺机械设备有限公司 一种新型管件内壁清洁装置
CN109304336A (zh) * 2018-11-09 2019-02-05 中国建筑第八工程局有限公司 混凝土输送泵管快速疏通和清理装置
CN110280550A (zh) * 2019-07-29 2019-09-27 河北工业职业技术学院 管道内壁清扫机器人
CN112845306A (zh) * 2021-01-04 2021-05-28 中铁第五勘察设计院集团有限公司 钻杆清洗装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08141534A (ja) 1994-11-17 1996-06-04 Toshiba Corp 管内清掃ロボット
DE19626590A1 (de) 1996-07-02 1998-01-08 Aquaplus Brunnensanierung Kaet Vorrichtung zum Reinigen der Innenflächen von Rohren, wie Brunnenrohren in Brunnenschächten
JP2008279401A (ja) 2007-05-14 2008-11-20 Yamazaki Tosoten:Kk ライニング配管内の洗浄方法及び洗浄具
DE202014105354U1 (de) * 2014-11-07 2014-11-19 Hydrotec Germany Gmbh Vorrichtung zur Reinigung von Rohren
EP2891526A1 (fr) 2014-01-07 2015-07-08 Mauerspecht GmbH Dispositif et procédé de traitement de parois de canal au moyen de rayonnements liquides haute pression

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08141534A (ja) 1994-11-17 1996-06-04 Toshiba Corp 管内清掃ロボット
DE19626590A1 (de) 1996-07-02 1998-01-08 Aquaplus Brunnensanierung Kaet Vorrichtung zum Reinigen der Innenflächen von Rohren, wie Brunnenrohren in Brunnenschächten
JP2008279401A (ja) 2007-05-14 2008-11-20 Yamazaki Tosoten:Kk ライニング配管内の洗浄方法及び洗浄具
EP2891526A1 (fr) 2014-01-07 2015-07-08 Mauerspecht GmbH Dispositif et procédé de traitement de parois de canal au moyen de rayonnements liquides haute pression
DE202014105354U1 (de) * 2014-11-07 2014-11-19 Hydrotec Germany Gmbh Vorrichtung zur Reinigung von Rohren

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107999474A (zh) * 2017-12-15 2018-05-08 义乌市满旺机械设备有限公司 一种管件内壁清洁装置
CN108043831A (zh) * 2017-12-15 2018-05-18 义乌市满旺机械设备有限公司 一种新型管件内壁清洁装置
CN108043831B (zh) * 2017-12-15 2018-11-02 长春近江汽车零部件有限公司 一种新型管件内壁清洁装置
CN109304336A (zh) * 2018-11-09 2019-02-05 中国建筑第八工程局有限公司 混凝土输送泵管快速疏通和清理装置
CN110280550A (zh) * 2019-07-29 2019-09-27 河北工业职业技术学院 管道内壁清扫机器人
CN112845306A (zh) * 2021-01-04 2021-05-28 中铁第五勘察设计院集团有限公司 钻杆清洗装置
CN112845306B (zh) * 2021-01-04 2022-06-17 中铁第五勘察设计院集团有限公司 钻杆清洗装置

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