EP3643414B1 - Système de nettoyage par hydrosoufflage de jet d'eau à ultra-haute pression (uhpwj) pour surfaces - Google Patents

Système de nettoyage par hydrosoufflage de jet d'eau à ultra-haute pression (uhpwj) pour surfaces Download PDF

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Publication number
EP3643414B1
EP3643414B1 EP18425080.1A EP18425080A EP3643414B1 EP 3643414 B1 EP3643414 B1 EP 3643414B1 EP 18425080 A EP18425080 A EP 18425080A EP 3643414 B1 EP3643414 B1 EP 3643414B1
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European Patent Office
Prior art keywords
hydro
uhpwj
blasting
water
cleaning system
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EP18425080.1A
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German (de)
English (en)
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EP3643414C0 (fr
EP3643414A1 (fr
Inventor
Piero Donelli
Luca Donelli
Pascal PRAT
Olivier Bony
Stéphane Renouard
Andrea CHINI
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Ambpr
Impresa Donelli Srl
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Ambpr
Impresa Donelli Srl
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Publication of EP3643414B1 publication Critical patent/EP3643414B1/fr
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    • 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
    • B08B9/023—Cleaning the external surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
    • B08B3/14—Removing waste, e.g. labels, from cleaning liquid; Regenerating cleaning liquids

Definitions

  • the invention relates to the general field of the Ultra-High-Pressure Water Jetting (UHPWJ) hydro-blasting/cleaning system.
  • UHPWJ Ultra-High-Pressure Water Jetting
  • a penstock is an hydraulic pipe consisting of a pipe assembly, intended to convey pressurized water to an hydroelectric plant located downstream and below the water reservoir that feeds it.
  • the present invention aims more particularly at improving the existing cleaning systems used for surface preparation before maintenance coating application.
  • the invention applies to any robot for all types of surfaces of very large dimensions and/or of complex shapes and/or of difficult access and/or with a high elevation, like the pipes or other repair pipes of different sizes and geometries and inclination to be carried out without the need for a scaffolding erection and containment.
  • a large number of pipes of greater or lesser diameter are widely used nowadays in a broad spectrum of industries.
  • local authorities may use large diameter pipes for stormwater drainage and water management in general.
  • Hydropower plants use very large diameter pipes, so-called penstocks for the transport of water under pressure.
  • Applicant companies of the present application have sought to define a robot for adequate surface preparation and coating application during renovation to the outside of penstocks.
  • These penstocks usually consist of metal tubes assembled along a slope and protected by exterior and interior coating/lining.
  • the maintenance or renovation consists in performing a surface preparation complying with the high standard requirements for the application of a new coating of paint.
  • This preparation may for example consist of an abrasive blasting, also commonly referred to as shot blasting, which makes it possible to create a specific surface profile needed for the adhesion and the application of a new coating of paint.
  • the inventors of the present invention have been able to show that the robotic cleaning solutions for pipelines did meet the strict surface preparation standards imposed for cleaning penstocks and repainting requiring state standardized surface according to ISO 8501-1, 8501-2, 8501-4.
  • the invention aims to address all or part of these needs.
  • the subject of the invention is an Ultra-High-Pressure Water Jetting (UHPWJ) hydro-blasting/cleaning system for surfaces comprising:
  • the mobile robot according to the invention is an autonomous robot, intended to be used in an outdoor environment for the external renovation of surfaces, whose displacement is guaranteed on the surfaces, even for very long lengths and/or for very large inclinations of the surfaces, and where appropriate in very difficult and / or restricted environments.
  • autonomous robot is meant here the usual meaning of technology, namely an equipment whose mobile device is robotized, that is to say constitutes a mechatronic device, to enable it to move autonomously and perform a work operation on a surface automatically, i.e. without human intervention.
  • the invention mainly consists of a UHPW system with a rotating cleaning head which can be kept in contact with the surface to be hydro-blasted/cleaned and with sucking means which are judiciously physically separated, i.e. a cyclone type device which is mounted on the mobile robot and therefore can separate the gas phase from the liquid and solid phases, very near to the hydro-blasting/cleaning head, while minimizing the flow pressure drop, and a vacuum suction device that is placed up to a significant distance from the cleaning head and generates the depression that drives the three-phase mixture into the cyclone.
  • a cyclone type device which is mounted on the mobile robot and therefore can separate the gas phase from the liquid and solid phases, very near to the hydro-blasting/cleaning head, while minimizing the flow pressure drop
  • a vacuum suction device that is placed up to a significant distance from the cleaning head and generates the depression that drives the three-phase mixture into the cyclone.
  • front and rear refer to a direction of movement of a robot according to the invention on the outer surface of a penstock.
  • the movement of the robot is reversible: also, it goes without saying that part of the robot, designated before, in a direction of movement of the robot in the pipe becomes a rear portion in the opposite direction of movement.
  • upstream and downstream are to be understood by reference to the location of the mobile robot on the penstock to be renovated.
  • Figure 1 shows the main components of a UHPWJ hydro-blasting/cleaning system, globally designated by numeral reference 1, which is configured in a closed loop for the renovation of a penstock (P).
  • the UHPWJ hydro-blasting/cleaning system 1 comprises a mobile robot 2 which is adapted to displace by itself on the exterior surface of the penstock P and a stationary part 3 in a fluidic connection with the robot.
  • the mobile robot 2 carries a cleaning head 4 and a suction tank 5 connected to the cleaning head 4.
  • the cleaning head 4 is shaped with a shell 40 forming a bell adapted to confine the projected water and to capture, at source, the waste hydro-blasted/scoured by the projected water on the surface.
  • the suction tank 5 accommodates a cyclone separator which makes it possible to extract the waste from the re-sucked water from the pickling shell 40 of the cleaning head 4.
  • the cyclone separator 5 is adapted to separate the water containing the hydro-blasted/scoured waste from air.
  • the waste is mainly the coating/rust removed from the penstock.
  • the fact that the cyclone 5 is mounted on the frame of the robot 2 allows the separation the phases very near to the hydro-blasting/cleaning head 4, and hence minimizes the flow pressure drop.
  • the stationary part 3 comprises firstly a UHP water feeding pump, not shown connected to the fluidic inlet of the bell of the head 4, in order to project water inside it.
  • the high-pressure water pump can be located at a very long distance from the mobile robot (as far as 1.500 [m]), connected to it by special steel reinforced hoses.
  • a buffer water tank, for the filtered recirculated water which feeds the pump, can be also foreseen.
  • a vacuum pump 6 is connected to the suction tank 5 through a fluidic line 60 in order to generate the depression that drives the three-phase mixture into the cyclone 5, separating the gas phase from the liquid and solid phase, i.e. sucking the water containing the waste hydro-blasted/scoured inside the bell of the cleaning head 4.
  • the vacuum pump 6 may be placed at a high distance from the cleaning head 4. Typically, the distance can be up to 50 [m], allowing to work on a 100 [m] stretch of pipe without the need to displace it.
  • the vacuum suction pump 6, is placed on the ground, comprises preferably two filters, the upstream one being a pocket filter whereas the downstream one being a mesh filter.
  • a filtering and collecting unit 7 connected to the suction tank 5 through a fluidic line 70 is provided.
  • the unit 7 is configured to collect the water containing hydro-blasted/scoured waste.
  • the unit 7 mainly comprises a plural filtering device 8 to separate the water to be recycled from the hydro-blasted/scoured waste and at least one water tank 9 connected downstream to the filtering device, in order to collect the filtered water.
  • a water buffer tank 10 can be provided between the suction tank 5 and the filtering and collecting unit 7.
  • the unit 7 can be located at a very high distance from the mobile robot 2, typically up to 1-1,5 [km].
  • All the components of the UHPWJ system are electrically powered.
  • a diesel power feeding can be foreseen.
  • Figures 2 and 3 show the mobile part of an autonomous robot according to the invention for stripping by water cleaning the outer surface of a penstock.
  • the mobile robot 2 embeds the whole work tools and fluids required for the renovation of a penstock.
  • the working tools are carried by a detailed tool holder thereafter and the fluids (water, vacuum suction) feed the robot from a fixed platform in an area near the penstock to be renovated, as detailed below.
  • the fluids water, vacuum suction
  • the mobile robot 2 firstly comprises a frame 20 which extends along an axis longitudinally (X), as well as a plurality of steering wheel trains 21.
  • these steering wheels 21 will enable the apparatus to roll on the outer surface of the penstock (P) during a renovation operation thereof.
  • the operation of the wheel sets will be explained in more detail below.
  • means 22 attached to the frame 20 are provided. These means 22 are made in the form of clamps which hook the frame 20 around the outer surface of the pipe (P). The operation of these clamps will also be explained in more detail below.
  • These means 22 comprise four independent extension arms 23 attached to the frame 20, which extend laterally outward two by two on both sides of the latter. These four independently activated arms 23 are intended for obstacle avoidance and stability purposes. The distance separating the free end of two extension arms 23 on either side of the frame is greater than the diameter of the penstock (P).
  • a plating arm 24 is pivotally mounted about an axis substantially parallel to the axis of the frame.
  • Each plating arm 24 supports a support wheel 25.
  • An electro-pneumatic cylinder 26 is mounted between an extension arm 23 and a plating arm 24.
  • the support wheels 25 are all pressed against the forced outer surface and thus generate frame holding forces towards the inside of the pipe.
  • the frame 20 is hooked on the penstock (P).
  • the support wheels 25 and associated plating arms 24 are raised by activating the cylinders 26 in the opposite direction, that is to say, by retracting the cylinder rods 260.
  • the lifting of the plating arms 24 with their support wheels 25 may be realized, when during the displacement of the mobile robot 2 on the penstock P, they encounter junction flanges J between adjacent portions of the penstock P and which delimit a diameter greater than the outside diameter of the pipe which constitutes the rolling surface of the mobile robot 2.
  • a cable hoisting system 27 In order to allow the autonomous movement of the robot along a penstock to be renovated, a cable hoisting system 27, with a removable anchoring device not shown and motorized winches 28 and cable drums 29 embedded on the mobile device is planned.
  • a ring 40 At one end of the longitudinal front end of the frame 20, is fixed a ring 40 whose inner diameter is greater than the outside diameter of the penstock P.
  • a tool carriage 41 may be a rack slidably mounted over the entire periphery of the ring 40.
  • the ring 40 may for example be shaped into a rack on which a wheel moving the carriage 41 can come into mesh by means of a motorization adapted.
  • This carriage 41 serves as support for at least the cleaning head 4 for renovating the penstock.
  • the ring 40 and the circular rack 41 can be opened for the passage of the support saddles (S) of the penstock (P).
  • a closed configuration of the ring 40 is shown on Figure 4A while an open configuration of the ring 40 is shown on Figure 4B : the actuation of two electro-pneumatic cylinders 42 can discard moving portions 43 from the portions 44 fixed to the frame 20 of the robot 2.
  • the cylinders 42 allow for obstacle avoidance and ensure good contact between the cleaning head 4 and the surface to be hydro-blasted/cleaned.
  • the circular rack 41 allows the circular displacement of the cleaning head around the ring 40.
  • the cleaning head 4 is mounted on a plate 45 which can slide on tracks 46.
  • the displacement of the cleaning head 4 on these tracks 46 can be achieved by means of two pneumatic cylinders 47.
  • the deployed position of the cylinders 47 presses the bell 400 of the cleaning head 4 on the surface of the penstock P.
  • the folded position of the cylinders 47 disengages the bell from this surface.
  • the tracks support 48 is a mobile carriage with rollers 480 bearing against the ring 40, which can move over the entire periphery of the ring.
  • a motor 49, of the brushless type, attached to the carriage 48 allows through its output gear meshing on the rack 46 to accurately position the cleaning head 4 at any angular position on the ring.
  • the displacement of the head may be limited to predetermined angular portions.
  • the cleaning head 4 comprises a jetting water nozzle (not shown) which is capable of projecting water at a ultra-high pressure, typically between 2000 and 3000 bars. This nozzle is accommodated inside the bell 400 of the head 4.
  • the water nozzle can be feed with pressurized water by an inlet duct 401 passing through the bell 400.
  • the head shell 400 and the sealing top of the cleaning head 4 is purposely-designed in order to locate two vacuum suction ducts 402. These two ducts are arranged diametrically opposite to each other on a diameter circular shape of the bell 400.
  • This arrangement is particularly advantageous because the depression inside the bell 400 is better applied than with only one suction duct and thus, no amount of liquid or solid particle are emitted in the atmosphere, i.e. the sucking is perfectly ensured. This ensures very low environmental impact and minimizing the safety hazard thanks to the vacuum conditions, which ensure an effective seal between the head 4 and the hydro-blasted surface of the penstock (P).
  • the compact design of the cleaning head and of its associated slide device allows to hydro-blast/clean the pipes with small clearance between the bottom part of the pipe (penstock) and the ground below or lateral constraints such as rocks.
  • Figure 7 shows an advantageous mounting of the suction tank 5 accommodating the cyclone separator, on the frame 20 of the robot 2.
  • the cyclone tank 5 is mounted with articulation on a dedicated support 50.
  • This support is equipped with an inclinometer (not shown).
  • the tank 5 In function of the inclination of the suction tank 5, measured by the inclinometer 50, the tank 5 is modified by at least one pneumatically activated jack 51 to ensure the vertical positioning of the cyclone separator whatever the inclination of the surface to be hydro-blasted/cleaned.
  • the cyclone 5 is shown alone on Figure 8 .
  • the tank 5 includes mainly a lateral cylindrical shell 52 whose top part is closed with a curved lid 53 and the bottom part is shaped as a frustum-conical shape 54.
  • a first duct 55 integral with the lid 53 is connected to the cleaning head 4 while a second duct 56 also integral with the lid 53 is connected to the suction pump 6.
  • a third duct 57 integral with the inferior end of the frustum-conical shape 54 is connected to the filtering unit 7.
  • the tank 5 is equipped with a level gauge 58. Once the gauge 58 detects the cyclone tank 5 is filled, thus the system is configured to open automatically a drain valve 59 that discharges the cyclone, channelling the water to the hose 57, that goes to the filtering unit 7.
  • the filtering unit 7 can be located downstream at a long distance from the frame 20, for example up to 1-1,5 [km]. This filtering unit is configured to separate the solid fraction from the water to be sent to the collecting unit 8 and to be recycled.
  • Figure 10 shows an advantageous embodiment of the filtering unit 7 whose components are all arranged in a closed space 70, such as a container.
  • the filtering unit is arranged at an elevation lower than the one of the cyclone separator 5.
  • the container 70 can be ventilated with exterior atmosphere by a fan 71.
  • the filtering unit 7 comprising two filtering devices 72, 73, 74 the upstream one 72 being adapted to make the decantation and despoiling of the water containing the collected waste, whereas the downstream one 73 being a first mesh filtering unit and the one 74 being an ultra-fine (1 [ ⁇ m]) mesh filter.
  • the filtered water is finally collected in one or more tanks 8, located on site.
  • the filtered and collected water can be then evacuated in an existing drainage pipe, such as the renovated penstock (P).
  • P renovated penstock
  • All the described parts of the UHPWJ system 1 are detachable so as no single piece weighs more than 800 kg and thus they can easily disassembled and reassembled, allowing for transportation with standard size helicopters.
  • UHPWJ system 1 can be controlled through electronic command console by an operator safely standing on the ground on the side of the penstock minimizing the safety risk related to working in challenging environment, such as steep slope.
  • the mobile robot is specially designed to move around and along a pipe, notably a penstock.
  • a pipe notably a penstock.
  • other mobile robots are also possible like for example on wheels or on telescopic booms.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (14)

  1. Système de nettoyage/hydrosoufflage de jet d'eau à ultra haute pression (UHPWJ) (1) pour des surfaces (P), comprenant :
    un robot mobile (2) ou un équipement de levage et/ou de manipulation, tel qu'une nacelle élévatrice, conçu pour être déplacé sur ou à côté de la surface à hydrosouffler/décaper, ledit robot mobile transportant une tête de nettoyage (4) ayant une coque (400) formant une cloche conçue pour confiner l'eau projetée et pour capturer, à la source, les déchets hydrosoufflés/décapés par l'eau projetée sur la surface, ladite cloche ayant au moins une entrée de fluide dotée d'un gicleur pour projeter l'eau à l'intérieur de la cloche et au moins une sortie de fluide,
    un réservoir d'aspiration (5) logeant un cyclone de séparation conçu pour séparer l'eau contenant les déchets hydrosoufflés/décapés de l'air, le réservoir d'aspiration ayant au moins une entrée de fluide reliée à la sortie de fluide de la coque, et au moins deux sorties de fluide,
    une partie fixe (3) comprenant :
    une pompe d'alimentation en eau UHP, reliée à l'entrée de fluide de la cloche, afin de projeter l'eau à l'intérieur de celle-ci,
    un dispositif d'aspiration sous vide (6), relié à l'une des sorties de fluide du réservoir d'aspiration, afin d'aspirer l'eau contenant les déchets hydrosoufflés/décapés à l'intérieur de la cloche,
    une unité de filtration (7) et de collecte (8) comprenant au moins une entrée de fluide reliée à l'autre sortie de fluide du réservoir d'aspiration, afin de collecter l'eau contenant les déchets hydrosoufflés/décapés, ladite unité comprenant au moins un dispositif de filtration pour séparer l'eau des déchets hydrosoufflés/décapés et au moins un réservoir d'eau relié en aval au dispositif de filtration, afin de collecter l'eau filtrée,
    caractérisé en ce que ledit robot mobile (2) transporte ledit réservoir d'aspiration (5).
  2. Système de nettoyage/hydrosoufflage UHPWJ (1) selon la revendication 1, le robot mobile ou l'équipement de levage et/ou de manipulation comprenant :
    un châssis (20) ;
    une crémaillère de support d'outil (41) montée sur une partie fixée au châssis, et sur laquelle la tête de nettoyage UHP est transportée.
  3. Système de nettoyage/hydrosoufflage UHPWJ (1) selon la revendication 2, la tête de nettoyage UHP (4) étant montée avec une capacité de translation sur la crémaillère (41) entre une position inactive dans laquelle la tête de nettoyage est éloignée de la surface à hydrosouffler/décaper et une position active dans laquelle la tête est mise sous pression et scellée à la surface pour être hydrosoufflée/nettoyée.
  4. Système de nettoyage/hydrosoufflage UHPWJ (1) selon la revendication 3, le robot mobile (2) ou l'équipement de levage et/ou de manipulation comprenant au moins un vérin pneumatique (47) pour déplacer la tête de nettoyage (4) entre sa position active et sa position inactive et vice-versa.
  5. Système de nettoyage/hydrosoufflage UHPWJ (1) selon les revendications 2 à 4, destiné à hydrosouffler/nettoyer un tuyau (P), notamment une conduite forcée, en tant que surface, le châssis (20) du robot mobile (2) étant conçu pour une translation sur le tuyau par une unité de commande d'entraînement.
  6. Système de nettoyage/hydrosoufflage UHPWJ (1) selon la revendication 5, le robot mobile (2) comprenant une bague (40) fixée à l'extrémité de l'une des extrémités longitudinales du châssis (2) et dont le diamètre interne est supérieur à l'extérieur du tuyau (P), la crémaillère de support d'outil (41) étant montée avec une capacité de translation sur toute la périphérie de la bague (40).
  7. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, dans lequel la coque (400) et le sommet de scellement de la tête de nettoyage sont conçus dans le but de loger deux conduits d'aspiration sous vide (402).
  8. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, le robot mobile (2) comprenant un support (50) pour le réservoir d'aspiration (5) qui est nivelé par un inclinomètre, le réservoir d'aspiration (5) étant monté avec une articulation sur le support de sorte que en fonction, l'inclinaison du réservoir d'aspiration, mesurée par l'inclinomètre, est modifiée par au moins un vérin pneumatique (51) pour assurer le positionnement vertical du cyclone de séparation quelle que soit l'inclinaison de la surface à hydrosouffler/nettoyer.
  9. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, le dispositif d'aspiration sous vide (6) comprenant au moins un filtre (72, 73, 74) conçu pour filtrer l'air aspiré séparé à l'intérieur du cyclone de séparation avant son évacuation dans l'atmosphère.
  10. Système de nettoyage/hydrosoufflage UHPWJ (1) selon la revendication 9, l'aspiration sous vide comprenant trois filtres (72, 73, 74), le filtre amont (72) étant un filtre presse tandis que les filtres aval (73, 74) sont des filtres à tamis.
  11. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, l'unité de filtration et de collecte (7, 8) étant disposée à un niveau d'altitude qui est inférieur à celui du cyclone de séparation (5) de sorte que l'eau contenant la partie solide des déchets peut être évacuée du séparateur et collectée par l'unité de filtration et de collecte (7, 8) par la gravité.
  12. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, l'unité de filtration et de collecte (7, 8) comprenant trois dispositifs de filtration, le dispositif amont (72) étant conçu pour réaliser la décantation et le nettoyage de l'eau contenant les déchets collectés tandis que les dispositifs aval (73, 74) sont des filtres à tamis.
  13. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, comprenant une console de commande électronique qui peut être commandée par un opérateur pour l'ensemble des opérations du système.
  14. Système de nettoyage/hydrosoufflage UHPWJ (1) selon l'une quelconque des revendications précédentes, le réservoir d'eau étant relié à un tuyau de vidange existant (P).
EP18425080.1A 2018-10-25 2018-10-25 Système de nettoyage par hydrosoufflage de jet d'eau à ultra-haute pression (uhpwj) pour surfaces Active EP3643414B1 (fr)

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EP3643414B1 true EP3643414B1 (fr) 2023-06-07
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CN117161007B (zh) * 2023-11-03 2023-12-26 宏华海洋油气装备（江苏）有限公司 一种海上油管表面清理装置
CN117718270B (zh) * 2024-02-02 2024-04-30 陕西天成航空材料股份有限公司 一种钛合金棒材的清洗装置

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