WO1996039277A3 - Verfahren zum reinigen von oberflächen mit hilfe eines strahlmittels und roboter zur durchführung des verfahrens - Google Patents

Verfahren zum reinigen von oberflächen mit hilfe eines strahlmittels und roboter zur durchführung des verfahrens Download PDF

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Publication number
WO1996039277A3
WO1996039277A3 PCT/EP1996/002286 EP9602286W WO9639277A3 WO 1996039277 A3 WO1996039277 A3 WO 1996039277A3 EP 9602286 W EP9602286 W EP 9602286W WO 9639277 A3 WO9639277 A3 WO 9639277A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
abrasive
carrying
explosive
cleaning surfaces
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.)
Ceased
Application number
PCT/EP1996/002286
Other languages
English (en)
French (fr)
Other versions
WO1996039277A2 (de
Inventor
Jens Werner Kipp
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.)
Individual
Original Assignee
Individual
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
Priority claimed from DE29509289U external-priority patent/DE29509289U1/de
Application filed by Individual filed Critical Individual
Priority to EP96918633A priority Critical patent/EP0830236B1/de
Priority to DE59605061T priority patent/DE59605061D1/de
Priority to AT96918633T priority patent/ATE192058T1/de
Publication of WO1996039277A2 publication Critical patent/WO1996039277A2/de
Publication of WO1996039277A3 publication Critical patent/WO1996039277A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/003—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods using material which dissolves or changes phase after the treatment, e.g. ice, CO2
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/32—Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks
    • B24C3/325—Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks for internal surfaces, e.g. of tubes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Water Supply & Treatment (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Cleaning In General (AREA)
  • Nozzles (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

Verfahren zum Beseitigen von Sprengstoffablagerungen in Kanalrohren oder zum Herauslösen von Sprengstoff aus Munitionshülsen, bei dem der Sprengstoff mit Hilfe eines gasförmigen Strahlmediums, dem vorzugsweise Trockeneis als Strahlmittel zugesetzt ist, von der Wand des Rohres oder der Hülse abgelöst wird. Bei Einsätzen in Kanalrohren wird ein Roboter (10) verwendet, der eine Luftlanze (26) zur Abgabe des Strahlmediums sowie eine Fernsehkamera (34) trägt. Die Luftlanze (26) und die Kamera sind ferngesteuert um die Rohrachse drehbar und um eine Querachse (52) schwenkbar.
PCT/EP1996/002286 1995-06-06 1996-05-28 Verfahren zum reinigen von oberflächen mit hilfe eines strahlmittels und roboter zur durchführung des verfahrens Ceased WO1996039277A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP96918633A EP0830236B1 (de) 1995-06-06 1996-05-28 Verfahren zum ablösen von an einer oberfläche haftenden explosivstoffen
DE59605061T DE59605061D1 (de) 1995-06-06 1996-05-28 Verfahren zum ablösen von an einer oberfläche haftenden explosivstoffen
AT96918633T ATE192058T1 (de) 1995-06-06 1996-05-28 Verfahren zum ablösen von an einer oberfläche haftenden explosivstoffen

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE29509289U DE29509289U1 (de) 1995-06-06 1995-06-06 Roboter zum Reinigen von Kanalrohren
DE29509289.0 1995-06-06
DE19601814A DE19601814A1 (de) 1995-06-06 1996-01-19 Verfahren zum Reinigen von Oberflächen mit Hilfe eines Strahlmittels und Roboter zur Durchführung des Verfahrens
DE19601814.5 1996-01-19

Publications (2)

Publication Number Publication Date
WO1996039277A2 WO1996039277A2 (de) 1996-12-12
WO1996039277A3 true WO1996039277A3 (de) 1997-01-30

Family

ID=26022177

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1996/002286 Ceased WO1996039277A2 (de) 1995-06-06 1996-05-28 Verfahren zum reinigen von oberflächen mit hilfe eines strahlmittels und roboter zur durchführung des verfahrens

Country Status (3)

Country Link
EP (1) EP0830236B1 (de)
AT (1) ATE192058T1 (de)
WO (1) WO1996039277A2 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1328017C (zh) * 2005-05-20 2007-07-25 哈尔滨工程大学 仿生蝼蛄机器人
DE102006016314B3 (de) * 2006-04-06 2007-09-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. CO2-Reinigungslanze mit Schwenkdüse
RU2364501C1 (ru) * 2008-01-09 2009-08-20 ОАО "Научно-исследовательский институт технологии, контроля и диагностики железнодорожного транспорта" (ОАО "НИИТКД") Роботизированный мобильный комплекс очистки и дезинфекции системы вентиляции и кондиционирования воздуха
ATE536224T1 (de) 2009-05-26 2011-12-15 Ibc Robotics Ab System, werkzeug und verfahren zum reinigen des innenraums eines frachtbehälters
CN106049658B (zh) * 2016-06-28 2018-05-22 张春英 一种再生沥青混凝土公路下水道智能除污一体机
CN106381920B (zh) * 2016-08-29 2019-04-02 山东胜伟盐碱地科技有限公司 一种排盐暗管清理管结构
EP3305426A1 (de) * 2016-10-05 2018-04-11 Mauerspecht GmbH Flüssigkeitsstrahlvorrichtung zum bearbeiten von kanalwandungen und bewegungsvorrichtung einer solchen vorrichtung
CN108252399A (zh) * 2018-01-16 2018-07-06 刘肖俊 一种新型喷气式污水管道清洁机器人
IT201900003401A1 (it) * 2019-03-08 2020-09-08 Fare S R L Macchina per la pulitura di camere di rigenerazione di forni, particolarmente per la produzione di articoli di vetro.
CN110439101B (zh) * 2019-09-06 2020-04-03 广州克力劳保用品有限公司 一种城市下水道清淤疏通装置
CN114425880B (zh) * 2021-10-28 2024-04-05 清远万马新材料有限公司 一种具有双重清洁效果的螺筒内壁清洁结构
GB2621881B (en) * 2022-08-26 2025-01-08 Strupish James Area denial system

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3440096A (en) * 1962-07-16 1969-04-22 Byron Jackson Inc Method of removing solid propellant
CH656330A5 (en) * 1982-07-07 1986-06-30 Marco Darani Device for corrosion-protective treatment
US4661848A (en) * 1985-09-25 1987-04-28 Shinichi Matsuda Method and apparatus for cleaning of pipes
US4793866A (en) * 1985-12-13 1988-12-27 Morton Thiokol, Inc. Method and apparatus for removing solid propellant from rocket motor cases
GB2236065A (en) * 1989-09-22 1991-03-27 Subocean Projects & Equipment High pressure rotary cutting tool
WO1992008234A1 (en) * 1990-10-30 1992-05-14 Tti Engineering, Inc. Mobile co2 blasting decontamination system
DE4128703A1 (de) * 1991-08-29 1993-03-04 Dietmar Dr Ing Rath Verfahren und vorrichtung zum universellen entschaerfen von munition und sprengstoffen aller art und in allen bereichen
EP0560611A1 (de) * 1992-03-13 1993-09-15 ATAKA CONSTRUCTION & ENGINEERING CO. LTD Reinigungsvorrichtung für das Innere einer Rohrleitung
WO1994020263A1 (en) * 1993-03-03 1994-09-15 Wp-System Aktiebolag Blast-cleaning system
DE4440080A1 (de) * 1993-11-15 1995-05-18 Zeppelin Schuettguttech Gmbh Verfahren und Vorrichtung zum Freiblasen von Förderleitungen

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3440096A (en) * 1962-07-16 1969-04-22 Byron Jackson Inc Method of removing solid propellant
CH656330A5 (en) * 1982-07-07 1986-06-30 Marco Darani Device for corrosion-protective treatment
US4661848A (en) * 1985-09-25 1987-04-28 Shinichi Matsuda Method and apparatus for cleaning of pipes
US4793866A (en) * 1985-12-13 1988-12-27 Morton Thiokol, Inc. Method and apparatus for removing solid propellant from rocket motor cases
GB2236065A (en) * 1989-09-22 1991-03-27 Subocean Projects & Equipment High pressure rotary cutting tool
WO1992008234A1 (en) * 1990-10-30 1992-05-14 Tti Engineering, Inc. Mobile co2 blasting decontamination system
DE4128703A1 (de) * 1991-08-29 1993-03-04 Dietmar Dr Ing Rath Verfahren und vorrichtung zum universellen entschaerfen von munition und sprengstoffen aller art und in allen bereichen
EP0560611A1 (de) * 1992-03-13 1993-09-15 ATAKA CONSTRUCTION & ENGINEERING CO. LTD Reinigungsvorrichtung für das Innere einer Rohrleitung
WO1994020263A1 (en) * 1993-03-03 1994-09-15 Wp-System Aktiebolag Blast-cleaning system
DE4440080A1 (de) * 1993-11-15 1995-05-18 Zeppelin Schuettguttech Gmbh Verfahren und Vorrichtung zum Freiblasen von Förderleitungen

Also Published As

Publication number Publication date
EP0830236B1 (de) 2000-04-26
ATE192058T1 (de) 2000-05-15
EP0830236A2 (de) 1998-03-25
WO1996039277A2 (de) 1996-12-12

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