WO2013017501A1 - Cleaning robot - Google Patents

Cleaning robot Download PDF

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Publication number
WO2013017501A1
WO2013017501A1 PCT/EP2012/064586 EP2012064586W WO2013017501A1 WO 2013017501 A1 WO2013017501 A1 WO 2013017501A1 EP 2012064586 W EP2012064586 W EP 2012064586W WO 2013017501 A1 WO2013017501 A1 WO 2013017501A1
Authority
WO
WIPO (PCT)
Prior art keywords
tunnel
cross
cleaning robot
brushes
sectional area
Prior art date
Application number
PCT/EP2012/064586
Other languages
German (de)
French (fr)
Inventor
Thomas Hagen
Jona HAMPE
Steffen HIMMEL
Jörg LENGERT
Nico WASSERMANN
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2013017501A1 publication Critical patent/WO2013017501A1/en

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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
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • 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
    • B08B9/053—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction
    • B08B9/0535—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction the cleaning device being restricted in its movement by a cable or the like

Definitions

  • the invention relates to a cleaning robot for removing contaminants on a tunnel inner wall of a tunnel through which a medium flows according to claim 1.
  • Deposits are increasingly formed on the inner walls of tunnels or tubes, which are continuously flowed through by a medium, depending on the medium flowing through them. Such deposits must be removed regularly because otherwise they shrink the tunnel cross-section continuously and thus hinder the flow of the medium.
  • the required power plants atdewas ⁇ ser which is taken from the sea or a river, via a tunnel with a cross section of several meters in diameter to the power plant.
  • the cooling water before entering the cooling water tunnel is not gefil ⁇ tert, it comes in ongoing operation due to storage ⁇ ments and biomass growth to a steady reduction of the tunnel cross-section and thus to an increased Druckver ⁇ loss in the cooling water circuit.
  • the number of the brush is divided into a first group for the preliminary cleaning and a second group for the Feinrei ⁇ nson which can also be arranged in the flow direction in a plurality of rows.
  • a pinion motor which cooperates with the running rail in such a way that the brushes in the cross-sectional area are moved continuously along the inner wall of the tunnel, effective cleaning of the inner wall of the tunnel can already be achieved with a few circumferentially arranged brushes.
  • a flow plate is advantageously provided that surrounds the running rail and the brushes on the side facing away from the tunnel inner wall and has a flow-optimized profile in the direction of the flowing medium.
  • FIG. 1 shows a substantially circular cross-sectional area A of a tunnel with a tunnel inner wall 1.
  • a number of brushes 2 and 2 '- here a total of 12 - are here as in a form adapted to the cross-sectional area A and rotatable in the transverse ⁇ sectional area A - here clockwise Rotating - running rail 3 attached, that the brush 2 in the
  • Cross-sectional area A with a small distance of typically smaller learning along the tunnel inner wall 1 are movable.
  • FIG. 2 shows a possible structure of a cleaning robot with two rows of brushes in the flow direction.
  • a pinion motor 4 is provided, which cooperates with the running rail 3, that the brushes 2 and 2 'in the respective planes continuously along the tunnel inner wall (1) are moved.
  • a flow plate 5 is provided, that the running rail 3 and the brushes 2 and 2 'on the side facing away from the tunnels ⁇ linnenwand 1 surrounds and in the direction of the flowing medium M a flow-optimized profile has on ⁇ . If the cleaning robot is not held by appropriate measures in a certain plane, it is due to its flow resistance of the flowing Medi ⁇ continuously moved in the flow direction along the tunnel so that the brushes move on a kind of helical track over the surface of the tunnel inner wall.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Cleaning In General (AREA)

Abstract

The invention relates to a cleaning robot for removing soiling on an internal tunnel wall (1) of a tunnel (10) through which a medium (M) flows, wherein the tunnel (10) has a largely circular cross-section (A), and wherein a number of brushes (2, 2') are attached to a running rail (3), which is adapted to the cross-section (A) and which can be rotated in the cross-section (A), in such a way that the brushes (2, 2') can be moved in the cross-section (A) along the internal tunnel wall (1) at a small distance.

Description

Beschreibung description
Reinigungsroboter Die Erfindung betrifft einen Reinigungsroboter zum Entfernen von Verunreinigungen an einer Tunnelinnenwand eines von einem Medium durchströmten Tunnels gemäß Anspruch 1. The invention relates to a cleaning robot for removing contaminants on a tunnel inner wall of a tunnel through which a medium flows according to claim 1.
An den Innenwänden von Tunneln oder auch Röhren, die kontinu- ierlich von einem Medium durchströmt werden, bilden sich je nach durchströmendem Medium zunehmend Ablagerungen. Solche Ablagerungen müssen regelmäßig entfernt werden, da sie ansonsten den Tunnelquerschnitt kontinuierlich verkleinern und damit die Strömung des Mediums behindern. Deposits are increasingly formed on the inner walls of tunnels or tubes, which are continuously flowed through by a medium, depending on the medium flowing through them. Such deposits must be removed regularly because otherwise they shrink the tunnel cross-section continuously and thus hinder the flow of the medium.
So wird beispielsweise das bei Kraftwerken benötigte Kühlwas¬ ser, das aus dem Meer oder einem Fluss entnommen wird, über einen Tunnel mit einem Querschnitt von mehreren Metern Durchmesser zum Kraftwerk geführt. Da in aller Regel aber das Kühlwasser vor Eintritt in den Kühlwassertunnel nicht gefil¬ tert wird, kommt es im laufenden Betrieb aufgrund von Ablage¬ rungen und Biomassenwachstum zu einer stetigen Verringerung des Tunnelquerschnitts und damit zu einem erhöhten Druckver¬ lust im Kühlwasserkreislauf. For example, the required power plants at Kühlwas ¬ ser, which is taken from the sea or a river, via a tunnel with a cross section of several meters in diameter to the power plant. As a rule, however, the cooling water before entering the cooling water tunnel is not gefil ¬ tert, it comes in ongoing operation due to storage ¬ ments and biomass growth to a steady reduction of the tunnel cross-section and thus to an increased Druckver ¬ loss in the cooling water circuit.
Heute bekannte Maßnahmen bestehen darin, dass der Tunnel re¬ gelmäßig durch Reinigungspersonal oder Taucher gereinigt wird. Erfolgt die Reinigung durch Reinigungspersonal kann das Kraftwerk in dieser Reinigungsphase nicht betrieben werden, da der Tunnel frei von Kühlwasser sein sollte. Die Reinigung durch Taucher ist dagegen sehr ineffizient und gefährlich, da Tauchvorgänge in aller Regel auf wenige Stunden beschränkt sind . Aufgabe der Erfindung ist es, mit einem Reinigungsroboter eine Alternative bereit zu stellen, der die zuvor beschriebenen Nachteile überwindet. Diese Aufgabe wird mit dem Reinigungsroboter mit den Merkma¬ len des Anspruchs 1 gelöst. Today known measures are that the tunnel re ¬ regularly by cleaning staff or diver is cleaned. If the cleaning is carried out by cleaning personnel, the power plant can not be operated during this cleaning phase as the tunnel should be free of cooling water. Diver cleaning, on the other hand, is very inefficient and dangerous, as dipping is usually limited to a few hours. The object of the invention is to provide an alternative with a cleaning robot, which overcomes the disadvantages described above. This object is achieved with the cleaning robot with the Merkma ¬ len of claim 1.
Dadurch, dass eine Anzahl von Bürsten so an einer an die Querschnittsfläche des Tunnels angepassten und in der Quer¬ schnittsfläche drehbaren Laufschiene angebracht ist, dass die Bürsten in der Querschnittsfläche mit geringem Abstand ent¬ lang der Tunnelinnenwand bewegbar sind, kann die gesamte Oberfläche der Tunnelinnenwand auch während des Kraftwerkbe- triebs - also auch während das Medium wie beispielsweiseCharacterized in that a number of brush is attached to a form adapted to the cross-sectional area of the tunnel and in the transverse ¬ sectional area rotatable running rail, that the brush in cross-sectional area of the tunnel inner wall ent ¬ long movable a short distance, the entire surface of the tunnel inner wall even during power plant operation - including during the medium such as
Kühlwasser den Tunnel durchströmt - gereinigt werden. Optio¬ nal vom Reinigungsroboter mitgeführte Beleuchtung und Kamera ermöglichen gleichzeitig die Kontrolle des Reinigungsvorgangs von einer Leitwarte aus. Cooling water flows through the tunnel - be cleaned. Optio ¬ nal of the cleaning robot entrained lighting and camera simultaneously allow the control of the cleaning process from a control room.
Vorzugsweise wird die Anzahl der Bürsten in eine erste Gruppe für die Grobreinigung und eine zweite Gruppe für die Feinrei¬ nigung unterteilt, die auch in Strömungsrichtung in mehreren Reihen angeordnet sein können. Preferably, the number of the brush is divided into a first group for the preliminary cleaning and a second group for the Feinrei ¬ nigung which can also be arranged in the flow direction in a plurality of rows.
Wird ein Ritzelmotor vorgesehen, der so mit der Laufschiene zusammenwirkt, dass die Bürsten in der Querschnittsfläche kontinuierlich entlang der Tunnelinnenwand bewegt werden, kann bereits mit wenigen über den Umfang angeordneten Bürsten eine effektive Reinigung der Tunnelinnenwand erreicht werden. If a pinion motor is provided which cooperates with the running rail in such a way that the brushes in the cross-sectional area are moved continuously along the inner wall of the tunnel, effective cleaning of the inner wall of the tunnel can already be achieved with a few circumferentially arranged brushes.
Zur Reduzierung des Strömungswiderstands bei durchströmenden Medium im laufenden Anlagebetrieb ist vorteilhafterweise ein Strömungsblech vorgesehen, dass die Laufschiene und die Bürs- ten auf der der Tunnelinnenwand abgewandten Seite umgibt und in Richtung des strömenden Mediums ein strömungsoptimiertes Profil aufweist. In order to reduce the flow resistance in the medium flowing through the system during operation, a flow plate is advantageously provided that surrounds the running rail and the brushes on the side facing away from the tunnel inner wall and has a flow-optimized profile in the direction of the flowing medium.
Zur Fortbewegung des Reinigungsroboters in Strömungsrichtung des Mediums sind vorzugsweise regelbare Klappen vorgesehen, mit denen der Strömungswiderstand verändert und damit die Ge¬ schwindigkeit des Reinigungsroboters im Tunnel eingestellt werden kann. Die Rückführung des Roboters in seine Ausgangsposition erfolgt üblicherweise durch entsprechende mechanische Vorrich¬ tungen wie beispielsweise Seilzüge oder spezieller im Tunnel angeordneten Laufschienen mit Elektromotor. To move the cleaning robot in the direction of flow of the medium controllable valves are preferably provided, with which the flow resistance changed and thus the Ge ¬ speed of the cleaning robot can be adjusted in the tunnel. The return of the robot to its starting position is usually carried out by appropriate mechanical Vorrich ¬ lines such as cables or more specifically arranged in the tunnel rails with electric motor.
Die Erfindung soll nun anhand der nachfolgenden Figuren beispielhaft erläutert werden. Es zeigen: FIG 1 schematisch einen Tunnel mit erfindungsgemäßem Reinigungsroboter im Tunnelquerschnitt, The invention will now be explained by way of example with reference to the following figures. 1 shows schematically a tunnel with cleaning robot according to the invention in the tunnel cross-section,
FIG 2 schematischer Aufbau des erfindungsgemäßen Reinigungsroboters in Strömungsrichtung. FIG 1 zeigt eine weitgehend kreisförmige Querschnittsfläche A eines Tunnels mit einer Tunnelinnenwand 1. Eine Anzahl von Bürsten 2 und 2 ' - hier insgesamt 12 - sind hier so an einer an die Querschnittsfläche A angepassten und in der Quer¬ schnittsfläche A drehbaren - hier im Uhrzeigersinn rotieren- den - Laufschiene 3 angebracht, dass die Bürsten 2 in der2 shows a schematic structure of the cleaning robot according to the invention in the flow direction. 1 shows a substantially circular cross-sectional area A of a tunnel with a tunnel inner wall 1. A number of brushes 2 and 2 '- here a total of 12 - are here as in a form adapted to the cross-sectional area A and rotatable in the transverse ¬ sectional area A - here clockwise Rotating - running rail 3 attached, that the brush 2 in the
Querschnittsfläche A mit geringem Abstand von typischerweise kleiner lern entlang der Tunnelinnenwand 1 bewegbar sind. Cross-sectional area A with a small distance of typically smaller learning along the tunnel inner wall 1 are movable.
FIG 2 zeigt einen möglichen Aufbau eines Reinigungsroboters mit zwei Bürstenreihen in Strömungsrichtung. Hier ist zudem ein Ritzelmotor 4 vorgesehen, der so mit der Laufschiene 3 zusammenwirkt, dass die Bürsten 2 und 2 ' in den jeweiligen Ebenen kontinuierlich entlang der Tunnelinnenwand (1) bewegt werden. Zudem ist ein Strömungsblech 5 vorgesehen ist, dass die Laufschiene 3 und die Bürsten 2 und 2 ' auf der der Tunne¬ linnenwand 1 abgewandten Seite umgibt und in Richtung des strömenden Mediums M ein strömungsoptimiertes Profil auf¬ weist. Sofern der Reinigungsroboter nicht durch entsprechende Maßnahmen in einer bestimmten Ebene festgehalten wird, wird er aufgrund seines Strömungswiderstandes vom fließenden Medi¬ um kontinuierlich in Strömungsrichtung entlang des Tunnels fortbewegt, so dass sich die Bürsten auf einer Art Helixbahn über die Oberfläche der Tunnelinnenwand bewegen. Werden zudem in Strömungsrichtung des Mediums am Reinigungsroboter regelbare Mittel wie beispielsweise Klappen vorgesehen, mit denen der Strömungswiderstand verändert und damit die Geschwindig¬ keit des Reinigungsroboters im Tunnel eingestellt werden kann, kann die Ganghöhe der Helixbahn und damit der Reinigungsgrad des Reinigungsroboters eingestellt werden. 2 shows a possible structure of a cleaning robot with two rows of brushes in the flow direction. Here also a pinion motor 4 is provided, which cooperates with the running rail 3, that the brushes 2 and 2 'in the respective planes continuously along the tunnel inner wall (1) are moved. In addition, a flow plate 5 is provided, that the running rail 3 and the brushes 2 and 2 'on the side facing away from the tunnels ¬ linnenwand 1 surrounds and in the direction of the flowing medium M a flow-optimized profile has on ¬ . If the cleaning robot is not held by appropriate measures in a certain plane, it is due to its flow resistance of the flowing Medi ¬ continuously moved in the flow direction along the tunnel so that the brushes move on a kind of helical track over the surface of the tunnel inner wall. Beyond that in the flow direction of the medium controlled at the robot cleaner means such as flaps are provided with which the flow resistance changes, and thus the VELOCITY ¬ ness of the robot cleaner can be set in the tunnel, the pitch of the helical path, and thus the cleaning efficiency of the robot cleaner can be adjusted.

Claims

Patentansprüche claims
1. Reinigungsroboter zum Entfernen von Verunreinigungen an einer Tunnelinnenwand (1) eines von einem Medium (M) durch- strömten Tunnels (10), wobei der Tunnel (10) eine weitgehend kreisförmige Querschnittsfläche (A) aufweist, und wobei eine Anzahl von Bürsten (2,2') so an einer an die Querschnittsfläche (A) angepassten und in der Querschnittsfläche (A) drehba¬ ren Laufschiene (3) angebracht ist, dass die Bürsten (2,2') in der Querschnittsfläche (A) mit geringem Abstand entlang der Tunnelinnenwand (1) bewegbar sind. A cleaning robot for removing contaminants on a tunnel inner wall (1) of a tunnel (10) through which flows a medium (M), the tunnel (10) having a substantially circular cross-sectional area (A), and a number of brushes (FIG. 2,2 ') so adapted to one (to the cross-sectional area a) and (in the cross-sectional area a) drehba ¬ ren running rail (3) is mounted, the brushes (2,2') in cross-sectional area (a) at a small distance along the tunnel inner wall (1) are movable.
2. Reinigungsroboter nach Anspruch 1, 2. Cleaning robot according to claim 1,
d a d u r c h g e k e n n z e i c h n e t , d a s s d a d u r c h e s e n c i n e s, d a s s
die Anzahl der Bürsten in eine erste Gruppe (2) für die Grob¬ reinigung und eine zweite Gruppe (2') für die Feinreinigung unterteilt ist. the number of brushes in a first group (2) for the coarse cleaning ¬ and a second group (2 ') is divided for the fine purification.
3. Reinigungsroboter nach Anspruch 1 oder 2, 3. Cleaning robot according to claim 1 or 2,
d a d u r c h g e k e n n z e i c h n e t , d a s s d a d u r c h e s e n c i n e s, d a s s
ein Ritzelmotor (4) so mit der Laufschiene (3) zusammenwirkt, dass die Bürsten (2,2') in der Querschnittsfläche (A) konti¬ nuierlich entlang der Tunnelinnenwand (1) bewegt werden. a pinion motor (4) so cooperating with the rail (3), that the brushes (2,2 ') in cross-sectional area (A) continu ously ¬ along the tunnel inner wall (1) are moved.
4. Reinigungsroboter nach einem der Ansprüche 1 bis 3, d a d u r c h g e k e n n z e i c h n e t , d a s s 4. Cleaning robot according to one of claims 1 to 3, d a d u c h e c e n e c e n e, d a s s
ein Strömungsblech (5) vorgesehen ist, dass die Laufschiene (3) und die Bürsten (2,2') auf der der Tunnelinnenwand (1) abgewandten Seite umgibt und in Richtung des strömenden Medi- ums (M) ein strömungsoptimiertes Profil aufweist. a flow plate (5) is provided, that the running rail (3) and the brushes (2,2 ') on the tunnel inner wall (1) facing away from the side and in the direction of the flowing medium (M) has a flow-optimized profile.
5. Reinigungsroboter nach einem der vorherigen Ansprüche 1 bis 4, 5. Cleaning robot according to one of the preceding claims 1 to 4,
d a d u r c h g e k e n n z e i c h n e t , d a s s d a d u r c h e s e n c i n e s, d a s s
am Reinigungsroboter Mittel zum Einstellen des Strömungswiderstands des Reinigungsroboters im vom Medium (M) durch¬ strömten Tunnels (10) vorgesehen sind. on the robot cleaning means for adjusting the flow resistance of the cleaning robot in the medium (M) through ¬ flown tunnels (10) are provided.
PCT/EP2012/064586 2011-08-03 2012-07-25 Cleaning robot WO2013017501A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110080340 DE102011080340A1 (en) 2011-08-03 2011-08-03 cleaning robot
DE102011080340.8 2011-08-03

Publications (1)

Publication Number Publication Date
WO2013017501A1 true WO2013017501A1 (en) 2013-02-07

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Application Number Title Priority Date Filing Date
PCT/EP2012/064586 WO2013017501A1 (en) 2011-08-03 2012-07-25 Cleaning robot

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WO (1) WO2013017501A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113445446B (en) * 2021-07-21 2022-11-22 贵州省公路开发有限责任公司黔南营运管理中心 Tunnel reflection of light ring cleaning machines people

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3800358A (en) * 1972-05-08 1974-04-02 J Ryan Duct cleaning apparatus
US3905061A (en) * 1974-07-29 1975-09-16 Browning Ferris Industries Apparatus for flame-cleaning pipe
DE102007010478A1 (en) * 2007-03-05 2008-09-11 Airmatic Gesellschaft für Umwelt und Technik mbH Maintenance vehicle to clean tunnel walls has a segmented hood, to match the wall contours, with a high pressure water spray chamber and a suction extraction chamber
US20090044352A1 (en) * 2007-08-16 2009-02-19 Sangyoung Seo Machine for pipe maintenance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3800358A (en) * 1972-05-08 1974-04-02 J Ryan Duct cleaning apparatus
US3905061A (en) * 1974-07-29 1975-09-16 Browning Ferris Industries Apparatus for flame-cleaning pipe
DE102007010478A1 (en) * 2007-03-05 2008-09-11 Airmatic Gesellschaft für Umwelt und Technik mbH Maintenance vehicle to clean tunnel walls has a segmented hood, to match the wall contours, with a high pressure water spray chamber and a suction extraction chamber
US20090044352A1 (en) * 2007-08-16 2009-02-19 Sangyoung Seo Machine for pipe maintenance

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