EP3243576B1 - Device for processing the inside of inaccessible pipes and pipe networks using high pressure fluid blasting - Google Patents

Description

The invention relates to a device for processing the interior of inaccessible pipes and pipe networks by means of high-pressure jets of a fluid with or without an abrasive.

Deposits, dirt, coatings and inliners must be regularly removed from inaccessible pipes. Blockages must also be removed. The use of devices which use high-pressure liquid jets is particularly suitable for cleaning pipes that are inaccessible. A liquid hits the contaminated area under high pressure by means of one or more nozzles. The high pressure of the liquid is the reason for the strong forces that are able to loosen even strong incrustations. However, it is particularly critical that this can also damage the pipe wall. A common procedure for limiting the exposure time of the high pressure liquid jet to the pipe wall is a rotating or otherwise moving nozzle which ensures that the impact position of the liquid jet changes constantly. In the JP 2008 279 401 A a device for cleaning pipes is disclosed, in which the water jet hits the pipe wall at a certain angle and cleans the pipe wall circumferentially due to the rotating nozzle.

However, stubborn, that is, dirt that is difficult to loosen, often causes damage to the pipe walls due to the long processing time required during cleaning. In order to be able to determine the position of the cleaning device within the pipe more precisely and thereby prevent unevenness from having an unfavorable effect on the impact position of the jet, which leads to undesired prolongation of the action time Can lead high pressure jet on the pipe wall, guide carriages are used, for example. A corresponding device for cleaning pipes is in the DE 196 26 590 A1 disclosed. This device consists of a transport device and a rotating nozzle device. In order to avoid damage to the inner wall of the pipe due to a standstill of the rotary nozzle, an additional rotational movement of the nozzle arrangement is provided. Furthermore, guidance of the rotary nozzle arrangement by means of guide slides in a guide sleeve is described. The guide elements can also be designed to be collapsible in order to enable adaptation to different pipe diameters. In order to enable the cleaning device to be used under water, a minimal distance between the nozzle arrangement and the inner wall of the pipe is aimed for. To protect against excessive mechanical stress on the inner wall of the pipe, an angle of the high pressure jet that deviates from 90 ° to the inner wall of the pipe is desired.

However, unevenness in the pipes when using guide carriages can lead to an irregular cleaning performance. Sensors that determine the distance to the pipe wall support the positioning of the nozzle arrangement at a uniform distance from the pipe wall. In the JP 000 H 08141534 A a cleaning robot is disclosed which is able to use sensors to control the distance between the cleaning nozzles and the wall. The position of the nozzles can be adjusted so that even cleaning is possible even with larger unevenness or non-concentric shape of the pipes. The nozzles are attached to brackets which allow the nozzles to move around the inside wall of the pipe.

A device for processing channel walls of closed channels by means of high-pressure liquid jets is from the 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 for Generation of a forward directed, focused jet of a liquid jet medium is suitable. The alignment of the beam "forwards" includes that the beam direction coincides with the channel axis and also that the beam or beams have an angle - 90 ° <α <+ 90 ° with respect to the channel axis, depending on the type of to eliminating obstacles and adhesions. In addition, 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 jet medium under high pressure. The carriage and the nozzle body are designed in such a way that both can be positioned and moved at least along their entire underside at a distance from the wall. When the device moves forward, the distance between the duct wall and the underside of the device is maintained. For this purpose, the trolley includes suitable movement and support elements that enable the trolley to move and support it in at least two directions relative to the canal wall. The support of the device for the canal wall can be done with the help of slide bearings, skids or support wheels. The angle α of the jet direction of the jet nozzles to the channel axis can be set in the range of -90 ° <α <+ 90 °, whereby an adjustability between -15 ° <α <+ 15 ° is sometimes considered sufficient.

• eine relativ zur Innenwand eines Rohrs in mindestens drei Achsen bewegbare Düse zur Erzeugung eines Strahls eines fluiden Reinigungsmediums auf einen beliebigen Punkt der Innenwand des Rohrs,
• einen an die Düse angeschlossenen Reinigungsschlauch für die Zufuhr des fluiden Reinigungsmediums, wobei die Düse an einem vorderen Endbereich des Reinigungsschlauchs angebracht ist und die Düse mit dem angeschlossenen Reinigungsschlauch entlang einer parallel zur Rohrachse verlaufenden Längsachse innerhalb des Rohrs eine axiale Bewegung ausführen kann,
• mindestens eine Schwenkeinrichtung für die Auslenkung der Düse in einem Winkel zur Längsachse, zum Beispiel zwischen 0° und ± 90°, unter Biegung des vorderen Endbereichs des Reinigungsschlauchs und von dessen Schlauchachse mit einer Biegungsrichtung in einer Biegungsebene,
• mindestens eine Einrichtung für die Auslenkung der Düse um die Längsachse durch Änderung der Biegungsrichtung und der Biegungsebene des vorderen Endbereichs um die Längsachse ohne Torsion des Reinigungsschlauchs, und
• mindestens eine Kamera für die Erfassung von Verschmutzungen und die Beobachtung der Auslenkung und Ausrichtung der Düse.

the DE 20 2014 105 354 U1 discloses an apparatus for cleaning pipes comprising

• a nozzle movable in at least three axes relative to the inner wall of a pipe for generating a jet of a fluid cleaning medium onto any point on the inner wall of the pipe,
• a cleaning hose connected to the nozzle for the supply of the fluid cleaning medium, the nozzle being attached to a front end region of the cleaning hose and the nozzle with the connected cleaning hose along a longitudinal axis within the pipe running parallel to the pipe axis Can perform movement,
• at least one swivel device for the deflection of the nozzle at an angle to the longitudinal axis, for example between 0 ° and ± 90 °, with bending of the front end area of the cleaning hose and of its hose axis with a bending direction in a bending plane,
• at least one device for the deflection of the nozzle about the longitudinal axis by changing the bending direction and the bending plane of the front end region about the longitudinal axis without torsion of the cleaning hose, and
• At least one camera for the detection of soiling and the observation of the deflection and alignment of the nozzle.

The object of the invention is to provide a device which, with high cleaning performance, places less stress on the pipe wall and thus causes less damage.

The object is achieved by a device with the features according to patent claim 1. Further developments are given in the dependent claims.

• mindestens eine Düse, die am vorderen Ende der Vorrichtung angeordnet ist, zur Erzeugung mindestens eines nach vorn gerichteten gebündelten Düsenstrahls des Fluids,
• eine Medienzufuhr zur Versorgung der mindestens einen Düse mit dem unter Hochdruck stehenden fluiden Medium,
• eine Führungseinrichtung für die Führung der mindestens einen Düse mit einer Ausrichtung des aus der Düse austretenden mindestens einen Düsenstrahls parallel zur Rohrwandung,
• eine Zustelleinrichtung für eine Annäherung oder ein Anlegen der mindestens einen Düse oder der Führungseinrichtung an die Rohrwandung zur Minimierung oder Aufrechterhaltung des Abstands des mindestens einen Düsenstrahls zur parallel zum Düsenstrahl beabstandeten Rohrwandung und/oder eine Schwenkeinrichtung für eine Auslenkung des mindestens einen Düsenstrahls aus der Parallelität zur Rohrwandung in Richtung Rohrmitte,
  • eine Dreheinrichtung für eine Rotationsbewegung der mindestens einen Düse um die Rohrachse oder eine zur Rohrachse parallele Achse an der Rohrwandung entlang bei prinzipiell paralleler Führung des Düsenstrahls zur Rohrwandung durch die Führungseinrichtung,
• eine Vorschubeinrichtung für eine axiale Vorschubbewegung entlang oder parallel zur Rohrachse und
• mindestens eine Kamera für die Beobachtung der Ausrichtung und Auslenkung der mindestens einen Düse.

The device according to the invention for processing the interior of inaccessible pipes and pipe networks by means of high-pressure jets of a fluid with or without an abrasive comprises

• at least one nozzle, which is arranged at the front end of the device, for generating at least one forward-directed bundled nozzle jet of the fluid,
• a media supply for supplying the at least one nozzle with the fluid medium under high pressure,
• a guide device for guiding the at least one nozzle with an alignment of the at least one nozzle jet emerging from the nozzle parallel to the pipe wall,
• a feed device for approaching or placing the at least one nozzle or the guide device on the pipe wall to minimize or maintain the distance of the at least one nozzle jet to the pipe wall parallel to the nozzle jet and / or a pivoting device for deflecting the at least one nozzle jet from parallelism to Pipe wall in the direction of the pipe center,
  • a rotating device for a rotational movement of the at least one nozzle around the pipe axis or an axis parallel to the pipe axis along the pipe wall with a basically parallel guidance of the nozzle jet to the pipe wall by the guide device,
• a feed device for an axial feed movement along or parallel to the pipe axis and
• at least one camera for observing the alignment and deflection of the at least one nozzle.

According to the concept, the device comprises a guide device for guiding the nozzle. The device is used to process the interior of inaccessible pipes or pipe networks using high-pressure fluid technology. The device is suitable both for use with and for use without abrasives.

Due to several bearings and gears, the device is able to bring the nozzle into suitable positions by means of the guide device and to align the emerging nozzle steel in such a way that optimal removal of the dirt in the pipe is guaranteed. The device allows various types of movement of the nozzle or the guide device, such as an axial movement, a rotational movement or a pivoting movement, to be carried out. The device reaches all areas of the pipe wall, since when the device is guided parallel to the pipe inner wall, the device rotates around the pipe axis or around a Pipe axis parallel axis is possible. In this way, all areas of the pipe can be cleaned efficiently without the pipe walls being damaged by the high pressure jets of the fluid. In principle, the nozzle jet is guided parallel to the pipe wall. A jet guided parallel to the pipe wall cannot cause any damage to the pipe wall at the correct distance.

Preferably, the guide device is also 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 nozzle jet within the pipe to the pipe wall , to which the at least one nozzle is approached or to which it rests, inclined slightly towards or slightly inclined away from this pipe wall, in such a way that the pipe wall is not damaged.

According to an advantageous embodiment of the invention, the guide device is designed as a slide shoe and / or as a guide carriage which can be guided along the pipe wall. The guide device preferably comprises a scanning device with an adjustment. The distance between the at least one nozzle jet and the pipe wall is kept as small as possible by means of scanning. The guide device preferably has a sensor, by means of which the distance between the at least one nozzle and / or the at least one exiting nozzle jet and the parallel spaced pipe wall can be determined a nozzle jet is realized to the parallel spaced pipe inner wall. A correction or optimization of the position can be repeated at regular time intervals. A pivoting movement of the device enables 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. This means that dirt in the middle of the pipe can also be removed will.

According to one embodiment of the invention, the infeed device and / or the pivoting device of the device comprises one or more inclination limiting devices which ensure that the at least one nozzle jet, which is guided parallel to the pipe wall, can only be inclined towards the pipe wall to such an extent that the pipe wall is not damaged. For example, the inclination can be limited by a regulation. An inclination of the nozzle jet in the direction of the pipe wall on which the guide rests or to which the distance has been minimized takes place only at very small angles, preferably in the range from 0 ° to 10 °, the largest possible angle also depending on the sensitivity of the particular used Depends on the pipe material. However, the nozzle jet can also be inclined away from the pipe wall on which the guide rests or to which the distance has been minimized, in which case the inclination limiting device is also used to limit the inclination, preferably within a range of 0 ° to -10 °. In any case, it should be prevented that the nozzle jet hits the pipe wall too close. If the distance of the at least one nozzle jet is greater until it strikes the pipe wall, the nozzle jet is widened to a greater extent and, if the angle is smaller, the point of impact takes up a larger area. This means that the force emanating from the nozzle jet per area of the pipe wall is lower. For this reason, if the angle is limited, the likelihood of damage to the pipe wall is significantly lower.

In a further embodiment of the invention, the feed device comprises one or more rearwardly directed bores or nozzles to which the fluid medium can be fed and by means of which a feed movement of the device based on the recoil can be generated by jets of the fluid medium flowing out of the bores or nozzles . In one embodiment of the invention, the device comprises a chassis with wheels for the axial feed movement.

According to a further embodiment variant, the distance between the at least one nozzle and / or the guide device and the pipe wall is fixed. That is to say, no delivery device is provided in this embodiment. However, this device contains a pivoting device for deflecting the at least one nozzle jet from parallelism to the pipe wall in the direction of the center of the pipe in order to be able to remove dirt / deposits in the center of the pipe. This device is particularly suitable for round pipes. With a fixed setting of the distance between the guide device and the pipe wall in round pipes, regular position control can be dispensed with. Regular scanning is then not necessary.

In a further embodiment variant, the feed device is suitable for moving the at least one nozzle and / or the guide device in the direction of the pipe center in order to be able to remove the dirt / deposits also in the pipe center, with the at least one nozzle jet maintaining the parallelism to the pipe wall.

In another advantageous embodiment of the invention, the pivoting device is designed in such a way that, in addition to deflecting the at least one nozzle jet, it also allows the at least one nozzle and / or the guide device to be brought closer to the pipe wall while maintaining the parallelism of the at least one Nozzle jet is suitable for the spaced pipe wall.

Fig. 1:

eine schematische Darstellung einer Vorrichtung zur Bearbeitung des Inneren unbegehbarer Rohre und Rohrnetze mittels Hochdruckstrahlen eines Fluids,

Fig. 2:

eine schematische Darstellung einer Vorrichtung mit Fahrwerk,

Fig. 3:

eine schematische Darstellung einer in einer Führungseinrichtung geführten Düse mit austretendem Düsenstrahl, der in Richtung Rohrmitte geneigt ist, und

Fig. 4:

eine schematische Darstellung einer in einer Führungseinrichtung geführten Düse mit austretendem Düsenstrahl mit geringer Neigung in Richtung Rohrwand.

Further details, features and advantages of embodiments of the invention emerge from the following description of exemplary embodiments with reference to the associated drawings. Show it:

Fig. 1:

a schematic representation of a device for processing the interior of inaccessible pipes and pipe networks by means of high pressure jets of a fluid,

Fig. 2:

a schematic representation of a device with chassis,

Fig. 3:

a schematic representation of a nozzle guided in a guide device with an exiting nozzle jet which is inclined towards the center of the pipe, and

Fig. 4:

a schematic representation of a nozzle guided in a guide device with an exiting nozzle jet with a slight inclination in the direction of the pipe wall.

In the Fig. 1 a device 1 for processing the interior of inaccessible pipes and pipe networks within a pipe 2 to be cleaned is shown schematically. This device 1 comprises a nozzle 3 which is movable relative to the inner pipe wall 2a and which is arranged at the front end of the device 1 for generating a forwardly directed, bundled high-pressure nozzle jet 4a of a fluid, for example water. The fluid can be present with or without an abrasive. Furthermore, the device 1 comprises a media supply 5 for supplying the nozzle 3 with the fluid medium under high pressure. In the exemplary embodiment shown, the media supply 5 is a hose 5 connected to the nozzle 3. In addition, the device 1 comprises a housing 6 in which the hose 5 is passed through the housing 6 along a longitudinal axis 7 running through the housing 6, which is shown in FIG Fig. 1 is not shown in detail. The nozzle 3 is attached to a front end region 5 a of the hose 5, which is located outside the housing 6, that is to say in front of the housing 6.

The nozzle 3 is encompassed or at least held by a guide device 8. This enables the nozzle 3 to be guided with an orientation of the The nozzle jet 4a emerging from the nozzle 3 parallel to the pipe wall 2a. The distance between the nozzle jet 4a emerging from the nozzle 3 and the pipe wall 2a can be minimized by a feed movement 9 by means of a feed device (not shown), for example by placing the nozzle 3 and / or the guide device 8 on the pipe wall 2a. When the nozzle 3 is applied and the nozzle jet 4a emerging from the nozzle 3 is guided parallel to the pipe wall 2a, as in FIG Fig. 1 shown schematically, an efficient cleaning of the areas near the pipe wall 2a is then possible.

A pivoting movement 10 of the nozzle 3 and / or the guide device 8, which can be carried out by means of a pivot device comprising a pivot axis 11 and a pivotable arm 12 connected to the guide device 8, enables the nozzle jet 4a to be deflected from parallelism to the pipe wall 2a in the direction of the center of the pipe 13, so that dirt / deposits 14 can also be removed from the middle of the pipe 13.

Furthermore, a rotary movement 15 of the nozzle 3 can take place by means of a rotary device with a rotary drive, which is located in the front part 6a of the housing 6, which enables processing / cleaning in different areas of the pipe wall 2a and effectively removes the deposits 14.

The nozzle 3 or the guide device 8 can be aligned in the axial direction, that is to say in the direction or parallel to the pipe axis 16, by means of a corresponding feed movement 17 of the entire device 1. According to the Fig. 1 The embodiment shown, 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 feed movement 17 based on the recoil of the device through the jets 4b of the outflowing from the bores 18 fluid medium can be generated. The device comprises at least one camera 19 for detecting the contamination 14 and for observing the alignment and deflection of the nozzle 3.

In the Fig. 2 a variant of the device 1 can be seen 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 acts as a carrier for the rotating device for the rotational movement 15, the pivoting device and the Delivery device acts. Together with the chassis 20, a feed movement 17 of the entire device 1 can thus take place in the axial direction, that is to say along or parallel to the pipe axis 16.

In addition to the pivot axis 11, which is located on the body 1a of the device 1, and the arm 12 mounted on the pivot axis, the pivot device comprises a further pivot axis 21 for the guide device 8, which is connected to the front part of the arm 12. A carrier part 22 for the guide device 8 is mounted on this pivot axis 21, so that the pivot movement 10 of the guide device 8 can take place about this pivot axis 21.

The arm 12 and the pivot axes 11, 21 can also function as part of a feed device for approaching and / or placing the nozzle and / or the guide device on the pipe wall in order to minimize and / or maintain the distance between the nozzle jet and the pipe wall 2a, which is spaced parallel to one another. The arm 12, which is rotatably connected at its front end to the rear region of a carrier part 22 of the guide device 8 via a first pivot axis 21 of the guide device 8, cooperates with a likewise pivotably mounted, length-adjustable support arm 23 for the carrier part 22 of the guide device 8 . This length-adjustable support arm 23 is at its rear end via a pivot axis 24 with the body 1 a of the device 1 and at its front end via a further, second pivot axis 25 of the Guide device 8 is connected to the front region of the carrier part 22. In this way, the pivoting movement of the arm 12 and the movement of the adjustable-length support arm 23 can be coordinated in such a way that during an infeed movement 9 of the carrier part 22 and thus of the guide device 8 with the nozzle 3, the emerging nozzle jet 4a remains aligned parallel to the pipe wall 2a.

In other words: the type of interaction between the arm 12 and the length-adjustable support arm 23 decides whether an infeed movement 9 with the nozzle jet 4a aligned parallel to the pipe wall 2a or a pivoting movement 10 of the guide device 8 and thus a deflection of the nozzle jet 4a from parallelism to the pipe wall 2a in the direction of the center of the pipe 13 in order to be able to remove dirt / deposits 14 also in the center of the pipe 13.

This device also comprises at least one (in Fig. 2 camera (not shown) for detecting the contamination 14 and observing the alignment and deflection of the at least one nozzle 3.

the Fig. 3 shows schematically a nozzle 3 guided within a pipe 2 by means of a guide device 8 with an 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 shows schematically a nozzle 3 guided within a pipe 2 by means of a guide device 8 with an exiting nozzle jet 4a, which is inclined from the parallelism to the pipe wall 2a - against the pipe center 13 - in the direction of the pipe wall 2a, i.e. with an inclination in the direction of the more closely spaced pipe wall 2a exits. The nozzle jet 4a is inclined in the direction of the pipe wall 2a only to such an extent that the pipe wall 2a is not damaged. In any case, the aim is to prevent the nozzle jet 4a from hitting the pipe wall 2a at too close a distance. With a greater distance of the nozzle jet 4a to impinge on the Pipe wall 2a, the nozzle jet is widened more and at a smaller angle the point of impact takes up a larger area. This means that the force emanating from the nozzle jet per area of the pipe wall is lower. For this reason, if the angle is limited, the likelihood of damage to the pipe wall is significantly lower.

The infeed device and / or the pivoting device of the device 1 preferably 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 towards the pipe wall 2a to such an 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 the nozzle jet 4a, efficient removal of the deposits 14 is also ensured in the edge regions of the pipe 2.

List of reference symbols

1

Device for cleaning the inside of inaccessible pipes and pipe networks

1a

Body

2

pipe

2a

Inner wall of tube 2, inner wall of the tube

3

jet

4a

Jet

4b

Beam made of holes for an axial feed movement

5

Media supply, hose

5a

front end of the hose

6th

casing

6a

front housing part

7th

Longitudinal axis

8th

Guide device

9

Infeed movement, approach movement

10

Swivel movement

11

Swivel axis

12th

poor

13th

Tube center

14th

Soiling, deposits

15th

Rotational movement

16

Pipe axis

17th

Feed movement

18th

drilling

19th

camera

20th

landing gear

20a

bikes

20b

bikes

21

first pivot axis for the guide device

22nd

Support part of the guide device

23

length-adjustable support arm

24

Pivot axis of the support arm 23 on the body 1a

25th

second pivot axis for the guide device

Claims (11)

1. A device (1) for processing the inside of inaccessible pipes and pipe networks using high-pressure jets of fluid with or without abrasive, comprising

   • at least one nozzle (3), which is arranged at the front end of the device (1), for generating at least one forward-directed, focussed nozzle jet (4a) of the fluid,

   • a media feed for supplying the at least one nozzle (3) with the highly pressurised fluid medium,

   • a guide apparatus (8) for guiding the at least one nozzle (3) with an orientation of the at least one nozzle jet (4a) exiting from the nozzle (3) parallel to the pipe wall (2a),

   • a positioning apparatus for causing the at least one nozzle (3) or the guide apparatus (8) to approach or abut the pipe wall to minimise or maintain the distance of the at least one nozzle jet (4a) from the pipe wall (2a) spaced parallel from the nozzle jet (4a), and/or
   a pivoting apparatus for deflecting the at least one nozzle jet (4a) towards the pipe centre (13) out of the state of being parallel to the pipe wall (2a),

   • a rotating apparatus for a rotary movement of the at least one nozzle (3) about the pipe axis (16) or an axis parallel to the pipe axis (16) along the pipe wall (2a) while the nozzle jet (4a) is guided fundamentally parallel to the pipe wall (2a) by the guide apparatus (8),

   • an advancing apparatus for an axial advancing movement (17) along or parallel to the pipe axis (16), and

   • at least one camera (19) for observing the orientation and deflection of the at least one nozzle (3).
2. The device according to Claim 1, characterized in that the guide apparatus (8), in addition to guiding the at least one nozzle (3) with a parallel orientation of the at least one nozzle jet (4a) exiting from the nozzle (3), is suitable for guiding the at least one nozzle (3) with an orientation of the at least one nozzle jet (4a) in which the at least one nozzle jet (4a) within the pipe (2) is slightly inclined towards the pipe wall (2a) which the at least one nozzle (3) approaches or abuts, or is slightly inclined away from said pipe wall (2a), such that the pipe wall (2a) is not damaged.
3. The device according to Claim 1 or 2, characterized in that the guide apparatus (8) is formed as a sliding block and/or as a guide carriage.
4. The device according to any one of Claims 1 to 3, characterized in that the guide apparatus (8) comprises a scanning apparatus with adjustment.
5. The device according to any one of Claims 1 to 4, characterized in that the guide apparatus (8) has a sensor, by means of which the distance of the at least one nozzle (3) and/or of the at least one exiting nozzle jet (4a) from the pipe wall (2a) spaced parallel therefrom can be determined, and the distance from the pipe wall can be reset or regulated via the positioning apparatus and/or the pivoting apparatus.
6. The device according to any one of Claims 1 to 5, characterized in that the positioning apparatus and/or the pivoting apparatus comprises one or more inclination-limiting apparatuses, which ensure that the at least one nozzle jet (4a) guided parallel to the pipe wall (2a) can be inclined towards the pipe wall (2a) only to such an extent that the pipe wall (2a) is not damaged.
7. The device according to any one of Claims 1 to 6, characterized in that the advancing apparatus comprises one or more backwardly directed holes (18) or nozzles, to which the fluid medium can be fed and by means of which an advancing movement (17) of the device based on the recoil can be generated by jets (4b) of the fluid medium flowing out of the holes (18) or nozzles.
8. The device according to any one of Claims 1 to 6, characterized in that it comprises a running gear (20) with wheels (20a, 20b) for the axial advancing movement (17).
9. The device according to any one of Claims 1 to 8, characterized in that no positioning apparatus is provided, and the distance of the at least one nozzle (3) and/or the guide apparatus (8) from the pipe wall (2a) is fixedly set.
10. The device according to any one of Claims 1 to 8, characterized in that the positioning apparatus is suitable for moving the at least one nozzle (3) and/or the guide apparatus (8) towards the pipe centre (13) in order to be able to remove dirt/deposits (14) also in the pipe centre (13), wherein the at least one nozzle jet (4a) maintains the state of being parallel to the pipe wall (2a).
11. The device according to any one of Claims 1 to 10, characterized in that the pivoting apparatus is designed such that, in addition to deflecting the at least one nozzle jet (4a), it is also suitable for causing the at least one nozzle (3) and/or the guide apparatus (8) to approach and/or abut the pipe wall while maintaining the state of the at least one nozzle jet (4a) being parallel to the pipe wall (2a) spaced therefrom.

Images