Vehicle for a device for removing contaminated surfaces and method for removing contaminated surfaces

Abstract

Vehicle (104) for a device (116) for removing contaminated material from a wall (100), comprising wheels or tracks (106), a drive mechanism, a chassis (105) and a height-adjustable support system (114) for the device (116) arranged on the chassis (105), characterized in that the support system (114) is displaceable and pivotable relative to the chassis (105).

Description

[0001] The present invention relates to a vehicle for a device for removing contaminated material from a wall according to the preamble of claim 1. Furthermore, part of the invention is a method for removing contaminated material from a wall according to the preamble of claim 12.

[0002] When dismantling nuclear facilities, minimizing contaminated waste is a top priority. This also applies to the efficient decontamination of floors, walls, and ceilings of buildings that house the nuclear facility or parts thereof and protect them from external influences. Such buildings are usually constructed of reinforced concrete. For the sake of simplicity, the claimed invention usually refers only to a wall or an internal boundary surface; however, the floors and ceilings of rooms or halls are also always meant.

[0003] During the operation of a nuclear facility, which can sometimes last for decades, contamination of the interior boundary surfaces of the building protecting the facility can occur. Therefore, such buildings can only be demolished conventionally after decontamination.

[0004] In such a building, decontamination involves removing the surfaces of the interior boundary surfaces (walls, floor, and ceiling) to a specified depth. Often, removing 10 mm is sufficient. However, it may also be necessary to remove 20 mm of the wall surface. Only the material removed in this way may potentially contain radioactive particles, because contamination occurs through the surface of the wall, and must therefore be disposed of separately. The rest of the decontaminated building can be demolished like any other building.

[0005] DE 10 2014 210 947 B3 discloses a device that, in a two-step process, first cuts the surface of a surface to be treated into strips. Subsequently, the previously created strips are broken up with a second tool. During operation, a support system attaches itself to the wall using suction cups or suction plates. The actual device is connected to the support system via a linear guide and can be guided along this linear guide over the surface to be treated, while the support system is connected to the surface to be treated via the suction cups. This device and the support system can be mounted on a crawler track.

[0006] From 101 62 477 A1 a device for cleaning a container for radioactive residues is known, in which a spray device is arranged on a telescopic arm in order to be able to bring a spray nozzle of the spray device into a suitable position relative to an inner wall of the container.

[0007] DE 35 00 750 A1 describes a device for demolishing concrete structures with steel inserts. This device comprises an induction coil, which is placed in close proximity to the concrete wall to be demolished and uses induction to heat the reinforcement of the steel inserts in the concrete. The resulting expansion of the steel inserts breaks up the concrete.

[0008] US 2002 / 0179123 A1 discloses a vehicle designed for cleaning sewers using a water jet. The lance with the spray nozzle is mounted on a rotatable arm, the end of which, with the spray nozzle, rests against the inner wall of the sewer.

[0009] An arrangement known from US Pat. No. 5,670,172 A operates in a similar manner. In this arrangement, two pivoting arms are mounted on a central mast mounted on a vehicle. At their ends, these arms carry a device for removing the inner surface of a cylindrical concrete container. By pivoting the two arms on the mast, the inner surface of the cylindrical concrete container can be removed.

[0010] WO 2008 / 101489 A1 discloses a device for processing a unit contaminated with radioactive materials using a laser beam. This device comprises a chassis equipped with a robot arm. The laser device is located at the end of the robot arm. With the help of the robot arm, the laser device can be moved to the desired locations on a tank or other metallic component to be processed.

[0011] From JP 2014-92518 A a device for removing contaminated surfaces is known in which a sandblasting device is attached to a telescopic arm, which in turn is mounted on a chassis.

[0012] JP S61-187696 A discloses a device in which a milling device is mounted indirectly on a crawler chassis. The milling device can be moved in two directions via two linear drives, allowing a feed movement of the milling device relative to the wall being machined. Furthermore, the milling device can be moved vertically via the second linear axis. Combined with the degree of freedom of the chassis, this makes it possible to machine large sections of a wall whose top layer is to be removed.

[0013] The invention is based on the object of further developing the known devices and methods in such a way that the power [m 2 / h] and reduce the number of staff.

[0014] This object is achieved according to the invention in a vehicle for a device for removing contaminated material from a contaminated surface comprising a chassis, wheels or chains, a travel drive and a height-adjustable support system for the device arranged on the chassis in that the support system is displaceable and pivotable relative to the chassis.

[0015] These two degrees of freedom of the support system relative to the chassis make it possible to quickly and reliably align the support system relative to the surface to be treated so that the device accommodated in the support system can immediately begin removing the top layer of the wall to be treated.

[0016] Aligning the support system relative to the wall to be worked on involves several steps.

[0017] First, the vehicle is positioned relative to the wall to be treated so that a specified minimum distance is not undercut and a specified maximum distance is not exceeded. In other words, there is a corridor within which the vehicle is positioned.

[0018] In a further step, the vehicle is aligned parallel to the wall to be worked on.

[0019] Since the vehicle's footprint and the wall to be treated are not always exactly perpendicular to each other, the support system is mounted on or attached to the chassis and can pivot around a horizontal axis. By pivoting the support system around this axis, the support system can be aligned vertically parallel to the wall to be treated.

[0020] In a further step, the distance between the support system or the device attached to it and the wall to be worked on is reduced so that the device attached to the support system can remove the top layer of the wall. This movement is the feed movement required for the tool or tools attached to the device to come into contact with or penetrate the wall to be worked on. After this, the actual machining process begins; usually the removal of the top layer of a wall. During this process, the device attached to the support system moves vertically (feed movement).

[0021] Various processing devices can be used to process a wall. Possible devices include (but are not limited to): milling, grinding, bush-hammering, needling, and scarifying.

[0022] Preferably, individual steps or even all steps are carried out automatically.

[0023] If the support system of the vehicle according to the invention has been aligned in the manner according to the invention parallel to and at the desired distance from the wall to be worked on, it is no longer necessary to attach the support system to the wall with suction cups, as is known from the prior art. The support system of the vehicle according to the invention is supported on the chassis according to the invention. By eliminating the suction cups and the associated peripherals, the construction of the support system is greatly simplified. Furthermore, the processing speed is increased. Finally, the vehicle according to the invention, with its pivoting and movable support system, is very safe to use. The risk of work accidents is greatly reduced and the process sequence according to the invention can be automated. The support system is coupled to the chassis via one or more parallel linear guides.These linear guides allow the carrier system to be moved (adjusted) in a plane that, to a first approximation, is parallel to the surface on which the vehicle is standing. In this case, the vehicle only needs to be aligned parallel to the wall; the distance between the carrier system and the wall to be worked on is adjusted by moving the carrier system horizontally relative to the carriage. This makes it even more precise to align the carrier system at the correct distance from the wall to be worked on. The base for the carriage is usually a concrete hall floor.

[0024] The direction in which the support system can be moved relative to the carriage is usually orthogonal to the carriage's direction of travel. This makes it possible to automatically position the carriage, which has a steering function, preferably parallel to the wall being worked on and at a roughly specified distance. Fine adjustment of the distance between the support system and the wall being worked on is then achieved by moving the support system along the first linear guides.

[0025] In order for this process to be carried out automatically and remotely, it is further provided that a linear drive (hydraulic, electric or pneumatic) is present between the carrier system and the chassis, which can move the carrier system relative to the chassis along the linear guides.

[0026] Typically, the support system is mounted on a carriage, which is held and guided by the aforementioned first linear guides. A pivot bearing is mounted on this carriage, with a pivot axis running parallel to the main travel direction of the chassis and thus orthogonal to the linear guides between the chassis and carriage. The pivot bearing makes it possible to pivot the support system relative to the wall to be worked on, so that the support system is aligned parallel to the wall to be worked on. This means that over the entire travel path of the telescopic support system or the device attached to the support system, the distance between the device removing the wall surface and the wall remains constant, ensuring optimal working conditions for removing the top layer of the wall to be worked on.

[0027] To pivot the support system relative to the chassis, several bearing blocks can be mounted on the aforementioned carriage, which accommodate a pivot axis. The support system is supported by this pivot axis. To enable the pivoting movement to be automated and carried out remotely, a pivot drive is further provided between the support system and the chassis. The pivot drive rests on the carriage at one end and is hinged to the support system at the other end. The pivot drive can also be a linear drive.

[0028] It is of course also possible for the swivel drive to be supported directly on the chassis and hinged to the support system at its other end. This variant is somewhat more robust and rigid; however, it has the disadvantage that when the support system moves horizontally along the linear guides, the support system simultaneously performs a swivel movement.

[0029] However, with the help of a modern (microprocessor) control system, it is easily possible to decouple these movements (linear movement and swivel movement) of the support system. For example, by simultaneously controlling the swivel drive while moving the carriage along the linear guide so that the support system remains in its vertical orientation.

[0030] As the processing height increases, the leverage becomes less favorable, so the force with which the device is pressed against the wall being processed decreases. To compensate for this, the swivel drive and / or the linear drive can be controlled to fully or partially offset this effect. This means that the chassis rests more on the track or wheels of the vehicle, which are located on the side of the vehicle facing away from the wall being processed.

[0031] Additionally or alternatively, it is possible to provide one or more extendable supports on the side of the chassis, as is known, for example, from mobile cranes.

[0032] When the swivel drive is attached to a carriage, the control of the swivel movement and the linear movement is completely decoupled from each other. If the swivel drive is supported directly on the carriage, this results in a more rigid construction and allows for higher machining forces, especially higher contact forces with which the device is pressed against the wall to be machined, under otherwise identical conditions.

[0033] According to the invention, the support system comprises two telescopic columns arranged at a distance from one another. The upper ends of the telescopic columns are connected to each other via a portal. Second linear guides are arranged on this portal.

[0034] The telescopic columns are extended via a (ball) screw drive for each column, with the screw drives arranged within the columns. The screw drives, in turn, are preferably driven by a common hydraulic motor. The output shaft of this hydraulic motor directly drives the screw drive of one of the two columns. The screw drive of the second column is driven via a chain or toothed belt drive coupled to the output shaft of this hydraulic motor. This rigid and positive coupling of the two screw drives also ensures synchronous operation of both columns. This design is also very compact and robust. The second linear guides run parallel to the telescopic columns. The actual device for removing the contaminated surface is arranged indirectly on these second linear guides via a crossbeam.During machining, this device is moved vertically along the second linear guides. The device removes the surface of the wall to be machined across the working width of your removal tool.

[0035] For example, if the travel of the second linear guide is 1 m and the working width of the device is 40 cm, then an area of ​​0.4 m x 1.0 m will be removed if the device moves once along the second linear guide. This movement of the device along the second linear guide is the feed movement of the device for removal. A linear drive can also be used here as the feed drive. Using a combination of a hydraulic cylinder and a multi-deflected chain has proven very advantageous. This allows for large travel distances to be achieved with a small installation space.

[0036] The linear drives, the swivel drive, and the travel drive of the vehicle according to the invention can be hydraulic, electric, electromechanical, or pneumatic. In many cases, it has proven advantageous to choose hydraulic drives. Electric drives have proven very effective for the vehicle's travel drive. Hydraulic drives have the advantage of enabling very high power density with small dimensions. A further advantage is that the required hydraulic pump and its usually electric drive do not have to be attached directly to the vehicle according to the invention, but can be installed and operated elsewhere, for example, in an adjacent room. The power is then supplied via several hydraulic lines.

[0037] Of course, it is possible to connect additional electrical lines, as well as pneumatic lines, to the vehicle according to the invention. This would allow a control unit and the existing sensors to be supplied with electrical energy.

[0038] In a further advantageous embodiment of the invention, distance sensors are provided which allow the vehicle according to the invention to be aligned and parked parallel to the wall to be worked on and at the desired distance, either automatically or via a remote control.

[0039] Of course, limit switches or position sensors must also be attached to the linear guides or drives as well as the swivel drive and the carrier system, so that the control of the vehicle according to the invention is always aware of the actual position of the carrier system and the device.

[0040] A further embodiment of the invention provides that at least one image recording device, in particular a camera, is provided for observing the device. The image recording device can be arranged directly or indirectly on the support system and in particular can be arranged such that the removal of the surface of the wall can be observed. The images from the image recording device can be transmitted wired or wirelessly to an operating device. An operator can therefore visually monitor the removal of the wall surface even in work areas that are difficult to access. This visual control makes it easier to monitor the processing carried out, even on higher parts of the wall where it is no longer possible to see from the ground without a ladder.

[0041] It is particularly preferred if the arrangement can be operated remotely. The remote control can be wireless or wired. The control can be carried out, in particular, from a control unit, with the control signals being transmitted wirelessly, for example, via radio, Wi-Fi, or Bluetooth. This can ensure improved radiation protection for operating personnel, particularly during the dismantling of nuclear power plants.

[0042] Because the walls to be treated are only slightly contaminated, if at all, the vehicle according to the invention can usually be operated directly on-site. In exceptional cases, it is necessary for the person operating the vehicle and the device attached to it to be away from the usually contaminated room in which the vehicle according to the invention is located.

[0043] The object of the invention is also achieved by a method for removing contaminated material from a wall, wherein a vehicle according to the preceding claims is used in the method and the method comprises the following working steps. a) Moving a carrier system by means of a vehicle according to the invention to a wall to be worked on, so that the carrier system is aligned parallel to the wall in the direction of travel of the vehicle and at a predetermined distance from the wall. b) Swiveling the support system so that the support system is aligned vertically parallel to the wall and c) Removing the wall to be treated using the device arranged in the support system.

[0044] This relatively simple method makes it possible, with the aid of the vehicle according to the invention, to align the support system parallel to the wall to be treated and then to move the device that removes the wall surface within the support system in such a way that a strip or a line of the surface of the wall to be treated is removed. Depending on the nature of the wall to be treated, different devices can be used. The "interface" between the portal of the support system and the device for treating the wall is preferably designed as a quick-change system.

[0045] The method according to the invention is very simple and requires little time to align the device, so that the main times, i.e. the times in which the device according to the invention removes the top layer of the wall, are relatively long compared to the total time in which the method according to the invention is in use.

[0046] The method according to the invention further provides that the device which carries out the removal of the contaminated surface is displaced in a vertical direction within the support system, so that a vertically running strip of the wall is processed / removed.

[0047] To ensure the best possible performance, the vehicle and / or the support system are locked parallel to the wall to be worked on after the support system has been aligned. This can be achieved, for example, by locking the vehicle's electric or hydraulic drive. The swivel drive can also be easily locked if it is a hydraulic swivel drive by closing the supply and outlet lines of the swivel drive by controlling suitable directional valves in the supply and outlet lines of the swivel drive. This is also possible in a similar way if a linear guide with a linear drive is present between the support system and the chassis.

[0048] During the work process, the removed material is immediately collected or vacuumed away to prevent contaminated material from escaping uncontrollably from the processing equipment. The removed material is then disposed of properly.

[0049] Furthermore, it is provided that the processing device is arranged in the support system in a height-adjustable manner, and the support system is movable along the floor. For height adjustment, the support system preferably has several interlocking height-adjustment systems, with at least one of the systems having telescopic columns that are preferably vertically extendable by means of a separate drive motor. This allows the processing device in the support system to be raised to a height of approximately 4.5 meters above the floor to remove the contaminated layer from the wall.

[0050] A second height adjustment system can also move within the telescopic columns.

[0051] The carrier system is preferably arranged on a carriage, which in turn is arranged on the chassis so as to be displaceable via one or more linear guides.

[0052] The vehicle is preferably equipped with crawler tracks. This increases the ground contact area, improving traction on uneven surfaces and distributing the weight evenly. A vehicle commonly used in construction machinery (dump truck, dumper) can be used for this purpose.

[0053] Furthermore, it is intended that the drive of the device used, the linear drives, the swivel drive, the telescopic columns, and / or the travel drive, be hydraulically powered. The required hydraulic pump can be mounted on the vehicle. Preferably, it is designed as a separate unit connected to the vehicle via the necessary hydraulic and electrical lines. This arrangement reduces the weight and size of the vehicle.

[0054] In hydraulic drives, hydraulic energy is converted into mechanical work. Such drives have been around for a long time, operate very reliably, and are easy to control and regulate.

[0055] Further advantages will become apparent from the following description and the accompanying figures. They show, in schematic form: Fig. 1 is a schematic representation of a vehicle according to the invention seen in the direction of travel; Fig. 2 a schematic plan view of a vehicle according to the invention; Fig. 3 a, b and c: The degrees of freedom of the support system; Fig. 4 to 9 several assemblies of the vehicle according to the invention; Fig. 10 to 12 different views of the vehicle according to the invention and Fig. 13 a schematic representation of the feed of the device for processing a wall. Description of the embodiments

[0056] In the Fig. 1 shows a highly simplified representation of a wall 100 to be worked on and a floor 102 of a building. The floor 102 represents the path or standing area for a vehicle 104 according to the invention. The vehicle 104 comprises a chassis 105 and, in the schematically illustrated embodiment, is equipped with crawler tracks 106. As an alternative to the crawler tracks 106, it is also possible to equip the vehicle 104 with wheels and a steering system (not shown).

[0057] An optional carriage 108 is arranged on the chassis 105, which is guided via a linear guide (not shown in the Fig. 1) and a linear drive 110 in the horizontal direction (see the arrow) relative to the chassis 105 in the direction of the wall 100. In connection with the invention, the directions horizontal and vertical are used variously. It is assumed that the floor 102 is aligned horizontally and the wall 100 is aligned vertically. The direction of travel of the chassis 104 runs in the Fig. 1 perpendicular to the drawing plane.

[0058] In the Fig. 2, the direction of travel is indicated by an arrow 112. This shows that the vehicle 104 is aligned parallel to the wall 100 and within a predetermined distance to the wall 100 before the processing of the wall 100 begins. In the Fig. 1 is a distance S 104between the wall 100 and the chassis 104. The optional linear drive 110 makes it possible to move the carriage 108, and with it the support system 114 and the device 116 attached thereto, closer to the wall 100. Of course, by reversing the direction of movement, the distance between the device 116 and the wall 100 can also be increased.

[0059] The distance between the device 116 and the wall 100 is in the Fig. 1 with S 116 It is obvious that in a simplified embodiment, the carriage 108 and the linear drive 110 can be omitted. Then the chassis 104 must be parked at such a precise distance from the wall 100 that the distance S 116between the device 110 and the surface of the wall 100 has the value required for machining the wall 100. In this case, the immersion of the device 116 into the wall to be machined can be effected via the swivel drive.

[0060] A pivotable support system 114 is arranged on the carriage 108 or, in the simplified embodiment, directly on the chassis 104 (see the curved arrow above the support system 114).

[0061] The associated swivel drive is designated by reference numeral 118. The swivel drive 118 can be a linear drive, such as a hydraulic cylinder, which rests at one end on the carriage 108 and supports the support system 114 with its other end. When this linear drive 118 is changed in length, the support system 114 swivels in the direction of the curved arrow. The pivot point of the support system is located approximately where the support system 114 rests on the carriage 108. The design details will be explained later.

[0062] In the Fig. Figure 2 shows a top view of the vehicle 104 according to the invention. The tracks 106 are partially visible. The rest of the undercarriage 105 is more or less obscured by a portal 120 of the support system 114. The device 116, which serves to remove the surface of the wall 100, is clearly visible in this top view. Sensors 122 are arranged at the front and rear ends of the undercarriage. These sensors detect the distance of the undercarriage 104 from the wall 100 and transmit this information to a control system of the undercarriage 104, which can be integrated into a remote control.

[0063] In the Fig. In Figure 1, a vertically extending double arrow (without a reference symbol) indicates that the portal 120 of the support system 114 can be moved vertically, i.e., parallel to the wall 100. The device 116 is at least indirectly connected to the portal 120, so that whenever the portal 120 of the support system 114 is moved vertically, the device 116 is also moved vertically. A linear drive for the telescopic or otherwise length-adjustable support system 114 is designated by reference symbol 124.

[0064] From the very schematic representations of the Fig. 1 and Fig. 2 it is clear that the chassis 104 and all components arranged on it, in particular the device 116, can be aligned and moved parallel to the wall 100. In addition, the distance S 116between the device 116 and the wall 100 can be adjusted as required.

[0065] The support system 114 can be pivoted relative to the chassis 105 or to the wall 100 using the pivot drive 118 until it is aligned vertically parallel to the wall 100. Furthermore, the support system 114 can be adjusted in its length, i.e., in the vertical direction, so that the device 116 can process the wall 100 across its entire height.

[0066] The three degrees of freedom or machining axes of the chassis according to the invention are in the Fig. 3 again shown individually and greatly exaggerated.

[0067] In the Fig. 3a shows the horizontal movement of the support system 114 and the device 116 relative to the chassis 104.

[0068] In the Fig. 3a, a boom 126 and an extendable support 128 connected thereto are indicated on one side of the vehicle 104. This allows the vehicle 104 to additionally brace itself against the ground during processing, so that the device 116 can be pressed against the wall to be processed with a greater contact force.

[0069] In the Fig. 3b, the pivoting of the support system 114 relative to the chassis 104 or relative to a vertical is indicated.

[0070] In the Fig. 3c it is indicated that the support system 114 is telescopic, so that the device 116 can be moved over a wide range in the vertical direction.

[0071] This makes it possible, firstly, to adjust the distance between the device 116 and the wall to be treated ( Fig. 3a), secondly, to align the support system 114 parallel to the wall to be treated ( Fig. 3b) and thirdly, by telescoping the support system 114, to work the wall from floor to ceiling with the aid of the device 116 so that the top layer (1 mm to 20 mm thick) can be removed.

[0072] The Fig. Figure 4 shows an isometric view of a chassis 105 with crawler tracks 106 and a carriage 108, which can be moved transversely to the direction of travel of the chassis 105 by means of a linear drive 110. The swivel device and the support system are not shown in this figure for reasons of clarity.

[0073] The carriage 108 is mounted on the chassis 105 via first linear guides 130 so as to be displaceable transversely to the direction of travel of the chassis 105. This is shown in the Fig. 4 indicated by a double arrow.

[0074] In order to be able to move the carriage 108 relative to the chassis 105 in the direction of the double arrow, a first linear drive 110 is provided in the center between the linear guides 130. The first linear drive 110 can be designed as a hydraulic cylinder.

[0075] The first linear drive 110 is connected at one end to a base 132 of the carriage 108. At the other end, the linear drive 110 is connected to the carriage 108, so that when the first linear drive 110 changes its length, a relative movement of the carriage 108 with respect to the base 132 or the chassis 105 occurs.

[0076] In the Fig. 5, the carriage 108, the base 132 and the first linear drive 110 are again enlarged and shown separately. Fig. In Figure 5, the end of the first linear drive 110, which is connected to the base 132, is clearly visible. The other end of the linear drive 110 is partially concealed by a cross member 134. The cross member 143 is connected to the carriage 108.

[0077] On the lateral boundary surfaces of the carriage 108, two bearing points 136 are provided, which are part of the pivot bearing of the carrier system 114 (see the Fig. 1) are.

[0078] In the Fig. Figure 6 shows a bottom view of the base 132, the carriage 108, and the first linear drive 110. In this view, the end of the linear drive 110, which is connected to the cross member 134 of the carriage 108, is clearly visible. This view also shows that the carriage 108 and the base 132 move relative to each other as the first linear drive 110 retracts and extends. Fig. 6, spacers 138 can be seen. These spacers are arranged between the chassis 105 and the substructure. These spacers 138 are in the Fig. 4 can also be seen.

[0079] In the Fig. 7 shows a plan view of the carriage 108 including the substructure 132 as well as two sections along the lines AA and BB.

[0080] The Fig. 8 shows the carrier system 114, which is pivotally mounted on the carriage 108. From the overall view in the left part of the Fig. 8 it becomes clear that the two columns 138 of the support system are spaced far enough apart that the carriage 108 can fit between them.

[0081] A portal 120, which connects the columns 138 at their upper ends, is in the Fig. 8 not shown.

[0082] In detail A of the Fig. 8 clearly shows that axes are arranged on the bearing mounts 136. From detail A, it is again clearly visible that the columns 138 are bolted at their lower ends to a bracket 142 via a flange plate 140. Bearing blocks 144 are attached to this bracket 142, which, together with the axis, form a pivot or rotation axis for the support system 114. The carriage and the support system 114 are constructed symmetrically, so that the design details resulting from detail A can be transferred to the other side of the carriage 108 or the other column 138.

[0083] In the left part of the Fig. 8, the swivel axis 146 is indicated by a dot-dash line, which is formed by the axis and the bearing blocks 144. A swivel drive (not visible in Fig. 8) it is possible to pivot the support system 140 about the pivot axis 146 relative to the carriage 108. This function is required to align the support system 114 vertically parallel to the wall being machined.

[0084] A hydraulic cylinder can be used as the rotary actuator. However, other electromechanical or pneumatic rotary actuators can also be used.

[0085] As can be seen from the Fig. 8, a (cross) cross member 147 is arranged between the columns 138 in the lower area, ie near the carriage 108. This cross member 147 leads to a further stiffening of the construction. This is especially true in connection with the portal 120, as shown in the Fig. 9 is shown.

[0086] In the Fig. 9 shows the portal 120, which is attached to the upper ends of the columns 138, and the second linear guides 148 attached thereto.

[0087] It is clearly visible that there are through holes at both ends of the portal 120, the hole spacing of which corresponds to the through holes in the flange plates at the upper ends of the columns 138. Via these through holes, the portal 120 is bolted to the flange plates at the upper end of the columns 138 with a total of eight screws. This results in a very flexurally and torsionally rigid connection between the columns 138.

[0088] Second linear guides 148 are arranged on the portal 120 and run parallel to the longitudinal axis of the columns 138. The second linear guides 148 accommodate a crossbeam 150. The device used to work on the wall is screwed or otherwise secured to this crossbeam 150.

[0089] The linear guides 148 and the counterpart in the cross member 150 can be commercially available linear guides.

[0090] A further linear drive 159 is arranged on the portal 120, which is connected via a chain drive and several deflections (see Fig. 13) provides the feed of the crossbeam 150. This makes it possible to move the crossbeam on the second linear guides 148 relative to the portal 120. This movement is in the Fig. 9 is indicated by a double arrow. It represents the feed movement of the device (not shown) that is mounted on the crossbeam 150.

[0091] As can be seen from detail A of the Fig. As can be clearly seen in Figure 9, the second linear guides 148 are pivotally mounted on the portal 120. The corresponding axis has the reference numeral 152. It is connected to the portal 120. The bearing blocks 154 are connected to the linear guides 148.

[0092] In the overall view of the Fig. 9 clearly shows that the second linear guides 148 have rollers 156 at their end opposite the portal 120. These rollers support the second linear guides 148 on the columns 138. This creates a very resilient and efficient force transmission between the columns 138 and the device attached to the crossbeam 150. This pivoting mounting of the linear guides 148 on the portal 120, in conjunction with the rollers 156, results in an optimal force flow. The portal 120 is not subjected to torsional stress, but primarily to bending stress. Furthermore, the contact pressure required for machining the wall is introduced at the optimal location, namely as close to the carriage 108 as possible.

[0093] The columns 138 are telescopic. In the figures, with the exception of the Fig. 3c, the columns 138 are shown in the retracted state, i.e. with minimal length.

[0094] The Fig. Figure 10 shows a side view of a vehicle according to the invention. In this side view, all previously described components are provided with the same reference numerals.

[0095] From the Fig. The swivel drive 158 is clearly visible in Figure 10. It rests at one end on the crossbeam 147, and at the other end, it rests at least indirectly on the slide 108.

[0096] In the Fig. 13, the drive of the crossbeam 150 by means of a hydraulic cylinder 159 and a chain 162 or a steel cable is shown schematically in a side view.

[0097] The starting point for this design is the requirement that the crossbeam 150 should have a travel range of approximately two meters. It should, of course, be able to cover the entire area between the carriages 108 and directly below the portal 120. To ensure that wall areas directly below a hall ceiling can also be machined, no components should protrude above the portal.

[0098] Since such a travel path could not have been realized with the help of conventional hydraulic cylinders without significantly increasing the overall height of the support system, the lifting movement of the hydraulic cylinder 159 is increased with the help of two pinions 160 and a chain 162.

[0099] A pinion 160 is attached to the portal 120, as can be seen from the Fig. 9. The other pinion is located on the piston rod of hydraulic cylinder 159. The chain is attached at its ends to the portal 120 and the other to the crossbeam 150. This simple construction allows the travel path of the crossbeam 150 to be sufficiently large, and the hydraulic cylinder 159 does not need to extend beyond the portal 120. This is particularly important when removing the surface of a wall near the ceiling of a room.

[0100] In the Fig. 9, Fig. 11 and Fig. 12 the chain 162 is not shown.

[0101] The Fig. Figure 11 shows the vehicle according to the invention in a front view of the support system. This is a side view of the chassis 105. This illustration clearly shows that a device 160 for removing the surface of a wall is arranged on the crossbeam 150.

[0102] The device 116 comprises a spindle 166 on which a plurality of saw blades, preferably tipped with diamonds, are arranged side by side. The spindle 166 is provided with a reference numeral. The adjacent (circular) saw blades are provided with the reference numeral 168 as a rectangular black surface.

[0103] The spindle 166 is driven by a hydraulic motor 169. The hydraulic motor 169 and the spindle 166 are connected to each other via a toothed belt (not shown). It is obvious that a variety of different devices can be mounted on the crossbeam 150. The device is selected according to the wall surface to be machined.

[0104] In the Fig. Figure 12 shows a rear view of the support system. This view clearly shows a hydraulic motor 164, which drives the invisible threaded spindle inside the right column 138. A threaded spindle is also located inside the left column 138. This is also driven by the hydraulic motor 164 via a chain 170.

[0105] In the Fig. 12, the course of the chain 170 is only indicated schematically. Partly, the chain 170 is shown only as a dotted line. The chain 170 is redirected via two pinions 172. The Fig. 12 upper pinion is attached to a chain tensioner 174 so that the tension of the chain 170 can be adjusted to the desired level at any time.

[0106] In the area at the lower end of the left column 138, the chain 170 is guided over a drive pinion 176, which drives the aforementioned ball screw drive inside the left column 138. There is also a gear limit switch located there, which ensures that the columns 138 are only extended as far as permitted.

[0107] For reasons of clarity, not all reference symbols are shown in all figures.

Claims

[1] Vehicle (104) for a device (116) for removing contaminated material from a wall (100), comprising wheels or chains (106), a drive, a chassis (105) and a height-adjustable support system (114) for the device (116) arranged on the chassis (105), characterized by that the support system (114) is displaceable and pivotable relative to the chassis (105). [2] Vehicle according to claim 1, characterized by that the support system (114) is connected to the chassis (105) via one or more linear guides (130, 148). [3] Vehicle according to claim 1 or 2, characterized by that a first linear drive (110) is provided between the carrier system (114) and the chassis (105). [4] Vehicle according to one of the preceding claims, characterized by that a pivot bearing (136, 139, 144) is provided between the support system (114) and the chassis (105). [5] Vehicle according to claim 4 characterized bythat a swivel drive (118) is provided between the carrier system (114) and the chassis (105). [6] Vehicle according to one of the preceding claims, characterized by that the support system (114) has telescopically designed columns (138) which are vertically extendable. [7] Vehicle according to the preceding claims 3 and 5, characterized by that the drives for the chassis (105), the at least one linear drive (110), the swivel drive (118) and the device (116) for removing contaminated material are hydraulic motors, electric motors or pneumatic drives. [8] Vehicle according to one of the preceding claims, characterized by that it has at least one distance sensor (122) which determines the distance and / or parallelism of the chassis (105) relative to the wall (100) to be machined. [9] Vehicle according to one of the preceding claims, characterized bythat at least one image recording device is provided, in particular for observing the device (116) for removing contaminated material. [10] Vehicle according to one of the preceding claims, characterized by that it can be operated remotely. [11] Vehicle according to claim 10, characterized by that the remote control is wireless or wired. [12] Method for removing contaminated material from a wall, characterized by that in the method a vehicle (104) according to claims 1 to 11 is used and the method comprises the following (remotely controllable) steps: a) driving the vehicle towards a wall (100) to be worked on, so that the support system (114) is aligned parallel and within a predetermined distance range to the wall (100), b) pivoting the support system (114) so ​​that the support system (114) is aligned vertically parallel to the wall (100), c) removing the surface of the wall (100) to be treated by means of the device (116) arranged in the support system (114). [13] Method according to claim 12, characterized by that the carrier system (114) is displaced in the horizontal direction relative to the chassis (105) until the desired distance (S 116 ) between the device (116) for removing and the wall (100) to be machined. [14] Method according to claim 12 or 13, characterized by that the device (116) is displaced in the vertical direction within the support system (114); so that a vertically extending strip of the wall is removed. [15] Method according to one of claims 12 to 14, characterized by that the chassis (105) and / or the carrier system (114) are locked after step b) and before step c). [16] Method according to one of claims 12 to 15, characterized bythat the device (116) is switched off after it has reached an end position, and that the device (116) is then moved to an initial position; that the locking of the chassis (105) is released and the chassis (105) is moved along the wall (100) to be machined and that the process is then repeated. [17] Control device for a vehicle according to one of claims 1 to 11, characterized by that it operates according to a method according to claims 12 to 16.

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