METHOD OF CLEANING SURFACES WITH AN ABRASIVE AND A ROBOT FOR CARRYING OUT THE METHOD

摘要

A method is proposed for removing explosives deposits in effluent pipes or for dissolving explosive from ammunitions casings. The explosive is removed from the wall of the pipe or casing with the aid of a gaseous jet medium to which preferably dry ice is added as an abrasive. A robot (10) is used for operations in pipes. The robot carries an air lance (26) for delivering the jet medium and a television camera (34). The air lance (26) and camera can be rotated by remote control about the pipe axis and can pivot about a transverse axis (52).