Patent Publication Number: US-11648578-B2

Title: Multi-axis articulating and rotary spray system and method

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     The present application is a divisional application of U.S. patent application Ser. No. 15/387,115, filed Dec. 21, 2016, which claims priority to and benefit of U.S. Provisional Patent Application Ser. No. 62/271,098, filed Dec. 22, 2015, each of which are hereby incorporated by reference for all purposes as if set forth herein in their entirety. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable. 
     REFERENCE TO APPENDIX 
     Not applicable. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     This disclosure relates a system and method of flowing fluids from a rotating opening. More specifically, the disclosure relates to a system and method for flowing fluids with an articulating and rotating spray nozzle. 
     Description of the Related Art 
     Tanks, vessels, and other surfaces routinely require cleaning and other maintenance. The challenge is to clean the surfaces of the structures sufficiently to accept the next process in minimal time and with minimal cleaning fluid. Current market trends demand minimal time and minimal expense. Current environmental trends demand minimal fluid usage. Current safety trends demand minimal entry by personnel into confined spaces. Enclosed volumes are especially challenging. The contours of the inner surfaces and restricted access of enclosed surfaces make a difficult job more demanding. Other constrained volumes include wells and pipes or tubing that may benefit from a fluid sprayed or otherwise flowed therein. 
     Prior efforts have attempted to solve the challenges of spraying fluids, such as for cleaning in enclosed volumes. Examples include U.S. Pat. Nos. 2,245,554, 3,420,444, 3,931,930, 4,056,227, 5,020,556, 5,217,166, 5,395,053, 5,896,871, 6,422,480, 6,561,199, 6,640,817, 7,300,000, Re. 36,465, and US Publ. No. 2006/0065760. Commercial systems are also available for review on the Internet and include: www.autojet.com/tankwash/reference.asp, www.gamajet.com/products/iv.html, and www.oreco.com/sw17371.asp. Most of the spray systems include one or more rotating nozzles about a longitudinal axis of the spray systems and many include telescoping the nozzle(s) into the enclosed volume. In some disclosures, the cleaning fluid is the driving medium for the rotation. In some disclosures, a nozzle is angularly fixed as it is rotated about the longitudinal axis within the enclosed volume. In some disclosures, the nozzles can be moved to different pitch angles and oscillate during the rotation, but are dependent on the rotation occurring to move the nozzle pitch angle. In some disclosures, the nozzle pitch angle may be independently controlled from the rotation. 
     A noted improvement in the technology is found in U.S. Pat. No. 8,181,890, entitled “Articulating and Rotary Cleaning Nozzle Spray System and Method” of the same inventors as the present invention. The system provides a rotating swash assembly that allows independent control of the nozzle pitch from the nozzle rotation and supplies a fluid through the same apparatus used to rotate the nozzle. Despite the significant improvement in the field, the relative complexity of the structure may limit the reduction in size for smaller volumes, and suitability for certain applications. 
     Therefore, there remains a need for a different control system and method for an articulating and rotary spray system for fluids. 
     BRIEF SUMMARY OF THE INVENTION 
     The present disclosure provides a system and method articulating and rotary spray system for fluids that includes a first drive for rotating a mast for different headings and a second drive for rotating a nozzle for different pitches at any time with or without rotation of the mast. The method and system uses a system of interacting gears that rotate a control rod in variable synchronization to control the nozzle pitch relative to the mast heading while the control rod orbits about a center of rotation of the rotating mast along a longitudinal axis. 
     The disclosure provides a multi-axis articulating and rotary spray system, comprising: a mast assembly, the mast assembly comprising: a mast shaft having a longitudinal axis which forms a center of rotation for the mast shaft, the mast shaft having a mast main port formed in the mast shaft and comprising: a nozzle union trunnion coupled with the shaft and having a fluid inlet and a fluid outlet, the fluid inlet fluidicly coupled to the mast main port; an articulating nozzle union rotatably coupled to the nozzle union trunnion, the articulating nozzle union comprising a gear circumferentially disposed around the nozzle union trunnion; and a longitudinal rod opening formed in the mast shaft radially offset from a longitudinal axis of the mast shaft, where the rod opening is configured to rotate with the mast shaft and orbit around the longitudinal axis. The rotary spray system further comprises a pitch drive rod extending at least partially into the longitudinal rod opening and rotatably coupled to the gear on the nozzle union; a pitch drive coupled to the pitch drive rod and configured to move the pitch drive rod to change a pitch of the nozzle union through the gear; and a heading drive coupled to the mast shaft and configured to rotate the mast shaft to change a heading of the mast shaft, the pitch drive being selectively synchronized to move the pitch drive rod relative to the rotation of the mast shaft as the pitch drive rod orbits about the longitudinal axis to maintain a pitch angle or to change a pitch angle of the nozzle. 
     The disclosure also provides a method of controlling a heading and pitch of a multi-axis articulating and rotary spray system, having a mast assembly with a rotatable mast shaft having a center of rotation along a longitudinal axis and a rotatable nozzle coupled to the mast shaft; a longitudinal rod opening formed in the mast shaft offset from the longitudinal axis; a pitch drive rod extending at least partially into the longitudinal opening and rotatably coupled to the nozzle; a mast main passage formed in the mast shaft and fluidicly coupled to the nozzle; a pitch drive coupled to the pitch drive rod and configured to move the pitch drive rod to change a pitch of the nozzle; and aa heading drive coupled to the mast shaft and configured to rotate the mast shaft to change a heading of the mast shaft, the method comprising: rotating the mast shaft with the heading drive; causing the pitch drive rod to orbit off center about the longitudinal axis with the mast shaft; and selectively actuating the pitch drive to synchronize a rotation of the pitch drive rod as the pitch drive rod orbits the longitudinal axis to determine a pitch angle of the nozzle as the nozzle rotates with the mast shaft. 
     The disclosure further provides a multi-axis articulating and rotary spray system, comprising: a mast assembly, the mast assembly comprising: a mast shaft having a longitudinal axis which forms a center of rotation for the mast shaft, the mast shaft having a mast main port formed in the mast shaft and comprising: a nozzle union trunnion coupled with the shaft and having a fluid inlet and a fluid outlet, the fluid inlet fluidicly coupled to the mast main port; an articulating nozzle union rotatably coupled to the nozzle union trunnion, the articulating nozzle union comprising a nozzle gear circumferentially disposed around the nozzle union trunnion; and a longitudinal rod opening formed in the mast shaft radially offset from a longitudinal axis of the mast shaft, where the rod opening is configured to rotate with the mast shaft and orbit around the longitudinal axis; and a pitch drive rod extending at least partially into the longitudinal rod opening and having a rod gear rotatably coupled to the nozzle gear on the nozzle union. The spray system further comprises: a first pitch gear disposed axially along the longitudinal axis; a pitch drive coupled to the first pitch gear; a second pitch gear rotatably coupled to the first pitch gear, the second pitch gear being fixedly coupled to the pitch drive rod, wherein the second pitch gear is radially offset with the pitch drive rod in the rod opening from the longitudinal axis of the mast shaft, the second pitch gear being further rotatably coupled with the mast shaft and configured to orbit with the pitch drive rod about the longitudinal axis; and a heading drive coupled to the mast shaft and configured to rotate the mast shaft to change a heading of the mast shaft, wherein the first pitch gear is configured to selectively rotate the second pitch gear as the second pitch gear orbits around the longitudinal axis as the mast shaft rotates about the longitudinal axis to maintain a pitch angle or to change a pitch angle of the nozzle. 
     The disclosure also provides a multi-axis articulating and rotary spray system, comprising: a heading drive; a pitch drive; a mast assembly coupled to the heading drive and the pitch drive, having a flexible mast shaft comprising a fluid conduit and a flexible pitch member, a plurality of housings coupled to the flexible mast shaft at intervals along the mast shaft, and a plurality of rotatable nozzles rotatably coupled to the plurality of housings and to the flexible pitch member; the heading drive rotating the mast assembly to control a heading of the nozzles, and the pitch driving moving the pitch member to control the pitch of the nozzles while the heading changes. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         FIG.  1    is a perspective schematic view of an exemplary embodiment of a multi-axis articulating and rotary spray system. 
         FIG.  2    is a cross sectional schematic side view of the system of  FIG.  1   . 
         FIG.  3    is a cross sectional schematic side view of a mast assembly and housing of the system of  FIG.  1    at a different angle than  FIG.  2   . 
         FIG.  3 A  is a cross sectional schematic end view across a section of the mast assembly and housing of  FIG.  3   . 
         FIG.  3 B  is a cross sectional schematic end view across another section of the mast assembly and housing of  FIG.  3   . 
         FIG.  3 C  is a cross sectional schematic end view across another section of the mast assembly with an auxiliary nozzle of  FIG.  3   . 
         FIG.  3 D  is a cross sectional schematic end view across another section of the mast assembly with another nozzle of  FIG.  3   . 
         FIG.  4    is a schematic assembly view of a portion of the mast assembly. 
         FIG.  5 A  is a cross sectional schematic end view across the housing of  FIG.  3    facing away from the mast assembly. 
         FIG.  5 B  is a cross sectional schematic top view through the nozzle of  FIG.  3    and  FIG.  3 D . 
         FIG.  6    is cross sectional schematic perspective view of a mast assembly and housing of the system of  FIG.  2   , showing fluid channels, drives, and gears as an exemplary embodiment. 
         FIG.  7 A  is a schematic perspective view of a housing having a plurality of nozzles in a parallel configuration. 
         FIG.  7 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  7 A . 
         FIG.  7 C  is a cross sectional schematic top view of the housing of  FIG.  7 A . 
         FIG.  7 D  is a cross sectional schematic end view of the housing of  FIG.  7 A . 
         FIG.  8 A  is a schematic perspective view of a housing having a plurality of nozzles in a parallel configuration. 
         FIG.  8 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  8 A . 
         FIG.  9 A  is a schematic perspective view of a housing having a plurality of nozzles in a serial configuration. 
         FIG.  9 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  9 A . 
         FIG.  9 C  is a cross sectional schematic top view of the housing of  FIG.  9 A . 
         FIG.  9 D  is a cross sectional schematic end view of the housing of  FIG.  9 A . 
         FIG.  10    is a schematic front view of an alternative embodiment of the multi-axis articulating and rotary spray system. 
         FIG.  11    is a schematic front view of another embodiment of the multi-axis articulating and rotary spray system. 
         FIG.  12 A  is a schematic partial cross sectional perspective view of an exemplary container with a flexible system shown disposed therein similar to the embodiment in  FIG.  11   . 
         FIG.  12 B  is a schematic partial cross sectional end view of the exemplary container with the flexible system shown in  FIG.  12 A . 
         FIG.  12 C  is a schematic cross sectional side view of the exemplary container with the flexible system shown in  FIG.  12 A . 
         FIG.  13 A  is a schematic partial cross sectional perspective view of the exemplary container with the nozzles orientated at a different heading and pitch than shown in  FIG.  12 A . 
         FIG.  13 B  is a schematic partial cross sectional end view of the exemplary container with the flexible system shown in  FIG.  13 A . 
         FIG.  13 C  is a schematic cross sectional side view of the exemplary container with the flexible system shown in  FIG.  13 A . 
         FIG.  14 A  is a schematic partial cross sectional perspective view of an exemplary container with a flexible system shown disposed therein similar to the embodiments shown in  FIG.  11    and  FIG.  12 A . 
         FIG.  14 B  is a schematic partial cross sectional perspective view of the exemplary container with the flexible system shown in  FIG.  14 A  with the nozzles at a different heading and pitch. 
         FIG.  14 C  is a schematic partial cross sectional perspective view of the exemplary container with the flexible system shown in  FIG.  14 B  with the nozzles at a different heading and pitch. 
         FIG.  15    is a schematic diagram of an exemplary control power and control assembly of components to operate the system. 
         FIG.  16    is a schematic diagram of a low profile, wide body container with the spray system inserted therein having a plurality of modules with nozzles attached to a flexible mast shaft. 
         FIG.  17 A  is a schematic diagram of the container and the spray systems of  FIG.  16    in a first position. 
         FIG.  17 B  is a schematic diagram of the container and the spray systems of  FIG.  16    in a second position. 
         FIG.  17 C  is a schematic diagram of the container and the spray systems of  FIG.  16    in a third position. 
         FIG.  17 D  is a schematic diagram of the container and the spray systems of  FIG.  16    in a fourth position. 
         FIG.  17 E  is a schematic diagram of the container and the spray systems of  FIG.  16    in a fifth position. 
         FIG.  17 F  is a schematic diagram of the container and the spray systems of  FIG.  16    in a sixth position. 
     
    
    
     DETAILED DESCRIPTION 
     The Figures described above and the written description of exemplary structures and functions below are not presented to limit the scope of what the inventors have invented or the scope of the appended claims. Rather, the Figures and written description are provided to teach any person skilled in the art to make and use the inventions for which patent protection is sought. Those skilled in the art will appreciate that not all features of a commercial embodiment of the inventions are described or shown for the sake of clarity and understanding. Persons of skill in this art will also appreciate that the development of an actual commercial embodiment incorporating aspects of the present disclosure will require numerous implementation-specific decisions to achieve the developer&#39;s ultimate goal for the commercial embodiment. Such implementation-specific decisions may include, and likely are not limited to, compliance with system-related, business-related, government-related and other constraints, which may vary by specific implementation, location, and from time to time. While a developer&#39;s efforts might be complex and time-consuming in an absolute sense, such efforts would be, nevertheless, a routine undertaking for those of ordinary skill in this art having benefit of this disclosure. It must be understood that the inventions disclosed and taught herein are susceptible to numerous and various modifications and alternative forms. The use of a singular term, such as, but not limited to, “a,” is not intended as limiting of the number of items. Also, the use of relational terms, such as, but not limited to, “top,” “bottom,” “left,” “right,” “upper,” “lower,” “down,” “up,” “side,” and like terms are used in the written description for clarity in specific reference to the Figures and are not intended to limit the scope of the invention or the appended claims. For ease of cross reference among the Figures, elements are labeled in various Figures even though the actual textual description of a given element may be detailed in some other Figure. 
     The present disclosure provides a system and method articulating and rotary spray system for fluids that includes a first drive for rotating a mast for different headings and a second drive for rotating a nozzle for different pitches at any time with or without rotation of the mast. The method and system uses a system of interacting gears that rotate a control rod in variable synchronization to control the nozzle pitch relative to the mast heading while the control rod orbits about a center of rotation of the rotating mast along a longitudinal axis. 
       FIG.  1    is a perspective schematic view of an exemplary embodiment of a multi-axis articulating and rotary spray system. In this embodiment, the system  1  includes a mast assembly  2  that is rotatably coupled with a pitch drive  3  and a heading drive  4 . The pitch drive  3  can change a pitch angle “α” of a nozzle  53  and the heading drive  4  can change a heading angle “β” of a mast assembly with the nozzle. The pitch drive  3  and heading drive  4  can be an integral unit or separate units that are coupled together for the system. The term “drive” is used broadly and includes any motive source that can accomplish the purposes described herein for rotating a heading of a nozzle and/or for rotating the pitch of a nozzle. For example and without limitation, a drive can include a device that can utilize electrical, pneumatic, or hydraulic power, and can be a servo, stepper or other drives and can include manual drives. In at least one embodiment, as described below, the pitch drive  3  and heading drive  4  can be coupled to the mast assembly  2  through a series of gears and housed within a gearbox housing  5 . The term “gears” is used broadly, includes any rotatable means of transmitting rotational power from one rotating element to another, and includes gears, sprockets with chains, pulleys and sheaves with belts, and other rotational elements. The drives  3  and  4  can be coupled to the gearbox housing  5  through a mount  13 . Further, the gearbox housing  5  can be coupled to a fluid union housing  9  with a housing cap  6  that can direct fluid into various flow passages of the mast assembly  2  described herein. A power housing  43  can be coupled to the assembly of drives and housings. The power housing  43  can include one or more power ports  44  for providing power and controls from a remove controller and power supply (not shown) to the drives  3  and  4 , and any other associated sensors and power-related needs. Fluid from one or more fluid sources (not shown) can be routed through the fluid union housing  9  and out of the mast assembly  2  through one or more nozzles, such as a nozzle union  7  with a nozzle  53  or a fixed auxiliary nozzle  8 . In some embodiments, a single stream from a single opening in the nozzle can be formed. In other embodiments, multiple streams can be formed in a given nozzle so that the fluid through the nozzle flows in multiple directions at a given pitch and heading. 
     In an advantageous embodiment, the nozzle union  7  with a nozzle centerline  52  can rotate about a nozzle axis of rotation  40  to change the pitch angle “α” relative to the longitudinal axis  42 . Further, in an exemplary embodiment, the nozzle union  7  can also rotate in heading around the longitudinal axis  42 . The heading angle “β” can be referenced to a plane  49 A that passes through the longitudinal axis  42  as the center of rotation of the nozzle union (and thus nozzle). Plane  49 A is parallel to some datum plane  49 , such as a plane that intersects the centerlines of the pitch drive and the heading drive. It is noted that other reference planes can be used that are generally fixed relative to the motion of the nozzle union in space to establish a datum for measurement of the heading angle and/or other angles. In at least one embodiment, the pitch and heading of the nozzle can be adjusted independent of the other and can both be adjusted at the same time. The term “nozzle” is used broadly herein and includes any directed flow opening for fluids. The term “spray” is used broadly herein and includes any pressurized fluid flowing out from an opening. The term “fluid” is used broadly to include any flowable or capable of transmission substances or forms, including liquids, gases, particles, fluidized solids, and electromagnetic waves. 
       FIG.  2    is a cross sectional schematic side view of the system of  FIG.  1   . The plane of  FIG.  2    is drawn through the sectional notation shown in  FIG.  3 B .  FIG.  6    is cross sectional schematic perspective view of a mast assembly and housing of the system of  FIG.  2   , showing fluid channels, drives, and gears as an exemplary embodiment. The figures will be described in conjunction with each other. The system  1  includes a pitch drive  3  and a heading drive  4  that can be collectively coupled to a drive mount  13  that in turn can be coupled to a gearbox housing  5  with gears to operate a mast assembly  2 . The pitch drive  3  in the exemplary embodiment can be a motor, such as a servomotor that can be incrementally indexed and controlled with precision. The pitch drive  3  can include a drive shaft that engages a pitch drive gear  10  to transmit power through the mast assembly to the nozzle union  7 . Further, the heading drive  4  can also be a motor, such as a servomotor with a drive shaft, that can be coupled with a coupler  11  to a mast drive carrier  12 . The mast drive carrier  12  can be coupled in turn to the mast assembly  2 , such as with a fastener  28 , so that the heading drive can rotate the mast assembly  2  about a center of rotation along a longitudinal axis  42 . In the preferred embodiment, the nozzle union  7  with a nozzle centerline  52  rotates about a nozzle axis of rotation  40  (shown in  FIG.  1   ) to change a pitch angle relative to the longitudinal axis  42 . Further, in an exemplary embodiment, the nozzle union  7  can rotate within a plane that is parallel to or even intersects the longitudinal axis  42  as the nozzle union changes pitch directions. 
     The gearbox housing  5  assists in enclosing the gears, holding any lubrication that may be useful for increasing of the life of the gears, providing recesses and mounting structure for the gears, and other functions customary in housings. The gearbox housing  5  can be coupled to a fluid union housing  9 . The fluid union housing  9  includes one or more flow paths from one or more exterior fluid sources and through one more inlets described below that flow into one or more peripheral channels that are disposed between the surrounding fluid union housing  9  and the mast shaft  2 A. The peripheral channels are longitudinally sealed on either side of the channel with seals  17 , so that the fluid in the channel is restricted from travelling longitudinally along the mast assembly but still allows fluid in the channel to circumferentially flow into a port inlet formed through the sidewall of the mast assembly, as also described in  FIG.  3   . Various bearings  15 A,  15 B can support the mast assembly  2  within the gearbox housing  5  and/or fluid union housing  9 . The bearings and seals can be held in position with bearing retainers  50  and  51 . A housing cap  6  attached to the fluid union housing  9  can assist in deflecting debris from the interface of the mast shaft and the fluid union housing. In at least one embodiment, the gearbox housing  5  and the fluid union housing  9  can be an integral unit. 
     An exemplary embodiment of the mast assembly  2  includes a main nozzle union  7  and an auxiliary nozzle  8 . The nozzle union  7  can rotate to different pitch angles relative to the longitudinal axis  42  and the auxiliary nozzle can be fixed in position. Variations can include the auxiliary nozzle being rotatable, the nozzle union  7  being fixed, and additional fixed or rotatable nozzles. At least one and advantageously two flow channels can be formed in the fluid union housing  9  for the nozzle union  7  and the auxiliary nozzle  8 . A main rotary channel  22  can be formed between the fluid union housing  9  and the mast assembly  2 , such as in surrounding wall of the housing  9 . The main rotary channel  22  can allow fluid to flow into the mast shaft  2 A for the nozzle union  7 . (The flow channel for the nozzle union  7  is not shown in  FIG.  2    due to the particular angle of cross-section taken in  FIG.  2   , but is shown in  FIG.  3    as the mast main port  20 .) An auxiliary rotary channel  23 , as a second flow channel, can allow fluid to flow into the mast auxiliary port  19  for the fixed auxiliary angle  8 . 
     Referencing the drive and driven elements to rotate the components, the gearbox housing  5  further can support a rotational first pitch gear  36 . The first pitch gear  36  can be rotationally coupled with pitch drive gear  10  to rotate the gear  36  about an axis. Further, a second pitch gear  26  can be rotationally coupled with the first pitch gear  36  so that the first pitch gear  36  can drive the rotation of the second pitch gear  26  to also rotate. The second pitch gear  26  can be coupled to the mast drive carrier  12  in an axis  48  that is offset from the longitudinal axis  42 . Further, the second pitch gear  26  can be fixedly coupled with a pitch drive rod  25  along the offset axis  48  to engage the nozzle union  7  to change the pitch of the nozzle union. In the embodiment described, the second pitch gear  26  can rotate the pitch drive rod to change the pitch. In other embodiments, the pitch drive could be coupled to the pitch drive rod to move the pitch drive rod linearly to cause the nozzle union to change pitch, such as in a rack and pinion system. Thus, in general, the pitch drive can selectively move the pitch drive rod relative to the rotation of the mast shaft to maintain a pitch angle or to change a pitch angle of the nozzle. 
     In some embodiments, such as those described herein with a plurality of nozzles, the invention can include the capability of a plurality of independent pitch angles for the plurality of nozzles, so that the nozzles can be directed differently from each other. For example and without limitation, multiple first pitch gears  36  and second pitch gears  26  can be stacked or otherwise assembled so that a nozzle can face a different pitch independent of another nozzle. 
     In operation, the invention includes synchronizing the rotation of the offset second pitch gear  26  by the pitch drive  3  changing the rotation of the pitch drive gear  10  and therefore the first pitch gear  36 . As the heading drive  4  rotates the mast assembly  2 , the second drive  26  orbits about the center of rotation along the longitudinal axis  42 , while engaging the first pitch gear  36 . By synchronizing the rotational speed of the first pitch gear  36  with the rotational speed of the mast assembly  4 , the pitch drive rod  25  can be rotated to maintain or change the pitch of the nozzle union  7  as the second pitch gear  26  orbits about the center of rotation. The second pitch gear  26  can rotate at a rotational speed that maintains the pitch of a nozzle union  7  in phase with the mast assembly  2  as the mast assembly rotates with the heading drive  4 . Alternatively, the relative speed of the second pitch gear  26  can be synchronized out of phase from the rotation of the mast assembly  2 , so that the pitch of the nozzle union  7  changes one direction or another relative to the mast assembly  2 . Further, the mast assembly  2  can be rotationally stationary and the second pitch gear  26  can rotate to change the pitch of the nozzle union  7 . In each case, the speed and rotation of the second pitch gear  26  is synchronized with the mast assembly  2  rotation (or non-rotation) to achieve the desired result of a nozzle pitch angle “α” relative to a mast heading angle “β”, shown in  FIG.  1   . 
       FIG.  3    is a cross sectional schematic side view of a mast assembly and housing of the system of  FIG.  1    at a different angle than  FIG.  2   .  FIG.  3    illustrates a different angle of a side cross section compared to  FIG.  2    to further illustrate portions of the system described herein. The gearbox housing  5  can support various gears used in synchronizing the rotation of the mast assembly  2  to change headings with the pitch direction of the nozzle union  7  on the mast assembly. The first pitch gear  36  is used to rotate the second pitch gear  26 , so that the pitch angle of the nozzle unit  7  is synchronized with the rotation of the mast assembly  2 . In this particular orientation, a pitch drive gear  10  (shown in other Figures) is used to engage the first pitch gear  36 . Also, in this orientation, the second pitch gear  26  appears aligned about the center of the rotation of the longitudinal axis  42  due to the particular position of the second pitch gear in its orbit path about the longitudinal axis  42 . 
       FIG.  3    also illustrates the various flow paths between the fluid union housing  9  and the mast shaft  2 A of the mast assembly  2  and within the mast shaft  2 A. A mast main port inlet  21  is formed through the wall of the fluid union housing  9 . The port inlet  21  fluidicly intersects the main rotary channel  22  that allows the fluid to flow around the periphery of the mast shaft  2 A and into an inlet  21 A formed through the wall of the mast shaft  2 A regardless of the shaft heading. The inlet  21 A is fluidicly coupled with a mast main port  20  that is formed longitudinally inside the mast shaft. The mast main port  20  can be formed off-center from the longitudinal axis  42 . The mast main port  20  can deliver fluid to a fluid inlet  35 A of an assembly termed herein a nozzle union trunnion  16 . The nozzle union trunnion  16  structurally supports the nozzle union  7  and allows the nozzle union to rotate about the trunnion&#39;s circumference. A portion of the mast shaft  2 A can be removed to form a nozzle relief cut away  38  to allow clearance for the nozzle union trunnion to rotate. To provide fluid from the fluid inlet  35 A to the nozzle union  7 , a fluid outlet  35 B is formed at an angle to the inlet  35 A. The inlet  35 A can be plugged for manufacturing purposes with a plug  57  downstream of the outlet  35 B. The outlet  35 B can flow fluid into a nozzle rotary channel  35  that is formed between the trunnion  16  and the nozzle union  7 . Thus, regardless of the heading of the mast assembly  2 , fluid can flow from the mast main port inlet  21  into the mast main port  20 . Similarly, regardless of the pitch angle of the nozzle union  7 , fluid can flow from the mast main port  20  through the nozzle union  7 . 
     In the exemplary embodiment shown, the mast assembly  2  can further include one or more auxiliary nozzles  8 . The auxiliary nozzle(s)  8  can be fixed in pitch position or can have a similar assembly of components to change the pitch as described herein for the nozzle union  7 . An auxiliary notary channel  23  can be formed between the circumference of the fluid unit housing  9  and the outer circumference of the mast shaft  2 A. For manufacturing reasons, the channel can generally be formed in the wall of the housing  9 . A mast auxiliary port inlet  24  (shown in  FIGS.  3 A- 3 D ) can be formed through the wall of the fluid unit housing  9 , similar to the port inlet  21 . The port inlets  21  and  24  can be formed to accept a hydraulic fitting. The port inlet  24  fluidicly intersects the auxiliary rotary channel  23  that allows the fluid to flow around the periphery of the mast shaft  2 A and into an inlet  24 A formed through the wall of the mast shaft  2 A regardless of the shaft heading. The inlet  24 A is fluidicly coupled with a mast auxiliary port  19  that is formed longitudinally inside the mast shaft. The mast auxiliary port  19  can be formed off-center from the longitudinal axis  42 . The mast main port  20  is fluidly coupled to the fixed auxiliary nozzle  8  to flow fluid thereto. 
     A drive mount  13  is also shown in  FIG.  3    and is an exemplary structure to which one or more of the drives  3  and  4  can be coupled, such as the heading drive  4 . The mast drive carrier  12 , also described in  FIG.  2   , can be coupled with a coupler  11  to the heading drive  4 . 
       FIG.  3 A  is a cross sectional schematic end view across a section of the mast assembly and housing of  FIG.  3   . The cross section is located through the fluid union housing  9  and mast assembly  2 A at an orthogonal angle to the longitudinal axis  42 . The cross section illustrates an exemplary offset position of the mast main port  20 . The offset position facilitates locating the nozzle union  7  in a recessed position of the mast shaft that is closer to the longitudinal axis  42 , so that the outer circumference of the mast assembly can be reduced to fit in smaller openings. An additional benefit is that the nozzle can more uniformly distribute the fluid from the region of the longitudinal axis  42  as the mast  2  rotates about the longitudinal axis. 
       FIG.  3 A  also illustrates the exemplary position of the mast auxiliary port  19 , which in the exemplary environment is used to flow fluid to the auxiliary nozzle  8 . The mast auxiliary port inlet  24  is formed through the sidewall of the fluid union housing  9 , so that fluid can flow into the auxiliary rotary channel  23  formed between the fluid union housing  9  and the mast shaft  2 A. Once the fluid is into the auxiliary rotary  23 , the fluid can flow through the inlet  24 A into the mast auxiliary port  19 . 
       FIG.  3 A  also illustrates an exemplary offset position of the pitch drive rod  25 . The pitch drive rod  25  can be inserted through a mast assembly rod opening  25 A that is longitudinally formed in the mast shaft  2 A. The pitch drive rod  25  can be rotated counter clockwise or clockwise to change the pitch of the nozzle union  7  shown in  FIG.  3    as the pitch drive rod orbits about the longitudinal axis  42  described herein. 
       FIG.  3 B  is a cross sectional schematic end view across another section of the mast assembly and housing of  FIG.  3   . The cross section is located transversely through the fluid union housing  9  and the mast assembly  2 A at the mast main port inlet  21 . The mast main port inlet  21  is formed through the wall of the fluid union housing  9 , so that fluid can flow into the main rotary channel  22  formed between the fluid union housing  9  and the mast shaft  2 A. An inlet  21 A is formed through the wall of the mast shaft  2 A, so that fluid can flow from the channel  22  through the inlet  21 A into the mast main port  20 . Thus, regardless of the heading of the mast assembly  2  and therefore the heading of the mast main port  20 , fluid can flow into the mast main port  20  and thence to the nozzle union  7  shown in  FIG.  3   . 
       FIG.  3 C  is a cross sectional schematic end view across another section of the mast assembly with an auxiliary nozzle of  FIG.  3   . The cross section is located transversely through the mast shaft  2 A at the end of the flow path  19  as it enters the fixed auxiliary nozzle  8  for flow therethrough. The mast main port  20  can extend past the auxiliary port  19  to the nozzle union  7  in this embodiment. The pitch drive rod  25  is also shown, consistent with the views in  FIGS.  3 A and  3 B . 
       FIG.  3 D  is a cross sectional schematic end view across another section of the mast assembly with a nozzle of  FIG.  3   . The cross section is located transversely through the mast shaft  2 A at the nozzle union  7  near the end of the mast main port  20 . Fluid in the mast main port  20  can flow to the fluid inlet  35 A which in turn can flow to the fluid outlet  35 B and then into the intersecting nozzle flow channel  35 . For manufacturing convenience, the fluid inlet  35 A can be plugged downstream of the fluid outlet  35 B with a plug  57  or other appropriate closures. The nozzle flow channel  35  can flow fluid into the nozzle union  7 , regardless of the nozzle pitch. 
       FIG.  3 D  also illustrates the pitch drive rod  25  that is used to engage the nozzle union  7 . Further details are shown in  FIG.  5 B .  FIG.  5 B  is a cross sectional schematic top view through the nozzle of  FIG.  3    and  FIG.  3 D . In at least one embodiment, the pitch drive rod  25  can rotatably engage the nozzle union  7  to rotate the nozzle union to different pitch angles “α” measured between the longitudinal axis  42  and the nozzle centerline  52 . The pitch drive rod  25  can include a rod gear  27 , such as a worm gear, described further in  FIG.  4   , which can engage a corresponding nozzle gear  34 , which can also be a worm gear, formed on a peripheral surface of the nozzle union  7 . To facilitate rotation of the nozzle union  7 , a thrust washer  32  can be located at the bottom and top of the nozzle union  7  when installed around the nozzle union trunnion  16 . A snap ring  31  can retain the nozzle union  7  onto the nozzle union trunnion  16 . 
       FIG.  4    is a schematic assembly view of a portion of the mast assembly. The mast assembly  2  includes the mast shaft  2 A into which and onto which the various components can be assembled. The mast shaft  2 A in the exemplary embodiment includes a nozzle relief cutaway  38  for the nozzle union trunnion  16 . The cutaway  38  allows the nozzle union  7  to be mounted at least in proximity to a longitudinal axis  42  around with the mast shaft  2 A rotates. For the exemplary embodiment with an auxiliary nozzle  8 , an auxiliary relief cutaway  30  can also be included. The relief cut away can allow the assembly to be more compact in circumference to allow the assembly to be inserted through smaller openings and other restrictive areas that otherwise might be inaccessible if the nozzle union  7  and/or auxiliary nozzle  8  were mounted on the outer surface of the mast shaft  2 A. The nozzle relief cutaway  38  forms a surface from which the nozzle union trunnion  16  extends. 
     A thrust washer  32  can act as a bearing surface between the nozzle relief cutaway  38  surface and the lower portion of the nozzle union  7  when assembled thereto. The nozzle union  7  can include a nozzle gear  34  integral with or otherwise coupled to the nozzle union  7 . The nozzle gear  34  forms an indexing system in conjunction with the mating rod gear  27  on the pitch drive rod  25  to control the rotation of the nozzle union  7 . Other types of indexing systems can be provided, such as a rack and pinion, sprocket, chain or belt drive, and other engagement mechanisms for controlled rotation of an object about a central hub, as would be known to those with ordinary skill in the art given the teachings and disclosure herein. Further, manual actuators can be used to move the pitch drive rod  25  into a variety of positions that result in changing the pitch angle of the nozzle union  7 . A second thrust washer  32  can be disposed on top of the nozzle union to provide a bearing surface for a retaining snap ring  31  that can be inserted into a snap ring groove  31 A to hold the stack of components to the nozzle union trunnion  16 . For manufacturing considerations, a flow passage can be formed into the top of the nozzle union trunnion  16  can be thereafter plugged to close a top section with a plug  57 . 
     The pitch drive rod  25  can be coupled with the second pitch gear  26  described herein. The second pitch gear  26  rotates the pitch drive rod  25  which in turn rotates the pitch drive rod gear  27  formed on a distal end from the second pitch gear. The pitch drive rod gear  27  rotates the nozzle gear  34  to rotate the nozzle union  7  into different pitch angles. The pitch drive rod  25  passes through an opening in an offset portion of the mast shaft  2 A, not shown in the particular perspective view but indicated by the assembly lines. On the distal end of the mast shaft  2 A from the nozzle union trunnion  16 , longitudinal flow passages, described above, can be formed in the mast shaft, and cross flow passages, such as the port inlet  24 A, can be formed at an angle to the flow passages. After formation, the ends of the longitudinal flow passages plugged with port plugs  18  for manufacturing considerations. An assembly of seals and bearings can be held in position around the mast shaft  2 A with bearing retainers  50 ,  51  that can be inserted into snap ring grooves  50 A,  51 A, respectively. The bearing retainers are also shown in  FIG.  6   . Bearing retainers can include snap rings, set screws, and other securing means using in the field. A mast drive carrier  12  can be coupled to the distal end of the mast shaft  2 A from the nozzle union trunnion  16 . The mast drive carrier  12  includes a cutaway portion  41  with a pitch drive rod carrier opening  45  that supports a distal end of the pitch drive rod  25 , which in turn supports the second pitch gear  26  coupled thereto. Further, the mast drive carrier  12  includes a carrier shaft  46  for coupling with the heading drive  4  described herein. The mast main port  20 , described above, provides a flow passage through the mast shaft  2 A can deliver fluid to the nozzle union  7  and out the nozzle opening  47 . The mast auxiliary port  19  described above can deliver fluid to an opening formed in the mast shaft to deliver fluid to the auxiliary nozzle  8 . 
       FIG.  5 A  is a cross sectional schematic end view transverse to the longitudinal centerline at a location across the housing of  FIG.  3    facing away from the mast assembly.  FIG.  5 A  is from a viewpoint looking from the drive end toward the gearbox housing in the direction of the mast assembly. The gearbox housing  5  can support and enclose one or more of the gears described herein. For example, the pitch drive gear  10 , which is coupled to the pitch drive  3  shown in  FIG.  2    and  FIG.  6   , can be used to rotate and otherwise drive the first pitch gear  36 . The first pitch gear  36  is held in position in this embodiment by two idler gears  37  in conjunction with the pitch drive gear  10 . The idler gears  37  can be spaced around the periphery of the first pitch gear  36 . The second pitch gear  26  can engage the first pitch gear  36 , so that the second pitch gear will rotate in response to the first pitch gear rotation. The second pitch gear  26  is centrally coupled to the pitch drive rod  25 . 
     The mast drive carrier  12  can be coupled to the mast shaft  2 A shown in  FIG.  4    and has a cutaway portion  41  to allow clearance for the second pitch gear  26 . As a mast drive carrier  12  rotates about the center of rotation along the longitudinal axis  42 , the second pitch gear  26  with the pitch drive rod  25  orbit about the longitudinal axis. By synchronizing the speed of the first pitch gear  36  with a pitch drive  3  acting through the pitch drive gear  10 , the relative rotational speed of the first drive gear  36  compared to the rotational speed of the mast drive carrier  12  will determine whether a point on the second pitch gear remains in a fixed orientation or changes relative to the center of rotation along the longitudinal axis  42 . A slower relative speed of the second pitch gear compared to the rotational speed of the mast drive carrier can cause the relative movement of a point on the second pitch gear to change in one direction. The change in orientation of the second pitch gear changes the relative orientation of the pitch drive rod  25  that rotates in the rod opening  25 A that in turn rotates the rod gear  27  on the pitch drive rod, which in turn rotates the nozzle gear  34  on the nozzle union  7  and changes the pitch angle α of the nozzle union, as discussed above. A faster relative speed of the second pitch gear compared to the rotational speed of the mast drive carrier  12  can cause a point on the second pitch gear to move in an opposite direction. 
     The synchronization of the speed of the first pitch gear  36  compared to the mast drive carrier  12  will determine relative movement of the second pitch gear  26  and the resulting relative movement of the components coupled thereto. The relative movement of the second pitch gear when the rotational speed of the first pitch gear is synchronized out of phase with the speed of the mast drive carrier will cause the rotation of the second pitch gear  26  to be out of phase as it orbits about the center of rotation along the longitudinal axis  42 , thus causing the pitch drive road  25  to rotate out of phase as it orbits also the center of rotation. As the pitch drive rod  25  rotates out of phase, it will turn the nozzle unit  7  to a different pitch angle by rotating the pitch rod gear  27  that engages the nozzle gear  34 , described above. When the desired pitch is obtained, the first pitch gear  36  can be synchronized back into phase with the relative rotational speed of the mast drive  12 , so that the second gear drive  26  and the pilot drive rod  25  remain in a desired orientation to the mast drive carrier as the pitch drive rod  25  and second pitch gear  26  orbit about the center of rotation along the longitudinal axis. 
       FIG.  7 A  is a schematic perspective view of a housing having a plurality of nozzles in a parallel configuration.  FIG.  7 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  7 A .  FIG.  7 C  is a cross sectional schematic top view of the housing of  FIG.  7 A .  FIG.  7 D  is a cross sectional schematic end view of the housing of  FIG.  7 A . In some embodiments, a plurality of nozzles can interact together. In some embodiments, the flow and direction of fluid from the plurality of nozzles can be, but not necessarily, balanced in their outlet directions, so that a minimum sideways resulting force is created to the mast shaft described herein. In other embodiments, an imbalance may be intended to move the mast shaft from the resulting force of the imbalance. It may be advantageous to couple the movement of the plurality of nozzles and for convenience, the coupling can occur through a housing to couple various components together. The housing can be open to expose the components to ambient conditions or at least partially closed to protect the components from the ambient conditions. Some exemplary embodiments are illustrated as parallel configurations and in serial configurations, as described below. Other configurations are possible, including various numbers of nozzles and associated components. In some embodiments, a housing can be used to form a component for the plurality of nozzles. 
     The nozzle housing  55  can be a separate unit that is coupled to the drives  3  and  4  and may be coupled with the gearbox housing  5  and fluid union housing  9  as described above. In such embodiments, the nozzle housing  55  could be rotated to different heading angles as described above by being coupled to the rotation of the pitch drives and gears described above. The heading of the nozzles can be accomplished by connecting an intermediate coupling member between the heading drive (and any gears as described above) and the housing, so the housing would rotate with the coupling member as the drive rotates the coupling member. In some embodiments, then coupling member can be a hose connected to the main mast port to provide fluid to the nozzles. In other embodiments, the coupling member can be a rod or tube and can include a universal joint for angular deflections. 
     In other variations, the housing can be an integral unit with the mast shaft  2 A, so that a plurality of nozzles would be mounted to the mast shaft  2 A with heading rotation changed with the mast shaft. 
     Further, multiple housings  55  can be coupled together with the associated pitch drive rods  25  and flow paths by intermediate coupling members between the housings if desired. Such coupling could allow, for example, an elongated spray system  1  with multiple nozzles acting along a length of the spray system that could be used in elongated containers such as in railcars, refineries, and other applications. 
     The nozzle housing  55  includes components described in more detail above and aspects particular to these exemplary embodiments will be described below. In general, a plurality of nozzle unions  7  with nozzles  53  having a centerline  52  can each rotate about an axis  40  of their respective nozzle union trunnion  16  and a rotationally coupled to the nozzle housing  55  through the trunnion. A cylindrical bushing  58  can be inserted between perimeters of the nozzle union trunnion  16  and the nozzle union  7  to assist the nozzle union in rotating about the trunnion. Each nozzle can rotate by an angle α measured between a reference line  67  to the nozzle centerline  52 . The reference line  67  is parallel to the longitudinal axis  42  described above. The nozzles can move in synchronous rotation for pitch or can be independently controlled to different pitch angles within a given housing or relative to other nozzles in other housings. A pitch drive rod  25  passes into the nozzle housing  55  through a rod opening  25   a . The pitch drive rod  25  includes a portion formed as a rod gear  27 . Correspondingly, the nozzle union  7  includes a portion formed as a nozzle gear  34 . The rod gear  27  rotates which in turn rotates the nozzle gear  34  to rotate the nozzle  53  through the angle α. A seal  54  can seal the nozzle union  7  from debris and other contaminants. The pitch drive rod  25  can be supported in the nozzle housing  55  by one or more bearings  60 . In some embodiments, the nozzle housing  55  can include a bearing retainer  56  on one or both ends of the pitch rod passing through the nozzle housing  55 . A seal  61  can seal the pitch drive rod through the bearing retainer  56  in those embodiments in which the pitch drive rod passes through the bearing retainer. The flow path to supply fluid to the nozzle  53  is similar as has been described above using the mast main port  20 . In this embodiment, the mast main port  20  can flow into the nozzle housing  55 . A transverse nozzle trunnion port  59  can provide fluid from the mast main port  20  to each of the nozzles  53 . Due to manufacturing concerns, the nozzle trunnion port  59  can be formed by cross-drilling into the nozzle housing  55  to intersect the mast main port  20  and then plugged with a port plug  18  near the wall to seal the port  59  to the port  20 . Other methods of forming the nozzle trunnion port  59  can also be used. The fluid flows through the nozzle trunnion port  59  into the fluid inlet  35 A of the nozzle union trunnion  16 . From the fluid inlet  35 A of the trunnion, the fluid flows into the fluid outlet  35 B of the trunnion, into the nozzle rotary channel  35 , into the nozzle  53 , and out the nozzle opening  47 , as has been described in prior figures. 
       FIG.  8 A  is a schematic perspective view of a housing having a plurality of nozzles in a parallel configuration.  FIG.  8 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  8 A . In this embodiment, an exemplary flow control system is shown that can vary the fluid flowing through one or both nozzles in a given housing. Otherwise, the elements can be similar to those described above. One or more openings  71 A can be formed in the housing  55  that is fluidicly coupled to the nozzle trunnion port  59  and the fluid Inlet  35 A, where the fluid inlet  35 A is fluidicly coupled to the nozzle  53 , as described above. A poppet valve  71  can be coupled in the housing opening  71 A to control the flow of fluid between the nozzle trunnion port  59  and the fluid Inlet  35 A. A separate poppet valve  71  can be used for each nozzle to be controlled. In other embodiments, a poppet valve can be used to control flow to a given set of nozzles, such as a plurality of nozzles in a given housing. In at least one embodiment, the poppet valve can be a solenoid-operated poppet valve. A solenoid-operated poppet valve generally includes a valve armature coil mount post  68  coupled to a valve armature  69 , which is surrounded by a valve coil  70 . The valve armature  69  can be coupled to a poppet  72  that engages a seat  73 A formed in the poppet valve body  73 . When energized, the valve armature  69  moves within the coil  70  and can be biased to pull the poppet  72  away from the seat  73 A. Fluid can then flow between the nozzle trunnion port  59  into an inlet  75  of the poppet valve then past the seat  73 A and into the fluid inlet  35 A and thence to the nozzle  53 . The poppet valve(s) can be controlled with energy that can be supplied for example through a power port  44  to the housing, or other purposes. 
       FIG.  9 A  is a schematic perspective view of a housing having a plurality of nozzles in a serial configuration.  FIG.  9 B  is a partial cross sectional schematic perspective view of the housing of  FIG.  9 A .  FIG.  9 C  is a cross sectional schematic top view of the housing of  FIG.  9 A .  FIG.  9 D  is a cross sectional schematic end view of the housing of  FIG.  9 A . In this embodiment, the nozzles are aligned in series along the longitudinal axis  42 . Such an embodiment could be advantageous, for example, in passing through restricted size openings. The components are similar as has been described above and aspects particular to these embodiments are discussed below. Although not shown, it is understood that the flow through one or more of the nozzles can be controlled in this or other embodiments, such as with the flow control system described above. 
     A nozzle housing  55  includes a plurality of nozzles  53  about an angle α relative to a reference line  67  that is parallel to the longitudinal axis  42 . The rotation of the nozzles is controlled by a control rod  25  with a plurality of rod gears  62  and  64 . The rod gears  62  and  64  are rotatably coupled with corresponding nozzle gears  63  and  65 . As the rod  25  rotates with the rod gears  62  and  64 , the nozzle gears  63  and  65  correspondingly rotate which causes the nozzles  53  to rotate about the angle α. 
     In at least one embodiment, the rotation of the nozzles can be in opposite directions. Because the nozzles are on the same side of the rod  25 , it is advantageous for one set of a rod gear and nozzle gear to be formed with right-hand threads and the other set to be formed with left-hand threads. For ease of manufacturing, a separate control rod with opposite formed threads than the other control rod can be made for one of the sets of threads. The separate control rod can be coupled with the other control rod through a coupler  66  that can fit within the rod opening  25 A. In other embodiments, the rotation of the nozzles in the angle α can be in the same direction and left-hand or right-handed threads can be used for both nozzles. For embodiments having more than the two exemplary nozzles and associated components illustrated, the direction and angle of rotation of the nozzles can be influenced by the particular application intended, such as more nozzles rotating in one direction for odd numbers of nozzles, and equal number of sets of nozzles rotating in both directions for even numbers of nozzles. 
       FIG.  10    is a schematic front view. The system  1  can be configured with a flexible mast assembly  2 . In at least one embodiment, the mast assembly  2  can be coupled to a fluid union housing  9  which in turn is coupled to a gearbox housing  5  as described above, with any adjustments made to the gearbox housing  5  and/or union housing  9  including connections for the flexible members, as would be known to those with ordinary skill in the art given the teachings herein. The mast assembly  2  can include a flexible mast shaft  78  coupled to one or more nozzle housings  55 . A mast main port conduit  90  can be coupled between the fluid union housing  9  and the nozzle housing  55 . The conduit  90  can provide a flow path of the mast main port  20  described above for fluid flowing between the fluid union housing  9  and the nozzle housing  55  of a module  81 , described in more detail in  FIG.  11   . The heading drive  4  can rotate the conduit  90 , which in turn can rotate the module  81  to change the heading angle relative to a plane  49 A. The plane  49 A passes through the longitudinal axis  42 , as the center of rotation of the conduit  90  at the fluid union housing  9  to which the conduit is coupled. Similar to  FIG.  1   , the plane  49 A is parallel to the datum plane  49 , passing through the centerlines of the drives  3  and  4 . A flexible pitch member for controlling the pitch, such as a rod conduit  91  with at least a partially enclosed flexible pitch drive rod  25 , is coupled between the gearbox housing  5  and or food housing  9  to the nozzle housing  55 . The pitch drive rod  25  can be rotated by the pitch drive  3  and associated gears to rotate the gears and thence the nozzles along the angle alpha in the nozzle housing  55  described above. A third conduit, a control conduit  92 , can at least partially enclose control elements, such as wires, optical cable, pneumatic or hydraulic tubing, electrical cable, and other elements for providing information from and to the housing  55  and for operation of the nozzles  53  of an alternative embodiment of the multi-axis articulating and rotary spray system. 
       FIG.  11    is a schematic front view of another embodiment of the multi-axis articulating and rotary spray system. In this embodiment, a plurality of nozzle housings  55  can be coupled to a flexible mast assembly  2 . The embodiment is shown with the plurality of nozzle housings  55  coupled in series with a flexible mast shaft  78 . However, in other embodiments, one or more nozzle housings could be coupled in parallel. The nozzle housings  55  can be partially enclosed by cages that can protect the nozzles as the housings are rotated by the drives at the different headings and pitches in which the nozzles travel and still allow the nozzles to flow. The cages can be made of a variety of materials, including metals and structural plastics. In some embodiments, the cage can be shaped so that the nozzles may not extend outside a space defined by the exterior surfaces of the cage to protect the nozzles regardless of the heading and pitch. The nozzle housing and cage assembly is herein termed a “module”. In the Figure, the module  81 A is the leading module that would first enter a container or otherwise be disposed at the end of the mast assembly  2 , following by other modules, such as modules  81 B to  81   n  for the number that is appropriate for a given application (generally “module  81 ”). The modules can be controlled with remotely controlled valves, such as the valves  71  described in  FIGS.  8 A and  8 B . 
     The drives  3  and  4  can be coupled to the gearbox housing  5  and to the fluid union housing  9 . The flexible mast shaft  78  can be separated into segments to couple the modules together at intervals along the flexible mast shaft. The intervals can vary, depending the application, and can be uniformly or non-uniformly spaced. Similar to  FIG.  10   , the heading drive  4  can rotate the conduit  90 , which in turn can rotate the modules  81 A,  81 B, through  81   n , each generally having a housing  55  and associated nozzles, ports, and optional controls. Rotation of the conduit  90  changes the heading angle relative to the plane  49 A passing through the longitudinal axis  42  as the center of rotation of the conduit  90  at the fluid union housing  9  to which the conduit is coupled. The plane  49 A is parallel to a datum plane  49 , passing through the centerlines of the drives  3  and  4 . Movement of the flexible rod in the rod conduit  91  can change the pitch of the nozzle(s) in the housing(s)  55 . 
     Thus, fluid through the mast main port conduit  90  can flow from the fluid union housing  9  into the nozzle housing  55  and partially through the nozzles mounted thereon while the remaining fluid can continue through subsequent housing and nozzles via the subsequent segments of the flexible mast shaft  78 . Likewise, the rotation of the pitch drive rod, as described above through the rod conduit  91 , can rotate the gears in the plurality of nozzle housings and therefore rotate the nozzles in pitch, generally in a synchronized manner. The control conduit  92  can provide controls and information to the various nozzle housings. The conduits can be protected by a covering (not shown). 
     While flexibility can be accomplished by bendable conduits, such as hoses, it is understood that the flexibility can also be accomplished in other ways. For example, a rigid main port conduit  90  and rod conduit  91  with one or more flexible or universal joints that allow articulation at an angle. Further, in some embodiments, the plurality of nozzle housings  55  could be mounted in a rigid fashion without intended angular articulation to maintain clearances and other parameters as may be desired for a given application. 
       FIG.  12 A  is a schematic partial cross sectional perspective view of an exemplary container with a flexible system shown disposed therein similar to the embodiment in  FIG.  11   .  FIG.  12 B  is a schematic partial cross sectional end view of the exemplary container with the flexible system shown in  FIG.  12 A .  FIG.  12 C  is a schematic cross sectional side view of the exemplary container with the flexible system shown in  FIG.  12 A . An exemplary application using the system  1  is for cleaning container with contaminants, although it is understood that any application may apply that benefits from a flow of a substance through an opening. In this schematic, an access opening  76  can be formed at an angle to the length of an enclosed container  77 . The access opening  76  can have a restricted size that may be difficult to mount a rigid system therein to service the length of the container. Thus, a system  1  with a flexible mast shaft  78  may offer advantages in this application. The flexible system  1  can be inserted through the access opening and flexibly bend to travel along the length of the container  77 . The drive assembly  87  (such as having drives  3  and  4  described herein) can cause the nozzles in the modules  80 A- 80 E (generally “ 80 ”) on the mast shaft  78  to rotate in heading orientations and cause the nozzles mounted on the nozzle housings to change pitch orientations, while fluid from a fluid source (not shown) flows into the system and out of the nozzles. 
     The flow control through the nozzles can be used in a number of ways and for a number of purposes. For example, one nozzle can be activated to flow fluid under pressure to push the housing in the opposite direction from the thrust of the pressurized fluid. The direction is controlled by the direction of the flow through the nozzle. The housing can be pushed to the left or right in the container. The flow through the nozzles can also be alternated to create a modulation of the modules to spray the fluid in different lateral locations to propel waste like an auger, to move the nozzle forward or backward, or for other purposes. 
     One or more fluid streams  79  are shown at a particular heading and pitch that are angled high up on the container wall and the opposing streams can hit low and close on the container bottom. The change in direction as the nozzle rotates can encourage effective cleaning by applying pressurized fluid to a typical thick heel of contaminants in the container bottom. As the system  1  with the modules  80  approach an end wall, the pitch of one or more of the nozzles can be directed to concentrate on the end wall. 
     In some embodiments, the system can include reciprocating or rotating cleaning tools, such as brushes, scrapers, and other tools that can mechanically assist in removing waste and debris from a surface to be cleaned or otherwise treated by the fluid flowing from the nozzles. In this embodiment, brushes  88 , such as spiral brushes, can be coupled around the conduits described in  FIGS.  10  and  11    to mechanically abrade the contaminants and assist the efficacy of the streams  79 . Further, the spiral brushes  88  can act like an auger and push heaver materials toward the center of the tank for removal as the heading rotates clockwise. In other embodiments, the cleaning tools can be propelled by any suitable energy source, including pressurized fluid, electrical, magnetic, or other energy forms. 
       FIG.  13 A  is a schematic partial cross sectional perspective view of the exemplary container with the nozzles orientated at a different heading and pitch than shown in  FIG.  12 A .  FIG.  13 B  is a schematic partial cross sectional end view of the exemplary container with the flexible system shown in  FIG.  13 A .  FIG.  13 C  is a schematic cross sectional side view of the exemplary container with the flexible system shown in  FIG.  13 A . The system  1  in  FIGS.  13 A- 13 C  represents the system  1  in  FIGS.  12 A- 12 C  with a different nozzle direction. It is possible to use the streams  79  to self-propel the flexible mast along the container. The nozzles can be directed to flow in the opposite direction than the system is intended to move, in this instance away from the container end to move the system closer to the container end. Modules  80  that are outside the container can block fluid from flowing out of those modules and can remain dry until inserted into the container, if selectively controllable such as with the valves option described above. Similarly, the nozzles can be used to move the system in the opposite direction toward the opening  76 , such as when the operations are completed in the container. 
       FIG.  14 A  is a schematic partial cross sectional perspective view of an exemplary container with a flexible system shown disposed therein similar to the embodiments shown in  FIG.  11    and  FIG.  12 A .  FIG.  14 B  is a schematic partial cross sectional perspective view of the exemplary container with the flexible system shown in  FIG.  14 A  with the nozzles at a different heading and pitch.  FIG.  14 C  is a schematic partial cross sectional perspective view of the exemplary container with the flexible system shown in  FIG.  14 B  with the nozzles at a different heading and pitch. A container  77  in this nonlimiting example can be a fracking tower in need of cleaning or other services from spraying a fluid through the system  1  in or on the container. The system  1  with the flexible mast shaft  78  and the modules  80  can be inserted through an access opening  76  of the container. As the flexible mast shaft  78  is inserted, the shaft can pass through an opening in one or more weir plates  82 . The system  1  can be activated to clean or otherwise service the container as it is passing through the weir plates, in final position in the container after passing through the weir plates, when being removed from the container through the weir plates, or a combination thereof. In  FIG.  14 A , the heading angle of the flexible mast shaft  78  can be for example at 45 degrees and the pitch angle of the nozzle  53  can be for example at 90 degrees. In  FIG.  14 B , the heading angle of the flexible mast shaft  78  can be for example at 80 degrees and the pitch angle of the nozzle  53  can be for example at 120 degrees. In  FIG.  14 C , the heading angle of the flexible mast shaft  78  can be for example at 120 degrees and the pitch angle of the nozzle  53  can be for example at 30 degrees. When the system  1  is used with a controllable valve option, such as described in  FIGS.  8 A- 8 B , various modes of servicing the container can be used. For example, the system  1  can service the container from the top down by activating the module  80  in a first level of the container above a given weir plate while other levels may be inactive above (or below) the first level, servicing the first level, deactivating the module in the first level, and activating a module in a second level that is lower than the first level to service the second level, and so forth by progressively servicing at the desired levels. If cleaning, then waste can flow downward as each level is cleaned. By changing the heading, the container walls can be serviced around the perimeter. By changing the pitch, the top of the weir plates, bottom of the weir plates, and/or container sidewalls can be serviced at any given heading. 
     The nozzles with or without the described housings are shown coupled by the conduits that can be manipulated in a container at different positions. It is understood that the nozzles can be moved by mobile platforms, such as configurations with wheels, tractor treads, articulating linkages, propelled, or other types of drive devices that can carry at least one nozzle to desired locations. If a multiple nozzles are coupled together, then the mobile platform can include one or more units that can carry the plurality of nozzles to desired locations. The mobile platform can be controlled by hardwire control signals or by wireless signals. 
       FIG.  15    is a schematic diagram of an exemplary control power and control assembly of components to operate the system  1 . The system can include various power sources for operation. For example, at least one pitch control power line  93  can be used to control a pitch control power supply  94  to one or more fluid actuated cylinders, described below, to provide pitch movement for the nozzle. At least one rotary control power line  95  can provide power from a rotary control power supply  96  to the articulating nozzle system  1  to provide heading movement for the nozzle. Further, at least one cleaning fluid line  97  can provide cleaning fluid from a cleaning fluid power supply  98  to the articulating nozzle system  1 . The cleaning fluid is generally delivered at a high-pressure of several thousand pounds per square inch from the cleaning fluid power supply  98 , which is generally an application-specific pump of such types as centrifugal, piston and airless pumps. 
     The system  1  can also include controls, such as onsite or remote controls to operate the system. Control lines  99 A,  99 B, and  99 C (generally “ 99 ”) for the power supplies  94 ,  96 ,  98 , respectively, can couple control of the power supplies  94 ,  96 ,  98  to a control center  100 . In turn, each of the power supplies can be coupled to a power line  93 ,  95 ,  97 , respectively, and be directed to the particular portion of the applicable assembly, described in more detail below. In some embodiments, one or more of the controls can be disposed on the system  1 , such as in the power housing  44 . The control center  100  can generally include a controller  101 A coupled with a processor  101 , such as a standalone or networked computer or server, having volatile and/or non-volatile memory and associated software, firmware, and hardware. The processor  101  can be coupled to a database  102  having computer readable medium of one or more types for records, and other information as needed for the control, monitoring, and reporting of the operation and/or condition of the system  1 . An input/output device  103 , such as a display with a graphical user interface  103 A (GUI) screen, can provide reporting and allow an operator to control and/or monitor the operation of the system  1 . For example, an operator can use the interface  103 A to enter a diameter and height of a vessel, and a program prompts the operator with a few questions designed to determine the optimal cleaning program along with suggested run times and consumables requirements. The operator can select the suggestions or enter other parameters to operate the system  1 . 
     The combination of separately controlling the two axes of rotation and nozzle angle enables the system  1  to spray the surfaces of an object, such as a container, in a virtually infinite number of adjustable patterns such as spirals or zigzags, where each pattern can be engineered to create optimized program for the task. Multiple nozzles can be linked together to provide synchronized coverage across a large array, minimizing overlapping areas. The motion control capabilities allow the system  1  to target programmed areas of special need. In some embodiments, the system  1  can return to target areas between pattern changes. For example, each cycle can begin at the same point inside an enclosed volume for consistent precise application times. To assist in locating the positions of the two axes of rotation and nozzle angle, one or more sensors (not shown) that can monitor pressure, temperature, location, cleanliness or other desired parameters can be positioned on or in the system and coupled to the control center  100 . The sensors can indicate the heading and pitch of the nozzle and/or mast assembly. The positional readings can be sent to the control center  100  as feedback through a feedback control line  104 . 
     The control center  100  can also be located at a remote site. The controls can be set up in a customary manner using various types of remote interfaces between a remote site and a job site, including using networks such as LANs, WANs, and other types of Internet sites, such as FTP (File Transfer Protocol) sites, Telnet sites, wireless communications, and the like. 
       FIG.  16    is a schematic diagram of a low profile, wide body container with the spray system inserted therein having a plurality of modules with nozzles attached to a flexible mast shaft. In this embodiment, the dimensions of the container are larger than a spray pattern from the nozzles can reach. The spray system needs to move around the container. As described above, the spray system  1  can include a mast assembly  2  with plurality of modules  80  of controllable nozzles attached to a flexible mast shaft. The nozzles can be controlled for flow, pitch, and heading to create an imbalance to the mast assembly with the resulting force used to move the mast assembly along a surface, such as a floor of the container. 
     In at least one example of operation, the spray system  1  can be inserted into an access opening  76 . As the mast assembly  2  is inserted into the opening  76 , a particular module  80  entering the opening can be activated so that its nozzle(s) spray fluid generally toward the opening from an inside of the container. The resulting force can pull the mast assembly further into the container. As each module  80  enters the container through the opening  76 , the module can also be activated in like manner, so that the mast assembly is pulled into the container. 
       FIG.  17 A  is a schematic diagram of the container and the spray systems of  FIG.  16    in a first position.  FIG.  17 B  is a schematic diagram of the container and the spray systems of  FIG.  16    in a second position.  FIG.  17 C  is a schematic diagram of the container and the spray systems of  FIG.  16    in a third position.  FIG.  17 D  is a schematic diagram of the container and the spray systems of  FIG.  16    in a fourth position.  FIG.  17 E  is a schematic diagram of the container and the spray systems of  FIG.  16    in a fifth position.  FIG.  17 F  is a schematic diagram of the container and the spray systems of  FIG.  16    in a sixth position. The various figures show at least one sequence of spraying the walls and other surfaces of the container  77  by moving the mast assembly  2  around the container. In  FIG.  17 A , the modules  80  with the nozzles can be activated in a direction to move the mast assembly  2  toward a wall of the container, as shown in  FIG.  17 B . At least some of the nozzles in the modules can be redirected to spray the container walls. As shown in  FIG.  17 C , the nozzles can be controlled and redirected to spray across the container. The modules  80  can be controlled to direct the nozzles to spray in a direction and force to move the mast assembly  2  across the container to another container wall, as shown in  FIG.  17 D  resulting in the position of the mast assembly  2  shown in  FIG.  17 E . The spray system  1  can be further controlled in the spray patterns to move away from the container wall in  FIG.  17 E  across the container to the position shown in  FIG.  17 F . The controlled flow and direction of the nozzles in the modules allow the nozzles to spray, and if applicable clean and push waste material into the extraction system, such as a sump drain or vacuum removal. By adding the brushes to the mast assembly as described above, the cleaning effectiveness can increase. 
     Further, the various methods and embodiments of the system can be included in combination with each other to produce variations of the disclosed methods and embodiments. Discussion of singular elements can include plural elements and vice-versa. References to at least one item may include one or more items. Also, various aspects of the embodiments could be used in conjunction with each other to accomplish the understood goals of the disclosure. Unless the context requires otherwise, the word “comprise” or variations such as “comprises” or “comprising” should be understood to imply the inclusion of at least the stated element or step or group of elements or steps or equivalents thereof, and not the exclusion of a greater numerical quantity or any other element or step or group of elements or steps or equivalents thereof. The device or system may be used in a number of directions and orientations. The terms such as “coupled”, “coupling”, “coupler”, and like are used broadly herein and may include any method or device for securing, binding, bonding, fastening, attaching, joining, inserting therein, forming thereon or therein, communicating, or otherwise associating, for example, mechanically, magnetically, electrically, chemically, operably, directly or indirectly with intermediate elements, one or more pieces of members together and may further include without limitation integrally forming one functional member with another in a unity fashion. The coupling may occur in any direction, including rotationally. 
     The order of steps can occur in a variety of sequences unless otherwise specifically limited. The various steps described herein can be combined with other steps, interlineated with the stated steps, and/or split into multiple steps. Similarly, elements have been described functionally and can be embodied as separate components or can be combined into components having multiple functions. 
     The invention has been described in the context of preferred and other embodiments and not every embodiment of the invention has been described. Obvious modifications and alterations to the described embodiments are available to those of ordinary skill in the art. The disclosed and undisclosed embodiments are not intended to limit or restrict the scope or applicability of the invention conceived of by the Applicant, but rather, in conformity with the patent laws, Applicant intends to protect fully all such modifications and improvements that come within the scope or range of equivalent of the following claims.