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In early 1992 we were commissioned  to design and build an automatic heat exchanger cleaner similar to the photo on the left.

We came up with a design of our own as seen in the four pictures below.  This is a hydraulically-powered cleaner. The red vertical column can traverse left and right for an effective cleaning length of 20 ft.  Also it can move up and down over a distance of 6 ft and finally the cleaning nozzles can move in and out over a distance of 2 ft.