CN1221521A - Shuttle for use in insertion of draw line into conduit - Google Patents

Shuttle for use in insertion of draw line into conduit Download PDF

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Publication number
CN1221521A
CN1221521A CN97195200A CN97195200A CN1221521A CN 1221521 A CN1221521 A CN 1221521A CN 97195200 A CN97195200 A CN 97195200A CN 97195200 A CN97195200 A CN 97195200A CN 1221521 A CN1221521 A CN 1221521A
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CN
China
Prior art keywords
shuttle
air
gatherer
axle
pipeline
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN97195200A
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Chinese (zh)
Inventor
戴维·卡塞拉
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Pneumatic Systems International Pty Ltd
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Pneumatic Systems International Pty Ltd
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Filing date
Publication date
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Publication of CN1221521A publication Critical patent/CN1221521A/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • H02G1/08Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • H02G1/08Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
    • H02G1/086Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using fluid as pulling means, e.g. liquid, pressurised gas or suction means
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/38Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Cable Installation (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)
  • Pipe Accessories (AREA)
  • Light Guides In General And Applications Therefor (AREA)
  • Packaging Of Annular Or Rod-Shaped Articles, Wearing Apparel, Cassettes, Or The Like (AREA)

Abstract

An air flow activated shuttle (1) for pulling a draw line (6) through a length of conduit (2) having entry and exit end, said shuttle comprising a shaft (3) having a leading end (4) and a trailing end (5); means (7) on said trailing end which receives and retains a leading end of said draw line; at least one air flow mitigation element (9, 10) attached to said shaft which at least partially interrupts an air flow introduced into the entry end of said conduit from an air source to said shuttle from the trailing end thereby urging said shuttle along said pipe urging said draw line therealong and to said exit.

Description

Be used for stay cord is inserted the shuttle of pipeline
The present invention relates to a kind of being used for inserts equipment in the pipeline to stay cord, more particularly, relates to a kind of air stream drives shuttle that is used to realize above-mentioned insertion.With reference to the shuttle that is used for inserting stay cord communication cable should be used for describing the present invention, but this should not constitute can applicablely limit form of ownership of the present invention.
Nowadays, communication cable is laid in the underground special-purpose trench usually.In order to keep cable to avoid may damaging of water, rubble and insect, generally in plastics (normally polyvinylchloride) pipeline, lay communication cable.The above-mentioned cable laying of existing thousands of kilometers is in underground piping, but because the developing rapidly and need more cable, the following cable that can need the hundreds of thousands kilometer of imagination of telecommunications industry.
Mounted pipeline has three classes usually: prepare to wait for receive the vacant pipeline of new cable, the pipeline that had partly taken already and fill the pipeline of cable fully.The present invention relates generally to the above-mentioned first kind and the second class pipeline.Time-consuming the taking a lot of work of process of cable insertion pipeline, thus expensive.The existing method of stay cord being inserted pipeline is slow, trouble and poor efficiency.
In order to send piping cable, need earlier stay cord to be inserted in the pipeline, then stay cord is fixed to the front end of cable, arrive its end so that can be pulled through a segment pipe to cable.Can insert stay cord in advance, and just be placed in the pipeline, insert cable thereafter to wait for.This helps the cable setter, because in this case, stay cord is put into pipeline before cable is installed, and makes stay cord be connected in the front end of cable easily, by stay cord cable is pulled through pipeline then.A kind of existing method stay cord insertion pipeline comprises uses one stay cord connection original umbrella shape part (parachute) thereon.This umbrella shape part inserts in the pipeline by upstream end.Then compressed air is delivered to the umbrella shape part from the air source, made its inflation, it penetrates pipeline subsequently, and stay cord also penetrates with it.In order to keep required positive air pressure, the upstream end of necessary closed conduit is in case air spills from upstream end.This is realizing that with raw mode wearing or featuring stage armour cloth waste (rags) or similar material insertion pipe head these materials must keep the location with hand to malleation when introducing in the pipeline at present.By a steel pipe that is connected in compressed air source malleation is introduced in the pipeline.Cloth waste and other packaging material are around copper pipe.Stay cord must fully freely pass packaging material or move around it, and the integrality that this will take into account sealing causes the pressure loss of pipe head.Use said method another problem also to occur, that is, undesirable folding or bonding appears in the umbrella shape part.At present the umbrella shape part that uses is made up of one deck textile material or similar material basically, has connected an end of each multistage line etc. at the point of its periphery, and each section line terminates in a joint that also connects the stay cord front end at its other end.
The umbrella shape part is folding in pipeline easily, and the suitable situation of bypass symmetry and flow equilibrium is compared during especially with normal running, if collect air in the umbrella shape part asymmetricly, will make more air walk around an edge from bypass.This imbalance can cause the umbrella shape part to rotate, the entanglement connecting line, and in this case, line can be captured the textile material of the collection air of umbrella shape part.This means that the umbrella shape part of entanglement can blocking pipe, must take out, thereby the process of being introduced can make the insertion of stay cord increase time and workload from pipeline.In practice, before realizing successful insertion, this problem can repeat to take place.
Take ducted cable in part and form because of intersection under the situation of V-arrangement, a problem may also can occur, at this moment cable is at V-arrangement arrow path place interception umbrella shape part.When this happens, stay cord (line) continues to be caused a kind of impression by the capture point of blows air over umbrella shape part to operating personnel: the umbrella shape part is also hauling stay cord by pipeline, and in fact at this moment it has blocked.Must discharge the umbrella shape part from capture point, the practice is: stay cord is passed pipeline toward pulling back, repeat insertion process subsequently, till the umbrella shape part successfully moves past pipeline.This is a poor efficiency, takes a lot of work with time-consuming.
Use prior-art devices, also have some other problems: for example, the stay cord line contact user's hand during sending rope, thereby brings the danger of ' rope burn ', and copper pipe must and be packed cloth waste and foamed material prevents to blow out together by operator's fix in position.In addition, need two people usually in piping shaft, a people carries stay cord, and another is fixed copper air line and cloth waste in position.
In another kind of art methods, can insert some push rods from the two ends of pipeline, till an INTRM intermediate point met, the way point cut off and jointed pipe hereinto until them, from and produce a undesirable joint, this forms the place of the harmful water of another place's infiltration.Push rod can insert from pipeline one end and reach 100 meters.This method is a trouble, and may cause the pipeline inner cable to damage, and especially engages under the situation of above-mentioned v-shaped structure at push rod, and is all the more so.
The invention provides a kind of stay cord that makes and can insert equipment in the pipeline without difficultyly, be suitable for cable laying, communication cable for example, but be not limited to communication cable.Application of the present invention relates to a kind of equipment, and it has become the theme of the common application co-pending of the applicant's proposition, is intended to overcome the problem of above-mentioned art methods.According to the present invention
Aspect principal mode of the present invention, the present invention includes:
An air stream drives shuttle is used to haul a stay cord and passes one section pipeline that has into the port of export, and described shuttle comprises:
The axle that one front end and a tail end are arranged;
Device on described tail end is used to receive and keep the front end of described stay cord;
Be connected at least one gas flow modulation element of described axle, this element stops the arrival end of introducing described pipeline from source of the gas to flow to the air of described shuttle from tail end at least in part, impel described shuttle to move whereby along described pipeline, thereby impel described stay cord to move, and by described outlet along pipeline.
Preferably, the air-flow deceleration device comprises at least one air collector, it between the axle two ends, radially place described axle around, and on the tail end direction, open.Each shuttle preferably includes at least one air trapping unit radial array, perhaps at least one flexible skirt (shirt).
According to an alternate embodiment, an available flexible skirt is determined air collector, wherein each air collector skirt is all caught air according to positive air pressure, and moves at the radial direction of described axle, thereby sets up cooperating of a kind of low friction between the flared end of each described skirt and inner-walls of duct.The forward position of axle ends at pointed cone, and the front end of any one remaining gatherer all comprises a little opening, and the air of malleation is flowed out on the direction of preceding gatherer, has no lack of air with gatherer before guaranteeing.
The skirt of each gatherer all end on the described pointed cone or near, and allow that the positive pressure air in each gatherer flows out by pointed cone, the airflow direction of each described gatherer is flowed out in reversing whereby.Each gatherer can be fixed on the axle individually.
In an alternate embodiment, air collector can comprise a umbrella-shaped structure that is connected in axle.Can according to circumstances for example insert the internal state of the pipeline of stay cord therein, change profile, material and the feature of air collector.
According to an alternate embodiment, shuttle can be included in the device of front end and tail end, makes a shuttle can connect required a plurality of shuttles.Described device comprises the joint that some can loosen.By the shape of threads on adjacent shaft element end protruding/the matrix face component, can realize this connection.
Now the preferred but non-restrictive example and with reference to appended explanation according to is described the present invention in more detail, wherein:
Fig. 1 explanation has a pair of air collector according to one embodiment of the invention and inserts the isometric map of ducted shuttle;
Fig. 2 explanation comprises the parts exploded view of the shuttle of two shaft elements;
The shuttle of Fig. 3 key diagram 2 has the shaft element that links together;
Fig. 4 explanation has the shuttle of an air collector, and gatherer comprises a collector unit array;
Fig. 5 illustrates a series connection shuttle that has preceding and tail gatherer, and wherein the tail gatherer has some bypass openings.
Referring to Fig. 1, the shuttle 1 according to an embodiment is described, it is adapted at moving along the inside of pipeline 2 under the boosting from the positive air pressure that puts on pipe head of an air source (not shown).Can approve that shuttle embodiment shown in Figure 1 is an example in the many possible configurations of shuttle.For example, shuttle can comprise the shaft element that has one or more gatherers, and gatherer can be flexible skirt type or air trapping haplotype.Like this, be used at a plurality of gatherers under the situation of a shaft element, gatherer can be a same type, also can be the type that skirt and air trapping unit combine.Shuttle 1 comprises a general elongation axle 3 with front end 4 and tail end 5.In use, shuttle 1 is moved stay cord 6 to the port of export from pipe head.The tail end 5 of axle 3 comprises a jockey 7, and it receives the front end of stay cord 6.Jockey 7 can comprise a simple ring, bundlees the front end 6a of described stay cord 6 thereon.The front end 4 of axle 3 is installed a taper 8 thereon, and it provides a kind of aerodynamics leading edge profile, helps the balance and the operation of shuttle.Centre at the axle two ends provides two longitudinally isolated air collectors 9 and 10. Shown gatherer 9 and 10 all radially places the radial arrays of axle 3 ambient air collector units to form by one.According to an alternate embodiment, can only use an array, it has the air collector that at least two radial symmetric are settled.In theory, air collector is to be placed in symmetrically around axle 3 the axis, in case air pressure produces out-of-balance force, causes shuttle rotation or lift-over, the infringement directional stability.In theory, shuttle has enough length, and to eliminate its upturned possibility in pipeline, under upturned situation, shuttle can block, situation about occurring in above-mentioned prior-art devices.
Gatherer 9 and 10 all comprises a plurality of air trapping skirts of radially settling 11, and each skirt is all made by flexible material.Each described gatherer all is fixed on the axle 3 at least in part.Each collect skirt 11 all from its forward position to tail along tapered.
Stay cord 6 be connected to jockey 7 and pipe end sealed after, shuttle 1 is just got ready for use; Wherein jockey 7 can comprise a resilient ring, can settle stay cord 6 by ring.After the arrival end of closed conduit 2, just the air from compressed air source to be introduced in the zone 13 of pipeline 2, all collection skirts 11 that make shuttle 1 are along with they collect compressed air and radially mobile.This can move shuttle at a terrific speed along pipeline 2, till it hauls stay cord 6 and withdraws from pipeline together., just shuttle 1 is taken apart from stay cord 6 by after the pipeline at stay cord 6, in order to using again.
Under the situation of using an independent air collector, preferably, skirt (using the modification of skirt at this) or gas bag (using the modification of collector unit at this) are radially moved to a kind of like this degree, so that air trapping is maximum.Therefore, ideal situation is so to move, so that realize collecting air from whole transverse cross-sectional area of pipeline.This can cause when skirt or unit gas bag are radially mobile, the inwall of skirt or unit jointed pipe 2.Under the situation of using a plurality of gatherers, those gatherers of trailing comprise a front opening of allowing air by-pass, have no lack of compressed air to guarantee the front end gatherer.In addition, the gatherer of trailing is allowed bypass around skirt or air trapping unit periphery.
Fig. 2 illustrates a pair of parts exploded view that is similar to the shuttle of the embodiment of the invention shown in Figure 1.
Each shuttle all can threadably be connected in an adjacent shuttle, and therefore taking a shuttle apart from adjacent shuttle is a kind of fairly simple mode of operation.Equally, as an alternative can be by being threaded on the tail end 5 of axle 3, take apart and be connected stay cord 6.
Fig. 2 illustrates mutually independently shaft element 20 and 21.Shaft element 20 comprises flexible skirt gatherer 22, and shaft element 21 comprises flexible skirt gatherer 23.Can be by threaded male the moon mode of working in coordination, engages axle element 20 and 21.Element 20 comprises threaded male profile parts 24, and element 21 comprises threaded female profile parts 25.This arrangement can be regulated the length of shuttle as required and easily.
Fig. 3 illustrates skirt gatherer 22 and 23, and this is the situation that the shaft element (covered) at shuttle shown in Figure 2 presents when being joined together.
Fig. 4 illustrates an independent shaft element 30 and a gatherer 31 that comprises air trapping unit 32 according to another embodiment of the present invention.
Fig. 5 illustrates a kind of tandem shuttle 40 that comprises shaft element 41 and 42, and gatherer 43 and 44 are housed respectively on these elements.Gatherer 43 all comprises one or some openings 46 in its each air trapping unit 45, opening 46 provides a kind of air by-pass device, and gatherer 44 lacks compressed air before being used to prevent.
The professional and technical personnel can approve, can make numerous changes and correction to the present invention who describes emphatically in this, and without prejudice to the spirit and scope of the present invention.

Claims (18)

1. air stream drives shuttle is used to haul stay cord and passes one section pipeline that has into the port of export, and described shuttle comprises:
The axle that front end and tail end are arranged;
Device on described tail end is used to receive and keep the front end of described stay cord;
Be connected at least one gas flow modulation element of described axle, this element stops at least in part introduces described pipe head flows to described shuttle from tail end air from the air source, impel described shuttle to move whereby along described pipeline, thereby impel described stay cord to move, and by described outlet along pipeline.
2. according to the shuttle of claim 1, wherein, described regulating element comprises one or some air collectors, is used for admission of air, so that drive described shuttle along described pipeline.
3. according to the shuttle of claim 2, wherein, at least one gatherer comprises an array of being made up of some separate air collector units adjacent one another are, radially settles these unit around described axle.
4. according to the shuttle of claim 3, wherein, each described unit is all formed by a flexible gas bag, inflates when gas bag enters air therein.
5. according to the shuttle of claim 2, wherein, at least one gatherer comprises the flexible membrane of a skirt form, and an end of skirt has been fixed on the described axle, and opposed free ends is moving radially at described axle when described flexible membrane is collected air then.
6. according to the shuttle of claim 5, wherein, when a plurality of air collectors are fixed on the described axle, a preceding air collector expand into such degree when air enters, so that flexible gas bag can jointed pipe inwall, making the air of the described gatherer of bypass, if any, also is few; And one or more tail air collectors are allowed air by-pass, lack air to avoid described preceding air collector.
7. according to the shuttle of claim 6, wherein, at least one gatherer comprises described flexible skirt, and at least one another gatherer comprises described air trapping unit.
8. according to the shuttle of claim 7, wherein, a preceding gatherer comprises described unit, and at least one tail gatherer comprises described flexible skirt.
9. according to the shuttle of claim 7, wherein, a preceding gatherer comprises described flexible skirt, and at least one tail gatherer comprises described air trapping unit.
10. according to Claim 8 or 9 shuttle, wherein, the front end of preceding gatherer comprises a taper.
11. according to the shuttle of claim 10, wherein, each gatherer all has a taper.
12. according to the shuttle of claim 11, wherein, axle comprises the interconnected shaft element that some can be taken apart from an adjacent shaft element.
13. according to the shuttle of claim 12, wherein, each shaft element all comprises at least one dress air collector thereon.
14. according to the shuttle of claim 6, wherein, the material of flexible unit or flexible skirt is a fabric.
15. according to the shuttle of claim 14, wherein, when a plurality of gatherers were loaded on the described axle, the mode that they are embarked on journey with axially-aligned was settled.
16. according to the shuttle of claim 15, wherein, a shaft element is to be assemblied in spirally on the adjacent elements.
17. according to the shuttle of claim 16, wherein, when described axle comprised a plurality of gatherer, each tail gatherer just all had some air by-pass holes, to reduce or to prevent that gatherer seizes air in the past.
18. according to the shuttle of claim 16, wherein, flexible skirt is that steel wire is reinforced.
CN97195200A 1996-05-07 1997-05-06 Shuttle for use in insertion of draw line into conduit Pending CN1221521A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPN9713A AUPN971396A0 (en) 1996-05-07 1996-05-07 Shuttle for use in insertion of a draw line
AUPN9713 1996-05-07

Publications (1)

Publication Number Publication Date
CN1221521A true CN1221521A (en) 1999-06-30

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ID=3794026

Family Applications (1)

Application Number Title Priority Date Filing Date
CN97195200A Pending CN1221521A (en) 1996-05-07 1997-05-06 Shuttle for use in insertion of draw line into conduit

Country Status (14)

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EP (1) EP0990287A1 (en)
JP (1) JP2000509597A (en)
KR (1) KR20000010828A (en)
CN (1) CN1221521A (en)
AU (1) AUPN971396A0 (en)
BR (1) BR9710666A (en)
CA (1) CA2253479A1 (en)
CZ (1) CZ360098A3 (en)
FI (1) FI982383A (en)
HU (1) HUP9903972A3 (en)
NZ (1) NZ333217A (en)
PL (1) PL329735A1 (en)
TR (1) TR199802262T2 (en)
WO (1) WO1997042691A1 (en)

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CN102687355A (en) * 2009-11-05 2012-09-19 普拉麦特兹控股股份公司 Process, pig and pressure housing for laying an elongated element
CN105305328A (en) * 2015-12-08 2016-02-03 宁波市镇海西门专利技术开发有限公司 Pipeline thread guide
CN105402551A (en) * 2015-12-10 2016-03-16 宁波市镇海西门专利技术开发有限公司 Pipeline guy machine
CN109681720A (en) * 2018-12-29 2019-04-26 成都普崔克机电有限公司 A kind of fluid-operated soft pipeline unit
CN110185887A (en) * 2019-05-23 2019-08-30 天津精仪精测科技有限公司 A kind of detecting robot of pipe
CN112845423A (en) * 2020-12-21 2021-05-28 厉大康 PE pipeline inner wall cleaning device

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FR2835588B1 (en) * 2002-02-05 2004-09-03 Cegelec URBAN HEATING PIPE INSPECTION PROCESS
KR100602743B1 (en) * 2004-02-10 2006-07-24 주식회사 청원에스아이 A insert apparatus for cable to burried pipe
KR100846135B1 (en) * 2008-04-15 2008-07-14 (주)천도건축사사무소 Apparatus for laying cable in channel
FR2930337B1 (en) * 2008-04-22 2011-03-25 Freyssinet SYSTEM FOR OBTAINING INFORMATION RELATING TO A PIPELINE AND ASSOCIATED METHOD
GB2468113A (en) * 2008-11-25 2010-09-01 Ram Friedman A device for inserting a guiding wire into a pipe or tube
KR101089815B1 (en) 2009-11-30 2011-12-08 안영진 The method for laying pipes for underground wire
ITMI20121814A1 (en) 2012-10-25 2014-04-26 Sb Lab Sa SHUTTLE TO TRAVEL DUCTS AND KIT FOR LAYING A GUIDE WIRE IN DUCTS OF HIGH LENGTH
JP5737697B1 (en) * 2014-08-26 2015-06-17 有限会社 三葉建設 Lead wire conductor
US9821349B2 (en) * 2014-09-10 2017-11-21 Rolls-Royce Corporation Wands for gas turbine engine cleaning
CN105743025A (en) * 2016-04-20 2016-07-06 王本 Traction device for wire through pipe
CN108429192A (en) * 2018-04-10 2018-08-21 国网甘肃省电力公司经济技术研究院 A kind of spring lead device
US11710949B2 (en) * 2018-11-13 2023-07-25 Plumettaz Holding S.A. Installation of cables in an array of ducts
DE102021003043B3 (en) * 2021-06-04 2022-10-13 Brigitte Bär injection device
CN113328372B (en) * 2021-06-21 2022-05-03 吉林省华鸿电信技术有限公司 Remote automatic repairing system for cable
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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN102687355A (en) * 2009-11-05 2012-09-19 普拉麦特兹控股股份公司 Process, pig and pressure housing for laying an elongated element
CN102687355B (en) * 2009-11-05 2016-02-17 普拉麦特兹控股股份公司 For lay elongated member method, draw ingot and pressure vessel
CN105305328A (en) * 2015-12-08 2016-02-03 宁波市镇海西门专利技术开发有限公司 Pipeline thread guide
CN105305328B (en) * 2015-12-08 2019-09-27 宁波市镇海西门专利技术开发有限公司 Wire-leading device of pipeline
CN105402551A (en) * 2015-12-10 2016-03-16 宁波市镇海西门专利技术开发有限公司 Pipeline guy machine
CN109681720A (en) * 2018-12-29 2019-04-26 成都普崔克机电有限公司 A kind of fluid-operated soft pipeline unit
CN110185887A (en) * 2019-05-23 2019-08-30 天津精仪精测科技有限公司 A kind of detecting robot of pipe
CN112845423A (en) * 2020-12-21 2021-05-28 厉大康 PE pipeline inner wall cleaning device

Also Published As

Publication number Publication date
BR9710666A (en) 1999-08-17
TR199802262T2 (en) 1999-02-22
KR20000010828A (en) 2000-02-25
CA2253479A1 (en) 1997-11-13
EP0990287A4 (en) 2000-04-05
JP2000509597A (en) 2000-07-25
WO1997042691A1 (en) 1997-11-13
CZ360098A3 (en) 1999-07-14
NZ333217A (en) 2000-10-27
HUP9903972A2 (en) 2000-03-28
EP0990287A1 (en) 2000-04-05
PL329735A1 (en) 1999-04-12
AUPN971396A0 (en) 1996-05-30
FI982383A (en) 1999-01-07
FI982383A0 (en) 1998-11-03
HUP9903972A3 (en) 2000-05-29

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