DE102008032564A1 - Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium - Google Patents

Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium Download PDF

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Publication number
DE102008032564A1
DE102008032564A1 DE200810032564 DE102008032564A DE102008032564A1 DE 102008032564 A1 DE102008032564 A1 DE 102008032564A1 DE 200810032564 DE200810032564 DE 200810032564 DE 102008032564 A DE102008032564 A DE 102008032564A DE 102008032564 A1 DE102008032564 A1 DE 102008032564A1
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Germany
Prior art keywords
radial
locomotion
axial expander
liquid medium
pipes
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.)
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Application number
DE200810032564
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German (de)
Inventor
Jonathan Herrle
Ralf Kittmann
Josef Niedermeier
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Individual
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Individual
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Publication date
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Priority to DE200810032564 priority Critical patent/DE102008032564A1/en
Publication of DE102008032564A1 publication Critical patent/DE102008032564A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The device has a generator obtaining electrical energy from a liquid medium by turbine blades. A radial and axial expander provides locomotion within pipes by alternating expansion of the radial and axial expander based on the pressure ratios in the liquid medium, where the device carries tools for optical diagnosis and maintenance of the pipes. A turbine is utilized as an additional hydro mechanical water wheel drive for faster locomotion.

Description

Die Erfindung betrifft ein mobiles, autarkes Robotersystem, das zur optischen Inspektion und Wartung von Rohrleitungssystemen. Beispielhaft seien Wasserleitungen, Pipelines und chemischen Industrierohranlagen angeführt. Allen Rohrsystemen ist gemein, dass sie unter Einsatzbedingungen ein vorzugsweise flüssiges Medium transportieren.The The invention relates to a mobile, self-sufficient robot system, which is intended for optical inspection and maintenance of piping systems. exemplary be water pipes, pipelines and chemical industrial pipe systems cited. All pipe systems have in common that they are under conditions of use a preferably liquid Transport medium.

Bekannte mobile Einsatzgeräte zur Rohrinspektion können nur im prozessfreien Raum und ohne Mediumfluss agieren. Systeme die mittels Räder oder ähnliche nicht komplett abformende Wirkflächen agieren, werden unter Druckbedingungen auch gleichermaßen ausgespült und können nicht mit hinreichender Präzision eingesetzt werden.Known mobile use equipment for pipe inspection can only act in process-free space and without medium flow. systems by means of wheels or similar do not act completely forming active surfaces, are equally flushed under pressure conditions and can not with adequate precision be used.

Der Erfindung liegt daher die Aufgabe zugrunde, eine Vorrichtung zu schaffen, die eine prozessparallele Inspektion und Wartung von Rohrleitungssystemen ermöglicht. Diese Vorrichtung soll von einer Basisstation aus autark sich fortbewegen und eine Aufgabe verrichten. Die dazu erforderlichen Werkzeuge werden mitgeführt.Of the Invention is therefore based on the object to a device create a process-parallel inspection and maintenance of piping systems allows. This device should autonomously move from a base station and do a job. The tools required for this are carried.

Zur Lösung dieser Aufgabe dienen die Merkmale der Ansprüche 1 und 6.to solution This object is achieved by the features of claims 1 and 6.

Die Erfindung sieht in vorteilhafter Weise vor, dass durch die wechselseitige Expansion von axialen und radialen Expandern eine Fortbewegung durch komplett abformende Geometrien ermöglicht wird. Vorzugsweise kommen hierzu Werkstoffe zum Einsatz, die sich durch hohe Verschleißfestigkeit bei hoher Affinität zur Wandanhaftung auszeichnen. Durch diesen Vorgang kann eine Vorwärtsbewegung wie auch Rückwärtsbewegung durch Expansion der axialen Expander realisiert werden (2).The invention advantageously provides that the mutual expansion of axial and radial expanders makes it possible to move by means of completely shaping geometries. For this purpose, preferably materials are used, which are characterized by high wear resistance with high affinity for wall adhesion. By this process, a forward movement as well as backward movement can be realized by expansion of the axial expander ( 2 ).

Die Vorrichtung führt der Aufgabenstellung entsprechend Werkzeuge mit. Durch eine beiderseits ausgeführte Expansion der radialen Expander wird die Vorrichtung im Rohr an einer Stelle gehalten und kann an dieser sie Aufgabenstellung vorzugsweise Inspektion oder Wartung ausführen.The Device leads according to the task with tools. Through a mutually executed expansion the radial expander becomes the device in the tube at one point And at this you can task preferably inspection or perform maintenance.

Sollten für die Aufgabenstellung zusätzliche Energien erforderlich werden kann erfindungsgemäß mittels einer hydromechanischen Energiewandlung elektrische Energie erzeugt werden. Eine entsprechende Turbinen/Generatoreinheit ist hierzu in das System integriert. Auf diese Weise kann auf das Mitführen zusätzlicher Energiespeicher verzichtet werden.Should for the Task additional energies may be required according to the invention by means of a hydromechanical Energy conversion electrical energy can be generated. A corresponding Turbine / generator unit is integrated into the system for this purpose. On this way can be carried along additional Energy storage can be omitted.

Weitere Vorteile des erfindungsgemäßen Robotersystems bestehen in der universellen Einsetzbarkeit.Further Advantages of the robot system according to the invention exist in the universal applicability.

Im Folgenden wird unter Bezugnahme auf die Zeichnungen ein Ausführungsbeispiel der Erfindung näher erläutert.in the An embodiment will be described below with reference to the drawings closer to the invention explained.

Es zeigen:It demonstrate:

1 die Vorrichtung eines Rohrreinigungsroboters bestehend aus radialen Expandern, axialen Expandern, einem Bypass, einem Festkörper, einem Werkzeug sowie einer Turbinen/Generatoreinheit. 1 the apparatus of a pipe cleaning robot consisting of radial expanders, axial expanders, a bypass, a solid, a tool and a turbine / generator unit.

2 eine mögliche Ausprägungsform der Fortbewegung und damit das Verfahren zum Betreiben der Vorrichtung. 2 a possible form of expression of locomotion and thus the method for operating the device.

Die Vorrichtung nach 1 stellt eine Ausprägung der hier dargestellten Erfindung dar. Die radialen und axialen Expander dienen hierzu in der nach 1 dargestellten Weise der Fortbewegung durch Kontraktion und Expansion. Eine Abformung an den Rohrinnenwänden ermöglicht den sicheren Halt des Systems und stellt gleichermaßen die Wirkfläche zur Krafteinleitung zur Fortbewegung dar. Die innenliegende Turbine/Generatoreinheit ermöglicht die Energieumwandlung von hydromechanischer in elektrische Energie und ermöglicht so, dass der Roboter autark agieren kann.The device after 1 represents an expression of the invention shown here. The radial and axial expander serve for this purpose in the 1 illustrated way of locomotion by contraction and expansion. An impression on the inner walls of the pipe allows a secure hold of the system and likewise represents the effective surface for the introduction of force for locomotion. The internal turbine / generator unit enables the energy conversion from hydromechanical to electrical energy and thus enables the robot to operate autonomously.

Claims (6)

Vorrichtung zur Fortbewegung in röhrenförmigen Leitungssystemen, die mit einem flüssigen unter Druck stehenden Medium gefüllt sind, dadurch gekennzeichnet, dass die Fortbewegung innerhalb der Rohrleitungen durch radiale und axiale Expander ermöglicht wird.Device for locomotion in tubular piping systems filled with a fluid medium under pressure, characterized in that the movement within the pipelines is made possible by radial and axial expander. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass es einen Generator beinhaltet, der durch Turbinenschaufeln aus dem unter Druck stehende vorzugsweise flüssige Medium elektrische Energie gewinnt.Device according to claim 1, characterized in that that it includes a generator that is powered by turbine blades from the pressurized preferably liquid medium electrical energy wins. Vorrichtung nach Anspruch 1 und 2, dadurch gekennzeichnet, dass es Werkzeuge zur optischen Diagnose und Wartung der Rohrleitungen mitführt.Device according to claims 1 and 2, characterized in that that there are tools for optical diagnosis and maintenance of pipelines carries. Vorrichtung nach Anspruch 1 bis 3, dadurch gekennzeichnet, dass keine zusätzliche Energiespeichervorrichtung für Vorschub und Werkzeug erforderlich ist.Apparatus according to claim 1 to 3, characterized that no extra Energy storage device for Feed and tool is required. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass sie durch alternierende Expansion der radialen und axialen Expander und unter Nutzung der Druckverhältnisse im Medium eine Fortbewegung ermöglicht.Device according to claim 1, characterized in that that they by alternating expansion of the radial and axial Expander and using the pressure conditions in the medium a locomotion allows. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass zur schnelleren Fortbewegung die Turbine als zusätzlicher hydromechanischer Wasserradantrieb genutzt wird..Device according to one of claims 1 to 5, characterized in that for faster Fort the turbine is used as an additional hydromechanical waterwheel drive.
DE200810032564 2008-07-11 2008-07-11 Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium Withdrawn DE102008032564A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200810032564 DE102008032564A1 (en) 2008-07-11 2008-07-11 Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810032564 DE102008032564A1 (en) 2008-07-11 2008-07-11 Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium

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DE102008032564A1 true DE102008032564A1 (en) 2010-01-14

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DE200810032564 Withdrawn DE102008032564A1 (en) 2008-07-11 2008-07-11 Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016221213A1 (en) 2016-10-27 2018-05-03 Audi Ag Automated maintenance system
CN110743871A (en) * 2019-11-06 2020-02-04 欧阳军 A clear stifled device of inside for hydraulic engineering pipeline

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016221213A1 (en) 2016-10-27 2018-05-03 Audi Ag Automated maintenance system
DE102016221213B4 (en) 2016-10-27 2019-07-04 Audi Ag Automated maintenance system
CN110743871A (en) * 2019-11-06 2020-02-04 欧阳军 A clear stifled device of inside for hydraulic engineering pipeline
CN110743871B (en) * 2019-11-06 2021-09-07 韩谊 A clear stifled device of inside for hydraulic engineering pipeline

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8122 Nonbinding interest in granting licenses declared
8139 Disposal/non-payment of the annual fee
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee

Effective date: 20110201