ES2100690T3 - Medio de transporte, que puede avanzar automaticamente en el interior de un tubo. - Google Patents

Medio de transporte, que puede avanzar automaticamente en el interior de un tubo.

Info

Publication number
ES2100690T3
ES2100690T3 ES94904972T ES94904972T ES2100690T3 ES 2100690 T3 ES2100690 T3 ES 2100690T3 ES 94904972 T ES94904972 T ES 94904972T ES 94904972 T ES94904972 T ES 94904972T ES 2100690 T3 ES2100690 T3 ES 2100690T3
Authority
ES
Spain
Prior art keywords
units
clamping
transportation
tube
base
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.)
Expired - Lifetime
Application number
ES94904972T
Other languages
English (en)
Inventor
Bernd Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Application granted granted Critical
Publication of ES2100690T3 publication Critical patent/ES2100690T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Supports For Pipes And Cables (AREA)
  • Rigid Pipes And Flexible Pipes (AREA)
  • Clamps And Clips (AREA)

Abstract

DE ACUERDO CON LA INVENCION, UN MEDIO (10) DE TRANSPORTE CONTIENE DOS UNIDADES (11,12) DE SUJECION MUTUAMENTE MOVILES QUE PUEDEN SER TENSIONADAS DE FORMA INDEPENDIENTE UNA DE OTRA. LAS UNIDADES (11,12) DE SUJECION COMPRENDEN CADA UNA DE ELLAS UNA BASE (111 O 112) DE LONGITUD (L O C) AJUSTABLE, CUYOS EXTREMOS PUEDEN SER LIGADOS POR MEDIO DE VARIOS COMPONENTES (20) DE SUJECION. ACORTANDO LA LONGITUD (A,C) DE ESTA BASE (11 O 112) RESULTA UN MOVIMIENTO RADIAL HACIA EL EXTERIOR DE LOS COMPONENTES (20) DE SUJECION Y DE AQUI EN TENSIONADO DE LA UNIDAD (11 O 12) DE SUJECION DE FORMA APROPIADA. ALTERNANDO EL MOVIMIENTO Y EL TENSIONADO DE LAS UNIDADES (11,12) DE SUJECION SE PRODUCE UN MOVIMIENTO HACIA ADELANTE. LA UTILIZACION DE UNIDADES (20) DE SUJECION CON PERFIL DE ARCO HACEN TAMBIEN POSIBLE SUPERAR LAS SECCIONES DE TUBERIA CON RAMIFICACIONES.
ES94904972T 1993-02-01 1994-01-27 Medio de transporte, que puede avanzar automaticamente en el interior de un tubo. Expired - Lifetime ES2100690T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4302731A DE4302731C1 (de) 1993-02-01 1993-02-01 Im Innern eines Rohres selbsttätig fortbewegbares Transportmittel

Publications (1)

Publication Number Publication Date
ES2100690T3 true ES2100690T3 (es) 1997-06-16

Family

ID=6479351

Family Applications (1)

Application Number Title Priority Date Filing Date
ES94904972T Expired - Lifetime ES2100690T3 (es) 1993-02-01 1994-01-27 Medio de transporte, que puede avanzar automaticamente en el interior de un tubo.

Country Status (6)

Country Link
US (1) US5788002A (es)
EP (1) EP0681734B1 (es)
JP (1) JPH08501752A (es)
DE (2) DE4302731C1 (es)
ES (1) ES2100690T3 (es)
WO (1) WO1994018679A1 (es)

Families Citing this family (22)

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Publication number Priority date Publication date Assignee Title
DK173122B1 (da) * 1995-07-04 2000-01-31 Force Instituttet Bevægelig robot til indvendig inspektion af rør
US5794703A (en) * 1996-07-03 1998-08-18 Ctes, L.C. Wellbore tractor and method of moving an item through a wellbore
GB9723779D0 (en) * 1997-11-12 1998-01-07 Univ Durham Vehicle for traversing external curved surfaces
DE10001334C2 (de) * 2000-01-11 2002-02-14 Jens Bauer Antriebseinheit für das Befahren von Rohrleitungen
KR100486702B1 (ko) * 2000-07-25 2005-05-03 삼성전자주식회사 마이크로 로봇
DE102004036748A1 (de) * 2004-07-29 2006-03-23 Kamal Daas Vorrichtung zur Fortbewegung oder zur Erzeugung einer Bewegung eines mit der Vorrichtung in Verbindung stehenden Teils
US7617891B2 (en) * 2005-10-11 2009-11-17 Schlumberger Technology Corporation Mechanical crawler
US8291781B2 (en) * 2007-12-21 2012-10-23 Schlumberger Technology Corporation System and methods for actuating reversibly expandable structures
US8733453B2 (en) * 2007-12-21 2014-05-27 Schlumberger Technology Corporation Expandable structure for deployment in a well
US7896088B2 (en) * 2007-12-21 2011-03-01 Schlumberger Technology Corporation Wellsite systems utilizing deployable structure
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US8245799B2 (en) * 2009-04-15 2012-08-21 Case Western Reserve University Apparatus and method for locomotion
US8899359B1 (en) * 2010-11-05 2014-12-02 The Boeing Company Locomotion system for robotic snake
US8662213B2 (en) * 2011-01-10 2014-03-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Locomotion of amorphous surface robots
AT517856B1 (de) * 2016-05-20 2017-05-15 Manuel Müller Matthias Roboter
US10434641B2 (en) 2017-07-18 2019-10-08 General Electric Company In situ gap inspection robot system and method
US10596713B2 (en) 2017-07-18 2020-03-24 General Electric Company Actuated sensor module and method for in situ gap inspection robots
US10603802B2 (en) 2017-07-18 2020-03-31 General Electric Company End region inspection module and method for in situ gap inspection robot system
US10427734B2 (en) 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
CN107398918B (zh) * 2017-07-31 2018-08-31 泰州市宏祥动力机械有限公司 一种工业机器人用管件夹持装置
CN113279826B (zh) * 2021-06-22 2022-03-25 中国核动力研究设计院 一种适用于汽轮机管道内异物作业工具的导向支撑装置
CN115432082B (zh) * 2022-09-09 2023-08-15 北京合聚数字技术有限公司 一种通信线缆用作业机器人

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5467853A (en) * 1977-11-10 1979-05-31 Mazda Motor Corp Mechanical brake operation mechanism in braking device
DE3111814A1 (de) * 1981-03-25 1982-10-07 Kraftwerk Union AG, 4330 Mülheim Selbstfahrender rohrinnenmanipulator zum fernbedienten transportieren von pruefgeraeten und werkzeugen laengs vorgegebener vorschubbahnen, vorzugsweise fuer kernkraftanlagen
FR2519576B1 (fr) * 1982-01-11 1985-11-29 Int Robotic Engineerin Robot a pattes grimpeur
JPS6085085A (ja) * 1983-10-14 1985-05-14 Kubota Ltd 管内自走装置
JPS6114371A (ja) * 1984-06-28 1986-01-22 株式会社竹中工務店 鉄筋コンクリ−ト造耐震壁
US4581938A (en) * 1984-07-30 1986-04-15 Combustion Engineering, Inc. Tool for scanning the inner surface of a large pipe
JPS62210183A (ja) * 1986-02-26 1987-09-16 Nippon Kokan Kk <Nkk> 管路内走行装置
US4848168A (en) * 1987-04-13 1989-07-18 Bridgestone Corporation Traveling device moving along elongated member
JPH01132940A (ja) * 1987-11-19 1989-05-25 Toshiba Corp 配管内移動装置
FI890183A (fi) * 1988-01-15 1989-07-16 Shawn E Egger Anordning foer roerelse i en roerformad ledning.
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
JPH01186462A (ja) * 1988-01-18 1989-07-25 Chugoku Electric Power Co Inc:The 管路走行装置
JPH0825453B2 (ja) * 1988-07-29 1996-03-13 株式会社日立製作所 管内自走点検装置
DE3829894A1 (de) * 1988-09-02 1990-03-08 Condux Maschinenbau Gmbh & Co Hydraulisch betaetigter vorschubstempel
FR2662989A1 (fr) * 1990-06-11 1991-12-13 Esstin Vehicule auto propulse et articule a verins telescopiques pour l'inspection de tuyauteries.
CA2053481A1 (en) * 1990-10-19 1992-05-20 Munetoshi Moritaka Apparatus capable of moving in a tube, method of moving in a tube, and support mechanism
JPH05131382A (ja) * 1991-11-11 1993-05-28 Takeshi Yanagisawa 歩行ロボツト

Also Published As

Publication number Publication date
EP0681734B1 (de) 1997-04-02
WO1994018679A1 (de) 1994-08-18
US5788002A (en) 1998-08-04
DE4302731C1 (de) 1994-07-14
DE59402304D1 (de) 1997-05-07
JPH08501752A (ja) 1996-02-27
EP0681734A1 (de) 1995-11-15

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