ES2148790T3 - Vehiculo para recorrer superficies. - Google Patents

Vehiculo para recorrer superficies.

Info

Publication number
ES2148790T3
ES2148790T3 ES96931144T ES96931144T ES2148790T3 ES 2148790 T3 ES2148790 T3 ES 2148790T3 ES 96931144 T ES96931144 T ES 96931144T ES 96931144 T ES96931144 T ES 96931144T ES 2148790 T3 ES2148790 T3 ES 2148790T3
Authority
ES
Spain
Prior art keywords
vehicle
bodies
travel surfaces
traversing
multiplicity
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
ES96931144T
Other languages
English (en)
Inventor
Ernest Appleton
Neil William Stutchbury
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.)
University of Durham
Original Assignee
University of Durham
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=10781103&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ES2148790(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by University of Durham filed Critical University of Durham
Application granted granted Critical
Publication of ES2148790T3 publication Critical patent/ES2148790T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • F16L55/24—Preventing accumulation of dirt or other matter in the pipes, e.g. by traps, by strainers
    • 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
    • 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
    • F16L55/40—Constructional aspects of the body
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Cleaning In General (AREA)
  • Vehicle Interior And Exterior Ornaments, Soundproofing, And Insulation (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Polishing Bodies And Polishing Tools (AREA)
  • Glass Compositions (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Brushes (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

UN VEHICULO PARA ATRAVESAR UNA SUPERFICIE, POR EJEMPLO PARA REALIZAR UNA OPERACION DE INSPECCION O MANTENIMIENTO EN ESTA SUPERFICIE, CONSTA DE DOS O MAS CUERPOS (10, 11) UNIDOS POR UN MECANISMO (12) PARA ACERCARLOS Y ALEJARLOS ENTRE SI, Y CADA UNO DE ESTOS CUERPOS SE APOYA EN MULTIPLES CERDAS ELASTICAS (15) QUE SOBRESALEN DE EL. MOVIENDO LOS CUERPOS UNO EN RELACION CON EL OTRO, EL VEHICULO PUEDE ATRAVESAR LA SUPERFICIE, QUE PUEDE SER PLANA O CURVA, POR EJEMPLO LA SUPERFICIE INTERNA O EXTERNA DE UN CONDUCTO TUBULAR COMO UN TUNEL, EJE O TUBERIA.
ES96931144T 1995-09-22 1996-09-19 Vehiculo para recorrer superficies. Expired - Lifetime ES2148790T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB9519368.6A GB9519368D0 (en) 1995-09-22 1995-09-22 Conduit traversing vehicle

Publications (1)

Publication Number Publication Date
ES2148790T3 true ES2148790T3 (es) 2000-10-16

Family

ID=10781103

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96931144T Expired - Lifetime ES2148790T3 (es) 1995-09-22 1996-09-19 Vehiculo para recorrer superficies.

Country Status (17)

Country Link
US (1) US6431079B1 (es)
EP (1) EP0851988B1 (es)
JP (1) JPH11513463A (es)
KR (1) KR100488059B1 (es)
AT (1) ATE193592T1 (es)
AU (1) AU700878C (es)
BR (1) BR9610627A (es)
CA (1) CA2232618C (es)
DE (1) DE69608691T2 (es)
DK (1) DK0851988T3 (es)
ES (1) ES2148790T3 (es)
GB (2) GB9519368D0 (es)
GR (1) GR3034266T3 (es)
IL (1) IL123772A (es)
NZ (1) NZ318456A (es)
PT (1) PT851988E (es)
WO (1) WO1997011307A1 (es)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR9610373A (pt) 1995-08-22 1999-12-21 Western Well Toll Inc Ferramenta de furo de tração-empuxo
US6722442B2 (en) 1996-08-15 2004-04-20 Weatherford/Lamb, Inc. Subsurface apparatus
GB2350386B (en) * 1996-08-15 2001-02-21 Weatherford Lamb Traction apparatus
GB9617115D0 (en) * 1996-08-15 1996-09-25 Astec Dev Ltd Pipeline traction system
GB9723779D0 (en) 1997-11-12 1998-01-07 Univ Durham Vehicle for traversing external curved surfaces
GB9800905D0 (en) * 1998-01-17 1998-03-11 Univ Durham Surface-transversing vehicle
AT2551U1 (de) * 1998-04-30 1998-12-28 Moser Martin Fortbewegungsvorrichtung zum durchfahren von rohrförmigen kanälen od.dgl.
GB2356439B (en) * 1999-09-29 2004-02-18 Univ Durham Conduit traversing vehicle
US6464003B2 (en) 2000-05-18 2002-10-15 Western Well Tool, Inc. Gripper assembly for downhole tractors
GB0028619D0 (en) 2000-11-24 2001-01-10 Weatherford Lamb Traction apparatus
US8245796B2 (en) 2000-12-01 2012-08-21 Wwt International, Inc. Tractor with improved valve system
NO314812B1 (no) * 2001-01-10 2003-05-26 Jon Olav Aarhus Fremdriftsanordning for skrittvis bevegelig rörplugg
US6672222B2 (en) * 2002-02-13 2004-01-06 Petroleo Brasileiro S.A. Robotic internal gauge with contact at right angles to the oil pipeline
GB0227383D0 (en) * 2002-11-23 2002-12-31 Univ Durham Conduit traversing vehicle
GB0227395D0 (en) * 2002-11-23 2002-12-31 Univ Durham Bi-directional conduit traversing vehicle
GB2401130B (en) 2003-04-30 2006-11-01 Weatherford Lamb A traction apparatus
DE10320547A1 (de) * 2003-05-07 2005-01-20 Manfred Haase Sinus2002 Funk.dig.Kamera unter große Wärmeeinwirkung
WO2005090739A1 (en) 2004-03-17 2005-09-29 Western Well Tool, Inc. Roller link toggle gripper for downhole tractor
US20090277474A1 (en) * 2005-07-16 2009-11-12 Doug Minnear Bore Brush
US7624808B2 (en) 2006-03-13 2009-12-01 Western Well Tool, Inc. Expandable ramp gripper
WO2008061100A1 (en) 2006-11-14 2008-05-22 Rudolph Ernst Krueger Variable linkage assisted gripper
JP4657341B2 (ja) * 2008-11-27 2011-03-23 中国電力株式会社 円筒状部材用自動走行ロボット
US8485278B2 (en) 2009-09-29 2013-07-16 Wwt International, Inc. Methods and apparatuses for inhibiting rotational misalignment of assemblies in expandable well tools
EP2345574B1 (en) 2010-01-14 2012-10-31 Osvaldo Falesiedi Impulse traction method and device
US9447648B2 (en) 2011-10-28 2016-09-20 Wwt North America Holdings, Inc High expansion or dual link gripper
GB2507980B (en) * 2012-11-15 2015-06-10 Rolls Royce Plc Inspection arrangement
US9488020B2 (en) 2014-01-27 2016-11-08 Wwt North America Holdings, Inc. Eccentric linkage gripper
KR101433063B1 (ko) 2014-06-11 2014-08-25 김인영 포신 자동청소기
CN105346614B (zh) * 2015-10-10 2017-07-21 大连理工大学 一种具有弹性支撑驱动机构的爬行机器人
GB201711002D0 (en) * 2017-07-07 2017-08-23 Optical Metrology Services Ltd Cable management apparatus and system
CN108223968B (zh) * 2017-12-01 2023-10-20 上海大学 一种自主式小型管道机器人
CN109695613B (zh) * 2019-01-14 2020-07-07 北京印刷学院 物流管道系统、其中的箱体单元连接装置及其控制方法
CN110388535A (zh) * 2019-07-05 2019-10-29 常州大学 一种张拉整体管道机器人
RU2741148C1 (ru) * 2020-07-17 2021-01-22 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Внутритрубное транспортное средство

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3047270A (en) 1956-09-17 1962-07-31 United Gas Corp Apparatus for moving a line through a conduit
US3144240A (en) 1962-07-16 1964-08-11 Chicago Pneumatic Tool Co Tractor for duct crawler
US3593122A (en) * 1969-03-27 1971-07-13 Amf Inc Method and apparatus for identifying hardspots in magnetizable material
GB1418492A (en) * 1972-12-11 1975-12-24 Nat Res Dev Apparatus for moving along or through a material
DE2405343A1 (de) * 1974-02-05 1975-08-07 Geb Riedel Gerda Schnell Antrieb fuer gleitfahrzeuge
GB2086051B (en) * 1980-10-17 1984-07-25 British Gas Corp Pipeline inspection vehicle
FR2495191A1 (fr) * 1980-12-02 1982-06-04 Pipeline Service Sa Dispositif de controle des anodes solubles de protection cathodique d'une canalisation
EP0085504B1 (en) * 1982-02-02 1988-06-01 Subscan Systems Ltd Pipeline vehicle
DE3311094A1 (de) 1983-03-26 1984-09-27 Hans 7801 Schallstadt Barth Vorrichtung zum transportieren von gegenstaenden bzw. zum selbstfortbewegen
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
US5080020A (en) * 1989-07-14 1992-01-14 Nihon Kohden Corporation Traveling device having elastic contractible body moving along elongated member
US5018451A (en) * 1990-01-05 1991-05-28 The United States Of America As Represented By The United States Department Of Energy Extendable pipe crawler
GB2255815B (en) * 1991-05-13 1995-01-11 British Gas Plc Pipe inspection or other vehicle having a towing swivel
GB2257788A (en) * 1991-07-19 1993-01-20 British Gas Plc Pipeline inspection vehicle
US5284096A (en) * 1991-08-06 1994-02-08 Osaka Gas Company, Limited Vehicle for use in pipes
US5497707A (en) * 1992-09-23 1996-03-12 Martin Marietta Energy Systems, Inc. Robotic vehicle
JP3348310B2 (ja) 1992-09-28 2002-11-20 ソニー株式会社 動画像符号化方法および動画像符号化装置
DE9311145U1 (de) * 1993-07-26 1994-11-24 Siemens AG, 80333 München Einrichtung zum Prüfen oder Bearbeiten der Innenoberfläche einer Rohrleitung
WO2000013980A1 (en) 1998-09-04 2000-03-16 The Procter & Gamble Company Shoulder design for tube

Also Published As

Publication number Publication date
IL123772A (en) 2001-03-19
DK0851988T3 (da) 2000-10-09
EP0851988A1 (en) 1998-07-08
AU6994196A (en) 1997-04-09
BR9610627A (pt) 1999-12-21
GB2305407A (en) 1997-04-09
US6431079B1 (en) 2002-08-13
ATE193592T1 (de) 2000-06-15
CA2232618A1 (en) 1997-03-27
GB9619482D0 (en) 1996-10-30
GR3034266T3 (en) 2000-12-29
JPH11513463A (ja) 1999-11-16
GB2305407B (en) 1999-09-01
KR19990063666A (ko) 1999-07-26
DE69608691T2 (de) 2000-12-28
CA2232618C (en) 2005-09-13
IL123772A0 (en) 1998-10-30
GB9519368D0 (en) 1995-11-22
PT851988E (pt) 2000-11-30
AU700878B2 (en) 1999-01-14
AU700878C (en) 2002-02-07
DE69608691D1 (de) 2000-07-06
KR100488059B1 (ko) 2005-08-02
NZ318456A (en) 1999-08-30
EP0851988B1 (en) 2000-05-31
WO1997011307A1 (en) 1997-03-27

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