ES2151149T3 - Manipulador para el interior de tubos. - Google Patents

Manipulador para el interior de tubos.

Info

Publication number
ES2151149T3
ES2151149T3 ES96907294T ES96907294T ES2151149T3 ES 2151149 T3 ES2151149 T3 ES 2151149T3 ES 96907294 T ES96907294 T ES 96907294T ES 96907294 T ES96907294 T ES 96907294T ES 2151149 T3 ES2151149 T3 ES 2151149T3
Authority
ES
Spain
Prior art keywords
support
rotating frame
drive
radial
tube
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
ES96907294T
Other languages
English (en)
Inventor
Erich Seeberger
Rainer Hitzel
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 ES2151149T3 publication Critical patent/ES2151149T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2636—Surfaces cylindrical from inside

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Immunology (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)

Abstract

UN MANIPULADOR DEL INTERIOR DE TUBOS (1) POSEE EQUIPOS PARA EL TRATAMIENTO DE PAREDES DE TUBOS, EN ESPECIAL PARA SU COMPROBACION, Y DOS CHASIS (2, 3) EN QUE RODILLOS (4) PUEDEN MOVERSE HACIA LA PARED MEDIANTE ACCIONAMIENTOS OPUESTOS. ENTRE LOS CHASIS (2, 3) SE FIJA A ESTOS UN BASTIDOR GIRATORIO (18) ALREDEDOR DE UN EJE (A-A) COMUN DEL SISTEMA ALINEADO EN EL SENTIDO DE LA MARCHA, QUE ESTA EQUIPADO CON UN SOPORTE (30) DESPLAZABLE EN DIRECCION AXIAL CON AL MENOS UN BRAZO RADIAL DONDE SE MONTAN AL MENOS UN TOPE Y UNA UNIDAD DE TRATAMIENTO DESPLAZABLE EN DIRECCION RADIAL. EL BASTIDOR GIRATORIO (18) TIENE DOS PLACAS DE BRIDA (19, 20) RADIALES ENTRE LAS CUALES SE MONTAN: A) UN ACCIONAMIENTO GIRATORIO (27) PARA EL BASTIDOR GIRATORIO (18), B) UN SERVOMOTOR (36) DE UN ACCIONAMIENTO AXIAL (37) PARA EL SOPORTE (30) DE LAS UNIDADES DE TRATAMIENTO, C) UN HUSILLO ROSCADO (29) DEL ACCIONAMIENTO AXIAL (37) Y D) UNA BARRA DE GUIA PARA EL SOPORTE (30) CON LAS UNIDADES DE TRATAMIENTO, DE TAL MANERA QUE LOS EJES DE A), B), C) Y D) SON PARALELOS AL EJE DEL SISTEMA (A-A) Y SE AGRUPAN DISTRIBUIDOS MAS O MENOS EQUIDISTANTES EN TORNO A EL. EL BRAZO RADIAL EXISTENTE COMO MINIMO EN EL SOPORTE (30) ES GUIADO HACIA FUERA, EN EL SENTIDO DE LA PARED DEL TUBO, POR UNO DE LOS ESPACIOS INTERMEDIOS DENTRO DEL GRUPO COMPUESTO DEL ACCIONAMIENTO GIRATORIO (27), SERVOMOTOR, HUSILLO ROSCADO (29) Y BARRA DE GUIA.
ES96907294T 1995-03-28 1996-03-28 Manipulador para el interior de tubos. Expired - Lifetime ES2151149T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19511310A DE19511310C1 (de) 1995-03-28 1995-03-28 Rohrinnenmanipulator

Publications (1)

Publication Number Publication Date
ES2151149T3 true ES2151149T3 (es) 2000-12-16

Family

ID=7757939

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96907294T Expired - Lifetime ES2151149T3 (es) 1995-03-28 1996-03-28 Manipulador para el interior de tubos.

Country Status (6)

Country Link
US (1) US6019048A (es)
EP (1) EP0817937B1 (es)
JP (1) JP3655638B2 (es)
DE (1) DE19511310C1 (es)
ES (1) ES2151149T3 (es)
WO (1) WO1996030692A1 (es)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT1848U1 (de) * 1997-02-21 1997-12-29 Lugauer Gesmbh Vorrichtung zum durchfahren von kanälen od. dgl.
CA2354226A1 (en) 2001-01-31 2002-07-31 Cal Holland Robotic apparatus and method for non-destructive maintenance of intersecting conduits
US7182025B2 (en) * 2001-10-17 2007-02-27 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
AU2002356817A1 (en) 2001-10-17 2003-04-28 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
FR2837415B1 (fr) * 2002-03-22 2004-12-17 Framatome Anp Dispositif et procede d'intervention dans une zone d'une installation delimitee par une paroi ayant au moins deux surfaces en vis-a-vis
JP4504630B2 (ja) * 2003-03-20 2010-07-14 フラマトーム アエヌペ 原子炉の一次循環系の配管の部分を修理する方法及び交換する方法及び手段
AT413950B (de) * 2004-05-26 2006-07-15 Voest Alpine Ind Anlagen Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter
CN101435521B (zh) * 2007-11-16 2010-06-23 中国科学院沈阳自动化研究所 一种自适应管道移动机构
US20090307891A1 (en) * 2008-06-17 2009-12-17 Ge-Hitachi Nuclear Energy Americas Llc Method and apparatus for remotely inspecting and/or treating welds, pipes, vessels and/or other components used in reactor coolant systems or other process applications
CZ302170B6 (cs) 2009-07-24 2010-11-24 Ceské vysoké ucení technické v Praze - Fakulta elektrotechnická Robot pro cištení a inspekci potrubí a ovládací jednotka pro jeho rízení
CN104797485A (zh) * 2012-11-15 2015-07-22 株式会社海博特 管内行走装置和行走体
JP6301078B2 (ja) * 2013-07-26 2018-03-28 株式会社ハイボット 配管内移動装置
CN107990084B (zh) * 2017-12-26 2019-09-13 温州跨界环保科技有限公司 一种空调管道检测清理系统
CN113357332B (zh) * 2021-06-01 2023-03-17 贵州大学 一种改善攀爬性能的非等径垂直管道机器人

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3089434A (en) * 1958-09-22 1963-05-14 Andreasen Aage Carl Holger Conduit tractor
US3099227A (en) * 1960-08-05 1963-07-30 Harvest Queen Mill & Elevator Pipeline vehicle governing device
US3775612A (en) * 1970-12-14 1973-11-27 Monroe X Ray Co Pipeline x-ray inspection machine
DE3139734A1 (de) * 1981-10-06 1983-04-21 Kraftwerk Union AG, 4330 Mülheim Verfahren zur korrektur der pruef-, mess oder bearbeitungsbahnen an rohrinnen-manipulatoren innerhalb gekruemmter rohrleitungsbereiche
EP0085504B1 (en) * 1982-02-02 1988-06-01 Subscan Systems Ltd Pipeline vehicle
DE3224498C2 (de) * 1982-06-28 1987-02-12 Mannesmann AG, 4000 Düsseldorf Rohrmolch
DE3412519A1 (de) * 1984-04-04 1985-10-24 Kraftwerk Union AG, 4330 Mülheim Pruefkopfhalterung fuer einen selbstfahrenden rohrinnenmanipulator
US4601133A (en) * 1984-12-21 1986-07-22 Kraftwerk Union Aktiengesellschaft Manipulator head with grinding device for pipes or pipelines
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
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
US5121694A (en) * 1991-04-02 1992-06-16 Zollinger William T Pipe crawler with extendable legs
DE4206623C2 (de) * 1992-03-03 1995-11-23 Rainer Hitzel Rohrfahrzeug für die Innenbearbeitung von verlegten Rohrleitungen
US5601025A (en) * 1992-09-23 1997-02-11 Martin Marietta Energy Systems, Inc. Robotic vehicle
NO178276C (no) * 1992-12-01 1996-02-21 Ole Molaug Rörtraktor

Also Published As

Publication number Publication date
EP0817937B1 (de) 2000-09-20
EP0817937A1 (de) 1998-01-14
WO1996030692A1 (de) 1996-10-03
JP3655638B2 (ja) 2005-06-02
JPH11502594A (ja) 1999-03-02
DE19511310C1 (de) 1996-05-15
US6019048A (en) 2000-02-01

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