JPH0479416B2 - - Google Patents

Info

Publication number
JPH0479416B2
JPH0479416B2 JP60048096A JP4809685A JPH0479416B2 JP H0479416 B2 JPH0479416 B2 JP H0479416B2 JP 60048096 A JP60048096 A JP 60048096A JP 4809685 A JP4809685 A JP 4809685A JP H0479416 B2 JPH0479416 B2 JP H0479416B2
Authority
JP
Japan
Prior art keywords
moving body
circular pipe
circular
angular position
legs
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
JP60048096A
Other languages
English (en)
Japanese (ja)
Other versions
JPS60252260A (ja
Inventor
Reeman Peetaa
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.)
Vodafone GmbH
Original Assignee
Mannesmann 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 Mannesmann AG filed Critical Mannesmann AG
Publication of JPS60252260A publication Critical patent/JPS60252260A/ja
Publication of JPH0479416B2 publication Critical patent/JPH0479416B2/ja
Granted 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (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)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Cleaning In General (AREA)
  • Pipeline Systems (AREA)
JP60048096A 1984-05-24 1985-03-11 円管スクレ−パ Granted JPS60252260A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843419683 DE3419683A1 (de) 1984-05-24 1984-05-24 Rohrmolch mit fahrwerken
DE3419683.8 1984-05-24

Publications (2)

Publication Number Publication Date
JPS60252260A JPS60252260A (ja) 1985-12-12
JPH0479416B2 true JPH0479416B2 (en]) 1992-12-15

Family

ID=6236921

Family Applications (1)

Application Number Title Priority Date Filing Date
JP60048096A Granted JPS60252260A (ja) 1984-05-24 1985-03-11 円管スクレ−パ

Country Status (4)

Country Link
US (1) US4677865A (en])
EP (1) EP0170609B1 (en])
JP (1) JPS60252260A (en])
DE (2) DE3419683A1 (en])

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JP2534698B2 (ja) * 1987-03-20 1996-09-18 東京電力株式会社 管内検査ピグ装置
US5090259A (en) * 1988-01-18 1992-02-25 Olympus Optical Co., Ltd. Pipe-inspecting apparatus having a self propelled unit
US5029531A (en) * 1989-11-29 1991-07-09 Crafton Paul A Very high speed ground transportation system
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
FR2662989A1 (fr) * 1990-06-11 1991-12-13 Esstin Vehicule auto propulse et articule a verins telescopiques pour l'inspection de tuyauteries.
US5285689A (en) * 1991-07-16 1994-02-15 The United States Of America As Represented By The United States Department Of Energy Piping inspection instrument carriage with precise and repeatable position control and location determination
US5203646A (en) * 1992-02-06 1993-04-20 Cornell Research Foundation, Inc. Cable crawling underwater inspection and cleaning robot
US5571977A (en) * 1992-09-08 1996-11-05 Kipp; Jens-Werner Process and device for inspecting and/or servicing and repairing subsidiary canals branching off from a main drain
US5392715A (en) * 1993-10-12 1995-02-28 Osaka Gas Company, Ltd. In-pipe running robot and method of running the robot
US5551349A (en) * 1995-06-29 1996-09-03 The United States Of America As Represented By The Secretary Of The Navy Internal conduit vehicle
DK173122B1 (da) * 1995-07-04 2000-01-31 Force Instituttet Bevægelig robot til indvendig inspektion af rør
ES2168522T3 (es) * 1995-10-16 2002-06-16 Framatome Anp Gmbh Manipulador del interior de un tubo para revisar o tratar la superficie interior del mismo.
DE19746510C2 (de) * 1997-10-22 2003-03-06 Pii Pipetronix Gmbh Vorrichtung zum Durchfahren von Rohrleitungen
DE19850354A1 (de) * 1998-11-02 2000-06-08 Aviteq Vibrationstechnik Gmbh Verfahren und Vorrichtung zum Säubern bzw. Reinigen insbesondere eines Rohres
DE19943502A1 (de) 1999-09-10 2001-04-12 Busch Dieter & Co Prueftech Vorrichtung zur Bestimmung der Achslage von Hohlzylindern
JP2005514213A (ja) * 2001-10-17 2005-05-19 ウィリアム・マーシュ・ライス・ユニバーシティ パイプ内検査用の自律ロボットクローラ
US7182025B2 (en) * 2001-10-17 2007-02-27 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
DE10209953B4 (de) * 2002-03-06 2007-03-22 Rheinmetall Waffe Munition Gmbh Vorrichtung zur Messung des Verschleißes der inneren Oberfläche von Rohren
DE10215325A1 (de) * 2002-04-02 2003-10-23 Fraunhofer Ges Forschung Roboter zur Inspektion und/oder Reinigung und/oder Sanierung von Kanälen
NL1022763C2 (nl) * 2003-02-24 2004-08-26 Tno Werkwijze voor het bepalen van een positie van een object.
EP1712876A3 (de) * 2005-04-12 2008-07-09 Prüftechnik Dieter Busch Ag Extendierbare Distanzvorrichtung
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US7954575B1 (en) * 2008-09-10 2011-06-07 Bloxsom Joel O Leader string pull-through machine
US8425683B2 (en) 2009-11-17 2013-04-23 Acoustic Systems, Inc. Method for tracking a scraper within a pipeline
DE102009059717A1 (de) * 2009-11-30 2011-06-30 Rosen Swiss Ag Molch
DE102012007410A1 (de) 2012-04-16 2013-10-17 Lippold Mecklenburg - Vorpommern GmbH Verfahren und Vorrichtung zur Reinigung von Belüftungsdüsen an Belüftungsrohren in Belüftungsanlagen, insbesondere für Kompostier- und Rotteanlagen
US20140345366A1 (en) * 2013-05-21 2014-11-27 King Fahd University Of Petroleum And Minerals Pipeline leak detector
US9366596B2 (en) * 2013-05-21 2016-06-14 King Fahd University Of Petroleum And Minerals Pipeline leak detector
GB2527904B (en) * 2014-05-01 2021-03-24 Ulc Robotics Inc System and method for pipeline maintenance
EP3312490B1 (en) 2016-10-19 2019-07-31 ULC Robotics, Inc. System and method for pipeline inspection
US10434641B2 (en) 2017-07-18 2019-10-08 General Electric Company In situ gap inspection robot system and method
US10603802B2 (en) 2017-07-18 2020-03-31 General Electric Company End region inspection module and method for in situ gap inspection robot system
US10596713B2 (en) 2017-07-18 2020-03-24 General Electric Company Actuated sensor module and method for in situ gap inspection robots
US10427734B2 (en) 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
CN107478256B (zh) * 2017-08-01 2021-09-03 扬州工业职业技术学院 一种用于市政管道的检测装置
BR102018072062B1 (pt) 2018-10-26 2023-12-12 Universidade Federal Do Rio Grande Do Sul - Ufrgs Sistema tracionador de intervenção compreendendo um umbilical
EP4017790A1 (en) 2019-08-20 2022-06-29 General Electric Company Traction module for robot with variable extension positions
WO2021034611A1 (en) 2019-08-20 2021-02-25 General Electric Company Sensor interface module with scissor lift for plurality of sensors, and visual inspection module with dual view paths for robot
CN111650075A (zh) * 2020-07-06 2020-09-11 中国石油化工股份有限公司 一种管道清洗洁净度全管道检测方法及其装置
CN113236904B (zh) * 2021-06-25 2023-03-24 中国人民解放军63653部队 一种管道测量机器人

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DE1064100B (de) * 1956-03-22 1959-08-27 Fernseh Gmbh Fernsteuerbare Fernsehkamera
GB1131295A (en) * 1966-05-27 1968-10-23 Svu Materialu Improvements in and relating to flaw detectors
US3400574A (en) * 1966-10-31 1968-09-10 Harold W. Cramer Method and apparatus for testing pipelines
US3460028A (en) * 1967-11-03 1969-08-05 American Mach & Foundry Pipeline inspection apparatus with means for correlating the recorded defect signals with the angular position within the pipeline at which they were generated
US3718978A (en) * 1970-10-16 1973-03-06 Koevering B Van Pipeline survey vehicle
YU35048B (en) * 1971-05-13 1980-06-30 Snam Progetti Self-propelled and self-adjustable carriage capable of moving along the track of a non-linear line, e.g.pipeline
DE2154015C3 (de) * 1971-10-29 1974-05-09 Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg Einrichtung zum Durchführen von Untersuchungen und Wiederholungsprüfungen an den Innenflächen von oben offenen Druckbehältern
US3786684A (en) * 1971-12-27 1974-01-22 Automation Ind Inc Pipeline inspection pig
US3794340A (en) * 1972-07-13 1974-02-26 United Survey Inc Adjustable skid for pipe inspection or survey equipment
US4066021A (en) * 1973-08-20 1978-01-03 Helm Axel Gunther High speed transportation system
US3885091A (en) * 1973-10-24 1975-05-20 Halliburton Co Method and apparatus for pipeline inspection
US3968568A (en) * 1974-07-10 1976-07-13 Amf Incorporated Encoder error correction means for use with a distance measuring wheel
JPS5266221A (en) * 1975-12-01 1977-06-01 Nippon Telegr & Teleph Corp <Ntt> Device for correcting steering direction of conveying truck in tunnel
DE2640055C3 (de) * 1976-09-06 1979-07-19 Kraftwerk Union Ag, 4330 Muelheim Rohrkrfimmermanipulator, insbesondere zur Ultraschallprüfung bei Kernreaktoranlagen
JPS5383284A (en) * 1976-12-27 1978-07-22 Ueno Kougiyou Yuugengaishiya Pnumaticctransportationntype cart
FR2418849A1 (fr) * 1978-03-02 1979-09-28 Scram Machine pour le controle, l'entretien et la refection de conduits tels que des colonnes de vide-ordures
GB2020023A (en) * 1978-03-09 1979-11-07 Pantatron Systems Ltd Pipe-line inspection apparatus
US4272984A (en) * 1979-05-18 1981-06-16 Interprovincial Steel And Pipe Corporation, Ltd. Pipeline leak detection method and control device therefor
JPS5642137A (en) * 1979-09-14 1981-04-20 Kobe Steel Ltd Ultrasonic device for detecting flaw from inside of pipe
JPS5650673A (en) * 1979-10-01 1981-05-07 Kandenkou:Kk Inspecting device for inside of cable pipe
GB2088554A (en) * 1980-11-28 1982-06-09 Pls Pipeline Service Uk Ltd Pipeline route surveying device
DE3123376A1 (de) * 1981-06-12 1983-01-05 Manfred 2305 Heikendorf Schmidt Verfahren und vorrichtung zum instandsetzen alter, aus einzelnen rohren zusammengesetzter, erdverlegter rohrleitungen
ATE34821T1 (de) * 1982-02-02 1988-06-15 Subscan Systems Ltd Rohrleitungsfahrzeug.
DE3224498C2 (de) * 1982-06-28 1987-02-12 Mannesmann AG, 4000 Düsseldorf Rohrmolch
DE8222327U1 (de) * 1982-08-06 1985-11-07 Dedo Weigert Film GmbH, 8000 München Rohrprüfgerät
US4524526A (en) * 1982-11-22 1985-06-25 Litton Systems, Inc. Apparatus and method for inertial measurement of pipeline deflection

Also Published As

Publication number Publication date
DE3564739D1 (en) 1988-10-06
US4677865A (en) 1987-07-07
EP0170609A1 (de) 1986-02-05
JPS60252260A (ja) 1985-12-12
DE3419683A1 (de) 1985-11-28
EP0170609B1 (de) 1988-08-31
DE3419683C2 (en]) 1988-05-26

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