JPS57169674A - Self-travelling manipulater used inside pipe - Google Patents

Self-travelling manipulater used inside pipe

Info

Publication number
JPS57169674A
JPS57169674A JP57047033A JP4703382A JPS57169674A JP S57169674 A JPS57169674 A JP S57169674A JP 57047033 A JP57047033 A JP 57047033A JP 4703382 A JP4703382 A JP 4703382A JP S57169674 A JPS57169674 A JP S57169674A
Authority
JP
Japan
Prior art keywords
tube
bodies
counterstepping
stepping
clamping
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.)
Pending
Application number
JP57047033A
Other languages
English (en)
Inventor
Ueebaa Rooberuto
Ketsupuru Aroisu
Fuerunaa Jiikufuriito
Kooreruto Eeritsuhi
Miyuraa Otsutoo
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.)
Kraftwerk Union AG
Original Assignee
Kraftwerk Union 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 Kraftwerk Union AG filed Critical Kraftwerk Union AG
Publication of JPS57169674A publication Critical patent/JPS57169674A/ja
Pending 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
JP57047033A 1981-03-25 1982-03-24 Self-travelling manipulater used inside pipe Pending JPS57169674A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19813111814 DE3111814A1 (de) 1981-03-25 1981-03-25 Selbstfahrender rohrinnenmanipulator zum fernbedienten transportieren von pruefgeraeten und werkzeugen laengs vorgegebener vorschubbahnen, vorzugsweise fuer kernkraftanlagen

Publications (1)

Publication Number Publication Date
JPS57169674A true JPS57169674A (en) 1982-10-19

Family

ID=6128284

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57047033A Pending JPS57169674A (en) 1981-03-25 1982-03-24 Self-travelling manipulater used inside pipe

Country Status (8)

Country Link
US (1) US4460920A (ja)
EP (1) EP0061078B1 (ja)
JP (1) JPS57169674A (ja)
AT (1) ATE16538T1 (ja)
BR (1) BR8201635A (ja)
DE (1) DE3111814A1 (ja)
ES (1) ES8401338A1 (ja)
NO (1) NO155232C (ja)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6085085A (ja) * 1983-10-14 1985-05-14 Kubota Ltd 管内自走装置
JPS61270088A (ja) * 1984-05-18 1986-11-29 東京瓦斯株式会社 鎖状移動ロボツトおよびその制御装置並びにその駆動方法
JPS61271079A (ja) * 1985-05-24 1986-12-01 山九株式会社 円筒状内面の清掃機
JPS6227789U (ja) * 1985-07-31 1987-02-19
JPS62276349A (ja) * 1986-05-23 1987-12-01 Mitsubishi Electric Corp 暖房機
JPS63225162A (ja) * 1987-03-16 1988-09-20 Hitachi Ltd 配管欠陥検査装置
JPS6411686A (en) * 1987-07-06 1989-01-17 Genshiriyoku Daiko Kk Method of cleaning sea-water conveying path inner circumferential surface and cleaner
JPS6411687A (en) * 1987-07-06 1989-01-17 Genshiriyoku Daiko Kk Cleaner for sea-water conveying path inner circumferential surface
JPH0199486U (ja) * 1987-12-24 1989-07-04
JPH0469596A (ja) * 1990-07-09 1992-03-04 Japan Atom Power Co Ltd:The 配管内の点検補修用ロボット
JP2004004001A (ja) * 2002-03-22 2004-01-08 Framatome Anp 少なくとも２つの対面する面を有するような壁によって区画されているようなプラントの領域中において保守作業を実行するための装置及び方法
JP2006068739A (ja) * 2004-09-02 2006-03-16 Pii Canada Ltd パイプラインのような導管内でピッグを移動させるための装置
JP2008007152A (ja) * 2006-06-28 2008-01-17 Lion Corp カートンの製造方法及び製造装置
JP2008222242A (ja) * 2007-03-09 2008-09-25 Rengo Co Ltd 包装箱
KR101225809B1 (ko) 2010-07-30 2013-02-20 (주)마미로봇 덕트용 로봇 청소기

Families Citing this family (76)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE3139691A1 (de) * 1981-10-06 1983-04-21 Kraftwerk Union AG, 4330 Mülheim Reinigungsvorrichtung fuer die innenumfangsflaechen von rohrleitungen oder hohlzylindrischen behaeltern, insbesondere an rohrinnen-manipulatoren
US4515747A (en) * 1982-09-27 1985-05-07 Combustion Engineering, Inc. Remotely operated maintenance and inspection equipment transporter
DE3236947A1 (de) * 1982-10-06 1984-04-12 Rainer 6074 Rödermark Hitzel Rohrmanipulator fuer das durchfahren von rohrleitungen
US4550376A (en) * 1983-02-14 1985-10-29 Maciejczak Robert A Inspection system for mechanical structures
DE3311094A1 (de) * 1983-03-26 1984-09-27 Hans 7801 Schallstadt Barth Vorrichtung zum transportieren von gegenstaenden bzw. zum selbstfortbewegen
FR2546536B1 (fr) * 1983-05-25 1985-08-16 Rhone Poulenc Fibres Procede pour le traitement de nappes non tissees et produit obtenu
FR2552346B1 (fr) * 1983-09-23 1986-06-20 Gaz De France Appareil a deplacement autonome pour sa progression a l'interieur d'une canalisation, notamment pour son exploration et/ou son traitement, et/ou son tubage a distance
EP0147648A1 (de) * 1983-12-15 1985-07-10 BBC Aktiengesellschaft Brown, Boveri & Cie. Vorrichtung zur Inspektion und Wartung von Rohren mit kleinen Krümmungsradien
DE3412519A1 (de) * 1984-04-04 1985-10-24 Kraftwerk Union AG, 4330 Mülheim Pruefkopfhalterung fuer einen selbstfahrenden rohrinnenmanipulator
US4641529A (en) * 1984-04-12 1987-02-10 Magnaflux Pipeline Services, Inc. Pipeline inspection device using ultrasonic apparatus for corrosion pit detection
DE3417471A1 (de) * 1984-05-11 1985-11-14 Kanalsanierung Hans Müller GmbH & Co KG, 3284 Schieder-Schwalenberg Vorrichtung zum ausfraesen einer einlaufoeffnung
US4581938A (en) * 1984-07-30 1986-04-15 Combustion Engineering, Inc. Tool for scanning the inner surface of a large pipe
US4654702A (en) * 1984-11-09 1987-03-31 Westinghouse Electric Corp. Portable and collapsible pipe crawler
US4601133A (en) * 1984-12-21 1986-07-22 Kraftwerk Union Aktiengesellschaft Manipulator head with grinding device for pipes or pipelines
DE8438101U1 (de) * 1984-12-21 1986-06-19 Kraftwerk Union AG, 4330 Mülheim Manipulatorkopf mit Schleifvorrichtung für Rohre oder Rohrleitungen
US4675728A (en) * 1985-03-01 1987-06-23 C.T.S. Consulting Personnel Svcs., Inc. Apparatus for performing internal inspection of piping
DE3669120D1 (de) * 1985-03-19 1990-04-05 Siemens Ag Manipulatorkopf mit bearbeitungswerkzeug fuer rohre oder rohrleitungen.
DE3614046A1 (de) * 1985-05-09 1986-11-20 EAB Electronic-Apparate-Bau GmbH, 8984 Riezlern Vorrichtung zum reinigen von verlegten rohren
JPS6271586A (ja) * 1985-09-25 1987-04-02 東洋ライニング株式会社 パイプのクリ−ニング装置
DE3612498A1 (de) * 1986-04-14 1987-10-29 Norske Stats Oljeselskap Selbstfahrendes fahrzeug fuer rohrleitungen
US4757716A (en) * 1986-06-26 1988-07-19 Westinghouse Electric Corp. Boresonic inspection system
US4725883A (en) * 1986-07-18 1988-02-16 Westinghouse Electric Corp. Optical profilometry system for tubular products
SE8702543D0 (sv) * 1987-06-17 1987-06-17 Stig Westman Redskap for arbeten i rorledningar
FR2623626B1 (fr) * 1987-11-25 1990-04-13 Electricite De France Dispositif de controle non destructif de tubes par ultrasons
EP0324644A3 (en) * 1988-01-15 1990-03-21 Shawn E. Egger Apparatus for movement through a tubular conduit
DE3806596A1 (de) * 1988-03-02 1989-09-14 Wolfgang Rausch Vorrichtung zum ferngesteuerten oeffnen von rohranschluessen
US4905527A (en) * 1988-05-25 1990-03-06 The Babcock & Wilcox Company Boiler tube wall inspection system
US4915073A (en) * 1988-05-25 1990-04-10 Harth George H Boiler tube wall inspection system
DE3818853A1 (de) * 1988-06-03 1989-12-14 Gottfeld F H Werkstoffpruefung Vorrichtung zur zerstoerungsfreien pruefung von rohrleitungen
FR2656733A1 (fr) * 1989-12-28 1991-07-05 Framatome Sa Dispositif de decontamination par abrasion de la surface interieure d'une canalisation.
US5025670A (en) * 1990-05-30 1991-06-25 Mcnulty George R Means for introducing inspection equipment in active pipelines
DE4022543C1 (ja) * 1990-07-16 1992-01-30 Siemens Ag, 8000 Muenchen, De
FR2668605B1 (fr) * 1990-10-31 1994-03-18 Commissariat A Energie Atomique Sonde de controle de tubes cintres, a tete de controle tournante.
US5204622A (en) * 1990-11-28 1993-04-20 Westinghouse Electric Corp. Improved probe for inspecting tubes having mechanism for maintaining alignment of probe axis of rotation
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
DE4226854A1 (de) * 1992-08-13 1994-02-17 Siemens Ag Manipulator zur Inspektion schwer zugänglicher Stellen eines Dampferzeugers
DE4302731C1 (de) * 1993-02-01 1994-07-14 Siemens Ag Im Innern eines Rohres selbsttätig fortbewegbares Transportmittel
DE9311144U1 (de) * 1993-07-26 1994-11-24 Siemens Ag Im Inneren einer Rohrleitung selbsttätig fortbewegbarer Manipulator
DE4424366A1 (de) * 1993-07-26 1995-02-02 Siemens Ag Im Innern einer Rohrleitung selbsttätig fortbewegbarer Manipulator
DE9311145U1 (de) * 1993-07-26 1994-11-24 Siemens Ag Einrichtung zum Prüfen oder Bearbeiten der Innenoberfläche einer Rohrleitung
US5371363A (en) * 1993-07-26 1994-12-06 Lilimpakis; Emmanuel Device for measuring radiation within a pipe
US5375530A (en) * 1993-09-20 1994-12-27 The United States Of America As Represented By The Department Of Energy Pipe crawler with stabilizing midsection
US5370006A (en) * 1993-09-20 1994-12-06 The United States Of America As Represented By The United States Department Of Energy Piping inspection carriage having axially displaceable sensor
DE4337647A1 (de) * 1993-11-04 1995-05-11 Hermann Heyer Vorrichtung zum (zeitweiligen) Versperren eines Leitungsweges
DE4417428C2 (de) * 1994-05-18 2000-10-26 Siemens Ag Einrichtung zum Vorschub eines Prüf- oder Bearbeitungssystems in einer Rohrleitung
US5544206A (en) * 1994-06-17 1996-08-06 R. Brooks Associates, Inc. Reactor head work station
US5770800A (en) * 1994-09-27 1998-06-23 The United States Of America As Represented By The United States Department Of Energy Flexible ultrasonic pipe inspection apparatus
DE19607913C2 (de) * 1996-03-01 2002-09-12 Kurt Hoerger Hydrodynamisches Kanalreinigungsgerät
DE29604682U1 (de) * 1996-03-14 1997-08-14 Itv Ges Fuer Ind Tv Mbh Vorrichtung für die Inspektion von Rohrleitungen
GB9617115D0 (en) 1996-08-15 1996-09-25 Astec Dev Ltd Pipeline traction system
US6722442B2 (en) 1996-08-15 2004-04-20 Weatherford/Lamb, Inc. Subsurface apparatus
US5899795A (en) * 1996-12-19 1999-05-04 Penza; G. Gregory Multi-function pipeline weld removal apparatus
US6179055B1 (en) 1997-09-05 2001-01-30 Schlumberger Technology Corporation Conveying a tool along a non-vertical well
US5954131A (en) * 1997-09-05 1999-09-21 Schlumberger Technology Corporation Method and apparatus for conveying a logging tool through an earth formation
US6215836B1 (en) * 1998-05-07 2001-04-10 Electric Power Research Institute, Inc. Apparatus and method for ultrasonically examining remotely located welds in cast stainless steel nuclear steam supply systems
DE10001334C2 (de) * 2000-01-11 2002-02-14 Jens Bauer Antriebseinheit für das Befahren von Rohrleitungen
JP4632560B2 (ja) 2000-03-01 2011-02-16 シーグ パック システムズ アクチェンゲゼルシャフト 三次元空間内で製品を操作するロボット
GB0028619D0 (en) * 2000-11-24 2001-01-10 Weatherford Lamb Traction apparatus
US6629568B2 (en) 2001-08-03 2003-10-07 Schlumberger Technology Corporation Bi-directional grip mechanism for a wide range of bore sizes
GB0206246D0 (en) * 2002-03-15 2002-05-01 Weatherford Lamb Tractors for movement along a pipepline within a fluid flow
US6910533B2 (en) * 2002-04-02 2005-06-28 Schlumberger Technology Corporation Mechanism that assists tractoring on uniform and non-uniform surfaces
US20040123113A1 (en) * 2002-12-18 2004-06-24 Svein Mathiassen Portable or embedded access and input devices and methods for giving access to access limited devices, apparatuses, appliances, systems or networks
CA2465926C (en) * 2003-04-30 2009-08-25 Weatherford/Lamb, Inc. A traction apparatus
CN102085523A (zh) * 2009-12-03 2011-06-08 武汉若比特机器人有限公司 管道检测清洗机器人
KR101067065B1 (ko) * 2009-12-14 2011-09-22 한전케이피에스 주식회사 원자로 냉각재 계통 저온관의 열전달 완충 슬리브 제거장치
KR101067232B1 (ko) * 2009-12-14 2011-09-22 한전케이피에스 주식회사 원자로 냉각재 계통 저온관의 열전달 완충 슬리브 제거방법
DE102016104412B3 (de) * 2016-03-10 2017-08-17 Areva Gmbh Manipulator und Manipulatoreinheit
CN108572217B (zh) * 2017-12-15 2022-02-15 湘潭宏远电子科技有限公司 一种氧化皮检测方法及装置
US10927625B2 (en) 2018-05-10 2021-02-23 Colorado School Of Mines Downhole tractor for use in a wellbore
WO2020220336A1 (zh) * 2019-04-30 2020-11-05 深圳市大疆创新科技有限公司 移动机器人
CN110773522B (zh) * 2019-07-16 2022-05-17 中国石油大学(华东) 一种石蜡清理作业管道机器人
CN111408588B (zh) * 2020-03-31 2021-07-27 杭州电子科技大学 一种管道清理机器人及其管道清理方法
CN112083060B (zh) * 2020-09-28 2023-11-24 安科智能检测技术(北京)有限公司 牵拉弯头脱扣器及牵拉管道漏磁检测器实验装置
CN113441480A (zh) * 2021-07-16 2021-09-28 江苏大学 一种海工装备管道内壁复合激光清洗装置
AU2022333051A1 (en) 2021-08-26 2024-04-11 Colorado School Of Mines System and method for harvesting geothermal energy from a subterranean formation

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6085085A (ja) * 1983-10-14 1985-05-14 Kubota Ltd 管内自走装置
JPS61270088A (ja) * 1984-05-18 1986-11-29 東京瓦斯株式会社 鎖状移動ロボツトおよびその制御装置並びにその駆動方法
JPS61271079A (ja) * 1985-05-24 1986-12-01 山九株式会社 円筒状内面の清掃機
JPS6227789U (ja) * 1985-07-31 1987-02-19
JPS62276349A (ja) * 1986-05-23 1987-12-01 Mitsubishi Electric Corp 暖房機
JPH0522140B2 (ja) * 1986-05-23 1993-03-26 Mitsubishi Electric Corp
JPS63225162A (ja) * 1987-03-16 1988-09-20 Hitachi Ltd 配管欠陥検査装置
JPH057073B2 (ja) * 1987-07-06 1993-01-28 Genshiryoku Daiko Kk
JPS6411686A (en) * 1987-07-06 1989-01-17 Genshiriyoku Daiko Kk Method of cleaning sea-water conveying path inner circumferential surface and cleaner
JPS6411687A (en) * 1987-07-06 1989-01-17 Genshiriyoku Daiko Kk Cleaner for sea-water conveying path inner circumferential surface
JPH0199486U (ja) * 1987-12-24 1989-07-04
JPH0469596A (ja) * 1990-07-09 1992-03-04 Japan Atom Power Co Ltd:The 配管内の点検補修用ロボット
JP2004004001A (ja) * 2002-03-22 2004-01-08 Framatome Anp 少なくとも２つの対面する面を有するような壁によって区画されているようなプラントの領域中において保守作業を実行するための装置及び方法
JP2006068739A (ja) * 2004-09-02 2006-03-16 Pii Canada Ltd パイプラインのような導管内でピッグを移動させるための装置
US7975342B2 (en) 2004-09-02 2011-07-12 Pii (Canada) Limited Device for moving a pig through a conduit, such as a pipeline
JP2008007152A (ja) * 2006-06-28 2008-01-17 Lion Corp カートンの製造方法及び製造装置
JP2008222242A (ja) * 2007-03-09 2008-09-25 Rengo Co Ltd 包装箱
KR101225809B1 (ko) 2010-07-30 2013-02-20 (주)마미로봇 덕트용 로봇 청소기

Also Published As

Publication number Publication date
BR8201635A (pt) 1983-02-16
US4460920A (en) 1984-07-17
NO820972L (no) 1982-09-27
DE3111814A1 (de) 1982-10-07
NO155232C (no) 1987-03-04
EP0061078B1 (de) 1985-11-13
EP0061078A3 (en) 1982-12-08
NO155232B (no) 1986-11-24
ATE16538T1 (de) 1985-11-15
ES510758A0 (es) 1983-12-16
EP0061078A2 (de) 1982-09-29
DE3111814C2 (ja) 1987-09-17
ES8401338A1 (es) 1983-12-16

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