RU2675422C1 - Remote controlled intra-tube introscope - Google Patents

Abstract

FIELD: machine building.SUBSTANCE: invention relates to the field of chemical and petroleum machine building, and can be used for the process pipelines, steam pipelines, and ribbed pipes borescope inspection. Remote-controlled intra-tube introscope contains front and rear spacer units with separating end walls and with pneumatic spacers, pneumatic propulsor, television camera with illuminators, as well as a set of electronic components. Each spacer block is equipped with at least three linear actuators, which are radially moved by the guide cutouts in the end walls due to the drive adjusting discs rotation. Each drive control disc has guide grooves made in the form of an Archimedes spiral with a geometric center located on the spacer block central axis. Linear actuators are equipped with comb ridges to interact with the drive control discs mating guide grooves. Pneumatic spacers are made in the form of local inflatable collars for each linear actuator, and installed on their supporting ends. Pneumatic translational propulsor is made in the form of small-sized pneumatic cylinder, articulated with the front and rear spacer blocks by means of hinges. Spacer blocks and the pneumatic translational propulsor control electronic components are located coaxially to the small-sized pneumatic cylinder position.EFFECT: expansion of inspected by the single introscope pipeline diameters range, reducing the “dead” control zones size.3 cl, 5 dwg

Description

The invention relates to the field of chemical and petroleum engineering and can be used for introscopy of technological pipelines, steam pipelines, ribbed pipes.

Known remote-control diagnostic complex for in-line introscopy "Video crawler iPEK Rower 125" [http://www.ashtead-technology.com/rental-equipment/ipek-rower-125-crawler-camera-inspection-system/], consisting of a four-wheeled trolley with an electric drive, on which the illuminator and a television camera are mounted, an automatic motorized cable drum with adjustable feed with slip rings for a cable of various lengths. The crawler is equipped with a remote control system. The advantage of the known device is the ability to move inside the pipelines and provide a visual view of the internal state of the pipe. A disadvantage of the known device is the inability to move the device through pipelines with a diameter of less than 125 mm, as well as along vertical sections of pipelines.

It is known "In-tube vehicle" (patent RU No. 2418234, IPC F17D 5/00, published May 10, 2011 Bull. No. 13), designed to move the mobile apparatus of the diagnostic complex inside the piping of compressor gas pumping stations. Its task is to transport diagnostic equipment intended for remote automated in-pipe inspection of the state of technological pipelines, including their inclined and vertical sections, tees and bends. The in-tube vehicle contains a supporting structure with a wheel mover placed on it in the lower part, and in the upper part - a mechanism for vertical movement of the support provided with guides and a spacer mechanism, a vehicle control system, power supply and information. The supporting structure is made articulated, consisting of front and rear sections, each of which is equipped with a uniaxial wheel mover and a mechanism for vertical movement of the support. The sections are interconnected by an articulation mechanism made in the form of a symmetrical manipulator consisting of four sequentially connected levers, the free ends of the extreme levers of which are equipped with drives with a longitudinal axis of rotation mounted on the sides of the supporting structure of the front and rear sections facing each other, and the central levers are connected between themselves and with extreme levers drives with transverse axes of rotation. The advantage of the known device is the ability to move in pipelines of different spatial orientations and the possibility of entering the bends of different orientations.

The disadvantages of the known device are the complexity of the mechanical structure, the absence of non-destructive testing means in the device, and the inability to move in pipelines with a diameter of less than 400 mm.

The closest analogue to the proposed one in technical essence is a remote-controlled in-tube introscope used for inspection of pipelines from the inside [Edminster, Karl, R. Medeiros, Ruben DeMedeiros, Andrew, P. Novel Robotic Tools for Piping Inspection and Repair. Final Report., Electromechanica, Inc., 2014, 58 s]. The well-known remote-controlled in-tube introscope can be part of a diagnostic complex having an introscope control point located outside the inspected pipeline. The well-known remote-controlled in-tube introscope has the possibility of translational movement inside the pipeline in a stepped mode and contains pneumatic spacer blocks — front and rear — located along its longitudinal axis — with pneumatic spacers. Each spacer block has its own case with two disk-shaped end dividing (transverse) end walls limiting its length, rigidly interconnected by body parts. Both end walls of each spacer block are mounted motionless relative to each other and are located coaxially on the central axis of their spacer block. Between the spacer blocks there is a pneumatic translational propulsion device articulated with them with the possibility of their axial movement relative to each other, and also with the possibility of changing the angle of their relative position relative to the longitudinal axis of the introscope. Pneumatic spacers are made in the form of ring-shaped inflatable tubular cuffs located between the end walls of each spacer block. Their outer diameter in the absence of compressed air pressure in them is proportional to only one size of the inner diameter of the inspected pipeline. Pneumatic spacers can be made of an elastic material, for example, rubber. The pneumatic translational mover is made in the form of a pneumatic muscle, which is a segment of a flexible hose with muffled ends made of an elastic material, for example, rubber, fitted with an elastic polymer mesh. The pneumatic muscle is located along the central longitudinal axis of the introscope. When compressed air is supplied to it, the pneumatic muscle increases in diameter, but is shortened in the axial direction, due to which the rear spacer block approaches (pulls) to the front one with the front spacer block fixed. With the release of pressure, the pneumatic muscle decreases in diameter, relaxes and lengthens in the axial direction due to its elasticity. In this case, the front spacer unit is moved (pushed) forward with the rear spacer block fixed. Next, the cycles of translational movement of the introscope are repeated. Thus, in the known telecontrolled in-tube introscope, the possibility of axial movement of the spacer blocks relative to each other, as well as the possibility of changing the angle of their relative position relative to the longitudinal axis of the in-tube introscope, are provided only due to the elasticity and flexibility of the pneumatic muscle material. The composition of the well-known remote-controlled in-tube introscope also includes a television camera with illuminators and electronic components for controlling spacer units and a pneumatic propulsion device placed in an additional separate housing. An additional housing for electronic components is connected to the in-tube introscope in series, which increases the total length of the known introscope. In a known introscope, the exchange of electrical signals between it and a stationary control point located outside the pipeline is carried out via a flexible cable. Compressed air through the system of its supply and pressure relief enters the pneumatic muscle and pneumatic spouts through a flexible hose, and the order of supply and discharge of compressed air in them is determined by the operation of electronic units. The advantage of the well-known introscope is the ability to overcome curved sections of pipelines.

The disadvantages of the known remote-controlled in-tube introscope are:

- the impossibility of using the same introscope of the same size to control pipelines of different diameters due to the limited amount of radial deformation of single-element pneumatic spacers (ring cuffs), since the magnitude of their radial deformation when applying and relieving pressure of compressed air does not exceed 4-5 mm. In addition, the well-known introscopes for large-diameter pipelines sharply increase the total mass, which makes it impossible to move them along the vertical sections of the pipelines due to the negligibly small magnitude of the axial elongation of the pneumomuscular during pressure relief in it;

- the presence of extensive "dead" zones during introscopy due to the excessive length of the in-tube introscope, due to the significant axial dimensions of the flexible pneumatic muscle of the translational mover, as well as the presence of an additional separate housing for accommodating electronic components;

The objective of the invention is the creation of a universal in-line introscope for reliable monitoring of the condition of pipelines of arbitrary (including vertical) orientation with the possibility of using the same introscope with the same conditional diameter for the diagnosis of pipelines of different internal diameters and to minimize the size of the "dead" control zones.

The problem is solved in that in the proposed telecontrolled in-tube introscope, which has the ability to move in the pipeline in step mode and containing spacer blocks located on its longitudinal axis - front and rear - with end walls and pneumatic spacers, a pneumatic translational propulsion placed between the spacer blocks, articulated with them with the possibility of their axial movement relative to each other, as well as with the possibility of changing the angle of their relative position relative to according to the invention, each spacer unit is provided with at least three linear actuators mounted radially between the end walls of each spacer unit and having the ability to radially move along the axis of the introscope, as well as containing a television camera with illuminators and electronic components for controlling spacer units and a pneumatic translational propulsion device through radial cutouts made in the mentioned end walls, while on each end wall of each spacer block drive control discs are installed that can be forced to rotate around the central axis of each spacer unit, each drive control disc has guide grooves made in the form of an Archimedean spiral with a geometric center located on the central axis of the spacer unit, while linear actuators are provided with comb protrusions interacting through said through radial cuts with mating guide grooves of the drive control discs, and pneumatic spacers are made They are in the form of local inflatable cuffs for each linear actuator and are mounted on their supporting ends, and the pneumatic translational propeller is made in the form of a small-sized pneumatic cylinder articulated with the front and rear spacer blocks by hinges, and the electronic components for controlling the spacer blocks and pneumatic translational propulsion are located coaxially location of a small pneumatic cylinder.

A small-sized pneumatic cylinder and the aforementioned electronic components can be enclosed in a protective flexible shell made in the form of, for example, a corrugated element made of a polymeric material, for example, polyurethane.

Hinges for articulating a small-sized pneumatic cylinder with front and rear spacer blocks can be made ball.

The technical result of the invention is expressed in increasing the efficiency of using the claimed telecontrolled in-tube introscope when performing introscopy of straight and curved sections of pipelines of various diameters, randomly oriented in space, including vertically oriented, due to:

a) the use of linear actuators with the possibility of radial movement along the guides, which allows its preliminary “rough” adjustment to the required diameter of the pipe with a maximum radial extension of the supporting ends of the linear actuators at a distance significantly exceeding the radial deformation of single-element pneumatic spacers used in the known introscope . This also allows not to increase the own weight of the proposed design of in-tube introscopes with increasing / decreasing the diameter of the inspected pipelines;

b) the use of a translational propulsion device based on a pneumatic cylinder having normalized transmission characteristics of tensile-compression forces in the axial direction without increasing its diameter compared to similar characteristics of the pneumatic muscle in the prototype;

c) minimizing the size of “dead” control zones by reducing the total length achieved by using a small-sized pneumatic actuator with a small-sized pneumatic cylinder as a translator, as well as by placing electronic components at the installation site due to the fact that the small-sized pneumatic cylinder has a relatively small outer diameter and does not increase it when compressed air is fed into it, which allows using the radial space around it to accommodate electronic components ov.

The essence of the invention is illustrated by drawings, where: in FIG. 1 schematically shows the location of the in-tube introscope in the inspected pipeline and the control point for its operation;

in FIG. 2 is a general view of an in-tube introscope with linear actuators tuned to the minimum diameter of the inspected pipeline;

in FIG. 3 - in-tube introscope with front and rear spacer blocks, electronic control components located coaxially to a small-sized pneumatic cylinder, linear actuators are configured for the maximum diameter of the inspected pipeline (protective sheath is shown in axial section);

in FIG. 4 - an in-tube introscope introduced into the inspected pipeline with a small-sized pneumatic cylinder, a piston and a rod, articulated with the front and rear spacer blocks by means of ball joints, is shown in the first stage of translational motion (partial longitudinal section);

in FIG. 5 is a section along AA in FIG. 4, the location of the ridge protrusions on the linear actuators and their interaction with the guide grooves on the drive control disc are shown, the pneumatic spacers are under compressed air pressure and pressed against the inner surface of the inspected pipeline with maximum force.

The present invention is used to inspect the pipeline 1, near the entrance to which the control point 2 can be placed, and the remote-controlled in-tube introscope 3 (Fig. 1) in the working position is connected to the control point 2 by a flexible cable (not indicated in the drawings) and a hose for supplying compressed air (not shown in the drawings). Control point 2, as a rule, includes a mobile computer and a unit (not shown in the drawings) for the preparation and supply of compressed air required to move the in-tube introscope 3.

The proposed remote-controlled in-tube introscope 3 consists of at least two spacer blocks - the front block 4 and the rear block 5. A pneumatic translational propulsion 6 is placed between them, and a television camera 7 is installed in front of the introscope 3 (Fig. 2). Each spacer block 4 and 5 consists of two end separation walls 8 and fastening parts (not shown in the drawings). Moreover, each end wall 8 is made in the form of two disks interconnected by an axial part (not indicated in the drawings), separated by an axial gap (not indicated in the drawings) (Figs. 3 and 4). Each spacer unit 4 and 5 is equipped with at least three linear actuators 9 mounted between the end walls 8 and located radially at an angle of 120 ° between them. In the case of, for example, the use of four linear actuators 9, the angle between them can be 90 ° (not shown in the drawings). The end walls 8 are located on the central axis of each spacer block 4 and 5, and are rigidly and motionlessly interconnected in pairs by body parts (not shown in the drawings). In one of the disks of each end wall 8, through radial cutouts 10 are made (Fig. 5). Linear actuators 9 have the ability to radially move through the radial cut-outs 10 of the end walls 8. At the same time, on the axial part of each end wall 8 in the axial gap between its disks there is a drive control disc 11. The control discs 11 have the ability to force rotation around the central axis of each spacer block 4 and 5 (Figs. 3, 4 and 5) on the axial part of the fixedly installed end walls 8. Each drive control disc 11 has guide grooves 12 made in the form of an Archimedean spiral (Fig. 5) with a geometric center located on the central axis of its spacer block 4 and 5. Linear actuators 9 are provided with comb protrusions 13 (Figs. 3, 4 and 5) passing through radial cutouts 10 made in the end walls 8 and entering in the response guide grooves 12 of the drive control discs 11 (Fig. 4 and 5). The crested protrusions 13 interact with the guide grooves 12 and serve to inform the linear actuators 9 of the possibility of radial movement when turning the drive control discs 11.

At the supporting ends of the linear actuators 9 installed pneumatic spacers, made in the form of local inflatable cuffs 14 for each linear actuator 9 (Fig. 3, 4 and 5). Inflatable cuffs 14 can be made of an elastic material, for example, rubber. A compressed air supply and pressure relief system (not shown in the drawings) is connected to each local cuff of 14 pneumatic struts. Pneumatic translational propulsion 6 (Fig. 2) is made in the form of a small-sized pneumatic cylinder (actuator) 15 with a housing, with a rod 16 and a piston 17 (Fig. 4). The housing of the pneumatic cylinder 15 is articulated with the rear spacer unit 5, and its rod 16 is articulated with the front spacer unit 4 through hinges 18 (Fig. 3 and 4) with several degrees of freedom, for example ball (Fig. 3 and 4) or cardan (in the drawings not shown). To a small-sized pneumatic cylinder 15 is also connected a system for supplying compressed air to zone A or zone B (Fig. 4) and pressure relief (not shown in the drawings). The rod 16 and the housing of the small-sized pneumatic cylinder 15 provide the possibility of axial movement of the spacer blocks 4 and 5 relative to each other. The hinges 18 provide the ability to change the relative position of the spacer blocks 4 and 5 relative to the longitudinal axis of the introscope 3. The television camera 7 installed in the front of the introscope 3 is closed by a cowl 19 (Figs. 3 and 4) and is equipped with illuminators 20 with backlight, for example infrared radiation .

On the outside of the small-sized pneumatic cylinder 15 coaxial to it and with a certain radial clearance from it are electronic components 21 (Fig. 3), designed to control the operation of the spacer blocks 4 and 5 and the pneumatic translational drive 6. Between the electronic components 21 and the spacer blocks 4 and 5, free axial space is formed for the longitudinal movement of the spacer blocks 4 and 5 relative to each other. However, the total axial length of the proposed in-line introscope 3 does not increase and is less than the axial length of the prototype.

The location of the small-sized pneumatic cylinder 15 and the said electronic components 21 can be enclosed in a protective flexible shell made, for example, in the form of a cylindrical corrugated element 22 made of a polymeric material, for example, polyurethane (Figs. 3 and 4).

The proposed remote-controlled in-tube introscope works as follows.

Near the entrance to the inspected pipeline 1 have a control point 2. (Fig. 1). Before the introduction of the introscope 3 into the inspected pipeline 1, the in-tube introscope 3 is tuned to the required internal diameter of the pipeline 1. For this, manually, i.e. forcibly, simultaneously rotate both drive control discs 11 around the central axis of one of the spacer blocks 4 or 5 by the required number of revolutions. Then, at the same speed, the drive control discs 11 of the second spacer block are simultaneously turned. In the process of rotation of the control discs 11, the ridge projections 13, interacting with the guide grooves 12, move together with the actuators 9 in the radial direction along the radial cutouts 10 in the end walls 8 under the mechanical influence of the curved surfaces of the mating guide grooves 12 (Figs. 4 and 5). Moreover, all three (or, for example, four) linear actuators 9, depending on the direction of rotation of the control discs 11 - counterclockwise or along its course - simultaneously move in the radial direction, moving away from the longitudinal axis of the introscope 3 or approaching it at the same radial distance. As a result of the “rough” setting, all actuators 9 of the front and rear spacer blocks 4 and 5 are extended to the same radial length, at which their supporting ends with cuffs 14 are set to a conditional diameter of 1-2 mm less than the required inner diameter of the inspected pipeline 1. In order to ensure reliable pressing (fixing) of the cuffs 14 of the spacer blocks 4 and 5 inside the inspected pipeline 1, its inner diameter should not exceed the value determined by the radial extension of the linear actuators 9 at the absence of compressed air pressure in local inflatable cuffs 14. To fulfill the condition of reliable engagement of the comb protrusions 13 of the actuators 9 with the guide grooves 12, the maximum reach of the actuators 9 may be half the radial size of the linear actuators 9. That is, with a radial size of linear actuators of 40 mm, the maximum the overhang of each of them can be 20 mm, which makes it possible to increase the outer diameter of the introscope 3 by 40 mm.

The design of the proposed introscope 3, having a conditional outer diameter of 80 mm, allows visual inspection of pipelines 1 with an inner diameter of 80 to 120 mm. Moreover, the maximum internal diameter of the inspected pipeline 1 is determined by half the radial size of the linear actuators 9, that is: 80 mm (nominal diameter of the introscope) +80/2 mm (overhang of the actuators) = 120 mm (internal diameter of the pipeline). From this it follows that the same introscope 3 with a nominal diameter of 80 mm can be used to inspect a whole line of pipelines 1 with an inner diameter of 80 to 120 mm. This does not require an increase in the diameter of the end walls 8, as would be required for the prototype.

After adjusting the linear actuators 9 of the introscope 3 to the required diameter, it is introduced into the pipeline 1 and a step mode of its linear movement is initiated using the control program installed on the mobile computer of the control point 2. To ensure the free introduction of the introscope 3 into the pipeline 1, it is performed in the absence of pressure compressed air in local inflatable cuffs 14.

The translational movement of the in-tube introscope 3 along rectilinear, curved sections of pipelines 1 of any spatial orientation (horizontal, inclined, vertical) is carried out in step mode with alternating six consecutive stages with illuminators 20 turned on.

At the first stage, compressed air is supplied to the local inflatable cuffs 14 of the spacer blocks 4 and 5, as well as to zone B (Fig. 4) of the small-sized pneumatic cylinder 15, with a simultaneous release of pressure in zone A (Fig. 4). When this occurs, the cuffs 14 are pressed tightly against the inner surface of the pipe wall 1.

At the second stage, the compressed air pressure is released in the local inflatable cuffs 14 of the rear spacer block 5, as a result of which it is released from fixation in the pipeline 1.

At the third stage, compressed air is supplied to zone A of a small-sized pneumatic cylinder 15 with a simultaneous release of pressure in zone B, which leads to a longitudinal movement of the rear spacer block 5 in the inspected pipeline 1 to the left to the front spacer block 4 fixed by the cuffs 14 due to the fact that the pneumatic cylinder body 15, under the action of compressed air pressure in zone A, it moves to the left to the front spacer unit 4 and pulls the rear spacer block, which is articulated with it through the hinge 18, and pulls behind it 5 to a distance equal to move the rod 16 (FIG. 4).

At the fourth stage, compressed air is supplied to the local inflatable cuffs 14 of the rear spacer block 5 and fixed by pressing the cuffs 14 against the inner surface of the pipeline 1, while the air pressure set in the third stage is maintained in zone A of the small-sized pneumatic cylinder 15.

At the fifth stage, pressure is released in the local inflatable cuffs 14 of the front spacer block 4, as a result of which it is released from fixation in the pipeline 1.

At the sixth stage, compressed air is supplied to zone B of the small-sized pneumatic cylinder 15, with a simultaneous release of pressure in zone A, which leads to the translational movement of the front spacer block 4 to the left along the axis of the pipeline 1 by a distance determined by the stroke of the rod 16 of the small-sized pneumatic cylinder 15 (Fig. 4 )

Reverse movement of the in-tube introscope 3 is as follows.

At the first stage, compressed air is supplied to the local inflatable cuffs 14 of the spacer blocks 4 and 5, as well as to zone B (Fig. 4) of the small-sized pneumatic cylinder 15, with a simultaneous release of pressure in zone A (Fig. 4).

At the second stage, the pressure is released in local inflatable cuffs 14 of the front spacer block 4, as a result of which it is released from fixation in the pipeline 1.

At the third stage, compressed air is supplied to zone A of a small-sized pneumatic cylinder 15 with a simultaneous release of pressure in zone B, which leads to a longitudinal movement of the front spacer block 4 in the inspected pipeline 1 to the right to the rear spacer block 5 fixed by the cuffs 14 due to the rod 16 the pneumatic cylinder 15 under the action of compressed air pressure in zone A moves to the right to the rear block 5 and pulls the front spacer block 4 connected to it by means of the hinge 18 at a distance equal to the stroke of the rod 1 6 (Fig. 4).

At the fourth stage, compressed air is supplied to the local inflatable cuffs 14 of the front spacer block 4 and fixed by pressing the cuffs 14 against the inner surface of the pipeline 1 (Fig. 5). Moreover, in the zone A of the small-sized pneumatic cylinder 15, the air pressure set in the third stage is maintained.

At the fifth stage, the pressure is released in the local inflatable cuffs 14 of the rear spacer block 5, as a result of which it is released from fixation in the pipeline 1.

At the sixth stage, compressed air is supplied to zone B of a small-sized pneumatic cylinder 15, with a simultaneous release of pressure in zone A, which leads to a movement of the rear spacer block 5 to the right along the axis of the pipeline 1 by a distance determined by the stroke of the rod 16 of the small-sized pneumatic cylinder 15 (Fig. 4) .

Registration by the television camera 7 of the image of the internal state of the pipeline 1 is carried out at each first stage of the longitudinal movement of the in-tube introscope 3. The images of the internal state of the pipeline 1 obtained on the mobile computer monitor are evaluated by an operator who can correct the movement of the introscope 3 by control commands through control point 2.

The proposed remote-controlled in-tube introscope has the following advantages compared to the prototype:

1) relatively less weight, about 30%;

2) confident movement along the vertical sections of the pipelines due to the relatively lower weight and normalized characteristics of the transmission of force created by the pneumatic cylinder 15 to move the spacer blocks 4 and 5;

3) minimizing the size of the "dead" control zones by 50-60%.

The applicant has made a prototype of the proposed remote-controlled in-tube introscope with a nominal diameter of 80 mm for a diagnostic complex designed to control pipelines with a diameter of 80 + 120 mm.

References:

1. iPEK Rower 125 video crawler. Http: // www. ashtead-technology.com/rental-equipment/ipek-rower-125-crawler-camera-inspection-system.

2. Patent RU 2418234. In-pipe vehicle, 2011.

3. Edminster, K, R. Medeiros, R., Andrew, P. Novel Robotic Tools for Piping Inspection and Repair. Final Report., Electromechanica, Inc., 2014, - 58 c.

Applicant: Joint Stock Company “Irkutsk Research and Design Institute of Chemical and Petroleum Engineering” (JSC IrkutskNIIkhimmash).

Claims (3)

1. Telecontrolled in-tube introscope with the ability to move in the pipeline in a stepped mode and containing spacer blocks located on its longitudinal axis - front and rear - with end walls and pneumatic spacers, a pneumatic translational propulsion between the spacer blocks, coupled with them with the possibility of them axial movement relative to each other, as well as with the possibility of changing the angle of their relative position relative to the longitudinal axis of the introscope, as well as containing television a chamber with illuminators and electronic components for controlling spacer units and a pneumatic translational drive, characterized in that each spacer unit is equipped with at least three linear actuators mounted radially between the end walls of each spacer unit and having the ability to radially move through radial cutouts made in said end walls, while on each end wall of each spacer block mounted drive regulating disks having Forcible rotation around the central axis of each spacer block, each drive control disk has guide grooves made in the form of an Archimedean spiral with a geometric center located on the central axis of the spacer block, while linear actuators are provided with comb protrusions interacting via said through radial cutouts with reciprocal guide grooves of the drive control discs, and pneumatic spacers are made in the form of local inflatable cuffs for each linear of the actuator and are installed at their supporting ends, the pneumatic translational propulsion unit being made in the form of a small-sized pneumatic cylinder articulated with front and rear spacer blocks by hinges, and the electronic components for controlling the spacer blocks and pneumatic translational propulsion unit are located coaxially with the location of the small-sized pneumatic cylinder. 2. The in-tube introscope according to claim 1, characterized in that the small-sized pneumatic cylinder and said electronic components are enclosed in a protective flexible shell made in the form, for example, of a corrugated element made of a polymeric material, for example, polyurethane. 3. The in-tube introscope according to claim 1, characterized in that the hinges for connecting the small-sized pneumatic cylinder to the front and rear spacer blocks are made spherical.

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