WO1998017939A1 - Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux - Google Patents

Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux Download PDF

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Publication number
WO1998017939A1
WO1998017939A1 PCT/DE1996/001998 DE9601998W WO9817939A1 WO 1998017939 A1 WO1998017939 A1 WO 1998017939A1 DE 9601998 W DE9601998 W DE 9601998W WO 9817939 A1 WO9817939 A1 WO 9817939A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheels
pipe
tube
wall
driven
Prior art date
Application number
PCT/DE1996/001998
Other languages
German (de)
English (en)
Inventor
Gustav Trippe
Original Assignee
D.T.I. Dr. Trippe Ingenieurgesellschaft Mbh
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 D.T.I. Dr. Trippe Ingenieurgesellschaft Mbh filed Critical D.T.I. Dr. Trippe Ingenieurgesellschaft Mbh
Priority to AU15898/97A priority Critical patent/AU1589897A/en
Priority to EP96945518A priority patent/EP0879380A1/fr
Priority to PCT/DE1996/001998 priority patent/WO1998017939A1/fr
Publication of WO1998017939A1 publication Critical patent/WO1998017939A1/fr

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
    • 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

Definitions

  • the invention relates to a self-propelled device for driving inside pipes or channels along the pipe, with driven wheels that can be placed against the pipe wall and braced against the pipe wall by means of resilient tensioning means, for moving the device in the pipe, in particular for diagnosing the inside of the pipe and for working on the inside walls the tube, and in particular for pulling or pushing further devices in the longitudinal direction of the tube.
  • Such devices are known for example from DD patent specification 232 968 or German utility model 94 19 853.
  • the object of the invention is to design a device of the type mentioned at the outset in such a way that it is simple in construction and has a high degree of operational reliability with a miniaturization of the entire device and high propulsive forces when pulling or pushing further devices in the longitudinal direction of the device Pipe enables.
  • the device can have four pairs of wheels, at least two of which are driven.
  • the wheels can be braced pneumatically by means of air cushions, the upper wheels being pushed up and the lower wheels being pushed down at the same time.
  • the tension is resilient due to the compatibility of the pneumatic medium, but still so strong can be set up so that the driven wheels have sufficient traction for pulling or pushing large loads.
  • the forced coupling according to the invention between at least two wheel axles arranged offset on the device in the longitudinal direction of the device leads to the very special advantage that the wheels can easily drive over large holes in a damaged pipe wall, because the wheel or pair of wheels traveling over a hole is replaced by the in generally fixed contact of the wheel or wheel pair coupled to it on the pipe wall, which is highly likely to be damage-free, prevented it from immersing itself in the hole at the damaged point.
  • the device can therefore hardly get stuck.
  • the four-wheel drive means that the wheels can roll on the surface of the damaged area with the development of propulsion and out of the damaged area drive out.
  • the device is also able to drive over protruding obstacles within the clear width of the tube, because the wheels are able to deflect radially inwards in the case of resilient, in particular pneumatic clamping, and roll off on the surface of the protruding obstacle. With these properties, the device is very reliable.
  • the dimensions of the swivel arms can be chosen such that different pipes can be driven on with the same device within a large pipe diameter range.
  • the diameter range can even be expanded by adding additional housings with large wheels for very large pipe diameters.
  • 1 to 4 show, in a highly simplified, merely schematic representation, devices according to the invention by way of example in a first, second, third and fourth embodiment.
  • the tube wall is indicated by (5) against which the wheels, or the pairs of wheels (1), (2), (3) and (4) or (1A) and (2A) which are arranged alongside one another on the same axis.
  • the wheel axles of the wheels (1) and (2) and the wheel axles of the wheels (3) and (4) or the wheels (1A) and (2A) are positively coupled to one another.
  • Figure 1 is the forced coupling by means of (7) on a device frame (6), device chassis or the like articulated pivot arms (8) indicated by broken lines, at the ends of which the wheel axles are arranged. It is clear that in the direction of the arrows (V) between the swivel arms (8) - that is, between the wheel axles of the wheels (2) and (1A) or the wheels (2A) and (3) that are not positively coupled to one another - acting tension due to the coupling of movement of the wheel (1) with the wheel (2) or the wheel (3) with the wheel (4) or the wheel (1A) with the wheel (2A) all wheels together on the pipe wall (5 ) are pressed.
  • the movement coupling with the other wheel which is offset in the longitudinal direction of the tube and is highly likely to roll on an undamaged wall area, prevents it from diving into the wall recess. It can drive over the damaged area at the unchanged radial distance from the pipe axis. As a result, it is hardly possible that the device is blocked in the pipe.
  • the embodiment shown can be modified in many ways. For example, more than six wheels can be provided and of course more swivel arms (8).
  • the swivel arms can have opposite inclinations and can also cross in special cases. With two crossing swivel arms, these can have a common articulation point (7) on the device chassis (6). In all cases, the bracing is to be applied between the non-positively coupled wheel axles in accordance with the solution specified in claim 1.
  • the wheels (1) and (2) or the wheels (3) and (4) are coupled to one another in motion in that the swivel arms (8) articulated at (7) to the device chassis (6) on their opposite the wheel axles End wear tooth segments (9) or friction segments that roll on each other.
  • the wheels (1) and (2) or the wheels (3) and (4) can only be moved together towards or away from the pipe wall.
  • the device corresponding to this exemplary embodiment is also able to drive over wall recesses lying in the area of individual wheels or wheel pairs without the wheels in question plunging deeply into the damaged wall area and being blocked there.
  • axles of the wheels (1) and (2) or of the wheels (3) and (4) are forcibly coupled to one another via rigid connections (12), which are fixed on the device chassis (6) arranged slide guides (13) are radially displaceable to the tube axis.
  • the forced coupling between the wheel axles in question can be implemented in any other way, in contrast to the designs shown in the figures, in particular with hydraulic means or by means of electrical movement control.
  • Air cushions that can be pressurized with compressed air can be tensioned in a simple manner be used.
  • the pressure medium is compressible, so that a resilient tension is realized. This offers the advantage that the wheel in question is able to execute a movement directed radially to the tube axis when traveling over uplifts.
  • the bracing with air cushions enables high forces for pressing the wheels against the pipe wall with simple means, so that the device is able to develop high traction.
  • the tensioning means can of course also be traction means as well as pressure means.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

L'invention concerne un dispositif automoteur destiné à se déplacer à l'intérieur de tubes ou de canaux, longitudinalement, comprenant des roues (1, 2, 3, 4, 1a, 2a) entraînées, pouvant s'écarter pour venir contre la paroi du tube et pouvant être pressées contre ladite paroi (5) à l'aide de moyens de tension. Ces roues sont utilisées pour faire avancer le dispositif dans le tube. Un tel dispositif est utilisé pour permettre d'effectuer un diagnostic concernant l'intérieur du tube et pour usiner la paroi intérieure du tube, ainsi que, en particulier, pour tirer ou pousser d'autres dispositifs dans le sens longitudinal du tube. Ce dispositif présente les caractéristiques suivantes: au moins deux axes portant des roues, montés sur le dispositif décalés l'un par rapport à l'autre dans le sens longitudinal, sont accouplés de façon forcée radialement par rapport à la paroi du tube, en ce qui concerne leur déplacement, de sorte qu'ils puissent être amenés contre la paroi du tube ou éloignés de celle-ci ensemble. A cet effet les moyens de tension agissent entre les axes de roues qui ne sont pas accouplés de façon forcée.
PCT/DE1996/001998 1996-10-21 1996-10-21 Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux WO1998017939A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU15898/97A AU1589897A (en) 1996-10-21 1996-10-21 Automotive device for travelling in the interior of pipes or channels
EP96945518A EP0879380A1 (fr) 1996-10-21 1996-10-21 Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux
PCT/DE1996/001998 WO1998017939A1 (fr) 1996-10-21 1996-10-21 Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE1996/001998 WO1998017939A1 (fr) 1996-10-21 1996-10-21 Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux

Publications (1)

Publication Number Publication Date
WO1998017939A1 true WO1998017939A1 (fr) 1998-04-30

Family

ID=6918407

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1996/001998 WO1998017939A1 (fr) 1996-10-21 1996-10-21 Dispositif automoteur destine a se deplacer a l'interieur de tubes ou de canaux

Country Status (3)

Country Link
EP (1) EP0879380A1 (fr)
AU (1) AU1589897A (fr)
WO (1) WO1998017939A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005028942A1 (fr) * 2003-09-23 2005-03-31 Carsphairn Limited Appareil de canalisation
WO2007057082A1 (fr) * 2005-11-16 2007-05-24 Brandenburger Patentverwertung Gdbr Source de rayonnement pour l’irradiation des parois internes de cavites allongees
DE102014208058A1 (de) * 2014-04-29 2015-10-29 Subtech Gmbh Selbstfahrende Vorrichtung für ein Fortbewegen innerhalb eines Rohres
WO2019216033A1 (fr) * 2018-05-07 2019-11-14 株式会社湘南合成樹脂製作所 Robot de tuyau

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD232968A5 (de) * 1984-05-14 1986-02-12 ���@����������@��k�� Selbstfahrendes inspektions- und wartungsfahrzeug
EP0365921A2 (fr) * 1988-10-25 1990-05-02 HEINRICH SCHLICK GmbH Dispositif passant à travers des canaux fermés
DE4231961A1 (de) * 1992-09-24 1994-03-31 Gerhard Eisinger Vorrichtung zum Einbringen von Innenmänteln in Kanäle, insbesondere Abwasserkanäle, Abwasserrohre o. dgl.
WO1994012827A1 (fr) * 1992-12-01 1994-06-09 Ole Molaug Dispositif de traction a l'interieur d'un tube

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD232968A5 (de) * 1984-05-14 1986-02-12 ���@����������@��k�� Selbstfahrendes inspektions- und wartungsfahrzeug
EP0365921A2 (fr) * 1988-10-25 1990-05-02 HEINRICH SCHLICK GmbH Dispositif passant à travers des canaux fermés
DE4231961A1 (de) * 1992-09-24 1994-03-31 Gerhard Eisinger Vorrichtung zum Einbringen von Innenmänteln in Kanäle, insbesondere Abwasserkanäle, Abwasserrohre o. dgl.
WO1994012827A1 (fr) * 1992-12-01 1994-06-09 Ole Molaug Dispositif de traction a l'interieur d'un tube

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005028942A1 (fr) * 2003-09-23 2005-03-31 Carsphairn Limited Appareil de canalisation
WO2007057082A1 (fr) * 2005-11-16 2007-05-24 Brandenburger Patentverwertung Gdbr Source de rayonnement pour l’irradiation des parois internes de cavites allongees
US7812328B2 (en) 2005-11-16 2010-10-12 Brandenburger Patentverwertung Gdbr Radiation source for irradiating the interior walls of elongated cavities
DE102014208058A1 (de) * 2014-04-29 2015-10-29 Subtech Gmbh Selbstfahrende Vorrichtung für ein Fortbewegen innerhalb eines Rohres
DE102014208058B4 (de) * 2014-04-29 2018-07-05 Subtech Gmbh Selbstfahrende Vorrichtung für ein Fortbewegen innerhalb eines Rohres
WO2019216033A1 (fr) * 2018-05-07 2019-11-14 株式会社湘南合成樹脂製作所 Robot de tuyau
JPWO2019216033A1 (ja) * 2018-05-07 2021-07-01 株式会社湘南合成樹脂製作所 管内ロボット
JP7240750B2 (ja) 2018-05-07 2023-03-16 株式会社湘南合成樹脂製作所 管内ロボット
US11821566B2 (en) 2018-05-07 2023-11-21 Shonan Gosei-Jushi Seisakusho K.K. Pipe robot

Also Published As

Publication number Publication date
EP0879380A1 (fr) 1998-11-25
AU1589897A (en) 1998-05-15

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