WO2016169732A1 - Manipulateur pour intérieur de tuyaux servant à inspecter des systèmes de tuyauterie, en particulier des conduits d'embranchement dans des systèmes de tuyauterie - Google Patents

Manipulateur pour intérieur de tuyaux servant à inspecter des systèmes de tuyauterie, en particulier des conduits d'embranchement dans des systèmes de tuyauterie Download PDF

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Publication number
WO2016169732A1
WO2016169732A1 PCT/EP2016/056640 EP2016056640W WO2016169732A1 WO 2016169732 A1 WO2016169732 A1 WO 2016169732A1 EP 2016056640 W EP2016056640 W EP 2016056640W WO 2016169732 A1 WO2016169732 A1 WO 2016169732A1
Authority
WO
WIPO (PCT)
Prior art keywords
bellows
pipe
manipulator
bodies
walking
Prior art date
Application number
PCT/EP2016/056640
Other languages
German (de)
English (en)
Inventor
Erich Seeberger
Christian Gessner
Original Assignee
Areva Gmbh
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 Areva Gmbh filed Critical Areva Gmbh
Publication of WO2016169732A1 publication Critical patent/WO2016169732A1/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
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
    • 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
    • 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
    • F16L55/44—Constructional aspects of the body expandable

Definitions

  • the invention relates to a pipe internal manipulator for driving on pipe systems, in particular of branch pipes in pipe systems, according to the preamble of claim 1.
  • Such internal pipe manipulators comprise a walking mechanism with at least two walking bodies, wherein adjacent walking bodies are connected by at least two bellows, wherein at least two walking bodies each have a fixing device for fixing the walking bodies in the pipe.
  • Internal pipe manipulators are known per se. These are used for a variety of purposes, such as the inspection of pipelines. However, these internal pipe manipulators are only suitable to drive straight pipes. For more complex pipe systems, the problem arises that conventional pipe internal manipulators are not able to drive branch lines. This has the disadvantage that complex pipe systems either can not be driven through an internal pipe manipulator or the pipe internal manipulator must be used again and again in the pipe system at different points in the pipe system. This in turn makes the use of the internal pipe manipulator time consuming and costly. Often there is also a lack of access for the introduction of the manipulator in the pipeline. This has the consequence that the pipeline at the Stel len, where the Manipu lator be used sol l, would have to be cut.
  • the pipe internal manipulator according to the invention is characterized in that the bellows u njon each other are expandable and / or compressible, so that the Rohrinnenmanipu lator can bend in AbZweigleitu lengths by at least one of the bellows compressed and at least one other of the bellows is expanded.
  • the advantages of the invention are, in particular, that even complex pipe systems can be traveled in a simple manner with the pipe inner manipulator according to the invention.
  • the pipe inner manipulator according to the invention inter alia, to let me branch pipes such as T-branches or Y-branches in the pipe system.
  • a further advantage of the invention lies in the fact that the inner tube manipulator can be used for its formation, in particular by means of the fixing device and the bellows, both in horizontal and vertical tubes.
  • the internal pipe manipulator, in particular the walking machine, particularly preferably the walking elements are preferably made in lightweight construction.
  • the bellows are preferably made of a Ku nststoff, in particular rubber.
  • the regulation of the tensile or the pressing force of the pipe inner manipulator is preferably accomplished via the air pressure.
  • the aforementioned lightweight construction can support a high tensile or the pressing force.
  • the walking bodies are formed substantially disc-shaped, wherein they have a peripheral surface and two front surfaces.
  • the treads and / or the bellows are provided interchangeably on the walking mechanism in order to make the inner tube manipulator usable for a wide variety of pipe systems, in particular pipes of different diameters.
  • the fixing device is formed by at least one, preferably at least two, by means of pressure change in their interior expandable and / or compressible bubbles.
  • the bubbles are preferably provided at equal intervals along the peripheral surface of the tread body, wherein the bubbles are pressed in the expanded state against the inner walls of the tube, so that the tread body is spread against the pipe and thus fixed. It can be provided that the bubbles are arranged in the compressed state in provided on the peripheral surfaces of the tread bodies recesses.
  • the fixing device is formed by at least one by means of pressure change in its interior expandable and / or compressible annular tube, wherein the annular tube is arranged circumferentially around the peripheral surface of the walking body.
  • the annular tube is preferably pressed in the expanded state against the inner walls of the tube, so that the walking body is spread against the tube and thus fixed.
  • the ring tube is in the compressing th state preferably arranged in circumferentially around the peripheral surface of the walking body circumferentially provided recesses.
  • the bellows are preferably designed to be expandable and / or compressible independently of each other by means of a pressure change in the interior of the bellows.
  • the internal pipe manipulator on a control device for controlling the walking gear wherein the control device controls the pressurization of the bellows, each bellows is individually controlled.
  • pressurization is meant both the application of positive and negative pressure.
  • pressurization also includes generating a negative pressure.
  • the fixing device in particular the pressurization of the bubbles of the fixing device, can also be controlled by the control device.
  • a development of the invention provides that at least a part of the control device on the walking mechanism, preferably at the front lying in the direction of travel and / or lying behind in the direction of travel
  • Cross body is provided. It can also be provided that at least part of the control device is provided spatially separate from the walking mechanism in order to enable remote control of the walking mechanism, wherein the control device can be connected to the walking mechanism or parts of the control device with each other via a support line.
  • the internal pipe manipulator may have a support line, wherein the support line comprises at least one compressed air line and / or at least one power supply line.
  • the support pipe is preferably flexible to guide around the corners of branch pipes can.
  • the compressed air line is preferably used in addition to the application of positive pressure and the application of negative pressure or the generation of negative pressure.
  • at least one of the tread bodies preferably the tread body lying in front in the direction of travel of the inner pipe manipulator, comprises a fastening device for fastening the support pipe.
  • At least one of the tread bodies, at least in the direction of travel of the pipe inner manipulator behind lying walking body, a passage for carrying out the support line through the tread body, the implementation at least at its rear in the direction of travel end, in particular at both ends to Improvement of the mobility of the support line has a bevel.
  • the chamfer is particularly advantageous if the pipe inner manipulator bends into branch lines and consequently the support line bends. In this way, a kinking of the support line is avoided.
  • At least one of the walking body on at least one of the adjacent walking body facing front surface on a projecting stop which is a complete compression of the bellows between the adjacent
  • a stroke limiter is provided on the support line, which prevents complete expansion of the bellows between adjacent walking bodies, the stroke limitation is preferably provided after the outermost lying walkway body.
  • the stroke limitation may in particular be formed by a clamp which is provided on the support line.
  • two bellows are provided between the walking bodies, wherein the bellows are arranged offset by 180 ° at front surfaces of the walking bodies.
  • three bellows are provided between the walking bodies, wherein the bellows are offset at front surfaces of the tread body by 120 ° angeord net.
  • bellows are provided between the walking bodies, wherein the bellows are arranged offset at 90 ° on front surfaces of the walking bodies.
  • a plurality of bellows are provided between the walking bodies, wherein the bellows are arranged evenly offset from one another on the front surfaces of the walking bodies.
  • the distances between the bellows can be selected according to the formula "360 ° divided by the number of bellows".
  • the offset of the bellows from each other on the front surface of the walking elements is preferably selected in each case such that the bellows are arranged at substantially equal distances from each other on the front surfaces.
  • the inner tube manipulator has a wheel guide for supporting the movement of the inner tube manipulator, wherein the Radhe tion is provided to at least one, preferably the forward in the direction of travel, walking body.
  • a wheel guide can simplify the movement of the walking mechanism in the pipe since you Interior walls moving wheels oblique position of the walking body is avoided.
  • the inner tube manipulator preferably has at least one additional device, wherein the additional device comprises at least one test unit, for example a camera or an ultrasonic probe or an eddy current probe, and / or at least one illumination unit and / or at least one measuring unit, for example a sensor or an ultrasound probe.
  • Test head or an eddy current probe, and / or at least one working unit, such as a tool, and / or at least one cleaning unit, such as a sweeping or suction device comprises.
  • the additional device is connected via a suitable coupling to the forwardmost in the direction of travel crest body or exchangeable.
  • Inner tube manipulator in a plan view
  • the pipe internal manipulator 1 shows the internal pipe manipulator 1 according to the invention for driving on pipe systems 2 and of branch pipes 3 in pipe systems 2.
  • the pipe internal manipulator 1 comprises a walking mechanism 4 with two walking bodies 4a, 4b.
  • the adjacent tread bodies 4a, 4b are connected by two bellows 5a, 5b.
  • the two walking bodies 4a, 4b furthermore each have a fixing device 6 for fixing the walking bodies 4a, 4b in the pipe 7.
  • the bellows 5 a, 5 b are independently of each other by means of pressure change in the interior of the bellows 5 a, 5 b formed expandable and / or compressible, so that the pipe inner manipulator 1 can bend into branch lines 3 by at least one of the bellows 5 a, 5 b compressed and at least one of the other Bellows 5a, 5b is expanded.
  • the bellows 5 a can be compressed while the bellows 5 b is expanded, which would lead in the direction of travel F to a turning of the pipe inner manipulator 1 to the left. Compressing the bellows 5b upon expansion of the bellows 5a would consequently lead to a rightward turning of the pipe inner manipulator 1.
  • the fixing device 6 of each of the two walking bodies 4a, 4b is formed by two by means of pressure change in its interior expandable and / or compressible bubbles 8.
  • the bubbles 8 are provided at equal intervals along the peripheral surface 9 of the disc-shaped tread bodies 4a, 4b.
  • the bladders 8 of the fixing device 6 at the forward in the direction of travel F litter 4b are in the expanded state, wherein they are pressed against the inner walls 10 of the pipe to be driven 7, so that the tread body 4a, 4b spread against the pipe 7 and is fixed with it.
  • the blisters 8 of the fixing device 6 on the trailing body 4a lying in the direction of travel F are in the compressed state and are arranged in recesses 11 provided on the peripheral surfaces 9 of the disk-shaped walking elements 4a, 4b, ie by the evacuation the blisters 8 take the contour of the recesses
  • the walking mechanism 4 causes a driving of the pipe system 2 through the pipe inner manipulator 1 by a passer-like movement, in which one of the two walking bodies 4a, 4b is fixed by the fixing device 6 against movement and the adjacent walking body 4a, 4b by expanding or compressing the bellows 5a, 5b pushed away from the fixed tread body 4a, 4b or to the fixed
  • Crest body is used. Subsequently, the previously moved tread body 4a, 4b is fixed and the previously fixed tread body 4a, 4b moves. A repetition of this process produces a passer-like or caterpillar-like movement of the walking mechanism 4.
  • the inner tube manipulator 1 has a control device 12 for controlling the walking mechanism 4, wherein the control device 12 controls the pressurization of the bellows 5 a, 5 b, wherein each bellows 5 a, 5 b is individually controllable.
  • the fixing device 6, in particular the pressurization of the bubbles 8, is also by the control device
  • control device 12 controllable. A part of the control device 12 is provided on the forwardmost in the direction of travel F lattice body 4b. Another part of
  • Control device 12 is provided spatially separated from the walking unit 4 to allow remote control of the walkway 4.
  • the internal pipe manipulator 1 has a support line 13 which comprises at least one compressed air line 14 and at least one power supply line 15. About the compressed air line the bellows 5a, 5b and the bubbles 8 of the fixing device 6 are expanded or compressed by pressure change.
  • the power supply line 15 of the support Device 13 supplies power to the auxiliary device 22 and connects the other parts of the control device 12 with each other.
  • the forward in the direction of travel F of the pipe inner manipulator 1 lying walker body 4b includes a fastening device 16 for securing the support line 13.
  • the support line 13 is thus pulled during movement of the pipe inner manipulator 1 through the forward in the direction of travel of the pipe inner manipulator 1 1 lying leg 4b.
  • the lying in the direction of travel F of the pipe inner manipulator 1 behind crest 4a has a passage 17 for carrying out the support line 13 through the tread body 4a.
  • the passage 17 is substantially tubular and has at its two ends 18 a, 18 b to improve the mobility of the support line 13 a chamfer 19.
  • the chamfer 19 is particularly advantageous when the pipe inner manipulator 1 bends into branch lines 3 and the support line 13 thus bends. In this way, a kinking of the support line 13 is avoided.
  • tread body 4a The lying in the direction of travel F behind tread body 4a has at its the adjacent tread body 4b facing front surface 20 on a projecting stop 21, which prevents complete compression of the bellows 5a, 5b between the adjacent tread bodies 4a, 4b, since the tread body 4b to the stop 21st abuts before the bellows 5a, 5b are completely compressed.
  • a maximum compression of the bellows 5 a, 5 b is determined.
  • the internal pipe manipulator 1 also has an additional device 22, wherein the additional device 22 comprises a test unit 23 with a camera 24 and a lighting unit. Among other things, the camera 24 serves to inspect the pipe system 2.
  • the auxiliary device 22 is exchangeably connected via a coupling 25 to the walking body 4b lying in the travel direction F.
  • the appropriate additional device 22 can be attached to the tread body 4b via the coupling 25 as needed.
  • a test or measuring unit or a working unit, for example a tool, or a cleaning unit could be attached to the walking body 4b.
  • FIG. 2a shows the inner tube manipulator 1 according to the invention in accordance with the exemplary embodiment according to FIG. 1 in a sectional illustration along the section line II-II drawn in FIG.
  • FIG. 2 a shows the front face 20 of the walking body 4 a, the support line 13 and the stop 21. It can also be seen that the two bellows 5 a, 5 b are arranged offset by 180 ° on the front face 20 of the walking body 4 a. The bellows 5 a, 5 b are arranged correspondingly offset by 180 ° on the front surface 20 of the adjacent tread body 4b.
  • 2b shows a second embodiment of the pipe inner manipulator 1 according to the invention in a sectional view corresponding to the sectional view in FIG 2a.
  • 2b has three bellows 5a, 5b, 5c, wherein the three bellows 5a, 5b, 5c are provided between two adjacent cross members 4a, 4b and at the front surfaces 20 of the cross members 4a, 4b by 120 ° are arranged offset.
  • FIG. 2 c shows a third exemplary embodiment of the pipe internal manipulator 1 according to the invention in a sectional representation corresponding to the sectional illustration in FIG. 2 a.
  • the pipe inner manipulator 1 according to the embodiment of FIG 2c has four bellows 5a, 5b, 5c, 5d , wherein the four bellows 5a, 5b, 5c, 5d are provided between two adjacent walking bodies 4a, 4b and are arranged offset at 90 ° on the front surfaces 20 of the walking bodies 4a, 4b.
  • FIG. 3 shows a further exemplary embodiment of the pipe internal manipulator 1 according to the invention for driving on pipe systems 2 and branch pipes 3 in pipe systems 2.
  • the pipe internal manipulator 1 comprises a walking mechanism 4 with three walking bodies 4a, 4b, 4c.
  • the adjacent tread bodies 4a, 4b, 4c are each connected by two bellows 5a, 5b.
  • the three walking bodies 4a, 4b, 4c furthermore each have a fixing device 6 for fixing the walking bodies 4a, 4b, 4c in the pipe 7 or in the branch line 3.
  • the tread bodies 4a and 4b each have a stop 21 in this exemplary embodiment. Subsequently, a bending operation of the pipe internal manipulator 1 into a branch line 3 will be explained with reference to the pipe inner manipulator 1 according to the embodiment of FIG.
  • the pipe manipulator 1 is located in the pipe system 2 and moves in the pipe 7 to the branch line 3.
  • the bellows 5a, 5b between the two walking bodies 4b and 4c are evacuated and thus compressed (not shown in FIG. 3).
  • the inner tube manipulator 1 moves on through the path-like sequence of movements described above with reference to FIG. 1 by the crest bodies 4a and 4b being alternately fixed and moved. As soon as the internal pipe manipulator 1 approaches the branch line 3, the step length of the pipe inner manipulator 1 can be reduced for stepwise, precise positioning in front of the branch line 3 (not shown in FIG. 3).
  • FIG. 3 shows that, if the internal pipe manipulator 1 is located in a position suitable for being inserted into the branch line 3, what For example, can be checked by the camera 24, the tread 4a is fixed by the fixing device 6 in the tube 7 by the bubbles 8 are expanded. Subsequently, the tread body 4b is brought up to just before the branch line 3 by expansion of the bellows 5a, 5b mounted between it and the tread body 4a.
  • the tread 4a is fixed by the fixing device 6 in the tube 7 by the bubbles 8 are expanded.
  • the tread body 4b is brought up to just before the branch line 3 by expansion of the bellows 5a, 5b mounted between it and the tread body 4a.
  • Crushing body 4c is brought into the branch line 3 by expansion of the bellows 5b connected to it, while at the same time remaining compression or at least only slight expansion of the bellows 5a connected to it.
  • the walking body 4c As soon as the walking body 4c has reached a position in the branch line 3 in which it can travel straight on, the walking body 4c is fixed in the branch line 3 by its fixing device 6 and the walking bodies 4a, 4b are retightened after their fixing devices, in particular the fixing device 6 of the walking body 4a were released (not shown in FIG 3).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur pour intérieur de tuyaux (1) servant à inspecter des systèmes de de tuyauterie (1), en particulier des conduits d'embranchement (3) dans des systèmes de tuyauterie (2). Ledit manipulateur pour intérieur de tuyaux comprend un mécanisme sur patins (4) pourvu au moins de deux corps sur patins (4a ; 4b ; 4c). Des corps sur patins (4a ; 4b ; 4c) adjacents sont reliés par au moins deux soufflets (5a ; 5b ; 5c ; 5d), au moins deux corps sur patins (4a ; 4b ; 4c) comportant respectivement un dispositif de fixation (6) servant à fixer les corps sur patins (4a ; 4b ; 4c) dans le tuyau (7). L'invention est caractérisée en ce que les soufflets (5a ; 5b ; 5c ; 5d) sont réalisés de manière à pouvoir être étendus et/ou comprimés indépendamment les uns des autres de sorte que le manipulateur pour intérieur de tuyaux (1) puisse être introduit par cintrage dans des conduits d'embranchement (3) en ce qu'au moins un des soufflets (5a ; 5b ; 5c ; 5d) est comprimé et en ce qu'au moins un autre des soufflets (5a ; 5b ; 5c ; 5d) est étendu.
PCT/EP2016/056640 2015-04-24 2016-03-24 Manipulateur pour intérieur de tuyaux servant à inspecter des systèmes de tuyauterie, en particulier des conduits d'embranchement dans des systèmes de tuyauterie WO2016169732A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015106333.6A DE102015106333A1 (de) 2015-04-24 2015-04-24 Rohrinnenmanipulator zum Befahren von Rohrsystemen, insbesondere von Abzweigleitungen in Rohrsystemen
DE102015106333.6 2015-04-24

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Publication Number Publication Date
WO2016169732A1 true WO2016169732A1 (fr) 2016-10-27

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DE (1) DE102015106333A1 (fr)
WO (1) WO2016169732A1 (fr)

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CN108087661A (zh) * 2017-12-14 2018-05-29 江苏科技大学 一种步进式管道小车
CN112013202A (zh) * 2020-07-06 2020-12-01 中海油能源发展股份有限公司 一种多功能仿生尺蠖管道机器人

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CN107830307B (zh) * 2017-11-27 2019-04-19 西北工业大学 一种高机动性的尺蠖式蠕动机器人
DE102019113382A1 (de) * 2019-05-20 2020-11-26 Rosen Swiss Ag Dichtungselement für einen Rohrleitungsmolch
FR3100856B1 (fr) * 2019-09-16 2021-09-17 Autonomous Clean Water Appliance Acwa Robotics Robot d’exploration de conduit comprenant un système de positionnement
DE102022202557A1 (de) * 2022-03-15 2023-09-21 Ibak Helmut Hunger Gmbh & Co Kg Kanalrohr-Inspektionssystem

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CN108087661A (zh) * 2017-12-14 2018-05-29 江苏科技大学 一种步进式管道小车
CN108087661B (zh) * 2017-12-14 2019-09-03 江苏科技大学 一种步进式管道小车
CN112013202A (zh) * 2020-07-06 2020-12-01 中海油能源发展股份有限公司 一种多功能仿生尺蠖管道机器人
CN112013202B (zh) * 2020-07-06 2021-12-31 中海油能源发展股份有限公司 一种多功能仿生尺蠖管道机器人

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