WO2018193432A1 - Système mécatronique pour l'entretien de conduites - Google Patents

Système mécatronique pour l'entretien de conduites Download PDF

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Publication number
WO2018193432A1
WO2018193432A1 PCT/IB2018/052811 IB2018052811W WO2018193432A1 WO 2018193432 A1 WO2018193432 A1 WO 2018193432A1 IB 2018052811 W IB2018052811 W IB 2018052811W WO 2018193432 A1 WO2018193432 A1 WO 2018193432A1
Authority
WO
WIPO (PCT)
Prior art keywords
mechatronic device
head
reservoir
connection cable
maintenance
Prior art date
Application number
PCT/IB2018/052811
Other languages
English (en)
Inventor
Francesco INGLESE
Cesare Stefanini
Mario MILAZZO
Carmela Cavallotti
Riccardo PELLICCIA
Elisa DONATI
Manuela PAGELLA
Enrico Giuseppe VARESE
Marco PIOVANO
Godfried JANSEN VAN VUUREN
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Italgas S.P.A.
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 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna, Italgas S.P.A. filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority to EP18725648.2A priority Critical patent/EP3612763A1/fr
Publication of WO2018193432A1 publication Critical patent/WO2018193432A1/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
    • F16L55/18—Appliances for use in repairing pipes
    • 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
    • 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
    • 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
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/60—Stopping leaks
    • 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
    • F16L55/10—Means for stopping flow from or in pipes or hoses
    • F16L55/12—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ
    • 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
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe

Definitions

  • the present invention relates to the field of inspection and maintenance of pipes .
  • the invention relates to a mechatronic system suitable for remote or autonomous navigation within the pipes.
  • the above described devices are substantially unusable, for example, on methane gas distribution lines.
  • such lines normally, have an inner diameter comprised between 3 and 3 ⁇ 4 of an inch (from 76 mm to 19 mm) with a decreasing cross-section starting from the sub-column until reaching the user.
  • the distance between the entry point and the branching of the single user can reach up to about 40 meters, of which a large part is vertical.
  • the pipes are made of galvanized steel joined together with threaded connection or welding.
  • the distribution lines are internally smooth, with possible roughness at the junctions (due to the welding or to the joining process) , they also present "T" path variations or curvatures with variable bending radius, 90 angle degrees and a not certain repeatability.
  • a mechatronic device for the maintenance of a ferromagnetic pipeline comprising:
  • a head comprising:
  • each driving module comprising at least one magnetic wheel
  • connection cable engaged to the head and to each driving module, said connection cable arranged to transmit data and/or electric current;
  • control unit arranged to remotely operate the mechatronic device by the connection cable
  • a reservoir arranged to contain a maintenance substance and comprising an opening
  • a containing system arranged to pass between a closed configuration, where the opening is hermetically sealed and the maintenance substance is kept in the reservoir, and an open configuration, where the opening is open and the maintenance substance can leak from the reservoir; and by that the control unit is arranged to remotely operate the containing system to pass between the closed configuration and the open configuration.
  • the device according to the present invention is moreover very efficient on ferromagnetic surfaces, both from an energetic point of view, since an additional source of energy is not necessary to produce the attractive force, and from the point of view of the generated forces, since it is possible to carry a load of the same order of magnitude of the weight of the robot.
  • the device thus succeeds in overcoming roughness and friction in a fluid manner, when they are located between two intermediate elements of the body, thanks to the towing effect of the elements placed in front of it.
  • the thrust that the single element receives from the predecessor is adequately strong to allow the passage even through pronounced asperities.
  • the containing system comprises an electric resistance and a stopper, in said closed configuration the stopper being constrained to the reservoir by means of thermoplastic material for obstructing the opening, said control unit arranged to operate the electric resistance to dissolve thermoplastic material and free the stopper by the reservoir to pass to the open configuration.
  • thermoplastic material is a hot glue.
  • a power supply that guarantees a voltage of 5 V and a maximum current of 500 mA, after about 50 seconds the delivered current is sufficient to heat the wire and then to melt the glue so as to cause the breaking of the cap and the escaping of the substance from the tank.
  • the head comprises two motors and two magnetic wheels, said motors arranged to operate in a differential way the rotation of the magnetic wheels to allow changing direction of the movement of the head.
  • the device can move easily also in conditions of sudden variation of diameter and of direction of the pipe.
  • the maintenance substance is a self- expanding material arranged to quickly expand in the open configuration, in order to obstruct the ferromagnetic pipeline .
  • the self-expanding material is a polyurethane foam.
  • connection cable is a multipole cable shielded by a metal mesh for preventing from interferences on the signal.
  • the head comprises at least one video camera connected to the connection cable for sending to the control unit visual data of the ferromagnetic pipeline.
  • the head comprises at least one light source supplied by the connection cable and arranged to light the ferromagnetic pipeline.
  • Fig. 1 shows an exemplary embodiment of the mechatronic device according to the present invention
  • Fig. 2 shows in detail the head of the device according to an exemplary embodiment of Fig. 1 ;
  • Fig. 3 shows in detail a driving module of the device according to an exemplary embodiment of Fig. 1;
  • Fig. 4 shows in detail the reservoir of the device according to an exemplary embodiment of Fig. 1 ;
  • Fig. 4A shows a side view of the reservoir of Fig.
  • Fig. 5 shows in a block diagram the operating steps of the device. Description of a preferred exemplary embodiment
  • the mechatronic device 100 for the maintenance of a ferromagnetic pipeline comprises a head 110, a plurality of driving modules 120 and a connection cable 130.
  • the cable 130 engages with the head 110 and to each driving module 120, in order to work as structural support element and at the same time to transmit data and/or electric current between the device 100 and a control unit located in remote, by means of which one operator can guide the device 100 same .
  • the head 110 comprises two magnetic wheels 115 and two motors arranged to operate in a differential way the rotation of the magnetic wheels 115 to allow changing direction of the movement of the head 110.
  • each driving module 120 comprises two magnetic wheels 115 connected to a motor that allow to the driving module 120 of remain adherent to the pipe wall and to have a tension distributed along the entire length of the mechatronic device.
  • the wheels 115 of each driving module 120 on the contrary of the ones of the head 110, do not have dedicated motors that allow a differential rotation. This is because it is not provided that the modules 120 produce variations of direction, having simply to follow the direction applied by the driving module immediately previous, and then by the head 110.
  • two motors can be provided also in the driving modules for increasing the capacity and the precision of handling the device within particularly complex pipes.
  • the device 100 also comprises a reservoir 140 having an opening and arranged to contain a maintenance substance, such as a rapid expansion polyurethane foam.
  • the device 100 comprises then a containing system arranged to pass between a closed configuration and an open configuration.
  • the containing system comprises an electric resistance 146 and a stopper 145.
  • the stopper 145 in the closed configuration the stopper 145 is constrained to the reservoir 140 by means of a thermoplastic material, for example hot glue, for obstructing the opening of the reservoir.
  • a thermoplastic material for example hot glue
  • Fig. 5 shows a block diagram 300 comprising the possible operating steps of the device.
  • a first step of setting the system [301] in which some preliminary data are provided to the control unit, including, for example, the plan of the pipes within which the device must move and the target point to be reached .
  • the device 100 is put in the pipes with the mission to reach the selected target point .
  • the control unit receives information regarding the actual planimetric situation of the pipe, detecting any discrepancy with respect to the plan initially provided. For example, it is possible that in the actual situation there is a 3/4" pipe, while on the planimetry it was reported a 1/2" pipe, or that the real pipe has a different inclination with respect to the planimetry.
  • the feedback given by the on-board sensor allows to create a plan in real time.
  • the operator in the light of the information received from the control unit, can remotely drive the device 100.
  • the control unit transmits the driving instructions autonomously on the basis of the data received.
  • an operation step [303] wherein, for example, the containing system is operated and it is expelled the fast-expanding substance arranged to pipe maintenance or pipe filling. Even this actuation can be operated automatically by the control unit or manually by an operator .
  • control unit can automatically verify the success of the operation and decide whether to repeat it or whether to end the mission and return to the base.
  • the operator can check through the cameras the success of the operation and decide if the mission is finished.
  • the control unit can be connected to a wireless network that allows the operator to drive the device 100 from any point of access to the network.
  • the guide can be made through an application installed on a computer, tablet or smartphone, which allows the operator to view the plan of the pipeline and the information detected by the on-board sensors, such as a camera, and to provide the instructions necessary for the navigation step of the device 100 and the subsequent steps of maintenance and return to the base .

Landscapes

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

Abstract

La présente invention concerne un dispositif mécatronique (100) destiné à l'entretien d'une conduite ferromagnétique et comprenant une tête (110) comprenant au moins une roue magnétique (115), au moins un moteur conçu pour faire fonctionner la roue magnétique (115) pour actionner le dispositif mécatronique (100), une pluralité de modules d'entraînement (120), chaque module d'entraînement (120) comprenant au moins une roue magnétique (115), un câble de raccordement (130) en prise avec la tête (110) et à chaque module d'entraînement (120), ledit câble de raccordement (130) conçu pour transmettre des données et/ou un courant électrique, et une unité de commande conçue pour faire fonctionner à distance le dispositif mécatronique (100) par le câble de raccordement (130). Le dispositif mécatronique (100) comprend également un réservoir (140) conçu pour contenir une substance d'entretien et comprenant une ouverture, et un système de confinement conçu pour basculer entre une configuration fermée, dans laquelle l'ouverture est hermétiquement fermée et la substance d'entretien est maintenue dans le réservoir (140), et une configuration ouverte, dans laquelle l'ouverture est ouverte et la substance d'entretien peut fuir du réservoir (140). L'unité de commande est également conçue pour faire fonctionner à distance le système de confinement pour basculer entre la configuration fermée et la configuration ouverte.
PCT/IB2018/052811 2017-04-21 2018-04-23 Système mécatronique pour l'entretien de conduites WO2018193432A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18725648.2A EP3612763A1 (fr) 2017-04-21 2018-04-23 Système mécatronique pour l'entretien de conduites

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102017000044486A IT201700044486A1 (it) 2017-04-21 2017-04-21 Sistema meccatronico per la manutenzione di tubature
IT102017000044486 2017-04-21

Publications (1)

Publication Number Publication Date
WO2018193432A1 true WO2018193432A1 (fr) 2018-10-25

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ID=59811823

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2018/052811 WO2018193432A1 (fr) 2017-04-21 2018-04-23 Système mécatronique pour l'entretien de conduites

Country Status (3)

Country Link
EP (1) EP3612763A1 (fr)
IT (1) IT201700044486A1 (fr)
WO (1) WO2018193432A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021185543A1 (fr) * 2020-03-18 2021-09-23 Siemens Aktiengesellschaft Équipement d'inspection
EP4078009A4 (fr) * 2019-12-18 2023-08-09 Gas Technology Institute Racleur de conduite à deux roues

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61262294A (ja) * 1985-05-13 1986-11-20 松田　信一 パイプの更生装置
EP0526900A1 (fr) * 1991-08-06 1993-02-10 Osaka Gas Co., Ltd. Véhicule pour utilisation dans des conduites
WO2010023524A1 (fr) * 2008-09-01 2010-03-04 Procontrol S.R.L. Dispositif autopropulseur, en particulier pour positionner des sondes, dans des essais non destructifs

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61262294A (ja) * 1985-05-13 1986-11-20 松田　信一 パイプの更生装置
EP0526900A1 (fr) * 1991-08-06 1993-02-10 Osaka Gas Co., Ltd. Véhicule pour utilisation dans des conduites
WO2010023524A1 (fr) * 2008-09-01 2010-03-04 Procontrol S.R.L. Dispositif autopropulseur, en particulier pour positionner des sondes, dans des essais non destructifs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4078009A4 (fr) * 2019-12-18 2023-08-09 Gas Technology Institute Racleur de conduite à deux roues
WO2021185543A1 (fr) * 2020-03-18 2021-09-23 Siemens Aktiengesellschaft Équipement d'inspection

Also Published As

Publication number Publication date
EP3612763A1 (fr) 2020-02-26
IT201700044486A1 (it) 2018-10-21

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