WO2022140828A1 - Sistema para tracionamento no interior de dutos com reservatório flexível e com motobomba para potência hidráulica - Google Patents
Sistema para tracionamento no interior de dutos com reservatório flexível e com motobomba para potência hidráulica Download PDFInfo
- Publication number
- WO2022140828A1 WO2022140828A1 PCT/BR2021/050558 BR2021050558W WO2022140828A1 WO 2022140828 A1 WO2022140828 A1 WO 2022140828A1 BR 2021050558 W BR2021050558 W BR 2021050558W WO 2022140828 A1 WO2022140828 A1 WO 2022140828A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- traction
- inside pipes
- hydraulic
- traction inside
- pipes
- Prior art date
Links
- 239000012530 fluid Substances 0.000 claims abstract description 27
- IHPYMWDTONKSCO-UHFFFAOYSA-N 2,2'-piperazine-1,4-diylbisethanesulfonic acid Chemical compound OS(=O)(=O)CCN1CCN(CCS(O)(=O)=O)CC1 IHPYMWDTONKSCO-UHFFFAOYSA-N 0.000 claims description 28
- 239000007990 PIPES buffer Substances 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000013536 elastomeric material Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 230000001012 protector Effects 0.000 claims description 2
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- 238000004804 winding Methods 0.000 claims description 2
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- 238000004140 cleaning Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000002572 peristaltic effect Effects 0.000 description 4
- 230000001172 regenerating effect Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
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- 150000004677 hydrates Chemical class 0.000 description 3
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- 238000005304 joining Methods 0.000 description 2
- 238000004898 kneading Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 229920003051 synthetic elastomer Polymers 0.000 description 2
- 239000005061 synthetic rubber Substances 0.000 description 2
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing or removing tools, packers or the like in boreholes or wells
- E21B23/001—Self-propelling systems or apparatus, e.g. for moving tools within the horizontal portion of a borehole
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B37/00—Methods or apparatus for cleaning boreholes or wells
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1428—Cylinders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/18—Combined units comprising both motor and pump
-
- 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
- F16L55/30—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Definitions
- the present invention is part of the field of activities of IMR - Inspection, Maintenance and Repair in pipelines, such as: location, cleaning and removal of incrustations and obstructions, inspection and monitoring of the internal surface, cutting of lines, installation of equipment, smoothing and dimensional recomposition of pipelines, among other needs of oil production lines or any activities that use pipelines as a means of transport.
- the invention proposes the use of a tool connected to a locomotion device, such as an umbilical cable connected to a robot. Such a tool will carry out the removal of obstructions, among other internal operations to the ducts.
- a robot traction device which allows this equipment to move over large distances by its own means, without needing to have a flow inside the ducts, as is the case with current systems based on in pigs.
- the traction system essentially consists of two sets of legs and a hydraulic cylinder.
- a reservoir was designed with a body of elastomeric material.
- the proposed reservoir allows the operation of the hydraulic system in an environment of any pressure within the operating range of the components, since the pressures, both internal and external, remain equalized.
- the fact that it remains in a closed circuit ensures that no contamination of any fluid occurs.
- the ducts may eventually suffer restrictions or blockages, which can be caused, for example, by hydrates or paraffins.
- Flexitubes Coiled Tubing
- Flexitubes Flexible Tubing
- Such equipment cannot move efficiently over large distances inside the duct, in ducts with complex geometry, or in an upward direction.
- many platforms do not have the capacity to operate them due to their weight.
- the flexitube can be lowered from the UEP, performing a depressurization of the line, in order to promote the breakdown of the hydrate.
- depressurization is a technique that poses considerable risks. Such risks are associated with the large pressure differential existing between the ends of the hydrate. O pressure differential causes the hydrate to move at high speed towards the UEP, which can cause damage when it arrives.
- the present invention proposes the use of a tool, connected to a locomotion device; for example, a robot, with an umbilical cable, like the concepts and proposals described in US Patents 6415722 and PI 9904364-5, plus their improvements and improvements, later described in US Patents 6672222 and PI 00029157.
- a tool connected to a locomotion device; for example, a robot, with an umbilical cable, like the concepts and proposals described in US Patents 6415722 and PI 9904364-5, plus their improvements and improvements, later described in US Patents 6672222 and PI 00029157.
- a tool connected to a locomotion device; for example, a robot, with an umbilical cable, like the concepts and proposals described in US Patents 6415722 and PI 9904364-5, plus their improvements and improvements, later described in US Patents 6672222 and PI 00029157.
- the purpose of the set is to bring the tool to the proximity of the obstruction. Such a tool will perform the removal of obstructions or
- One of the objectives of the present invention is the robot traction device.
- This system together with a system developed to minimize frictional forces, as revealed in BR 10 2018 072062-7, PCT/B R2019/050461 , allows the robot to move over large distances.
- the peristaltic movement system works as follows: 1) with the cylinder extended, the set of front legs anchors to the wall, 2) the cylinder is contracted, bringing with it the set of hind legs and the rest of the robot, 3 ) the set of hind legs anchors to the wall and 4) the cylinder is extended again. The cycles are repeated with each movement of the set. When completing item 4, return to 1.
- the traction system essentially comprises two sets of legs and a hydraulic cylinder.
- the self-locking mechanism allows the robot to exert forces of high magnitude due to the angle of the paws. This angle, normally quite open, makes the forces exerted when pulling the robot and the umbilical strongly press the paws against the wall. Thus, the friction force generated has a large magnitude and allows the robot to exert high forces. These forces are responsible for moving the entire set along the ducts, dragging the umbilical along with it.
- Each set of legs is positioned on one side of the hydraulic cylinder. Both sets have a self-locking mechanism. The self-locking mechanism allows each set of legs to act preferentially to one side and exert forces of great magnitude.
- an umbilical is used for electrical energy transfer, from the launch site (platform) to the robot itself. This energy is converted into hydraulic power through motor pump sets.
- the traction device is used to provide the displacement of tools, robotic or not, inside pipes.
- tools can be used to remove obstructions such as hydrates or paraffins. They can also be used to carry out inspection operations, cutting lines, installing equipment, de-kneading pipelines, etc.
- the curve of the paws designed specifically for this purpose, allows the robot to maintain the angle of the paws approximately constant, even with small variations in the diameter of the duct.
- the reservoir of this invention can be used in low and high pressure environments, since there is equalization of the internal pressure with the external one, and in situations where there should not be direct contact between the fluids of the internal working environment with the external environment. By compensating the pressure difference, the developed system can be used in situations where the ambient pressure is high, in relation to the working differential pressure.
- GB2301414A discloses a vehicle that can perform operations inside a tube. Such a vehicle has a train of modules interconnected by suspension units. The first module of the train is the traction module, which includes a motor inside one of the arms and ends in wheels, which allow the vehicle to move. The work also reveals an equipment capable of pulling tools, its contact with the inner wall of the tube being made with wheels.
- the document US20150337630A1 discloses an equipment to perform pipe cleaning, which has a shock wave generator module and a traction module.
- the equipment has turbine modules that use the fluid flow in the pipeline to produce energy for the traction module.
- the traction module has motors that act on wheels designed to adapt to pipe dimension variations. It differs from the present invention in that it makes contact with the surface of the inner wall of the duct through wheels and not paws.
- the wheels of the system presented in US20150337630A1 do not allow the realization of forces of high magnitude in pipes with small diameters and high bending radii.
- the invention is capable of accomplishing such a feat.
- US20150337630A1 does not disclose an electro-hydraulic assembly to drive the traction system, a reservoir with flexible coating to compensate for variations in ambient pressure, hydraulic pistons with regenerative hydraulic circuits, and a fail-safe system, with system depressurization and spring closing of the paws, like the present invention.
- the document KR20160023960A discloses an equipment for cleaning pipes that comprises a plurality of modules, connecting means between the modules, and a suction section for removing foreign bodies from the pipe.
- the traction module has caterpillars that make contact between the equipment and the internal wall of the duct and are designed to adjust to variations in the diameter of the pipe.
- the caterpillars of the system presented in KR20160023960A do not allow the realization of forces of high magnitude in pipes with small diameters and high bending radii. This is possible in the system of the present invention, as it has a self-locking peristaltic system.
- KR20160023960A does not have an electro-hydraulic assembly to drive the traction system, a reservoir with flexible coating to compensate for variations in ambient pressure, hydraulic pistons with regenerative hydraulic circuits, and a failsafe, with system depressurization and spring closing of the paws, as in the present invention.
- the objective of the present invention is a system equipped with a traction device inside ducts and a hydraulic system capable of operating in environments of any pressure within the operating range of the components.
- the system of the present invention is provided with a traction device, which essentially consists of two sets of legs and a hydraulic cylinder. Each set is positioned on one side of the hydraulic cylinder. Both sets have a self-locking mechanism. The self-locking mechanism allows each set of legs to act preferentially to one side and exert forces of great magnitude.
- the system also has a reservoir capable of equalizing the internal and external pressures of the medium, and can also be applied in situations where there should not be direct contact between the fluid of the internal working environment with that of the external environment, allowing the operation of a hydraulic system in an environment that is subjected to any pressure value, as long as it is within the operating range of the components.
- FIG. 1 illustrates an overview of the traction system of this invention
- FIG. 3 illustrates the aft drive module
- FIG. 4a illustrates the paw curve, built by joining several points through a spline
- Figure 4b shows an example of a design procedure for a 4° paw on a 4 - inch pipe, where (a) represents the 4° contact angle with respect to the inner surface of the pipe.
- FIG. 5 illustrates in detail a pump module
- Figures 8a and 8b illustrate the flexible body reservoir concept developed in this invention.
- Figure 8a illustrates the forward cylinder and
- Figure 8b illustrates the rear cylinder;
- FIG. 9 shows a preferred configuration for the hydraulic control circuit of the forward master cylinder and the reverse master cylinder.
- FIG. 10 shows a preferred configuration for the hydraulic control circuit of the auxiliary cylinders of the forward and reverse system.
- the present invention proposes the use of a tool connected to a locomotion device, such as an umbilical cable connected to a robot, to perform operations inside ducts, such as removing obstructions, such as hydrates or paraffins , inspection, cutting of lines, installation of equipment, de-kneading, etc.
- a locomotion device such as an umbilical cable connected to a robot
- operations inside ducts such as removing obstructions, such as hydrates or paraffins , inspection, cutting of lines, installation of equipment, de-kneading, etc.
- One of the objectives of this invention is a traction system for the robot.
- This device system together with a system developed to minimize frictional forces, allows the robot to move over large distances.
- the traction device essentially consists of two sets of legs and a hydraulic cylinder. Each set is positioned on one side of the hydraulic cylinder. Both sets have a self-locking mechanism.
- the self-locking mechanism allows each set of paws to act preferentially to one side and exert forces of great magnitude. Initially, one of the sets of legs is moved forward by the hydraulic cylinder. This set of legs attaches to the pipeline and the cylinder is retracted. This brings the other set of paws forward, as well as the rest of the robot and the umbilical.
- the set of legs is designed in such a way that self-locking occurs similarly for a range of duct diameters. For this, it uses its own curvature that allows the robot to maintain approximately the same self-locking angle.
- FIG. 1 presents an overview of the traction system of this invention.
- This device consists of a coupling with the tool itself (01), responsible for carrying out operations inside the ducts. It also has a front traction module (02), responsible for moving the robot forward, dragging the umbilical cable. It is also equipped with a winding module (03) to compensate for the displacement of the hydraulic cylinder. It may contain an auxiliary tool (04) for carrying out other activities.
- a winding module (03) to compensate for the displacement of the hydraulic cylinder.
- It may contain an auxiliary tool (04) for carrying out other activities.
- For the activation of the hydraulic cylinder there are one or more sets of motor pumps (05), responsible for receiving electrical energy and transforming it into hydraulic power. Additionally, one or more manifolds (06) direct the hydraulic fluid to one side of the main cylinder, or for the auxiliary cylinder. Also, in (07) the reverse traction module is represented.
- Figure 2 represents the forward traction module
- Figure 3 the reverse traction module
- the robot's paws (11) make contact with the inside of the pipe and perform the traction. These legs are designed to allow self-locking. In addition, they were also designed to maintain a constant angle relative to the internal surface of the pipe, within a range of pipe diameters. To this end, it has its own geometry on its contact surface, as shown in Figures 4a and 4b.
- the paw curve was built by joining several points through a spline,
- the drawing procedure for a 4 o paw in a 4 inch tube The points are obtained through straight lines, as shown in Figure 4a.
- the distance from the center of the paw axis to the contact point is calculated at a constant angle of 4° , which is fixed at 18.50 mm.
- the value of 18.50 mm represents the distance from the center of the robot to the center of the paw axis.
- lines are constructed with an angle between them of 6 o (determined through iterations and adjustments).
- the curve can be obtained numerically, for example, by numerically integrating the equation , where x and y are the values on the Cartesian axes and p is the desired contact angle.
- x and y are the values on the Cartesian axes and p is the desired contact angle.
- p is the desired contact angle.
- FIG. 5 shows in detail a module of motor pumps and Figure 6 shows in detail the module of manifolds.
- the flexible body reservoir (21) is responsible for keeping the hydraulic oil separate from the medium and for balancing the reservoir pressure with the medium pressure.
- the electric motor (22) is responsible for moving the hydraulic pump (23).
- a tensioner (24), possibly in the form of a helical spring, is responsible for keeping the reservoir (21) tensioned.
- a check valve (25) allows the valves to operate independently and the structure (26) is responsible for supporting the assembly.
- the manifold with the valves (27) is responsible for directing the hydraulic fluid to one side of the main piston of the cylinder, or to the auxiliary pistons.
- an electrical energy transfer is used, from the launch site (platform) to the robot itself. This energy is converted into hydraulic power through motor pump sets (05). The hydraulic fluid then passes through manifolds (06) and acts on the so-called displacement cylinders and the cylinders for opening the paws.
- the hydraulic circuit used for actuation of the cylinder can be a regenerative circuit, which allows higher feed speed for the cylinder.
- the reservoir was designed with a body of elastomeric material (synthetic rubber), as shown in Figure 7, which has the necessary elasticity to deform according to the volume of fluid inside the reservoir varies. Also, due to its flexibility, the reservoir allows equalization between internal and external pressures. At its ends, inlet and outlet hydraulic connections were provided, so that it is possible to connect it to actuators through hoses.
- Figure 7 shows: the reservoir with flexible body (21), the hydraulic pump (23), and ends with connections for inlet and outlet of the working fluid (28).
- Figure 8a illustrates the forward cylinder
- Figure 8b illustrates the rear cylinder. The following are represented: motor pump (05), closed/flexible reservoir (21), hydraulic pump (23), advance chamber (29), cylinder (30), retreat chamber (31), cylinder rod (32), variable volume of the reservoir (33).
- the volume of the reservoir must vary to that there is no overpressure in it. This happens because the recoil chamber has a through rod inside, which does not occur in the advance chamber. Thus, when the piston moves back, part of the fluid that was previously in the advance chamber (which has a greater useful volume) passes to the volume of the cylinder advance chamber, while the other part (referring to the volume occupied by the rod) passes to the inside the reservoir, so that there is a greater amount of fluid inside.
- the cylinder piston recoil operation becomes possible due to the flexibility effect of the reservoir body proposed in the invention.
- the volume variation present in the reservoir is also represented in Figures 8a and 8b.
- the reservoir presented in this invention can be used in low and high pressure environments, since there is equalization of the internal pressure with the external one, and in situations where there should not be direct contact between the fluid of the internal environment of work with that of the external environment.
- the developed system can be used in situations where the ambient pressure is high, in relation to the working pressure differential.
- the motor pump system adds its nominal differential pressure in relation to the pressure of the external local atmosphere, guaranteeing the proper operation of the actuator in terms of speed and force available.
- Figure 9 shows a preferred configuration for the hydraulic control circuit of the advance and retreat cylinders.
- This hydraulic circuit uses a regenerative circuit in order to increase displacement efficiency. Additionally, it has an automatic depressurization system in case of failure and a set of two or more motor pumps for redundancy.
- Figure 10 shows a preferred configuration for the hydraulic circuit to control the auxiliary cylinders, both for the forward system and for the recoil system.
- the auxiliary cylinders have spring return and the hydraulic system is automatically depressurized in the event of a power failure or failure. In this way, in the event of a power failure or failure, the paws are automatically retracted.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
- Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
- Fluid-Pressure Circuits (AREA)
- Vehicle Body Suspensions (AREA)
- Actuator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20230818A NO20230818A1 (en) | 2020-12-30 | 2021-12-17 | System for traction inside pipes, with flexible reservoir and with motorized pump for hydraulic power |
US18/260,137 US20240052962A1 (en) | 2020-12-30 | 2021-12-17 | System for traction inside pipes, with flexible reservoir and with motorized pump for hydraulic power |
MX2023007860A MX2023007860A (es) | 2020-12-30 | 2021-12-17 | Sistema para tracción en el interior de tuberías con depósito flexible y con motobomba para potencia hidráulica. |
GB2311535.5A GB2618002A (en) | 2020-12-30 | 2021-12-17 | System for traction inside pipes, with flexible reservoir and with motorized pump for hydraulic power |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BRBR1020200270575 | 2020-12-30 | ||
BR102020027057-5A BR102020027057A2 (pt) | 2020-12-30 | 2020-12-30 | Sistema para tracionamento no interior de dutos com reservatório flexível e com motobomba para potência hidráulica |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022140828A1 true WO2022140828A1 (pt) | 2022-07-07 |
Family
ID=82258643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/BR2021/050558 WO2022140828A1 (pt) | 2020-12-30 | 2021-12-17 | Sistema para tracionamento no interior de dutos com reservatório flexível e com motobomba para potência hidráulica |
Country Status (6)
Country | Link |
---|---|
US (1) | US20240052962A1 (pt) |
BR (1) | BR102020027057A2 (pt) |
GB (1) | GB2618002A (pt) |
MX (1) | MX2023007860A (pt) |
NO (1) | NO20230818A1 (pt) |
WO (1) | WO2022140828A1 (pt) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2301414A (en) * | 1995-05-22 | 1996-12-04 | British Gas Plc | Pipeline vehicle |
US6415722B1 (en) * | 1999-09-28 | 2002-07-09 | Petroleo Brasileiro S.A. | Remote-controlled vehicle for operations inside pipelines |
US20030150351A1 (en) * | 2002-02-13 | 2003-08-14 | Salvi Dos Reis Ney Robinson | Robotic internal gauge with contact at right angles to the oil pipeline |
GB2351304B (en) * | 1999-05-27 | 2003-10-15 | Weatherford Lamb | Subsurface apparatus |
BRPI0405971A (pt) * | 2004-12-30 | 2006-08-22 | Petroleo Brasileiro Sa | dispositivo e método para desbloqueio de dutos |
KR20160023960A (ko) * | 2014-08-21 | 2016-03-04 | 주식회사 포스코 | 배관청소장치 |
BR102018072062A2 (pt) * | 2018-10-26 | 2020-05-05 | Petroleo Brasileiro Sa Petrobras | sistema tracionador de intervenção compreendendo um umbilical |
-
2020
- 2020-12-30 BR BR102020027057-5A patent/BR102020027057A2/pt active IP Right Grant
-
2021
- 2021-12-17 GB GB2311535.5A patent/GB2618002A/en active Pending
- 2021-12-17 WO PCT/BR2021/050558 patent/WO2022140828A1/pt active Application Filing
- 2021-12-17 MX MX2023007860A patent/MX2023007860A/es unknown
- 2021-12-17 US US18/260,137 patent/US20240052962A1/en active Pending
- 2021-12-17 NO NO20230818A patent/NO20230818A1/en unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2301414A (en) * | 1995-05-22 | 1996-12-04 | British Gas Plc | Pipeline vehicle |
GB2351304B (en) * | 1999-05-27 | 2003-10-15 | Weatherford Lamb | Subsurface apparatus |
US6415722B1 (en) * | 1999-09-28 | 2002-07-09 | Petroleo Brasileiro S.A. | Remote-controlled vehicle for operations inside pipelines |
US20030150351A1 (en) * | 2002-02-13 | 2003-08-14 | Salvi Dos Reis Ney Robinson | Robotic internal gauge with contact at right angles to the oil pipeline |
BRPI0405971A (pt) * | 2004-12-30 | 2006-08-22 | Petroleo Brasileiro Sa | dispositivo e método para desbloqueio de dutos |
KR20160023960A (ko) * | 2014-08-21 | 2016-03-04 | 주식회사 포스코 | 배관청소장치 |
BR102018072062A2 (pt) * | 2018-10-26 | 2020-05-05 | Petroleo Brasileiro Sa Petrobras | sistema tracionador de intervenção compreendendo um umbilical |
Also Published As
Publication number | Publication date |
---|---|
US20240052962A1 (en) | 2024-02-15 |
GB202311535D0 (en) | 2023-09-13 |
BR102020027057A2 (pt) | 2022-07-12 |
GB2618002A (en) | 2023-10-25 |
NO20230818A1 (en) | 2023-07-27 |
MX2023007860A (es) | 2023-11-10 |
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