JPS6085085A - Pipe-inside self-propelled device - Google Patents

Pipe-inside self-propelled device

Info

Publication number
JPS6085085A
JPS6085085A JP58193303A JP19330383A JPS6085085A JP S6085085 A JPS6085085 A JP S6085085A JP 58193303 A JP58193303 A JP 58193303A JP 19330383 A JP19330383 A JP 19330383A JP S6085085 A JPS6085085 A JP S6085085A
Authority
JP
Japan
Prior art keywords
pipe
unit
pressure
contact
units
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
JP58193303A
Other languages
Japanese (ja)
Inventor
Tadao Yamaji
山路　忠雄
Ei Nakajima
中島　鋭
Yoshiki Sakurai
桜井　祥己
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
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 Kubota Corp filed Critical Kubota Corp
Priority to JP58193303A priority Critical patent/JPS6085085A/en
Publication of JPS6085085A publication Critical patent/JPS6085085A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Landscapes

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

Abstract

PURPOSE:To make a device possible to be optionally self-propelled even inside a vertically steep pipe at will, by installing at least two members being pressed against a pipe inner surface under pressure, and at the same time repeating the pressure-contact of these members against the pipe inner surface. CONSTITUTION:Each of units 2a and 2B is set up inside a pipe at a proper interval, while both units are coupled with an elastic expansion ram 10. On the other hand, each member 8 to be pressed against a pipe inner surface under pressure through a hydraulic cylinder 7 is installed in each unit, and with this pressure-contact member 8, each unit is so designed as to make it stoppable at the pipe inner surface. In time of self-propelling inside the pipe, one side pressure-contact of these units is released free, making the expansion ram 10 into extension, then the pressure-contact member of the shifted unit is made contact with the pipe inner surface under pressure, while the pressure-contact of the other unit is released free, and self-propelling takes place while repeating such operations that contract the expansion ram 10 in succession.

Description

【発明の詳細な説明】 本発明は管内自走装置に関する。[Detailed description of the invention] The present invention relates to an in-pipe self-propelled device.

既設管内を調査する場合に、従来は、この管内に予めワ
イヤロー１をＩＭＬ、、このワイヤロープにテレビカメ
ラ等を塔載した８夏をつなぎ、ワイヤ”−７をＪｌｆる
ことにより台憲を余行嘘ン入瓜のが一般に用＾られでｈ
ゐ。ところが、このような従来のものでは、予め管内に
ワイヤロープを通すのに相当な手間を要し、また合憲式
であることから上下に傾斜した管内を走行させかつこの
傾斜管内の任意位置で停止さることが困難であるという
問題を有している。When investigating an existing pipe, conventionally, wire rope 1 was connected to IML in advance, a cable with a television camera, etc. mounted on it was connected to this pipe, and wire "-7 was connected to JLF to avoid unnecessary cables. It is commonly used to put melon in a row.
Wow. However, with such conventional devices, it takes a considerable amount of time to pass the wire rope through the pipe in advance, and because it is a constitutional system, the wire rope must be run in a vertically sloping pipe and stopped at any position within this sloping pipe. The problem is that it is difficult to control.

そこで本発明は、管内にワイヤロープを通す等の走行前
の準備作業を不要にするとともに、上下に傾斜した管内
でも走行および任意位置での停止が可能な管内自走装置
を得ることを目的とするものである。Therefore, an object of the present invention is to provide an in-pipe self-propelled device that eliminates the need for pre-travel preparation work such as passing a wire rope through a pipe, and is also capable of traveling in a vertically inclined pipe and stopping at any position. It is something to do.

この目的を４成するため本発明は、管の半径方向に出退
して管内面に圧接可能な周方向適当数の圧接部材と、こ
の圧接部材の出退駆動装置とを有して管内面に保持可能
な第１および第２のユニットを管軸方向に間隔をお込で
設け、一端が第１のユニバーサルジヨイントを介してｅ
記ｇｉのユニ”７　）に接続され、かつ他端が第２のユ
ニバーサルジヨイントを介して前記第２のユニットに接
ｆａされる管軸方向の伸縮駆動装置を股はたものである
。In order to accomplish this object, the present invention includes an appropriate number of pressure members in the circumferential direction that can move forward and backward in the radial direction of the pipe and press against the inner surface of the pipe, and a drive device for moving the pressure members into and out. The first and second units, which can be held at
It is connected to the unit 7) in the above, and the other end is in contact with the second unit via a second universal joint.

したがって、両ユニットは圧接ｇ６材の作用により管内
面に保持可能であるからｖ軸方向任意位置で停止でき、
一方のユニットを管内面に保持するとともに１他方のユ
ニットの圧接部材を管内面から１１１１１１させ−Ｃｉ
申ｑｔ４駆動後１崖を動を賀させれば、この他方のユニ
ットをＩＮ′ｉ＋記一方のユニットに対して相対移動さ
せることができるため、管内を自走可能アあり、従来の
ようにワイヤロープを通す等の走行前の準備作業が不要
になり、前述のように一方のユニットを管内面に保持さ
一＋ｔた状態〒他方のユニットを移Ｖさせるため、上下
に急傾斜した管内〒あっても、その内部の走行および任
意位置での停止が可能となる。Therefore, since both units can be held on the inner surface of the tube by the action of the pressure contact G6 material, they can be stopped at any position in the v-axis direction.
While holding one unit on the inner surface of the tube, press the pressure contact member of the other unit from the inner surface of the tube.
If you move one cliff after driving qt4, this other unit can be moved relative to the one unit of IN'i+, so it is possible to move by itself in the pipe, and it is possible to move the other unit with respect to the IN′i+ unit. Preparation work such as passing a rope through before traveling is no longer required, and as mentioned above, one unit is held on the inner surface of the pipe.In order to transfer the other unit, it is possible to move the other unit into a pipe with a steep vertical slope. However, it is possible to travel inside the vehicle and stop it at any position.

以下、本発明の夾施例を図面にもとづいて説明する。第
１図〜第２図は本発明の−−５１ｉＩ施例を示し、（１
１け既設の肯ヤあり、七の内部には＠１および第２のユ
ニツ）　（２Ａ）（２Ｂ）が適当な間隔ｔ？おｈて配置
されている。Hereinafter, embodiments of the present invention will be described based on the drawings. Figures 1 and 2 show a -51iI embodiment of the present invention, (1
1 digit is already established, and inside 7 there are @1 and 2nd unit) (2A) (2B) is an appropriate interval t? It is arranged in a horizontal manner.

各ユ＝　ツｈ　（２Ａ）（２Ｂ）　Ｙ　ｈ　イテ、＋３
１　ハ’Ｍｌ　（１）　（７）　軸む近傍に管軸方向に
配置された中空棒状の骨組部材であり、その両端には鍔
部材（４ａ）（４ｂ）が取り付けられてｈる。両鍔部材
（４ａ）（４ｂ）　Ｋはａ数の半径方向の支柱（５）が
放射状（本寮施例では３個所）に固定され、この支柱（
５）は両鍔部材（４１１Ｌ）（４ｂ）においてそれぞれ
位相を掴えて配Ｉｆされ、それらの先端間には管軸方向
の先棒状の橋部材（６）がわたされている。Each u = tsu h (2A) (2B) Y h ite, +3
1 H'Ml (1) (7) It is a hollow rod-shaped frame member arranged in the direction of the tube axis near the shaft, and collar members (4a) (4b) are attached to both ends of the frame member. Both collar members (4a) (4b)
5) are arranged in phase with each other in both the collar members (411L) (4b), and a bridge member (6) in the shape of a bar in the tube axis direction is passed between their ends.

また、骨組部材（３）の中央部には、複数の半径方向の
シリンダ装置（出退駆動装置）（７）が、橋部材（６）
を遊行た位置に放射状（木＊施例では３個所）に取り付
けられている。このシリンダ装置ｒｉ　（７１はその基
端部が骨組部材（３）に固定され、その伸縮端部には樋
部材（６）と同様の構成の管軸方向の圧接部材＋８）が
敗りけけらｎている。したがって、圧接部材（８）は、
シリンダ装置（７）の仲鋸により、管内面（９）に圧接
またはこの内面（９）から離１１１１するようになって
込る。In addition, in the center of the frame member (3), a plurality of radial cylinder devices (exit and retreat drive devices) (7) are installed in the bridge member (6).
They are attached in a radial pattern (3 locations in the tree* example) at the locations where they travel. This cylinder device ri (71 has its proximal end fixed to the frame member (3), and a pressure contact member +8 in the tube axis direction having the same configuration as the gutter member (6)) is attached to the extensible end. There are n. Therefore, the pressure contact member (8) is
The saw of the cylinder device (7) presses against the inner surface of the tube (9) or presses it away from the inner surface (9) (1111).

圧接部材（８）を管内面（９）に圧接させると、ユニッ
ト（２Ａ）（２Ｂ）はこの管内面（９）に保持される。When the pressing member (8) is brought into pressure contact with the inner surface of the tube (9), the units (2A) (2B) are held on the inner surface of the tube (9).

また、圧接部材（８）を管内面（９）から離間さぞ、と
の圧接部梢ｉ８１　？ｒ−椙部材１６１と同位置程度に
退入させると、ユニット（２Ａ）（２Ｂ）は、これら圧
接部材（８）および橘部併ｉ６１により、管軸方向に摺
動自社な状態で支持されることになる。Also, separate the pressure contact member (8) from the inner surface of the tube (9), and press the pressure contact part i81? When the units (2A) and (2B) are retracted to about the same position as the r-shape member 161, the units (2A) and (2B) are supported in a sliding state in the tube axis direction by the pressure contact member (8) and the tachibana part i61. It turns out.

第１図に示すように、両ユニツｈ　（２Ａ）（２Ｂ）ｔ
…には管軸方向の沖Ｋｆ１ラム（伸縮駆動ｅｌｆ）ａｄ
が配置撹され、この１１１１ａラム＋ｌＩｊの基端部は
＊１のユニパーサヤジヨイントＣＩＩＡ）　ｆｒ介して
＠ｌのユニット（２Ａ）に接続され、またその伸縮端部
は第２のユニパーサヤジヨイント（ＩＩＢ）　’ｒ　介
シて第２のユニットＣ２）３’）に接続さ１１ている。As shown in Figure 1, both units h (2A) (2B) t
...Oki Kf1 ram (telescopic drive elf) ad in the tube axis direction
The proximal end of this 1111a ram+lIj is connected to the @l unit (2A) via the *1 unipersaya joint CIIA) fr, and its telescoping end is connected to the second unipersaya joint CIIA) fr. The yoint (IIB) 'r is connected to the second unit C2)3') via 11.

なお、第１図にお藝て、−は杭２のユニツ）（２Ｂ）に
取けはられた管内調査用のテレビカメラ、０はコントロ
ールケーブルである。In addition, in Figure 1, - is a television camera installed on pile 2 (2B) for investigating the inside of the pipe, and 0 is a control cable.

この、しつな４ｔＲ成によｆ’Ｌば、ＩＬｆｌ副ラムｄ
う伸縮状態に係わりなく、向ユニツ）　（２Ａ）（２Ｂ
）のシリンダ装置＋７）　Ｌ（：て圧接部＋Ｊ（ａｌ　
ｆｒ管内面（９）に圧接することにより、これらユニッ
ト（２Ａ　）（２Ｂ　）が管内面（９）に保持さｎ、管
（１）が水平状態ずあってもまた上下に傾斜した状態ず
あっても、水装置は管内任意位置に停止され、テレビカ
メラｃｌａ　ｋＣよる調査が可能となる。If this constant 4tR formation f'L, ILfl subram d
(2A) (2B)
) cylinder device +7) L(: pressure contact part +J(al
By being in pressure contact with the inner surface of the fr tube (9), these units (2A) and (2B) are held on the inner surface of the tube (9), and the tube (1) is not in a horizontal state or in a vertically inclined state. However, the water system can be stopped at any location within the pipe, making it possible to inspect it using a television camera.

管（１）内管走行させる場合を、第３図（揚〜（ｇｌ［
もとづいて説明する。すなわち、 ｌａｌ＠ｌのユニツ）　（２Ａ）の圧接部材１８）を管
内面（９）に圧接すせ、この第１のユニツ）　（２Ａ）
を保持させる。Figure 3 shows the case where the pipe runs inside the pipe (1).
Let me explain based on this. That is, press the pressure contact member 18) of lal@l unit) (2A) to the inner surface of the tube (9), and press this first unit) (2A)
to hold.

（ｂｌ　第２のユニツ）　（２Ｂ）の圧接部材（８）全
管内面（９）から離間させ、この第２のユニツト（２Ｂ
）　を管（１）内で摺動可能とさせる。(bl second unit) (2B) The pressure contact member (8) is separated from the entire pipe inner surface (9), and this second unit (2B)
) is allowed to slide within the tube (1).

ｌｃ）　伸縮ラム１１（１を伸長さぜ、第２０）ユニツ
ト（２Ｂ）ｔ［１のユニット（２人）から速さ’Ｈる。lc) Telescopic ram 11 (extend 1, 20th) unit (2B) t[1 unit (2 people) to speed 'H'.

（ｄｌ　第２のユニット（２Ｂ）の圧接部利（８）Ｋ−
よりこσ）第２のユニット（２Ｂ）を管内面（９１に保
持させる。(dl Pressure welding part profit (8) K- of the second unit (2B)
Twisting σ) The second unit (2B) is held on the inner surface of the tube (91).

ｌｅｌ　第１のユニット（２Ａ）の圧２ｇ材（８）全管
内面（９）から４間させる。lel Pressure 2g material (8) of the first unit (2A) for 4 minutes from the inner surface of the entire tube (9).

＋ｎ　伸縮ラムｕｔｓｆＰ媚小さぜ、第五のユニット（
２Ａ）ｔ−＠２のユニット（２Ｂ）に近つける。+n Telescopic ram utsfP sweet, fifth unit (
2A) Move closer to unit (2B) of t-@2.

ＩｇＩ　第１のユニツＩ−（２Ａ）の圧４部材ｔｉｌｌ
　Ｓてよりこの第１のユニツ）　（２Ａ）　’ｊ−管内
面１（１）　ｓｃ保持させる。IgI 1st unit I-(2A) pressure 4 member till
(2A) 'j-tube inner surface 1 (1) sc held.

（ｈ）　以後（ｂｌ〜（謡を繰り返す。(h) After that (bl~(repeat the song).

乙のように一＃゛ｉｔば、木装置を尺取虫式に管（１）
内で自走ざゼ°ることがで珪、かっ任：は位置ｆの停止
も可能である。このと倉、１述の従来のもののように、
ワイヤロープを通す等の走行前の準ｌ＃１作業が不要に
なり、作業性が向上する。第３図では水平方向の管（１
）の内部を走行−ｔ、ｆＪ場合にっｈて説明したが、各
ユニヅ）　（２Ａ）（２Ｂ）は管内面（９）に保持され
るため、上下方向に急煩斜した管内での走行および停止
も可能である。また、両ユニット（２Ａ）（２Ｂ）と伸
縮ラムＬｌ（ｊＩ：はユニバーサルジヨイント（ＩＩＡ
）（ＩＩＢ）　ｒ、介して接続ざ才１６てｈるため、管
継手部が屈曲してｈてもこｔＬ＆ｃ対応でき、曲り管の
内部を走行する仁とも可能ｆある。なお、テレビカメ′
９（２）による管内調査は適宜に行なわれる。If you do it like Otsu, you can pipe the wooden device like an inchworm (1)
It is possible to move freely within the vehicle, and it is also possible to stop at position f. This warehouse, like the conventional one mentioned above,
Semi-I #1 work before running, such as passing a wire rope through, is no longer necessary, improving work efficiency. In Figure 3, the horizontal pipe (1
) (2A) (2B) are held on the inner surface of the pipe (9), so it is difficult to run inside a pipe that is steeply sloped in the vertical direction. and stopping is also possible. In addition, both units (2A) (2B) and the telescopic ram Ll (jI: are universal joints (IIA)
) (IIB) Since there is a connecting groove 16 through the pipe joint, the pipe joint part can be bent to accommodate the bending, and it is also possible to run inside the bent pipe. In addition, the TV camera'
Investigations within the jurisdiction pursuant to Section 9(2) will be conducted as appropriate.

第４図〜第５図は本発明の他の夾ｍｈμｍ１を示すもの
である。すなわち、この実施１列ｔＣおけるユニット１
２１１は、両端にテーパ面一が形成さｉした円筒状ある
いは樽状のケーシング１２３１を有しておｐ、とのケー
シングムに形成さ才また窓飢から、シリンダ装置四の作
用により圧接部材＋’ｌａが出退するように＋、＃成さ
ｎでいる。１２７１は前記と同様のユニバーサルジヨイ
ントである。このような４１１成によれば、ケーシング
（２３１ｆ１周方向かずれの位１＃ｌ！においても管内
面（９）に接することができ、管内面ｔ９）　Ｋ安定的
に当接した状態で摺動可能となる。FIGS. 4 and 5 show other layers mhμm1 of the present invention. That is, unit 1 in this implementation column tC
211 has a cylindrical or barrel-shaped casing 1231 with tapered flush surfaces formed at both ends. 'La goes out and goes +, #makes n stay. 1271 is a universal joint similar to the above. According to such a 411 structure, the casing (231f1 can be in contact with the inner surface of the tube (9) even if it is displaced in the circumferential direction by 1 #l!, and the inner surface of the tube (t9)) K can slide while being in stable contact. It becomes possible.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例の概略構成を示す正面図、第
２図は第１図におはる■−■断面図、第３図は動作順序
説明図、第４図は本発明の他の実施例の要部の正面図、
第５図は第４図におけるＶ−Ｖ断面図である。 （１）・・・管、（２Ａ）（２Ｂ）１２ｕ・・・ユニッ
ト、（６）・・・横部材、＋７）ｆ２５１−・−ｖ　リ
ｙダ装ｍ（出退駆動％　Ｉ］ｌり　、＋８１　ｃｓ−圧
接部材、（９）・・・管内向、ＣＬ（１・・・伸縮ツム
（仲總駆動装Ｗｔ　）　、（ｔｉＡ）（＋ｔＢ）ｅ２７
１・・−ユ＝バーサルジヨイント代理人　森　太　義　
弘 第１図 π 第２図 第３図 一Fig. 1 is a front view showing a schematic configuration of an embodiment of the present invention, Fig. 2 is a sectional view taken along the line ■-■ shown in Fig. 1, Fig. 3 is an explanatory diagram of the operation sequence, and Fig. 4 is a diagram illustrating the present invention. A front view of main parts of another embodiment,
FIG. 5 is a sectional view taken along the line V-V in FIG. 4. (1)...Pipe, (2A) (2B) 12u...Unit, (6)...Horizontal member, +7) f251--v Reader installation m (exit/retract drive % I) , +81 cs-pressure member, (9)... Inward direction of the pipe, CL (1... Telescopic tsum (Nakaso drive unit Wt), (tiA) (+tB) e27
1...Yu-versalgeyoint agent Taiyoshi Mori
Hiro 1st figure π 2nd figure 3rd figure 1

Claims (1)

【特許請求の範囲】[Claims] １、　管の半径方向に出退して管内面に圧接可能な周方
向適当数の圧接部材と、との圧接部材の出退駆動装置と
を有して管内ｔ１に保持可能な第１および第２のユニッ
トを管軸方向に間隔をおいて設け、一端が第１のユニバ
ーサルジヨイントを介して前記第１のユニットに接続さ
几、かつ他端が第２のユニバーサルジヨイントを介して
前記第２のユニットに接続される管軸方向の伸縮駆動装
置を設けたことを特徴とする管内自走装置。1. An appropriate number of pressure contact members in the circumferential direction that can move forward and backward in the radial direction of the pipe and press against the inner surface of the pipe, and a drive device for moving the pressure contact members back and forth, and a first and a first member that can be held in the pipe interior t1. two units are provided at intervals in the tube axis direction, one end connected to the first unit via a first universal joint, and the other end connected to the first unit via a second universal joint. An in-pipe self-propelled device characterized in that it is provided with an expansion and contraction drive device in the tube axis direction connected to the second unit.
JP58193303A 1983-10-14 1983-10-14 Pipe-inside self-propelled device Pending JPS6085085A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58193303A JPS6085085A (en) 1983-10-14 1983-10-14 Pipe-inside self-propelled device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58193303A JPS6085085A (en) 1983-10-14 1983-10-14 Pipe-inside self-propelled device

Publications (1)

Publication Number Publication Date
JPS6085085A true JPS6085085A (en) 1985-05-14

Family

ID=16305664

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58193303A Pending JPS6085085A (en) 1983-10-14 1983-10-14 Pipe-inside self-propelled device

Country Status (1)

Country Link
JP (1) JPS6085085A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0254673U (en) * 1988-10-13 1990-04-20
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
US5161631A (en) * 1989-11-27 1992-11-10 Uragami Fukashi Suction device capable of moving along a surface
JPH0520881U (en) * 1991-08-27 1993-03-19 徹夫 重信 In-service truck
US5788002A (en) * 1993-02-01 1998-08-04 Siemens Aktiengesellschaft Transport device being movable automatically inside a pipe
EP2136374A1 (en) * 2008-06-17 2009-12-23 GE-Hitachi Nuclear Energy Americas LLC Apparatus and method for remotely inspecting and/or treating the inside surface of pipes or elongated vessels, especially in nuclear reactor coolant systems
EP2345574A1 (en) * 2010-01-14 2011-07-20 Osvaldo Falesiedi Impulse traction method and device
FR3016674A1 (en) * 2014-01-21 2015-07-24 Astrium Sas PULSE PUSHING DEVICE
AT517856B1 (en) * 2016-05-20 2017-05-15 Manuel Müller Matthias robot
CN109250623A (en) * 2018-08-28 2019-01-22 中国水利水电夹江水工机械有限公司 A kind of pair of self-locking stepping type self walking mechanism and control method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57169674A (en) * 1981-03-25 1982-10-19 Kraftwerk Union Ag Self-travelling manipulater used inside pipe
JPS58884B2 (en) * 1978-12-29 1983-01-08 株式会社荏原製作所 Exhaust gas treatment method using radiation irradiation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58884B2 (en) * 1978-12-29 1983-01-08 株式会社荏原製作所 Exhaust gas treatment method using radiation irradiation
JPS57169674A (en) * 1981-03-25 1982-10-19 Kraftwerk Union Ag Self-travelling manipulater used inside pipe

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
JPH0254673U (en) * 1988-10-13 1990-04-20
EP0390352A2 (en) * 1989-03-27 1990-10-03 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
US5161631A (en) * 1989-11-27 1992-11-10 Uragami Fukashi Suction device capable of moving along a surface
JPH0520881U (en) * 1991-08-27 1993-03-19 徹夫 重信 In-service truck
US5788002A (en) * 1993-02-01 1998-08-04 Siemens Aktiengesellschaft Transport device being movable automatically inside a pipe
EP2136374A1 (en) * 2008-06-17 2009-12-23 GE-Hitachi Nuclear Energy Americas LLC Apparatus and method for remotely inspecting and/or treating the inside surface of pipes or elongated vessels, especially in nuclear reactor coolant systems
EP2345574A1 (en) * 2010-01-14 2011-07-20 Osvaldo Falesiedi Impulse traction method and device
FR3016674A1 (en) * 2014-01-21 2015-07-24 Astrium Sas PULSE PUSHING DEVICE
WO2015110433A1 (en) * 2014-01-21 2015-07-30 Airbus Defence And Space Sas Package pusher device
AT517856B1 (en) * 2016-05-20 2017-05-15 Manuel Müller Matthias robot
AT517856A4 (en) * 2016-05-20 2017-05-15 Manuel Müller Matthias robot
CN109250623A (en) * 2018-08-28 2019-01-22 中国水利水电夹江水工机械有限公司 A kind of pair of self-locking stepping type self walking mechanism and control method
CN109250623B (en) * 2018-08-28 2023-12-22 中国水利水电夹江水工机械有限公司 Double self-locking stepping self-walking mechanism and control method

Similar Documents

Publication Publication Date Title
JPS6085085A (en) Pipe-inside self-propelled device
US4386796A (en) Pipe repair coupling
US4028796A (en) Method of making a blast joint
US4648544A (en) Internal chuck for butt welding two tubes
RU2008547C1 (en) Pipe coupling
DE8913689U1 (en) Pipe forming device
DE6933809U (en) PLASTIC PIPE.
EP0426788B1 (en) High-pressure pipe string for continuous fusion drilling of deep wells, process and device for manufacturing, propelling and dismantling it
EP1020615B1 (en) Feeding method for laying underground pipes and pipe for carrying out this method
JPH0737081B2 (en) Method and apparatus for manufacturing synthetic resin pipe
US4277335A (en) Expansion and contraction drive apparatus
JPS58120996A (en) Method of laying pipe
RU2154767C1 (en) Connection of composite-material tubes
RU2014541C1 (en) Metal-base laminate pipe joint
KR19990004028U (en) Synthetic Resin Double Wall Smoothing Pipe Manufacturing Equipment
JPS6195123A (en) Pipe coupler
JPH0374295B2 (en)
JP3407047B2 (en) Hard synthetic resin tube
EP1291694A3 (en) Joining of metallic tubes which enclose optical fibres
SU1088841A1 (en) Mandrel for bending
DE9111628U1 (en) Plastic pipe
SU1234295A1 (en) Tail portion of belt telescopic conveyer
EP1339147A1 (en) Cable recovery and replacement system, for example an optical fibre cable laid within a guide pipe, by means of a pressurized hydraulic fluid
JPS6124621Y2 (en)
CN112677230A (en) PVC pipe processing method