WO1997024194A1 - Procede et appareil de positionnement a distance et de guidage a travers un conduit d'un terminal de robot - Google Patents

Procede et appareil de positionnement a distance et de guidage a travers un conduit d'un terminal de robot Download PDF

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Publication number
WO1997024194A1
WO1997024194A1 PCT/US1996/019534 US9619534W WO9724194A1 WO 1997024194 A1 WO1997024194 A1 WO 1997024194A1 US 9619534 W US9619534 W US 9619534W WO 9724194 A1 WO9724194 A1 WO 9724194A1
Authority
WO
WIPO (PCT)
Prior art keywords
effector
tubular member
conduit
line
walls
Prior art date
Application number
PCT/US1996/019534
Other languages
English (en)
Inventor
Daniel S. Johnson
Original Assignee
Westinghouse Electric Corporation
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 Westinghouse Electric Corporation filed Critical Westinghouse Electric Corporation
Publication of WO1997024194A1 publication Critical patent/WO1997024194A1/fr

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Classifications

    • 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
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/0433—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes provided exclusively with fluid jets as cleaning tools
    • 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
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes

Definitions

  • the present invention relates generally to methods and apparatus for positioning end-effectors in conduits, and more particularly for remotely positioning and operating the end- effectors in confined areas and along tortuous paths.
  • a greenfield condition is a term used to identify an accept ⁇ able level of radiation that will permit a facility or compo ⁇ nent member to be released for unrestricted applications.
  • operating commercial nuclear power generating plants regularly take advantage of chemical cleaning processes to reduce levels of radiation exposure prior to servicing their systems. While chemical cleaning methods have proved effec ⁇ tive for this purpose, they are not always capable of reducing the levels of radiation to acceptable levels for a given application.
  • Blasting component surfaces with dry ice has also been proposed, but has not yet been commercially employed to reduce the level of contamination. Aggressive techniques such as blasting have a tendency to remove the surface sub ⁇ strate and degrade components, which is unacceptable in an operating plant environment. However, in decommissioning applications aggressive decontamination approaches, e.g., grit blasting, are very appropriate and have been used.
  • Nuclear power generating plants and nuclear materials processing facilities typically have large numbers of long runs of small diameter pipes that are laid along tortuous paths using many elbows, much of which is embedded in concrete or otherwise inaccessible.
  • Typical piping configurations of this type have diameters of two (2) inches or less. In most situations it is not cost productive to remove the embedded structure.
  • the real challenge is to effectively and remotely deliver decontamination, decommissioning processes in that type of inaccessible and confined area, and monitor their effectiveness in a cost effective and timely manner. It is also desirable to minimize any contaminated by-product of the decommissioning process, to reduce the cost and other compli ⁇ cations of off site disposal.
  • a conduit is threaded through the tubular member by attaching an air foil to at least a portion of the circumferential surface of the conduit and inserting the conduit and air foil into one end of the tubular member.
  • the tubular member is pressurized upstream of the air foil, which causes the conduit to sail through the tubular member.
  • an end-effector with a trailing supply line for operating on the tubular member's interior walls, is attached to the conduit and threaded through the tubular member as a result of the pressure differential across the air foil.
  • the end-effector is then drawn backwards through the tubular member by withdrawing its supply line, in a controlled manner, as the end-effector operates on the walls of the tubular member.
  • the end-effector is pulled through the tubular member by the conduit, as it operates on the walls of the tubular member.
  • the conduit is attached to the end-effector with a tow cou ⁇ pling mechanism that is position outside the path of the grit.
  • the design and positioning of the coupling avoids direct impact of the grit on the tow coupling and conduit.
  • the end-effector is an array of detectors for mapping a characteristic profile, e.g., radia ⁇ tion, of the conduit, other embodiments take advantage of the benefit of being able to pull the end-effector along the conduit in both directions.
  • Figure 2 is partially cut away, of one pipe end termina ⁇ tion shown in Figure 1 with the insertion assembly of this invention connected;
  • Figure 3 is partially cut away, of the insertion assembly of Figure 2 with the vacuum recycling system connected;
  • Figure 4 is a planned view of a blasting nozzle end-effec ⁇ tor;
  • Figure 5 is a side view of the blasting nozzle of Figure 4, coupled to a tow line and rotated about its axis 90 de- grees;
  • Figure 6 is a planned view of another embodiment of the delivery system of this invention inserted into a pipe section accessible from only one end;
  • Figure 7 is a cross sectional view of an alternate embodi- ment to the blaster nozzle and towing arrangement illustrated in Figures 4 and 5;
  • Figure 8a is a planned view of a second alternate blaster nozzle assembly using a venturi bore
  • Figure 8b is the planned view of blaster assembly of Figure 8a, illustrating its towing arrangement
  • Figure 9 is a planned view of a second alternate blaster nozzle assembly end-effector and towing arrangement
  • Figure 10 is a perspective view, partially in section, of a TLD radiation detector array end-effector. DESCRIPTION OF THE PREFERRED EMBODIMENT
  • piping and ducting will be referred to as piping, since the treatment of each is performed with similar methodologies.
  • Accessible piping is generally removed and discarded as low level radioactive waste. Components exhibiting high radiation levels may re ⁇ quire decontamination to satisfy the required low level waste criteria prior to off site disposal.
  • the majority of piping configura ⁇ tions requiring decontamination is embedded in concrete, buried underground or inaccessible due to routing between containments, reactor components and hot cell structures. It is generally more cost effective to decontaminate and release this piping than to remove it, especially in cases where long runs are prevalent.
  • the condition of the interior walls of this type of piping vary in accordance with the material, use, age and corrosive- ness of the fluid media that the piping had contact with.
  • the majority of embedded piping material is carbon steel. Stain- less steel generally exhibits cleaner initial conditions, but requires similar cleaning techniques.
  • Well maintained carbon steel pipes will usually have a light layer of rust with a minimal amount of pitting. This is the case in water systems and plant process piping where proper water chemistry was important. Air or gas lines can also exhibit the same condi ⁇ tion, since these systems are left unattended between plant shutdown and decontamination.
  • Drain pipes typically show the most deterioration due to the lack of control of the fluid types and mixtures that had been flushed through their system, and the continual, cyclical, wetting and drying action experienced in the pipe. Drain pipes are also likely to be embedded in concrete with U-traps and elbows. They usually pass through floors and walls to access the lowest levels of the plants. The challenge of decontaminating embedded pipe is to deliver the decontamination and mapping technologies to the source of contamination. To date, there has been limited experience with the decontamination of small bore pipe for free release. Free release means making the facilities suit- able for future applications which are free of any restric ⁇ tions attributable to the facility's previous operating histo ⁇ ry.
  • Examples of the available technologies include media blasting using vari ⁇ ous grits, high pressure liquid blasting, carbon dioxide pellet impingement, chemical flushing, and grit impregnated ball cleaning technologies.
  • the aggressiveness of the method ⁇ ologies is correlated directly to decontamination effective ⁇ ness, since the radioactive contaminants are captured in the first few millimeters of interior pipe wall.
  • the minimum decontamination standard for cleaning carbon steel is to achieve grey metal (industry standard of SP-6) .
  • White metal (industry standard of SP-10) is preferable.
  • Baseline release levels of 5,000 dpm/100 cm 2 are currently approved by the U.S. Nuclear Regulatory Commission (although somewhat lower levels may be required on a plant by plant basis if significant non-detect ⁇ able radionuclide fractions are present) .
  • media blast ⁇ ing will be used as the decontamination technology employed in this embodiment though it should be appreciated that other technologies, e.g., high pressure liquid blasting and carbon dioxide pellet impingement, can be employed in some applica ⁇ tions, utilizing some of the features of this invention, such as the delivery system.
  • Media blasting is a process used to accelerate grit of a chosen size and hardness, from a storage vessel, through a delivery hose and out a nozzle which directs the grit to the target surface to be decontaminated.
  • Com ⁇ pressed air typically is used to carry the media to the nozzle which accelerates the media for impingement on the target surface.
  • the media provides an abrasive action on the impacted surface to remove the contamination, and in some cases the substrate material. Removal rates and aggressiveness are dependent on the chosen media types.
  • a vacuum recovery system can be employed that either surrounds the nozzle or is con- nected to an exhaust opening in the piping to retrieve and, if desired, recycle the media. The vacuum system can separate the usable media from the remaining debris and reuse the recycled material in the blasting system.
  • circuitous piping runs As mentioned previously the key challenge in decontaminat ⁇ ing inaccessible, circuitous piping runs is to be able to deliver the decontamination and mapping technologies to the contaminated areas. That is particularly true where the piping runs have multiple elbows as shown in Figure 1. Thin piping runs of diameters of two inches or less and U-shaped sections further complicate the matter. In that type of environment it is particularly difficult to push the end- effector that delivers the decontamination medium through the pipe. The compressive insertion forces press the lead edge of the end-effector against the outside walls of the pipe bends, which tends to cock the end-effectors and jam the assembly in the bend.
  • this invention is in part directed to a method for driving a tow line through a piping run in a manner that will enable an end-effector to be pulled through.
  • line can refer to any flexible cable, rope, wire, feed tube or other type of conduit that is capable of spanning the piping run.
  • a typical piping run is illustrated in Figure 1, embedded in concrete 12, having multiple bends 18.
  • the tow line 16 is illustrated entering the pipe at insertion point 14 and traversing one of the bends 18.
  • the tow line has at least one air foil 20 affixed along its length in proximity to its lead end.
  • the air foil 20 in this example is shown as a hemispherical cup though other geometric shapes can be used.
  • the air foil 20 is designed to have some clearance between the tip of the air foil and the pipe wall in the straight sections of the pipe so that a reasonably tight clearance is achieved in the turns of the pipe bends without creating an obstruction.
  • the air foils are spaced approximately six inches apart.
  • Figure 2 illustrates the insertion point 14 of the pipe 10 with the tow line 16 about to be inserted.
  • An insertion assem ⁇ bly 22 is provided to facilitate repetitive steps of blowing the tow line through the pipe and retracting an end-effector.
  • the insertion assembly 22 is connected to the pipe 10 via compression coupling 24.
  • the insertion assembly is made of pipe sections 21, 28 and 32, union 26, T- coupling 30 and winch assembly 34.
  • £he insertion assembly 22 is attached to the embedded pipe stub via the use of a com ⁇ pression coupling or threaded directly onto the pipe.
  • the winch assembly 34 includes clamp 36 which affixes the winch to the pipe section 32, guide roller 40 for guiding the line, take up reel 46 and handle 44 - all supported by the winch housing 48.
  • the handle 44 is clutched to the take up reel 46 so that the clutch can be disengaged and the wheel free roll during insertion.
  • An end cap 38 seals the end of the pipe section 32 while allowing passage of the line 16.
  • the winch assembly cable or line is fed through a slightly larger hole in the center of the end cap 38.
  • the seal is accomplished using a graphite gasket material pressed between the end cap and the pipe nipple.
  • the other end 49 of the T-section 30 is coupled through isolation valve 50 to a pressurized air supply 52.
  • the isolation valve 50 is opened to allow the compressed air to enter the insertion assembly and drive the air foils 20 and the attached line 16, a selected distance through the pipe 10, which is metered by the free length of the line 16. Air pressure levels of at least 90 psi have been found to create an effective driving force.
  • the line 16 is blown completely through the pipe 10 to exit at the opposite open end 54, Figure 1. The portion of the line 16 at the insertion end 14 of the pipe 10 can then be coupled to an end-effector which can be pulled through the pipe from the other end 54.
  • the line 16 could be a supply hose to an end-effector. With the air foils affixed along the axis of the supply line, the end-effector could then be directly blown through the pipe 10.
  • the line 16 could be attached to a pulley with a system for remotely wedging the pulley against the walls of the pipe.
  • the air foils could be used to position the pulley within the pipe 10 with both ends of the pulley cable extending from the pulley to the outside of the insertion end 14.
  • One end of the pulley cable could be attached to the end- effector and the other end of the cable could then be used to position the end-effector within the pipe to the desired location.
  • Figure 6 illustrates such a pulley arrangement 72 positioned within the pipe 10.
  • the air foil 20, is connected to the pulley assembly 72 at connector 74, and is employed, as previously explained, to axially position the pulley assembly 72 within the pipe 10.
  • electrical lead 76 is used to de-energize solenoids 66 which enables their outwardly spring biased pistons to force the gripper mechanisms 70 against the walls of the pipe to support the pulley assembly 72 at the targeted location.
  • the pulley wheel 62 is supported from the solenoid assembly 66 by bracket 64.
  • the pulley cable 56 can then effective turn on the pulley wheel 62 when drawn using one of its ends 58 or 60. If an end-effector is at ⁇ tached to cable end 58 it can then be positioned to the de- sired location within the pipe by drawing on cable end 60.
  • the method and apparatus of this invention is capable of positioning an end-effector within a pipe of almost any diameter, regardless of the inaccessibility of the piping run, provided access can be obtained to the interior of the pipe at least one position along its length.
  • This method provides particular benefit in pipes having small cross sections, especially those having diameters of two inches or less. It also provides added benefit where remote access is desirable such as in irradiated areas.
  • Figure 4 illustrates one end-effector of this inven ⁇ tion.
  • a grit blaster nozzle 80 is illustrated for abrading the inside walls of the pipe 10 to remove surface contamina ⁇ tion.
  • the nozzle 80 is connect ⁇ ed to a conduit 78 for supplying the grit under pressure to drive the grit through the nozzle body 82 and orifice 84 which accelerates and directs the grit spray against the walls of the pipe.
  • the nozzle is provided with a generally U-shaped tow coupling 86 welded at each end to a peripheral portion of the nozzle body.
  • the tow coupling 86 is specially shaped in its most forward region 88 to keep the tow line connector center on the coupling and thus the nozzle centered in the pipe as the nozzle is pulled through the piping run.
  • the portion of the tow line 16 emerging from pipe end 54 is connected through a coupling member 90, shown in Figure 5, to the tow coupling 86 of the blaster nozzle 80.
  • the air foils maybe removed from the line 16 prior to coupling to the nozzle or the air foils or other similar device may be used to keep the nozzle centered in the pipe.
  • the tow coupling 86 is oriented to span between orifices, as shown in Figure 5, so that the grit does not directly impinge on the tow coupling. Direct impingement would increase back scatter and accelerate wear on the orific ⁇ es as well as wear the coupling. It would also reduce the efficiency of the decontamination process and increase waste by-products.
  • the supply hose 78, Fig ⁇ ures 4 and 5 is used to push the nozzle through the work piece as it operates. In tight quarters and circuitous runs, pushing the nozzle through the work piece tends to cock it, which causes uneven surface erosion and wear on the supply conduit and nozzle. As previously explained, pushing also tends to jam the nozzle at bends in the pipe.
  • the grit blaster is pulled from the open end 54, shown in Figure 1, through the piping run by the line 16 as the blaster operates on the walls of the pipe.
  • the winch 34 illustrated in Figures 2 and 3 can be used for this purpose and the tow line 16 can be calibrated or the revolutions of the winch noted to track the position of the blaster as it is pulled through the piping run. Maintaining the nozzle in tension helps to keep it centered within the pipe.
  • the air hose illustrated in Figure 2 is replaced by a vacuum system 92 coupled to the T-section 48 through vacuum hose 94. The vacuum then draws on the pipe 10 and funnels the grit from the pipe, preferably to a recycling system that reintroduces the grit to the blaster and separates out other unusable by-prod ⁇ ucts.
  • Figure 7 illustrates an alternate grit blaster nozzle design utilizing the pull drive arrangement of this invention.
  • the nozzle creates a venturi affect that forms an annular spray of grit.
  • Figures 8a and 8b illustrate a second alter- nate venturi nozzle design. Venturi bore nozzles create a wide blast pattern and increase particle velocity as much as 100% for a given impact pressure.
  • the use of a venturi nozzle of the type shown in Figures 8a and 8b eliminates the option of using a cradle or pull loop on the end of the blast head to pull the assembly through the pipe during the blasting opera ⁇ tion. These types of pull arrangements will quickly disinte ⁇ grate under the media blast.
  • Figure 8b illustrates a standard cable pull that can be used to pull the nozzle arrangement 80''' through the pipe 10.
  • the cable grips of these standard clamps tighten them ⁇ selves on the hose when tensioned and smooth out sharp edges.
  • the clamps can easily be installed and removed to facilitate pulling the assembly through the piping.
  • Figure 9 illustrates a third alternate grit blaster nozzle, which has particular advantage in decontaminating larger tubular members.
  • This embodiment includes dual blast nozzles 80'' mounted on a rotating head 92 driven by sprockets 94 and 96, drive chain 98 and reversing drive motor 100.
  • Outwardly biased guide wheel assemblies 102 keep the grit blasting fixture centered. The blasting fixture is driven by the pulley arrangement 72 previously described.
  • the end-effector is one or more TLDs (Thermo-Luminescence Dosime- try) which are well known in the art and commonly used as dosimeters for tracking accumulated personnel exposure.
  • the TLDs are calibrated in a unique way and used to map the radioactive contamination level over a given area within the pipe 10 to determine if the decontamina ⁇ tion process has been effective to reduce contamination levels to the established criteria.
  • a TLD string is constructed with a sufficient number of TLDs that are appropriately spaced and centered in the pipe to achieve the desired survey coverage. Installation within the pipe is accomplished using the air foil positioning system of this invention, as previously described. After installing the string in the pipe and waiting a designated exposure period to obtain statistically significant values, the TLDs are removed and data analysis performed. This process is more particular ⁇ ly described in U.S. patent application Docket No. WE58914 cross referenced above.
  • the end-effector could be made up of a string array of Geiger-Mueller detector bead assemblies.
  • the GM detector tubes are off the shelf items generally known in the art and readily available.
  • the construction and calibra ⁇ tion of the TLD arrays and the Geiger-Mueller detector bead assemblies are more fully described in the copending applica ⁇ tion WE58914.
  • end-effectors can be combined to synergisticaUy improve the efficiency of the decontamination operation.
  • an array of detectors can be tandemly positioned and spaced from the blaster nozzle along the axis of the pipe 10 as part of the tow line assembly to monitor the effectiveness of the decontamination process as it is being performed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

Cette invention concerne un procédé et un appareil permettant de positionner à distance des terminaux de robots à l'intérieur de conduits (10) cheminant suivant des trajectoires tortueuses et/ou inaccessibles et de travailler sur les parois desdits conduits. Selon une réalisation, on introduit à l'intérieur du conduit (10) un filin (16) lesté pourvu de pales profilées (20) à extension radiale et l'on met sous pression le conduit en amont des pales profilées (20), ce qui permet à l'extrémité lestée du filin (16) de naviguer à travers le conduit jusqu'à l'extrémité opposée. Le filin (16) lesté est fixé au terminal qui peut être tracté à travers le conduit (10). Selon une seconde réalisation, on retire le terminal de façon maîtrisée le long du conduit sur les parois duquel le terminal travaille. Selon une autre réalisation, le filin lesté commande le déplacement vers l'avant du terminal alors que celui-ci opère sur le conduit (10). Dans une réalisation où le terminal est un dispositif de sablage, le filin (16) lesté est fixé au terminal par un mécanisme (86, 90) de couplage par traction qui s'étend entre, d'une part, les ouvertures ménagées dans la tuyère de sablage (80) dans le but d'éviter l'impact direct du sable sur le mécanisme de traction et d'autre part, le filin lesté (16). Selon une cinquième réalisation, le terminal est constitué d'un ensemble de détecteurs conçu pour établir un profil caractéristique du conduit. D'autres réalisations tirent partie de leur capacité à tirer le terminal le long du conduit dans les deux directions.
PCT/US1996/019534 1995-12-29 1996-12-09 Procede et appareil de positionnement a distance et de guidage a travers un conduit d'un terminal de robot WO1997024194A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US58166395A 1995-12-29 1995-12-29
US08/581,663 1995-12-29

Publications (1)

Publication Number Publication Date
WO1997024194A1 true WO1997024194A1 (fr) 1997-07-10

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PCT/US1996/019534 WO1997024194A1 (fr) 1995-12-29 1996-12-09 Procede et appareil de positionnement a distance et de guidage a travers un conduit d'un terminal de robot

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WO (1) WO1997024194A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1333221A2 (fr) * 2002-02-05 2003-08-06 Cegelec Procédé d'inspection de canalisation de chauffage urbain
WO2003064068A1 (fr) * 2002-01-30 2003-08-07 Intel Sampling As Procede visant a eliminer et a fragmenter les depots incrustes sur les surfaces interieures de conduites
US7231812B1 (en) * 2005-10-27 2007-06-19 Lagare Michael E Conduit breach location detector
WO2013071394A1 (fr) * 2011-11-17 2013-05-23 Envirologics Engineeering Inc. Appareil de nettoyage de canalisation, utilisation, système et procédé
CN109500013A (zh) * 2018-12-07 2019-03-22 中国航天空气动力技术研究院 一种风洞管道清扫***
EP3501674A1 (fr) * 2017-12-19 2019-06-26 Andrey Danilov Procédé et dispositif de traction destinés au nettoyage et/ou à l'inspection des conduites de ventilation droites et coudées des installations de ventilation ou de conditionnement de l'air
US11555296B2 (en) * 2019-09-19 2023-01-17 No-Des, Inc. Water main flushing with high pressure jetting and directional control
US11560696B2 (en) 2019-09-19 2023-01-24 No-Des, Inc. Water main flushing with high pressure jetting
US11644144B2 (en) 2019-09-19 2023-05-09 No-Des, Inc. Pig launch and recovery apparatus and pig therefor

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3086680B2 (ja) 1998-12-22 2000-09-11 寿美男 安藤 原料移送パイプの清掃具

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NL6759C (fr) *
US3244402A (en) * 1964-01-20 1966-04-05 Glover C Ensley Apparatus for installing lines through conduits
US4036173A (en) * 1975-07-21 1977-07-19 Nicklas Manfred E Internal coating and sandblasting bug for pipe
US4141753A (en) * 1976-12-27 1979-02-27 Creed Bruce W Method and apparatus for cleaning suction ducts
FR2667519A1 (fr) * 1990-10-05 1992-04-10 Inspectronic Dispositif pour vehiculer a l'interieur de conduit ou analogue un ensemble de travail.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL6759C (fr) *
US3244402A (en) * 1964-01-20 1966-04-05 Glover C Ensley Apparatus for installing lines through conduits
US4036173A (en) * 1975-07-21 1977-07-19 Nicklas Manfred E Internal coating and sandblasting bug for pipe
US4141753A (en) * 1976-12-27 1979-02-27 Creed Bruce W Method and apparatus for cleaning suction ducts
FR2667519A1 (fr) * 1990-10-05 1992-04-10 Inspectronic Dispositif pour vehiculer a l'interieur de conduit ou analogue un ensemble de travail.

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2400428A (en) * 2002-01-30 2004-10-13 Intel Sampling As Method for loosening and fragmenting scale from the inside of pipes
WO2003064068A1 (fr) * 2002-01-30 2003-08-07 Intel Sampling As Procede visant a eliminer et a fragmenter les depots incrustes sur les surfaces interieures de conduites
GB2400428B (en) * 2002-01-30 2005-08-31 Intel Sampling As Method for loosening and fragmenting scale from the inside of pipes
EP1333221A3 (fr) * 2002-02-05 2003-10-29 Cegelec Procédé d'inspection de canalisation de chauffage urbain
US6715370B2 (en) 2002-02-05 2004-04-06 Cegelec Method of inspecting district heating pipes
EP1333221A2 (fr) * 2002-02-05 2003-08-06 Cegelec Procédé d'inspection de canalisation de chauffage urbain
FR2835588A1 (fr) * 2002-02-05 2003-08-08 Cegelec Procede d'inspection de canalisation de chauffage urbain
US7231812B1 (en) * 2005-10-27 2007-06-19 Lagare Michael E Conduit breach location detector
WO2013071394A1 (fr) * 2011-11-17 2013-05-23 Envirologics Engineeering Inc. Appareil de nettoyage de canalisation, utilisation, système et procédé
EP3501674A1 (fr) * 2017-12-19 2019-06-26 Andrey Danilov Procédé et dispositif de traction destinés au nettoyage et/ou à l'inspection des conduites de ventilation droites et coudées des installations de ventilation ou de conditionnement de l'air
CN109500013A (zh) * 2018-12-07 2019-03-22 中国航天空气动力技术研究院 一种风洞管道清扫***
US11555296B2 (en) * 2019-09-19 2023-01-17 No-Des, Inc. Water main flushing with high pressure jetting and directional control
US11560696B2 (en) 2019-09-19 2023-01-24 No-Des, Inc. Water main flushing with high pressure jetting
US11644144B2 (en) 2019-09-19 2023-05-09 No-Des, Inc. Pig launch and recovery apparatus and pig therefor

Also Published As

Publication number Publication date
JP2994600B2 (ja) 1999-12-27
JPH09197092A (ja) 1997-07-31

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