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公开(公告)号：US20150240984A1
公开(公告)日：2015-08-27
申请号：US14186009
申请日：2014-02-21
申请人： Siemens Energy, Inc.
发明人： Jae Young Choi , Christopher Lee Harms , James A. Bauer , Scott A. Karstetter , Michael R. Vindler
CPC分类号： H04N5/2251 , F16L55/32 , F16L2101/30 , H04N7/185 , H04N2005/2255
摘要： Steam turbine engine cross over pipe or other pipe internal inspection is performed with a selectively steerable pipe inspection crawler apparatus with a chassis having a longitudinal axis, with front and rear Mechanum wheels capable of independently-selected forward or rearward driven rotational direction, for selectively steering the apparatus within the pipe interior under control of a human-machine interface (HMI). The crawler apparatus has at least one inspection camera having a field of view, for capturing images of a pipe interior that is also under control of the HMI. Embodiments of the crawler apparatus include a selectively orientable inspection camera and/or a deployable bore scope that is selectively deployed and retracted from a descending section of the cross over pipe.
摘要翻译： 蒸汽涡轮发动机横穿管道或其他管道内部检查是用具有纵向轴线的底盘的选择性可操纵的管道检查履带装置执行的，其中前后机构轮可以独立选择的前进或后退驱动的旋转方向，用于选择性地转向 管道内部的设备在人机界面（HMI）的控制下。 履带式装置具有至少一个具有视野的检查照相机，用于捕获也在HMI控制下的管内部的图像。 履带式装置的实施例包括可选择性定向的检查照相机和/或可展开的孔镜架，其可选择性地从交叉管的下降部分展开和缩回。
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公开(公告)号：US20120192897A1
公开(公告)日：2012-08-02
申请号：US13389908
申请日：2010-08-03
申请人： Fukashi Urakami
发明人： Fukashi Urakami
CPC分类号： F24F13/02 , B08B9/0436 , E03F9/002 , F16L55/1283 , F24F2221/22
摘要： PROBLEM TO BE SOLVED: To provide “working device for internal pipe and working method for the same” characterized in that the travelling force in pipe is very large.SOLUTION: The working device for internal pipe is equipped with an annular pressure boundary seal of which the free end part comes into contact with the wall of the pipe and the seal divides the internal space of the pipe into two spaces, that is, a space A and a space B using the seal as a boundary. One end part of the space A close to the seal is connected to a suction pump through a hose and also connected to the space B through a vacuum breaking valve mechanism for adjusting the negative pressure in the space A, while the other end part of the space A far from the seal is closed, and the hose is arranged in the space B.
摘要翻译： 要解决的问题：提供“内管用加工装置及其加工方法”，其特征在于管道中的行进力非常大。 解决方案：内管工作装置配有环形压力边界密封，其自由端部与管壁接触，密封件将管内部空间分为两个空间，即空间 A和空间B使用密封作为边界。 靠近密封件的空间A的一端部通过软管连接到抽吸泵，并且还通过用于调节空间A中的负压的真空断路阀机构连接到空间B，而另一端部 空间远离密封件关闭，软管布置在空间B中。
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13.发明申请公开(公告)号：US20110011299A1
公开(公告)日：2011-01-20
申请号：US12812095
申请日：2009-01-23
申请人： Esben Beck
发明人： Esben Beck
CPC分类号： F16L55/32 , B60B19/003 , F16L55/30
摘要： An internal conduit vehicle, also called a pipeline vehicle. The vehicle includes first and second wheel assemblies that are rotated in opposite directions to move the vehicle along the pipeline, or that are mutually independent to perform a more complex movement. Each wheel assembly includes a number of wheels at the free end of wheel arms, each wheel having a spin axis that is angled in respect of an axis of the chassis. Each wheel is shaped as a rotation symmetric body with a large end and a small end, and is unilaterally mounted to a wheel arm by the large end.
摘要翻译： 内部管道车辆，也称为管道车辆。 车辆包括沿相反方向旋转以沿着管道移动车辆的第一和第二车轮组件，或相互独立以执行更复杂的运动。 每个车轮组件在轮臂的自由端处包括多个车轮，每个车轮具有相对于底盘的轴线成角度的旋转轴线。 每个车轮的形状为具有大端和小端的旋转对称体，并通过大端单向安装到轮臂上。
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14.发明申请公开(公告)号：US20050115337A1
公开(公告)日：2005-06-02
申请号：US10506607
申请日：2002-07-22
申请人： Minoru Tarumi
发明人： Minoru Tarumi
CPC分类号： F16L55/28 , F16L55/32 , F16L2101/30 , G01N22/02 , G01S17/88
摘要： A device for inspecting the inside of an underground pipe line which makes it possible to search for cavities on the outside of the underground pipe over the entire internal peripheral surface of the underground pipe, that is, not only upward of the underground pipe, but also toward both sides and downward thereof, to obtain detailed images of the inner peripheral surface of the pipe line without using a complex mechanism, and to display patterns of cracks and irregularities on the inner peripheral surface of the underground pipe by three-dimensional convergence images. The device comprises a pipe line internal self-propelled vehicle and an on-ground control unit, and the pipe line internal self-propelled vehicle is provided with a radar antenna, a camera equipped with a fisheye lens, a gyro, a laser sensor, and an infrared encoder.
摘要翻译： 一种用于检查地下管线内部的装置，其可以在地下管的整个内周面上，即不仅在地下管的上方，还可以在地下管的外侧搜索空腔，而且还可以 朝向其两侧和向下，以不使用复合机构来获得管线内周面的详细图像，并且通过三维会聚图像在地下管的内周面上显示出裂纹和凹凸的图案。 该设备包括管线内部自推进车辆和地面控制单元，管线内部自行车辆设有雷达天线，配有鱼眼镜头的相机，陀螺仪，激光传感器， 和红外编码器。
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公开(公告)号：US20050109375A1
公开(公告)日：2005-05-26
申请号：US10721859
申请日：2003-11-26
申请人： Scott Peterson
发明人： Scott Peterson
CPC分类号： B08B9/027 , B08B9/0436 , F16L55/28 , F24F2221/22
摘要： An improved vent cleaning apparatus for removing dust from air conditioning and heating vents and wherein unnecessary toque loads on the flexible shaft are eliminated by the presence of swivel cuff means between the exhaust opening where the flexible tubular conduit containing the shaft is connected to the apparatus and the flexible tubular conduit itself.
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公开(公告)号：US06887014B2
公开(公告)日：2005-05-03
申请号：US10059205
申请日：2002-01-31
申请人： Cal Holland
发明人： Cal Holland
CPC分类号： B08B9/049 , F16L55/1645 , F16L55/28 , H02G1/08 , H02G1/088
摘要： A robotic apparatus and method for treatment of system of conduits and lateral sub-conduits comprising a remotely controlled robotic vehicle which navigates main conduits which delivers a series of tools to locations within the conduit. The mule's tools comprise a variety of devices including a tape head and a transport housing for a second remotely controlled robotic vehicle, or mouse which can be deployed for traversing and treating sub-conduits. Further, a method to install one or more small diameter flexible elongate members, such as conductors or sheathes to the inside of the system of conduits comprises advancing an elongate member through the conduit system with the mule or mouse, anchoring the elongate member and then taping the elongate member with the taping head while retreating out of the conduit. Preferably the tape is pre-shaped to minimize wrinkling upon application and more preferably, greater security and tape bonding strength is achieved by spraying over the tape and elongate member.
摘要翻译： 一种用于处理管道和横向副管道系统的机器人装置和方法，包括远程控制的机器人车辆，其导航将一系列工具传送到管道内的位置的主管道。 骡子的工具包括各种设备，包括用于第二远程控制的机器人车辆的带头和运输箱，或者可以部署用于横向和处理子管道的多个装置。 此外，将一个或多个小直径的柔性细长构件（例如导体或护套）安装到管道系统的内部的方法包括使细长构件通过导管系统与骡子或鼠标前进，将细长构件固定，然后粘贴 该细长构件具有带头，同时从管道中退出。 优选地，带是预成形的，以最小化施加时的皱纹，更优选地，通过在带和细长构件上喷涂来实现更大的安全性和带粘合强度。
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公开(公告)号：US5375530A
公开(公告)日：1994-12-27
申请号：US123942
申请日：1993-09-20
CPC分类号： F16L55/28 , F16L55/26 , F16L2101/30
摘要： A pipe crawler having a midsection that provides the stability and flexibty to allow the pipe crawler to negotiate curved and uneven segments of piping while traveling through piping systems. The pipe crawler comprises a front leg assembly, a rear leg assembly, a midsection with a gimbal at each end for connecting the midsection to the front and rear leg assemblies in a flexible manner, and an air cylinder for changing the distance between the front and rear leg assemblies. The pipe crawler moves in "inch worm" fashion with the front and rear leg assemblies alternating between an extended and a retracted position as the air cylinder moves the retracted leg assembly forward. The midsection has a plurality of legs extending radially for holding the midsection within a maximum displacement from the piping axis so that the gimbals are not pivoted to extreme angles where they might lock up or seize. When the midsection is displaced sufficiently, its legs with wheels on each end engage the interior surface of the piping and prevent further displacement. Using two gimbals divides the angle between the planes defined by the front and rear leg assemblies which also helps to prevent excessive gimbal pivoting.
摘要翻译： 具有中间部分的管道履带提供了稳定性和柔性，以允许管道履带在行进通过管道系统的同时协调弯曲和不均匀的管道段。 该管道履带包括前腿组件，后腿组件，在每一端具有万向架的中部，用于以柔性的方式将中间部分连接到前后腿组件;以及气缸，用于改变前部和 后腿组件 管式履带以“英寸蜗杆”方式移动，当气缸向前移动缩回的腿部组件时，前腿和后腿组件在延伸和缩回位置之间交替。 中部具有径向延伸的多个腿部，用于将中间部分保持在距离管道轴线的最大位移之内，使得万向节不能枢转到极限角度，在那里它们可能锁定或卡住。 当中部位置充分移动时，其每端具有轮的腿与管道的内表面接合并防止进一步的位移。 使用两个万向架划分由前后腿组件限定的平面之间的角度，这也有助于防止过多的万向节枢转。
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公开(公告)号：US5205048A
公开(公告)日：1993-04-27
申请号：US796065
申请日：1991-11-20
申请人： Danny D. Toomey , Gene R. Ralls , Johnny M. Manley
发明人： Danny D. Toomey , Gene R. Ralls , Johnny M. Manley
摘要： A pipeline bend detector pig for measuring a bend in pipeline is disclosed, the pig having an elongated flexible body for transposition through the pipeline. The body has an imaginary central axis that substantially remains coaxial with the pipeline cylindrical axis as the body transverses the interior of the pipeline. First and second length-measuring cables are supported to the body, each in a radial plane of and spaced from the body central axis and spaced angularly from each other. Each length-measuring cable has one end affixed to the body and a free end. Each cable has spring tension applied to the free end thereof to keep the cable taunt. A variable electrical resistance element is actuated by the free end of each cable as the free ends of the cables are moved by bends in the pipeline. An odometer for measuring the distance of travel of the pig is provided. A solid state memory records the distance traveled and the occurrence of bends in the pipeline.
摘要翻译： 公开了一种用于测量管道中的弯管的管道弯曲检测器猪，该猪具有用于通过管道移位的细长的柔性体。 主体具有假想的中心轴线，当主体横过管道内部时，该轴线基本上保持与管道圆柱轴线同轴。 第一和第二长度测量电缆被支撑到主体，每个在主体中心轴线的径向平面中并且与主体中心轴线间隔开并且彼此成角度地间隔开。 每个长度测量电缆的一端固定到主体和自由端。 每个电缆都有弹簧张力施加到其自由端，以保持电缆ta。。 当电缆的自由端通过管道中的弯曲而移动时，可变电阻元件由每个电缆的自由端致动。 提供了用于测量猪的行进距离的里程表。 固态存储器记录行进的距离和管道中的弯曲的发生。
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公开(公告)号：US5203646A
公开(公告)日：1993-04-20
申请号：US831878
申请日：1992-02-06
CPC分类号： F16L55/28 , B08B9/049 , B08B9/0558 , Y10T24/3956
摘要： An underwater robot is employed to clean and/or inspect the inner surfaces of high flow rate water inlet pipes for various facilities, such as power plants, water treatment plants, etc. The robot crawls along a cable positioned within a pipe to be inspected or cleaned, and in one embodiment, includes a plurality of guidance fins which rely upon the flow of water through the pipe to position the robot therein as desired. Retractable legs can also be provided to fix the robot at a location within the pipe when it is employed to clean the pipe using a water jet or similar system. The robot can also include a water driven turbine for generating electricity for the various motors, servos and other actuators contained on board the robot. Also, the robot preferably includes wheel or pulley arrangements which further help the robot to negotiate sharp corners or other obstructions within the pipe to be inspected or cleaned.
摘要翻译： 使用水下机器人来清洁和/或检查用于诸如发电厂，水处理厂等的各种设施的高流量进水管的内表面。机器人沿着位于要检查的管道内的电缆爬行，或 清洁，并且在一个实施例中，包括多个引导翅片，其依赖于通过管道的水流将所述机器人定位在其中。 当采用水射流或类似系统清洁管道时，也可以提供伸缩腿，以将机器人固定在管道内的位置。 机器人还可以包括用于为包含在机器人上的各种电动机，舵机和其它致动器发电的水驱动涡轮机。 此外，机器人优选地包括轮或滑轮装置，其进一步帮助机器人协商要检查或清洁的管道内的尖角或其它障碍物。
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20.发明授权
公开(公告)号：US5164826A
公开(公告)日：1992-11-17
申请号：US747044
申请日：1991-08-19
申请人： George F. Dailey
发明人： George F. Dailey
摘要： The internal structure of an apparatus with internal passages such as a steam turbine is inspected without dismantling by inserting a compact robotic carriage device into a steam pipe and remotely controlling the carriage to carry a video probe to a restricted passage such as a nozzle block and to extend the probe relative to the carriage to inspect features within the restricted passage such as turbine blades. Separate motor drives for each side of the carriage include drive wheels of slightly greater diameter than a timing belt which serves as a tractor tread to drive the carriage over obstacles not bridged by the wheels. A large permanent magnet between the wheels is retained within the carriage by front and rear axles and secures the carriage to the pipe walls in all orientations. The fixed size of the device is minimized by housing a motor for extending the probe relative to the carriage in a module cantilevered from the carriage by a preloaded compression spring. The single plane of articulation of the video probe is rotated by a torsion cable connected to the probe lead just behind the carriage.
摘要翻译： 通过将紧凑型机器人托架装置插入蒸汽管中并远程控制托架将视频探头运送到诸如喷嘴座的限制通道，来检查具有诸如汽轮机的内部通道的装置的内部结构，而不需要拆卸，并且 相对于托架延伸探头以检查限制通道内的特征，如涡轮叶片。 对于滑架的每一侧，单独的马达驱动器包括比同步皮带略大直径的驱动轮，该同步皮带用作拖拉机踏板，以将滑架驱动在未被轮子桥接的障碍物上。 车轮之间的大型永磁体通过前轴和后轴保持在滑架内，并将滑架固定在所有方向的管壁上。 通过容纳用于通过预加载的压缩弹簧将电机相对于托架延伸到由托架悬臂的模块中的电机而使装置的固定尺寸最小化。 视频探头的单个关节平面通过连接到托架后面的探针的扭力线旋转。
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