[go: up one dir, main page]

ATE278149T1 - Mobiler roboter zur ausführung von arbeiten in rohrleitungen oder anderen engen passagen - Google Patents

Mobiler roboter zur ausführung von arbeiten in rohrleitungen oder anderen engen passagen

Info

Publication number
ATE278149T1
ATE278149T1 AT01955432T AT01955432T ATE278149T1 AT E278149 T1 ATE278149 T1 AT E278149T1 AT 01955432 T AT01955432 T AT 01955432T AT 01955432 T AT01955432 T AT 01955432T AT E278149 T1 ATE278149 T1 AT E278149T1
Authority
AT
Austria
Prior art keywords
pipes
train
mobile robot
narrow passages
pipe
Prior art date
Application number
AT01955432T
Other languages
English (en)
Inventor
Yann Perrot
Olivier David
Original Assignee
Commissariat Energie Atomique
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 Commissariat Energie Atomique filed Critical Commissariat Energie Atomique
Application granted granted Critical
Publication of ATE278149T1 publication Critical patent/ATE278149T1/de

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
AT01955432T 2000-07-18 2001-07-17 Mobiler roboter zur ausführung von arbeiten in rohrleitungen oder anderen engen passagen ATE278149T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0009387A FR2812067B1 (fr) 2000-07-18 2000-07-18 Robot mobile apte a travailler dans des tuyaux ou d'autres passages etroits
PCT/FR2001/002324 WO2002006720A1 (fr) 2000-07-18 2001-07-17 Robot mobile apte a travailler dans des tuyaux ou d'autres passages etroits

Publications (1)

Publication Number Publication Date
ATE278149T1 true ATE278149T1 (de) 2004-10-15

Family

ID=8852618

Family Applications (1)

Application Number Title Priority Date Filing Date
AT01955432T ATE278149T1 (de) 2000-07-18 2001-07-17 Mobiler roboter zur ausführung von arbeiten in rohrleitungen oder anderen engen passagen

Country Status (7)

Country Link
US (1) US20040099175A1 (de)
EP (1) EP1301740B1 (de)
JP (1) JP2004512967A (de)
AT (1) ATE278149T1 (de)
DE (1) DE60106042D1 (de)
FR (1) FR2812067B1 (de)
WO (1) WO2002006720A1 (de)

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2837415B1 (fr) * 2002-03-22 2004-12-17 Framatome Anp Dispositif et procede d'intervention dans une zone d'une installation delimitee par une paroi ayant au moins deux surfaces en vis-a-vis
FR2837612B1 (fr) * 2002-03-22 2004-07-16 Framatome Anp Procede et dispositif de remplacement et procede de reparation d'un troncon d'une canalisation du circuit primaire d'un reacteur nucleaire
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
KR100662341B1 (ko) * 2004-07-09 2007-01-02 엘지전자 주식회사 디스플레이 장치 및 그의 색 재현 방법
HRP20050154B1 (hr) * 2005-02-18 2019-02-22 Inetec-Institut Za Nuklearnu Tehnologiju D.O.O. Sklop fleksibilnog bužira
US7587332B2 (en) * 2005-03-23 2009-09-08 Cubic Corporation Directed autoload of contactless stored value card within a transportation system
RU2327586C2 (ru) * 2006-04-17 2008-06-27 Нигматулла Рахматуллович Янсуфин Сверхзвуковая наземная транспортная система янсуфина
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US8834488B2 (en) * 2006-06-22 2014-09-16 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic surgical devices and related methods
JP5495786B2 (ja) * 2006-11-13 2014-05-21 レイセオン カンパニー ロボット式無限軌道車用の形状適合可能な軌道アセンブリ
CN101583530B (zh) 2006-11-13 2012-07-04 雷神萨科斯公司 具有可动臂件的机器人履带车
EP2086821B1 (de) * 2006-11-13 2010-07-14 Raytheon Sarcos LLC Vielseitig verwendbares endlosband für leichte mobile roboter
FR2914979B1 (fr) * 2007-04-12 2009-07-10 Saipem S A Sa Procede de realisation de conduite sous-marine comprenant le martelage de soudures d'assemblage a l'interieur de la conduite
JP2010526590A (ja) 2007-05-07 2010-08-05 レイセオン・サルコス・エルエルシー 複合構造物を製造するための方法
DE102007026842A1 (de) * 2007-06-06 2008-12-11 Endress + Hauser Wetzer Gmbh + Co Kg Vorrichtung zur Bestimmung und/oder Überwachung einer Messgröße
EP2170683A2 (de) 2007-07-10 2010-04-07 Raytheon Sarcos, LLC Modularer raupenroboter
EP3673855B1 (de) 2007-07-12 2021-09-08 Board of Regents of the University of Nebraska Betätigungssysteme in robotergeräten
JP5475662B2 (ja) 2007-08-15 2014-04-16 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式およびセグメント化医療装置ならびに関連するシステム
WO2009023839A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
KR100953256B1 (ko) 2008-05-09 2010-04-16 창원대학교 산학협력단 파이프 청소용 로봇의 케이블 부하경감 보조장치
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
US8708770B2 (en) * 2009-02-17 2014-04-29 George S. Hudimac, Jr. Model motor vehicle highway system
US8961262B2 (en) * 2009-02-17 2015-02-24 George S. Hudimac, Jr. Model motor vehicle highway system
DE102009012802B3 (de) * 2009-03-13 2010-09-02 Meier, Verica Navigationslehre zur Bogendurchführung von Sanierungspackern
US8935014B2 (en) 2009-06-11 2015-01-13 Sarcos, Lc Method and system for deploying a surveillance network
EP2440448B1 (de) * 2009-06-11 2015-09-30 Sarcos LC Amphibischer raupenroboter
US8651183B2 (en) * 2009-07-31 2014-02-18 Schlumberger Technology Corporation Robotic exploration of unknown surfaces
JP2013514835A (ja) 2009-12-17 2013-05-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式及び協働式医療装置並びにこれに関連するシステム及び方法
FR2956606B1 (fr) 2010-02-19 2014-01-17 Tecks Eac M Dispositif articule a capacite de franchissement
CN101863026B (zh) * 2010-05-18 2013-08-21 王喜 无关节机械臂和无关节机器蛇
JP2014529414A (ja) 2010-08-06 2014-11-13 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 自然開口部手術用材料の取扱または送達のための方法およびシステム
CN103068333B (zh) * 2010-08-27 2015-09-16 伊顿株式会社 外科手术器械
KR101020944B1 (ko) 2010-08-30 2011-03-09 한국원자력연구원 전열관 검사케이블 및 이의 삽입력 해석방법
EP2668704A1 (de) * 2011-01-25 2013-12-04 Jelcer-IP B.V. Rohrlaufvorrichtung und ihre verwendung
US9056746B2 (en) * 2011-02-11 2015-06-16 University Of Regina Adaptable vehicle
WO2013048595A1 (en) 2011-06-10 2013-04-04 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
EP2732344B1 (de) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotisches chirurgisches system
WO2013052137A2 (en) 2011-10-03 2013-04-11 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
KR101255674B1 (ko) * 2011-11-02 2013-04-17 연세대학교 산학협력단 관 내 이동용 로봇
EP3970784A1 (de) 2012-01-10 2022-03-23 Board of Regents of the University of Nebraska Systeme und vorrichtungen für chirurgischen zugriff und einsatz
CA2871149C (en) 2012-05-01 2020-08-25 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9010214B2 (en) 2012-06-22 2015-04-21 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
KR101407648B1 (ko) * 2012-10-26 2014-06-16 성균관대학교산학협력단 다중 출력 차동기어를 이용한 인-파이프 로봇
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
EP2996545B1 (de) 2013-03-15 2021-10-20 Board of Regents of the University of Nebraska Robotische chirurgische systeme
EP3005375B1 (de) * 2013-05-31 2021-03-03 NuScale Power, LLC Inspektion eines dampferzeugers
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
WO2015134915A2 (en) * 2014-03-06 2015-09-11 Motzno Douglas W System for maintaining conduits and pipes in a pipeline system
JP6710199B2 (ja) 2014-09-12 2020-06-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ クイックリリースエンドエフェクターおよび関連するシステムおよび方法
WO2016077478A1 (en) 2014-11-11 2016-05-19 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
CA2994823A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
CN109715081B (zh) 2016-05-18 2021-11-09 虚拟切割有限公司 机器人外科装置、系统及相关方法
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
US11173617B2 (en) 2016-08-25 2021-11-16 Board Of Regents Of The University Of Nebraska Quick-release end effector tool interface
EP3507065B1 (de) 2016-08-30 2025-02-12 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkdesign und einem zusätzlichen freiheitsgrad
CN106439383B (zh) * 2016-10-25 2018-03-23 山东大学 一种管道机器人及其应用
JP2020500674A (ja) 2016-11-22 2020-01-16 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 改良された全体的位置決めデバイスならびに関連するシステムおよび方法
US10675110B2 (en) 2016-11-29 2020-06-09 Virtual Incision Corporation User controller with user presence detection and related systems and methods
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN106764244B (zh) * 2017-01-11 2018-10-30 扬州大学 一种磁悬浮管道机器人
US10451210B2 (en) * 2017-05-17 2019-10-22 Massachusetts Institute Of Technology Soft body robot for in-pipe missions
DE102017114538B4 (de) * 2017-06-29 2019-05-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ausrichtekern zur koaxialen Ausrichtung von Rohrabschnitten und Verwendung eines solchen Ausrichtekerns
US10434641B2 (en) 2017-07-18 2019-10-08 General Electric Company In situ gap inspection robot system and method
US10596713B2 (en) 2017-07-18 2020-03-24 General Electric Company Actuated sensor module and method for in situ gap inspection robots
US10603802B2 (en) 2017-07-18 2020-03-31 General Electric Company End region inspection module and method for in situ gap inspection robot system
US10427734B2 (en) * 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
EP3735341B1 (de) 2018-01-05 2024-10-02 Board of Regents of the University of Nebraska Einarmige robotische vorrichtung mit kompaktem gelenkentwurf sowie zugehörige systeme
FR3078763B1 (fr) * 2018-03-09 2020-04-03 Prezioso Linjebygg Systeme de traitement d'une conduite et son utilisation
BR102018015804B1 (pt) * 2018-08-02 2021-12-14 Petróleo Brasileiro S.A. - Petrobras Sistema de revestimento para integração de equipamento modular de intervenção interna em linhas tubulares
CN114302665B (zh) 2019-01-07 2025-12-19 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
CN109540107A (zh) * 2019-01-07 2019-03-29 浙江蓝迪电力科技有限公司 一种管道路径视频监测器
CN109780368B (zh) * 2019-02-19 2020-07-03 北京交通大学 基于气动驱动机构的污水管道带水检测机器人
CN109780369B (zh) * 2019-03-11 2020-07-10 河海大学常州校区 一种管道爬行机器人及其爬行方法
CN110170850B (zh) * 2019-07-02 2020-06-19 滨州学院 水下管道焊接机器人
CN110170804B (zh) * 2019-07-02 2020-06-19 滨州学院 海底管道焊接方法
WO2021034611A1 (en) 2019-08-20 2021-02-25 General Electric Company Sensor interface module with scissor lift for plurality of sensors, and visual inspection module with dual view paths for robot
WO2021034630A1 (en) 2019-08-20 2021-02-25 General Electric Company Traction module for robot with variable extension positions
CN110486570B (zh) * 2019-08-26 2022-01-07 贵州大学 一种仿生管道爬行机器人
CA3186863A1 (en) 2020-07-06 2022-01-13 Virtual Incision Corporation Surgical robot positioning system and related devices and methods
CN112097009B (zh) * 2020-09-25 2021-12-21 杭州电子科技大学 一种管道检测软体机器人及其驱动方法
US12311550B2 (en) 2020-12-31 2025-05-27 Sarcos Corp. Smart control system for a robotic device
CN114776935B (zh) * 2022-06-22 2022-09-09 广东衡太建设有限公司 一种可自动调节平衡的市政工程用大型陀螺仪
CN115419780A (zh) * 2022-10-10 2022-12-02 温州大学 一种仿生蚯蚓机器人
US11947362B1 (en) 2023-07-31 2024-04-02 United Arab Emirates University Transformable swarm robots for pipe inspection and maintenance
CN118959776B (zh) * 2024-08-03 2025-10-14 重庆大学 一种管道蠕动机器人工作方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4481816A (en) * 1982-03-24 1984-11-13 British Gas Corporation Pipeline gauging vehicles
DE3612498A1 (de) * 1986-04-14 1987-10-29 Norske Stats Oljeselskap Selbstfahrendes fahrzeug fuer rohrleitungen
CA1292704C (en) * 1987-04-07 1991-12-03 Douglas C. Campbell Pipeline packer
FR2724458B1 (fr) * 1994-09-12 1996-12-13 Intercontrole Sa Module d'entrainement pour vehicule endo-tubulaire a deplacement autonome destine a l'inspection de canalisations
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
BR9904364A (pt) * 1999-09-28 2001-06-05 Petroleo Brasileiro Sa Veìculo telecomandado para operações no interior de dutos
US6450104B1 (en) * 2000-04-28 2002-09-17 North Carolina State University Modular observation crawler and sensing instrument and method for operating same

Also Published As

Publication number Publication date
FR2812067A1 (fr) 2002-01-25
US20040099175A1 (en) 2004-05-27
EP1301740A1 (de) 2003-04-16
WO2002006720A1 (fr) 2002-01-24
FR2812067B1 (fr) 2003-05-16
JP2004512967A (ja) 2004-04-30
DE60106042D1 (de) 2004-11-04
EP1301740B1 (de) 2004-09-29

Similar Documents

Publication Publication Date Title
ATE278149T1 (de) Mobiler roboter zur ausführung von arbeiten in rohrleitungen oder anderen engen passagen
WO2003001099A3 (en) Pipe coupler
DE60226059D1 (de) Verbindungsvorrichtung zum sterilen verbinden von schläuchen
WO2005008116A3 (en) System and method for coupling conduit
AU5690198A (en) Joining metal members
TN2009000365A1 (en) Prefabrication of pipe strings on board of pipe-laying vessels
PL1528309T3 (pl) Gwintowe urządzenie łączące do łączenia zawiniętych końców dwóch rur
SG148150A1 (en) Fitting for metal pipe and tubing
GB0107637D0 (en) Improvements in or relating to underwater pipe-laying
DE50008500D1 (de) Verkettetes Fertigungssystem
EP1451522A4 (de) Verfahren und vorrichtung zum universellen formschneiden von röhren
AU2002250376A1 (en) Methods of girth welding high strength steel pipes to achieve pipeline crack arrestability
DE502004001258D1 (de) Vorrichtung zum fluiddichten Abdichten eines Rohrabschnitts
DE50208575D1 (de) Grundkörper aus gefügten Rohrstücken und Verfahren zu seiner Herstellung
NO20015333L (no) Anordning for sammenkobling og frakobling av gjengede borekomponenter
CN222114805U (zh) 一种管接头的加工夹具
CN206958465U (zh) 一种新型鞍形管道专用连接三通
CN204717137U (zh) 自行式管道施工快速连接装置
WO2004009286A3 (en) Method and tool for for aligning piping components
ES2007924A6 (es) Procedimiento y dispositivo para el saneamiento de tuberias.
DK200100140U3 (da) Beskyttelsesgasværktøj type 3 Universal, for sammensvejsning af rør eller og rør -unioner/flanger
ATE303545T1 (de) Rohrpressverbindung
MXPA04011185A (es) Metodo y recipiente para tendido de tuberia en el mar.
Lebedev et al. An Innovation in Welded Main Pipeline Construction Technology
KR200331958Y1 (ko) 파이프

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties