DE69203671D1 - Fahrzeug zur Verwendung in Rohren. - Google Patents

Fahrzeug zur Verwendung in Rohren.

Info

Publication number
DE69203671D1
DE69203671D1 DE69203671T DE69203671T DE69203671D1 DE 69203671 D1 DE69203671 D1 DE 69203671D1 DE 69203671 T DE69203671 T DE 69203671T DE 69203671 T DE69203671 T DE 69203671T DE 69203671 D1 DE69203671 D1 DE 69203671D1
Authority
DE
Germany
Prior art keywords
pipes
vehicle
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.)
Expired - Fee Related
Application number
DE69203671T
Other languages
English (en)
Other versions
DE69203671T2 (de
Inventor
Ronald E Pelrine
Eric A Edwards
Lowrence S Gullman
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.)
Osaka Gas Co Ltd
Original Assignee
Osaka Gas Co Ltd
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 Osaka Gas Co Ltd filed Critical Osaka Gas Co Ltd
Publication of DE69203671D1 publication Critical patent/DE69203671D1/de
Application granted granted Critical
Publication of DE69203671T2 publication Critical patent/DE69203671T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D49/00—Tractors
    • B62D49/04—Tractors modified to take pushing devices
    • 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
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • 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
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00—Motor vehicles
    • Y10S180/901—Devices for traversing vertical surfaces
DE69203671T 1991-08-06 1992-08-06 Fahrzeug zur Verwendung in Rohren. Expired - Fee Related DE69203671T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/740,899 US5284096A (en) 1991-08-06 1991-08-06 Vehicle for use in pipes

Publications (2)

Publication Number Publication Date
DE69203671D1 true DE69203671D1 (de) 1995-08-31
DE69203671T2 DE69203671T2 (de) 1996-01-25

Family

ID=24978534

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69203671T Expired - Fee Related DE69203671T2 (de) 1991-08-06 1992-08-06 Fahrzeug zur Verwendung in Rohren.

Country Status (4)

Country Link
US (2) US5284096A (de)
EP (1) EP0526900B1 (de)
JP (1) JP3158187B2 (de)
DE (1) DE69203671T2 (de)

Families Citing this family (104)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5392715A (en) * 1993-10-12 1995-02-28 Osaka Gas Company, Ltd. In-pipe running robot and method of running the robot
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
GB9519368D0 (en) * 1995-09-22 1995-11-22 Univ Durham Conduit traversing vehicle
US5794703A (en) * 1996-07-03 1998-08-18 Ctes, L.C. Wellbore tractor and method of moving an item through a wellbore
GB9614761D0 (en) 1996-07-13 1996-09-04 Schlumberger Ltd Downhole tool and method
US6722442B2 (en) 1996-08-15 2004-04-20 Weatherford/Lamb, Inc. Subsurface apparatus
GB9617115D0 (en) 1996-08-15 1996-09-25 Astec Dev Ltd Pipeline traction system
WO1998012418A2 (en) 1996-09-23 1998-03-26 Intelligent Inspection Corporation Commonwealth Of Massachusetts Autonomous downhole oilfield tool
DE29700298U1 (de) * 1997-01-10 1998-05-07 Scheiff Gmbh Roboter zur Kanalsanierung
US6820653B1 (en) 1999-04-12 2004-11-23 Carnegie Mellon University Pipe inspection and repair system
US7296488B2 (en) * 2000-04-20 2007-11-20 United States Of America As Represented By The Secretary Of The Army System and method for accessing ferrous surfaces normally accessible only with special effort
US6742617B2 (en) * 2000-09-25 2004-06-01 Skywalker Robotics, Inc. Apparatus and method for traversing compound curved and other surfaces
GB0028619D0 (en) 2000-11-24 2001-01-10 Weatherford Lamb Traction apparatus
CA2354226A1 (en) * 2001-01-31 2002-07-31 Cal Holland Robotic apparatus and method for non-destructive maintenance of intersecting conduits
ES2249599T3 (es) * 2001-03-07 2006-04-01 Carnegie Mellon University Sistema robotizado para inspeccionar conducciones de gas.
AU2002335723A1 (en) * 2001-09-09 2003-03-24 Advanced Robotic Vehicles, Inc. Surface adhering tool carrying robot
WO2003076842A1 (en) * 2002-03-13 2003-09-18 Borealis Technology Oy Apparatus and method for testing pipes
GB0205919D0 (en) * 2002-03-13 2002-04-24 Thames Water Utilities Apparatus for pasing along a conduit
US7137465B1 (en) * 2002-10-02 2006-11-21 The Charles Stark Draper Laboratory, Inc. Crawler device
US6891477B2 (en) * 2003-04-23 2005-05-10 Baker Hughes Incorporated Apparatus and methods for remote monitoring of flow conduits
CA2465926C (en) 2003-04-30 2009-08-25 Weatherford/Lamb, Inc. A traction apparatus
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot 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
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
KR100662341B1 (ko) * 2004-07-09 2007-01-02 엘지전자 주식회사 디스플레이 장치 및 그의 색 재현 방법
WO2007029800A1 (ja) * 2005-09-09 2007-03-15 Kagoshima University 可撓性シャフトを用いた遠隔操縦型移動機械
GB2430018A (en) * 2005-09-13 2007-03-14 Graeme Mcnay Use of magnetic force for traction for internal crawling type deployment systems for ferrous piping
CA2655964C (en) * 2006-06-22 2014-10-28 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
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
JP2008022952A (ja) * 2006-07-19 2008-02-07 Hi-Lex Corporation 管路内の進行装置
US20090145249A1 (en) * 2006-10-20 2009-06-11 Dubbeldam Arthur J Modular scanner assembly
ATE462640T1 (de) * 2007-06-14 2010-04-15 Alstom Technology Ltd Selbstfahrendes inspektionsfahrzeug
WO2009009673A2 (en) * 2007-07-10 2009-01-15 Raytheon Sarcos, Llc Modular robotic crawler
WO2009014917A2 (en) 2007-07-12 2009-01-29 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
JP2010536435A (ja) * 2007-08-15 2010-12-02 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 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
WO2009023851A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
EP3147910B1 (de) * 2009-05-27 2019-07-10 Rolls-Royce Nuclear Field Services Inc. Verfahrbares inspektionssystem für die sekundärseite eines dampferzeugers
FR2946941B1 (fr) * 2009-06-23 2011-07-15 Prezioso Technilor Chariot de transport circulant sur une surface tubulaire.
US8646347B2 (en) * 2009-06-26 2014-02-11 Jireh Industries Ltd. Modular scanner apparatus and probe holding apparatus for inspection
CZ302170B6 (cs) * 2009-07-24 2010-11-24 Ceské vysoké ucení technické v Praze - Fakulta elektrotechnická Robot pro cištení a inspekci potrubí a ovládací jednotka pro jeho rízení
CH701817A1 (de) * 2009-08-31 2011-03-15 Alstom Technology Ltd Rollelement zum allseitigen Verfahren eines Fahrzeugs sowie Fahrzeug mit einem solchen Rollelement.
CH702282A1 (de) * 2009-11-27 2011-05-31 Alstom Technology Ltd Fahrzeug zur selbständigen Inspektion von schwer zugänglichen Innenräumen.
WO2011075693A1 (en) * 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
CH702955A1 (de) * 2010-04-14 2011-10-14 Alstom Technology Ltd Antriebseinheit für ein in rohrsystemen, hohlräumen oder dergleichen nach art eines roboters einsetzbares fahrzeug sowie fahrzeug mit einer solchen antriebseinheit.
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
US9060781B2 (en) 2011-06-10 2015-06-23 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
JP6106169B2 (ja) 2011-07-11 2017-03-29 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 手術ロボットシステム
EP3970784A1 (de) 2012-01-10 2022-03-23 Board of Regents of the University of Nebraska Systeme und vorrichtungen für chirurgischen zugriff und einsatz
US20130186699A1 (en) * 2012-01-23 2013-07-25 Sri International High voltage converters for electrostatic applications
EP2844181B1 (de) 2012-05-01 2021-03-10 Board of Regents of the University of Nebraska Robotische einzelstandortvorrichtung sowie entsprechende systeme
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
JP2015526171A (ja) 2012-08-08 2015-09-10 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 ロボット手術用デバイス、システム及び関連の方法
EP2921367A4 (de) * 2012-11-15 2016-09-28 Hibot Corp Intratubuläre wegvorrichtung und wegkörper
US20140152803A1 (en) * 2012-11-16 2014-06-05 Northeast Gas Association System, method & apparatus for remote pipe inspection
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
WO2014144220A1 (en) 2013-03-15 2014-09-18 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methdos
WO2015009949A2 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CN109249751A (zh) 2013-11-30 2019-01-22 沙特阿拉伯石油公司 磁性全向轮
US9360311B2 (en) * 2013-11-30 2016-06-07 Saudi Arabian Oil Company System and method for calculating the orientation of a device
US10106215B2 (en) * 2014-05-24 2018-10-23 James Walter Beard, III One-dimensional climbing vehicle with resilient guide mechanism
EP3868322A1 (de) 2014-09-12 2021-08-25 Board of Regents of the University of Nebraska Schnelllösbare endeffektoren sowie entsprechende systeme
US9586636B1 (en) * 2014-10-28 2017-03-07 The United States Of America As Represented By The Secretary Of The Navy Multi-segmented magnetic robot
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
EP3067258B1 (de) * 2015-03-09 2019-01-02 General Electric Technology GmbH Magnetwalze
CN104791578B (zh) * 2015-04-13 2016-08-10 浙江大学 具有变螺距螺线型爬行能力的管道机器车
CN104816762A (zh) * 2015-05-08 2015-08-05 浙江海洋学院 船舶污底自动清除装置
CN104816763A (zh) * 2015-05-08 2015-08-05 浙江海洋学院 大型船体表面吸附式施工平台
CN104943763B (zh) * 2015-07-09 2019-07-09 中国计量学院 一种可实现三维壁面过渡的爬壁机器人运动机构
RU2605234C1 (ru) * 2015-07-20 2016-12-20 Общество С Ограниченной Ответственностью "Газпром Трансгаз Краснодар" Платформа для внутритрубного дефектоскопа на магнитных колёсах
CN114027986A (zh) 2015-08-03 2022-02-11 内布拉斯加大学董事会 机器人手术装置系统及相关方法
CN105564522B (zh) * 2015-10-16 2017-11-03 福州环亚众志计算机有限公司 节肢型电磁探索机器人
AU2015415930A1 (en) * 2015-11-30 2018-06-21 Applus Servicios Tecnologicos, S.L. Magnetic wheel
US10239347B2 (en) * 2016-05-18 2019-03-26 Saudi Arabian Oil Company Magnetic omni-wheel with roller bracket
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
JP2019524371A (ja) 2016-08-25 2019-09-05 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 クイックリリースツールカプラ並びに関連するシステム及び方法
CN106240666B (zh) * 2016-08-30 2019-10-18 湖南千智机器人科技发展有限公司 负压吸附式爬壁机器人及其系统
US10702347B2 (en) 2016-08-30 2020-07-07 The Regents Of The University Of California Robotic device with compact joint design and an additional degree of freedom and related systems and methods
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
CA3045462A1 (en) 2016-11-29 2018-06-07 Virtual Incision Corporation User controller with user presence detection and related systems and methods
US10717166B2 (en) * 2016-12-02 2020-07-21 General Electric Company Motorized apparatus for use with rotary machines
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN106515896A (zh) * 2016-12-30 2017-03-22 洛阳圣瑞智能机器人有限公司 一种轮式悬磁吸附装置
RU171697U1 (ru) * 2017-01-20 2017-06-13 Общество С Ограниченной Ответственностью "Газпром Трансгаз Краснодар" Внутритрубное устройство для селективного сбора мусора на магнитных колёсах
IT201700044486A1 (it) * 2017-04-21 2018-10-21 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Sistema meccatronico per la manutenzione di tubature
US10471609B2 (en) * 2017-06-10 2019-11-12 Benjamin F. Dorfman Secured computer system
US10166672B1 (en) * 2017-06-21 2019-01-01 Deep Trekker Inc. Magnetic robot crawler
CN107458491A (zh) * 2017-06-28 2017-12-12 成都圭目机器人有限公司 一种轻量化的爬壁机器人及其检测方法
CN111417333B (zh) 2017-09-27 2023-08-29 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
US10769684B1 (en) * 2017-10-03 2020-09-08 Wells Fargo Bank, N.A. Property assessment system with buoyancy adjust device
RU179032U1 (ru) * 2017-10-17 2018-04-25 Общество С Ограниченной Ответственностью "Газпром Трансгаз Краснодар" Внутритрубное вакуумное устройство для сбора мусора на магнитных колесах с самонастраивающейся под диаметр трубопровода насадкой
CN111770816B (zh) 2018-01-05 2023-11-03 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US11312435B2 (en) 2018-07-18 2022-04-26 General Electric Company Motorized apparatus including articulated body
CN109334801B (zh) * 2018-09-19 2020-05-29 上海工程技术大学 一种用于大弧度弯曲壁面的爬壁机器人及控制方法
RU191973U1 (ru) * 2018-10-29 2019-08-28 Общество С Ограниченной Ответственностью "Газпром Трансгаз Краснодар" Внутритрубное устройство для сбора мусора на магнитных колесах
CN109484507A (zh) * 2018-12-29 2019-03-19 衡昇科技有限公司 用于复杂导磁壁面的定向吸附永磁磁轮双轮爬壁机器人
CA3125742A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
US20210276641A1 (en) * 2020-03-04 2021-09-09 James Walter Beard, III Tethered Mobile Climbing Robot for Inspecting Tanks in Confined Environments
CN112178357B (zh) * 2020-10-16 2022-03-01 重庆科技学院 一种高强度长输管线钢的焊后数据采集装置
US11118719B1 (en) * 2021-02-22 2021-09-14 Kakivik Asset Management, LLC Pipeline inspection device
CN114593308B (zh) * 2022-03-15 2023-11-24 江苏大发建设工程有限公司 一种油烟管道检测用机器人底盘
US20240068362A1 (en) * 2022-08-31 2024-02-29 Saudi Arabian Oil Company Autonomous wellbore drift robot

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US836225A (en) * 1906-03-09 1906-11-20 James Sweeney Traction-wheel.
US1075664A (en) * 1912-04-17 1913-10-14 Axel Herman Miller Vehicle-wheel.
US1381597A (en) * 1918-11-29 1921-06-14 Charles J Schifferle Vehicle-wheel
US2603164A (en) * 1948-06-04 1952-07-15 Allen E Hall Track magnetizing wheel
US2596322A (en) * 1949-09-29 1952-05-13 Zegco Products Inc Magnetic carriage
US2694164A (en) * 1952-02-07 1954-11-09 Walter A Geppelt Magnetic wheel
US3734565A (en) * 1971-08-30 1973-05-22 D Mulasmajic Anti-friction magnetic wheel
US3719395A (en) * 1971-08-30 1973-03-06 D Mulasmajic Magnetic wheel
US4180322A (en) * 1978-05-01 1979-12-25 Alcyon Equipment S.A. Interior measurement of enclosed spaces
US4369713A (en) * 1980-10-20 1983-01-25 Transcanada Pipelines Ltd. Pipeline crawler
US4431075A (en) * 1982-07-09 1984-02-14 Kemal Butka Wheel for vehicle
JPS6018464A (ja) * 1983-07-09 1985-01-30 Higashichiyuugoku Ishiko Kenki Kk 走行機の磁石付無端軌道体
JPS60215479A (ja) * 1984-04-12 1985-10-28 Toshiba Corp 走行装置
JPS60226375A (ja) * 1984-04-23 1985-11-11 Hitachi Ltd 壁面走行機
NO851590L (no) * 1984-05-14 1985-11-15 Kraftwerk Union Ag Selvdrevet inspeksjons- og tilsynskjoeretoey.
US4654702A (en) * 1984-11-09 1987-03-31 Westinghouse Electric Corp. Portable and collapsible pipe crawler
JPS61241283A (ja) * 1985-04-19 1986-10-27 Shimazaki Iwao 鉄製構造物用作業車
JPS61247578A (ja) * 1985-04-26 1986-11-04 Hitachi Ltd 磁気吸着式壁面歩行ロボツト
JPH07108659B2 (ja) * 1985-08-07 1995-11-22 東京瓦斯株式会社 管内走行装置、及び管内点検走行装置
JPS62268782A (ja) * 1986-05-19 1987-11-21 Toshiba Corp 移動装置
JPH0767913B2 (ja) * 1986-07-14 1995-07-26 三菱重工業株式会社 電磁駆動式履帯付き走行装置
US4862808A (en) * 1988-08-29 1989-09-05 Gas Research Institute Robotic pipe crawling device

Also Published As

Publication number Publication date
EP0526900B1 (de) 1995-07-26
US5284096A (en) 1994-02-08
US5388528A (en) 1995-02-14
JPH05185931A (ja) 1993-07-27
DE69203671T2 (de) 1996-01-25
EP0526900A1 (de) 1993-02-10
JP3158187B2 (ja) 2001-04-23

Similar Documents

Publication Publication Date Title
DE69203671T2 (de) Fahrzeug zur Verwendung in Rohren.
DE68924816T2 (de) Sitzanordnung zur Verwendung in Fahrzeugen.
DE69100195T2 (de) Gerät zur Kursbestimmung.
DE448859T1 (de) System zur gefuehrten atherektomie.
DE69617312T2 (de) Abdichtungseinrichtung zur Verwendung im Bohrloch
DE69300156D1 (de) Gehänge zur Verwendung in Förderern.
DE59006716D1 (de) Verfahren zur ermittlung des fahrbahnoberflächenzustandes.
DE59001345D1 (de) Kunststoffrohr zur kanalrohrsanierung.
DE69202067D1 (de) Verfahren zur Kursbestimmung.
DE69103848T2 (de) Fahrzeugaufbauten.
DE69204617T2 (de) Armlehne für Fahrzeuge.
NO910343L (no) Bagasjebaerer for tohjuling.
DE59103280D1 (de) Fahrzeug zur Strandreinigung.
DE69211843D1 (de) Verbesserungen bei gleiskettenfahrzeugen
MX9207307A (es) Mejoras en sujecion de tuberia.
DE69510424D1 (de) Transportfahrzeug
DE59200156D1 (de) Fahrzeug.
DE58900314D1 (de) Verfahren zur chromausfaellung aus gerbereiabwaessern.
DE59106462D1 (de) Gerät zur Bestimmung des Standortes.
DE9402438U1 (de) Distanzscheibe zur Spurverbreiterung
FI916045A0 (fi) Anordning omfattande en rotationstryckpress foer framstaellning av flersidiga vikta tryckalster.
DE9420197U1 (de) Winkelmesser zur Kursbestimmung
KR910016950U (ko) 횡행식 다단 주차장치
NO912250D0 (no) Egnessystem for line.
DE69115049D1 (de) Schneefahrzeug.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee