Abstract: A pulling tool for use in a wellbore or tubing for pulling cable includes a propulsion module having a main section and a propulsion arm hinged to the main section. The propulsion arm includes a complete propulsion wheel with a gear system. An electric motor is configured to drive the complete propulsion wheel via the gear system. The gear system may include a harmonic gear or a compound split ring epicyclic gear.

Abstract: Disclosed is a pipeline pulling tool having an elongate housing. First and second roller wheel sections have at least two freely rotating roller wheels extending out from a sidewall of the housing. An attachment for a tool string is fixed to one of the roller wheel sections. A main section with a retractable propulsion wheel and at least one actuator for actuating the propulsion wheel between an extended position, out from the sidewall of the housing, and a retracted position, inside the housing, is located between the first roller wheel section and the second roller wheel section. A method of actuating a pipeline pulling tool is also disclosed.

Abstract: A slick line, fiber optic cable, or tubing wellbore pulling tool includes a propulsion module having a main section and a hinged propulsion arm. A propulsion wheel with a gear system is supported in the propulsion arm. A gear system of the propulsion wheel includes an eccentric, internally toothed gear system with a fixed inner gear and a movable outer gear. The movable outer gear constitutes the propulsion wheel. An electric motor is configured to drive the propulsion wheel via the gear system.