Abstract: A steering assembly for use in a pipeline is disclosed. A skid is moveable along an axial pathway. A cable-receiving member is mounted to the skid. A shoe member is rotationally secured to the cable-receiving member. An extension module is moveable upward away from the skid. A hose can pass through the cable-receiving terminus, the shoe member and the extension module, and a hose-mounted tool head is rotationally and upwardly movable relative to the skid.

Abstract: The invention relates to a travelling device (10, 130) for an apparatus for rehabilitating pipelines, with an adjustable undercarriage (20, 140), comprising a plurality of wheels (42, 44; 162, 164), and with a support device (30, 150) to which the undercarriage (20, 140) is fastened. A plurality of wheel sets (40, 160) are provided and each wheel set (40, 160) comprises at least two wheels (42, 44; 162, 164), wherein the wheels (42, 44; 162, 164) of a wheel set (40, 160) are rotatably mounted on a wheel holding element (50, 170).

Abstract: The pipe travelling apparatus (100) for travelling through a curved sewerage pipe and for performing a task in said pipe comprises a first segment (101) and a second segment (102), each comprising a body (101, 102) provided with a sliding surface (108, 109) for sliding along an inner bottom surface of a pipe, said first and second segment mutually coupled by a bendable coupling member (120). The apparatus further comprises a tool (161, 150, 171, 172) suitable for performing said task in the pipe and provided in or to at least one of said first segment (101) and said second segment (102). The apparatus further comprises a driving means (130) coupled to said first and/or second segment (101, 102), such as a driving cable. The pipe travelling apparatus (100) is intended for transportation of a cable (90) into the pipe, and for fastening cable fastening elements (10) attached to said cable (90) to an inner wall of said pipe.

Abstract: A lifting unit for pipe inspection systems for lifting a head unit, comprising a base support with a connection module for connection to a connection unit of a carriage, a lifting system with at least one lifting arm and a drive unit for deflecting the lifting arm relative to the base support via a rotation axis, as well as a head unit with a connection module for connection of inspection units, in particular cameras and illumination systems, wherein connectors of the carriage are at least partially lead to the connection module of the head unit.

Abstract: A transportation system which is linked through a common single operating system, in the form of a vacuum tube-link network of transport tubes avoids the limitations of current transportation systems in terms of cost of construction, continuous rising costs of maintenance, limited speed capacity, limited volume capacity, insufficient safety, and vulnerability to environmental and climatic changes. The present invention offers year-round, uninterrupted operation while providing a safe haven at stations for the public during environmental or climatic conditions making sustaining life difficult or impossible. The transportation system of the present invention operates in a contained vacuum tube link environment within which a transport capsule is levitated. Levitation is provided by permanent magnets located in the interior of the transport tube and liquid-cooled super-conducting bulk elements located on the capsule. Cooling may be provided by a fluid such as nitrogen, helium, etc.

Abstract: A device. The device includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.

Abstract: An apparatus for conveying a payload through a pipe having the ability to automatically self-stabilize and orient itself inside the pipe by controlling two pipe tracking contactors so as to maintain contact between the pipe tracking contactors and the pipe wall and maintain the apparatus in a functional orientation. The apparatus includes tilt sensor arrays for continuously monitoring the position of the apparatus with respect to the pipe wall, variable speed drive motors operably connected with the pipe contactors for rotating the contactors, tilt motors operably connected with the pipe tracking contactors to enable movement of the contactors between a non-functional orientation and a functional orientation, and a controller for controlling the motors based upon information provided by the tilt sensor arrays.

Abstract: The invention provides an improved method and robotic apparatus for applying a structural membrane lining in conduits. The remotely controlled robot comprises a series of segment blocks maintained in alignment by flexible linear rods supported in spherical swivel bushings. The rods allow for articulation as the robot negotiates bends. Segment blocks include radial guide finger pinions and guide fingers for concentric positioning. Fingers are of engineered plastics and brass to provide ballast weight for perpendicular alignment and contain high frequency air turbine vibrators. Steering vertebrae are included to maintain concentricity of the lining dissipation cup through bends. Also included are electric servo motors controlling cables and take up wheels controlling the angle of the segment blocks.

Abstract: It is well known that tunnels in many cases have been proven as an efficient means to overcome counter trespassing means and enable hostile entities to infiltrate a boarder or other restricted area. There is provided a method and system for efficiently detecting and locating underground tunnels.

Abstract: A robotic arm is provided, for example for inspecting a rotary machine such as a gas turbine engine. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second orthogonal plane. Thus the arm can move around objects such as aerofoils in the engine, and also move up or down to remain close to the rotary surface of the machine.

Abstract: The invention is a remote controlled vehicle adapted for navigating inside HVAC supply trunks. It is equipped with a moveable camera and a powered tool for snagging a string or parachute propelled into the trunk by other methods. A command box is provided to view the image from the camera and control the vehicle's various functions. The installation technician inserts the vehicle into the trunk through an access hole and uses the command box to navigate the vehicle inside a HVAC trunk and locate and secure the string to the vehicle. The technician then controls the vehicle to pull the string back to the access or the technician manually pulls the vehicle back to the access by its tether.

Abstract: The invention provides a conveyance device, suitable for traveling along a surface and conveying an explosive charge, the conveyance device including a propulsion member having two opposite ends, the propulsion member being displaceable between a longitudinally extended position wherein the ends are displaced away from one another; and a longitudinally contracted position wherein the ends are displaced toward one another; an outer gripping member and an inner gripping member, each gripping member being displaceable between a circumferentially expanded position wherein an outer perimeter of the gripping member is displaced away from a center of the member so as to, in use, abut at least part of the surface; and a circumferentially contracted position wherein an outer perimeter of the gripping member is displaced towards the center of the member so as to be spaced apart from the surface; the propulsion member and the gripping members being configured in order for sequential displacement of the propulsion member

Abstract: An apparatus for transporting a payload along the inside of a substantially horizontal pipe, which apparatus includes a pair of spaced apart, vertically aligned, relationally pivotably connected, rollable pipe tracking contactors, wherein pivoting of one of the pipe tracking contactors in a first direction results in pivoting of the other pipe tracking contactor in a direction opposite to the first direction. The apparatus further includes a control system which is used to maintain the vertical alignment of the pipe tracking contactors and which includes a two-dimensional tilt sensor that provides information to a controller regarding the orientation of the apparatus. Using the information from the sensor, the controller is able to correct both the lateral position and the speed of the contactors to bring the apparatus back into vertical alignment.

Abstract: A conduit travelling apparatus is capable of crawling through a conduit for performing certain operation by a stepwise sequence of alternating sequences of expanding and contracting the length of the body while bracing each end alternately. The apparatus provides a self aligning element for correcting rotation of such apparatus due to powered operations it may perform, or any natural tendency to twist as it progresses. The self aligning element includes steering elements overseen by a control system which helps return the travelling apparatus to a preferred alignment during its forward or rearward travel.

Abstract: A crawler device for pulling a leader string through electrical or cable conduit. The crawler device has a traction head, for example using caterpillar-type rubber tracks, biased outwardly into contact with the inner wall of the conduit when inserted in the conduit. The traction head pulls its own motor and power supply behind it, serially and flexibly linked to follow the traction head and negotiate curves in the typically small diameter electrical conduit. In the preferred from, the power supply is a series of linked batteries, such that the crawler is an independently and self-sufficiently mobile machine traveling through the conduit.

Abstract: An apparatus for transporting a payload along the inside of a substantially horizontal pipe, which apparatus includes a pair of spaced apart, vertically aligned, relationally pivotably connected, rollable pipe tracking contactors, wherein pivoting of one of the pipe tracking contactors in a first direction results in pivoting of the other pipe tracking contactor in a direction opposite to the first direction. The apparatus further includes a control system which is used to maintain the vertical alignment of the pipe tracking contactors and which includes a two-dimensional tilt sensor that provides information to a controller regarding the orientation of the apparatus. Using the information from the sensor, the controller is able to correct both the lateral position and the speed of the contactors to bring the apparatus back into vertical alignment.

Abstract: 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.

Abstract: A radiation source apparatus for irradiating the inner walls of elongated cavities, especially for hardening of artificial resin laminates that can be radiation hardened by ultraviolet or infrared radiation, has a base body with at least one light source and multiple wheels by which the apparatus is guided inside the cavities. The multiple wheels are movably mounted on arms in a direction radial to the base body. At least one gas pressure spring is assigned to each arm, which pushes the arm from a radially proximal first position into a radially distal second position.

Abstract: Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an agent delivery component. The devices include mobile robotic devices and fixed base robotic devices as disclosed herein. The agent delivery component can have at least one agent reservoir and a discharge component in fluidic communication with the at least one reservoir.

Abstract: A moving device in a pipeline, including: more than three segments, including a front segment, arranged in series; an extendable interconnecting element to connect adjacent segments; and an engaging force changing component to change engaging force of a segment that is to be moved with the inside of the pipeline to a smaller force, smaller than the engaging force of a remaining segment with the inside of the pipeline. The front segment has a head part, a body part, a joint part to turn the head part centering around the body part, and a drive unit to move the head part around the body part. The drive unit have a magnet provided in the head part and an electromagnet provided in the body part.

Abstract: The tubular transporter for moving a submersible pump through a collecting pipe under a landfill has a set of wheels angularly mounted to a cylindrical housing in positions above a center of gravity of the transporter. The transporter has a screen at a suction end and an end plate at a discharge end. The end plate has a vent hole with an optional plug. A pressure sensor is removably mounted to the housing and operates for determining when sufficient water is present to actuate the pump. The pump discharges the water to be treated prior to being returned to the ground. A series of hose dollies are mounted to the discharge hose to enable entry into a long collection pipe.

Abstract: The invention provides a conveyance device, suitable for traveling along a surface and conveying an explosive charge, the conveyance device including a propulsion member having two opposite ends, the propulsion member being displaceable between a longitudinally extended position wherein the ends are displaced away from one another; and a longitudinally contracted position wherein the ends are displaced toward one another; an outer gripping member and an inner gripping member, each gripping member being displaceable between a circumferentially expanded position wherein an outer perimeter of the gripping member is displaced away from a center of the member so as to, in use, abut at least part of the surface; and a circumferentially contracted position wherein an outer perimeter of the gripping member is displaced towards the center of the member so as to be spaced apart from the surface; the propulsion member and the gripping members being configured in order for sequential displacement of the propulsion member

Abstract: A vehicle for travel through a conduit includes a forward and a rearward member, each member being provided with a wall-engaging mechanism for selectively engaging a wall of the conduit to hold the respective member in a stationary position within the conduit. Extensible elements such as a hydraulic ram connect the members for relative movement of the forward member toward and away from the rearward member. Each wall-engaging mechanism includes a plurality of legs extendable outwardly from the respective member and a wall-engaging surface on or fixed to each leg, one actuator engages each of the legs for coordinated extension of the legs to bring each wall-engaging surface into contact with the wall of the conduit. Preferably a rotary cuter is mounted at the front of the vehicle for clearing obstructions in the conduit.

Abstract: A remotely controlled, traction wheel driven, transporter moves inspection equipment within a walled cavity to check internal structural features. The inspection equipment can be mounted on a positioner pushed by the transporter, which adjusts with changing dimensions of the cavity so as to maintain the inspection equipment in a desired position or attitude, for example, centered within the cavity.

Abstract: A moving device in pipe lines is provided, which allows easy switching of moving/stopping and remote control of the switching by only electric wires enabling easy operation in the inside of small diameter pipe lines. The moving device 10 in pipe lines comprises a guide frame 11 in which a line of three or more coils 15, 16, 17 is interconnected flexibly in the direction of magnet flux, ring-shaped permanent magnets 19, 20, 21 provided around the periphery of the guide frame slidably in the direction of the shaft, and a control means such as computers etc. to control by a preset program selecting the direction of turning on of the coils.

Abstract: A self-propelled crawler/tractor apparatus is disclosed for traveling through a tubular pipeline while conducting pipeline wall inspection operations and/or towing gear for cleaning, maintenance and the like. The crawler/tractor apparatus is propelled by a plurality of radially positioned motorized traction wheels. Each motorized traction wheel includes a brushless DC electric motor along with clutch, gearbox and other mechanical drive components integrated into a compact self-contained motorized wheel assembly which is sealed and filled with an electrically non-conductive lubricating/cooling oil. The seal integrity at each wheel assembly is maintained against oil leakage and debris ingress by a pressure-balancing mechanism which matches internal oil pressure to the exterior ambient pressure present in the pipeline. The electric motor drive for each traction wheel is individually controlled via an onboard computer to provide a wide range of torque and wheel speeds.

Abstract: A vehicle (1) for travelling along a conduit (2) such as a pipeline having fluid flowing therein is disclosed. The vehicle comprises a first body carrying a first set of retractable bristles (12) for engaging an internal wall of the conduit such that the bristles resist movement of the first body in a first direction more than in a second direction, and a second set of retractable bristles (13) for engaging the internal wall of the conduit such that the bristles resist movement of the first body in the second direction more than in the first direction. A thread follower (16) carries a third set of resilient bristles (18) for engaging the internal wall of the conduit such that the bristles resist movement of the thread follower in the first direction more than in the second direction. A turbine (5) is actuated by fluid flow in the conduit to cause rotation of a reverse traverse screw (14) to move the first body and thread follower towards and away from each other.

Abstract: The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

Abstract: An apparatus for transporting a payload along the inside of a substantially horizontal pipe. The apparatus includes vertically aligned upper and lower roller elements which are relationally pivotably connected to each other, both of which contact the inside surface of the pipe into which the apparatus is inserted. The apparatus further includes a steering pendulum which enables the apparatus to maintain a substantially vertical orientation as it is pushed or pulled through the pipe.

Abstract: The present invention provides a robot for use inside an open abdominal cavity during minimally-invasive surgery. The robot may include various sensors, imaging devices or manipulators.

Abstract: A self-propelled vehicle (20) for movement within a tubular member (22) includes propulsion mechanisms (28) distributed about a core element (24). Each of the propulsion mechanisms (28) includes a drive belt (28). A first pulley (34), a second pulley (36), and a mid-roller assembly (38) are encompassed by and engage the drive belt (28). The mid-roller assembly (38) is spring-loaded for providing an outwardly-directed force (40) to an underlying portion (42) of the drive belt (28) to press the drive belt (28) against an inner wall (44) of the tubular member (22). A motor arrangement (46), in communication with the propulsion mechanisms (28), actuates one of the first and second pulleys (34, 36) to rotate the drive belt (28) in contact with the inner wall (44) of the tubular member (22) thereby moving the vehicle (20) within the tubular member (22).

Abstract: The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

Abstract: A traction apparatus (1) for propulsion along a bore comprises first and second traction members (6) having outwardly extending legs (14). A propulsion system for operating the traction members (6) comprises a turbine-driven shaft (7) which drives the traction members (6) by way of bearing members (15). In a first phase, one of the legs of the first traction member is moved in one direction whilst in contact with the traction surface to impart the propulsion force at the same time as one of the legs of the second traction member is moved in opposite direction whilst out of contact. In a second phase one of the legs of the second traction member is moved in said one direction whilst in contact with the traction surface to impart the propulsion force at the same time as one of the legs of the first traction member is moved in opposite direction whilst out of contact.

Abstract: 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.

Abstract: In order to facilitate, and largely to automate, the installation of cable supports on a duct wall, an installation vehicle can be displaced in the duct. The vehicle has a basic body which contains a storage battery and on which are mounted wheels. At least one of the wheels is driven by an integrated wheel-hub motor. Carriers for supporting seats for the operators are provided on opposite end sides of the basic body and the individual subassemblies are controlled via a control box on the basic body. A platform, which can be raised by a hydraulic cylinder carries pivoting brackets. The pivoting brackets carry slides for percussion drills, which can be displaced into their operating position, in the direction of the duct wall, by way of a pneumatic spring and moved, counter to the force of the spring, into a rest position.

Abstract: The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power system for causing relative rotation of the sections bearing the pitched and non-pitched wheels. The robot may include internal fluid flow passages, notched wheels, multiple retractable wheels, and is configured so as to have an operating diameter less than six and preferably less than two inches.

Abstract: A vehicle (1) for travelling along a conduit (2) having fluid flowing therein is described. The vehicle comprises a forward set of resilient bristles (12) and a rear set of bristles (18) which are adapted to move towards and away from the forward bristles (12). The forward bristles (12) engage the surface of the conduit (2) and apply a greater gripping force when they are moving towards the mar bristles (18) than when they are moving away from the rear bristles (18). Similarly, the rear bristles (18) apply a larger gripping force to the surface of the conduit (2) when they are moving away from the forward bristles (12) than when they are moving towards the forward bristles (12).

Abstract: A sliding plug for working on and testing pipes is presented. The sliding plug includes a center portion and a gasket disposed about the central portion. When towed through the pipe, the sliding plug maintains a substantial seal against water flowing through the pipe. In some embodiments, a flexible gasket can be utilized to allow for substantial sealing while the sliding plug is traversing obstacles in the pipe. The sliding plug according to the present invention can be utilized in pipes where conventional plugs are inconvenient. For example, in FELL testing a sewage line, a sliding plug can be attached to a sonde cable and the testing can proceed without plugging and surcharging the section of pipe to be tested. In some embodiments, the sonde can include a pressure transducer which may be monitored to indicate that there is a sufficient water level at the sonde and, in some embodiments, to indicate a leak in the pipe by a drop in the water pressure.

Abstract: A traction apparatus (1) for propulsion along a bore comprises first and second traction members (6) having outwardly extending legs (14). A propulsion system for operating the traction members (6) comprises a turbine-driven shaft (7) which drives the traction members (6) by way of bearing members (15). In a first phase, one of the legs of the first traction member is moved in one direction whilst in contact with the traction surface to impart the propulsion force at the same time as one of the legs of the second traction member is moved in opposite direction whilst out of contact. In a second phase one of the legs of the second traction member is moved in said one direction whilst in contact with the traction surface to impart the propulsion force at the same time as one of the legs of the first traction member is moved in opposite direction whilst out of contact.

Abstract: Robotic, preferably cylindrical equipment having the capacity to move within a pipeline or other confined space in both directions and to carry out miscellaneous operations, pulling along an umbilical and carrying accessories, tools, or materials. It includes two identical modules joined by a rotary joint connecting the pistons of hydraulic or pneumatic propulsive piston systems. Each module includes a propulsive piston system which is responsible for the longitudinal movement of module, a positioning tower on which are mounted wheels having a non-reversing system and means for rotating positioning tower through one hundred and eighty degrees with reference to its vertical axis, reversing the direction of movement of equipment. Through the development or attachment of interfaces it is possible to bring tools, equipment, devices or materials to a remote location within a pipeline having bends within the limits of the standards for clearing obstructions, making inspections and other operations.

Abstract: The invention relates to a method and to a device for fastening at least one pipe and/or at least one empty duct (2) on the inner wall (3) of a placed sewer pipe (4). The inventive method is characterized by introducing the at least one pipe and/or empty duct (2) into the sewer pipe, pressing it against the inner wall of the sewer pipe and fastening it by using an adhesive compound (22). The at least one pipe and/or empty duct (2) is guided towards the inner wall (3) in the longitudinal and transverse direction of the sewer pipe (4) in a controlled manner and the object (2) to be placed is included between the inner wall (3) and an inliner (14). The inventive device is characterized by an adjustable guide device (5) that is, according to a preferred embodiment, provided with a swan-neck-shaped, rotatable or swivelable guide element (6).

Abstract: Robotic, preferably cylindrical equipment having the capacity to move within a pipeline or other confined space in both directions and to carry out miscellaneous operations, pulling along an umbilical and carrying accessories, tools, or materials. It includes two identical modules joined by a rotary joint connecting the pistons of hydraulic or pneumatic propulsive piston systems. Each module includes a propulsive piston system which is responsible for the longitudinal movement of module, a positioning tower on which are mounted wheels having a non-reversing system and means for rotating positioning tower through one hundred and eighty degrees with reference to its vertical axis, reversing the direction of movement of equipment. Through the development or attachment of interfaces it is possible to bring tools, equipment, devices or materials to a remote location within a pipeline having bends within the limits of the standards for clearing obstructions, making inspections and other operations.

Abstract: A robotic apparatus adapted for locomotion in an enclosed space such as a pipe includes a combination of articulated gripping and locomotive modules. Each gripping module includes an actuator mechanically linked to gripping members such that axial forces produced by the actuator are translated to radial forces in the gripping members, whereby the gripping members are caused to alternately hold and release the engagement of the robotic apparatus with surfaces of the enclosed space. Each locomotive module includes one or more actuators adapted to alternatively expand and contract the length of the locomotive module. The sequence of operations of the gripping and locomotive modules can be controlled such that the robotic apparatus can crawl through the enclosed space in an inchworm-like fashion and is capable of navigating turns and traversing inclines.

Abstract: A vehicle for traversing a surface, for example for carrying out an inspection, survey or maintenance operation upon that surface, includes two or more bodies interconnected by structure for moving the bodies towards and away from each other, each of the bodies being supported upon a multiplicity of resilient bristles extending from it. By relative movement of the bodies, the vehicle is able to traverse the surface, which may be flat or curved, for example the internal or external surface of a tubular conduit such as a tunnel, shaft or pipe.

Abstract: A pipe crawler apparatus particularly useful for 3-inch and 4-inch diameter pipes is provided. The pipe crawler apparatus uses a gripping apparatus in which a free end of a piston rod is modified with a bearing retaining groove. Bearings, placed within the groove, are directed against a camming surface of three respective pivoting support members. The non-pivoting ends of the support members carry a foot-like gripping member that, upon pivoting of the support member, engages the interior wall of the pipe.

Abstract: Remote-controlled equipment (1) with the ability to move through the inside of a pipeline or other confined cylindrical volumes, pulling an umbilical (10) and carrying accessories. It consists basically of a body (2) and a through-bar (8) which are equipped with heads (3, 4, 5). Said heads are able to be fixed to the inner wall of the pipeline or released therefrom alternately by means of manual or automatic commands. The vehicle (1) has various safety devices to prevent it becoming caught inside the pipeline in abnormal situations. The invention (1) makes it possible to take tools or materials to a remote point inside the pipeline in order to carry out diverse operations.

Abstract: A device (1) for passing through pipes in the form of a pig (1) moving through the pipe and guided on the inner wall thereof has at least one pig body (16) and support elements (8a) on the outer periphery thereof for guidance within the pipe as well as drive elements (10a, 10b) in the form of collars for transport in the pipe. The device is distinguished by improved entrance into the pipe conduit in that at least one of the collars (10a, 10b) can be radially expanded.