Abstract: A device for centering a sensor assembly in a bore comprises a plurality of arm assemblies connected first and second support members. Each arm assembly comprises a first arm pivotally connected to the first support member, a second arm pivotally connected to the second support member, and a third arm pivotally connected between the first and second arms. The third arm is pivotally connected to a third support member positioned axially between the first and second support members. The third arm extends across the longitudinal axis of the device so that in use each arm assembly contacts opposite sides of the bore to centralise the sensor assembly in the bore.

Abstract: The present invention concerns a drive module (10?, 10?, 10??, 10??) for a wellbore tractor (1). Each drive module (10?, 10?, 10??, 10??) comprises a drive module housing (13) and a hydraulically actuated and pivoting drive unit (11) comprising an arm housing (11?) and two drive wheels (12?, 12?) arranged thereto. The drive wheels (12?, 12?) are driven by a motor (16) mounted inside the arm housing (11?). The drive wheels (12?, 12?) are drivingly connected to the motor (16) via a drive line comprising a worm gear drive arrangement (14). The invention teaches also a wellbore tractor (1) comprising at least one of said drive modules (10?, 10?, 10??, 10??).

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 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 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: The improvement in a control circuit for the operation of pneumatically propelled vehicles consists of a propulsion duct formed by a guideway (1) and power propulsion units (3) with flow control valves (4) located at intervals along the guideway (1). Atmospheric valves (2) are located at specific points along the guideway (1), opening and closing the duct to the atmosphere, and the section isolation valves (6) are positioned in such a way as to isolate adjacent blocks of the guideway (1) and at the same time to maintain the functioning of the propulsion circuit in the other blocks. The atmospheric valve (2) is coupled to an aperture (11) in the guideway (1) and consists of a butterfly valve.

Abstract: A pipe crawler tractor may comprise a half tractor assembly having a first base drive wheel, a second base drive wheel, and a top drive wheel. The drive wheels are mounted in spaced-apart relation so that the top drive wheel is positioned between the first and second base drive wheels. The mounting arrangement is also such that the first and second base drive wheels contact the inside surface of the pipe at respective first and second positions and so that the top drive wheel contacts the inside surface of the pipe at a third position, the third position being substantially diametrically opposed to the first and second positions. A control system connected to the half tractor assembly controls the rotation of the first base wheel, the second base wheel, and the top drive wheel to move the half tractor assembly within the pipe.

Abstract: A transportation system for transporting vehicles between destinations, including a self-supporting tunnel connecting automated loading and unloading yards, and a non-wheeled tubular vehicle including a ram drive. The vehicle is provided with anti-friction pads between the vehicle and the tunnel, enabling the vehicle to be pushed with a minimum of friction through the tunnel. The pads include an expansion and contraction mechanism for regulating the position of the pads relative to an inner surface of the tunnel. The system uses a jet-powered drive vehicle controlled by an operator to transport a plurality of vehicles interconnected by a coupling apparatus. The vehicles may transport automobiles or passengers. The automobile transport vehicles include an automatic wheel locking system having front bars and caps, all automatically operated to secure the vehicles in the capsules during transportation thereof.

Abstract: A method and apparatus is capable of high-speed transportation of passengers and/or freight. Vehicles are operated along a guideway as a result of the interaction between vehicle lift, steering and propulsion apparatus, each of which includes coil assemblies that are mounted on the vehicle, and magnet assemblies mounted on the guideway. Vehicle propulsion is provided by the interaction of currents on the vehicle with time-varying magnetic fields that are generated along the guideway. The coils and magnets interact in accordance with the magnitude of electric current passing through the coils and the strength of the magnets' fields, to give lift and directional control to the vehicle. The lift and steering magnets provide substantially uniform magnetic fields so that the interaction between the lift coils and lift magnets, and respectively between the steering coils and steering magnets is substantially independent of positioning of the corresponding coils.

Abstract: A method and apparatus is capable of high-speed transportation of passengers and/or freight. Vehicles (22) are operated along a guideway (14) as a result of the interaction between vehicle lift, steering and propulsion apparatus, each of which includes coil assemblies that are mounted on the vehicle (22), and magnet assemblies mounted on the guideway (14). Vehicle propulsion is provided by the interaction of currents on the vehicle (22) with time-varying magnetic fields that are generated along the guideway (14). The coils and magnets interact in accordance with the magnitude of electric current passing through the coils and the strength of the magnets' fields, to give lift and directional control to the vehicle.

Abstract: A pipe crawler for moving through a pipe in inchworm fashion having front and rear leg assemblies separated by air cylinders to increase and decrease the spacing between assemblies. Each leg of the four legs of an assembly is moved between a wall-engaging, extended position and a retracted position by a separate air cylinder. The air cylinders of the leg assemblies are preferably arranged in pairs of oppositely directed cylinders with no pair lying in the same axial plane as another pair. Therefore, the cylinders can be as long a leg assembly is wide and the crawler can crawl through sections of pipes where the diameter is twice that of other sections. The crawler carries a valving system, a manifold to distribute air supplied by a single umbilical air hose to the various air cylinders in a sequence controlled electrically by a controller.

Abstract: A traveling device moving along an elongated member includes support members arranged spaced apart from each other, an elastic contractible body arranged between the support members and expansible radially outwardly to cause contracting force in axial directions, an elastic member causing a force against the contracting force of the elastic contractible body, anchoring devices provided on the support members, respectively, and expansible to engage the elongated member when being supplied with a pressurized fluid, and a plurality of control cables each extending through one of the support members and connected with one end to the other support member. The traveling device can move along straight and curved portions of the elongated member by supplying and exhausting the pressurized fluid into and from the elastic contractible body and operating the control cables in response to alternate supply and exhaust of the pressurized fluid into and from the anchoring devices.

Abstract: A Land transportation system has an unmanned mobile box which rides in a tube from one place to another. Guides are affixed to the center of the tube to cooperate with guide rollers on the box to stabilize the running of the box. Wings are provided on the side of the mobile box to provide a buoyancy effect while the box is running, thereby reducing the friction between the box and tube. Additional rollers are placed on the bottom of the box, and come into contact with the bottom surface of the tube when the box is running at slow speeds. The mobile box is driven by linear motor, with the controller for the motor being located outside the tube, and the primary and secondary coils of the motor being located in the tube and on the box. The mobile box also has a signal generator which transmits a prememorized identification signal to a receiver outside the box, to identify destination and other information about the mobile box as it traverses the tube.

Abstract: A system for very high speed ground transportation employing vehicles running in tunnels. The interior surface of the tunnels is a helical thread, and the wheels of the vehicle are helical gears meshing with the helical interior surface of the tunnel so as to provide positive traction. The vehicles have top traction wheels as well as bottom traction wheels in order to provide dynamic stability at very high vehicular speeds. Each vehicle carries an inner compartment coupled to the vehicle so that the compartment may be continually positioned relative to the vehicle in order to provide passenger comfort and/or cargo safety as the vehicle moves down the tunnel when the longitudinal axis of the tunnel has curvature.

Abstract: A robotic pipe crawling device comprises two three-wheel modules pivotally connected at their centers, each having one idler wheel and two driven wheels. Each module comprises an idler yoke and a driveline yoke chassis with parallel laterally spaced rectangular side plates, the idler side plates being pinned at one end to the chassis and the idler wheel mounted on the other end. The driveline side plates are pinned to the chassis and the drive wheels are rotatably mounted one at each end. A motor at each end of the chassis pivots the wheeled modules independently into and out of a wheel engaging position on the interior of the pipe and a drive motor carried by the driveline yoke drives the two drive wheels in opposite directions to propel the device. A motor mounted within each idler yoke allows them to pivot independently of the driveline yokes. A swivel joint in the chassis midsection allows each end to rotate relative to the other. The chassis may be extended with additional driveline yokes.

Abstract: A pipeline inspection vehicle has at least one resilient driving cup mounted around the body of the vehicle so as to contact the interior wall of the vehicle and thus provide a pressure differential across the driving cup which will propel the vehicle along the pipeline. An annular array of ducts extends through the body of the vehicle to by-pass fluid through the driving cup, each duct being provided with a control valve for regulating the flow of fluid through the duct. A control arrangement is provided for opening and closing the control valves in dependence on the speed of the vehicle, thereby to adjust the speed of the vehicle in accordance with a desired speed.

Abstract: A motor driven vehicle for traversing the interior of a pipe or conduit accommodates itself to variations in the interior contour of the pipe and automatically positions itself on the longest axis of any cross section of the pipe. It comprises a pair of two-wheeled trucks each pivotally connected to an end of a stretcher member which urges the trucks away from each other against diametrically opposite paths of travel on the pipe wall. Each truck has a driving wheel and a swivelling wheel, the driving wheels being diagonally opposite each other. The driving wheel motors are servo-connected so as to keep the angles between stretcher and truck bolsters equal. The driving wheels are preferably constructed with rim segments which rotate about axes tangent to the mean circumference of the rim, thereby permitting movement sidewise of the wheel.

Abstract: A motor driven vehicle for traversing the interior of a pipe or conduit comprises a pair of arms pivoted to each other at one pair of ends, a drive wheel the axle of which may coincide with the pivot, a swiveling wheel carried at the other end of each arm and a spring positioned to pull the arms toward each other so that the dimension of the vehicle across a pipe is automatically maximized. The vehicle thus tends to position itself on the longest axis of any cross section of the pipe. The drive wheel may be constructed with rim segments which rotate about axes tangent to the means circumference of the rim.

Abstract: A pipeline inspection system in which a vehicle, which has sensors to detect flaws in the pipeline, is moveable within the pipeline by a fluid flowing in the pipeline, and wherein a speed control for the vehicle is provided by a braking device which imposes a continuous axial drag on the pipeline wall. This continuous axial drag is adjustable between upper and lower limits such that the summation of the variable drag characteristics of the pipeline and the imposed drag remains approximately constant and the vehicle will move at a speed substantially equal to the average flow velocity of the fluid in the pipeline.

Abstract: A pipe internal towing carriage comprises friction rollers intended for engagement with the internal periphery of the pipe, the friction rollers being mounted successively on a drive shaft such that their axes of rotation are mutually parallel and intersect the axis of rotation of the shaft. The shaft has a stepped configuration, each of the steps carrying one of the rollers, the steps being axially offset relative to each other lengthwise of the shaft.

Abstract: An x-ray probe carrier for the inspection of circumferential welds in cylindrical pipes includes a carriage supported on omnidirectional ball transfers for movement along the bottom of a pipe section. A centrally mounted adjustable probe holder is preset to coincide with the centerline of the pipe for single exposure x-ray examination of a full circumferential weld. The probe is maintained centered during travel along the pipe and is automatically recentered after travel through a horizontal bend. The probe holder is easily adjustable for use in a wide range of pipe sizes.

Abstract: In a boat with wheels for carrying semiconductor substrates, the friction surfaces of the wheel systems are coated with a silicon nitride film to prevent seizure from occurring during a diffusion, oxidation or annealing process for semiconductor substrates.

Abstract: A pipeline inspection system in which a vehicle, which has sensors to detect flaws in the pipeline, is moveable within the pipeline by a fluid flowing in the pipeline, and wherein a speed control for the vehicle is provided by a braking device which imposes a continuous axial drag on the pipeline wall. This continuous axial drag is adjustable between upper and lower limits such that the summation of the variable drag characteristics of the pipeline and the imposed drag remains approximately constant and the vehicle will move at a speed substantially equal to the average flow velocity of the fluid in the pipeline.

Abstract: Self-propelled vehicle with articulated arms able to move in a tube or in a laminar space defined between two approximately parallel surfaces. It comprises a body equipped with at least one driving and guide wheel which bears on a surface on which the vehicle moves and at least two pivoting arms articulated on the body and terminated by bearing members which slide or roll on a surface facing and opposite to the first surface. It also comprises a device which transmits a pivoting torque to the arms in such a way that said arms bear on said opposite surface and by reaction apply the driving wheel against the first surface. A particular application is to the inspection of pipes within a nuclear installation in a radioactive atmosphere.

Abstract: A pneumatic transport plant in which a plurality of aligned pneumatic tubes define a transport path, the tubes being spaced apart with an overhead rail in the form of an I-beam extending continuously along the path and through each tube, in which it is mounted by brackets flanking the rail and engaging the underside of the upper flange thereof, the brackets being bolted to the walls of the tubes.

Abstract: An arrangement for transportation of cargoes in containers along a closed loop track having at least two spaced handling stations each station having a zone of reception of containers and a zone of delivery of containers, each portion of the track connecting the zone of delivery of one handling station to the zone of reception of an adjacent handling station comprising a pipeline communicating, via air admission pipes, with a source of compressed air for moving the containers, and each container having at least one sealing member closing the cross-sectional area of the pipeline. The zone of reception of each handling station comprises a portion of the track permanently communicating with atmosphere and inclined in the direction of movement of containers, and the zone of delivery of each handling station comprising a portion of the track permanently communicating with atmosphere and an independent drive for moving the containers along this portion of the track.

Abstract: A high speed ground transportation system, is suspended in an underground vacuum tube by a frictionless magnetic suspension system and propelled by gravity. The tubes are suspended inside deep underground tunnels from anchor points near each adjacent station and follow smooth catenary curves similar to the main suspension cables of a suspension bridge. Gravity propulsion is accomplished by allowing the vehicle to coast down the descending arc of the tube, during which time it is accelerated by gravity, and decelerating by gravitational braking while coasting up the tube's ascending arc. Thus, the trip is accomplished by transforming the vehicle's gravitational potential energy at one station into kinetic energy and back into gravitational potential energy at the next station. Excess kinetic energy arising from coasting between stations having different elevations is supplied or absorbed by on-board linear motor/generators that provide supplementary propulsion or regenerative braking.

Abstract: A low pressure air propelled transportation system for moving a vehicle or objects through a conduit having unrestricted, non-gated portals open at all times to atmospheric pressure at both ends. Adjacent the intake end of the conduit a plurality of Coanda-effect directional slit orifices are formed in the wall of the conduit. A manifold communicates with the orifices and blower means and supplies air through the orifices.

Abstract: A high speed transportation system designed to reduce frictional heat generated between the wheels and the track upon which the wheels are rotating in which a plurality of wheels are successively placed in contact with a track having a concave surface and removed therefrom so as to provide an "out of contact" period for cooling of the wheels. The concave surface of the track is provided with helically curved ribs which effect rotation of the carriage carrying the wheels thereby bringing the wheels successively into and out of contact with the rail.

Abstract: A powered pipeline crawler comprising a personnel carrier having an outer configuration complementary to the inner cross-sectional configuration of a pipeline and provided with suitable wheels for longitudinal movement through a pipeline. In addition, power means is provided for the carrier for propelling the device through the pipeline upon the control of the personnel being carried thereby.

Abstract: A high-speed ground transportation system wherein a vehicle rides on a film of air and is propelled as a free piston through a tunnel by pneumatic pressure. Seals on the vehicle create fluid communication between a high pressure area behind the vehicle and the area beneath the vehicle while preventing fluid communication between that high pressure area and an evacuated area located in front of the vehicle, to create an air film beneath the vehicle upon which it rides. Cargo handling means are located near the tunnel and shunting means enable the vehicle to be shunted into those cargo handling areas when desired. Booster stations located at selected points serve to increase a pressure differential across a vehicle to assist that vehicle when necessary, and magnetic means are used to maintain the vehicle in a upright orientation as it is propelled through a tunnel.

Abstract: A low pressure transportation system for moving a vehicle between stations which are at atmospheric pressure without the use of valves in the vehicle conduit and without any substantial movement of system air in or out of the vehicle portals. The system comprising: an elongated vehicle conduit having first and second portals located at the extreme ends of the conduit, a plurality of coanda-effect directional slit orifices communicating with the conduit immediately adjacent the portals for supplying substantially all of the system air to the conduit at one end and removing substantially all of the system air at the other end. A pair of manifolds communicating with the separate areas of directional orifices; and blower means supplying air to one manifold and removing the air from the other manifold.