EP0171633A1 - Outil pour examiner la surface interne d'un gros tube - Google Patents

Outil pour examiner la surface interne d'un gros tube Download PDF

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Publication number
EP0171633A1
EP0171633A1 EP85108916A EP85108916A EP0171633A1 EP 0171633 A1 EP0171633 A1 EP 0171633A1 EP 85108916 A EP85108916 A EP 85108916A EP 85108916 A EP85108916 A EP 85108916A EP 0171633 A1 EP0171633 A1 EP 0171633A1
Authority
EP
European Patent Office
Prior art keywords
pipe
tool
actuating
strut
axle
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.)
Withdrawn
Application number
EP85108916A
Other languages
German (de)
English (en)
Inventor
Timothy H. Wentzell
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.)
Combustion Engineering Inc
Original Assignee
Combustion Engineering Inc
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 Combustion Engineering Inc filed Critical Combustion Engineering Inc
Publication of EP0171633A1 publication Critical patent/EP0171633A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • This invention relates to remotely controlled tools for use in relatively inaccessible areas, and more particularly to a tool for internally inspecting elbows in large pipes.
  • the centering section is secured to the inner surface of the pipe and the scanning section is extended to urge the inspection sleds against the pipe wall.
  • the present invention provides a tool for inspecting the curved, or elbow portion of a large pipe by uniquely coordinating of the centering and supporting function, with the inspection probe translation function.
  • the inspection struts can be rotated to enable gimballed sleds to maintain perpendicularity with respect their respective traversed surfaces, while the centering section provides a firm, centered base.
  • Several scan rotations can be taken from a given base position, since the scanning and centering sections are independent during the inspection mode.
  • the precise location of the sleds can be controlled and recorded based only on the known coordinates of the positioner, without significant uncertainties added by the inspection tool itself.
  • the basic operation of the tool 100 involves a scanning section 112 interacting with a centering section 114.
  • the centering section 114 centers and supports the inspection tool 100, while the extension mechanism 116 and rotator mechanism 118 on the remote positioner 102 control the scanning section 112.
  • Energizing the actuator or centering cylinders 120 secures the tool against the inner surface of the pipe 106. Either longitudinal or rotational motion may be imparted to the scanning section 112, even at the pipe elbow 110 through the flexibility provided by the dual universal joint 122.
  • the scanning section 112 carries pivoted or gimballed sleds 126 which follow the pipe contour.
  • the scanning section 112 includes a hub or axle member 128 coaxially disposed within the slide cylinder 124 and adapted to rotate and slide therewithin.
  • a set of strut members 130 extend diametrically from the axle member 128, at preferably both ends thereof, outside the actuating cylinders 120.
  • Inspection probe sleds 126 are located on outer strut segments 132 which are preferably outwardly biased by controlled air pressure through the axle member 128 and strut 130.
  • the sleds 126 are preferably gimbal led 134 to allow the sleds to maintain perpendicularity with respect to the pipe inner wall 110.
  • Each actuating cylinder 120 preferably includes an outer actuator portion 136 having support pads 138 thereon for engaging the pipe walls to prevent sliding.
  • the outer actuator portion 136 is preferably controlled by a piston 140 to which is also connected an inner rod 142 that passes through an opening 144 in the slide cylinder or sleeve 124.
  • Locking pads 146 are adapted to engage the axle member 128 when the piston 140 moves towards the sleeve 124, thereby retracting the outer portion 136 while locking the scanning section 112 to the centering section 114. This locks the longitudinal position of the strut member 130 relative to the actuating member 120 and enables the extension mechanism 116 on the remote positioner ( Figure 1) to push the entire inspection tool 100 to a new basic location deeper into the pipe 106.
  • a mounting boss 148 is located on the end of the axle member closest to the positioner 102, for connecting the tool 100 to the means for imparting longitudinal and rotational movement to the axle member 128, or scanning section 112.
  • the scanning section may be considered the primary component that is connected to and controlled by the positioner 102 .
  • the centering section 114 is relatively slidable and selectively lockable thereto, for providing centering and support during the movement of the scanning section associated with the surface inspection operation.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
EP85108916A 1984-07-30 1985-07-16 Outil pour examiner la surface interne d'un gros tube Withdrawn EP0171633A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US635853 1984-07-30
US06/635,853 US4581938A (en) 1984-07-30 1984-07-30 Tool for scanning the inner surface of a large pipe

Publications (1)

Publication Number Publication Date
EP0171633A1 true EP0171633A1 (fr) 1986-02-19

Family

ID=24549387

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85108916A Withdrawn EP0171633A1 (fr) 1984-07-30 1985-07-16 Outil pour examiner la surface interne d'un gros tube

Country Status (2)

Country Link
US (1) US4581938A (fr)
EP (1) EP0171633A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994018679A1 (fr) * 1993-02-01 1994-08-18 Siemens Aktiengesellschaft Element de transport pouvant avancer automatiquement a l'interieur d'un tuyau
WO1997002452A1 (fr) * 1995-07-04 1997-01-23 Force-Instituttet Robot mobile d'inspection interieure de conduites
EP2136374A1 (fr) * 2008-06-17 2009-12-23 GE-Hitachi Nuclear Energy Americas LLC Outillage destiné à l'inspection et/ou au traitement à distance de la surface interne de tuyauteries ou de récipients de forme allongée, en particulier dans le circuit de refroidissement d'un réacteur nucléaire, et procédé d'utilisation d'un tel outillage
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US10427734B2 (en) 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
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
US12038119B2 (en) 2019-08-20 2024-07-16 Ge Infrastructure Technology Llc Sensor interface module with scissor lift for plurality of sensors, and visual inspection module with dual view paths for robot
US12151751B2 (en) 2019-08-20 2024-11-26 Ge Infrastructure Technology Llc Traction module for robot with variable extension positions

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4685966A (en) * 1985-07-29 1987-08-11 Mcdonnell Douglas Corporation Surface tracking apparatus
US4760876A (en) * 1986-09-02 1988-08-02 Westinghouse Electric Corp. Remote inspection device transport system
US4757716A (en) * 1986-06-26 1988-07-19 Westinghouse Electric Corp. Boresonic inspection system
IN169006B (fr) * 1986-06-26 1991-08-10 Westinghouse Electric Corp
FI890183L (fi) * 1988-01-15 1989-07-16 Shawn E Egger Anordning foer roerelse i en roerformad ledning.
US5121694A (en) * 1991-04-02 1992-06-16 Zollinger William T Pipe crawler with extendable legs
US5285689A (en) * 1991-07-16 1994-02-15 The United States Of America As Represented By The United States Department Of Energy Piping inspection instrument carriage with precise and repeatable position control and location determination
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
US5371363A (en) * 1993-07-26 1994-12-06 Lilimpakis; Emmanuel Device for measuring radiation within a pipe
US5453688A (en) * 1993-08-23 1995-09-26 Atomic Energy Of Canada Limited Rotating probe for inspecting tubes having an eccentric housing for supporting sensing means
US5370006A (en) * 1993-09-20 1994-12-06 The United States Of America As Represented By The United States Department Of Energy Piping inspection carriage having axially displaceable sensor
US5375530A (en) * 1993-09-20 1994-12-27 The United States Of America As Represented By The Department Of Energy Pipe crawler with stabilizing midsection
US5574223A (en) * 1994-04-05 1996-11-12 Gas Research Institute Scan assembly and method using scan rate modulation
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
US5756908A (en) * 1996-07-15 1998-05-26 Framatome Technologies, Inc. Probe positioner
GB9617115D0 (en) 1996-08-15 1996-09-25 Astec Dev Ltd Pipeline traction system
US6722442B2 (en) 1996-08-15 2004-04-20 Weatherford/Lamb, Inc. Subsurface apparatus
US5760306A (en) * 1996-08-30 1998-06-02 Framatome Technologies, Inc. Probe head orientation indicator
US6215836B1 (en) * 1998-05-07 2001-04-10 Electric Power Research Institute, Inc. Apparatus and method for ultrasonically examining remotely located welds in cast stainless steel nuclear steam supply systems
GB0028619D0 (en) * 2000-11-24 2001-01-10 Weatherford Lamb Traction apparatus
GB0206246D0 (en) * 2002-03-15 2002-05-01 Weatherford Lamb Tractors for movement along a pipepline within a fluid flow
GB2401130B (en) * 2003-04-30 2006-11-01 Weatherford Lamb A traction apparatus
US7337673B2 (en) * 2005-07-11 2008-03-04 The Boeing Company Ultrasonic array probe apparatus, system, and method for traveling over holes and off edges of a structure
US7512207B2 (en) * 2005-04-12 2009-03-31 General Electric Company Apparatus for delivering a tool into a submerged bore
US7543512B2 (en) * 2005-04-13 2009-06-09 General Electric Company Bore inspection probe
US7201055B1 (en) * 2005-10-10 2007-04-10 General Electric Company Ultrasonic miniature air gap inspection crawler
JP4773459B2 (ja) * 2005-12-16 2011-09-14 ビ−エイイ− システムズ パブリック リミテッド カンパニ− 溶接構造体の欠陥検出
US20080087112A1 (en) * 2006-01-04 2008-04-17 General Electric Company Senior Ultrasonic Miniature Air Gap Inspection Crawler
US7681452B2 (en) * 2006-01-04 2010-03-23 General Electric Company Junior ultrasonic miniature air gap inspection crawler
US7555966B2 (en) * 2006-05-30 2009-07-07 General Electric Company Micro miniature air gap inspection crawler
US7839282B1 (en) * 2006-12-27 2010-11-23 The United States Of America As Represented By The United States Department Of Energy Capacitance probe for detection of anomalies in non-metallic plastic pipe
WO2009094627A1 (fr) * 2008-01-25 2009-07-30 Veracity Technology Solutions, Llc Procédé et appareil pour examiner des disques de turbine à gaz
US20150233787A1 (en) * 2014-02-19 2015-08-20 Abb Technology Ag Air gap crawler installation device
CN105806941B (zh) * 2014-12-30 2018-08-21 中核武汉核电运行技术股份有限公司 一种真空吸盘式小管径管道内壁水浸超声检查装置
CN105806955B (zh) * 2014-12-30 2018-09-28 中核武汉核电运行技术股份有限公司 一种小径管内壁检查超声探头夹持结构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2336681A1 (fr) * 1975-12-22 1977-07-22 Kraftwerk Union Ag Support de systemes pour l'examen ultrasonique de joints de tubulure, joints de raccordement tubulaire et aretes de tubulure dans des reservoirs sous pression, notamment des cuves de reacteur de centrale nucleaire
DE2640055A1 (de) * 1976-09-06 1978-03-09 Kraftwerk Union Ag Rohrkruemmermanipulator, insbesondere zur ultraschallpruefung bei kernreaktoranlagen
EP0061078A2 (fr) * 1981-03-25 1982-09-29 Kraftwerk Union Aktiengesellschaft Manipulateur mobile pour le transport contrôlé à distance d'appareils de contrôle et d'instruments le long des voies d'avancement à l'intérieur de tubes, de préférence pour installations nucléaires
EP0105418A1 (fr) * 1982-10-06 1984-04-18 Rainer Hitzel Manipulateur pour tubes destiné à pénétrer dans des conduites

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2154015C3 (de) * 1971-10-29 1974-05-09 Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg Einrichtung zum Durchführen von Untersuchungen und Wiederholungsprüfungen an den Innenflächen von oben offenen Druckbehältern
US4218923A (en) * 1979-02-07 1980-08-26 Triad & Associates, Inc. System for monitoring the condition of a pipeline
US4432271A (en) * 1981-08-17 1984-02-21 Combustion Engineering, Inc. Locomotion unit for a tool support adapted for progression through passageways

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2336681A1 (fr) * 1975-12-22 1977-07-22 Kraftwerk Union Ag Support de systemes pour l'examen ultrasonique de joints de tubulure, joints de raccordement tubulaire et aretes de tubulure dans des reservoirs sous pression, notamment des cuves de reacteur de centrale nucleaire
DE2640055A1 (de) * 1976-09-06 1978-03-09 Kraftwerk Union Ag Rohrkruemmermanipulator, insbesondere zur ultraschallpruefung bei kernreaktoranlagen
EP0061078A2 (fr) * 1981-03-25 1982-09-29 Kraftwerk Union Aktiengesellschaft Manipulateur mobile pour le transport contrôlé à distance d'appareils de contrôle et d'instruments le long des voies d'avancement à l'intérieur de tubes, de préférence pour installations nucléaires
EP0105418A1 (fr) * 1982-10-06 1984-04-18 Rainer Hitzel Manipulateur pour tubes destiné à pénétrer dans des conduites

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994018679A1 (fr) * 1993-02-01 1994-08-18 Siemens Aktiengesellschaft Element de transport pouvant avancer automatiquement a l'interieur d'un tuyau
WO1997002452A1 (fr) * 1995-07-04 1997-01-23 Force-Instituttet Robot mobile d'inspection interieure de conduites
EP2136374A1 (fr) * 2008-06-17 2009-12-23 GE-Hitachi Nuclear Energy Americas LLC Outillage destiné à l'inspection et/ou au traitement à distance de la surface interne de tuyauteries ou de récipients de forme allongée, en particulier dans le circuit de refroidissement d'un réacteur nucléaire, et procédé d'utilisation d'un tel outillage
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US10427734B2 (en) 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
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
US12038119B2 (en) 2019-08-20 2024-07-16 Ge Infrastructure Technology Llc Sensor interface module with scissor lift for plurality of sensors, and visual inspection module with dual view paths for robot
US12151751B2 (en) 2019-08-20 2024-11-26 Ge Infrastructure Technology Llc Traction module for robot with variable extension positions

Also Published As

Publication number Publication date
US4581938A (en) 1986-04-15

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Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): BE DE FR NL SE

17P Request for examination filed

Effective date: 19860307

17Q First examination report despatched

Effective date: 19870126

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 19890202

RIN1 Information on inventor provided before grant (corrected)

Inventor name: WENTZELL, TIMOTHY H.