GB2147682A - Robot device - Google Patents
Robot device Download PDFInfo
- Publication number
- GB2147682A GB2147682A GB08419630A GB8419630A GB2147682A GB 2147682 A GB2147682 A GB 2147682A GB 08419630 A GB08419630 A GB 08419630A GB 8419630 A GB8419630 A GB 8419630A GB 2147682 A GB2147682 A GB 2147682A
- Authority
- GB
- United Kingdom
- Prior art keywords
- robot device
- pipe
- side connection
- arm
- relining
- 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.)
- Granted
Links
- 230000005855 radiation Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 6
- 239000011440 grout Substances 0.000 description 12
- 238000005507 spraying Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 206010022000 influenza Diseases 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 239000012260 resinous material Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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
- F16L55/18—Appliances for use in repairing pipes
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/179—Devices for covering leaks in pipes or hoses, e.g. hose-menders specially adapted for bends, branch units, branching pipes or the like
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Drilling And Boring (AREA)
Abstract
A robot device is arranged to work in an underground pipe (such as a sewer) and comprises a body 24 mounted on a chassis which has means (e.g. skids 20) for supporting the device on the floor of the pipe whilst enabling the device to pass along the pipe. An arm 26 projects from the body 24 and mounts a gripper 30. The arm 26 is pivotable about vertical and transverse axes through point 27, is rotatable around its own axis and is provided with an extension 28 pivotable at 29. <IMAGE>
Description
5 10 15 20 25 30 35 40 45 50 55 60 65
SPECIFICATION Robot device This invention relates to a robot device arranged to work in an underground pipe, such as a sewer pipe.
We have now devised a robot device which has considerable utility, one of its uses being in remaking side connections when re-lining a sewer, typically by some form of new pipe inside the old one.
Thus, one method of repairing a damaged sewer is to carry out some form of re-lining process, but then side connections to the sewer are blocked by the wall of the lining: a machine is passed through the sewer, aligned with the side connection and then actuated to cut an appropriate hole through the lining. For aligning this cutting machine with the side connection, a detector is positioned in the side connection, for coupling with radiation (e.g. electromagnetic, acoustic, thermal or magnetic) emitted by the machine: alternatively, the detector may be mounted on the machine and a radiation source positioned in the side connection.The robot device which we have now devised may be used for example for placing the detector or radiation source in, and retrieving it from the side connection, and also to carry a cutting tool for boring the hole through the lining and for inserting and controlling grouting accessories. The robot device has other uses also.
In accordance with this invention, there is provided a robot device arranged to work in an underground pipe, comprising a body mounted on a chassis which has means for supporting the device on the floor of the pipe whilst enabling the device to pass along the pipe, an arm projecting from the body and mounting a gripper at its free end, means for pivoting the arm relative to the body and means for selectively opening and closing jaws of said gripper.
Also in accordance with this invention, there is provided a method of remaking a side connection leading into an underground pipe when relining said pipe, which method comprises passing a robot device through said pipe prior to relining and inserting a radiation detector or emitter into the mouth of said side connection, said robot being as defined above, passing a radiation source or detector through said pipe, after relining, to locate said side connection, and cutting a hole through the relining in alignment with the thus-located side connection.
An embodiment of this invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 depicts a sequence of operations for re-making a typical side connection in a sewer pipe of the type too small for a man to enter;
Figure 2 is a diagrammatic side view of a robot device in accordance with this invention;
Figure 3 is a diagrammatic showing of a grout bag inserted by the robot device into a hole in a pipe lining and into the mouth of an aligned side connection;
Figure 4 is a diagrammatic showing of a tubular bridge inserted by the robot device into a hole in a pipe lining and into the mouth of an aligned side connection; and
Figure 5 is a diagrammatic showing of a spraying tool used by the robot device.
Referring to Figure 1, (a) shows a sewer pipe 10 with a typical side connection 11. At (b) there is shown a detector or radiation source 12 as previously referred to, interference-fitted (e.g. by clip fittings or attachment to an inflatable bag) into the side connection adjacent its junction with the sewer. At (c), there is shown the lining 13 subsequently put into position. At (d), there is shown a rotary cutting tool 15 which has been aligned with the side connection, by means of a radiation source carried with the cutting tool and the detector in the side connection (or vice-versa). The cutting tool 15 now serves to bore a hole 16 through the lining 13, shown at (e).At (f), the completed side connection is shown, the detector or radiation source 12 having been removed and the annulus between the lining 13 and the original sewer filled with appropriate grout 17.
Figure 2 shows a robot device in accordance with the invention. The robot device has a chassis with a pair of longitudinal skids 20 for supporting the device on the floor of the sewer and enabling the device to slide along the sewer. Instead of skids, other means may be provided such as wheels, and the robot device may be a motive device or pulled through the sewer. The chassis further comprises a pair of slide bars 22 on which the body 24 of the device is mounted for lengthwise movement. From the front of the device, an arm 26 projects and the body incorporates three rotary actuators respectively for (1) elevating/lowering the arm about a transverse axis of the machine through a point 27, (2) slewing the arm about a vertical axis through point 27, and (3) rotating the arm around its own axis.The arm is provided with an extension 28 pivoted about a transverse axis of the arm at 29 to provide a "wrist"-type of movement which is controlled by a linear actuator mounted with the main arm and coupled to the extension 28. A further linear actuator may be incorporated in the extension 28 for extending/contracting the length of this arm portion. At the end of the arm extension 28, gripper jaws 30 are provided and another linear actuator serves to open and close these. A yet further linear actuator is provided to displace the body 24 along the slide bars 22.
The device illustrated is hydraulically powered and control lines are connected to the rear as shown at 32. The motive power for the actuator may instead be electrical, pneumatic, or even mechanical (using a system of wires, cords, levers etc leading to the device).
In use, the gripper jaws 30 are able to grip the detector or radiation source and then position it in precisely the correct position and attitude through selective adjustment of all the movements which the robot device incorporates (lengthwise movement of body 24, elevation/lowering of arm 26, slewing of arm 26, rotation of arm 26, pivoting of extension 28).
The robot device similarly serves for removing the detector or radiation source from the side connection after the lining 13 has been installed and the
5 10 15 20 25 30 35 40 45 5C 55 6C 6E hole 16 bored.
The rotary cutting tool 15 may be carried by a separate machine, but instead may be held by the gripper jaws 30 of the robot device so that the robot device is used for boring the hole 16 in the lining 13.
In either case a radiation source (or a radiation detector) is associated with the cutting tool for cooperating with the detector 12 (or radiation source) which has been positioned in the side connection, for locating the latter prior to boring.
Referring to Figure 3, the robot device may be used to insert an inflatable grout bag 34 into the hole 16 of the lining 13 and into the mouth of the side connection, prior to filling the space between the lining 13 and the original pipe 10 with the grout 17.
Once inserted and inflated, the grout bag 34 forms a seal to prevent the grout material from escaping either into the side connection or into the interior of the tubular lining 13. After grouting the robot device is used to deflate and remove the grout bag. In use, the grippes jaws 30 of the robot device hold the grout bag by means of a conical mating piece 36 of the grout bag: this piece 36 incorporates a valve which is nornially closed but is engaged and depressed to an open condition when the piece 36 is gripped by the jaws 30 of the robot device, so as to permit inflation over an air line connection to the piece 36 for this purpose, and subsequently to permit deflation when the bag is to be removed.
Referring to Figure 4, the robot device may be used to insert a tubular bridge 38 through the hole 16 of the lining 13 and into the mouth of the side connection, prior to the grouting. An inflatable bag 40 is mounted to the robot device in place of the gripper jaws 30 and this bag serves to support the tubular bridge 38 when the latter is disposed over the bag 40 and the bag is inflated. The robot device is then used to carry the tubular bridge 38 along the pipe and insert it through the hole 16 and into the mouth of the side connection. The bag is then deflated so that the robot device can withdraw, leaving the bridge 38 in place ready for the grouting operation.
Referring to Figure 5, the robot device may be used, after the grout bag of Figure 3 has been removed, to spray a coating of a protective material (e.g. a resinous material) over the exposed surface of the grout 17 between the original pipe 10 and the lining 13. Thus, a rotary spraying tool 42 is mounted to the robot device in place of the gripper jaws 30 (which are removable), the robot device serving to position and align the spray head within the passage through the layer of grout 17 before the spraying is carried out.
For all operations of the robot device, one or more viewing aids such as a closed circuit television camera orfibre optic system may be used for monitoring and control purposes.
The robot device may serve for holding various other devices and tools apart from those described above, for example tools for drilling, sawing, grinding, welding, non-destructive testing or for visual inspection. A particular feature of the robot device which has been described is its small size, enabling it to work with ease in pipes of say 150mm diameter.
CLAIMS 1. A robot device arranged to work in an underground pipe, comprising a body mounted on a chassis which has means for supporting the device on the floor of the pipe whilst enabling the device to pass along the pipe, an arm projecting from the body and mounting a gripper at its free end, means for pivoting the arm relative to the body and means for selectively opening and closing jaws of said gripper.
2. A robot device as claimed in claim 1, in which the arm pivoting means is arranged for elevating/ lowering the arm, to a selected inclination, about an axis transverse of the machine, and also for slewing the arm, to a selected angle, about a vertical axis.
3. A robot device as claimed in claim 1 or 2, further comprising means for turning the arm, to a selected rotary position, about its own longitudinal axis.
4. A robot device as claimed in any preceding claim, in which the gripper is mounted to an extension of said free end of the arm, means being provided for pivoting said extension relative to the arm about an axis transverse of said arm.
5. A robot device as claimed in claim 4, further comprising means for extending/contracting the length of the arm extension.
6. A robot device as claimed in any preceding claim, further comprising means for displacing said body lengthwise along said chassis.
7. A robot device as claimed in any preceding claim, in combination with a radiation detector or source held orfor holding by said gripper jaws so as to be insertable by the robot device into, or removable by the robot device from, a side connection leading into said pipe.
8. A robot device as claimed in any preceding claim, in combination with a rotary cutting tool held or for holding by said gripper jaws and serving to bore a hole through a relining of said pipe, in alignment with a side connection leading into said pipe.
9. A robot device as claimed in any preceding claim, in combination with an inflatable bag held or for holding by said gripper jaws so as to be insertable by the robot device into, or removable by the robot device from, a hole of a relining of said pipe and the aligned mouth of a side connection leading into said pipe.
10. A robot device as claimed in any preceding claim, in combination with an inflatable bag held or for holding by said robot arm and serving to receive and support a tubular bridge for the robot device to insert this tubular bridge into a hole of a relining of said pipe and into the aligned mouth of a side connection leading into said pipe.
11. A robot device as claimed in any preceding claim, in combination with a rotary spraying tool held or for holding by said robot arm so as to be insertable by the robot device into a hole of a relining of said pipe and into the aligned mouth of a side connection leading into said pipe, the rotary spraying tool serving to spray a coating of protective material over exposed grouting between the pipe
Claims (1)
- 5 10and its relining.12. A robot device substantially as herein described and illustrated.13. A method of remaking a side connection leading into an underground pipe when relining said pipe, which method comprises passing a robot device through said pipe prior to relining and inserting a radiation detector or emitter into the mouth of said side connection, said robot being as claimed in claim 1, passing a radiation source or detector through said pipe, after relining, to locate said side connection, and cutting a hole through the relining an alignment with the thus-located side connection.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB838320823A GB8320823D0 (en) | 1983-08-02 | 1983-08-02 | Robot device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8419630D0 GB8419630D0 (en) | 1984-09-05 |
| GB2147682A true GB2147682A (en) | 1985-05-15 |
| GB2147682B GB2147682B (en) | 1987-04-01 |
Family
ID=10546680
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB838320823A Pending GB8320823D0 (en) | 1983-08-02 | 1983-08-02 | Robot device |
| GB08419630A Expired GB2147682B (en) | 1983-08-02 | 1984-08-01 | Robot device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB838320823A Pending GB8320823D0 (en) | 1983-08-02 | 1983-08-02 | Robot device |
Country Status (1)
| Country | Link |
|---|---|
| GB (2) | GB8320823D0 (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2184810A (en) * | 1985-10-05 | 1987-07-01 | Insituform Group Ltd | Remote controlled sealing/welding equipment in pipes |
| GB2192442A (en) * | 1986-07-11 | 1988-01-13 | Tracey Stephen | Lining a duct |
| GB2192441A (en) * | 1986-07-11 | 1988-01-13 | Tracey Stephen | Lining a duct |
| WO1989008218A1 (en) * | 1988-02-25 | 1989-09-08 | Ncc Bygg Ab | Method and device for renovating a duct system |
| WO1990005874A1 (en) * | 1988-11-21 | 1990-05-31 | Kunststoff-Technik Aktiengesellschaft Himmler | Process for repairing an inaccessible domestic pipe using a remote-controlled device operating in the main |
| WO1991008417A1 (en) * | 1989-12-01 | 1991-06-13 | Sika Robotics Ag | Remotely controlled installation of linings in inaccessible sewer-pipe junctions and discharge entries |
| WO1992017728A1 (en) * | 1991-03-26 | 1992-10-15 | Koninklijke Wegenbouw Stevin B.V. | Modular robot system for sewer renewal |
| WO1993005334A1 (en) * | 1991-08-30 | 1993-03-18 | Alfred Morgenegg | Inner treatment process and device for inaccessible pipes |
| WO1993013352A1 (en) * | 1991-12-23 | 1993-07-08 | Ina Acquisition Corporation | Improvements relating to the lining of pipelines and passageways |
| US5285817A (en) * | 1989-01-12 | 1994-02-15 | Sika Robotics | Remote-controlled insertion of sheathing in inaccessible manifolds and junctions |
| EP0640727A1 (en) * | 1993-08-24 | 1995-03-01 | STEHMEYER & BISCHOFF GmbH & Co. KG | Method and device for connecting and sealing a branch pipe to a main pipe which is to be reconstructed with a plastic inliner |
| EP0674132A1 (en) * | 1994-03-21 | 1995-09-27 | Pmo Engineering Ag | Device and process for sealing the junction where a branch pipe joins a main conduit |
| DE4415962A1 (en) * | 1994-05-06 | 1995-11-09 | Kanaltec Ag | Renovation device for the renovation of sewer pipes, in particular house connection pipes |
| EP0702767B1 (en) * | 1994-03-31 | 1997-07-16 | KA-TE System AG | Device and method of renovating connections |
| DE29700298U1 (en) * | 1997-01-10 | 1998-05-07 | Scheiff GmbH, 53881 Euskirchen | Sewer renovation robot |
| EP1070905A2 (en) | 1999-07-21 | 2001-01-24 | Kanaltechnik Geiger& Kunz GmbH & Co. KG | Device for carrying out work in a pipe |
| EP2287511A1 (en) | 2009-08-18 | 2011-02-23 | Per Aarsleff A/S | Pipeline plug |
| WO2014207092A1 (en) * | 2013-06-26 | 2014-12-31 | I.S.T. Innovative Sewer Technologies Gmbh | Sewer rehabilitation method |
| CN106125118A (en) * | 2016-05-25 | 2016-11-16 | 南京安透可智能系统有限公司 | A kind of method of pipe robot GPS auxiliary real-time geographic location |
| US20250314342A1 (en) * | 2022-12-21 | 2025-10-09 | Brad Hibbard | Method for remote placement of underwater isolation barriers |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2098360A (en) * | 1981-05-08 | 1982-11-17 | Honda Motor Co Ltd | Exhaust gas recirculation control system for an ic engine |
-
1983
- 1983-08-02 GB GB838320823A patent/GB8320823D0/en active Pending
-
1984
- 1984-08-01 GB GB08419630A patent/GB2147682B/en not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2098360A (en) * | 1981-05-08 | 1982-11-17 | Honda Motor Co Ltd | Exhaust gas recirculation control system for an ic engine |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2184810B (en) * | 1985-10-05 | 1989-10-18 | Insituform Group Ltd | Improvements relating to remote controlled sealing/welding equipment |
| GB2184810A (en) * | 1985-10-05 | 1987-07-01 | Insituform Group Ltd | Remote controlled sealing/welding equipment in pipes |
| GB2192442A (en) * | 1986-07-11 | 1988-01-13 | Tracey Stephen | Lining a duct |
| GB2192441A (en) * | 1986-07-11 | 1988-01-13 | Tracey Stephen | Lining a duct |
| WO1989008218A1 (en) * | 1988-02-25 | 1989-09-08 | Ncc Bygg Ab | Method and device for renovating a duct system |
| WO1990005874A1 (en) * | 1988-11-21 | 1990-05-31 | Kunststoff-Technik Aktiengesellschaft Himmler | Process for repairing an inaccessible domestic pipe using a remote-controlled device operating in the main |
| AU628420B2 (en) * | 1988-11-21 | 1992-09-17 | Ka-Te System Ag | Process for repairing an inaccessible domestic pipe using a remote-controlled device operating in the main |
| US5285817A (en) * | 1989-01-12 | 1994-02-15 | Sika Robotics | Remote-controlled insertion of sheathing in inaccessible manifolds and junctions |
| US5423352A (en) * | 1989-01-12 | 1995-06-13 | Sika Robotics Ag | Remote-controlled insertion of sheathing in inaccessible manifolds and junctions |
| WO1991008417A1 (en) * | 1989-12-01 | 1991-06-13 | Sika Robotics Ag | Remotely controlled installation of linings in inaccessible sewer-pipe junctions and discharge entries |
| WO1992017728A1 (en) * | 1991-03-26 | 1992-10-15 | Koninklijke Wegenbouw Stevin B.V. | Modular robot system for sewer renewal |
| WO1993005334A1 (en) * | 1991-08-30 | 1993-03-18 | Alfred Morgenegg | Inner treatment process and device for inaccessible pipes |
| WO1993013352A1 (en) * | 1991-12-23 | 1993-07-08 | Ina Acquisition Corporation | Improvements relating to the lining of pipelines and passageways |
| US5577864A (en) * | 1991-12-23 | 1996-11-26 | Insituform B.V. | Apparatus relating to the linings of pipelines and passageways |
| EP0640727A1 (en) * | 1993-08-24 | 1995-03-01 | STEHMEYER & BISCHOFF GmbH & Co. KG | Method and device for connecting and sealing a branch pipe to a main pipe which is to be reconstructed with a plastic inliner |
| EP0674132A1 (en) * | 1994-03-21 | 1995-09-27 | Pmo Engineering Ag | Device and process for sealing the junction where a branch pipe joins a main conduit |
| EP0702767B1 (en) * | 1994-03-31 | 1997-07-16 | KA-TE System AG | Device and method of renovating connections |
| DE4415962A1 (en) * | 1994-05-06 | 1995-11-09 | Kanaltec Ag | Renovation device for the renovation of sewer pipes, in particular house connection pipes |
| DE29700298U1 (en) * | 1997-01-10 | 1998-05-07 | Scheiff GmbH, 53881 Euskirchen | Sewer renovation robot |
| EP1070905A2 (en) | 1999-07-21 | 2001-01-24 | Kanaltechnik Geiger& Kunz GmbH & Co. KG | Device for carrying out work in a pipe |
| EP2287511A1 (en) | 2009-08-18 | 2011-02-23 | Per Aarsleff A/S | Pipeline plug |
| EP2287510A1 (en) | 2009-08-18 | 2011-02-23 | Per Aarsleff A/S | Pipeline plug |
| WO2014207092A1 (en) * | 2013-06-26 | 2014-12-31 | I.S.T. Innovative Sewer Technologies Gmbh | Sewer rehabilitation method |
| US20160369929A1 (en) * | 2013-06-26 | 2016-12-22 | I.S.T. Innovative Sewer Technologies Gmbh | Sewer Rehabilitation Method |
| US10180205B2 (en) * | 2013-06-26 | 2019-01-15 | I.S.T. Innovative Sewer Technologies Gmbh | Sewer rehabilitation method |
| CN106125118A (en) * | 2016-05-25 | 2016-11-16 | 南京安透可智能系统有限公司 | A kind of method of pipe robot GPS auxiliary real-time geographic location |
| CN106125118B (en) * | 2016-05-25 | 2020-05-05 | 南京安透可智能系统有限公司 | Method for GPS-assisted real-time geographic positioning of pipeline robot |
| US20250314342A1 (en) * | 2022-12-21 | 2025-10-09 | Brad Hibbard | Method for remote placement of underwater isolation barriers |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2147682B (en) | 1987-04-01 |
| GB8320823D0 (en) | 1983-09-01 |
| GB8419630D0 (en) | 1984-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| GB2147682A (en) | Robot device | |
| AU628420B2 (en) | Process for repairing an inaccessible domestic pipe using a remote-controlled device operating in the main | |
| US4724108A (en) | Method for the installation of plastic pipes in sewage piping | |
| US7131791B2 (en) | Pipeline rehabilitation systems | |
| US11828400B2 (en) | Methods, systems, and apparatus for use in main pipes connected to branch conduit | |
| US4991006A (en) | Apparatus using an everted hose for inspecting the interior of a lateral pipeline | |
| US6276398B1 (en) | Inflatable packer for repairing conduits | |
| CA1057516A (en) | Apparatus for and a method of recovering a pipeline on the bottom of deep waters | |
| KR102095610B1 (en) | Device and method for handling drill string components in rock drilling and rock drill rig | |
| US20040226412A1 (en) | Vise apparatus | |
| NO763964L (en) | ||
| US4893389A (en) | Reinstatement of lateral branch connections in relined sewers or pipes | |
| NO344535B1 (en) | SAFETY LOCK FOR CONTROL LINES AND PROCEDURE TO RUN A CONTROL LINE NEAR A PIPE STRING. | |
| DK1957748T3 (en) | A method and device for placing a power tong in a pipe joint | |
| JP3688981B2 (en) | Pipe inner wall processing equipment | |
| EP0565502B1 (en) | Pipe handling equipment and method for a rock drilling machine | |
| GB2113126A (en) | Remotely controlled internal pipeline cutting apparatus | |
| CA2218436A1 (en) | Device for repairing pipes | |
| FR2543257A1 (en) | METHOD AND DEVICE FOR CREATING A CONTROLLED ATMOSPHERE FITTING ON A PIPING SYSTEM, IN PARTICULAR A PIPING OF A NUCLEAR POWER PLANT | |
| US10180205B2 (en) | Sewer rehabilitation method | |
| NO177683C (en) | Method and apparatus for repairing an underwater pipeline | |
| DK178378B1 (en) | Equipment for installing a spoolable coupling element in roller piping | |
| CN111386382A (en) | Method of inserting a device in a subsea well, method of removing a device from a subsea well, and system for inserting and removing a device in a subsea well | |
| EP1198683B1 (en) | A method of closing a pipe | |
| US20260042499A1 (en) | Robotic movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |