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Flexible pipe crawling device having articulated two axis coupling

  • US 5,309,844 A
  • Filed: 05/24/1993
  • Issued: 05/10/1994
  • Est. Priority Date: 05/24/1993
  • Status: Expired due to Fees
First Claim
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1. Apparatus for moving through a pipe having an axis and a wall, said pipe having bends wherein said axis curves, said apparatus comprising:

  • a front leg assembly defining a first plane generally perpendicular to said axis, said front leg assembly havinga first plurality of feet, anda first plurality of actuators, each actuator in operative connection with one foot of said first plurality of feet, said each actuator moving said foot radially with respect to said axis between an extended position and a retracted position;

    a rear leg assembly defining a second plane generally perpendicular to said axis, said front leg assembly separated from said rear leg assembly by a distance, said front and rear leg assemblies having a nominal alignment whereby said first and second planes are parallel, said rear leg assembly havinga second plurality of feet, anda second plurality of actuators, each actuator in operative connection with one foot of said second plurality of feet, said each actuator moving said foot radially with respect to said axis between an extended position and a retracted position; and

    means connected to said front and rear leg assemblies for changing said distance and said alignment of said front and rear leg assemblies with respect to each other, said front and said rear leg assemblies moving between a retracted position and an extended position as said changing means changes said distance, said distance being greater when said front and said rear leg assemblies are in said extended position than when in said retracted position, said alignment of said first and said second planes changing from said nominal alignment in response to lateral pressure on said apparatus by a bend in said pipe, said changing means including a joint rotatable about at least two axes of rotation.

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