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Gas main robotic inspection system

  • US 6,917,176 B2
  • Filed: 03/07/2002
  • Issued: 07/12/2005
  • Est. Priority Date: 03/07/2001
  • Status: Expired due to Term
First Claim
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1. A system for inspection of selective conditions in a pipeline comprising:

  • a self-propelled train comprising;

    a plurality of modules, at least one of said modules having a drive mechanism for effecting locomotion of said train;

    at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;

    data collection components; and

    , communication components for transmitting collected data;

    wherein said plurality of modules further comprises;

    two terminal modules, one positioned at each end of the train, and a plurality of mid train modules positioned between the terminal modules;

    wherein the at least one joint members of the system further comprise;

    a double-axis steerable interconnect joint positioned between each terminal module and the mid-train module adjacent thereto, said double-axis interconnect joint being movable about two axes of rotation;

    a single-axis steerable interconnect joint positioned between adjacent mid-train modules, said single-axis interconnect joint being movable about a single axis or rotation;

    each of said double-axis interconnect joints rotate about both a pitch axis and a roll axis, and each of said single-axis interconnect joints rotate about a pitch axis;

    wherein said modules each comprise a motor for driving the movement of said double-axis and single-axis interconnect joints;

    wherein each of said double-axis and single-axis interconnect joints include a rotatable gear mounted on each module of the joint for engagement with the rotatable gear on the adjacent module;

    wherein each module has a central axis and the motor in each said terminal modules is offset from the central axis of that module and each terminal module comprises;

    a first mounting member positioned on an end of said terminal module adjacent one of said mid-train modules;

    one of said rotatable gears; and

    , a first gear assembly driven by the motor for imparting rotation to said rotatable gear.

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