US 12,422,083 B2
Apparatus for propulsion and operations inside a cylindrical body
Ivar Haukom, Evje (NO); and Trond Skagestad, Godvik (NO)
Assigned to Pipesnake AS, Evje (NO)
Appl. No. 18/266,851
Filed by Pipesnake AS, Evje (NO)
PCT Filed Dec. 16, 2021, PCT No. PCT/EP2021/086186
§ 371(c)(1), (2) Date Jun. 13, 2023,
PCT Pub. No. WO2022/129328, PCT Pub. Date Jun. 23, 2022.
Claims priority of application No. 20201391 (NO), filed on Dec. 17, 2020.
Prior Publication US 2024/0052963 A1, Feb. 15, 2024
Int. Cl. F16L 55/38 (2006.01); F16L 55/26 (2006.01); B08B 9/055 (2006.01); E21B 23/00 (2006.01); F16L 55/30 (2006.01)
CPC F16L 55/38 (2013.01) 11 Claims
OG exemplary drawing
 
1. Apparatus for propulsion and operations inside a cylindrical body, such as a pipeline, comprising:
a central shaft,
at least one motor and motor control unit,
a number of wheels arranged to rotate round the shaft with a tilted angle, where the position of the wheels with respect to the shaft are changed by means of an eccentric drive, the wheels are connected to a motor for rotating the wheels, and at least some of the wheels can rotate independent of other wheels,
wherein each wheel comprises a rim and a hub with a hydraulic or pneumatic cylinder, wherein when the hydraulic or pneumatic cylinder is arranged in an innermost position, the rim is approximately concentric with a center hole in the hub, and wherein when pressure increases in the hydraulic or pneumatic cylinder, the rim is adapted to become eccentric relative to the center hole in the hub,
and where the apparatus further comprises
a sensor module comprising sensors.