Patent ID: 6917176
Filing Date: 2005-07-12
Classification: F16L,G01M,G01N

Abstract:
1. A system for inspection of selective conditions in a pipeline comprising: a self-propelled train comprising: 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.