FR2538602A1 - Self-propelled equipment for checking the pipework of the primary circuit of nuclear power stations - Google Patents

Self-propelled equipment for checking the pipework of the primary circuit of nuclear power stations Download PDF

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Publication number
FR2538602A1
FR2538602A1 FR8221620A FR8221620A FR2538602A1 FR 2538602 A1 FR2538602 A1 FR 2538602A1 FR 8221620 A FR8221620 A FR 8221620A FR 8221620 A FR8221620 A FR 8221620A FR 2538602 A1 FR2538602 A1 FR 2538602A1
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France
Prior art keywords
crew
carriages
pipeline
pipework
arms
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Granted
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FR8221620A
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French (fr)
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FR2538602B1 (en
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Priority to FR8221620A priority Critical patent/FR2538602B1/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/005—Investigating fluid-tightness of structures using pigs or moles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

This self-propelled equipment is introduced into the pipework by starting at the water boxes of the steam generators, without an operator having to enter these boxes. It draws aside automatically before the obstructions situated in this pipework, such as thimbles for measurement probes. It comprises 2 trolleys 911 connected by universal joints 936 to a push-pull jack 935. These trolleys are in free rotation on the bearing 938. They have 3 arms 913 which open when actuated by the jacks 925. A bogie 915 at the end of the arms ensures guidance by the omnidirectional rollers 918 and clamping by the skid 928. On colliding with obstructions, a shoe 918 with a deflector 930 causes the rotation of 911 around the axis 937 and moves the arms aside before the obstructions. This mechanical equipment, provided with appropriate probes, is intended for checking pipework.

Description

EQUIPAGE AUTOMOTEUR DE CONTROLE DES CANALISATIONS DU CIRCUIT PRIMAIRE DES
CENTRALES NUCLEAIRES
La présente invention concerne un équipage mécanique autonome articulé destiné
à circuler par ses propres moyens dans les canalisations des circuits primaires
débouchantes dans les boites à eau des générateurs de vapeur (GV) des centrales
nucléaires, canalisations dans lesquelles il convient d'intervenir pour des
5opérations de controle et de surveillance.SELF-PROPELLED EQUIPMENT FOR CHECKING THE PIPES OF THE PRIMARY CIRCUIT OF
NUCLEAR CENTER
The present invention relates to an autonomous articulated mechanical unit intended
to circulate by its own means in the pipes of the primary circuits
outlets in the water boxes of the steam generators (GV) of the power stations
nuclear, pipelines in which it is necessary to intervene for
5 control and monitoring operations.

Cet appareillage est caractérisé en ce que son introduction dans les boites à
eau, d'abord, puis dans les canalisations primaires ensuite s'effectue sans
qu'un exécutant n'ait à pénétrer dans le GV. L'avance, le positionnement et le dorerait du chariot sont télécommandés. s'effectuent sans qu'aucun exécutant
n'ait à y pénétrer.This apparatus is characterized in that its introduction into the boxes
water, first, then in the primary pipes then takes place without
an performer need not enter the SG. The carriage advance, positioning and browning are remote controlled. without any performer
does not have to enter it.

Cet appareillage est caractérisé également en ce qu'il comporte
- au moins deux chariots ayant des bras escamotables portant des boogies
assurant une double fonction, de centrage et de roulement d'une part, de 45bridage d'autre part. Ces deux chariots sont reliés entre eux par un vérin
tire-pousse,
- des outillages annexes de manutention facilitant son introduction par le trou
d'homme d'accès et son positionnement dans la canalisation primaire,
- diverses combinaisons d'outils, interchangeables, se montant sur ou entre ces 20chariots.This apparatus is also characterized in that it comprises
- at least two trolleys having retractable arms carrying boogies
providing a double function, centering and rolling on the one hand, and clamping on the other. These two carriages are connected together by a jack
rickshaw,
- auxiliary handling tools facilitating its introduction through the hole
access man and his positioning in the primary pipeline,
- various combinations of tools, interchangeable, mounted on or between these 20 trolleys.

Chaque chariot comprend
a) une platine coulissante montée sur un corps central déployant par l'action
de vérins trois pattes porteuses chacune d'un patin de roulement et de bridage 25sur la surface interne des canalisations, b) un vérin tire-pousse, monté sur cardan, qui relie les chariots entre eux, et permet l'avance et l'articulation de l'équipage. Each cart includes
a) a sliding plate mounted on a central body deploying by the action
cylinders three bearing legs each with a rolling and clamping pad 25 on the internal surface of the pipes, b) a jack-up jack, mounted on cardan, which connects the carriages together, and allows the advance and articulation of the crew.

Les pièces annexes comprennent a) une potence, rotative autour d'un mat vertical fixé dans la boite à eau, desservant le trou d'homme d'accès et le départ de la canalisation primaire.The annexed parts include a) a bracket, rotating around a vertical mast fixed in the water box, serving the access manhole and the departure of the primary pipe.

Eventuellement, ce système peut être remplacé par un portique orientable sur un élément fixé sur la plaque à tubes.Optionally, this system can be replaced by a gantry orientable on an element fixed to the tube plate.

b) en bout de potence, un treuil de manutention commandé de l'extérieur de la boite à eau.b) at the end of the jib, a handling winch controlled from the outside of the water box.

Dans ce qui suit, l'invention est exposée plus en détail à l'aide de dessins représentant seulement un mode d'exécution.In the following, the invention is explained in more detail using drawings representing only one embodiment.

Les figures 1a,b situent les boites à eau des échangeurs (GV) des réacteurs à eau pressurisée.Figures 1a, b locate the water boxes of the exchangers (GV) of pressurized water reactors.

La boite à eau du GV (fig.la,b) est une demi sphère formée de deux chambres 901 et 902 séparées par une plaque de partition verticale 903; ces chambres sont surplombées par la plaque à tubes (PT) 904 de l'échangeur (GV). Chacune possède deux ouvertures : le trou d'homme 905 d'accès, de diamètre 400 mm, et la tubulure 906 du circuit primaire de diamètre 800 mm environ.The GV water box (fig.la, b) is a half sphere formed by two chambers 901 and 902 separated by a vertical partition plate 903; these chambers are overhung by the tube plate (PT) 904 of the exchanger (GV). Each has two openings: the manhole 905 of access, diameter 400 mm, and the tubing 906 of the primary circuit of diameter 800 mm approximately.

Description
Cet appareillage est décrit dans les figures 2a,b.Description
This apparatus is described in Figures 2a, b.

L'ensemble est composé de deux chariots reliés par un vérin tire-pousse, chaque extrémité du vérin étant montée sur cardan afin de permettre son passage suivant les rayons de courbure des canalisations primaires.The assembly is made up of two carriages connected by a rickshaw jack, each end of the jack being mounted on a gimbal in order to allow its passage along the radii of curvature of the primary pipes.

Chaque chariot est constitué d'un cylindre 911 faisant office de corps, et portant trois chapes 912 équidistantes qui reçoivent des bras 913 articulés sur les axes 914.Each carriage consists of a cylinder 911 acting as a body, and carrying three equidistant yokes 912 which receive arms 913 articulated on the axes 914.

Chaque bras 913 porte en tête autour d'un axe 915 un sabot ou boogie 916, équipé de deux galets omnidirectionnels 917 et d'une butée 928 exerçant le bridage du chariot contre la canalisation lorsque les bras 913 sont ouverts à force. Les galets 917 sont articulés sur un axe 918 monté sur un ressort poussoir 919 inclus dans le sabot 916.Each arm 913 carries at the head around an axis 915 a shoe or boogie 916, equipped with two omnidirectional rollers 917 and a stop 928 exerting the clamping of the carriage against the pipe when the arms 913 are forcefully opened. The rollers 917 are articulated on an axis 918 mounted on a push spring 919 included in the shoe 916.

Les deux extrémités des sabots sont équipées d'une gachette 930 basculante montée sur un rappel ressort 931 dont le rôle est explicité plus loin,
Trois leviers 920, articulés sur les bras autour des axes 921, sont solidaires d'une chemise 922 par les axes 923. Cette chemise est constituée d'un cylindre glissant autour du corps 911 et commandée en translation par trois vérins 925 (figure 2c) solidaires des deux ensembles. The two ends of the hooves are equipped with a tilting trigger 930 mounted on a spring return 931 whose role is explained below,
Three levers 920, articulated on the arms around the axes 921, are integral with a jacket 922 by the axes 923. This jacket consists of a cylinder sliding around the body 911 and controlled in translation by three jacks 925 (Figure 2c) integral with the two sets.

L'action des vérins amène la chemise à coulisser vers les chapes 912 du corps, et par l'intermédiaire des leviers 920, elle force les bras à se déployer. Une tringle 926 associée au bras constitue un système parallélogramme qui maintient le sabot (boogie) 916 en position par rapport à l'axe du chariot.The action of the jacks causes the shirt to slide towards the yokes 912 of the body, and by means of the levers 920, it forces the arms to deploy. A rod 926 associated with the arm constitutes a parallelogram system which maintains the shoe (boogie) 916 in position relative to the axis of the carriage.

Deux chariots 910 sont reliés entre eux par un vérin tire-pousse 935 monté entre deux cardans 936 solidaires des corps 911 par les axes tournants 937.Two carriages 910 are interconnected by a rickshaw cylinder 935 mounted between two cardan shafts 936 secured to the bodies 911 by the rotary axes 937.

Le cylindre 911 est traversé par un axe 937 se terminant par une rotule relié au cardan 936 qui assure la liaison au vérin tire-pousse 935. Cet axe est monté fou dans le cylindre par un roulement 938.The cylinder 911 is crossed by an axis 937 ending in a ball joint connected to the gimbal 936 which provides the connection to the rickshaw cylinder 935. This axis is mounted idly in the cylinder by a bearing 938.

I
Mise en place (figures 3a,b,c):
Cet appareillage est principalement destiné à mener des opérations de controle des soudures et de l'état des surfaces internes des canalisations primaires au moyen par camera ou encore par sondes à ultrasons ou courants induits.I
Installation (Figures 3a, b, c):
This equipment is mainly intended to carry out operations to control the welds and the condition of the internal surfaces of the primary pipes by camera or by ultrasonic probes or induced currents.

Son introduction n' est possible que par le trou d'homme d'accès 905 de la boite à eau, de diamètre 400nom, alors que la canalisation à controler a un diamètre de 800mm environ. Aussi les chariots 910 sont-ils introduits repliés par le trou d'homme au moyen d'une potence 950 mise en place préalablement au chantier dans le bol (fig.3a). Le second chariot est introduit en premier ce qui est possible du fait de la grande compacité de l'appareillage.Its introduction is only possible through the access manhole 905 of the water box, diameter 400nom, while the pipe to be checked has a diameter of about 800mm. Also the carriages 910 are introduced folded back through the manhole by means of a bracket 950 put in place before construction in the bowl (fig.3a). The second carriage is introduced first, which is possible due to the compactness of the equipment.

La potence est ensuite axée sur la tubulure 906 du circuit primaire (fig.3b), et l'équipage des chariots 910 descendu (fig.3c) en position d'accostage sur les paroies, où les bras 913 sont déployes. The bracket is then focused on the tubing 906 of the primary circuit (fig.3b), and the crew of the carriages 910 lowered (fig.3c) in the docking position on the walls, where the arms 913 are deployed.

Fonctionnement (figures 4a,b,c,d):
Lors de son introduction, le dernier chariot 910 de l'équipage est bridé sur les paroies de la canalisation, la butée 928 étant en contact avec la surface, les galets 917 s'effacent en écrasant leurs ressorts 919.Operation (Figures 4a, b, c, d):
During its introduction, the last carriage 910 of the crew is clamped on the walls of the pipeline, the stop 928 being in contact with the surface, the rollers 917 are erased by crushing their springs 919.

Le ou les chariots précédents se mettent en place d'eux-même par accostage des galets et, avec la souplesse des liaisons par cardans, se positionnent radialement par rapport aux rayons de courbures de la canalisation.The preceding carriage or carriages are put in place by docking the rollers and, with the flexibility of the cardanic connections, are positioned radially with respect to the radii of curvature of the pipe.

Le dernier chariot étant bridé, le vérin 935 pousse le chariot précédent qui est bridé à son tour. Le dernier chariot est liberé à son tour, tiré et bridé à nouveau.The last carriage being clamped, the jack 935 pushes the preceding carriage which is clamped in turn. The last carriage is released in turn, pulled and clamped again.

Cette avance "pas à pas" peut être contrariée par la présence de tubes (doigts de gant ) débouchants dans la canalisation. Si un des sabots 916 vient à buter sur un tube, sa forme le fait s'escamoter en entrainant la rotation du chariot autour de l'axe 937, sans frottement, grâce aux galets omnidirectionnels 917.This "step by step" advance can be thwarted by the presence of tubes (thermowells) opening into the pipeline. If one of the shoes 916 abuts on a tube, its shape makes it retract by causing the rotation of the carriage around the axis 937, without friction, thanks to the omnidirectional rollers 917.

Le chariot pivote sur lui même. Dans le cas où la pointe du sabot se présenterait parfaitement dans l'axe du tube faisant obstruction, la poussée de l'avance ferait pivoter la gachette 930 en comprimant le ressort 931, et déplacerait le point de tangence entre le sabot et le tube, ce qui entraidera ensuite la rotation de la structure. The carriage pivots on itself. In the case where the tip of the shoe is perfectly in line with the axis of the obstructing tube, the pushing of the advance would make the trigger 930 pivot by compressing the spring 931, and would move the point of tangency between the shoe and the tube, which will then assist the rotation of the structure.

Claims (6)

Revendications du brevetPatent claims 1. L'invention concerne un équipage automoteur destiné à circuler et intervenir dans des canalisations de fort diamètre pour des opérations de controle et de maintenance, et particulièrement dans les canalisations primaires des générateurs de vapeur (GV) de centrales nucléaires. Elle est caractérisée en ce que cet équipage est introduit par la boite à eau du GV, puis dans la canalisation, sans qu'aucun opérateur n'ait à pénétrer dans le GV; et que cet équipage s'efface automatiquement devant les obstructions rencontrées dans la canalisation.1. The invention relates to a self-propelled crew intended to circulate and intervene in large diameter pipes for control and maintenance operations, and particularly in the primary pipes of steam generators (SGS) of nuclear power plants. It is characterized in that this crew is introduced through the water box of the steam generator, then into the pipeline, without any operator having to enter the steam generator; and that this crew automatically disappears in front of the obstructions encountered in the pipeline. 2. Equipage selon 1 caractérisé en ce qu'il est composé d'au moins deux chariots sépares par un vérin tire-pousse commandant son déplacement, les liaisons étant réalisées par des transmissions articulées, et que les chariots peuvent pivoter librement sur eux mêmes autour de cette transmission.2. Crew according to 1, characterized in that it is composed of at least two carriages separated by a rickshaw jack controlling its movement, the connections being produced by articulated transmissions, and that the carriages can pivot freely around themselves of this transmission. 3. Equipage selon 2 caractérisé en ce que les chariots portent chacun, a) trois bras montés équidistants sur un corps central cylindrique, équipés de patins portant des roulements omnidirectionnels montés sur ressorts, d'un mors de bridage, et d'un sabot profilé assurant l'effacement du chariot par rotation sur lui même lorsque ce sabot rencontre une obstruction; b) une chemise coulissante, c) des pièces de liaison entre le corps et la chemise, à savoir: un levier assurant l'écartement des bras, et des vérins entrainant le coulissement de la chemise sur le corps et apportant la force nécessaire au bridage du chariot dans la canalisation.3. Crew according to 2, characterized in that the carriages each carry, a) three arms mounted equidistant on a central cylindrical body, equipped with pads carrying omnidirectional bearings mounted on springs, a clamping jaw, and a profiled shoe ensuring the erasure of the carriage by rotation on itself even when this shoe encounters an obstruction; b) a sliding jacket, c) connecting parts between the body and the shirt, namely: a lever ensuring the separation of the arms, and jacks causing the sliding of the shirt on the body and bringing the force necessary for the clamping of the carriage in the pipeline. 4. Equipage selon 2 caractérisé en ce que la composition du train de chariots est modulable et peut englober des chariots équipés d'outils, des équipements spécifiques indépendants ou toute . autre structure compatibles avec le dimensionnement et la cinématique de l'ensemble.4. Crew according to 2, characterized in that the composition of the train of carriages is modular and can include carriages equipped with tools, specific independent equipment or any. other structure compatible with the sizing and kinematics of the assembly. 5. Equipage selon 2 et 3 caractérisé en ce qu'il peut, suivant de type d'intervention considéré, se brider en place pour traiter ponctuellement un élément de surface ou balayer en continu une portion ou la totalité de la canalisation.5. Crew according to 2 and 3 characterized in that it can, depending on the type of intervention considered, clamp itself in place to punctually treat a surface element or continuously sweep a portion or all of the pipeline. 6. Equipage selon 2 et 3 caractérisé an ce qu'il est capable de lui-même d'éviter des obstacles ponctuels débouchants dans la canalisation. 6. Crew according to 2 and 3, characterized in that they are capable of avoiding point-in-time obstacles emerging in the pipeline.
FR8221620A 1982-12-23 1982-12-23 SELF-PROPELLED EQUIPMENT FOR CHECKING THE PIPES OF THE PRIMARY CIRCUIT OF NUCLEAR POWER PLANTS Expired FR2538602B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8221620A FR2538602B1 (en) 1982-12-23 1982-12-23 SELF-PROPELLED EQUIPMENT FOR CHECKING THE PIPES OF THE PRIMARY CIRCUIT OF NUCLEAR POWER PLANTS

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8221620A FR2538602B1 (en) 1982-12-23 1982-12-23 SELF-PROPELLED EQUIPMENT FOR CHECKING THE PIPES OF THE PRIMARY CIRCUIT OF NUCLEAR POWER PLANTS

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FR2538602A1 true FR2538602A1 (en) 1984-06-29
FR2538602B1 FR2538602B1 (en) 1988-05-06

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0177112A2 (en) * 1984-10-04 1986-04-09 AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY Self-traversing vehicle for pipe
FR2610137A1 (en) * 1987-01-28 1988-07-29 Electricite De France DECONTAMINATION SYSTEM FOR PRIMARY PIPING AND WATER BOX OF A NUCLEAR PLANT STEAM GENERATOR
EP0378480A1 (en) * 1989-01-11 1990-07-18 Spie-Trindel Device for inspecting the interiors of conduits

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1675738A (en) * 1926-10-19 1928-07-03 Lee R Titcomb Nozzle-propelling mechanism and method of propelling the same
US2273347A (en) * 1940-04-19 1942-02-17 Hubert R Crane Dumbbell-joint pressure-line scraper
US3000205A (en) * 1958-05-08 1961-09-19 Delong Corp Method and apparatus for testing pipe joint
FR2355236A1 (en) * 1976-05-20 1978-01-13 Rouland Daniel Self-propelled brush for cleaning chimneys and air ducts etc. - is actuated by pneumatic jack pressing arms against chimney wall for step-wise motion
FR2381657A1 (en) * 1977-02-24 1978-09-22 Commissariat Energie Atomique SELF-PROPELLED VEHICLE WITH ARTICULATED ARMS
FR2395489A1 (en) * 1977-06-24 1979-01-19 Teplotekhnichesky Inst Im DEVICE FOR MOVING, INSIDE A PIPE, DETECTOR ELEMENTS OF A DEVICE FOR CHECKING THE FAULTS OF THE PIPE
FR2491785A1 (en) * 1980-10-09 1982-04-16 Peyronnet Jean Hydraulic chimney or drain cleaner - has multiple piston pig with upper and lower scrapers reciprocated above treatment fluid spray

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1675738A (en) * 1926-10-19 1928-07-03 Lee R Titcomb Nozzle-propelling mechanism and method of propelling the same
US2273347A (en) * 1940-04-19 1942-02-17 Hubert R Crane Dumbbell-joint pressure-line scraper
US3000205A (en) * 1958-05-08 1961-09-19 Delong Corp Method and apparatus for testing pipe joint
FR2355236A1 (en) * 1976-05-20 1978-01-13 Rouland Daniel Self-propelled brush for cleaning chimneys and air ducts etc. - is actuated by pneumatic jack pressing arms against chimney wall for step-wise motion
FR2381657A1 (en) * 1977-02-24 1978-09-22 Commissariat Energie Atomique SELF-PROPELLED VEHICLE WITH ARTICULATED ARMS
FR2395489A1 (en) * 1977-06-24 1979-01-19 Teplotekhnichesky Inst Im DEVICE FOR MOVING, INSIDE A PIPE, DETECTOR ELEMENTS OF A DEVICE FOR CHECKING THE FAULTS OF THE PIPE
FR2491785A1 (en) * 1980-10-09 1982-04-16 Peyronnet Jean Hydraulic chimney or drain cleaner - has multiple piston pig with upper and lower scrapers reciprocated above treatment fluid spray

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0177112A2 (en) * 1984-10-04 1986-04-09 AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY Self-traversing vehicle for pipe
EP0177112A3 (en) * 1984-10-04 1987-09-30 Agency Of Industrial Science & Technology Ministry Of International Trade & Industry Self-traversing vehicle for pipe
FR2610137A1 (en) * 1987-01-28 1988-07-29 Electricite De France DECONTAMINATION SYSTEM FOR PRIMARY PIPING AND WATER BOX OF A NUCLEAR PLANT STEAM GENERATOR
EP0281433A2 (en) * 1987-01-28 1988-09-07 Electricite De France Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant
EP0281433A3 (en) * 1987-01-28 1988-09-21 Electricite De France Service National Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant
EP0479344A2 (en) * 1987-01-28 1992-04-08 Electricite De France Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant
EP0479344A3 (en) * 1987-01-28 1992-09-23 Electricite De France Service National Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant
EP0378480A1 (en) * 1989-01-11 1990-07-18 Spie-Trindel Device for inspecting the interiors of conduits
FR2642527A1 (en) * 1989-01-11 1990-08-03 Spie Trindel ENGINE TO INSPECT THE INTERIOR OF PIPELINES

Also Published As

Publication number Publication date
FR2538602B1 (en) 1988-05-06

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