Pipe crawlers: Versatile adaptations for real applications.

摘要

A problem at the Savannah River Site requires the unique application of a pipe crawler. A number of stainless steel pipes buried in concrete require ultrasonic inspection of the heat affected zones of the welds for detection of flaws or cracks. The paper describes the utilization of an inch-worm motion pipe crawler which negotiates a 90 degree reducing elbow with significant changes in diameter and vertical sections before entering the area of concern. After a discussion of general considerations and problem description, special requirements to meet the objectives and the design approach regarding the tractor, control system, instrument carriage, and radiation protection are discussed. 2 refs., 11 figs. (MB)