A pipe pig is provided with linked wheels, and at least a central wheel of the linked wheels is pivotally linked to adjacent wheels through a spring loaded connection that biases the central wheel out of straight line alignment with the adjacent wheels. The pipe pig may be used to negotiate tight bends in a pipe and carry sensing electronics.
1. An articulated pig for pigging a pipe having an internal dimension, the articulated pig comprising:
at least an intermediate pig segment, a first flanking pig segment, and a second flanking pig segment, each of the intermediate pig segment, first flanking pig segment, and second flanking pig segment being smaller in cross section than the internal dimension of the pipe;
the first flanking pig segment being connected to the intermediate pig segment by a first connector, and the second flanking pig segment being connected to the intermediate pig segment by a second connector;
a biasing element for biasing the first flanking pig segment, second flanking pig segment and intermediate pig segment away from a straight line alignment and against respective portions of an internal surface of the pipe;
the intermediate pig segment comprising an intermediate wheel, the intermediate wheel configured to contact a first portion of the internal surface of the pipe when in use; and
a shaft arranged within the intermediate wheel, the intermediate wheel being driven by a motor within the intermediate wheel and connected between the intermediate wheel and the shaft to rotate the intermediate wheel relative to the shaft.
2. The articulated pig of claim 1 in which the first connector and the second connector are arranged to pivot about a first axis defined by the intermediate segment.
3. The articulated pig of claim 2 in which the first connector and the second connector comprise hinged links.
4. The articulated pig of claim 3 in which the hinged links each comprise a respective hinge with a pivotal axis perpendicular to the first axis.
5. The articulated pig of claim 4 in which the shaft is aligned with the first axis.
6. The articulated pig of claim 5 in which the first flanking pig segment and the second flanking pig segment comprise respectively first and second flanking wheels rotatable around respective axes respectively coplanar with the first axis, the wheels configured to contact a second portion of the internal surface of the pipe opposite to the first portion when in use.
7. The articulated pig of claim 6 in which the second flanking wheel is connected to tow a battery pack.
8. The articulated pig of claim 6 further comprising a video camera mounted on the first flanking wheel and the video camera having a field of view directed away from the intermediate wheel.
9. The articulated pig of claim 3 in which the shaft is aligned with the first axis.
10. The articulated pig of claim 9 in which the first flanking pig segment and the second flanking pig segment comprise respectively first and second flanking wheels rotatable around respective axes, the respective axes respectively coplanar with the first axis, the wheels configured to contact a portion of the internal surface of the pipe opposite to the first portion when in use.
11. The articulated pig of claim 10 in which the second flanking wheel is connected to tow a battery pack.
12. The articulated pig of claim 11 further comprising a video camera mounted on the first flanking wheel and the video camera having a field of view directed away from the intermediate wheel.
13. The articulated pig of claim 2 in which the shaft is aligned with the first axis.
14. The articulated pig of claim 13 in which the first flanking pig segment and the second flanking pig segment comprise respectively first and second flanking wheels rotatable around respective axes, the respective axes respectively coplanar with the first axis, the wheels configured to contact a second portion of the internal surface of the pipe opposite to the first portion when in use.
15. The articulated pig of claim 14 in which the second flanking wheel is connected to tow a battery pack.
16. The articulated pig of claim 15 further comprising a video camera mounted on the first flanking wheel and the video camera having a field of view directed away from the intermediate wheel.
17. The articulated pig of claim 13 in which one of the first connector and the second connector is attached to the shaft and the other of the first connector and the second connector is attached to an inner shaft aligned with the first axis and arranged within the shaft.
18. An articulated pig for pigging a pipe having an internal dimension, the articulated pig comprising:
at least an intermediate pig segment, a first flanking pig segment, and a second flanking pig segment, each of the intermediate pig segment, the first flanking pig segment, and the second flanking pig segment being smaller in cross section than the internal dimension of the pipe;
the first flanking pig segment being connected to the intermediate pig segment by a first connector, and the second flanking pig segment being connected to the intermediate pig segment by a second connector;
a biasing element for biasing the first flanking pig segment, the second flanking pig segment and the intermediate pig segment away from a straight line alignment and against respective portions of an internal surface of the pipe;
in which the intermediate pig segment comprises an intermediate wheel configured to contact a first portion of the internal surface of the pipe when in use, and the first flanking pig segment and the second flanking pig segment comprise respectively first and second flanking wheels configured to contact a portion of the internal surface of the pipe opposite to the first portion when in use; and
at least one of the intermediate wheel, the first flanking wheel and the second flanking wheel being a drive wheel including a shaft arranged within the drive wheel, and the drive wheel being driven by a motor within the drive wheel and connected between the drive wheel and the shaft to rotate the drive wheel relative to the shaft.
19. The articulated pig of claim 18 in which the drive wheel is the intermediate wheel.
20. The articulated pig
of claim 18 further comprising a video camera mounted on the first flanking wheel and the video camera having a field of view directed away from the intermediate wheel.