Locomotion device for e.g. water pipe system, has radial and axial expander for providing locomotion within pipes by alternating expansion of radial and axial expander under use of pressure ratios in liquid medium

摘要

The device has a generator obtaining electrical energy from a liquid medium by turbine blades. A radial and axial expander provides locomotion within pipes by alternating expansion of the radial and axial expander based on the pressure ratios in the liquid medium, where the device carries tools for optical diagnosis and maintenance of the pipes. A turbine is utilized as an additional hydro mechanical water wheel drive for faster locomotion.