• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a robot (1) for the renovation and / or inspection of a pipe, in particular a penstock. The robot is of the double tripod type of foot movement whose displacement tracks, preferably each motorized, ensure self-carriage and a reliable and accurate movement, even in pipes with very steep, or even vertical and which is equipped with a anti-twist movement system. The invention also relates to the method of moving the associated robot.
    公开号:FR3052529A1
    申请号:FR1655402
    申请日:2016-06-13
    公开日:2017-12-15
    发明作者:Pascal Prat；Olivier Bony
    申请人:Battakarst；
    IPC主号:
    专利说明:

    ROBOT FOR FORCED CONDUIT RENOVATION, WITH A ΑΝΤΙ-ROTATION SYSTEM
    Technical area
    The present invention relates to the general field of robots for inspection and / or renovation of pipes.
    It relates more particularly to the field of renovation by stripping and, where appropriate coating of paint of pipes, in particular so-called forced pipes. A penstock is a hydraulic pipe consisting of a pipe assembly, intended to convey pressurized water to a hydroelectric plant located downstream and below the water reservoir that feeds it.
    The present invention aims more particularly at improving the movement of robots intended for the renovation of pipes, in order to avoid the phenomenon of angular drift or twisting of the robots in the pipes.
    Although described with reference to an advantageous application for renovating a penstock, the invention applies to any robot intended for any type of inspection and / or repair work of pipes or other conduits of different sizes and geometries. that must be done without trench.
    Prior art
    A large number of pipes of greater or lesser diameter are widely used nowadays in a broad spectrum of industries. For example, local authorities may use large diameter pipes for stormwater drainage and water management in general. The oil and gas industry, as well as the power generation industry, use these pipes for the transportation of oil and gas. Hydropower plants use very large diameter pipes, so-called forced pipes for the transport of water under pressure.
    Although numerous and varied in their constraints and implementations, all industries using pipes face the same challenges; limited piping lifetimes, high repair costs, major service interruptions, major infrastructure impact, persoimel safety, and repair efficiency.
    Pipes can be distinguished by their diameter, since for relatively small diameters, typically less than about 1.30 meters, manual cleaning and / or inspection is almost impossible, while for diameters greater than about 1.30 meters these operations remain theoretically possible manually because accessible by a human person.
    Some methods of conventional visual inspection and retrofit of relatively large diameter pipes include the use of an entrance for a human to visually inspect and, where appropriate, repair and / or maintain the interior wall of the vessel. the driving.
    In addition to the obvious disadvantage that this type of conventional methods is therefore limited by definition to pipes of relatively large diameter, it can have a number of disadvantages, including for the intervening persons subjected to binding conditions within these confined spaces. The use of robots for the cleaning and / or inspection of various pipes, pipes and pipes is already known.
    The inspection and interior cleaning of ventilation and / or air conditioning ducts, pipeline type pipes, drinking water distribution pipes, pressurized gas pipes and the pipelines of sewer systems.
    The applicant company of the present application has sought to define a robot for the renovation with stripping and if necessary paint coating of penstock whose diameters can be as small, that is to say less than 1.3 m , that big.
    These penstocks usually consist of metal tubes assembled along a slope and protected by external and internal coatings. It is necessary to regularly maintain these forced eonduites and in particular to renew the internal protection by eliminating the existing lining and possible oxidation and replacing it with a new one.
    In general, the maintenance or renovation consists in making a preparation of siufaee in adequacy with the application of a new coating of paint. This preparation may for example be stripping with an abrasive projection, also commonly called shot blasting, which allows to create some surface roughness for the grip and application of a new paint coating.
    These operations are currently done manually and are particularly painful, even dangerous. In particular, operators work in a closed environment and the coatings they must remove are likely to contain toxic substances such as asbestos or heavy metals. It may be the same for replacement coatings, for example because of the solvents used.
    In addition, this work must be relatively accurate because the tools used, for example for pickling ultra-high pressure water hoses (UHF), at about 3000 bar or blasting lances, have a relatively limited area of action and the attention of the operator must be supported. As a result, these operations can take a considerable time both for the work and the verifications especially as the penstocks can be of great length, up to several kilometers.
    The applicant therefore wished to automate this maintenance or renovation of these pipes and implement a robot that can perform these renovation operations.
    However, the specifications imposed for such a robot is strict and consequent, in particular because of the strong intrinsic constraints to penstocks.
    In particular, with regard to the means of displacement, such a robot must meet the following specifications: it must move inside a pipe by its own means and withstanding substantial loads, especially with a view to be self-contained in paint tanks for coating; it must be easily adaptable to a range of different pipe diameters; - It must be able to move forward or backward, up or down, even in very steep or even vertical lines; - it must be able to self-maintain in the pipes, that is to say by its own means that including in very steep pipes, as the pipes to the vertical; its main displacement parameters (speeds, cycles, etc.) must be able to be accurately and remotely adjusted by an operator; - It must be able to pass small internal obstacles inherent in the pipes that form irregularities on the inner wall of the pipes, such as rivet heads assembling two adjacent pipes; - It must be able to pass, by its own means, changes of inclination of the pipes, that is to say elbows may be present in the penstock, including a radius of curvature of elbows that can be at least equal to 3 times the diameter of the pipe.
    The inventors of the present invention thus made an inventory of existing solutions.
    They first came to the conclusion that none of the existing robotic or mechanized systems were able to meet all of the above requirements simultaneously.
    Thus, for the proposed solutions for small diameter pipes, the robots already proposed are mainly for the inspection of pipes and among the few identified renovation robots, they can only withstand low loads and are very likely to have difficulties in pipes with high inclination.
    The patent application EP0647812 A1 discloses in particular a working robot for a range of pipe diameters between 400 and 800mm, the implementation of which is limited to horizontal pipes and without bends.
    EP 0378480B1 discloses an inspection robot for a range of pipe diameters between 500 and 1000 mm, which can certainly move in pipes vertically but necessarily with small bends.
    Patent applications US2012 / 090111 and US2015 / 121646 and US8794636B2 disclose an inspection robot for a range of pipe diameters between 700 and 900 mm, which is sensitive to small surface variations and offers inaccurate movements .
    Patent EP1245692B1 relates to a mechanized working robot for a range of diameters eonduites between 800 and 2000 mm, certainly robust but requires a manual movement, that is to say a manual carry inside the pipe.
    The patent application WO2011 / 009420 coneeme a working robot for a wide range of pipe diameters between 360 and 1300 mm, also robust and relatively easy to move in all pipe profiles, but little inclined to bear consequent loads.
    For larger diameter pipelines, most existing automated work solutions are designed for horizontal and bendless pipelines. For penstocks, there are commercially only mechanized solutions.
    Thus, the patent application AU2015207819A1 relates to a working robot for a range of pipe diameters between 600 and 4000 mm, limited to those of linear, horizontal and elbow-free water networks.
    US Pat. No. 8633713B2 discloses an automated working robot for a range of pipe diameters between 1000 and 1800 mm, which is certainly robust and reliable but limited to linear pipeline lines without bends. This robot also has the disadvantage of being bulky.
    The patent application WO2016 / 014566 coneeme an automated working robot for a range of pipe diameters between 1300 and 3000 mm, limited to those with low elbow.
    Mechanized robots with UHP cleaning sprays marketed by the companies HUBERT and ETTER on the one hand and DONELLI on the other, are solutions that are designed without automation, tailor-made only for a given renovation project and that require winch guiding from the outside of the pipe.
    Patent EP2503208B1 relates to a robot for the renovation of penstocks for a range of diameters between 1800 and 3000 mm, which is not automated and which again requires the use of a winch.
    The patent application RO 130410 finally discloses a robotic pipe renovation for a range of diameters between 1500 and 3000 mm, which is certainly very light, but not robust and resistant to a working environment under severe conditions.
    The patent FR2638813B1 relates to a robot for the renovation of penstocks for a range of diameters between 1300 and 1800 mm, which seems heavy and not prone to be implemented in pipes inclination particularly vertical. In addition, the disclosed robot does not provide a remote work area, which can be detrimental to the robot itself.
    In addition to the aforementioned drawbacks, the inventors of the present invention have been able to highlight that after a passage of a bend or by the effect of a slow drift of displacement, all the robots proposed according to the state of the art can change longitudinal orientation relative to the axis of the pipe in which they move, or in other words move in an undesired helical motion, which is called hereinafter spin. However, a spinning motion induces major drawbacks. First of all, the position of the tools can not be precisely controlled. The same applies to the position of the tracks on the wall of the pipe, which induces a passage of obstacles that is not reliably detected.
    There is therefore a need to improve the robots intended for inspection and / or cleaning, in particular by stripping with a paint coating of the pipes in which they are moving, more particularly the penstocks, in particular in order to meet to the aforementioned specifications, and to avoid at least reduce the spin motion when moving in said pipes.
    The object of the invention is to respond at least in part to this need.
    Presentation of the invention
    To this end, the invention concerns, in one of its aspects, a robot for the renovation and / or inspection of a pipe, comprising a chassis itself comprising: two displacement sub-frames; extending along a longitudinal axis and each supporting three tripod-forming feet, each foot of the tripod extends along a longitudinal axis and comprises, at its free end, a displacement track, intended to move the robot by pressing against the wall a pipe, a connecting sub-frame forming a universal joint connecting the two subframes and adapted to allow pivoting a displacement subframe relative to the other in two degrees of freedom.
    According to the invention, at least one of the two displacement subframes further supports: - a pivoting ring rotatably mounted about the longitudinal axis of said sub-frame and is connected by at least one connecting rod to each foot of the tripod itself rotatably mounted about its longitudinal axis; - At least one jack, said steering cylinder, one end of which is to the sub-frame and the other end to the ring, so that its actuation causes the rotation of the ring and thereby through the connecting rods , the simultaneous pivoting of the feet of the tripod around their respective longitudinal axis.
    According to an advantageous embodiment, each of the two displacement subframes comprises a pivoting ring and at least one rotation jack, the actuation of the cylinder (s) of rotation of the ring of one of the two subframe being independent of the other.
    Preferably, each foot of a tripod comprising a drive motor independent of the crawler of said foot. In the transitional phases of elbows, each foot does not have the same distance to travel, the motors driving the feet must therefore rotate at different speeds depending on their position relative to the center of the radius of the elbow. The servocontrol of the relative speeds of the drive motors can be done preferably by assigning the master function to one of the feet, which is controlled in speed regulation. The drives of the other motors are then the slaves of the drive controller of the master foot and then work in torque sharing, that is to say that the speed is self-adapted depending on the torque requested by the motor.
    In order to adapt the robot quickly and easily to different pipe diameters, it is advantageously provided that each foot of a tripod comprises an adjustable extension to allow to adjust the length of the foot along its longitudinal axis to adjust the tripod to the diameter of the penstock.
    According to an advantageous variant, each foot of a tripod comprising a part fixed to the displacement subframe and a part movable in translation along the longitudinal axis of the foot, the movable part supporting the displacement track and, if appropriate, its motor. and / or the adjustable extension being arranged relative to the fixed part forming a housing of one or more compression springs known as spring box (s), the spring box (s) being adapted to allow maintenance in pressure of the foot caterpillar against the wall of the pipe.
    Thus, the invention essentially consists in defining a robust robot with double tripod whose caterpillars, preferably each motorized, ensure self-carriage and a reliable and precise movement, even in pipes with very high inclination, or even vertical and which is equipped with an anti-twist system designed in a simple and effective way with the slewing ring and actuating cylinder. The actuating cylinders are preferably electric cylinders. The simultaneous action of the pivoting crown makes it possible to give an identical orientation angle for all the feet of the same tripod at the front and / or at the rear of the robot, typically less than or equal to 5 °.
    The passage of a bend is preferably detected by two laser scanning systems placed one on the front tripod and the other on the rear tripod.
    After detection, a remote control operated by an operator or automatically is performed which will simultaneously change the orientation of the feet of the same tripod according to a calculated value and avoid the phenomenon of spin. For detection, one can advantageously provide two sensors inclinometers types that detect a general deviation in the axis of the pipe of the angular position of the robot relative to an initial set. The signal recovered from these inclinometers by the control unit of the robot is used to control a position correction order of the general attitude of the robot via the actuating cylinders. These electric cylinders each actuate their respective steering ring which therefore acts on the radial orientation of the three slave tracks and mounted on each tripod.
    In this way, it is ensured that the support arm and the renovation tooling and / or the inspection camera are well positioned in the desired area.
    According to an advantageous embodiment, the robot further comprises at least one jack said steering jack, one end of which is connected to a displacement sub-frame and the other end to one of the axes of the gimbal, so that its actuation causes the pivoting of said subframe relative to the other according to a degree of freedom of the universal joint.
    Providing a cardan joint between the two tripods is advantageous because it allows the robot to continue its progression in a pipe even in the presence of a bend. When advancing in a bend at least one of the tripods will shift relative to the theoretical axis of the penstock. This offset can be easily detected by a laser scan type system and the control unit of the robot can then drive one and / or the other of the steering cylinders to bring the axis of the tripod concerned on the longitudinal axis of the pipe.
    According to one embodiment, one of the sub-two displacement chassis supporting a tool support arm and / or inspection camera, the support arm being rotatably mounted 360 ° about the longitudinal axis of said sub-frame. frame.
    Preferably, according to this mode the support arm can also be mounted free in longitudinal translation along the longitudinal axis of the displacement subframe which supports it. It is thus possible to provide a telescopic support arm which makes it possible to distance the renovation tooling from the rest of the robot at a certain distance and thus to ensure that no projection of renovation product (shot and / or paint) occurs. foul the rest of the robot. The invention also relates in another of its aspects, a method of operating a robot according to one of the preceding claims, moving within a pipe, comprising the following steps: - detection and measurement of an angle of angular drift of one and / or the other of the displacement subframes with respect to the axis of the pipe; - actuation of (the) cylinder (s) orientation, so as to cause the simultaneous pivoting of the feet of one and / or the other of the tripods, around their respective longitudinal axis The invention finally relates to another of its aspects, the use of the robot described above for the renovation with stripping, preferably by shot blasting, and if necessary with coating of penstocks.
    DETAILED DESCRIPTION Other advantages and characteristics of the invention will emerge more clearly on reading the detailed description of exemplary embodiments of the invention, given by way of non-limiting illustration with reference to the following figures among which: FIG. 1 is a schematic perspective view of a robot according to the invention for the inspection and renovation of penstocks, FIG. 1 showing the retrofit tool arm in a folded position; FIG. 2 is a perspective view of the robot according to FIG. 1, FIG. 2 showing the renovation tooling support arm in an extended position; FIGS. 3A, 3B and 3C are perspective views of different parts of the moving frame of a robot according to the invention, namely respectively a part of the rear subframe, the front subframe and the central subframe; cardan link; - Figure 4 is a detailed perspective view of a foot with its crawler displacement of one of the tripods of the robot; FIG. 5 is a detailed perspective view of one of the tripods of movement of the robot with the crown of simultaneous orientation of the three of this tripod; FIG. 6 is a detailed sectional view of a variant of a part of a foot with its displacement crawler, consisting of a box with compression springs adapted to allow pressure to be held against the wall of a foot. forced driving; - Figures 7A and 7B are views in longitudinal section respectively of the portion attached to the sub-frame and the movable portion forming between them the housing of the spring box.
    It is specified that the terms "front" and "back" refer to a direction of movement of a robot according to the invention in a penstock. In the illustrated example, the robot's movement is reversible: also, it goes without saying that a part of the robot, such as a tripod, designated before, in a direction of movement of the robot in the pipe becomes a rear part in the opposite direction of movement.
    FIGS. 1 and 2 show a robot according to the invention intended to carry out camera inspection and / or renovation with shotblasting followed, if necessary, by a paint coating of penstocks.
    The robot 1 comprises a frame 2 with two displacement subframes 3; 4 each supporting three moving feet 31 to 33; 41 to 43 forming a tripod.
    Each foot of tripod 31 to 33; 41 to 43 extends along a longitudinal axis Y1 to Y3; Y'I to Y'3 and comprises, at its free end, a displacement caterpillar 34; 44, intended to move the robot by pressing against the wall of a pipe. Each foot of the tripod is rotatably mounted about its longitudinal axis Y1 to Y3; Y '1 to Y'3.
    A cardan joint connecting sub-frame 5 connects the two sub-frames 3 and 4. This universal joint 5 is adapted to allow a displacement sub-frame 3 to be pivoted relative to the other 4 in two degrees of rotation. freedom. As detailed below, at the passage of a bend, to direct the robot 1 relative to the axis of the penstock in which it moves, it is provided, two steering cylinders 5, 6. Each of these two cylinders 5, 6 has one end connected to a sub-frame 3, 4 and the other end connected to one of the axes 50, 51 of the universal joint 5.
    According to the invention, it is provided on each of the two displacement subframes 3; 4, a pivoting ring 35; 45 which is rotatably mounted about the longitudinal axis X; X 'of said subframe and is connected by at least one connecting rod 36; 46 at each foot of the tripod, and a steering cylinder 37; 47, one end of which is to the subframe and the other end to the crown 35; 45. The actuation of the steering cylinder 37 of the crown 35 of the rear subframe 3 is independent of the cylinder 47 of orientation 47 of the ring 45.
    The front subframe 4 supports a support arm 8 of tooling and / or inspection camera. In particular, as illustrated in FIGS. 1 and 2, this arm 8 supports a suction and shot-blasting bell 9. Inside this bell 9, grit is used as an abrasive pickling tool for the wall. Inner driving, can be projected and recovered by suction. The structure and operation of this bell9 are not described here in detail. Reference may be made to the patent application filed today on behalf of the applicant and entitled "Robot for renovation of penstocks, provided with a shot blasting bell and suction of projected shot."
    A ring gear 81 meshing with a drive motor 82 enabling 360 ° rotation of the support arm 8 around the longitudinal axis X 'of the sub-frame 4. The support arm 8 is also telescopic because it is driven by via a rack 83 and an associated drive motor. Thus, the renovation tool, such as the bell 9 may be moved away along the longitudinal axis X 'of the sub-frame 4 which supports it.
    The structure of the rear subframe is shown in detail in Figure 3A. It is essentially a tube extending along a longitudinal axis X whose internal diameter allows the passage of fluid supply pipes and electricity of the various components of the robot 1. The front of the tube comprises a platinum d interface with the central universal joint 5. The central part of the tube comprises three interface plates distributed at 120 ° to each other on the periphery of the tube and which each serve as an interface with a foot 31 to 33 tripod, more precisely with its orientation ring 39 as detailed below. The rear of the tube also comprises an interface plate with the crown 35 simultaneously orientation of the three feet.
    The structure of the front subframe is shown in detail in Figure 3B. It is essentially a tube extending along a longitudinal axis X 'whose inner diameter allows the passage of fluid supply pipes and electricity of the various components of the robot 1. The rear of the tube comprises a plate The central portion of the tube comprises three interface plates distributed at 120 ° to each other on the periphery of the tube and which each serve as an interface with a foot 41 to the center of the tube. 43 of the tripod, more precisely with its orientation ring 49 as detailed below. The front of the tube also comprises an interface plate with the rotation ring 81 of the support arm 8. As shown in FIGS. 1 and 2, in addition to the feet 41 to 43, the front subframe 4 supports the drive motors. rotation 82 and telescopic translation 84 of the support arm 8.
    The structure of the central universal joint 5 is shown in detail in FIG. 3C. This structure is recessed internally to allow the passage of fluid supply pipes and electricity of the various components of the robot 1, ensuring continuity with the tubes of the sub-frame 3 and 4. Each axis 50 and 51 of the gimbal can be rotated by a steering cylinder 6 and 7.
    FIGS. 4 and 5 show in more detail a foot of movement of the robot 1 and an orientation ring 35 or 45 of simultaneous orientation of the three legs of the same tripod. The set of feet 31, 32, 33, 41, 42, 43 are identical. Thus the description for a foot 31 is for the others.
    The foot 31 is rotatably mounted about its axis Y1 by means of a ring 30. The track 34 at the free end of the foot 31 is mounted with its independent driving motor 38 pivoting about a pivot 3A which allows to rotate said track 34, 180 ° about its axis Y1 and thus to reverse the direction of movement of the robot 1.
    Advantageously, the foot 31 comprising an adjustable extension 39 to adjust the length of the foot along its longitudinal axis Y1 to adjust the tripod diameter of the penstock.
    As illustrated in the example of these FIGS. 4 and 5, each leg 31, 41 is connected via two connecting rods 36, 46 to the crown 35, 45.
    FIGS. 6, 7A and 7B illustrate an advantageous variant of foot 31 according to which it is mounted on a box with springs adapted to allow pressure to be maintained on the track 34 against the wall of the pipe in which the robot 1 moves. This spring box comprises a portion in the form of a sheath 3f fixed to the subframe 3 and a movable portion also in the form of a sheath 3m in translation along the longitudinal axis Y1 of the foot.
    The mobile part 3m here supports the track 34, its drive motor 38 and the adjustable extension 39. The fixed part 3f is engaged inside the movable part 3m so as to form a housing of several compression springs 300. Each compression spring 300 is fitted around a fixed axis 301 of the fixed sleeve 3f. The constant force exerted by these springs 300 against the bottom of the mobile sheath 3m will make it possible to maintain a spacing between the mobile sheath 3m and the fixed sleeve 3f, and thereby maintaining the bearing pressure of the track 34 against the wall of the pipe.
    We now describe the operation of the movement of the robot 1 according to the invention, to avoid the undesirable change in longitudinal orientation relative to the penstock in which it moves and because of slow drift or passage of a bend. The operator operates remotely one and / or the other orientation cylinders 37, 47, which causes the rotation of the ring 35, 45 to which it is linked. The pivoting forces are transmitted simultaneously to the three feet 31 to 33, 41 to 43 of the same tripod via the connecting rods 36, 46.
    Thus, it results in a simultaneous pivoting of the three legs 31 to 33, 41 to 43 of the same tripod about their respective longitudinal axis Y1 to Y3; Y'I to Y'3. Typically, an orientation correction of an angle value of up to 5 ° for the feet makes it possible to effectively and quickly avoid any unwanted longitudinal orientation change of the robot 1.
    We now describe an advantageous mode of operation of the robot 1 to the passage of a pipe bend.
    When the robot 1 advances in the bend, the X or X 'axis of one of the subframes 3, 4, will shift relative to the theoretical tax of the penstock.
    This offset induced by the bend (the change in radius of curvature of the pipe) is then advantageously detected by at least one of two laser scanning systems placed one on the rear subframe 3, the other on the sub-frame. front frame 4.
    One and / or the other of the steering cylinders 6, 7 is then actuated, which causes the rotation of the one 50 and / or the other 51 of the gimbal axes 5 and thus the pivoting of one of the subframe 3 relative to the other 4 according to one or two degrees of freedom. This makes it possible to quickly bring back Tax X, X 'on Tax of the pipe. Other variants and improvements can be made without departing from the scope of the invention. The invention is not limited to the examples which have just been described; it is possible in particular to combine with one another characteristics of the illustrated examples within non-illustrated variants.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    Robot (1) for refurbishing and / or inspecting a pipe, comprising a frame (2) itself comprising: - two displacement subframes (3; 4) extending along a longitudinal axis (X; X ') and each supporting three trip legs (31 to 33; 41 to 43) forming a tripod, each tripod foot extends along a longitudinal axis (Y1 to Y3; Y' 1 to Y'3) and comprises, at its free end, a displacement track (34; 44), intended to move the robot by pressing against the wall of a pipe, - a connecting sub-frame forming a universal joint (5) connecting the two subframe and adapted to allow pivoting a displacement subframe (3) relative to the other (4) in two degrees of freedom; robot in which at least one of the two displacement subframes further supports: - a pivoting ring (35; 45) rotatably mounted about the longitudinal axis (X; X ') of said sub-frame and is connected by means of at least one connecting rod (36; 46) at each base of the tripod itself rotatably mounted about its longitudinal axis (Y1 to Y3; Y'I to Y'3); at least one actuator (37, 47), called an orientation cylinder, one end of which is at the subframe and the other end at the crown, so that its actuation causes the rotation of the crown and hence through the connecting rods, the simultaneous pivoting of the legs of the tripod around their respective longitudinal axis (Y1 to Y3, Y '1 to Y'3).
    [2" id="c-fr-0002]
    2. Robot according to claim 1, each of the two displacement subframes comprises a pivoting ring and at least one orientation cylinder, the actuation (s) of the cylinder (s) orientation of the crown of the one of the two subframes being independent of the other.
    [3" id="c-fr-0003]
    3. Robot according to claim 1 or 2, each foot of a tripod comprising a drive motor (38; 48) independent of the crawler of said foot.
    [4" id="c-fr-0004]
    4. Robot according to one of the preceding claims, each foot of a tripod comprising an adjustable extension (39; 49) to allow to adjust the length of the foot along its longitudinal axis to adjust the tripod to the diameter of the penstock .
    [5" id="c-fr-0005]
    5. Robot according to one of the preceding claims, each foot of a tripod comprising a fixed part (3f; 4f) to the displacement sub-frame and I'e movable part (3m; 4m) in translation along the longitudinal axis of the foot the moving part supporting the displacement track and, if appropriate, its driving motor and / or the adjustable extension being arranged with respect to the fixed part, forming a housing of one or more compression springs (300; 400), said spring box (s), the spring box (s) being adapted to allow maintenance pressure of the caterpillar foot against the wall of the pipe.
    [6" id="c-fr-0006]
    6. Robot according to one of the preceding claims, further comprising at least one jack (6; 7), said steering cylinder, one end of which is connected to a displacement sub-frame and the other end to one axes (50; 51) of the gimbal, so that its actuation causes the pivoting of said subframe relative to the other according to a degree of freedom of the universal joint.
    [7" id="c-fr-0007]
    7. Robot according to one of the preceding claims, one of the two displacement subframes supporting a support arm (8) for tooling and / or inspection camera, the support arm being rotatably mounted 360 ° around of the longitudinal axis of said subframe.
    [8" id="c-fr-0008]
    8. Robot according to claim 7, the support arm being further mounted free in longitudinal translation along the longitudinal axis of the displacement subframe which supports it.
    [9" id="c-fr-0009]
    9. A method of operating a robot according to one of the preceding claims, moving within a pipe, comprising the following steps: - detection and measurement of an angle of angular drift of the and / either of the displacement subframes with respect to the axis of the pipe; - Actuating (s) cylinder (s) orientation, so as to cause the simultaneous pivoting of the feet of one and / or other of the tripods around their respective longitudinal axis (Y1 to Y3; Y '1 at Y'3).
    [10" id="c-fr-0010]
    10. Use of the robot according to any one of the preceding claims for the renovation with stripping, preferably by shot blasting, and optionally with paint coating of a penstock.
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    FR2961706A1|2011-12-30|Fire hose cabinet type fire fighting device for e.g. wall at e.g. public/private building, has tube connecting fluid inlet conduit and fluid outlet conduit, and constituted by hollow channel of drum surrounded by material forming drum
    同族专利:
    公开号 | 公开日
    WO2017215810A1|2017-12-21|
    FR3052529B1|2018-06-01|
    EP3469247A1|2019-04-17|
    EP3469247B1|2020-06-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2638813A1|1988-11-09|1990-05-11|Nancy Ecole Sup Sciences Techn|Self-propelled vehicle for grinding piping|
    US20050007055A1|2001-03-30|2005-01-13|Johann Borenstein|Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness|
    US20120215348A1|2011-02-19|2012-08-23|Richard Arthur Skrinde|Submersible robotically operable vehicle system for infrastructure maintenance and inspection|
    CN103697285A|2014-01-13|2014-04-02|浙江理工大学|Wheel and crawler compounding radial adjustable pipeline robot|
    KR20160023960A|2014-08-21|2016-03-04|주식회사 포스코|Apparatus for cleaning of pipe|CN111288246A|2018-12-07|2020-06-16|中国石油天然气股份有限公司|Pipeline robot|
    CN111750205A|2020-06-20|2020-10-09|祥昇建工有限公司|Municipal pipeline repairing device and repairing method thereof|
    CN111963823A|2020-08-17|2020-11-20|河南万众通达物联科技有限公司|360-degree suspension type pipeline flaw detection vehicle|
    CA3063235A1|2017-05-10|2018-11-15|Sipp Technologies, Llc|Inverted filament winder for pipeline rehabilitation|
    CN108176882B|2017-12-29|2020-01-17|东华大学|Spiral pipe inner wall weld joint polishing mechanism|
    FR3083842B1|2018-07-10|2022-02-11|Groupe Adf|ROBOTIZED AND SELF-PROPELLED DEVICE FOR INSPECTION AND/OR TREATMENT OF AN INTERNAL SURFACE OF A PIPE|
    CN109751478B|2019-02-16|2020-11-13|南京百灵智能装备科技有限公司|Pipeline inspection robot|
    CN110715139B|2019-11-04|2021-01-22|浙江希卡姆复合材料股份有限公司|Underground drain pipe crack detection device|
    法律状态:
    2017-04-28| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-15| PLSC| Search report ready|Effective date: 20171215 |
    2018-06-29| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-26| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1655402|2016-06-13|
    FR1655402A|FR3052529B1|2016-06-13|2016-06-13|ROBOT FOR FORCED CONDUIT RENOVATION, WITH AN ANTI-CRANK SYSTEM FOR DISPLACEMENT|FR1655402A| FR3052529B1|2016-06-13|2016-06-13|ROBOT FOR FORCED CONDUIT RENOVATION, WITH AN ANTI-CRANK SYSTEM FOR DISPLACEMENT|
    PCT/EP2017/058727| WO2017215810A1|2016-06-13|2017-04-12|Robot for renovating penstocks, provided with an anti-twisting moving system|
    EP17717396.0A| EP3469247B1|2016-06-13|2017-04-12|Robot for renovating penstocks, provided with an anti-twisting moving system|
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