• 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 invention lies in the field of mobile robots. It relates to a mobile robotic device comprising a propulsion mechanism equipped with an Archimedean screw, so as to allow movement on different types of soil. According to the invention, the mobile robotic device comprises a body and a propulsion mechanism (40), the propulsion mechanism comprising: a drum (42) rotatable relative to the body, an Archimedean screw thread ( 43) projecting from an outer surface of the drum, and ▪ rolling members (44) each comprising a support structure (441) and a wheel (442), each support structure forming a portion of the net and each wheel being connected to each other. pivoting on the support structure, each bearing member comprising at least one recess (4417, 4418) arranged to minimize adjacent surfaces between the support structure and the wheel.
    公开号:FR3057052A1
    申请号:FR1659576
    申请日:2016-10-04
    公开日:2018-04-06
    发明作者:Gwenael Changeon
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    (57) The invention relates to the field of mobile robots. It relates to a mobile robotic device comprising a propulsion mechanism equipped with an Archimedes screw, so as to allow movement on different types of soil.
    According to the invention, the mobile robotic device comprises a body and a propulsion mechanism (40), the propulsion mechanism comprising:
    a drum (42) movable in rotation relative to the body, an Archimedes screw thread (43) projecting from an external surface of the drum, and rolling members (44) each comprising a support structure (441) and a wheel (442), each support structure forming a portion of the net and each wheel being mounted in pivot connection on the support structure, each rolling member comprising at least one recess (4417, 4418) arranged to minimize the adjacent surfaces between the support structure and the wheel.
    MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDAL PROPELLING MECHANISM
    DESCRIPTION
    TECHNICAL AREA
    The invention is in the field of mobile robots and, more specifically, in the field of robots driven by one or more Archimedes screws. It relates to such a mobile robotic device equipped with one or more propulsion mechanisms each comprising an Archimedes screw, so as to allow movement of the robotic device both on a rigid support, than in the presence of water, sand , grease or mud.
    The invention applies in particular to the inspection of pipes, for example rainwater pipes, wastewater pipes or industrial pipes. More generally, the invention finds an application for any deployment of a mobile robot on a difficult terrain, for example soft, wet and / or granular.
    PRIOR STATE OF THE ART
    Mobile mechatronic devices are used to evolve inside pipes of urban or industrial networks in order to carry out an inspection, for example by means of images or measurements of various physical and / or chemical parameters. The locomotion function of such devices is generally provided by wheels or tracks. In the presence of water, sand or mud, these devices can become blocked in their progression. In order to avoid such blockages, it is possible to scour the pipe to be inspected prior to the passage of the device. However, the scrubbing operation generates drawbacks in terms of speed of intervention, complexity and cost.
    In order to allow a mobile robot to progress over difficult terrain, one possibility is to equip it with a propulsion mechanism comprising an Archimedes screw. The thread of the Archimedes screw comes into contact with the ground and allows progression regardless of the type of surface encountered, the screw thread penetrating more or less the ground. For example, the company Steady Flux, Inc. offers a pipe inspection device, called CBOR, using such an Archimedes screw mechanism. The device comprises an elongated central body and a pair of Archimedes screws arranged on either side of the central body and connected to it in pivot connection by means of arms. A disadvantage of such a robot is that the propulsion by means of Archimedes screws on a relatively hard ground generates a significant sliding of the screws. This results in a consequent loss of motor skills in the robot and wear of the Archimedes screw threads. The loss of energy is all the more detrimental as the robot is generally supplied by on-board supply means.
    The Applicant has proposed solutions to these problems in patent application PCT / EP2015 / 070612, not yet published. According to an alternative embodiment of the invention, the robotic inspection device comprises rotary drums, the outer surface of which has an Archimedes screw thread, each thread being fitted with wheels which can be driven in rotation by contact with the ground when rotating the corresponding drum. The presence of the wheels improves traction and limits friction between the robotic inspection device and the ground on which it operates. However, in the presence of various small foreign bodies such as sand or gravel, the wheels lock in rotation during the introduction of these foreign bodies between them and their support. Friction can then be significant, in particular in the case where the wheels have a tread made of elastomeric material allowing better grip on hard ground.
    According to another alternative embodiment, compatible with the previous one, the Archimedes screw threads are removably mounted on the rotary drums. Each thread is formed by a plurality of thread portions, each capable of being removably mounted on a rotary drum, for example by latching of lugs integral with the thread portions in complementary orifices formed on the rotary drum. The removable nature of the net allows its replacement without replacing the entire rotary drum and, if necessary, without dismantling any components located inside this rotary drum. However, the risk of friction remains high, either due to the absence of wheels, or due to the blocking of these wheels with foreign bodies.
    The aforementioned solutions for limiting friction during the movement of the mobile robot are therefore not entirely satisfactory. An object of the invention is therefore to propose a solution for limiting this friction whatever the type of surface encountered by the mobile robot.
    STATEMENT OF THE INVENTION
    To this end, the invention is based on two main branches of development, independent but synergistic. In each branch of the invention, the mobile robotic device comprises a body and at least one propulsion mechanism, the latter comprising a rotary drum provided with an Archimedes screw thread and rolling members each comprising a support structure and a wheel. Each support structure forms a portion of the net and each wheel is pivotally mounted on the support structure to allow translation of the drum along its axis of rotation while minimizing friction with the pipe.
    According to a first branch of the invention, each rolling member comprises one or more recesses arranged so as to minimize the adjacent surfaces between the support structure and the wheel of the rolling member considered. By adjacent surfaces between the support structure and the wheel is meant the surface (s) of the wheel as well as the surface (s) of the support structure having a minimum distance between them. These surfaces can in particular be parallel to each other.
    More specifically, the first branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism. The propulsion mechanism includes:
    a drum capable of being rotated relative to the body, an Archimedes screw thread secured to the drum and projecting relative to an exterior surface of the drum, and rolling members each comprising a support structure and a wheel, each support structure forming a portion of the net and each wheel being mounted in pivot connection on the support structure so as to be able to be driven in rotation by contact with a wall of the pipe during the rotation of the drum, each rolling member comprising at least a recess arranged to minimize the adjacent surfaces between the support structure and the wheel.
    The presence of one or more recesses (for example at least two or at least three) at the level of each rolling member has the effect of reducing the adjacent surfaces between the support structure and the wheel, in comparison with a rolling member without recess for which the surfaces facing the wheel and the support structure are relatively large. The recesses also have the effect of introducing a variable spacing between the two surfaces facing the wheel and the support structure. This variable spacing makes it possible to drive in rotation along the axis of rotation of the wheel any foreign bodies caught between the wheel and the support structure until they reach the outside of the rolling member.
    The recesses can be formed in the support structure and / or in the wheel of the various rolling members.
    Each recess may have an opening passing through either the support structure or the wheel. Preferably, the opening is made so as to pass through the part considered right through along an axis parallel to an axis of rotation of the wheel in pivot connection on the corresponding support structure. Such openings allow the evacuation of foreign bodies introduced into the rolling members.
    According to a first particular embodiment, each wheel has a hub, a rim and spokes extending radially between the hub and the rim, the spokes being separated from each other so as to form openings in the wheel. These openings are then through for the wheel.
    Advantageously, the spokes of each wheel have a cylindrical or frustoconical shape. Such a shape makes it possible to limit the extent of the parallel surfaces between a wheel and its support structure.
    According to a second particular embodiment, the spokes are replaced by a lateral flank which may have a continuous surface. Each wheel then comprises a hub, a rim and said lateral flank, which extends radially between the hub and the rim and comes opposite a surface of the support structure. One or more recesses can be formed on this lateral flank. This particular embodiment is particularly suitable for wheels having a relatively large width. By wheel width is meant its dimension along its axis of translation.
    Each wheel can of course have two lateral flanks, each lateral flank coming opposite a surface of the support structure. Recesses are then preferably formed on each of the two lateral flanks.
    In this second particular embodiment, each recess can be arranged to form a blind hole opening onto the lateral flank considered.
    Still in this second particular embodiment, the wheel may include a plurality of recesses distributed circumferentially on the lateral flank considered.
    According to a particular embodiment, each support structure forms a lattice structure. By lattice structure is meant an assembly of beams. Openings are formed between the beams and constitute recesses within the meaning of the present invention.
    According to a second branch of the invention, independent of the first branch but combinable with it, the support structure of each rolling member is arranged to be able to deform under the effect of an external force. In particular, the support structure can be arranged to be able to deform under the effect of the introduction of a foreign body between the wheel and the support structure. Preferably, the deformation is elastic, at least for any introduction of a foreign body in the largest dimension is less than or equal to twice the minimum distance separating the wheel from its support structure. Thus, the clearance present between the wheel and the support structure is capable of varying, allowing the loosening of foreign bodies.
    More specifically, the second branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism. The propulsion mechanism includes:
    a drum capable of being rotated relative to the body, an Archimedes screw thread secured to the drum and projecting relative to an exterior surface of the drum, and rolling members each comprising a support structure and a wheel, each support structure forming a portion of the net and each wheel being mounted in pivot connection on the support structure so as to be able to be driven in rotation by contact with a wall of the pipe during the rotation of the drum, the support structure of each member of bearing being arranged to be able to deform under the effect of an external force.
    The deformation of the support structure can be obtained by choosing materials and / or dimensions suitable for the flexible structure. Preferably, no articulation mechanism is provided in the support structure to ensure its deformation.
    According to a first particular embodiment, the support structure of each rolling member comprises an arm, a first end of which is integral with the drum and a second end carries a hub of the wheel, the arm being arranged so as to be able to flex under the effect of an external force.
    According to a second particular embodiment, the support structure of each rolling member comprises an arm, a first end and a second end of which are integral with the drum, a mid-point of the arm carrying a hub of the wheel and the arm being arranged so to be able to flex under the effect of an external force.
    In this second embodiment, the arm can extend between its two attachment points by following different profiles. In particular, the arm can extend linearly between its two attachment points, following a curved profile or following a sinuous profile.
    In each embodiment, the support structure of each rolling member can comprise two arms connecting the wheel to the drum by a pivot link. The arms are advantageously arranged on either side of the wheel, to allow movement of the wheel along an axis perpendicular to the local mean plane of the drum.
    The support structure of each rolling member is preferably formed from an elastic material. It is for example a thermoplastic polymer such as polycarbonate, or an elastomer such as rubber.
    Whatever branch of the invention is considered, the mobile robotic device can include one or more of the characteristics indicated below.
    The Archimedes' screw thread can extend in a spiral following the axis of rotation of the drum. It can extend over the entire length of the drum or only a part.
    The Archimedes screw thread and, in particular, the support structures of the various rolling members, can be produced in a single piece with the drum, for example by an injection molding process or by three-dimensional printing. Alternatively, the support structures of the various rolling members can form removable elements with respect to the drum. The support structures are for example fixed to the drum by a latching mechanism. In particular, the support structures can be equipped with lugs capable of snapping into holes formed on the exterior surface of the drum.
    Each wheel is preferably in pivot connection with a support structure along an axis of rotation perpendicular to a local median plane of the support structure. In other words, the circumference of the wheel follows substantially the course of the thread of the Archimedes screw.
    The robotic device may include a plurality of propulsion mechanisms, each propulsion mechanism comprising a drum, an Archimedes screw thread secured to the drum and rolling members, the support structures of which each form a portion of the thread and the wheels of which are each mounted in pivot connection in a support structure.
    The propulsion mechanisms are preferably fitted to the robotic device in pairs, the propulsion mechanisms of a pair being arranged symmetrically with respect to a median plane of the device, that is to say a vertical plane parallel to an axis of advancement of the robotic device when it is on a horizontal plane.
    Each propulsion mechanism is designed to be equipped with a motor, for example an electric motor, capable of driving the drum in rotation relative to the body. The robotic device may further comprise an accumulator for each electric motor or an accumulator common to the different electric motors, arranged to supply these electric motors with energy.
    The robotic device is for example provided for inspection and / or recognition operations. To this end, it can include various sensors, for example a photographic sensor or a video camera.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The invention will be better understood with the aid of the description which follows, given solely by way of nonlimiting example and made with reference to the appended drawings in which:
    - Figure 1 shows a mobile robotic device developed by the applicant;
    - Figure 2 shows a detail of the mobile robotic device of Figure 1;
    - Figure 3A shows a first example of a propulsion mechanism of a mobile robotic device according to the invention and Figures 3B, 3C and 3D show a detail of this propulsion mechanism;
    - Figure 4A shows a second example of a propulsion mechanism of a mobile robotic device according to the invention and Figure 4B shows a detail thereof;
    - Figure 5 shows a detail of an embodiment of a third embodiment of a propulsion mechanism for a mobile robotic device according to the invention;
    - Figure 6 shows a detail of an embodiment of a fourth embodiment of a propulsion mechanism for a mobile robotic device according to the invention;
    - Figure 7 shows a detail of an embodiment of a fifth embodiment of a propulsion mechanism for a mobile robotic device according to the invention.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    FIG. 1 represents a mobile robotic device according to one of the embodiments described in the patent application PCT / EP2015 / 070612. The mobile robotic device 1 comprises a body 10 and four propulsion mechanisms 20A, 20B, 20C, 20D. The propulsion mechanisms 20A, 20B, 20C, 20D are generally designated by the reference 20, that is to say by omitting the final letter of the individual references. Likewise, the different parts and the different parts of these propulsion mechanisms are designated individually with a final letter A, B, C or D and generally without a final letter. Each propulsion mechanism 20 comprises a drum 22, an Archimedes screw thread 23 and rolling members 24. Each drum 22 has the shape of a hollow cylinder, open at a first end and terminated at a second end by a dome 221 Each drum 22 is mounted in pivot connection relative to the body 10 along an axis of rotation. The axes of rotation of the drums 22A and 22C are merged, as are the axes of rotation of the drums 22B and 22D. In addition, the axes of rotation of the drums 22A and 22C are parallel to the axes of rotation of the drums 22B and 22D. The drums 22 have the same diameter. The body 10 is constituted by an armature comprising four tubes, not visible in FIG. 1, two rings 11,12 and a connecting member 13. Each tube is housed inside a drum 22 and contains an electric motor suitable for rotating the drum 22 relative to the body 10. The rings 11 and 12 are positioned between the open ends of the drums 22. Their outer surface is arranged to conform to the outer surface of the drums 22. The ring 11 connects integrally the tubes of the drums 22A and 22C and the ring 12 integrally connects the tubes of the drums 22B and 22D. The connecting member 13 integrally connects the rings 11 and 12, so that the body 10 forms a rigid frame for the device 1. The thread of Archimedes 23 of each propulsion mechanism 20 is mounted integrally on the outer surface of the corresponding drum 22. It extends in a spiral over the entire length of the drum 22 and extends on the dome 221 to its top. The thread 23 is partly formed by the rolling members 24, which are removably mounted on the drum 22.
    FIG. 2 represents in greater detail a rolling member 24 of the mobile robotic device 1 of FIG. 1. The rolling member 24 comprises a support structure 241 and a wheel 242. The support structure 241 has a shape and dimensions arranged for forming a portion of the Archimedes screw thread 23. Overall, as can be seen in FIG. 1, the support structures 241 of the various rolling members 24 mounted on a drum 23 form a continuous structure in the form of an Archimedes screw. The threads of Archimedes 23A and 23C have a thread on the right and the threads of Archimedes 23B and 23D have a thread on the left. Thus, according to the direction of rotation of the drums 23, the mobile robotic device 1 can advance in a rectilinear fashion, along an axis parallel to the axes of rotation of the drums 23, or perform a rotation along a vertical axis. The support structure 241 forms a solid part, except that it comprises a housing 2411 arranged to receive the wheel 242. The housing 2411 is traversing between a lower surface 2412, that is to say a surface coming into contact with the drum 22, and an upper surface 2413, that is to say an opposite surface intended to come into contact with the ground. At the very least, the housing 2411 must open onto the upper surface 2413 so as to allow the wheel 242 to project relative to this surface. The support structure
    241 further comprises lugs 2414 formed on the lower surface 2412. These lugs 2414 are intended to snap into openings formed on the outer surface of the drums 23. The rolling members 24 thus form easily interchangeable elements. The wheel 242 is disposed in the housing 2411 and mounted in a pivot connection on the support structure 241. The axis of the pivot connection is arranged so that the running surface 2421 of the wheel 242 follows the profile of the portion of the thread 23.
    The mobile robotic device 1 described with reference to FIGS. 1 and 2 has the drawback that small foreign bodies, such as gravel or grains of sand, are liable to be housed between the wheels 242 and their support structure 241 and to hinder, even to block, the rotation of these wheels 242.
    FIG. 3A represents a first example of a propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 30 is arranged to be able to replace the various propulsion mechanisms 20 of the device 1 in FIG. 1. It comprises a drum 32, an Archimedes screw thread 33 and rolling members 34. Each drum 32 has a shape of hollow cylinder, open at a first end and terminated at a second end by a dome 321. The Archimedes screw thread 33 is integrally mounted on the outer surface of the drum 32. It spirally extends over the drum 32 between the first and second ends and extends over the dome 321 to its top.
    The propulsion mechanism 30 shown in Figure 3A differs from the propulsion mechanism 20 shown in Figure 1 by the rolling members 34, shown in more detail in Figures 3B to 3D. The rolling member 34 comprises a support structure 341 and a wheel 342. FIG. 3B represents a complete rolling member 34, the wheel 342 being mounted on the support structure 341. FIG. 3C represents the support structure 341 alone and FIG. 3D represents the wheel 342 alone. The support structure 341 has a shape and dimensions arranged to form a portion of the Archimedes screw thread 33. It comprises a housing 3411 arranged to receive the wheel 342 and opening in particular on the lower 3412 and upper 3413 surfaces. However, by relative to the support structure 241 of FIG. 2, the support structure 341 forms a lattice structure at the level of the housing 3411. In this case, the support structure 341 comprises, on either side of the housing 3411, a first beam 3414 joining the two edges of the housing 3411 at the level of the upper surface 3413 following the profile of the thread 33, a second beam 3415 joining one of the edges of the housing 3411 at the level of the lower surface 3412 at a midpoint of the first beam 3414 and a third beam 3416 joining the other edge of the housing 3411 at the level of the lower surface 3412 at the midpoint of the first beam 3414. Openings 3417 are thus formed between the s beams 3414, 3415 and 3416, as well as an opening 3418 is formed between the outer surface of the drum 32 and the beams 3415 and 3416. These openings 3417 and 3418 are through. In other words, they pass through the support structure 341 right through along an axis parallel to the axis of rotation of the wheel 342.
    In FIGS. 3B and 3C, the support structure 341 is shown without a lug. Of course, it could be provided with lugs allowing the snap fastening of the rolling members 34 to the drum 32. Furthermore, in FIG. 3A, the rolling members 34 are shown as forming modular elements of the screw thread d 'Archimedes 33. However, the various support structures 341 could be produced in a single piece with the drum 32, for example by an injection molding process or by three-dimensional printing.
    The wheel 342 shown in FIGS. 3B and 3D differs from the wheel 242 in FIG. 2 in that it comprises a hub 3421, a rim 3422, a tire 3423 and spokes 3425. The hub 3421 forms an axis of rotation for wheel 342. Tire 3423 is mounted on rim 3422 and is intended to come into contact with the ground. The spokes 3425 extend radially between the hub 3421 and the rim 3422. There are three of them here and are separated from each other, so that they form through openings for the wheel. Each spoke 3425 has a frustoconical shape, so as to avoid the formation of parallel surfaces between the wheel 342 and its support structure 341.
    FIG. 4A represents a second example of a propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 40 comprises a drum 42, an Archimedes screw thread 43 and rolling members 44. FIG. 4B shows in detail a rolling member 44. The rolling member 44 comprises a support structure 441 and a wheel 442. The support structure 441 has two walls 4411, 4412 extending in parallel in a spiral on the external surface of the drum 42. Each wall 4411, 4412 can be considered as an Archimedes screw thread. Each wall 4411, 4412 is formed by a lattice structure at the level of the wheels 442. This lattice structure is similar to that of the rolling members 34. Thus, the support structure 441 comprises beams 4414, 4415 and 4416, recesses 4417 formed between these beams and a recess 4418 between the beams 4415, 4416 and the outer surface of the drum 42. The wheel 442 of each rolling member 44 has a relatively large width, suitable for example for relatively loose soils. Each wheel 442 comprises a hub 4421, a rim 4422, a tire 4423 and two lateral flanks 4424. The hub 4421 forms an axis of rotation for the wheel 442. The tire 4423 is mounted on the rim 4422. The lateral flanks 4424 s' extend radially between the hub 4421 and the rim 4422. They have the particularity of comprising recesses 4425 coming opposite the walls 4411 and 4412.
    FIG. 5 represents a detail of embodiment of a third example of the propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 50 comprises, like the other exemplary embodiments, a drum 52, an Archimedes screw thread 53 and rolling members 54. Each rolling member 54 comprises a support structure 541 and a wheel 442, identical to the wheel in FIG. 4. The support structure 541 is distinguished on the other hand in that the walls 5411, 5412 are each arranged to form, at the level of each wheel 442, a flexible arm 5413, 5414 of which one end is integral with the rest of the support structure 541 and therefore of the drum 52 and another end carries the hub 4421 of the wheel 442. The material and the dimensions of the arm are determined so that the flexible arms are able to deform elastically under the effect of an external force, for example a force applied to the wheel 442 in a direction normal to the local surface of the drum 52 or a force generated by the introduction of a foreign body between the lateral flank 4424 of the wheel 442 and an arm 5413 or 5414. The arms 5413, 5414 are here constituted by beams according to the profile of the Archimedes screw 53. However, the arms could have a different shape, for example by following a more or less complex curvature.
    FIG. 6 represents a detail of embodiment of a fourth example of the propulsion mechanism of a robotic device according to the invention. The propulsion mechanism 60 also comprises a drum 62, an Archimedes screw thread 63 and rolling members 64. Each rolling member 64 comprises a support structure 641 and a wheel 442, identical to the wheel in FIG. 4. The support structure 641 differs from the support structure 541 of FIG. 5 in that each of the walls 6411, 6412 is arranged to form a flexible arm 6413, 6414 the two ends of which are integral with the rest of the support structure 641 and therefore of the drum 62. The arms 6413, 6414 extend between their attachment points in a sinuous profile. The hub 4421 of the wheel 442 is pivotally mounted on the arms 6413, 6414 at a midpoint of these arms. The flexibility of the arms 6413, 6414 is ensured by the choice of the material constituting them and by their dimensions.
    FIG. 7 represents a detail of embodiment of a fifth example of the propulsion mechanism of a robotic device according to the invention. The propulsion mechanism 70 comprises a drum 72, an Archimedes screw thread 73 and rolling members 74. Each rolling member 74 comprises a support structure 741 and a wheel 442, identical to the wheel in FIG. 4. The support structure 741 differs from support structure 641 in FIG. 6 by the profile of the flexible arms 7413, 7414. In this case, each flexible arm 7413, 7414 forms two conical sections, one common end of which carries the hub 4421 of the wheel 442 and whose free ends are integral with the rest of the support structure 741.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Mobile robotic device comprising a body (10) and a propulsion mechanism (30, 40, 50, 60, 70), the propulsion mechanism comprising:
    a drum (32, 42, 52, 62, 72) capable of being driven in rotation relative to the body, an Archimedes screw thread (33, 43, 53, 63, 73) integral with the drum and projecting relative to to an outer surface of the drum, and of rolling members (34, 44, 54, 64, 74) each comprising a support structure (341, 441, 541, 641, 741) and a wheel (342, 442), each structure support forming a portion of the net and each wheel being mounted in pivot connection on the support structure so as to be able to be driven in rotation by contact with the ground during the rotation of the drum, each rolling member comprising at least one recess (3417 , 3418, 4417, 4418, 4425) arranged to minimize the adjacent surfaces between the support structure and the wheel.
    [2" id="c-fr-0002]
    2. Device according to claim 1, in which at least one recess (3417, 3418, 4417, 4418) is formed in the support structure (341, 441, 541, 641, 741) of each rolling member.
    [3" id="c-fr-0003]
    3. Device according to claim 2, wherein at least one recess (3417, 3418, 4417, 4418) formed in the support structure of each rolling member has an opening passing through said support structure right through along an axis parallel to an axis of rotation of the wheel in pivot connection on said support structure.
    [4" id="c-fr-0004]
    4. Device according to one of the preceding claims, in which each support structure (341, 441) forms a trellis structure.
    [5" id="c-fr-0005]
    5. Device according to one of the preceding claims, in which at least one recess (4425) is formed in the wheel (342, 442) of each rolling member.
    [6" id="c-fr-0006]
    6. Device according to claim 5, wherein at least one recess formed in the wheel of each rolling member comprises an opening passing through said wheel right through along an axis parallel to an axis of rotation of said wheel in connection pivot on the support structure.
    [7" id="c-fr-0007]
    7. Device according to claim 6, in which each wheel (342) comprises a hub (3421), a rim (3422) and spokes (3425) extending radially between the hub and the rim, the spokes being separated from each other. another so as to form openings in the wheel.
    [8" id="c-fr-0008]
    8. Device according to claim 7, wherein the spokes (3425) of each wheel have a cylindrical or frustoconical shape.
    [9" id="c-fr-0009]
    9. Device according to claim 5, in which each wheel (442) comprises a hub (4421), a rim (4422) and a lateral flank (4424), the lateral flank extending radially between the hub and the rim and coming from facing a surface of the support structure (441), at least one recess (4425) being arranged to form a blind hole opening onto the lateral flank.
    [10" id="c-fr-0010]
    10. Device according to claim 9, wherein the wheel (342, 442) comprises a plurality of recesses (4425) distributed circumferentially on the lateral flank, each recess being arranged to form a blind hole opening onto the lateral flank.
    [11" id="c-fr-0011]
    11. Device according to one of the preceding claims, wherein the support structure (341, 441, 541, 641, 741) of each rolling member is arranged to be able to deform under the effect of an external force.
    [12" id="c-fr-0012]
    12. Device according to claim 11, in which the support structure (541) of each rolling member comprises an arm (5413, 5414) of which a first end is integral with the drum and a second end carries a hub of the wheel, the arm being
    5 arranged so as to be able to flex under the effect of an external force.
    [13" id="c-fr-0013]
    13. Device according to claim 11, wherein the support structure (641, 741) of each rolling member comprises an arm (6413, 7413), a first end and a second end are integral with the drum, a midpoint of the
    10 arms carrying a wheel hub, the arm being arranged so as to be able to flex under the effect of an external force.
    [14" id="c-fr-0014]
    14. Device according to one of claims 11 to 13, in which the support structure (341, 441, 541, 641, 741) of each rolling member is formed from a material
    [15" id="c-fr-0015]
    15 elastic.
    S.60940
    1/4
    321
    3412
    3415 3418
    3416
    2/4
    342
    3411 r- ιζ> 3414 FIG
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    FR3105340A1|2021-06-25|MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN
    FR2938726A1|2010-05-28|Disk assembly for roller of agricultural machine, has stiffeners formed on annular sides to increase stiffness of solid band in direction parallel to axis of tube and to confer flexibility in direction perpendicular to axis of tube
    EP3478519B1|2021-04-21|Run-flat device
    FR3104231A1|2021-06-11|MOBILE ROBOTIC DEVICE WITH ARCHIMEDAL SCREW PROPULSION ASSEMBLIES TO INSPECT PIPES OF DIFFERENT DIAMETERS
    EP0165887B1|1989-06-28|Agricultural roller and agricultural machine using this roller
    EP0901954A1|1999-03-17|Off-road vehicle with rubber crawler track
    FR3110564A1|2021-11-26|PIPE ELEMENT SLIDING ASSISTANCE DEVICE
    同族专利:
    公开号 | 公开日
    US20190219215A1|2019-07-18|
    WO2018065710A1|2018-04-12|
    AU2017339140A1|2019-04-18|
    JP2019536692A|2019-12-19|
    EP3523566A1|2019-08-14|
    FR3057052B1|2018-12-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4055315A|1976-04-14|1977-10-25|Gvelesiani Konstantin Shalvovi|Device for pipeline transportation of loads by fluid flow|
    JP2005084412A|2003-09-09|2005-03-31|Sadatada Ota|Pipe checking device and pipe checking apparatus|
    DE102004006855A1|2004-02-12|2005-09-01|Jt-Elektronik Gmbh|Advancing unit for an advancing drive in a tubular and/or channel system comprises an advancing module, an inspection camera and/or processing and/or inspection tools connected together using a connection tube|
    WO2013167094A2|2012-05-11|2013-11-14|Universidad Industrial De Santander|Robotic platform for in-pipe inspection|
    CN108725091B|2018-06-07|2020-09-22|天地科技股份有限公司|All-directional traveling wheel|
    FR3104231B1|2019-12-09|2021-12-17|Commissariat Energie Atomique|MOBILE ROBOTIC DEVICE WITH ARCHIMEDD SCREW PROPULSION ASSEMBLIES TO INSPECT PIPES OF DIFFERENT DIAMETERS|
    FR3105340B1|2019-12-20|2021-12-17|Commissariat Energie Atomique|MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN|
    CN111389826B|2020-03-25|2021-09-28|上海隧道工程股份有限公司|Pipeline hammering and cleaning equipment|
    CN112247998A|2020-09-21|2021-01-22|杭州王之新创信息技术研究有限公司|Robot, medical stomach robot, amusement robot suitable for fluid environment|
    法律状态:
    2017-10-31| PLFP| Fee payment|Year of fee payment: 2 |
    2018-04-06| PLSC| Publication of the preliminary search report|Effective date: 20180406 |
    2018-10-30| PLFP| Fee payment|Year of fee payment: 3 |
    2019-10-31| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-10-29| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1659576|2016-10-04|
    FR1659576A|FR3057052B1|2016-10-04|2016-10-04|MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDE SCREW PROPULSION MECHANISM|FR1659576A| FR3057052B1|2016-10-04|2016-10-04|MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDE SCREW PROPULSION MECHANISM|
    PCT/FR2017/052693| WO2018065710A1|2016-10-04|2017-10-02|Mobile robotic device with improved archimedean screw propulsion mechanism|
    AU2017339140A| AU2017339140A1|2016-10-04|2017-10-02|Mobile robotic device with improved archimedean screw propulsion mechanism|
    EP17792111.1A| EP3523566A1|2016-10-04|2017-10-02|Mobile robotic device with improved archimedean screw propulsion mechanism|
    JP2019538734A| JP2019536692A|2016-10-04|2017-10-02|Mobile robotic device with improved Archimedian screw propulsion mechanism|
    US16/337,107| US20190219215A1|2016-10-04|2017-10-02|Mobile robotic device with improved archimedean screw propulsion mechanism|
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