EP0245414A1

EP0245414A1 - Handling device

Info

Publication number: EP0245414A1
Application number: EP86906843A
Authority: EP
Inventors: Bernard Havez
Original assignee: Individual
Current assignee: Individual
Priority date: 1985-11-15
Filing date: 1986-11-12
Publication date: 1987-11-19
Also published as: WO1987003063A1; FR2590196A1; FR2590196B1

Abstract

Dispositif de manipulation et plus spécialement mais non exclusivement en vue du transport et du positionnement dans et/ou autour d'un conduit tubulaire de tout appareillage d'investigation, d'exploration, de forage, de traitement. Il est caractérisé en ce qu'il est constitué d'un assemblage de cellules (11) comportant chacune: d'une part, au moins deux moyens moteurs (9a, 9b, 9c) globalement identiques disposés approximativement parallèlement et répartis sensiblement uniformément autour de l'axe longitudinal de ladite cellule de manière à permettre, selon l'état de cesdits moyens moteurs (9) non seulement l'extension et la rétraction de la cellule (11) selon sa dimension longitudinale mais encore l'induction d'un décalage angulaire entre les plans des platines extrêmes (12, 13) et, d'autre part, au moins un moyen de blocage et de déblocage (8) développant son action sensiblement radialement à ladite cellule. Application à l'industrie des manipulateurs.Manipulation device and more specifically but not exclusively for the transport and positioning in and/or around a tubular conduit of any investigation, exploration, drilling or treatment equipment. It is characterized in that it consists of an assembly of cells (11) each comprising: on the one hand, at least two generally identical motor means (9a, 9b, 9c) arranged approximately parallel and distributed substantially uniformly around the longitudinal axis of said cell so as to allow, depending on the state of said motor means (9), not only the extension and retraction of the cell (11) along its longitudinal dimension but also the induction of an offset angular between the planes of the end plates (12, 13) and, on the other hand, at least one blocking and unlocking means (8) developing its action substantially radially to said cell. Application to the manipulator industry.

Description

HANDLING DEVICE

The invention relates to a handling device and, more specifically but not exclusively, for the purpose of transport and positioning in and / or around a tubular conduit of any apparatus for investigation, exploration, drilling, treatment.

In many applications, access to the interior of a duct may be dictated by various requirements, for example, entry and exit, but with regard to the role of internal surface, the structure of the wall, the presence of obstacles ...

To carry out operations inside substantially horizontal conduits, wheeled or tracked devices are already known which make it possible, for example, to pull a cable there.

Unfortunately, these devices are no longer suitable in the case of very inclined or even vertical conduits.

To overcome this drawback, we know

(US-A-3,224,734) a device mainly, consisting of a slender body whose end parts each carry alternately blocking and unblocking means in the duct, while the middle part comprises a motor means making it possible to vary the length of said device during blocking in the conduit of one of its ends. Generally, both the locking and unlocking means and the motor means are constituted by pneumatic cylinders.

Associated with a suitable cyclic control means, this device can be used in highly inclined or even vertical conduits. Unfortunately, this device is generally rigid and if it gives good results in a substantially rectilinear duct, it cannot however approach any sharp curvature, or cross any elbow.

To overcome this drawback, it is known (FR-2,557,055, US-A-4,372.16) to interpose between the two extreme parts of the device at least one means allowing relative articulation of the assembly, so that , as it travels, the device can, in certain measures, negotiate the curves inherent in the duct. These devices give good results but their articulation movements are limited to those dictated by the configuration of the duct, in which they are engaged.

Also, they cannot be remotely commanded to take one path rather than another when the conduit has a branch or a diversion.

In addition, the possibilities of power supply and / or control of the possible apparatus placed at the head of this type of device are relatively limited. Furthermore, it is almost impossible to associate end to end several of these devices together in order to constitute a train of devices, to increase the pulling force.

In addition, these devices are intended to operate in cαnduits of a relatively restricted range of diameter. A result which the invention aims to obtain is a handling device, in particular but not exclusively, for the transport and positioning, in and / or around a conduit, of a material of any type, which can be directed selectively remote to one portion of conduit rather than another when a branch occurs.

Another result that the invention aims to obtain is a device of the aforementioned type, which can be used in and / or around conduits whose dimensions vary in large proportions whether or not within the same network of conduits. .

Another result is that the invention aims to obtain a device of the aforementioned type which offers a plurality of control and / or power supply channels for an apparatus located at the head of said device. Other results will appear clearly in the description given below.

The subject of the invention is a device of the aforementioned type, in particular characterized in that it consists of an assembly of cells each comprising: - on the one hand, interposed between two substantially parallel end plates, each equipped with means of association intercells, at least two generally identical motor means arranged approximately parallel and distributed substantially uniformly around the longitudinal axis of the said cell so as to allow, depending on the state of these said motor means not only the extension and retraction of the cell along its longitudinal dimension but also the induction of an angular offset between the planes of the end plates and,

- from further to p, in a p an n s i b l eme n t o r t h o g o n a l to the longitudinal axis, located between the two end plates of the cell, at least one blocking means developing its action substantially radially to said cell. It will be clearly understood with the aid of the description below, by way of nonlimiting example, with reference to the appended drawing which schematically represents:

- Figure 1: sectional view along a longitudinal plane a cell of the type of the invention, - Figures 2 to 4: different forms of construction and use of the device of the invention.

Referring to the drawing, it can be seen that a device 1 for handling and for example for transporting and positioning in a conduit 2 any apparatus 3 for investigation, expl orati on, treatment or even drilling comprises a body 4 substantially elongated which, at least at its ends 5, 6, is provided with alternately blocking and unblocking means 8 in the duct and in its middle part of at least one motor means 9 allowing the length of the device to be varied unilaterally during blocking one of its ends in the conduit.

Conventionally, the means are remotely controlled by a suitable device 10.

However, instead of only comprising two extreme means alternately for locking and unlocking 8 and a median motor means 9, according to the invention; it consists of an assembly of cells 11 each comprising:

on the one hand, interposed between two end plates 12, 13 substantially parallel, each equipped with means of intercell combinations 14, at least two motor means 9 _a , 9 _b , 9 _c generally identical arranged approximately oar al 1 element and distributed substantially uniformly around the longitudinal axis of said cell so as to allow, depending on the state of said motor means 9 not only the extension and retraction of the cell 11 along its longitudinal dimension but also the induction of an angular offset between the planes of the end plates 12, 13 and,

on the other hand, in a plane substantially orthogonal to the longitudinal axis, located between the two end plates 12,

13 of the cell 11, at least one blocking and unblocking means 8 developing its action substantially radially to the said cell.

Conventionally, both the alternating blocking and unblocking means 8 and the motor means 9 may be constituted by pneumatic cylinders.

Although this is not shown, in an advantageous embodiment, each cell comprises elastic means for returning the plates 12, 13 to the retracted position of the cell.

In a preferred embodiment, each cell comprises three motor means 9 arranged at one hundred and twenty degrees.

Preferably, the locking and unlocking means 8 consists of an annular jack which, when it is pressurized, adopts a substantially toroidal shape.

In an entirely advantageous manner, the blocking and unblocking means 8 is located at mid-length of the cell between the end plates 12, 13.

The total clearance of said end plates and the fact that they do not undergo the influence of the state of the blocking means 8 makes it possible to fully exploit the possibilities of angular offset of the plates but also those of extension and retraction of the cell.

Indeed for such a cell, the angular offset of the plates and / or the extension or the retraction can be controlled on the site whatever the state of the blocking means 8 in particular when the blocking of the cell has been ordered in a conduct.

Preferably, the motor means 9 are constituted by flexible pneumatic cylinders, with single or double effect, which develop their thrust between the plates 12, 13 but also allow a relative articulation between these two piatines. In a preferred embodiment, each cell 11 has a generally cylindrical shape of revolution.

In the following description, without this being limiting, the end 5 of the device carries the possible device 3 and constitutes its distal end.

At the opposite end 6 of the device which therefore constitutes the oroximal end thereof, lead a plurality of pipes 14 and / or cables 15 for transporting energy and / or control information both for the cells of the device and for the possible apparatus 3 which he carries.

Referring to the drawing, it is noted that the device can be made up of a variable and non-limiting number of cells 11 without it being necessary, within the device, during the assembly of said cells, to specially arrange a supply and energy network and / or transport of control information for the cells situated beyond those to which the cables and conduits terminate 14, 15.

According to the invention, each cell 11 comprises:

- on the one hand, interposed between its plates 12, 13 at least one internal network 16 of control and / or energy transport channels, on which network are selectively conveyed both the controlled information and / or the energies necessary for operation of said cell as those necessary for the operation of the following cells and / or of the apparatus placed at the head of the device and,

- on the other hand, on each plate 12, 13 at least one connection means 17 of the internal network section to said cell with that of any contiguous cells and / or any equipment 3 placed at the head of the device. To facilitate the orientation of the cells between them, the connection means or the plate is indexed.

Of course, the network 16 internal to each cell 11 is such as to allow the relative movements of the plates between them. Furthermore, in accordance with the invention, each cell comprises, isolated from the internal network 16 and from the motor means 9, a substantially cylindrical channel 18, centered on the longitudinal axis of said cell, and which opens out at the plates 12, 13 through an opening 19.

Referring to the drawing, it can be seen that the device of the invention comprises a longitudinal channel formed by the set of channels 18 of each cell 11 making it up.

This arrangement makes it possible, for example, either not to have to interrupt the circulation of the fluid displaced in the conduit visited by the device, or else to evacuate the drilling mud when the device is used in such an application to drilling.

In addition, this arrangement allows when the device pulls a load in the conduit, the passage of the traction cables to transfer the traction forces to the head of the device.

We have previously defined the locking and unlocking means 8 of the device in a pipe. According to the invention, the locking and unlocking means 8 develops its action around a rigid ring 20 connected to the plates 12, 13 by connecting means 21 allowing the relative movements of the plates 12, 13 between them.

In a preferred embodiment, each cell 11 comprises connected to the plates 12, 13 at least one sealed envelope 22, but elastically deformable under the action of the relative movements of the plates 12, 13, which envelope subtracts both the network 16 and the means motors 9 to the action of agents surrounding the cell. According to a preferred embodiment, the envelope 22 is composed of two walls 23, 24, each arranged substantially in a cylindrical bellows of revolution, one internal 23 delimiting the channel 18 between the plates 12, 13, the other external 24 generally delimiting the outer envelope of the cell.

In addition, the elastic return means of the plates in the retracted and parallel position is advantageously arranged at the level of said channel 18 and consists, for example, of a spiral spring of adequate diameter and stiffness. Preferably, the elastic return means in the retracted position of the plates is advantageously arranged at one of these walls 23, 24.

Preferably, the connecting means 21 connecting the crown 20 to the plates 12, 13 is formed by the external wall 24 of the envelope 22.

In another embodiment, the connection means 21 is formed of a plate (not shown) which is connected to the motor means 9 by any means preserving the operation of the cell.

As for the connection means 17 between networks 16 of neighboring cells, it is composed of a plurality of connection members 25, each associated with a channel of the network and arranged in a similar arrangement on the two end plates 12, 13 of each cell, which arrangement is reproduced identically on each cell.

Preferably, the connection members 25 are arranged on at least one circle substantially concentric with the axis of the cell and according to a generally regular angular distribution.

Those skilled in the art are able to determine the most appropriate means for constituting these connection members 25.

Those skilled in the art are also able to determine the means of association 14 intercells so that they are compatible with the connection members 25, or vice versa.

Preferably, the network 16 is arranged substantially peripherally to all of the motor means 9 so as to offset a central cylindrical volume sufficient to constitute the channel 18.

According to the invention, each control and / or energy transport channel of the network 16, internal to each cell extends at least between two connection members 25 each arranged on one of the end plates 12, 13.

In accordance with the invention, within each cell 11 at least those of the channels of the network 16 from which the control information and / or the energy intended for the blocking means 8 and / or motors 9 specific to the cell are taken, are equipped with selection means 26 which make it possible to selectively direct towards the motor means 9 or blocking or unblocking 8 recipients of the energy and / or of the information taken from the channel concerned. Those skilled in the art are able to determine the most suitable means for constituting the selection means 26. Preferably, the means 26 will be manually operable by the operator who assembles the cells 11 in order to constitute the device. Preferably, all of the selection means 26 of a cell are housed mid-length of the cell between two plates generally orthogonal to the axis of the cell and which extends practically over its entire cross section.

The crown 20 around which the action of the locking means 8 develops advantageously closes the space existing between said plates and is preferably connected by any suitable means.

As for the motor means 9 of a cell, they therefore comprise two blocks of motor means, each disposed between one of the plates 12, 13 and the plate opposite.

In a preferred embodiment, the selection means 26 are of an appropriate type to be controlled remotely.

In an advantageous embodiment, each network

16 of a cell is designed to be easily modifiable by those skilled in the art.

It is thus possible to design a plurality of devices established on the basis of cells of the invention.

For example, as shown in the drawing, cells can be assembled so as to constitute a device within which the drive means 9 are generally aligned when the longitudinal axis of the device is rectilinear.

By way of example, the above-mentioned device consists of four cells 11 _a to 11 _d ,.

During the progression of the device, the two extreme cells 11 _a and 11 _d advantageously mainly provide the blocking functions in the duct while the middle cells 11 _b , 11 _c ensure the extension and retraction of the device, but this mode of progression is well known. It is only specified that, to obtain the extension and / or retraction of the cells _11b , _11c , the motor means 9 internal to each cell are controlled simultaneously at least at the level of each cell. On the other hand, when one wants to print a curved deformation on the device for example in view at an intersection of the duct to make it follow one duct rather than another, it suffices at the appropriate time to control the deformation of at least one of the motor means 9 immediately located on the outside of the curve.

Unlike the device of the prior art, the diametrical dimension of the conduits in which the device of the invention can progress, is not limited to the maximum deformation of the locking means 8 in the conduit. Indeed, by the curvature of at least some of the cells in different planes, one can of course with a certain number of cells, control the formation not of a planar curve but of a curve for example spiral.

To this end, it is possible for example to cause an annular phase shift between motor means 9 at the time of assembly of the cells 11.

Thus shaped, the device of the invention may bear only by a generator against the internal face of the conduits of large internal diameter. To progress in the conduit, the device must of course comprise at each end, at least one turn alternately blocking and unblocking and these extreme turns must be connected by a deformable middle part according to the direction of progression. The middle part may be a substantially linear arrangement of cells or have a spiral pre-stretching substantially in the axis of the conduit by action on the motor means 9 while maintaining a radius of curvature of the light spiral nt less than that of the conduit. Locking and unlocking of the turns in the duct will be effected by contact between the duct and the locking means 8, and this, under the action of these locking means 8 and / or motor means 9. Although this is not shown, it is possible with the aid of such a device to envisage progression around a duct or even completely independently of a duct.

Given the numerous possibilities of the device, when it is made up of more than two cells, provision is made to use a remote control device 10 using computer means, preferably located at

The inlet 7 of the conduit.

Thanks to the use of such remote control means, it is entirely conceivable to control the device in order to obtain a progression very close to the peristaltic progression whether it is in spiral or linear configuration or even in the form of plane wave.

Such a device can also be made autonomous and for this to tow its energy source.

Claims

1. A handling device more particularly but not exclusively, for the purpose of transport and positioning in or around a conduit (2) of any apparatus (3) for investigation, exploration, treatment or even drilling comprising a body (4) substantially elongate which, at least at one of its ends (5, 6), is provided with alternating blocking and unlocking means (8) and in its middle part of at least one motor means (9) allowing, on the one hand, to unilaterally vary the length of the device during the blocking of one of its ends and, on the other hand, to induce a certain curvature in said CHARACTERIZED device in that it consists of '' an assembly of cells (11) each comprising: - on the one hand, interposed between two end plates (12,

13) substantially parallel at least at rest, each equipped with means of intercell association 14, at least two motor means (9 _a , 9 _b , 9 _c ) generally identical arranged approximately parallel and distributed substantially uniformly around the longitudinal axis of said cell so as to allow, depending on the state of said motor means (9) not only the extension and retraction of cell 11 according to its longitudinal dimension but also the induction of an angular offset between the planes of end plates (12, 13) and,

- on the other hand, in a plane substantially orthogonal to the longitudinal axis, located between the two end plates (12, 13) of the cell (11), at least one blocking and unblocking means (8) developing its action substantially radially to said cell and connected to the plates (12, 13) by connecting means (21) allowing the relative movements of the plates (12, 13) between them.

2. Device according to claim 1 characterized in that each cell (11) comprises: - on the one hand, interposed between its plates (12, 13) at least one internal network (16) of control and / or transport channels of energy, on which network are selectively conveyed both the controlled information and / or the energies necessary for the operation of said cell than those necessary for the operation of the following cells and / or of the apparatus placed at the head of the device and,

- on the other hand, on each plate (12, 13) at least one connection means (17) indexed from the network section internal to said cell with that of any contiguous cells and / or any equipment (3) placed at the head of the device.

3. Device according to claim 1 characterized in that the locking means (8) develops its action around a rigid crown (20).

4. Device according to any one of claims 1 to 3 characterized in that the connection means (17) is composed of a plurality of connection members (25) each associated with a channel of the network and arranged in an arrangement similar on the two end plates of each cell, which arrangement is reproduced identically on each cell.

5. Device according to any one of claims 1 to 4 characterized in that each control channel and / or transport of energy from the network (16), internal to each cell extends at least between two connection members ( 25) each arranged at one of the end plates (12, 13).

6. D ispositifselonlar eve ndic at ion 5 c ar actér is ence quc within each cell (11) at least those of the network channels (16) from which are taken control information and / or energy for the means locking or unlocking (3) and motors (9) specific to the cell are equipped with selection means (26) which make it possible to selectively direct towards the locking or unlocking means or motor (8, 9) intended for the recipient energy and / or information taken from the channel concerned.

7. Device according to claim 6 characterized in that each cell comprises, isolated from the internal network (16) and from the driving means (9), a substantially cylindrical channel (18), centered on the longitudinal axis of said cell, and which opens at the plates (12, 13) through an opening (19).

8. Device according to claim 7 characterized in that each cell (11) comprises connected to the plates (12, 13) at least one envelope (22) sealed, but elastically deformable under the action of the relative movements of the plates (12, 13), which envelope subtracts both the network (16) and the drive means (9) from the action of agents surrounding the cell.

9. Device according to claim 8 characterized in that the envelope (22) is composed of two walls (23, 24), each arranged substantially in cylindrical bellows of revolution, one (23) internal delimiting the channel (18) between the plates (12, 13), the other (24) external generally delimiting the external envelope of the cell.

10. Device according to claim 9 characterized in that the connecting means (21) connecting the crown (20) to the plates (12, 13) is formed by the external wall (24) of the envelope (22).