EP1409907A1 - Tool-bearing carriage, in particular mobile in a pipe - Google Patents

Tool-bearing carriage, in particular mobile in a pipe

Info

Publication number
EP1409907A1
EP1409907A1 EP02740855A EP02740855A EP1409907A1 EP 1409907 A1 EP1409907 A1 EP 1409907A1 EP 02740855 A EP02740855 A EP 02740855A EP 02740855 A EP02740855 A EP 02740855A EP 1409907 A1 EP1409907 A1 EP 1409907A1
Authority
EP
European Patent Office
Prior art keywords
tool
carriage
arm
support
rigidity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP02740855A
Other languages
German (de)
French (fr)
Inventor
Philippe Garrec
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Orano Cycle SA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Compagnie Generale des Matieres Nucleaires SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA, Compagnie Generale des Matieres Nucleaires SA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP1409907A1 publication Critical patent/EP1409907A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
    • E03F7/12—Installations enabling inspection personnel to drive along sewer canals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/005—Investigating fluid-tightness of structures using pigs or moles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element

Definitions

  • the subject of this invention is a tool carriage, of the kind capable of moving in a pipeline to accomplish certain tasks related to the nature of the tool.
  • Some of these tasks can be carried out in branch pipes, at the entrance of which the carriage stops to project the tool in a lateral direction: the tool is then fixed to the end of a flexible rod which can be advanced under the action of a suitable mechanism and straightens up when it is in the free state; it therefore supports the tool, which it pushes to the desired depth of the branch pipe.
  • a carriage becomes inoperative when the pipes are not concurrent, that is to say that the pipe in which the tool must be pushed leads with a drop in that in which the carriage, which is often found for pipes joined by manholes: today there is no system which makes it possible to reach such pipes.
  • the object of the invention is precisely to overcome this defect and to make accessible to an observation or working tool carried by a carriage portions of pipes joining a main pipe, taken by the carriage, with a drop.
  • the cart satisfying this object is characterized in that it comprises a drum supported by the cart, an arm supported by the drum and carrying by an articulation of a support for the tool, the arm being semi-rigid and having a free state of rigidity and a flexible state, and means of rotation of the drum around a longitudinal axis of the carriage, deployment of the arm out of the carriage and in a lateral direction of the carriage, and adjustment of the support around the articulation .
  • Figure 3 is a view of the carriage in the longitudinal direction; in Figure 4 illustrates the arm flexion mechanism;
  • Figure 5 illustrates an improved arm
  • Figure 6 shows the end of the arm
  • Figure 7 illustrates a carriage train
  • Figure 1 illustrates a connection of pipes where the invention can find use: a collector 1 is provided with sumps 2 or connection boxes, one of which is shown and in which lead drains 3 of smaller diameter with a vertical drop. A trolley runs through the collector 1 and must project a tool which may consist of an observation camera in the drain 3 through an opening 4 of the collector 1 in the sump 2.
  • the carriage 5 comprises, as seen in FIG. 2, a body 6 provided locomotor organs which may consist of rollers 7, some of which are driven by a motor 8 and, at the front, of a drum 9 rotating around a longitudinal axis of the body 6.
  • the drum 9 carries an arm 10, better visible in other figures, and the end of which carries a tool support 11 in which the tool, here a camera 12, can be housed.
  • the camera 12 can be advanced; it is then favorably attached to the end of a flexible rod 13 which continues through the carriage 5 towards the outside of the collector 1, where its end is wound on a winch not shown; rollers 14 mounted on the body 6 of the carriage 5 and which can be moved by another motor 15 make it possible to pull it to advance the camera 12 so that it engages in the drain 3.
  • the flexible rod has the property of being straighten as soon as it is free and therefore supports the camera 12 well, while retaining the flexibility necessary to follow the elbows of the drain 3.
  • Figure 3 shows that the arm 10 must be deployed radially relative to the axis of the manifold 1 and the carriage 5, to project from the opening 4, and that it must also be angularly orientable to approach the inlet of drain 3; a motor 16 capable of rotating the drum 9 satisfies the latter requirement. Finally, the support 11 must be oriented facing the inlet of the drain 3. To do this, it is connected to the end of the arm 10 by a hinge 17.
  • Figure 4 shows that the arm 10 may be constituted by a length of a chain 18; this chain is particular although of a known kind, and it is more precisely semi-rigid, that is to say that it has both a free state, characteristic of the arm 10, where it is rigid and another state where it is flexible. This characteristic makes it possible to curve it and to have its length posterior to the arm 10 in the axial direction of the collector 1, in which it can therefore be transported without hindrance.
  • the chain 18 may consist of links 19 connected to each other by pivots 20 situated on one side but which are provided with stops 21 which limit their rotational movement around the pivots 20 and therefore give the chain 18 a unilateral rigidity.
  • the device also comprises a drive pinion 22, mounted on the body 6 of the carriage 5 and driven by a motor 23, a longitudinal slide 24 at the rear of the chain 18 and a radial slide 25 in front of the pinion 22.
  • These slides 24 and 25 are, like the pinion 22 and its motor 23, mounted on the drum 9 and impose the directions of the chain 18 at the front and at the rear of the pinion 22, as well as a deformation at right angles.
  • a remedy consists in balancing it by the thrust of the rod 13 if it is placed favorably, that is to say subjected to a bending force which tends to make it straighten in a direction where it places the links 19 in stop.
  • Guide capstans 26 can subject the rod 13 to a curvature 27 in the same direction as that of the chain 18 near the pinion 22 to perform this function.
  • the links 19 could also be interconnected by an elastic cable 28 running opposite the pivots 20 and stretched to bring all the free portions of the arm 10 to the straight state.
  • Another solution consists in combining two chains 18 'and 18''similar to chain 18 but arranged symmetrically and driven by respective sprockets 22' and 22 '' adjacent: the anterior lengths of chains 18 'and 18''are juxtaposed to form a compound arm 10 'and their posterior lengths extend in opposite directions and substantially in extension.
  • the assembly of the 18 'and 18''chains therefore has bilateral rigidity without additional means.
  • the tool support 11 is described in FIG. 6. Its orientation can thus be ensured by a cable 33 attached to the support 11 with a cantilever so as to rotate it around the articulation 17.
  • the angle of rotation suitable for bringing the camera 12 parallel to the drain 3 is known as a function of the inclination of the arm 10, since the rod 13 tends to exert a moment of return towards an invariable stop position, where the camera 12 is oriented in the extension of arm 10, as indicated in dotted position.
  • the cable 33 which passes through the body ⁇ of the carriage 5 and extends to the outside, is pulled to counteract this return action of the springs and rotate the tool support 11 by the desired angle.
  • the tool support 11 may include claws 29 gripping a surrounding structure such as the inlet 30 of the drain 3 by opening, which can be achieved by tilting axes 31 carrying these claws 29 under the action of springs.
  • a conical tail 32 with which it is provided penetrates into a housing of complementary shape to the tool holder 11 and forces the claws 29 to close by pushing their axes 31 against the spring action.
  • tubes of particular section, oblong with two symmetrical contours, substantially elliptical in the direction of a small axis but joining by lips substantially parallel by forming an angle acute towards a major axis are both sufficiently flexible and elastic to be crushed between rollers while having the possibility of straightening in the free state. They are characterized by significant rigidity in the free state and by an almost total flexibility when they are crushed, which allows deform them at will and in particular to wind them on winches.
  • the stabilization of the carriage 5 against tilting that could produce the lateral overhang of the arm 10 can be compensated by ballast contained either at the bottom of the carriage 5, or in another carriage, which could be added to the carriage 5 and join to it by a rigid torsional connection, constituted by a bar connected at its ends to the two carriages by universal joints. More generally, the carriage 5 could be incorporated into an articulated train of carriages, which is frequently encountered for this kind of work.
  • FIG. 7 shows that the main carriage 5 (carrier of the tool 12 and its support 11) is provided with skis 40, as well as an auxiliary carriage 41.
  • the carriages 5 and 41 are united by a rigid bar 42 provided with cardan joints 43 at its ends, which allow unevenness and changes of direction from one of the carriages to the other.
  • Other rigid bars 44 with universal joints 45 can extend this train of carriages by connecting it to other elements, not shown.
  • the auxiliary carriage 41 carries the let 46.
  • FIG. 8 shows that the skis 40 are three in number and regularly distributed if one wishes to avoid excessive eccentricity of the carriages 5 and 41 in all directions; otherwise two lower side skis are sufficient.
  • the arrangement of the skis 40 can be the same for all the trolleys.
  • the tool can be a working or intervention tool just like an examination tool: its nature is indifferent to the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Manipulator (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention concerns a mobile carriage (5) in a main pipe (1) carrying an inspection or working tool (12) which transports said tool into adjacent pipes (3) connected to the preceding one through a box and at a different level by extending a semirigid rotary arm, longer than the radius of the main pipe.

Description

CHARIOT PORTE-OUTIL, NOTAMMENT MOBILE DANS UNE TOOL HOLDER TROLLEY, ESPECIALLY MOBILE IN A
CANALISATIONPIPELINE
DESCRIPTION Le sujet de cette invention est un chariot porte-outil, du genre apte à se déplacer dans une canalisation pour y accomplir certaines tâches liées à la nature de l'outil.DESCRIPTION The subject of this invention is a tool carriage, of the kind capable of moving in a pipeline to accomplish certain tasks related to the nature of the tool.
Certaines de ces tâches peuvent s'accomplir dans des canalisations d'embranchement, à l'entrée desquelles le chariot s'arrête pour y projeter l'outil en direction latérale : l'outil est alors fixé au bout d'un jonc flexible qui peut être avancé sous l'action d'un mécanisme idoine et se redresse quand il est à l'état libre ; il soutient donc l'outil, qu'il pousse à la profondeur voulue de la canalisation d'embranchement. Un tel chariot devient cependant inopérant quand les canalisations ne sont pas concourantes, c'est-à-dire que la canalisation dans laquelle l'outil doit être poussé débouche avec une dénivellation dans celle qu'emprunte le chariot, ce qu'on trouve souvent pour les canalisations jointes par des regards : il n'existe aujourd'hui pas de système qui permette d'atteindre de telles conduites. L'objet de l'invention est précisément de pallier ce défaut et de rendre accessible à un outil d'observation ou de travail porté par un chariot des portions de canalisations se joignant à une canalisation principale, empruntée par le chariot, avec une dénivellation. Le chariot satisfaisant à cet objet est caractérisé en ce qu'il comprend un tambour supporté par le chariot, un bras supporté par le tambour et porteur par une articulation d'un support de l'outil, le bras étant semi-rigide et possédant un état libre de rigidité et un état souple, et des moyens de rotation du tambour autour d'un axe longitudinal du chariot, de déploiement du bras hors du chariot et dans une direction latérale du chariot, et de réglage du support autour de l'articulation.Some of these tasks can be carried out in branch pipes, at the entrance of which the carriage stops to project the tool in a lateral direction: the tool is then fixed to the end of a flexible rod which can be advanced under the action of a suitable mechanism and straightens up when it is in the free state; it therefore supports the tool, which it pushes to the desired depth of the branch pipe. However, such a carriage becomes inoperative when the pipes are not concurrent, that is to say that the pipe in which the tool must be pushed leads with a drop in that in which the carriage, which is often found for pipes joined by manholes: today there is no system which makes it possible to reach such pipes. The object of the invention is precisely to overcome this defect and to make accessible to an observation or working tool carried by a carriage portions of pipes joining a main pipe, taken by the carriage, with a drop. The cart satisfying this object is characterized in that it comprises a drum supported by the cart, an arm supported by the drum and carrying by an articulation of a support for the tool, the arm being semi-rigid and having a free state of rigidity and a flexible state, and means of rotation of the drum around a longitudinal axis of the carriage, deployment of the arm out of the carriage and in a lateral direction of the carriage, and adjustment of the support around the articulation .
Ces caractéristiques, ainsi que d'autres, ressortiront plus nettement à la lecture du commentaire des figures suivantes :These characteristics, as well as others, will emerge more clearly on reading the commentary on the following figures:
" la figure 1 illustre une jonction de canalisations à regard ;"Figure 1 illustrates a junction of manhole pipes;
" la figure 2 est une vue générale du chariot ;"Figure 2 is a general view of the carriage;
" la figure 3 est une vue du chariot en direction longitudinale ; a la figure 4 illustre le mécanisme de flexion du bras ;"Figure 3 is a view of the carriage in the longitudinal direction; in Figure 4 illustrates the arm flexion mechanism;
* la figure 5 illustre un bras perfectionné ; " la figure 6 représente le bout du bras ; " la figure 7 illustre un train de chariot ; 1 et la figure 8 et une coupe à travers un chariot de la figure 7.* Figure 5 illustrates an improved arm; "Figure 6 shows the end of the arm;" Figure 7 illustrates a carriage train; 1 and FIG. 8 and a section through a carriage in FIG. 7.
La figure 1 illustre un raccordement de canalisations où l'invention peut trouver emploi : un collecteur 1 est muni de puisards 2 ou boîtes de raccordement dont un est représenté et dans lesquels aboutissent des drains 3 de plus petit diamètre avec une dénivellation verticale. Un chariot parcourt le collecteur 1 et doit projeter un outil pouvant consister en une caméra d'observation dans le drain 3 à travers une ouverture 4 du collecteur 1 dans le puisard 2. Le chariot 5 comprend, comme on le voit sur la figure 2, un corps 6 muni d'organes locomoteurs pouvant consister en des roulettes 7 dont certaines sont mues par un moteur 8 et, à l'avant, d'un tambour 9 tournant autour d'un axe longitudinal du corps 6. Le tambour 9 porte un bras 10, mieux visible sur d'autres figures, et dont l'extrémité est porteuse d'un support d'outil 11 dans lequel l'outil, ici une caméra 12, peut être logé. Comme des inspections du drain 3 au-delà de son entrée sont souvent nécessaires, il est avantageux que la caméra 12 puisse être avancée ; elle est alors favorablement attachée au bout d'un jonc flexible 13 qui se poursuit à travers le chariot 5 vers l'extérieur du collecteur 1, où son extrémité est enroulée sur un treuil non représenté ; des galets 14 montés sur le corps 6 du chariot 5 et pouvant être déplacés par un autre moteur 15 permettent de le tirer pour avancer la caméra 12 de façon qu'elle s'engage dans le drain 3. Le jonc flexible a la propriété de se redresser dès qu'il est libre et soutient donc bien la caméra 12, tout en gardant la souplesse nécessaire pour suivre les coudes du drain 3.Figure 1 illustrates a connection of pipes where the invention can find use: a collector 1 is provided with sumps 2 or connection boxes, one of which is shown and in which lead drains 3 of smaller diameter with a vertical drop. A trolley runs through the collector 1 and must project a tool which may consist of an observation camera in the drain 3 through an opening 4 of the collector 1 in the sump 2. The carriage 5 comprises, as seen in FIG. 2, a body 6 provided locomotor organs which may consist of rollers 7, some of which are driven by a motor 8 and, at the front, of a drum 9 rotating around a longitudinal axis of the body 6. The drum 9 carries an arm 10, better visible in other figures, and the end of which carries a tool support 11 in which the tool, here a camera 12, can be housed. As inspections of the drain 3 beyond its entry are often necessary, it is advantageous that the camera 12 can be advanced; it is then favorably attached to the end of a flexible rod 13 which continues through the carriage 5 towards the outside of the collector 1, where its end is wound on a winch not shown; rollers 14 mounted on the body 6 of the carriage 5 and which can be moved by another motor 15 make it possible to pull it to advance the camera 12 so that it engages in the drain 3. The flexible rod has the property of being straighten as soon as it is free and therefore supports the camera 12 well, while retaining the flexibility necessary to follow the elbows of the drain 3.
La figure 3 montre que le bras 10 doit être déployé radialement par rapport à l'axe du collecteur 1 et du chariot 5, pour saillir de l'ouverture 4, et qu'il doit aussi être orientable angulairement pour s'approcher de l'entrée du drain 3 ; un moteur 16 apte à faire tourner le tambour 9 satisfait à cette dernière exigence. Enfin, le support 11 doit être orienté face à l'entrée du drain 3. Pour ce faire, il est relié au bout du bras 10 par une articulation 17.Figure 3 shows that the arm 10 must be deployed radially relative to the axis of the manifold 1 and the carriage 5, to project from the opening 4, and that it must also be angularly orientable to approach the inlet of drain 3; a motor 16 capable of rotating the drum 9 satisfies the latter requirement. Finally, the support 11 must be oriented facing the inlet of the drain 3. To do this, it is connected to the end of the arm 10 by a hinge 17.
La figure 4 montre que le bras 10 peut être constitué par une longueur d'une chaîne 18 ; cette chaîne est particulière quoique d'un genre connu, et elle est plus précisément semi-rigide, c'est-à-dire qu'elle présente à la fois un état libre, caractéristique du bras 10, où elle est rigide et un autre état où elle est souple. Cette caractéristique permet de l'incurver et de disposer sa longueur postérieure au bras 10 dans la direction axiale du collecteur 1, dans lequel elle peut donc être transportée sans encombre. La chaîne 18 peut être constituée de maillons 19 reliés entre eux par des pivots 20 situés d'un côté mais qui sont munis de butées 21 qui limitent leur mouvement de rotation autour des pivots 20 et confèrent donc à la chaîne 18 une rigidité unilatérale. Le dispositif comprend encore un pignon 22 d'entraînement, monté sur le corps 6 du chariot 5 et mû par un moteur 23, une glissière longitudinale 24 à l'arrière de la chaîne 18 et une glissière radiale 25 devant le pignon 22. Ces glissières 24 et 25 sont, comme le pignon 22 et son moteur 23, montées sur le tambour 9 et imposent les directions de la chaîne 18 à l'avant et à l'arrière du pignon 22, ainsi qu'une déformation à angle droit. Quand le pignon 22 est mis en marche, il fait avancer ou reculer la chaîne 18 et modifie la longueur libre du bras 10. Cette construction présente l'inconvénient de n' être pas totalement stable puisque la rigidité de la chaîne est unilatérale. Un remède consiste à l'équilibrer par la poussée du jonc 13 s'il est placé favorablement, c'est-à-dire soumis à un effort de flexion qui tend à le faire se redresser dans un sens où il place les maillons 19 en butée. Des cabestans de guidage 26 peuvent soumettre le jonc 13 à une courbure 27 dans le même sens que celle de la chaîne 18 près du pignon 22 pour réaliser cette fonction. Les maillons 19 pourraient aussi être reliés entre eux par un câble 28 élastique courant à l'opposé des pivots 20 et tendu pour ramener toutes les portions libres du bras 10 à l'état rectiligne. Enfin, une autre solution consiste à combiner deux chaînes 18' et 18'' semblables à la chaîne 18 mais disposées symétriquement et mues par des pignons respectifs 22' et 22'' adjacents : les longueurs antérieures des chaînes 18' et 18'' se juxtaposent pour former un bras 10' composé et leurs longueurs postérieures s'étendent en sens opposés et sensiblement en prolongement. L'assemblage des chaînes 18' et 18'' a donc une rigidité bilatérale sans moyen additionnel.Figure 4 shows that the arm 10 may be constituted by a length of a chain 18; this chain is particular although of a known kind, and it is more precisely semi-rigid, that is to say that it has both a free state, characteristic of the arm 10, where it is rigid and another state where it is flexible. This characteristic makes it possible to curve it and to have its length posterior to the arm 10 in the axial direction of the collector 1, in which it can therefore be transported without hindrance. The chain 18 may consist of links 19 connected to each other by pivots 20 situated on one side but which are provided with stops 21 which limit their rotational movement around the pivots 20 and therefore give the chain 18 a unilateral rigidity. The device also comprises a drive pinion 22, mounted on the body 6 of the carriage 5 and driven by a motor 23, a longitudinal slide 24 at the rear of the chain 18 and a radial slide 25 in front of the pinion 22. These slides 24 and 25 are, like the pinion 22 and its motor 23, mounted on the drum 9 and impose the directions of the chain 18 at the front and at the rear of the pinion 22, as well as a deformation at right angles. When the pinion 22 is started, it advances or retracts the chain 18 and modifies the free length of the arm 10. This construction has the disadvantage of not being completely stable since the rigidity of the chain is unilateral. A remedy consists in balancing it by the thrust of the rod 13 if it is placed favorably, that is to say subjected to a bending force which tends to make it straighten in a direction where it places the links 19 in stop. Guide capstans 26 can subject the rod 13 to a curvature 27 in the same direction as that of the chain 18 near the pinion 22 to perform this function. The links 19 could also be interconnected by an elastic cable 28 running opposite the pivots 20 and stretched to bring all the free portions of the arm 10 to the straight state. Finally, another solution consists in combining two chains 18 'and 18''similar to chain 18 but arranged symmetrically and driven by respective sprockets 22' and 22 '' adjacent: the anterior lengths of chains 18 'and 18''are juxtaposed to form a compound arm 10 'and their posterior lengths extend in opposite directions and substantially in extension. The assembly of the 18 'and 18''chains therefore has bilateral rigidity without additional means.
Le support d'outil 11 est décrit à la figure 6. Son orientation peut ainsi être assurée par un câble 33 attaché au support 11 avec un porte-à-faux de manière à le faire tourner autour de l'articulation 17. L'angle de rotation convenant pour amener la caméra 12 parallèlement au drain 3 est connu en fonction de l'inclinaison du bras 10, puisque le jonc 13 tend à exercer un moment de rappel vers une position de butée invariable, où la caméra 12 est orientée dans le prolongement du bras 10, comme on l'indique à la position en pointillés. Le câble 33, qui passe par le corps β du chariot 5 et s'étend jusqu'à l'extérieur, est tiré pour contrecarrer cette action de rappel des ressorts et faire tourner le support d'outil 11 de l'angle voulu.The tool support 11 is described in FIG. 6. Its orientation can thus be ensured by a cable 33 attached to the support 11 with a cantilever so as to rotate it around the articulation 17. The angle of rotation suitable for bringing the camera 12 parallel to the drain 3 is known as a function of the inclination of the arm 10, since the rod 13 tends to exert a moment of return towards an invariable stop position, where the camera 12 is oriented in the extension of arm 10, as indicated in dotted position. The cable 33, which passes through the body β of the carriage 5 and extends to the outside, is pulled to counteract this return action of the springs and rotate the tool support 11 by the desired angle.
Le support d'outil 11 peut comprendre des griffes 29 s' agrippant à une structure environnante telle que l'entrée 30 du drain 3 en s' ouvrant, ce qui peut être réalisé par des basculements d'axes 31 porteurs de ces griffes 29 sous l'action de ressorts. Quand la caméra 12 est logée dans le support d'outil 11, une queue conique 32 dont elle est pourvue pénètre dans un logement de forme complémentaire du support d'outil 11 et oblige les griffes 29 à se refermer en repoussant leurs axes 31 contre l'action des ressorts. Avec ce système d'agrippage, le chariot 5 tout entier est retenu en place fermement pendant que la caméra 12 accomplit sa mission dans le drain 3.The tool support 11 may include claws 29 gripping a surrounding structure such as the inlet 30 of the drain 3 by opening, which can be achieved by tilting axes 31 carrying these claws 29 under the action of springs. When the camera 12 is housed in the tool holder 11, a conical tail 32 with which it is provided penetrates into a housing of complementary shape to the tool holder 11 and forces the claws 29 to close by pushing their axes 31 against the spring action. With this gripping system, the entire carriage 5 is held firmly in place while the camera 12 fulfills its mission in the drain 3.
Parmi des équivalents possibles des chaînes semi-rigides, on doit noter qu'il existe des tubes à section particulière, oblongue à deux contours symétriques, sensiblement elliptiques en direction d'un petit axe mais se joignant par des lèvres sensiblement parallèles en formant un angle aigu en direction d'un grand axe. De tels tubes sont à la fois suffisamment souples et élastiques pour être écrasés entre des rouleaux tout en ayant la possibilité de se redresser à l'état libre. Ils sont caractérisés par une rigidité importante à l'état libre et par une souplesse à peu près totale quand ils sont écrasés, ce qui permet de les déformer à volonté et notamment de les enrouler sur des treuils.Among possible equivalents of semi-rigid chains, it should be noted that there are tubes of particular section, oblong with two symmetrical contours, substantially elliptical in the direction of a small axis but joining by lips substantially parallel by forming an angle acute towards a major axis. Such tubes are both sufficiently flexible and elastic to be crushed between rollers while having the possibility of straightening in the free state. They are characterized by significant rigidity in the free state and by an almost total flexibility when they are crushed, which allows deform them at will and in particular to wind them on winches.
La stabilisation du chariot 5 contre les basculement que pourrait produire le porte-à-faux latéral du bras 10 peut être compensée par du lest contenu soit au fond du chariot 5, soit dans un autre chariot, qu'on pourrait ajouter au chariot 5 et unir à lui par une liaison rigide en torsion, constituée par une barre reliée à ses extrémités aux deux chariots par des joints de cardan. Plus généralement, le chariot 5 pourrait être incorporé à un train articulé de chariots, qu'on rencontre fréquemment pour ce genre de travaux.The stabilization of the carriage 5 against tilting that could produce the lateral overhang of the arm 10 can be compensated by ballast contained either at the bottom of the carriage 5, or in another carriage, which could be added to the carriage 5 and join to it by a rigid torsional connection, constituted by a bar connected at its ends to the two carriages by universal joints. More generally, the carriage 5 could be incorporated into an articulated train of carriages, which is frequently encountered for this kind of work.
Une autre exigence qu'on peut avoir à satisfaire est le franchissement des tronçons du collecteur 1 quand ils sont séparés par de larges ouvertures à leurs raccordements, ce qui peut être le cas dans le puisard 2. on dispose alors des patins allongés en forme de ski sous le chariot 5 et qui prennent appui sur les deux tronçons du collecteur 1 quand le chariot 5 franchit les raccordements. Il faut aussi s'assurer que les organes locomoteurs (les roulettes 7 motrices) sont assez nombreux pour que le chariot 5 continue d'être entraîné quand certains d'eux franchissent les raccordements. Si le chariot 5 appartient à un train, plusieurs éléments de celui-ci peuvent être moteurs.Another requirement that we may have to satisfy is the crossing of the sections of the manifold 1 when they are separated by large openings at their connections, which may be the case in the sump 2. we then have elongated pads in the form of ski under the carriage 5 and which bear on the two sections of the collector 1 when the carriage 5 crosses the connections. It must also be ensured that the locomotor organs (the driving rollers 7) are numerous enough so that the carriage 5 continues to be driven when some of them pass through the connections. If the carriage 5 belongs to a train, several elements of it can be powered.
Cette conception est représentée aux figures 7 et 8, où le chariot 5 principal (porteur de l'outil 12 et de son support 11) est muni de skis 40, de même qu'un chariot auxiliaire 41. Les chariots 5 et 41 sont unis par une barre rigide 42 munis de joints de cardans 43 à ses extrémités, qui autorisent des dénivellations et des changements de direction d'une des chariots à l'autre. D'autres barres rigides 44 à joints de cardan 45 peuvent prolonger ce train de chariots en le reliant à d'autres éléments, non représentés. Le chariot auxiliaire 41 porte le let 46. La figure 8 montre que les skis 40 sont au nombre de trois et régulièrement répartis si on veut éviter un excentrement excessif des chariots 5 et 41 dans toutes les directions ; sinon deux skis inférieurs latéraux suffisent. La disposition des skis 40 peut être la même pour tous les chariots.This design is shown in Figures 7 and 8, where the main carriage 5 (carrier of the tool 12 and its support 11) is provided with skis 40, as well as an auxiliary carriage 41. The carriages 5 and 41 are united by a rigid bar 42 provided with cardan joints 43 at its ends, which allow unevenness and changes of direction from one of the carriages to the other. Other rigid bars 44 with universal joints 45 can extend this train of carriages by connecting it to other elements, not shown. The auxiliary carriage 41 carries the let 46. FIG. 8 shows that the skis 40 are three in number and regularly distributed if one wishes to avoid excessive eccentricity of the carriages 5 and 41 in all directions; otherwise two lower side skis are sufficient. The arrangement of the skis 40 can be the same for all the trolleys.
Enfin, l'outil peut être un outil de travail ou d'intervention tout comme un outil d'examen : sa nature est indifférente à l'invention. Finally, the tool can be a working or intervention tool just like an examination tool: its nature is indifferent to the invention.

Claims

REVENDICATIONS
1. Chariot porte-outil, caractérisé en ce qu'il comprend un tambour (9) supporté par le chariot (5), un bras (10) supporté par le tambour (9) et porteur par une articulation (17) d'un support (11) de l'outil (12), le bras (10) étant semi-rigide et possédant un état libre de rigidité et un état souple, et des moyens de rotation (16) du tambour (9) autour d'un axe longitudinal du chariot, de déploiement (22, 23) du bras hors du chariot et dans une direction latérale du chariot, et de réglage (33) du support (11) autour de l'articulation.1. Tool-carrying trolley, characterized in that it comprises a drum (9) supported by the trolley (5), an arm (10) supported by the drum (9) and carrying by an articulation (17) of a support (11) of the tool (12), the arm (10) being semi-rigid and having a free state of rigidity and a flexible state, and means of rotation (16) of the drum (9) around a longitudinal axis of the carriage, deployment (22, 23) of the arm out of the carriage and in a lateral direction of the carriage, and adjustment (33) of the support (11) around the articulation.
2. Chariot porte-outil selon la revendication 1, où un jonc (13) flexible est lié à l'outil (12), caractérisé en ce que le support (11) de l'outil a une empreinte conique dans laquelle une queue (32) de forme complémentaire de l'outil (12) peut être logée, et le chariot comprend un moyen de poussée du jonc. 2. Tool trolley according to claim 1, in which a flexible rod (13) is linked to the tool (12), characterized in that the support (11) of the tool has a conical imprint in which a tail ( 32) of complementary shape of the tool (12) can be accommodated, and the carriage comprises a means of pushing the rod.
3. Chariot porte-outil selon la revendication 2, caractérisé en ce que le support d'outil comprend des griffes (29) d'accrochage à une structure environnante (30) .3. Tool holder trolley according to claim 2, characterized in that the tool support comprises claws (29) for hooking to a surrounding structure (30).
4. Chariot porte-outil selon la revendication 3, caractérisé en ce qu'il comprend un ressort de déploiement des griffes, contrecarré par l'outil tant que celui-ci est dans le support.4. Tool holder trolley according to claim 3, characterized in that it comprises a spring for deploying the claws, counteracted by the tool as long as the latter is in the support.
5. Chariot porte-outil selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le bras comprend une chaîne (18, 18') à rigidité unilatérale. 5. Tool holder trolley according to any one of claims 1 to 4, characterized in that the arm comprises a chain (18, 18 ') with unilateral rigidity.
6. Chariot porte-outil selon la revendication 5, caractérisé en ce que le bras comprend une seconde chaîne (18'') à rigidité unilatérale, les chaînes étant juxtaposées à l'état libre de façon à constituer un assemblage à rigidité bilatérale. 6. Tool trolley according to claim 5, characterized in that the arm comprises a second chain (18 '') with unilateral rigidity, the chains being juxtaposed in the free state so as to constitute an assembly with bilateral rigidity.
EP02740855A 2001-06-06 2002-06-04 Tool-bearing carriage, in particular mobile in a pipe Withdrawn EP1409907A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0107367A FR2825655B1 (en) 2001-06-06 2001-06-06 TOOL CARRIER, IN PARTICULAR MOBILE IN A CANALIZATION
FR0107367 2001-06-06
PCT/FR2002/001874 WO2002099325A1 (en) 2001-06-06 2002-06-04 Tool-bearing carriage, in particular mobile in a pipe

Publications (1)

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EP1409907A1 true EP1409907A1 (en) 2004-04-21

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EP02740855A Withdrawn EP1409907A1 (en) 2001-06-06 2002-06-04 Tool-bearing carriage, in particular mobile in a pipe

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US (1) US20040149066A1 (en)
EP (1) EP1409907A1 (en)
JP (1) JP2004528189A (en)
FR (1) FR2825655B1 (en)
WO (1) WO2002099325A1 (en)

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DE102004032356A1 (en) * 2004-07-03 2006-02-09 Tracto-Technik Gmbh System for working in underground pipes using a compact servo driven flexible thrust chain at angles to the pipe from inside an inspection shaft
DE102006048490A1 (en) * 2006-07-10 2008-04-24 Walter Werne Method and device for monitoring components
GB0807330D0 (en) * 2008-04-22 2008-05-28 Oliver Crispin Robotics Ltd Robotic arm deployment apparatus
ITRM20130273A1 (en) * 2013-05-08 2014-11-09 Giuseppe Carbone ROBOTIC DEVICE
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GB2538957A (en) * 2015-05-29 2016-12-07 Nat Grid Gas Plc Apparatus and method
FR3056134B1 (en) * 2016-09-20 2018-08-31 Airbus Sas ROBOTIC DEVICE FOR INSPECTING AN AIRCRAFT STRUCTURE
FR3093296B1 (en) * 2019-02-28 2021-07-23 Extia PREHENSION CART
CN113124296B (en) * 2021-04-25 2022-08-26 深圳市水务工程检测有限公司 CCTV pipeline inspection robot lift well auxiliary device
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Also Published As

Publication number Publication date
WO2002099325A8 (en) 2003-01-09
US20040149066A1 (en) 2004-08-05
FR2825655B1 (en) 2003-09-05
WO2002099325A1 (en) 2002-12-12
FR2825655A1 (en) 2002-12-13
JP2004528189A (en) 2004-09-16

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