EP2218079B1 - Device for transporting an object into a compartment - Google Patents

Device for transporting an object into a compartment Download PDF

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Publication number
EP2218079B1
EP2218079B1 EP08848195A EP08848195A EP2218079B1 EP 2218079 B1 EP2218079 B1 EP 2218079B1 EP 08848195 A EP08848195 A EP 08848195A EP 08848195 A EP08848195 A EP 08848195A EP 2218079 B1 EP2218079 B1 EP 2218079B1
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EP
European Patent Office
Prior art keywords
track
cell
cables
support beams
wall
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.)
Not-in-force
Application number
EP08848195A
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German (de)
French (fr)
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EP2218079A1 (en
Inventor
Hervé VIALLE
Pascal Gire
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Publication of EP2218079A1 publication Critical patent/EP2218079A1/en
Application granted granted Critical
Publication of EP2218079B1 publication Critical patent/EP2218079B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/005—Shielded passages through walls; Locks; Transferring devices between rooms

Definitions

  • the subject of this invention is a device for transporting an object in a cell.
  • An application mainly envisaged today concerns the transport of mobile robots in armored cells where a hostile environment prevails.
  • the openings of such small cells may include narrow openings through the wall and extending above the floor of the cell. It is then necessary to find how to lower the object after it has crossed the opening of the wall, without any manual intervention being possible, even by another robot or a telemanipulated tool.
  • the invention offers a better possibility of inspection of such cells by allowing moving mobile robots, or possibly other objects, after having passed through the wall of the cell through an opening at a height, while allowing them to be retrieved later. Vehicles must move freely in the cell, becoming independent of the device.
  • the document JP-A-2005/324327 describes a device for transporting a mobile robot in a shielded cell delimited by a wall, this device comprising a telescopic arm passing through a hole in the wall, a winch located outside the cell and cables unwound from the winch and running on the along the telescopic arm, the mobile robot being suspended at the end of the cable.
  • the invention relates to a device for transporting an object in a cell, which differs from the preceding document in that it comprises: a channel established in the wall and provided with an inner-facing guideway and with side faces; two support beams protruding into the cell extending the track; a connection between the support beams and the track; a nacelle under the support beams, suspended from the cables, the robot can thus roll on the track instead of being suspended from the telescopic arm, which is omitted in the invention, and the cables running along the track and beams of support.
  • FIG 1 illustrates a general view of the invention
  • the cell wall 1 adjoining a cell interior 2 and an external medium 3 at the figure 1 .
  • the cell wall 1 is pierced with an opening 4 in the form of a tunnel from one side to the other.
  • a robot 5, which is not part of the invention, can be introduced into the cell interior 2.
  • the transport device comprises a track 7 arranged in the opening 4, two support beams 8 extending the track 7 and projecting out of the opening 4 into the cell interior 2, a nacelle 9 suspended from the support beams 8 and a winch 10 located in the outside environment 3 and fixed to the track 7.
  • the track 7 comprises a connection flange 13 to the winch 10. It also comprises a connection module 14 to the support beams 8, which comprises bends 15 diverging from each other from the connection module 14 so that the support beams 8 are spaced from each other more than from the width of the track 7 and they are also raised with respect to the track 7.
  • the track 7 finally includes, if necessary, extension modules 16 of any number and lengths that can be different between the connection module 14 and the flange 13 to adapt the length of the channel 7 to that of the opening 4.
  • Modules 14 and 16 are generally constructed as follows. They comprise a footprint 17 along their entire length, the dimensions of which are adapted to those of the object (the robot 5) to take the path 7 and comprise a lower face 18 of support and two lateral faces 19 and 20 of guide. They also comprise connection flanges between modules 21 at their ends, which extend next to and under the cavity 17 to the walls of the opening 4 so as to ensure the position of the channel 7. These flanges 21 include holes 22 for the introduction of assembly bolts (not shown) of the modules, a notch 23 for the unwinding cable passage 24 of the winch 10 and which will be described in more detail, and, on one side of the modules, the second holes 25 and, of the on the other hand, centering pins 26 engaging in the second bores 25.
  • connection module 14 comprises guide tubes 29 intended to adjust the position of the cables 24 arriving at the support beams 8, to separate them from each other and to raise them. Two of the tubes 29 stop at the beginning of the support beams 8, the other two go to their end.
  • the cables 24 protrude from the tubes 29, and the nacelle 9 is suspended at its four corners, extending between and under the two support beams 8.
  • the operation of the device is simple. After being introduced on the track 7, the robot 5 is turned on so as to go through it. It is guided in the footprint 17. It passes on the platform 9, whose section is similar to that of the footprint 17 and is at this time an extension of it. He is then stopped, and the nacelle 9 is lowered in the interior of the cell 2 unwinding the cables 24 of the winch 10 by a manual or mechanical action. The nacelle 9 is placed on the ground 6 and the robot 5 is restarted to travel inside the cell 2. It can then return, back on the nacelle 9, which is then raised. The robot then returns to channel 7 to the outside environment 3.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Sorting Of Articles (AREA)
  • Jib Cranes (AREA)
  • Types And Forms Of Lifts (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Basic Packing Technique (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

A device for entering an object into a cell comprises mainly a track for guiding the object and a lifting pod extending the track. It is then possible to use robots and lower them on the floor of the cell to carry out inspection work.

Description

Le sujet de cette invention est un dispositif de transport d'un objet dans une cellule. Une application principalement envisagée aujourd'hui concerne le transport de robots mobiles dans des cellules blindées où règne un milieu hostile. Les ouvertures de telles cellules, peu nombreuses, peuvent comprendre des ouvertures étroites traversant la paroi et s'étendant au-dessus du sol de la cellule. Il faut alors trouver comment descendre l'objet après qu'il a traversé l'ouverture de la paroi, sans qu'aucune intervention manuelle soit possible, même par un autre robot ou un outil télémanipulé.The subject of this invention is a device for transporting an object in a cell. An application mainly envisaged today concerns the transport of mobile robots in armored cells where a hostile environment prevails. The openings of such small cells may include narrow openings through the wall and extending above the floor of the cell. It is then necessary to find how to lower the object after it has crossed the opening of the wall, without any manual intervention being possible, even by another robot or a telemanipulated tool.

Les difficultés d'introduction sont moins grandes à travers d'autres genres d'ouvertues, mais qui ne sont pas toujours présentes. C'est ainsi que les portes blindées peuvent être franchies simplement en roulant, ou par l'intermédiaire d'une passerelle et que les ouvertures traversant le plafond de la cellule permettent de descendre le robot par un palan après l'avoir posé sur une nacelle. Avec les ouvertures auxquelles on s'intéresse, les introductions sont généralement faites par des instruments situés au bout de perches, mais les possibilités d'inspection sont alors limitées puisqu'il n'est pas possible de libérer les objets dans la cellule.The difficulties of introduction are less great through other kinds of open, but which are not always present. Thus, the armored doors can be crossed simply by rolling, or by means of a footbridge and that the openings through the ceiling of the cell can get the robot down a hoist after having placed on a nacelle . With the openings of interest, introductions are usually made by instruments at the end of poles, but the possibilities of inspection are limited because it is not possible to release the objects in the cell.

L'invention offre une meilleure possibilité d'inspection de telles cellules en permettant d'y descendre des robots mobiles, ou éventuellement d'autres objets, après leur avoir fait traverser la paroi de la cellule par une ouverture située en hauteur, tout en permettant de les récupérer parla suite. Les véhicules doivent se mouvoir librement dans la cellule, en devenant alors indépendants du dispositif.The invention offers a better possibility of inspection of such cells by allowing moving mobile robots, or possibly other objects, after having passed through the wall of the cell through an opening at a height, while allowing them to be retrieved later. Vehicles must move freely in the cell, becoming independent of the device.

Le document JP-A-2005/324327 décrit un dispositif de transport d'un robot mobile dans une cellule blindée délimitée par une paroi, ce dispositif comprenant un bras télescopique passant à travers un perçage de la paroi, un treuil situé hors de la cellule et des câbles déroulés du treuil et courant le long du bras télescopique, le robot mobile étant suspendu au bout du câble.The document JP-A-2005/324327 describes a device for transporting a mobile robot in a shielded cell delimited by a wall, this device comprising a telescopic arm passing through a hole in the wall, a winch located outside the cell and cables unwound from the winch and running on the along the telescopic arm, the mobile robot being suspended at the end of the cable.

Sous une forme générale, l'invention concerne un dispositif de transport d'un objet dans une cellule, qui diffère du document précédent en ce qu'il comprend : une voie établie dans la paroi et pourvue d'une empreinte de guidage à face intérieure et à faces latérales ; deux poutres de support saillant dans la cellule en prolongeant la voie ; un raccord entre les poutres de support et la voie ; une nacelle sous les poutres de support, suspendue aux câbles, le robot pouvant ainsi rouler sur la voie au lieu d'être suspendu au bras télescopique, qui est omis dans l'invention, et les câbles courant le long de la voie et des poutres de support.In a general form, the invention relates to a device for transporting an object in a cell, which differs from the preceding document in that it comprises: a channel established in the wall and provided with an inner-facing guideway and with side faces; two support beams protruding into the cell extending the track; a connection between the support beams and the track; a nacelle under the support beams, suspended from the cables, the robot can thus roll on the track instead of being suspended from the telescopic arm, which is omitted in the invention, and the cables running along the track and beams of support.

Tout cela ainsi que d'autres aspects de l'invention sera maintenant décrit en liaison aux figures, dont la figure 1 illustre une vue générale de l'invention, et les figures 2, 3 et 4 des vues de côté, de dessus et de face de la voie de transport.All this as well as other aspects of the invention will now be described with reference to the figures, the figure 1 illustrates a general view of the invention, and the Figures 2, 3 and 4 side, top and front views of the transportation route.

On a représenté un mur de cellule 1 mitoyen à un intérieur de cellule 2 et un milieu extérieur 3 à la figure 1. Le mur de cellule 1 est percé d'une ouverture 4 en forme de tunnel de part en part. Un robot 5, qui ne fait pas partie de l'invention, peut être introduit dans l'intérieur de cellule 2. Comme l'ouverture 4 est en hauteur, il doit aussi y être descendu. Le dispositif de transport comprend une voie 7 aménagée dans l'ouverture 4, deux poutres de support 8 prolongeant la voie 7 et saillant hors de l'ouverture 4 dans l'intérieur de cellule 2, une nacelle 9 suspendue aux poutres de support 8 et un treuil 10 situé dans le milieu extérieur 3 et fixé à la voie 7.There is shown a cell wall 1 adjoining a cell interior 2 and an external medium 3 at the figure 1 . The cell wall 1 is pierced with an opening 4 in the form of a tunnel from one side to the other. A robot 5, which is not part of the invention, can be introduced into the cell interior 2. As the opening 4 is in height, it must also be there. down. The transport device comprises a track 7 arranged in the opening 4, two support beams 8 extending the track 7 and projecting out of the opening 4 into the cell interior 2, a nacelle 9 suspended from the support beams 8 and a winch 10 located in the outside environment 3 and fixed to the track 7.

La voie 7 comprend une bride de raccordement 13 au treuil 10. Elle comprend aussi un module de raccordement 14 aux poutres de support 8, qui comprend des coudes 15 divergeant l'un de l'autre à partir du module de raccordement 14 de manière que les poutres de support 8 soient écartées l'une de l'autre plus que de la largeur de la voie 7 et qu'elles soient aussi surélevées par rapport à la voie 7. La voie 7 comprend enfin, si nécessaire, des modules de rallonge 16 de nombre quelconque et de longueurs pouvant être différentes entre le module de raccordement 14 et la bride 13 pour adapter la longueur de la voie 7 à celle de l'ouverture 4.The track 7 comprises a connection flange 13 to the winch 10. It also comprises a connection module 14 to the support beams 8, which comprises bends 15 diverging from each other from the connection module 14 so that the support beams 8 are spaced from each other more than from the width of the track 7 and they are also raised with respect to the track 7. The track 7 finally includes, if necessary, extension modules 16 of any number and lengths that can be different between the connection module 14 and the flange 13 to adapt the length of the channel 7 to that of the opening 4.

Les modules 14 et 16 sont généralement construits de la façon suivante. Ils comprennent une empreinte 17 sur toute leur longueur dont les dimensions sont adaptées à celles de l'objet (le robot 5) devant emprunter la voie 7 et comprennent une face inférieure 18 de support et deux faces latérales 19 et 20 de guidage. Ils comprennent aussi des brides de raccordement entre modules 21 à leurs extrémités, qui s'étendent à côté de l'empreinte 17 et sous elle jusqu'aux parois de l'ouverture 4 de manière à y assurer la position de la voie 7. Ces brides 21 comprennent des perçages 22 pour l'introduction de boulons d'assemblage (non représentés) des modules, une entaille 23 pour le passage de câble 24 déroulé du treuil 10 et qu'on décrira plus en détail, et, d'un côté des modules, des deuxièmes perçages 25 et, de l'autre côté, des pions de centrage 26 s'engageant dans les deuxièmes perçages 25. Font exception à cette description les portions entières de la voie 7 : la bride 13 d'assemblage du treuil 10 déborde du contour de l'ouverture 4 de façon à offrir une position de butée à la voie 7 contre le mur de cellule 1 ; et le raccordement 27 entre le module de raccordement 14 et les poutres de support 8 présente, en plus des coudes 15, un manchon 28 pouvant glisser sur le front de l'ouverture 4 en saillant plus ou moins hors d'elle, adaptant la longueur de la voie 7 à celle de l'ouverture 4. De plus, le module de raccordement 14 comprend des tubes de guidage 29 destinés à régler la position des câbles 24 en arrivant aux poutres de support 8, pour les écarter les uns des autres et les élever. Deux des tubes 29 s'arrêtent au début des poutres de support 8, les deux autres vont jusqu'à leur extrémité. Les câbles 24 dépassent des tubes 29, et la nacelle 9 leur est suspendue à ses quatre coins, en s'étendant entre et sous les deux poutres de support 8.Modules 14 and 16 are generally constructed as follows. They comprise a footprint 17 along their entire length, the dimensions of which are adapted to those of the object (the robot 5) to take the path 7 and comprise a lower face 18 of support and two lateral faces 19 and 20 of guide. They also comprise connection flanges between modules 21 at their ends, which extend next to and under the cavity 17 to the walls of the opening 4 so as to ensure the position of the channel 7. These flanges 21 include holes 22 for the introduction of assembly bolts (not shown) of the modules, a notch 23 for the unwinding cable passage 24 of the winch 10 and which will be described in more detail, and, on one side of the modules, the second holes 25 and, of the on the other hand, centering pins 26 engaging in the second bores 25. Except for this description, the entire portions of the track 7: the assembly flange 13 of the winch 10 protrudes from the contour of the opening 4 so as to providing an abutment position on track 7 against the cell wall 1; and the connection 27 between the connection module 14 and the support beams 8 has, in addition to bends 15, a sleeve 28 which can slide on the front of the opening 4 projecting more or less out of it, adapting the length from channel 7 to that of the opening 4. In addition, the connection module 14 comprises guide tubes 29 intended to adjust the position of the cables 24 arriving at the support beams 8, to separate them from each other and to raise them. Two of the tubes 29 stop at the beginning of the support beams 8, the other two go to their end. The cables 24 protrude from the tubes 29, and the nacelle 9 is suspended at its four corners, extending between and under the two support beams 8.

Le fonctionnement du dispositif est simple. Après avoir été introduit sur la voie 7, le robot 5 est mis en marche de manière à la parcourir. Il est guidé dans l'empreinte 17. Il passe sur la nacelle 9, dont la section est semblable à celle de l'empreinte 17 et qui est à ce moment en prolongement d'elle. Il est alors arrêté, et la nacelle 9 est descendue dans l'intérieur de la cellule 2 en déroulant les câbles 24 du treuil 10 par une action manuelle ou mécanique. La nacelle 9 se pose sur le sol 6 et le robot 5 est remis en marche pour parcourir l'intérieur de cellule 2. Il peut ensuite revenir, remonter sur la nacelle 9, qui est alors relevée. Le robot revient alors sur la voie 7 vers le milieu extérieur 3.The operation of the device is simple. After being introduced on the track 7, the robot 5 is turned on so as to go through it. It is guided in the footprint 17. It passes on the platform 9, whose section is similar to that of the footprint 17 and is at this time an extension of it. He is then stopped, and the nacelle 9 is lowered in the interior of the cell 2 unwinding the cables 24 of the winch 10 by a manual or mechanical action. The nacelle 9 is placed on the ground 6 and the robot 5 is restarted to travel inside the cell 2. It can then return, back on the nacelle 9, which is then raised. The robot then returns to channel 7 to the outside environment 3.

Claims (4)

  1. Device for transporting an object (5) in a cell (2) delimited by a wall (1) through an opening (4) in the wall, comprising a winch (10) outside the cell, and cables (24) unwound from the winch, characterised in that it comprises a track (7) formed in the wall and provided with a cavity (17) for guiding the object with a lower face (18) and side faces (22, 20), two support beams (8) projecting into the cell while prolonging the track, a connection (14) between the support beams and the track, a pod (9) under the support beams and suspended from the cables, and the cables are routed along the track and the support beams.
  2. Transporting device according to claim 1, characterised in that the track is provided with longitudinal cableways (23) for passing the cables.
  3. Transporting device according to either of claims 1 or 2, characterised in that there are two support beams, four cables and the pod is rectangular and suspended from the cables at its four corners.
  4. Transporting device according to any one of claims 1 to 3, characterised in that the track consists of modules provided with additional assembly means.
EP08848195A 2007-11-09 2008-11-06 Device for transporting an object into a compartment Not-in-force EP2218079B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0758942A FR2923407B1 (en) 2007-11-09 2007-11-09 DEVICE FOR TRANSPORTING AN OBJECT INTO A CELL
PCT/EP2008/065075 WO2009060036A1 (en) 2007-11-09 2008-11-06 Device for transporting an object into a compartment

Publications (2)

Publication Number Publication Date
EP2218079A1 EP2218079A1 (en) 2010-08-18
EP2218079B1 true EP2218079B1 (en) 2011-03-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08848195A Not-in-force EP2218079B1 (en) 2007-11-09 2008-11-06 Device for transporting an object into a compartment

Country Status (9)

Country Link
US (1) US8408140B2 (en)
EP (1) EP2218079B1 (en)
JP (1) JP5596550B2 (en)
KR (1) KR101519388B1 (en)
CN (1) CN101952897A (en)
AT (1) ATE504067T1 (en)
DE (1) DE602008005929D1 (en)
FR (1) FR2923407B1 (en)
WO (1) WO2009060036A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108861987B (en) * 2018-05-23 2020-06-23 首钢滦南马城矿业有限责任公司 Automatic charging method for mine hoisting cage mine car
CN113134823B (en) * 2021-04-26 2023-03-14 湖南大学 Mobile robot for stretching into narrow radiation space for operation

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT712415A (en) * 1964-07-28
JPS59149862A (en) * 1983-01-28 1984-08-27 株式会社東芝 Space movable type inspection work device
JPS6376774U (en) * 1986-11-08 1988-05-21
JPH11142594A (en) * 1997-11-13 1999-05-28 Ishikawajima Harima Heavy Ind Co Ltd Structure for leading-in/out work robot
JP3352442B2 (en) * 1999-12-28 2002-12-03 株式会社長内水源工業 Cable entry / exit device
US6705457B2 (en) * 2002-04-01 2004-03-16 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Transport device and method of transporting to-be-processed elements through a high-temperature zone
JP2006052961A (en) * 2004-08-10 2006-02-23 Murata Mach Ltd In-pipe probing device and guiding device
EP1647789A1 (en) * 2004-10-04 2006-04-19 Ngk Insulators, Ltd. Continuous heat treatment furnace and heat treatment method
JP2005324327A (en) * 2005-05-27 2005-11-24 Hitachi Ltd Remote travel robot

Also Published As

Publication number Publication date
US20100288156A1 (en) 2010-11-18
JP2011505306A (en) 2011-02-24
US8408140B2 (en) 2013-04-02
FR2923407B1 (en) 2009-12-18
DE602008005929D1 (en) 2011-05-12
KR101519388B1 (en) 2015-05-12
FR2923407A1 (en) 2009-05-15
EP2218079A1 (en) 2010-08-18
ATE504067T1 (en) 2011-04-15
CN101952897A (en) 2011-01-19
WO2009060036A1 (en) 2009-05-14
JP5596550B2 (en) 2014-09-24
KR20100090251A (en) 2010-08-13

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