EP2218079B1 - Dispositif de transport d'un objet dans une cellule - Google Patents

Dispositif de transport d'un objet dans une cellule 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
Authority
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
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2218079A1 (fr
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
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, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP2218079A1 publication Critical patent/EP2218079A1/fr
Application granted granted Critical
Publication of EP2218079B1 publication Critical patent/EP2218079B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Sorting Of Articles (AREA)
  • Types And Forms Of Lifts (AREA)
  • Jib Cranes (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Basic Packing Technique (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP08848195A 2007-11-09 2008-11-06 Dispositif de transport d'un objet dans une cellule Not-in-force EP2218079B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0758942A FR2923407B1 (fr) 2007-11-09 2007-11-09 Dispositif de transport d'un objet dans une cellule
PCT/EP2008/065075 WO2009060036A1 (fr) 2007-11-09 2008-11-06 Dispositif de transport d'un objet dans une cellule

Publications (2)

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

Family

ID=39689018

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08848195A Not-in-force EP2218079B1 (fr) 2007-11-09 2008-11-06 Dispositif de transport d'un objet dans une cellule

Country Status (9)

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

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108861987B (zh) * 2018-05-23 2020-06-23 首钢滦南马城矿业有限责任公司 一种矿井提升罐笼运矿车自动装料方法
CN113134823B (zh) * 2021-04-26 2023-03-14 湖南大学 一种用于伸入辐射狭窄空间作业的移动机器人

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT712415A (ja) * 1964-07-28
JPS59149862A (ja) * 1983-01-28 1984-08-27 株式会社東芝 空間移動式点検作業装置
JPS6376774U (ja) * 1986-11-08 1988-05-21
JPH11142594A (ja) * 1997-11-13 1999-05-28 Ishikawajima Harima Heavy Ind Co Ltd 作業用ロボット導入出構造
JP3352442B2 (ja) * 1999-12-28 2002-12-03 株式会社長内水源工業 管内用ケーブル類の出入装置
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 (ja) * 2004-08-10 2006-02-23 Murata Mach Ltd 管内探査装置および案内装置
EP1647789A1 (en) * 2004-10-04 2006-04-19 Ngk Insulators, Ltd. Continuous heat treatment furnace and heat treatment method
JP2005324327A (ja) * 2005-05-27 2005-11-24 Hitachi Ltd 遠隔移動ロボット

Also Published As

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

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