EP3523566A1 - Mobile robotic device with improved archimedean screw propulsion mechanism - Google Patents

Mobile robotic device with improved archimedean screw propulsion mechanism

Info

Publication number
EP3523566A1
EP3523566A1 EP17792111.1A EP17792111A EP3523566A1 EP 3523566 A1 EP3523566 A1 EP 3523566A1 EP 17792111 A EP17792111 A EP 17792111A EP 3523566 A1 EP3523566 A1 EP 3523566A1
Authority
EP
European Patent Office
Prior art keywords
wheel
support structure
drum
rolling member
hub
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Withdrawn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
EP17792111.1A
Other languages
German (de)
French (fr)
Inventor
Gwenael Changeon
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 EP3523566A1 publication Critical patent/EP3523566A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention lies in the field of mobile robots and, more specifically, in the field of robots driven by one or more Archimedean screws. It relates to such a mobile robotic device equipped with one or more propulsion mechanisms each comprising an Archimedean screw, so as to allow movement of the robotic device both on a rigid support, in the presence of water, sand , fat or mud.
  • the invention is particularly applicable to the inspection of pipes, for example rainwater pipes, sewage pipes or industrial pipes. More generally, the invention finds an application for any deployment of a mobile robot on a difficult terrain, for example soft, wet and / or granular.
  • Mobile mechatronic devices are used to evolve inside urban or industrial network pipes in order to carry out an inspection, for example by taking pictures or measurements of various physical and / or chemical parameters.
  • the locomotion function of such devices is generally provided by wheels or caterpillars. In the presence of water, sand or mud, these devices can be stuck in their progress. To avoid such blockages, it is possible to scour the pipe to be inspected prior to the passage of the device.
  • the scrubbing operation causes drawbacks in terms of speed of intervention, complexity and cost.
  • a propulsion mechanism comprising an Archimedean screw.
  • the thread of the Archimedes screw comes into contact with the ground and allows progression regardless of the type of surface encountered, the screw thread penetrating more or less the ground.
  • Steady Flux, Inc. proposes a pipe inspection device, called CBOR, operating such an Archimedes screw mechanism.
  • the device comprises an elongated central body and a pair of Archimedean screws disposed on either side of the central body and connected to it in pivot connection via arms.
  • a disadvantage of such a robot is that the propulsion by means of Archimedes screws on a relatively hard ground causes a significant sliding of the screws. This results in a consequent motor loss of the robot and a wear of Archimedes screw threads. The loss of energy is even more prejudicial that the robot is generally powered by on-board power supply means.
  • the robotic inspection device comprises rotary drums whose outer surface has an Archimedean screw thread, each net being equipped with wheels that can be rotated by a contact with the ground. when rotating the corresponding drum.
  • the presence of the wheels makes it possible to improve the motor skills and to limit the friction between the robotic inspection device and the ground on which it evolves.
  • the wheels are locked in rotation during the introduction of these foreign bodies between them and their support. The friction can then be important, especially in the case where the wheels comprise a tread of elastomeric material for better grip on hard ground.
  • the Archimedean screw threads are removably mounted on the rotary drums.
  • Each thread is formed by a plurality of thread portions, each adapted to be removably mounted on a rotary drum, for example by a snap of pins integral with the thread portions in complementary holes formed on the drum rotary.
  • the removable nature of the net allows its replacement without replacing the entire rotating drum and, if appropriate, without removing any components located inside the rotating drum.
  • the risk of friction remains high, either because of the absence of wheels or because of the locking of these wheels with foreign bodies.
  • An object of the invention is therefore to propose a solution for limiting these friction irrespective of the type of surface encountered by the mobile robot.
  • the mobile robotic device comprises a body and at least one propulsion mechanism, the latter comprising a rotary drum provided with an Archimedean screw thread and rolling members each comprising a support structure and a wheel.
  • a propulsion mechanism comprising a rotary drum provided with an Archimedean screw thread and rolling members each comprising a support structure and a wheel.
  • Each support structure forms a portion of the net and each wheel is pivotally mounted on the support structure to allow a translation of the drum along its axis of rotation while minimizing friction with the pipe.
  • each rolling member comprises one or more recesses arranged so as to minimize the adjacent surfaces between the support structure and the wheel of the running gear considered.
  • adjacent surfaces between the support structure and the wheel is meant the wheel surface or surfaces and the surface or surfaces of the support structure having a minimum distance between them. These surfaces can in particular be parallel to each other.
  • the first branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism.
  • the propulsion mechanism comprises:
  • ⁇ a drum adapted to be rotated relative to the body, ⁇ an Archimedes screw thread integral with the drum and projecting with respect to an outer surface of the drum, and
  • each support structure forming a portion of the net and each wheel being mounted in pivot connection to the supporting structure so as to be rotated by contact with a wall of the pipe during the rotation of the drum, each bearing member comprising at least one recess arranged to minimize the adjacent surfaces between the support structure and the wheel.
  • each rolling member has the effect of reducing the adjacent surfaces between the support structure and the wheel, in comparison with a running gear without recess for which surfaces vis-à-vis the wheel and the support structure are relatively extensive.
  • the recesses furthermore have the effect of introducing a variable spacing between the two surfaces facing the wheel and the support structure. This variable spacing makes it possible to drive in rotation along the axis of rotation of the wheel any foreign bodies caught between the wheel and the support structure until they reach the outside of the rolling member.
  • the recesses can be formed in the support structure and / or in the wheel of the various rolling members.
  • Each recess may include an opening through either the support structure or the wheel.
  • the opening is made so as to cross the part considered from side to side along an axis parallel to an axis of rotation of the wheel pivotally connected to the corresponding support structure. Such openings allow the evacuation of foreign bodies introduced into the rolling members.
  • each wheel comprises a hub, a rim and spokes extending radially between the hub and the rim, the spokes being separated from each other so as to form openings in the wheel. These openings are then through for the wheel.
  • the spokes of each wheel have a cylindrical or frustoconical shape. Such a shape makes it possible to limit the extent of the parallel surfaces between a wheel and its support structure.
  • the spokes are replaced by a lateral flank that can have a continuous surface.
  • Each wheel then comprises a hub, a rim and said lateral flank, which extends radially between the hub and the rim and comes opposite a surface of the support structure.
  • One or more recesses may be formed on this lateral flank.
  • This particular embodiment is particularly suitable for wheels having a relatively large width. By width of the wheel is meant its dimension along its axis of translation.
  • Each wheel may of course comprise two lateral flanks, each lateral flank coming opposite a surface of the support structure. Recesses are then preferably formed on each of the two lateral flanks.
  • each recess can be arranged to form a blind hole opening on the side flank considered.
  • the wheel may comprise a plurality of recesses distributed circumferentially on the side flank considered.
  • each support structure forms a lattice structure.
  • lattice structure is meant an integral assembly of beams. Openings are formed between the beams and constitute recesses within the meaning of the present invention.
  • the support structure of each rolling member is arranged to be deformed under the effect of an external force.
  • the support structure can be arranged to be able to deform under the effect of the introduction of a foreign body between the wheel and the support structure.
  • the deformation is elastic, at least for any introduction of a foreign body in the largest dimension is less than or equal to twice the minimum distance separating the wheel of its support structure.
  • the second branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism.
  • the propulsion mechanism comprises:
  • each rolling member having a support structure and a wheel, each support structure forming a portion of the net and each wheel being mounted in pivot connection to the supporting structure so as to be rotated by contact with a wall of the pipe during rotation of the drum, the support structure of each rolling member being arranged to be deformed under the effect of an external force.
  • the deformation of the support structure can be achieved by selecting materials and / or dimensions suitable for the flexible structure.
  • no hinge mechanism is provided in the support structure to ensure its deformation.
  • each rolling member comprises an arm whose one end is integral with the drum and a second end carries a hub of the wheel, the arm being arranged to be able to bend under the effect of an external force.
  • each rolling member comprises an arm whose first end and a second end are integral with the drum, a midpoint of the arm carrying a hub of the wheel and the arm being arranged so to be able to flex under the effect of an external force.
  • the arm can extend between its two attachment points by following different profiles.
  • the arm can extend linearly between its two attachment points, following a curved profile or following a sinuous profile.
  • each rolling member may comprise two arms connecting the wheel to the drum by a pivot connection.
  • the arms are advantageously arranged on either side of the wheel, to allow movement of the wheel along an axis perpendicular to the mean local plane of the drum.
  • each rolling member is preferably formed of an elastic material.
  • This is for example a thermoplastic polymer such as polycarbonate, or an elastomer such as rubber.
  • the mobile robotic device may comprise one or more of the characteristics indicated below.
  • the Archimedes screw thread can extend spirally along the axis of rotation of the drum. It may extend the full length of the drum or only part of it.
  • the Archimedes screw thread and, in particular, the support structures of the various rolling members can be made integrally with the drum, for example by an injection molding process or by three-dimensional printing.
  • the support structures of the various rolling members may form removable elements relative to the drum.
  • the support structures are for example fixed to the drum by a snap mechanism.
  • the support structures may be equipped with lugs adapted to snap into orifices formed on the outer surface of the drum.
  • Each wheel is preferably in pivot connection with a support structure along an axis of rotation perpendicular to a median local plane of the support structure.
  • the circumference of the wheel substantially follows the course of the thread of the Archimedean screw.
  • the robotic device may comprise a plurality of propulsion mechanisms, each propulsion mechanism comprising a drum, an Archimedean screw thread integral with the drum and rolling members whose support structures each form a portion of the net and whose wheels are each mounted in pivot connection in a support structure.
  • the propulsion mechanisms preferably equip the robotic device in pairs, the propulsion mechanisms of a pair being arranged symmetrically with respect to a median plane of the device, that is to say a vertical plane parallel to an axis of advance of the robotic device when it is on a horizontal plane.
  • Each propulsion mechanism is intended to be equipped with a motor, for example an electric motor, adapted to drive the drum in rotation relative to the body.
  • the robotic device may further comprise an accumulator for each electric motor or a battery common to the various electric motors, arranged to supply these electric motors with energy.
  • the robotic device is for example provided for inspection and / or recognition operations.
  • it may comprise various sensors, for example a photographic sensor or a video camera.
  • FIG. 1 represents a mobile robotic device developed by the applicant
  • FIG. 2 represents a detail of embodiment of the mobile robotic device of FIG. 1;
  • FIG. 3A represents a first example of a propulsion mechanism of a mobile robotic device according to the invention and FIGS. 3B, 3C and 3D represent a detail of embodiment of this propulsion mechanism;
  • FIG. 4A represents a second example of a propulsion mechanism of a mobile robotic device according to the invention and FIG. 4B represents a detail of embodiment;
  • FIG. 5 represents a detail of a third embodiment of a propulsion mechanism for a mobile robotic device according to the invention.
  • FIG. 6 shows a detail of a fourth embodiment of a propulsion mechanism for a mobile robotic device according to the invention.
  • FIG. 7 shows a detail of a fifth embodiment of a propulsion mechanism for a mobile robotic device according to the invention.
  • FIG. 1 represents a mobile robotic device according to one of the embodiments described in patent application PCT / EP2015 / 070612.
  • the mobile robotic device 1 comprises a body 10 and four propulsion mechanisms 20A, 20B, 20C, 20D.
  • the propulsion mechanisms 20A, 20B, 20C, 20D are generally designated 20, that is, omitting the final letter of the individual references.
  • the different parts and parts of these propulsion mechanisms are individually designated with a final letter A, B, C or D and globally without a final letter.
  • Each propulsion mechanism 20 comprises a drum 22, an Archimedean screw thread 23 and rolling members 24.
  • Each drum 22 has a hollow cylinder shape, open at one end and terminated at a second end by a dome 221
  • Each drum 22 is pivotally mounted relative to the body 10 along an axis of rotation.
  • the axes of rotation of the drums 22A and 22C are merged, as are the axes of rotation of the drums 22B and 22D.
  • the axes of rotation of the drums 22A and 22C are parallel to the axes of rotation of the drums 22B and 22D.
  • the drums 22 have the same diameter.
  • the body 10 is constituted by an armature comprising four tubes, no visible in Figure 1, two rings 11, 12 and a connecting member 13.
  • Each tube is housed inside a drum 22 and encloses an electric motor adapted to rotate the drum 22 relative to the body 10
  • the rings 11 and 12 are positioned between the open ends of the drums 22. Their outer surface is arranged to conform to the outer surface of the drums 22.
  • the ring 11 integrally connects the tubes of the drums 22A and 22C and the ring 12 integrally connects the tubes of the drums 22B and 22D.
  • the connecting member 13 integrally connects the rings 11 and 12, so that the body 10 forms a rigid frame for the device 1.
  • the Archimedean screw thread 23 of each propulsion mechanism 20 is mounted integrally on the outer surface of the corresponding drum 22. It extends spirally along the entire length of the drum 22 and extends on the dome 221 to its top.
  • the net 23 is partly formed by the rolling members 24, which are removably mounted on the drum 22.
  • FIG. 2 shows in more detail a rolling member 24 of the mobile robotic device 1 of FIG. 1.
  • the rolling member 24 comprises a support structure 241 and a wheel 242.
  • the support structure 241 has a shape and dimensions arranged to forming a portion of the Archimedes screw thread 23.
  • the support structures 241 of the various rolling members 24 mounted on a drum 23 form a continuous Archimedean screw structure.
  • the Archimedean screw threads 23A and 23C have a thread on the right and the Archimedean screw threads 23B and 23D have a net on the left.
  • the mobile robotic device 1 can advance rectilinearly along an axis parallel to the axes of rotation of the drums 23, or rotate along a vertical axis.
  • the support structure 241 forms a solid part, except that it comprises a housing 2411 arranged to receive the wheel 242.
  • the housing 2411 is traversing between a lower surface 2412, that is to say a surface coming into contact with the drum 22, and an upper surface 2413, i.e. an opposed surface intended to come into contact with the ground. At the very least, the housing 2411 should lead to the upper surface 2413 so as to allow the wheel 242 to protrude from that surface.
  • the support structure 241 further comprises lugs 2414 formed on the lower surface 2412.
  • the rolling members 24 thus form easily interchangeable elements.
  • the wheel 242 is disposed in the housing 2411 and mounted in pivot connection on the support structure 241. The axis of the pivot connection is arranged so that the running surface 2421 of the wheel 242 follows the profile of the thread portion 23.
  • the mobile robotic device 1 described with reference to FIGS. 1 and 2 has the disadvantage that small foreign bodies, such as chippings or grains of sand, are likely to be housed between the wheels 242 and their support structure 241. and to hinder or even block the rotation of these wheels 242.
  • FIG. 3A represents a first example of a propulsion mechanism of a mobile robotic device according to the invention.
  • the propulsion mechanism 30 is arranged to be able to replace the different propulsion mechanisms 20 of the device 1 of FIG. 1. It comprises a drum 32, an Archimedean screw thread 33 and rolling members 34. hollow cylinder shape, open at a first end and terminated at a second end by a dome 321.
  • the Archimedes screw thread 33 is integrally mounted on the outer surface of the drum 32. It extends in a spiral on the drum 32 between the first and the second end and extends on the dome 321 to its top.
  • the propulsion mechanism 30 shown in FIG. 3A is distinguished from the propulsion mechanism 20 shown in FIG. 1 by the rolling members 34, shown in more detail in FIGS. 3B-3D.
  • the rolling member 34 comprises a support structure 341 and a wheel 342.
  • FIG. 3B shows a complete rolling member 34, the wheel 342 being mounted on the support structure 341.
  • FIG. 3C represents the support structure 341 alone and the FIG. 3D represents the 342 wheel alone.
  • the support structure 341 has a shape and dimensions arranged to form a portion of the Archimedean screw thread 33. It comprises a housing 3411 arranged to receive the wheel 342 and opening in particular to the lower 3412 and upper 3413 surfaces. relative to the support structure 241 of FIG.
  • the support structure 341 forms a lattice structure at the level of the housing 3411.
  • the support structure 341 comprises, on either side of the housing 3411, a first beam 3414 joining the two edges of the housing 3411 at the upper surface 3413 following the profile of the thread 33, a second beam 3415 joining one of the edges of the housing 3411 at the lower surface 3412 to a midpoint of the first beam 3414 and a third beam 3416 joining the other edge of the housing 3411 at the lower surface 3412 at the midpoint of the First beam 3414.
  • Apertures 3417 are thus formed between beams 3414, 3415 and 3416, as well as an opening 3418 is formed between the outer surface of drum 32 and beams 3415 and 3416. These openings 3417 and 3418 are through. In other words, they cross the support structure 341 from one side along an axis parallel to the axis of rotation of the wheel 342.
  • the support structure 341 is shown without pin. Of course, it could be provided with lugs allowing snap-fastening of the rolling members 34 on the drum 32. Furthermore, in FIG. 3A, the rolling members 34 are shown as forming modular elements of the screw thread. Archimedes 33. However, the different support structures 341 could be made integrally with the drum 32, for example by an injection molding process or by three-dimensional printing.
  • the wheel 342 shown in FIGS. 3B and 3D differs from the wheel 242 of FIG. 2 in that it comprises a hub 3421, a rim 3422, a tire 3423 and spokes 3425.
  • the hub 3421 forms an axis of rotation for the wheel 342.
  • the tire 3423 is mounted on the rim 3422 and is intended to come into contact with the ground.
  • the spokes 3425 extend radially between the hub 3421 and the rim 3422. There are three in number and are separated from each other, so that they form through openings for the wheel.
  • Each spoke 3425 has a frustoconical shape, so as to avoid the formation of parallel surfaces between the wheel 342 and its support structure 341.
  • FIG. 4A represents a second example of a propulsion mechanism of a mobile robotic device according to the invention.
  • the propulsion mechanism 40 comprises a drum 42, an Archimedean screw thread 43 and FIG. 4B shows in detail a rolling member 44.
  • the rolling member 44 comprises a support structure 441 and a wheel 442.
  • the support structure 441 comprises two walls 4411, 4412 extending in a spiral parallel to the surface. outer drum 42.
  • Each wall 4411, 4412 can be considered an Archimedean screw thread.
  • Each wall 4411, 4412 is formed by a lattice structure at the wheels 442. This lattice structure is similar to that of the rolling members 34.
  • the support structure 441 comprises beams 4414, 4415 and 4416, recesses 4417 and formed between these beams and a recess 4418 between the beams 4415, 4416 and the outer surface of the drum 42.
  • the wheel 442 of each rolling member 44 has a relatively large width, adapted for example to relatively soft floors.
  • Each wheel 442 comprises a hub 4421, a rim 4422, a tire 4423 and two lateral flanks 4424.
  • the hub 4421 forms an axis of rotation for the wheel 442.
  • the tire 4423 is mounted on the rim 4422.
  • the side flanks 4424 are extend radially between the hub 4421 and the rim 4422. They have the particularity of having recesses 4425 coming opposite the walls 4411 and 4412.
  • FIG. 5 represents a detail of embodiment of a third example of a propulsion mechanism of a mobile robotic device according to the invention.
  • the propulsion mechanism 50 comprises, like the other exemplary embodiments, a drum 52, an Archimedean screw thread 53 and rolling members 54.
  • Each rolling member 54 comprises a support structure 541 and a wheel 442, identical to The support structure 541 differs however in that the walls 5411, 5412 are each arranged to form, at each wheel 442, a flexible arm 5413, 5414 whose end is integral with the rest of the support structure 541 and therefore drum 52 and another end carries the hub 4421 of the wheel 442.
  • the material and dimensions of the arm are determined so that the flexible arms are able to deform elastically under the effect of an external force, for example a force applied to the wheel 442 in a direction normal to the local surface of the drum 52 or a force generated by the introduction of a foreign body between the lateral flank 4424 of the wheel 442 and arm 5413 or 5414.
  • Arms 5413, 5414 are here constituted by beams in the profile of the Archimedes screw 53.
  • the arms could have a different shape, for example following a more or less complex curvature.
  • FIG. 6 shows a detail of a fourth example of a propulsion mechanism of a robotic device according to the invention.
  • the propulsion mechanism 60 also comprises a drum 62, an Archimedean screw thread 63 and rolling members 64.
  • Each rolling member 64 comprises a support structure 641 and a wheel 442 identical to the wheel of FIG. 4.
  • the support structure 641 differs from the support structure 541 of FIG. 5 in that each of the walls 6411, 6412 is arranged to form a flexible arm 6413, 6414 whose two ends are integral with the rest of the support structure 641 and therefore of the 62.
  • the arms 6413, 6414 extend between their attachment points following a sinuous profile.
  • the hub 4421 of the wheel 442 is pivotally connected to the arms 6413, 6414 at a midpoint of these arms. The flexibility of the 6413, 6414 arms is ensured by the choice of the material constituting them and by their dimensions.
  • FIG. 7 shows a detail of a fifth example of a propulsion mechanism of a robotic device according to the invention.
  • the propulsion mechanism 70 comprises a drum 72, an Archimedean screw thread 73 and rolling members 74.
  • Each rolling member 74 comprises a support structure 741 and a wheel 442, identical to the wheel of FIG. support structure 741 is distinguished from the support structure 641 of FIG. 6 by the profile of the flexible arms 7413, 7414.
  • each flexible arm 7413, 7414 forms two cones, one common end of which bears the hub 4421 of the wheel 442. and whose free ends are integral with the rest of the support structure 741.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention falls within the field of mobile robots. It relates to a mobile robotic device comprising a propulsion mechanism equipped with an Archimedean screw, so as to allow it to move over various types of ground. According to the invention, the mobile robotic device comprises a body and a propulsion mechanism (40), the propulsion mechanism comprising: a drum (42) capable of rotating with respect to the body, and archimedean screw thread (43) projecting from an exterior surface of the drum, and rolling members (44) each one comprising a support structure (441) and a wheel (442), each support structure forming a portion of the screw thread and each wheel being mounted as a pivot connection on the support structure, each rolling member comprising at least one cavity (4417, 4418) designed to minimize the adjacent surface areas between the support structure and the wheel.

Description

DISPOSITIF ROBOTIQUE MOBILE AVEC MÉCANISME DE PROPULSION À VIS  MOBILE ROBOTIC DEVICE WITH SCREW PROPULSION MECHANISM
D'ARCHIMÈDE AMÉLIORÉ  ARCHIVE IMPROVED
DESCRIPTION DESCRIPTION
DOMAINE TECHNIQUE TECHNICAL AREA
L'invention se situe dans le domaine des robots mobiles et, plus précisément, dans le domaine des robots mus par une ou plusieurs vis d'Archimède. Elle concerne un tel dispositif robotique mobile équipé d'un ou plusieurs mécanismes de propulsion comprenant chacun une vis d'Archimède, de manière à permettre un déplacement du dispositif robotique aussi bien sur un support rigide, qu'en présence d'eau, de sable, de graisse ou de boue.  The invention lies in the field of mobile robots and, more specifically, in the field of robots driven by one or more Archimedean screws. It relates to such a mobile robotic device equipped with one or more propulsion mechanisms each comprising an Archimedean screw, so as to allow movement of the robotic device both on a rigid support, in the presence of water, sand , fat or mud.
L'invention s'applique notamment à l'inspection de canalisations, par exemple des canalisations d'eaux de pluie, des canalisations d'eaux usées ou des canalisations industrielles. Plus généralement, l'invention trouve une application pour tout déploiement d'un robot mobile sur un terrain difficilement praticable, par exemple mou, humide et/ou granulaire. The invention is particularly applicable to the inspection of pipes, for example rainwater pipes, sewage pipes or industrial pipes. More generally, the invention finds an application for any deployment of a mobile robot on a difficult terrain, for example soft, wet and / or granular.
ÉTAT DE LA TECHNIQUE ANTÉRIEURE STATE OF THE PRIOR ART
Des dispositifs mécatroniques mobiles sont utilisés pour évoluer à l'intérieur de canalisations de réseaux urbains ou industriels afin d'en réaliser une inspection, par exemple au moyen de prises d'images ou de mesures de divers paramètres physiques et/ou chimiques. La fonction locomotion de tels dispositifs est généralement assurée par des roues ou des chenilles. En présence d'eau, de sable ou de boue, ces dispositifs peuvent se retrouver bloqués dans leur progression. Afin d'éviter de tels blocages, il est possible de récurer la canalisation à inspecter préalablement au passage du dispositif. Cependant, l'opération de récurage engendre des inconvénients en termes de rapidité d'intervention, de complexité et de coût. Dans le but de permettre une progression d'un robot mobile sur un terrain difficilement praticable, une possibilité consiste à l'équiper d'un mécanisme de propulsion comprenant une vis d'Archimède. Le filet de la vis d'Archimède vient au contact du sol et permet une progression indépendamment du type de surface rencontré, le filet de vis pénétrant plus ou moins le sol. À titre d'exemple, la société Steady Flux, Inc. propose un dispositif d'inspection de canalisations, dénommé CBOR, exploitant un tel mécanisme à vis d'Archimède. Le dispositif comporte un corps central allongé et une paire de vis d'Archimède disposées de part et d'autre du corps central et reliées à lui en liaison pivot par l'intermédiaire de bras. Un inconvénient d'un tel robot est que la propulsion au moyen de vis d'Archimède sur un sol relativement dur engendre un glissement important des vis. Il s'ensuit une perte de motricité conséquente du robot et une usure des filets de vis d'Archimède. La perte d'énergie est d'autant plus préjudiciable que le robot est généralement alimenté par des moyens d'alimentation embarqués. Mobile mechatronic devices are used to evolve inside urban or industrial network pipes in order to carry out an inspection, for example by taking pictures or measurements of various physical and / or chemical parameters. The locomotion function of such devices is generally provided by wheels or caterpillars. In the presence of water, sand or mud, these devices can be stuck in their progress. To avoid such blockages, it is possible to scour the pipe to be inspected prior to the passage of the device. However, the scrubbing operation causes drawbacks in terms of speed of intervention, complexity and cost. In order to allow a progression of a mobile robot on a terrain that is difficult to pass through, one possibility is to equip it with a propulsion mechanism comprising an Archimedean screw. The thread of the Archimedes screw comes into contact with the ground and allows progression regardless of the type of surface encountered, the screw thread penetrating more or less the ground. For example, Steady Flux, Inc. proposes a pipe inspection device, called CBOR, operating such an Archimedes screw mechanism. The device comprises an elongated central body and a pair of Archimedean screws disposed on either side of the central body and connected to it in pivot connection via arms. A disadvantage of such a robot is that the propulsion by means of Archimedes screws on a relatively hard ground causes a significant sliding of the screws. This results in a consequent motor loss of the robot and a wear of Archimedes screw threads. The loss of energy is even more prejudicial that the robot is generally powered by on-board power supply means.
La demanderesse a proposé des solutions à ces problématiques dans la demande de brevet PCT/EP2015/070612, non encore publiée. Selon une variante de réalisation de l'invention, le dispositif robotique d'inspection comprend des tambours rotatifs dont la surface extérieure présente un filet de vis d'Archimède, chaque filet étant équipé de roues pouvant être entraînées en rotation par un contact avec le sol lors de la rotation du tambour correspondant. La présence des roues permet d'améliorer la motricité et de limiter les frottements entre le dispositif robotique d'inspection et le sol sur lequel il évolue. Cependant, en présence de divers corps étrangers de faibles dimensions tels que du sable ou des gravillons, les roues se bloquent en rotation lors de l'introduction de ces corps étrangers entre elles et leur support. Les frottements peuvent alors être importants, en particulier dans le cas où les roues comportent une bande de roulement en matériau élastomère permettant une meilleure accroche sur sol dur.  The applicant has proposed solutions to these problems in patent application PCT / EP2015 / 070612, not yet published. According to an alternative embodiment of the invention, the robotic inspection device comprises rotary drums whose outer surface has an Archimedean screw thread, each net being equipped with wheels that can be rotated by a contact with the ground. when rotating the corresponding drum. The presence of the wheels makes it possible to improve the motor skills and to limit the friction between the robotic inspection device and the ground on which it evolves. However, in the presence of various foreign bodies of small dimensions such as sand or chippings, the wheels are locked in rotation during the introduction of these foreign bodies between them and their support. The friction can then be important, especially in the case where the wheels comprise a tread of elastomeric material for better grip on hard ground.
Selon une autre variante de réalisation, compatible avec la précédente, les filets de vis d'Archimède sont montés de manière amovible sur les tambours rotatifs. Chaque filet est formé par une pluralité de portions de filet, chacune apte à être montée de manière amovible sur un tambour rotatif, par exemple par un encliquetage d'ergots solidaires des portions de filet dans des orifices complémentaires formés sur le tambour rotatif. Le caractère amovible du filet permet son remplacement sans remplacer l'ensemble du tambour rotatif et, le cas échéants, sans démonter les éventuels composants situés à l'intérieur de ce tambour rotatif. Toutefois, le risque de frottements reste important, soit du fait l'absence de roues, soit du fait du blocage de ces roues avec des corps étrangers. According to another variant embodiment, compatible with the previous one, the Archimedean screw threads are removably mounted on the rotary drums. Each thread is formed by a plurality of thread portions, each adapted to be removably mounted on a rotary drum, for example by a snap of pins integral with the thread portions in complementary holes formed on the drum rotary. The removable nature of the net allows its replacement without replacing the entire rotating drum and, if appropriate, without removing any components located inside the rotating drum. However, the risk of friction remains high, either because of the absence of wheels or because of the locking of these wheels with foreign bodies.
Les solutions précitées pour limiter les frottements lors du déplacement du robot mobile ne donnent donc pas entière satisfaction. Un but de l'invention est donc de proposer une solution pour limiter ces frottements quel que soit le type de surface rencontré par le robot mobile.  The aforementioned solutions for limiting friction during the movement of the mobile robot are therefore not entirely satisfactory. An object of the invention is therefore to propose a solution for limiting these friction irrespective of the type of surface encountered by the mobile robot.
EXPOSÉ DE L'INVENTION À cet effet, l'invention repose sur deux branches principales de développement, indépendantes mais synergiques. Dans chaque branche de l'invention, le dispositif robotique mobile comporte un corps et au moins un mécanisme de propulsion, ce dernier comprenant un tambour rotatif muni d'un filet de vis d'Archimède et des organes de roulement comportant chacun une structure support et une roue. Chaque structure support forme une portion du filet et chaque roue est montée en liaison pivot sur la structure support pour permettre une translation du tambour selon son axe de rotation tout en minimisant les frottements avec la canalisation. SUMMARY OF THE INVENTION To this end, the invention is based on two main branches of development, independent but synergistic. In each branch of the invention, the mobile robotic device comprises a body and at least one propulsion mechanism, the latter comprising a rotary drum provided with an Archimedean screw thread and rolling members each comprising a support structure and a wheel. Each support structure forms a portion of the net and each wheel is pivotally mounted on the support structure to allow a translation of the drum along its axis of rotation while minimizing friction with the pipe.
Selon une première branche de l'invention, chaque organe de roulement comporte un ou plusieurs évidements agencés de manière à réduire au maximum les surfaces adjacentes entre la structure support et la roue de l'organe de roulement considéré. Par surfaces adjacentes entre la structure support et la roue, on entend la ou les surfaces de la roue ainsi que la ou les surfaces de la structure support présentant une distance minimale entre elles. Ces surfaces peuvent notamment être parallèles entre elles.  According to a first branch of the invention, each rolling member comprises one or more recesses arranged so as to minimize the adjacent surfaces between the support structure and the wheel of the running gear considered. By adjacent surfaces between the support structure and the wheel is meant the wheel surface or surfaces and the surface or surfaces of the support structure having a minimum distance between them. These surfaces can in particular be parallel to each other.
Plus précisément, la première branche de l'invention a pour objet un dispositif robotique mobile comportant un corps et un mécanisme de propulsion. Le mécanisme de propulsion comprend :  More specifically, the first branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism. The propulsion mechanism comprises:
■ un tambour apte à être entraîné en rotation par rapport au corps, ■ un filet de vis d'Archimède solidaire du tambour et faisant saillie par rapport à une surface extérieure du tambour, et ■ a drum adapted to be rotated relative to the body, ■ an Archimedes screw thread integral with the drum and projecting with respect to an outer surface of the drum, and
■ des organes de roulement comportant chacun une structure support et une roue, chaque structure support formant une portion du filet et chaque roue étant montée en liaison pivot sur la structure support de manière à pouvoir être entraînée en rotation par un contact avec une paroi de la canalisation lors de la rotation du tambour, chaque organe de roulement comprenant au moins un évidement agencé pour minimiser les surfaces adjacentes entre la structure support et la roue. ■ rolling members each having a support structure and a wheel, each support structure forming a portion of the net and each wheel being mounted in pivot connection to the supporting structure so as to be rotated by contact with a wall of the pipe during the rotation of the drum, each bearing member comprising at least one recess arranged to minimize the adjacent surfaces between the support structure and the wheel.
La présence d'un ou plusieurs évidements (par exemple au moins deux ou au moins trois) au niveau de chaque organe de roulement a pour effet de réduire les surfaces adjacentes entre la structure support et la roue, en comparaison d'un organe de roulement sans évidement pour lequel des surfaces en vis-à-vis de la roue et de la structure support sont relativement étendues. Les évidements ont en outre pour effet d'introduire un écartement variable entre les deux surfaces en vis-à-vis de la roue et de la structure support. Cet écartement variable permet d'entraîner en rotation selon l'axe de rotation de la roue les éventuels corps étrangers pris entre la roue et la structure support jusqu'à les faire parvenir à l'extérieur de l'organe de roulement.  The presence of one or more recesses (for example at least two or at least three recesses) at each rolling member has the effect of reducing the adjacent surfaces between the support structure and the wheel, in comparison with a running gear without recess for which surfaces vis-à-vis the wheel and the support structure are relatively extensive. The recesses furthermore have the effect of introducing a variable spacing between the two surfaces facing the wheel and the support structure. This variable spacing makes it possible to drive in rotation along the axis of rotation of the wheel any foreign bodies caught between the wheel and the support structure until they reach the outside of the rolling member.
Les évidements peuvent être formés dans la structure support et/ou dans la roue des différents organes de roulement.  The recesses can be formed in the support structure and / or in the wheel of the various rolling members.
Chaque évidement peut comporter une ouverture traversant soit la structure support soit la roue. De préférence, l'ouverture est réalisée de manière à traverser la pièce considérée de part en part le long d'un axe parallèle à un axe de rotation de la roue en liaison pivot sur la structure support correspondante. De telles ouvertures permettent l'évacuation de corps étrangers introduits dans les organes de roulement.  Each recess may include an opening through either the support structure or the wheel. Preferably, the opening is made so as to cross the part considered from side to side along an axis parallel to an axis of rotation of the wheel pivotally connected to the corresponding support structure. Such openings allow the evacuation of foreign bodies introduced into the rolling members.
Selon une première forme particulière de réalisation, chaque roue comporte un moyeu, une jante et des rayons s'étendant radialement entre le moyeu et la jante, les rayons étant séparés les uns des autres de manière à former des ouvertures dans la roue. Ces ouvertures sont alors traversantes pour la roue. Avantageusement, les rayons de chaque roue présentent une forme cylindrique ou tronconique. Une telle forme permet de limiter l'étendue des surfaces parallèles entre une roue et sa structure support. According to a first particular embodiment, each wheel comprises a hub, a rim and spokes extending radially between the hub and the rim, the spokes being separated from each other so as to form openings in the wheel. These openings are then through for the wheel. Advantageously, the spokes of each wheel have a cylindrical or frustoconical shape. Such a shape makes it possible to limit the extent of the parallel surfaces between a wheel and its support structure.
Selon une deuxième forme particulière de réalisation, les rayons sont remplacés par un flanc latéral pouvant présenter une surface continue. Chaque roue comporte alors un moyeu, une jante et ledit flanc latéral, lequel s'étend radialement entre le moyeu et la jante et vient en vis-à-vis d'une surface de la structure support. Un ou plusieurs évidements peuvent être formés sur ce flanc latéral. Cette forme particulière de réalisation est notamment adaptée à des roues présentant une largeur relativement importante. Par largeur de la roue, on entend sa dimension selon son axe de translation.  According to a second particular embodiment, the spokes are replaced by a lateral flank that can have a continuous surface. Each wheel then comprises a hub, a rim and said lateral flank, which extends radially between the hub and the rim and comes opposite a surface of the support structure. One or more recesses may be formed on this lateral flank. This particular embodiment is particularly suitable for wheels having a relatively large width. By width of the wheel is meant its dimension along its axis of translation.
Chaque roue peut bien entendu comporter deux flancs latéraux, chaque flanc latéral venant en regard d'une surface de la structure support. Des évidements sont alors de préférence formés sur chacun des deux flancs latéraux.  Each wheel may of course comprise two lateral flanks, each lateral flank coming opposite a surface of the support structure. Recesses are then preferably formed on each of the two lateral flanks.
Dans cette deuxième forme particulière de réalisation, chaque évidement peut être agencé pour former un trou borgne débouchant sur le flanc latéral considéré.  In this second particular embodiment, each recess can be arranged to form a blind hole opening on the side flank considered.
Toujours dans cette deuxième forme particulière de réalisation, la roue peut comporter une pluralité d'évidements répartis de manière circonférentielle sur le flanc latéral considéré.  Still in this second particular embodiment, the wheel may comprise a plurality of recesses distributed circumferentially on the side flank considered.
Selon une forme particulière de réalisation, chaque structure support forme une structure en treillis. Par structure en treillis, on entend un assemblage solidaire de poutres. Des ouvertures sont formées entre les poutres et constituent des évidements au sens de la présente invention.  According to a particular embodiment, each support structure forms a lattice structure. By lattice structure is meant an integral assembly of beams. Openings are formed between the beams and constitute recesses within the meaning of the present invention.
Selon une deuxième branche de l'invention, indépendante de la première branche mais combinable avec elle, la structure support de chaque organe de roulement est agencée pour pouvoir se déformer sous l'effet d'une force extérieure. En particulier, la structure support peut être agencée pour pouvoir se déformer sous l'effet de l'introduction d'un corps étranger entre la roue et la structure support. De préférence, la déformation est élastique, au moins pour toute introduction d'un corps étranger dans la plus grande dimension est inférieure ou égale à deux fois la distance minimale séparant la roue de sa structure support. Ainsi, le jeu présent entre la roue et la structure support est apte à varier, permettant le décoincement des corps étrangers. According to a second branch of the invention, independent of the first branch but combinable with it, the support structure of each rolling member is arranged to be deformed under the effect of an external force. In particular, the support structure can be arranged to be able to deform under the effect of the introduction of a foreign body between the wheel and the support structure. Preferably, the deformation is elastic, at least for any introduction of a foreign body in the largest dimension is less than or equal to twice the minimum distance separating the wheel of its support structure. Thus, the clearance between the wheel and the support structure is able to vary, allowing the removal of foreign bodies.
Plus précisément, la deuxième branche de l'invention a pour objet un dispositif robotique mobile comportant un corps et un mécanisme de propulsion. Le mécanisme de propulsion comprend :  More specifically, the second branch of the invention relates to a mobile robotic device comprising a body and a propulsion mechanism. The propulsion mechanism comprises:
■ un tambour apte à être entraîné en rotation par rapport au corps, ■ a drum adapted to be rotated relative to the body,
■ un filet de vis d'Archimède solidaire du tambour et faisant saillie par rapport à une surface extérieure du tambour, et ■ an Archimedes screw thread integral with the drum and projecting with respect to an outer surface of the drum, and
■ des organes de roulement comportant chacun une structure support et une roue, chaque structure support formant une portion du filet et chaque roue étant montée en liaison pivot sur la structure support de manière à pouvoir être entraînée en rotation par un contact avec une paroi de la canalisation lors de la rotation du tambour, la structure support de chaque organe de roulement étant agencée pour pouvoir se déformer sous l'effet d'une force extérieure. ■ rolling members each having a support structure and a wheel, each support structure forming a portion of the net and each wheel being mounted in pivot connection to the supporting structure so as to be rotated by contact with a wall of the pipe during rotation of the drum, the support structure of each rolling member being arranged to be deformed under the effect of an external force.
La déformation de la structure support peut être obtenue en choisissant des matériaux et/ou des dimensions appropriées pour la structure flexible. De préférence, aucun mécanisme d'articulation n'est prévu dans la structure support pour assurer sa déformation.  The deformation of the support structure can be achieved by selecting materials and / or dimensions suitable for the flexible structure. Preferably, no hinge mechanism is provided in the support structure to ensure its deformation.
Selon une première forme particulière de réalisation, la structure support de chaque organe de roulement comporte un bras dont une première extrémité est solidaire du tambour et une deuxième extrémité porte un moyeu de la roue, le bras étant agencé de manière à pouvoir fléchir sous l'effet d'une force extérieure.  According to a first particular embodiment, the support structure of each rolling member comprises an arm whose one end is integral with the drum and a second end carries a hub of the wheel, the arm being arranged to be able to bend under the effect of an external force.
Selon une deuxième forme particulière de réalisation, la structure support de chaque organe de roulement comporte un bras dont une première extrémité et une deuxième extrémité sont solidaires du tambour, un point médian du bras portant un moyeu de la roue et le bras étant agencé de manière à pouvoir fléchir sous l'effet d'une force extérieure.  According to a second particular embodiment, the support structure of each rolling member comprises an arm whose first end and a second end are integral with the drum, a midpoint of the arm carrying a hub of the wheel and the arm being arranged so to be able to flex under the effect of an external force.
Dans cette deuxième forme de réalisation, le bras peut s'étendre entre ses deux points d'attache en suivant différents profils. En particulier, le bras peut s'étendre de manière linéaire entre ses deux points d'attache, en suivant un profil courbe ou en suivant un profil sinueux. In this second embodiment, the arm can extend between its two attachment points by following different profiles. In particular, the arm can extend linearly between its two attachment points, following a curved profile or following a sinuous profile.
Dans chaque forme de réalisation, la structure support de chaque organe de roulement peut comporter deux bras reliant la roue au tambour par une liaison pivot. Les bras sont avantageusement disposés de part et d'autre de la roue, pour permettre un déplacement de la roue selon un axe perpendiculaire au plan local moyen du tambour.  In each embodiment, the support structure of each rolling member may comprise two arms connecting the wheel to the drum by a pivot connection. The arms are advantageously arranged on either side of the wheel, to allow movement of the wheel along an axis perpendicular to the mean local plane of the drum.
La structure support de chaque organe de roulement est de préférence formée dans un matériau élastique. Il s'agit par exemple d'un polymère thermoplastique comme le polycarbonate, ou d'un élastomère comme le caoutchouc.  The support structure of each rolling member is preferably formed of an elastic material. This is for example a thermoplastic polymer such as polycarbonate, or an elastomer such as rubber.
Quelle que soit la branche de l'invention considérée, le dispositif robotique mobile peut comporter une ou plusieurs des caractéristiques indiquées ci- dessous.  Whatever the branch of the invention in question, the mobile robotic device may comprise one or more of the characteristics indicated below.
Le filet de vis d'Archimède peut s'étendre en spirale en suivant l'axe de rotation du tambour. Il peut s'étendre sur toute la longueur du tambour ou sur une partie seulement.  The Archimedes screw thread can extend spirally along the axis of rotation of the drum. It may extend the full length of the drum or only part of it.
Le filet de vis d'Archimède et, en particulier, les structures supports des différents organes de roulement, peuvent être réalisés de manière monobloc avec le tambour, par exemple par un procédé de moulage par injection ou par impression tridimensionnelle. Alternativement, les structures support des différents organes de roulement peuvent former des éléments amovibles par rapport au tambour. Les structures supports sont par exemple fixées au tambour par un mécanisme d'encliquetage. En particulier, les structures supports peuvent être équipées d'ergots aptes à venir s'encliqueter dans des orifices formés sur la surface extérieure du tambour.  The Archimedes screw thread and, in particular, the support structures of the various rolling members, can be made integrally with the drum, for example by an injection molding process or by three-dimensional printing. Alternatively, the support structures of the various rolling members may form removable elements relative to the drum. The support structures are for example fixed to the drum by a snap mechanism. In particular, the support structures may be equipped with lugs adapted to snap into orifices formed on the outer surface of the drum.
Chaque roue est de préférence en liaison pivot avec une structure support selon un axe de rotation perpendiculaire à un plan local médian de la structure support. En d'autres termes, la circonférence de la roue suit sensiblement le tracé du filet de la vis d'Archimède. Le dispositif robotique peut comporter une pluralité de mécanismes de propulsion, chaque mécanisme de propulsion comprenant un tambour, un filet de vis d'Archimède solidaire du tambour et des organes de roulement dont les structures supports forment chacune une portion du filet et dont les roues sont chacune montées en liaison pivot dans une structure support. Each wheel is preferably in pivot connection with a support structure along an axis of rotation perpendicular to a median local plane of the support structure. In other words, the circumference of the wheel substantially follows the course of the thread of the Archimedean screw. The robotic device may comprise a plurality of propulsion mechanisms, each propulsion mechanism comprising a drum, an Archimedean screw thread integral with the drum and rolling members whose support structures each form a portion of the net and whose wheels are each mounted in pivot connection in a support structure.
Les mécanismes de propulsion équipent de préférence le dispositif robotique par paires, les mécanismes de propulsion d'une paire étant disposés symétriquement par rapport à un plan médian du dispositif, c'est-à-dire un plan vertical parallèle à un axe d'avancement du dispositif robotique lorsqu'il est sur un plan horizontal.  The propulsion mechanisms preferably equip the robotic device in pairs, the propulsion mechanisms of a pair being arranged symmetrically with respect to a median plane of the device, that is to say a vertical plane parallel to an axis of advance of the robotic device when it is on a horizontal plane.
Chaque mécanisme de propulsion est prévu pour être équipé d'un moteur, par exemple un moteur électrique, apte à entraîner le tambour en rotation par rapport au corps. Le dispositif robotique peut en outre comporter un accumulateur pour chaque moteur électrique ou un accumulateur commun aux différents moteurs électrique, agencé pour fournir ces moteurs électriques en énergie.  Each propulsion mechanism is intended to be equipped with a motor, for example an electric motor, adapted to drive the drum in rotation relative to the body. The robotic device may further comprise an accumulator for each electric motor or a battery common to the various electric motors, arranged to supply these electric motors with energy.
Le dispositif robotique est par exemple prévu pour des opérations d'inspection et/ou de reconnaissance. À cet effet, il peut comporter divers capteurs, par exemple un capteur photographique ou une caméra vidéo.  The robotic device is for example provided for inspection and / or recognition operations. For this purpose, it may comprise various sensors, for example a photographic sensor or a video camera.
BRÈVE DESCRIPTION DES DESSINS BRIEF DESCRIPTION OF THE DRAWINGS
L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée uniquement à titre d'exemple non limitatif et faite en se référant aux dessins annexés sur lesquels : The invention will be better understood with the aid of the description which follows, given solely by way of nonlimiting example and with reference to the appended drawings in which:
- la figure 1 représente un dispositif robotique mobile développé par le demandeur ;  FIG. 1 represents a mobile robotic device developed by the applicant;
- la figure 2 représente un détail de réalisation du dispositif robotique mobile de la figure 1 ;  FIG. 2 represents a detail of embodiment of the mobile robotic device of FIG. 1;
- la figure 3A représente un premier exemple de mécanisme de propulsion d'un dispositif robotique mobile selon l'invention et les figures 3B, 3C et 3D représentent un détail de réalisation de ce mécanisme de propulsion ; - la figure 4A représente un deuxième exemple de mécanisme de propulsion d'un dispositif robotique mobile selon l'invention et la figure 4B en représente un détail de réalisation ; FIG. 3A represents a first example of a propulsion mechanism of a mobile robotic device according to the invention and FIGS. 3B, 3C and 3D represent a detail of embodiment of this propulsion mechanism; FIG. 4A represents a second example of a propulsion mechanism of a mobile robotic device according to the invention and FIG. 4B represents a detail of embodiment;
- la figure 5 représente un détail de réalisation d'un troisième exemple de réalisation d'un mécanisme de propulsion pour un dispositif robotique mobile selon l'invention ;  FIG. 5 represents a detail of a third embodiment of a propulsion mechanism for a mobile robotic device according to the invention;
- la figure 6 représente un détail de réalisation d'un quatrième exemple de réalisation d'un mécanisme de propulsion pour un dispositif robotique mobile selon l'invention ;  FIG. 6 shows a detail of a fourth embodiment of a propulsion mechanism for a mobile robotic device according to the invention;
- la figure 7 représente un détail de réalisation d'un cinquième exemple de réalisation d'un mécanisme de propulsion pour un dispositif robotique mobile selon l'invention.  - Figure 7 shows a detail of a fifth embodiment of a propulsion mechanism for a mobile robotic device according to the invention.
EXPOSÉ DÉTAILLÉ DE MODES DE RÉALISATION PARTICULIERS DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
La figure 1 représente un dispositif robotique mobile selon l'un des modes de réalisation décrits dans la demande de brevet PCT/EP2015/070612. Le dispositif robotique mobile 1 comporte un corps 10 et quatre mécanismes de propulsion 20A, 20B, 20C, 20D. Les mécanismes de propulsion 20A, 20B, 20C, 20D sont désignés globalement par la référence 20, c'est-à-dire en omettant la lettre finale des références individuelles. De même, les différentes pièces et les différentes parties de ces mécanismes de propulsion sont désignées individuellement avec une lettre finale A, B, C ou D et globalement sans lettre finale. Chaque mécanisme de propulsion 20 comporte un tambour 22, un filet de vis d'Archimède 23 et des organes de roulement 24. Chaque tambour 22 présente une forme de cylindre creux, ouvert à une première extrémité et terminé à une deuxième extrémité par une coupole 221. Chaque tambour 22 est monté en liaison pivot par rapport au corps 10 selon un axe de rotation. Les axes de rotation des tambours 22A et 22C sont confondus, de même que les axes de rotation des tambours 22B et 22D. En outre, les axes de rotation des tambours 22A et 22C sont parallèles aux axes de rotation des tambours 22B et 22D. Les tambours 22 présentent un même diamètre. Le corps 10 est constitué par une armature comprenant quatre tubes, non visibles sur la figure 1, deux anneaux 11, 12 et un organe de liaison 13. Chaque tube vient se loger à l'intérieur d'un tambour 22 et renferme un moteur électrique apte à entraîner en rotation le tambour 22 par rapport au corps 10. Les anneaux 11 et 12 se positionnent entre les extrémités ouvertes des tambours 22. Leur surface extérieure est agencée pour se conformer à la surface extérieure des tambours 22. L'anneau 11 relie solidairement les tubes des tambours 22A et 22C et l'anneau 12 relie solidairement les tubes des tambours 22B et 22D. L'organe de liaison 13 relie solidairement les anneaux 11 et 12, de sorte que le corps 10 forme un châssis rigide pour le dispositif 1. Le filet de vis d'Archimède 23 de chaque mécanisme de propulsion 20 est monté de manière solidaire sur la surface extérieure du tambour 22 correspondant. Il s'étend en spirale sur toute la longueur du tambour 22 et se prolonge sur la coupole 221 jusqu'à son sommet. Le filet 23 est en partie formé par les organes de roulement 24, lesquels sont montés de manière amovible sur le tambour 22. FIG. 1 represents a mobile robotic device according to one of the embodiments described in patent application PCT / EP2015 / 070612. The mobile robotic device 1 comprises a body 10 and four propulsion mechanisms 20A, 20B, 20C, 20D. The propulsion mechanisms 20A, 20B, 20C, 20D are generally designated 20, that is, omitting the final letter of the individual references. Similarly, the different parts and parts of these propulsion mechanisms are individually designated with a final letter A, B, C or D and globally without a final letter. Each propulsion mechanism 20 comprises a drum 22, an Archimedean screw thread 23 and rolling members 24. Each drum 22 has a hollow cylinder shape, open at one end and terminated at a second end by a dome 221 Each drum 22 is pivotally mounted relative to the body 10 along an axis of rotation. The axes of rotation of the drums 22A and 22C are merged, as are the axes of rotation of the drums 22B and 22D. In addition, the axes of rotation of the drums 22A and 22C are parallel to the axes of rotation of the drums 22B and 22D. The drums 22 have the same diameter. The body 10 is constituted by an armature comprising four tubes, no visible in Figure 1, two rings 11, 12 and a connecting member 13. Each tube is housed inside a drum 22 and encloses an electric motor adapted to rotate the drum 22 relative to the body 10 The rings 11 and 12 are positioned between the open ends of the drums 22. Their outer surface is arranged to conform to the outer surface of the drums 22. The ring 11 integrally connects the tubes of the drums 22A and 22C and the ring 12 integrally connects the tubes of the drums 22B and 22D. The connecting member 13 integrally connects the rings 11 and 12, so that the body 10 forms a rigid frame for the device 1. The Archimedean screw thread 23 of each propulsion mechanism 20 is mounted integrally on the outer surface of the corresponding drum 22. It extends spirally along the entire length of the drum 22 and extends on the dome 221 to its top. The net 23 is partly formed by the rolling members 24, which are removably mounted on the drum 22.
La figure 2 représente plus en détail un organe de roulement 24 du dispositif robotique mobile 1 de la figure 1. L'organe de roulement 24 comporte une structure support 241 et une roue 242. La structure support 241 présente une forme et des dimensions agencées pour former une portion du filet de vis d'Archimède 23. Globalement, comme cela est visible sur la figure 1, les structures support 241 des différents organes de roulement 24 montés sur un tambour 23 forment une structure continue en forme de vis d'Archimède. Les filets de vis d'Archimède 23A et 23C présentent un filet à droite et les filets de vis d'Archimède 23B et 23D présentent un filet à gauche. Ainsi, selon le sens de rotation des tambours 23, le dispositif robotique mobile 1 peut avancer de manière rectiligne, selon un axe parallèle aux axes de rotation des tambours 23, ou effectuer une rotation selon un axe vertical. La structure support 241 forme une pièce pleine, hormis en ce qu'elle comporte un logement 2411 agencé pour accueillir la roue 242. Le logement 2411 est traversant entre une surface inférieure 2412, c'est-à-dire une surface venant en contact avec le tambour 22, et une surface supérieure 2413, c'est-à-dire une surface opposée destinée à venir en contact avec le sol. À tout le moins, le logement 2411 doit déboucher sur la surface supérieure 2413 de manière à permettre à la roue 242 de faire saillie par rapport à cette surface. La structure support 241 comporte en outre des ergots 2414 formés sur la surface inférieure 2412. Ces ergots 2414 sont destinés à venir s'encliqueter dans des ouvertures formées sur la surface extérieure des tambours 23. Les organes de roulement 24 forment ainsi des éléments facilement interchangeables. La roue 242 est disposée dans le logement 2411 et montée en liaison pivot sur la structure support 241. L'axe de la liaison pivot est agencé pour que la surface de roulement 2421 de la roue 242 suive le profil de la portion de filet 23. FIG. 2 shows in more detail a rolling member 24 of the mobile robotic device 1 of FIG. 1. The rolling member 24 comprises a support structure 241 and a wheel 242. The support structure 241 has a shape and dimensions arranged to forming a portion of the Archimedes screw thread 23. Generally, as can be seen in FIG. 1, the support structures 241 of the various rolling members 24 mounted on a drum 23 form a continuous Archimedean screw structure. The Archimedean screw threads 23A and 23C have a thread on the right and the Archimedean screw threads 23B and 23D have a net on the left. Thus, according to the direction of rotation of the drums 23, the mobile robotic device 1 can advance rectilinearly along an axis parallel to the axes of rotation of the drums 23, or rotate along a vertical axis. The support structure 241 forms a solid part, except that it comprises a housing 2411 arranged to receive the wheel 242. The housing 2411 is traversing between a lower surface 2412, that is to say a surface coming into contact with the drum 22, and an upper surface 2413, i.e. an opposed surface intended to come into contact with the ground. At the very least, the housing 2411 should lead to the upper surface 2413 so as to allow the wheel 242 to protrude from that surface. The support structure 241 further comprises lugs 2414 formed on the lower surface 2412. These lugs 2414 are intended to snap into openings formed on the outer surface of the drums 23. The rolling members 24 thus form easily interchangeable elements. The wheel 242 is disposed in the housing 2411 and mounted in pivot connection on the support structure 241. The axis of the pivot connection is arranged so that the running surface 2421 of the wheel 242 follows the profile of the thread portion 23.
Le dispositif robotique mobile 1 décrit en référence aux figures 1 et 2 présente l'inconvénient que des corps étrangers de faibles dimensions, tels que des gravillons ou des grains de sable, sont susceptibles de venir se loger entre les roues 242 et leur structure support 241 et d'entraver, voire de bloquer, la rotation de ces roues 242.  The mobile robotic device 1 described with reference to FIGS. 1 and 2 has the disadvantage that small foreign bodies, such as chippings or grains of sand, are likely to be housed between the wheels 242 and their support structure 241. and to hinder or even block the rotation of these wheels 242.
La figure 3A représente un premier exemple de mécanisme de propulsion d'un dispositif robotique mobile selon l'invention. Le mécanisme de propulsion 30 est agencé pour pouvoir remplacer les différents mécanismes de propulsion 20 du dispositif 1 de la figure 1. Il comporte un tambour 32, un filet de vis d'Archimède 33 et des organes de roulement 34. Chaque tambour 32 présente une forme de cylindre creux, ouvert à une première extrémité et terminé à une deuxième extrémité par une coupole 321. Le filet de vis d'Archimède 33 est monté de manière solidaire sur la surface extérieure du tambour 32. Il s'étend en spirale sur le tambour 32 entre la première et la deuxième extrémité et se prolonge sur la coupole 321 jusqu'à son sommet.  FIG. 3A represents a first example of a propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 30 is arranged to be able to replace the different propulsion mechanisms 20 of the device 1 of FIG. 1. It comprises a drum 32, an Archimedean screw thread 33 and rolling members 34. hollow cylinder shape, open at a first end and terminated at a second end by a dome 321. The Archimedes screw thread 33 is integrally mounted on the outer surface of the drum 32. It extends in a spiral on the drum 32 between the first and the second end and extends on the dome 321 to its top.
Le mécanisme de propulsion 30 représenté sur la figure 3A se distingue du mécanisme de propulsion 20 représenté sur la figure 1 par les organes de roulement 34, représentés plus en détail sur les figures 3B à 3D. L'organe de roulement 34 comporte une structure support 341 et une roue 342. La figure 3B représente un organe de roulement 34 complet, la roue 342 étant montée sur la structure support 341. La figure 3C représente la structure support 341 seule et la figure 3D représente la roue 342 seule. La structure support 341 présente une forme et des dimensions agencées pour former une portion du filet de vis d'Archimède 33. Elle comporte un logement 3411 agencé pour accueillir la roue 342 et débouchant notamment sur les surfaces inférieure 3412 et supérieure 3413. Cependant, par rapport à la structure support 241 de la figure 2, la structure support 341 forme une structure en treillis au niveau du logement 3411. En l'occurrence, la structure support 341 comporte, de part et d'autre du logement 3411, une première poutre 3414 joignant les deux bords du logement 3411 au niveau de la surface supérieure 3413 en suivant le profil du filet 33, une deuxième poutre 3415 joignant l'un des bords du logement 3411 au niveau de la surface inférieure 3412 à un point médian de la première poutre 3414 et une troisième poutre 3416 joignant l'autre bord du logement 3411 au niveau de la surface inférieure 3412 au point médian de la première poutre 3414. Des ouvertures 3417 sont ainsi formées entre les poutres 3414, 3415 et 3416, de même qu'une ouverture 3418 est formée entre la surface extérieure du tambour 32 et les poutres 3415 et 3416. Ces ouvertures 3417 et 3418 sont traversantes. Autrement dit, elles traversent la structure support 341 de part en part suivant un axe parallèle à l'axe de rotation de la roue 342. The propulsion mechanism 30 shown in FIG. 3A is distinguished from the propulsion mechanism 20 shown in FIG. 1 by the rolling members 34, shown in more detail in FIGS. 3B-3D. The rolling member 34 comprises a support structure 341 and a wheel 342. FIG. 3B shows a complete rolling member 34, the wheel 342 being mounted on the support structure 341. FIG. 3C represents the support structure 341 alone and the FIG. 3D represents the 342 wheel alone. The support structure 341 has a shape and dimensions arranged to form a portion of the Archimedean screw thread 33. It comprises a housing 3411 arranged to receive the wheel 342 and opening in particular to the lower 3412 and upper 3413 surfaces. relative to the support structure 241 of FIG. 2, the support structure 341 forms a lattice structure at the level of the housing 3411. the occurrence, the support structure 341 comprises, on either side of the housing 3411, a first beam 3414 joining the two edges of the housing 3411 at the upper surface 3413 following the profile of the thread 33, a second beam 3415 joining one of the edges of the housing 3411 at the lower surface 3412 to a midpoint of the first beam 3414 and a third beam 3416 joining the other edge of the housing 3411 at the lower surface 3412 at the midpoint of the First beam 3414. Apertures 3417 are thus formed between beams 3414, 3415 and 3416, as well as an opening 3418 is formed between the outer surface of drum 32 and beams 3415 and 3416. These openings 3417 and 3418 are through. In other words, they cross the support structure 341 from one side along an axis parallel to the axis of rotation of the wheel 342.
Sur les figures 3B et 3C, la structure support 341 est représentée sans ergot. Bien entendu, elle pourrait être munie d'ergots permettant la fixation par encliquetage des organes de roulement 34 sur le tambour 32. Par ailleurs, sur la figure 3A, les organes de roulement 34 sont représentés comme formant des éléments modulaires du filet de vis d'Archimède 33. Cependant, les différentes structures support 341 pourraient être réalisées de manière monobloc avec le tambour 32, par exemple par un procédé de moulage par injection ou par impression tridimensionnelle.  In Figures 3B and 3C, the support structure 341 is shown without pin. Of course, it could be provided with lugs allowing snap-fastening of the rolling members 34 on the drum 32. Furthermore, in FIG. 3A, the rolling members 34 are shown as forming modular elements of the screw thread. Archimedes 33. However, the different support structures 341 could be made integrally with the drum 32, for example by an injection molding process or by three-dimensional printing.
La roue 342 représentée sur les figures 3B et 3D se distingue de la roue 242 de la figure 2 en ce qu'elle comporte un moyeu 3421, une jante 3422, un pneu 3423 et des rayons 3425. Le moyeu 3421 forme un axe de rotation pour la roue 342. Le pneu 3423 est monté sur la jante 3422 et est destiné à venir au contact du sol. Les rayons 3425 s'étendent radialement entre le moyeu 3421 et la jante 3422. Ils sont ici au nombre de trois et sont séparés les uns des autres, de sorte qu'ils forment des ouvertures traversantes pour la roue. Chaque rayon 3425 présente une forme tronconique, de manière à éviter la formation de surfaces parallèles entre la roue 342 et sa structure support 341.  The wheel 342 shown in FIGS. 3B and 3D differs from the wheel 242 of FIG. 2 in that it comprises a hub 3421, a rim 3422, a tire 3423 and spokes 3425. The hub 3421 forms an axis of rotation for the wheel 342. The tire 3423 is mounted on the rim 3422 and is intended to come into contact with the ground. The spokes 3425 extend radially between the hub 3421 and the rim 3422. There are three in number and are separated from each other, so that they form through openings for the wheel. Each spoke 3425 has a frustoconical shape, so as to avoid the formation of parallel surfaces between the wheel 342 and its support structure 341.
La figure 4A représente un deuxième exemple de mécanisme de propulsion d'un dispositif robotique mobile selon l'invention. Le mécanisme de propulsion 40 comporte un tambour 42, un filet de vis d'Archimède 43 et des organes de roulement 44. La figure 4B représente en détail un organe de roulement 44. L'organe de roulement 44 comporte une structure support 441 et une roue 442. La structure support 441 comporte deux parois 4411, 4412 s'étendant parallèlement en spirale sur la surface extérieure du tambour 42. Chaque paroi 4411, 4412 peut être considérée comme un filet de vis d'Archimède. Chaque paroi 4411, 4412 est formée par une structure en treillis au niveau des roues 442. Cette structure en treillis est analogue à celle des organes de roulement 34. Ainsi, la structure support 441 comporte des poutres 4414, 4415 et 4416, des évidements 4417 formés entre ces poutres et un évidement 4418 entre les poutres 4415, 4416 et la surface extérieure du tambour 42. La roue 442 de chaque organe de roulement 44 présente une largeur relativement importante, adaptée par exemple à des sols relativement meubles. Chaque roue 442 comporte un moyeu 4421, une jante 4422, un pneu 4423 et deux flancs latéraux 4424. Le moyeu 4421 forme un axe de rotation pour la roue 442. Le pneu 4423 est monté sur la jante 4422. Les flancs latéraux 4424 s'étendent radialement entre le moyeu 4421 et la jante 4422. Ils présentent la particularité de comporter des évidements 4425 venant en vis-à-vis des parois 4411 et 4412. FIG. 4A represents a second example of a propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 40 comprises a drum 42, an Archimedean screw thread 43 and FIG. 4B shows in detail a rolling member 44. The rolling member 44 comprises a support structure 441 and a wheel 442. The support structure 441 comprises two walls 4411, 4412 extending in a spiral parallel to the surface. outer drum 42. Each wall 4411, 4412 can be considered an Archimedean screw thread. Each wall 4411, 4412 is formed by a lattice structure at the wheels 442. This lattice structure is similar to that of the rolling members 34. Thus, the support structure 441 comprises beams 4414, 4415 and 4416, recesses 4417 and formed between these beams and a recess 4418 between the beams 4415, 4416 and the outer surface of the drum 42. The wheel 442 of each rolling member 44 has a relatively large width, adapted for example to relatively soft floors. Each wheel 442 comprises a hub 4421, a rim 4422, a tire 4423 and two lateral flanks 4424. The hub 4421 forms an axis of rotation for the wheel 442. The tire 4423 is mounted on the rim 4422. The side flanks 4424 are extend radially between the hub 4421 and the rim 4422. They have the particularity of having recesses 4425 coming opposite the walls 4411 and 4412.
La figure 5 représente un détail de réalisation d'un troisième exemple de mécanisme de propulsion d'un dispositif robotique mobile selon l'invention. Le mécanisme de propulsion 50 comporte, comme les autres exemples de réalisation, un tambour 52, un filet de vis d'Archimède 53 et des organes de roulement 54. Chaque organe de roulement 54 comporte une structure support 541 et une roue 442, identique à la roue la figure 4. La structure support 541 se distingue en revanche en ce que les parois 5411, 5412 sont chacune agencées pour former, au niveau de chaque roue 442, un bras flexible 5413, 5414 dont une extrémité est solidaire du reste de la structure support 541 et donc du tambour 52 et une autre extrémité porte le moyeu 4421 de la roue 442. Le matériau et les dimensions du bras sont déterminés de manière à ce que les bras flexibles soient aptes à se déformer élastiquement sous l'effet d'une force extérieure, par exemple une force appliquée sur la roue 442 selon une direction normale à la surface locale du tambour 52 ou une force générée par l'introduction d'un corps étranger entre le flanc latéral 4424 de la roue 442 et un bras 5413 ou 5414. Les bras 5413, 5414 sont ici constitués par des poutres suivant le profil de la vis d'Archimède 53. Cependant, les bras pourraient présenter une forme différente, par exemple en suivant une courbure plus ou moins complexe. FIG. 5 represents a detail of embodiment of a third example of a propulsion mechanism of a mobile robotic device according to the invention. The propulsion mechanism 50 comprises, like the other exemplary embodiments, a drum 52, an Archimedean screw thread 53 and rolling members 54. Each rolling member 54 comprises a support structure 541 and a wheel 442, identical to The support structure 541 differs however in that the walls 5411, 5412 are each arranged to form, at each wheel 442, a flexible arm 5413, 5414 whose end is integral with the rest of the support structure 541 and therefore drum 52 and another end carries the hub 4421 of the wheel 442. The material and dimensions of the arm are determined so that the flexible arms are able to deform elastically under the effect of an external force, for example a force applied to the wheel 442 in a direction normal to the local surface of the drum 52 or a force generated by the introduction of a foreign body between the lateral flank 4424 of the wheel 442 and arm 5413 or 5414. Arms 5413, 5414 are here constituted by beams in the profile of the Archimedes screw 53. However, the arms could have a different shape, for example following a more or less complex curvature.
La figure 6 représente un détail de réalisation d'un quatrième exemple de mécanisme de propulsion d'un dispositif robotique selon l'invention. Le mécanisme de propulsion 60 comporte également un tambour 62, un filet de vis d'Archimède 63 et des organes de roulement 64. Chaque organe de roulement 64 comporte une structure support 641 et une roue 442, identique à la roue de la figure 4. La structure support 641 se distingue de la structure support 541 de la figure 5 en ce que chacune des parois 6411, 6412 est agencée pour former un bras flexible 6413, 6414 dont les deux extrémités sont solidaires du reste de la structure support 641 et donc du tambour 62. Les bras 6413, 6414 s'étendent entre leurs points d'attache en suivant un profil sinueux. Le moyeu 4421 de la roue 442 est monté en liaison pivot sur les bras 6413, 6414 au niveau d'un point médian de ces bras. La flexibilité des bras 6413, 6414 est assurée par le choix du matériau les constituant et par leurs dimensions.  FIG. 6 shows a detail of a fourth example of a propulsion mechanism of a robotic device according to the invention. The propulsion mechanism 60 also comprises a drum 62, an Archimedean screw thread 63 and rolling members 64. Each rolling member 64 comprises a support structure 641 and a wheel 442 identical to the wheel of FIG. 4. The support structure 641 differs from the support structure 541 of FIG. 5 in that each of the walls 6411, 6412 is arranged to form a flexible arm 6413, 6414 whose two ends are integral with the rest of the support structure 641 and therefore of the 62. The arms 6413, 6414 extend between their attachment points following a sinuous profile. The hub 4421 of the wheel 442 is pivotally connected to the arms 6413, 6414 at a midpoint of these arms. The flexibility of the 6413, 6414 arms is ensured by the choice of the material constituting them and by their dimensions.
La figure 7 représente un détail de réalisation d'un cinquième exemple de mécanisme de propulsion d'un dispositif robotique selon l'invention. Le mécanisme de propulsion 70 comporte un tambour 72, un filet de vis d'Archimède 73 et des organes de roulement 74. Chaque organe de roulement 74 comporte une structure support 741 et une roue 442, identique à la roue de la figure 4. La structure support 741 se distingue de la structure support 641 de la figure 6 par le profil des bras flexibles 7413, 7414. En l'occurrence, chaque bras flexible 7413, 7414 forme deux coniques dont une extrémité commune porte le moyeu 4421 de la roue 442 et dont les extrémités libres sont solidaires du reste de la structure support 741.  FIG. 7 shows a detail of a fifth example of a propulsion mechanism of a robotic device according to the invention. The propulsion mechanism 70 comprises a drum 72, an Archimedean screw thread 73 and rolling members 74. Each rolling member 74 comprises a support structure 741 and a wheel 442, identical to the wheel of FIG. support structure 741 is distinguished from the support structure 641 of FIG. 6 by the profile of the flexible arms 7413, 7414. In the present case, each flexible arm 7413, 7414 forms two cones, one common end of which bears the hub 4421 of the wheel 442. and whose free ends are integral with the rest of the support structure 741.

Claims

REVENDICATIONS
1. Dispositif robotique mobile comportant un corps (10) et un mécanisme de propulsion (30, 40, 50, 60, 70), le mécanisme de propulsion comprenant : A mobile robotic device comprising a body (10) and a propulsion mechanism (30, 40, 50, 60, 70), the propulsion mechanism comprising:
■ un tambour (32, 42, 52, 62, 72) apte à être entraîné en rotation par rapport au corps, ■ a drum (32, 42, 52, 62, 72) adapted to be rotated relative to the body,
" un filet de vis d'Archimède (33, 43, 53, 63, 73) solidaire du tambour et faisant saillie par rapport à une surface extérieure du tambour, et  an Archimedean screw thread (33, 43, 53, 63, 73) integral with the drum and projecting from an outer surface of the drum, and
■ des organes de roulement (34, 44, 54, 64, 74) comportant chacun une structure support (341, 441, 541, 641, 741) et une roue (342, 442), chaque structure support formant une portion du filet et chaque roue étant montée en liaison pivot sur la structure support de manière à pouvoir être entraînée en rotation par un contact avec le sol lors de la rotation du tambour, chaque organe de roulement comprenant au moins un évidement (3417, 3418, 4417, 4418, 4425) agencé pour minimiser les surfaces adjacentes entre la structure support et la roue. ■ rolling members (34, 44, 54, 64, 74) each having a support structure (341, 441, 541, 641, 741) and a wheel (342, 442), each support structure forming a portion of the net and each wheel being pivotally connected to the support structure so as to be rotated by contact with the ground during rotation of the drum, each bearing member comprising at least one recess (3417, 3418, 4417, 4418, 4425) arranged to minimize adjacent surfaces between the support structure and the wheel.
2. Dispositif selon la revendication 1, dans lequel au moins un évidement (3417, 3418, 4417, 4418) est formé dans la structure support (341, 441, 541, 641, 741) de chaque organe de roulement. 2. Device according to claim 1, wherein at least one recess (3417, 3418, 4417, 4418) is formed in the support structure (341, 441, 541, 641, 741) of each rolling member.
3. Dispositif selon la revendication 2, dans lequel au moins un évidement (3417, 3418, 4417, 4418) formé dans la structure support de chaque organe de roulement comporte une ouverture traversant ladite structure support de part en part le long d'un axe parallèle à un axe de rotation de la roue en liaison pivot sur ladite structure support. 3. Device according to claim 2, wherein at least one recess (3417, 3418, 4417, 4418) formed in the support structure of each rolling member comprises an opening passing through said support structure from one side along an axis. parallel to an axis of rotation of the wheel pivotally connected to said support structure.
4. Dispositif selon l'une des revendications précédentes, dans lequel chaque structure support (341, 441) forme une structure en treillis. 4. Device according to one of the preceding claims, wherein each support structure (341, 441) forms a lattice structure.
5. Dispositif selon l'une des revendications précédentes, dans lequel au moins un évidement (4425) est formé dans la roue (342, 442) de chaque organe de roulement. 5. Device according to one of the preceding claims, wherein at least one recess (4425) is formed in the wheel (342, 442) of each rolling member.
6. Dispositif selon la revendication 5, dans lequel au moins un évidement formé dans la roue de chaque organe de roulement comporte une ouverture traversant ladite roue de part en part le long d'un axe parallèle à un axe de rotation de ladite roue en liaison pivot sur la structure support. 6. Device according to claim 5, wherein at least one recess formed in the wheel of each rolling member comprises an opening through said wheel from side to side along an axis parallel to an axis of rotation of said wheel in connection with pivot on the support structure.
7. Dispositif selon la revendication 6, dans lequel chaque roue (342) comporte un moyeu (3421), une jante (3422) et des rayons (3425) s'étendant radialement entre le moyeu et la jante, les rayons étant séparés les uns des autres de manière à former des ouvertures dans la roue. The apparatus of claim 6, wherein each wheel (342) has a hub (3421), a rim (3422) and spokes (3425) extending radially between the hub and the rim, the spokes being separated from each other. others to form openings in the wheel.
8. Dispositif selon la revendication 7, dans lequel les rayons (3425) de chaque roue présentent une forme cylindrique ou tronconique. 8. Device according to claim 7, wherein the spokes (3425) of each wheel have a cylindrical or frustoconical shape.
9. Dispositif selon la revendication 5, dans lequel chaque roue (442) comporte un moyeu (4421), une jante (4422) et un flanc latéral (4424), le flanc latéral s'étendant radialement entre le moyeu et la jante et venant en vis-à-vis d'une surface de la structure support (441), au moins un évidement (4425) étant agencé pour former un trou borgne débouchant sur le flanc latéral. 9. Device according to claim 5, wherein each wheel (442) comprises a hub (4421), a rim (4422) and a side flank (4424), the lateral flank extending radially between the hub and the rim and coming from against a surface of the support structure (441), at least one recess (4425) being arranged to form a blind hole opening on the lateral flank.
10. Dispositif selon la revendication 9, dans lequel la roue (342, 442) comporte une pluralité d'évidements (4425) répartis de manière circonférentielle sur le flanc latéral, chaque évidement étant agencé pour former un trou borgne débouchant sur le flanc latéral. 10. Device according to claim 9, wherein the wheel (342, 442) comprises a plurality of recesses (4425) distributed circumferentially on the lateral flank, each recess being arranged to form a blind hole opening on the lateral flank.
11. Dispositif selon l'une des revendications précédentes, dans lequel la structure support (341, 441, 541, 641, 741) de chaque organe de roulement est agencée pour pouvoir se déformer sous l'effet d'une force extérieure. 11. Device according to one of the preceding claims, wherein the support structure (341, 441, 541, 641, 741) of each rolling member is arranged to be deformed under the effect of an external force.
12. Dispositif selon la revendication 11, dans lequel la structure support (541) de chaque organe de roulement comporte un bras (5413, 5414) dont une première extrémité est solidaire du tambour et une deuxième extrémité porte un moyeu de la roue, le bras étant agencé de manière à pouvoir fléchir sous l'effet d'une force extérieure. 12. Device according to claim 11, wherein the support structure (541) of each rolling member comprises an arm (5413, 5414) whose one end is integral with the drum and a second end carries a hub of the wheel, the arm being arranged so that it can flex under the effect of an external force.
13. Dispositif selon la revendication 11, dans lequel la structure support (641, 741) de chaque organe de roulement comporte un bras (6413, 7413) dont une première extrémité et une deuxième extrémité sont solidaires du tambour, un point médian du bras portant un moyeu de la roue, le bras étant agencé de manière à pouvoir fléchir sous l'effet d'une force extérieure. 13. Device according to claim 11, wherein the support structure (641, 741) of each rolling member comprises an arm (6413, 7413) having a first end and a second end are integral with the drum, a midpoint of the carrying arm. a hub of the wheel, the arm being arranged to be able to flex under the effect of an external force.
14. Dispositif selon l'une des revendications 11 à 13, dans lequel la structure support (341, 441, 541, 641, 741) de chaque organe de roulement est formée dans un matériau élastique. 14. Device according to one of claims 11 to 13, wherein the support structure (341, 441, 541, 641, 741) of each rolling member is formed of an elastic material.
EP17792111.1A 2016-10-04 2017-10-02 Mobile robotic device with improved archimedean screw propulsion mechanism Withdrawn EP3523566A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659576A FR3057052B1 (en) 2016-10-04 2016-10-04 MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDE SCREW PROPULSION MECHANISM
PCT/FR2017/052693 WO2018065710A1 (en) 2016-10-04 2017-10-02 Mobile robotic device with improved archimedean screw propulsion mechanism

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EP3523566A1 true EP3523566A1 (en) 2019-08-14

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EP (1) EP3523566A1 (en)
JP (1) JP2019536692A (en)
AU (1) AU2017339140A1 (en)
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CN109578747A (en) * 2019-01-28 2019-04-05 西南大学 A kind of screw machines people mobile in intracavitary curved surface
FR3104231B1 (en) 2019-12-09 2021-12-17 Commissariat Energie Atomique MOBILE ROBOTIC DEVICE WITH ARCHIMEDD SCREW PROPULSION ASSEMBLIES TO INSPECT PIPES OF DIFFERENT DIAMETERS
FR3105340B1 (en) 2019-12-20 2021-12-17 Commissariat Energie Atomique MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN
CN111389826B (en) * 2020-03-25 2021-09-28 上海隧道工程股份有限公司 Pipeline hammering and cleaning equipment
CN112247998A (en) * 2020-09-21 2021-01-22 杭州王之新创信息技术研究有限公司 Robot, medical stomach robot, amusement robot suitable for fluid environment
CN113973541A (en) * 2021-09-17 2022-01-28 四川农业大学 Agricultural seeding robot

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FR3057052B1 (en) 2018-12-07
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FR3057052A1 (en) 2018-04-06
US20190219215A1 (en) 2019-07-18
WO2018065710A1 (en) 2018-04-12

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