FR3105340B1 - MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN - Google Patents

MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN Download PDF

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Publication number
FR3105340B1
FR3105340B1 FR1915369A FR1915369A FR3105340B1 FR 3105340 B1 FR3105340 B1 FR 3105340B1 FR 1915369 A FR1915369 A FR 1915369A FR 1915369 A FR1915369 A FR 1915369A FR 3105340 B1 FR3105340 B1 FR 3105340B1
Authority
FR
France
Prior art keywords
propulsion
drum
robotic device
attached
main body
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.)
Active
Application number
FR1915369A
Other languages
French (fr)
Other versions
FR3105340A1 (en
Inventor
Gwenael Changeon
Mehdi Boukallel
Florent Souvestre
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
Priority to FR1915369A priority Critical patent/FR3105340B1/en
Publication of FR3105340A1 publication Critical patent/FR3105340A1/en
Application granted granted Critical
Publication of FR3105340B1 publication Critical patent/FR3105340B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • F16L55/40—Constructional aspects of the body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B60F3/0023—Arrangement of propulsion or steering means on amphibious vehicles comprising screw-type ground-engaging means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
    • 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

Landscapes

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

Abstract

L’invention se situe dans le domaine des robots mobiles, notamment ceux se déplaçant à l’aide d’ensembles de propulsion équipés d’une vis d’Archimède. Selon l’invention, le dispositif robotique (1) comprend : un corps principal (10), un premier ensemble de propulsion (20A) et un deuxième ensemble de propulsion (20B) disposés de part et d’autre du corps principal, et une armature (30) fixée au corps principal, chaque ensemble de propulsion comprenant : un corps latéral (21) fixé à l’armature (30), un moteur de propulsion (41) fixé au corps latéral (21), un tambour interne (22) monté en liaison pivot par rapport au corps latéral (21) et agencé pour être entrainé en rotation par le moteur de propulsion (41), un tambour externe (23) agencé pour pouvoir être monté de manière amovible sur le tambour interne (22) et pour venir en contact avec le sol, et un moyen de fixation amovible (26) agencé pour assembler de manière amovible le tambour interne (22) au tambour externe (23). Figure à publier : figure 1AThe invention lies in the field of mobile robots, in particular those moving with the aid of propulsion assemblies equipped with an Archimedean screw. According to the invention, the robotic device (1) comprises: a main body (10), a first propulsion assembly (20A) and a second propulsion assembly (20B) arranged on either side of the main body, and a frame (30) attached to the main body, each propulsion assembly comprising: a side body (21) attached to the frame (30), a propulsion motor (41) attached to the side body (21), an internal drum (22) ) mounted in a pivot connection with respect to the lateral body (21) and arranged to be driven in rotation by the propulsion motor (41), an external drum (23) arranged to be able to be removably mounted on the internal drum (22) and to come into contact with the ground, and a removable fixing means (26) arranged to removably assemble the inner drum (22) to the outer drum (23). Figure to be published: figure 1A

FR1915369A 2019-12-20 2019-12-20 MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN Active FR3105340B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1915369A FR3105340B1 (en) 2019-12-20 2019-12-20 MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1915369A FR3105340B1 (en) 2019-12-20 2019-12-20 MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN
FR1915369 2019-12-20

Publications (2)

Publication Number Publication Date
FR3105340A1 FR3105340A1 (en) 2021-06-25
FR3105340B1 true FR3105340B1 (en) 2021-12-17

Family

ID=69903564

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1915369A Active FR3105340B1 (en) 2019-12-20 2019-12-20 MOBILE ROBOTIC DEVICE ADAPTABLE TO DIFFERENT TYPES OF TERRAIN

Country Status (1)

Country Link
FR (1) FR3105340B1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5509370A (en) * 1992-06-30 1996-04-23 Kempco, Inc. Amphibious land reclamation vehicle
FR3035951B1 (en) 2015-05-07 2017-05-19 Commissariat Energie Atomique ARCHIMEDE SCREW PROPULSION PIPING INSPECTION DEVICE
FR3057052B1 (en) 2016-10-04 2018-12-07 Commissariat A L'energie Atomique Et Aux Energies Alternatives MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDE SCREW PROPULSION MECHANISM
CN109649526A (en) * 2019-01-10 2019-04-19 深圳市博铭维智能科技有限公司 A kind of full landform helical detector

Also Published As

Publication number Publication date
FR3105340A1 (en) 2021-06-25

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