WO2002099325A1 - Chariot porte-outil, notamment mobile dans une canalisation - Google Patents
Chariot porte-outil, notamment mobile dans une canalisation Download PDFInfo
- Publication number
- WO2002099325A1 WO2002099325A1 PCT/FR2002/001874 FR0201874W WO02099325A1 WO 2002099325 A1 WO2002099325 A1 WO 2002099325A1 FR 0201874 W FR0201874 W FR 0201874W WO 02099325 A1 WO02099325 A1 WO 02099325A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- carriage
- arm
- support
- rigidity
- Prior art date
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/005—Investigating fluid-tightness of structures using pigs or moles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
Definitions
- the subject of this invention is a tool carriage, of the kind capable of moving in a pipeline to accomplish certain tasks related to the nature of the tool.
- Some of these tasks can be carried out in branch pipes, at the entrance of which the carriage stops to project the tool in a lateral direction: the tool is then fixed to the end of a flexible rod which can be advanced under the action of a suitable mechanism and straightens up when it is in the free state; it therefore supports the tool, which it pushes to the desired depth of the branch pipe.
- a carriage becomes inoperative when the pipes are not concurrent, that is to say that the pipe in which the tool must be pushed leads with a drop in that in which the carriage, which is often found for pipes joined by manholes: today there is no system which makes it possible to reach such pipes.
- the object of the invention is precisely to overcome this defect and to make accessible to an observation or working tool carried by a carriage portions of pipes joining a main pipe, taken by the carriage, with a drop.
- the cart satisfying this object is characterized in that it comprises a drum supported by the cart, an arm supported by the drum and carrying by an articulation of a support for the tool, the arm being semi-rigid and having a free state of rigidity and a flexible state, and means of rotation of the drum around a longitudinal axis of the carriage, deployment of the arm out of the carriage and in a lateral direction of the carriage, and adjustment of the support around the articulation .
- Figure 3 is a view of the carriage in the longitudinal direction; in Figure 4 illustrates the arm flexion mechanism;
- Figure 5 illustrates an improved arm
- Figure 6 shows the end of the arm
- Figure 7 illustrates a carriage train
- Figure 1 illustrates a connection of pipes where the invention can find use: a collector 1 is provided with sumps 2 or connection boxes, one of which is shown and in which lead drains 3 of smaller diameter with a vertical drop. A trolley runs through the collector 1 and must project a tool which may consist of an observation camera in the drain 3 through an opening 4 of the collector 1 in the sump 2.
- the carriage 5 comprises, as seen in FIG. 2, a body 6 provided locomotor organs which may consist of rollers 7, some of which are driven by a motor 8 and, at the front, of a drum 9 rotating around a longitudinal axis of the body 6.
- the drum 9 carries an arm 10, better visible in other figures, and the end of which carries a tool support 11 in which the tool, here a camera 12, can be housed.
- the camera 12 can be advanced; it is then favorably attached to the end of a flexible rod 13 which continues through the carriage 5 towards the outside of the collector 1, where its end is wound on a winch not shown; rollers 14 mounted on the body 6 of the carriage 5 and which can be moved by another motor 15 make it possible to pull it to advance the camera 12 so that it engages in the drain 3.
- the flexible rod has the property of being straighten as soon as it is free and therefore supports the camera 12 well, while retaining the flexibility necessary to follow the elbows of the drain 3.
- Figure 3 shows that the arm 10 must be deployed radially relative to the axis of the manifold 1 and the carriage 5, to project from the opening 4, and that it must also be angularly orientable to approach the inlet of drain 3; a motor 16 capable of rotating the drum 9 satisfies the latter requirement. Finally, the support 11 must be oriented facing the inlet of the drain 3. To do this, it is connected to the end of the arm 10 by a hinge 17.
- Figure 4 shows that the arm 10 may be constituted by a length of a chain 18; this chain is particular although of a known kind, and it is more precisely semi-rigid, that is to say that it has both a free state, characteristic of the arm 10, where it is rigid and another state where it is flexible. This characteristic makes it possible to curve it and to have its length posterior to the arm 10 in the axial direction of the collector 1, in which it can therefore be transported without hindrance.
- the chain 18 may consist of links 19 connected to each other by pivots 20 situated on one side but which are provided with stops 21 which limit their rotational movement around the pivots 20 and therefore give the chain 18 a unilateral rigidity.
- the device also comprises a drive pinion 22, mounted on the body 6 of the carriage 5 and driven by a motor 23, a longitudinal slide 24 at the rear of the chain 18 and a radial slide 25 in front of the pinion 22.
- These slides 24 and 25 are, like the pinion 22 and its motor 23, mounted on the drum 9 and impose the directions of the chain 18 at the front and at the rear of the pinion 22, as well as a deformation at right angles.
- a remedy consists in balancing it by the thrust of the rod 13 if it is placed favorably, that is to say subjected to a bending force which tends to make it straighten in a direction where it places the links 19 in stop.
- Guide capstans 26 can subject the rod 13 to a curvature 27 in the same direction as that of the chain 18 near the pinion 22 to perform this function.
- the links 19 could also be interconnected by an elastic cable 28 running opposite the pivots 20 and stretched to bring all the free portions of the arm 10 to the straight state.
- Another solution consists in combining two chains 18 'and 18''similar to chain 18 but arranged symmetrically and driven by respective sprockets 22' and 22 '' adjacent: the anterior lengths of chains 18 'and 18''are juxtaposed to form a compound arm 10 'and their posterior lengths extend in opposite directions and substantially in extension.
- the assembly of the 18 'and 18''chains therefore has bilateral rigidity without additional means.
- the tool support 11 is described in FIG. 6. Its orientation can thus be ensured by a cable 33 attached to the support 11 with a cantilever so as to rotate it around the articulation 17.
- the angle of rotation suitable for bringing the camera 12 parallel to the drain 3 is known as a function of the inclination of the arm 10, since the rod 13 tends to exert a moment of return towards an invariable stop position, where the camera 12 is oriented in the extension of arm 10, as indicated in dotted position.
- the cable 33 which passes through the body ⁇ of the carriage 5 and extends to the outside, is pulled to counteract this return action of the springs and rotate the tool support 11 by the desired angle.
- the tool support 11 may include claws 29 gripping a surrounding structure such as the inlet 30 of the drain 3 by opening, which can be achieved by tilting axes 31 carrying these claws 29 under the action of springs.
- a conical tail 32 with which it is provided penetrates into a housing of complementary shape to the tool holder 11 and forces the claws 29 to close by pushing their axes 31 against the spring action.
- tubes of particular section, oblong with two symmetrical contours, substantially elliptical in the direction of a small axis but joining by lips substantially parallel by forming an angle acute towards a major axis are both sufficiently flexible and elastic to be crushed between rollers while having the possibility of straightening in the free state. They are characterized by significant rigidity in the free state and by an almost total flexibility when they are crushed, which allows deform them at will and in particular to wind them on winches.
- the stabilization of the carriage 5 against tilting that could produce the lateral overhang of the arm 10 can be compensated by ballast contained either at the bottom of the carriage 5, or in another carriage, which could be added to the carriage 5 and join to it by a rigid torsional connection, constituted by a bar connected at its ends to the two carriages by universal joints. More generally, the carriage 5 could be incorporated into an articulated train of carriages, which is frequently encountered for this kind of work.
- FIG. 7 shows that the main carriage 5 (carrier of the tool 12 and its support 11) is provided with skis 40, as well as an auxiliary carriage 41.
- the carriages 5 and 41 are united by a rigid bar 42 provided with cardan joints 43 at its ends, which allow unevenness and changes of direction from one of the carriages to the other.
- Other rigid bars 44 with universal joints 45 can extend this train of carriages by connecting it to other elements, not shown.
- the auxiliary carriage 41 carries the let 46.
- FIG. 8 shows that the skis 40 are three in number and regularly distributed if one wishes to avoid excessive eccentricity of the carriages 5 and 41 in all directions; otherwise two lower side skis are sufficient.
- the arrangement of the skis 40 can be the same for all the trolleys.
- the tool can be a working or intervention tool just like an examination tool: its nature is indifferent to the invention.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02740855A EP1409907A1 (fr) | 2001-06-06 | 2002-06-04 | Chariot porte-outil, notamment mobile dans une canalisation |
US10/478,085 US20040149066A1 (en) | 2001-06-06 | 2002-06-04 | Tool-bearing carriage, in particular mobile in a pipe |
JP2003502410A JP2004528189A (ja) | 2001-06-06 | 2002-06-04 | 管内を移動可能なツールキャリッジ |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0107367A FR2825655B1 (fr) | 2001-06-06 | 2001-06-06 | Chariot porte-outil, notamment mobile dans une canalisation |
FR01/07367 | 2001-06-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2002099325A1 true WO2002099325A1 (fr) | 2002-12-12 |
WO2002099325A8 WO2002099325A8 (fr) | 2003-01-09 |
Family
ID=8863990
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2002/001874 WO2002099325A1 (fr) | 2001-06-06 | 2002-06-04 | Chariot porte-outil, notamment mobile dans une canalisation |
Country Status (5)
Country | Link |
---|---|
US (1) | US20040149066A1 (fr) |
EP (1) | EP1409907A1 (fr) |
JP (1) | JP2004528189A (fr) |
FR (1) | FR2825655B1 (fr) |
WO (1) | WO2002099325A1 (fr) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10311828A1 (de) * | 2003-03-14 | 2004-09-23 | Helmar Haas | Einrichtung zum Sanieren von Hausanschlussleitungen von einer Grundleitung aus |
FR2860067B1 (fr) * | 2003-09-18 | 2005-11-18 | Inst Francais Du Petrole | Dispositif pour mesurer la rugosite hydraulique de la surface interne d'un pipe-line |
DE102004032356A1 (de) * | 2004-07-03 | 2006-02-09 | Tracto-Technik Gmbh | Kanalbearbeitungsgerät |
DE102006048490A1 (de) * | 2006-07-10 | 2008-04-24 | Walter Werne | Verfahren und Vorrichtung zur Überwachung von Bauteilen |
GB0807330D0 (en) * | 2008-04-22 | 2008-05-28 | Oliver Crispin Robotics Ltd | Robotic arm deployment apparatus |
ITRM20130273A1 (it) * | 2013-05-08 | 2014-11-09 | Giuseppe Carbone | Dispositivo robotizzato |
US9446455B2 (en) * | 2014-05-29 | 2016-09-20 | Sanexen Environmental Services Inc. | Drilling apparatus |
GB2538957A (en) * | 2015-05-29 | 2016-12-07 | Nat Grid Gas Plc | Apparatus and method |
FR3056134B1 (fr) * | 2016-09-20 | 2018-08-31 | Airbus Sas | Dispositif robotise pour l'inspection d'une structure d'aeronef |
FR3093296B1 (fr) * | 2019-02-28 | 2021-07-23 | Extia | Chariot de prehension |
CN113124296B (zh) * | 2021-04-25 | 2022-08-26 | 深圳市水务工程检测有限公司 | 一种cctv管道检测机器人升降井辅助装置 |
CN114951166B (zh) * | 2022-07-01 | 2023-12-19 | 渤海造船厂集团有限公司 | 一种不锈钢管道拉洗装置及方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05192893A (ja) * | 1991-11-22 | 1993-08-03 | Giken Kogyo Kk | 横送り出し装置 |
EP0656449A2 (fr) * | 1993-12-03 | 1995-06-07 | Martin Hilbrand | Dispositif, spécialement pour travailler à des canalisations |
EP1070905A2 (fr) * | 1999-07-21 | 2001-01-24 | Kanaltechnik Geiger& Kunz GmbH & Co. KG | Dispositif pour travailler à des canalisations |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE29700298U1 (de) * | 1997-01-10 | 1998-05-07 | Scheiff Gmbh | Roboter zur Kanalsanierung |
-
2001
- 2001-06-06 FR FR0107367A patent/FR2825655B1/fr not_active Expired - Fee Related
-
2002
- 2002-06-04 EP EP02740855A patent/EP1409907A1/fr not_active Withdrawn
- 2002-06-04 US US10/478,085 patent/US20040149066A1/en not_active Abandoned
- 2002-06-04 JP JP2003502410A patent/JP2004528189A/ja not_active Withdrawn
- 2002-06-04 WO PCT/FR2002/001874 patent/WO2002099325A1/fr not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05192893A (ja) * | 1991-11-22 | 1993-08-03 | Giken Kogyo Kk | 横送り出し装置 |
EP0656449A2 (fr) * | 1993-12-03 | 1995-06-07 | Martin Hilbrand | Dispositif, spécialement pour travailler à des canalisations |
EP1070905A2 (fr) * | 1999-07-21 | 2001-01-24 | Kanaltechnik Geiger& Kunz GmbH & Co. KG | Dispositif pour travailler à des canalisations |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 017, no. 623 (M - 1511) 17 November 1993 (1993-11-17) * |
Also Published As
Publication number | Publication date |
---|---|
JP2004528189A (ja) | 2004-09-16 |
US20040149066A1 (en) | 2004-08-05 |
WO2002099325A8 (fr) | 2003-01-09 |
FR2825655A1 (fr) | 2002-12-13 |
FR2825655B1 (fr) | 2003-09-05 |
EP1409907A1 (fr) | 2004-04-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2002099325A1 (fr) | Chariot porte-outil, notamment mobile dans une canalisation | |
FR2795465A1 (fr) | Articulation de deploiement pour generateur solaire pour satellite | |
FR2682426A1 (fr) | Store a enrouleur motorise pour baie galbee. | |
FR2486054A1 (fr) | Appareil a plate-forme de levage muni de supports de conduits souples de commande | |
FR2477204A1 (fr) | Mecanisme pour mat telescopique | |
EP1900073A1 (fr) | Pince pour le denudage d element tubulaire, en particulier de cable ou similaire | |
FR2815584A1 (fr) | Siege de vehicule avec un support lateral et une boucle de ceinture | |
EP3004707B1 (fr) | Dispositif de pose d'un élément allongé dans une étendue d'eau, installation et procédé associés | |
EP2327833B1 (fr) | Dispositif pour protéger au moins un objet de forme générale allongée tel qu'un câble ou une conduite | |
FR2519062A1 (fr) | Dispositif de mise en tension d'une toile de store a rouleau | |
FR2567500A1 (fr) | Appareil de bobinage de materiau en bande | |
FR2553068A1 (fr) | Transporteur a courroie pouvant etre deplace | |
WO2007031510A1 (fr) | Machine de pose de cable optique autour d'un cable porteur | |
EP2643621A1 (fr) | Dispositif de mise sous tension et de serrage d'un element allonge de forme tubulaire | |
FR2550048A1 (fr) | Charrue brabant ou reversible a attelage ou a selle | |
FR2685162A1 (fr) | Dispositif cueilleur repliable pour la recolte du mauis ou plantes similaires. | |
FR2625967A1 (fr) | Enrouleur-reducteur de voilure du type comprenant un tube enrouleur parallele au mat | |
FR2463045A1 (fr) | Derailleur pour cycle | |
FR2606965A1 (fr) | Dispositif de retenue de film pour machine derouleuse et semeuse | |
EP3891090B1 (fr) | Dispositif de transfert pour assurer le maintient d'une connexion électrique ou optique | |
WO2007031506A2 (fr) | Machine de pose de cable optique automotrice | |
EP3235364A1 (fr) | Dispositif de récolte à ensemble arbre perfectionné et machine agricole équipée du dispositif de récolte | |
FR2495972A1 (fr) | Machine a cintrer les tubes | |
FR2835360A1 (fr) | Outil d'engainage d'au moins un cable dans une gaine fendue longitudinalement, et dispositif d'engainage comportant un tel outil | |
WO2012107391A1 (fr) | Dispositif pour tracter ou pousser un engin de type carriole par un opérateur ou un engin piloté |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): JP US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR |
|
AK | Designated states |
Kind code of ref document: C1 Designated state(s): JP US |
|
AL | Designated countries for regional patents |
Kind code of ref document: C1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR |
|
CFP | Corrected version of a pamphlet front page | ||
CR1 | Correction of entry in section i |
Free format text: PAT. BUL. 50/2002 UNDER (51) REPLACE THE EXISTING SYMBOLS BY "F16L 55/26, 55/28, E03F 7/12, B08B 9/04, G01M 3/00, B25J 18/06" |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2002740855 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10478085 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2003502410 Country of ref document: JP |
|
WWP | Wipo information: published in national office |
Ref document number: 2002740855 Country of ref document: EP |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 2002740855 Country of ref document: EP |