WO2014123445A1 - Système robotisé amphibie polyvalent télécommandé - Google Patents

Système robotisé amphibie polyvalent télécommandé Download PDF

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Publication number
WO2014123445A1
WO2014123445A1 PCT/RU2013/000089 RU2013000089W WO2014123445A1 WO 2014123445 A1 WO2014123445 A1 WO 2014123445A1 RU 2013000089 W RU2013000089 W RU 2013000089W WO 2014123445 A1 WO2014123445 A1 WO 2014123445A1
Authority
WO
WIPO (PCT)
Prior art keywords
complex
complex according
positioning
supporting member
inlet part
Prior art date
Application number
PCT/RU2013/000089
Other languages
English (en)
Inventor
Evgeny Igorevich ESAULOV
Original Assignee
Esaulov Evgeny Igorevich
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 Esaulov Evgeny Igorevich filed Critical Esaulov Evgeny Igorevich
Priority to PCT/RU2013/000089 priority Critical patent/WO2014123445A1/fr
Publication of WO2014123445A1 publication Critical patent/WO2014123445A1/fr

Links

Classifications

    • 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
    • B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
    • 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
    • B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G21C17/013—Inspection vehicles

Definitions

  • the invention belongs to means of inspection and maintenance of waterworks, mainly water conduits, and can be used in inspection and maintenance of a set of structures withdrawing water from rivers, water reservoirs or other water bodies and transporting the same to a station unit of a hydroelectric power plant, pump station etc., as well as withdrawing water from such facilities, mainly from underground structures of this type.
  • the developed complex is intended for operation in channels, preferably in standard and non-standard water conduit structures including those which are structural members of hydroelectric power plants for which purpose the complex is capable of operating in water conduits, particularly featuring a cone-shaped structure of inlet part and accessible from single side.
  • a common device for inspection and maintenance of pipelines that includes a means for travelling across a pipeline inner surface where such means is designed as a trolley consisting of a center girder supported by tubular bars with running wheels and rocker arms capable of rotating about the fixed axis which are installed in the front part of the center girder in order to carry the cradles attached to the ends of the rocker arms for the purpose of pipeline inner surface inspection and maintenance; there is a distance rod with a roller on its free end pinned to the middle part of the center girder and attached to a pull winch rope that holds the trolley.
  • a disadvantage of the common device may be considered its inapplicability for inspection and maintenance of conduits full of water and the impossibility to robotize the process operations.
  • a disadvantage of the common device may be considered its limited scope of application, that is, only visual monitoring of a surface condition. Moreover, such monitoring is ineffective due to biological deposits on conduit inlet part walls.
  • a common device intended for maintenance of waterworks and comprising a prefabricated sectional frame with a supporting service platform and a pump, where sections of the prefabricated sectional frame are pivotally interconnected and joints between the sections are fully sealed; the service platform vertically divides the prefabricated sectional frame into the upper and lower bay with a pump seal assembly installed in the lower bay and interfaced with the water disposal system located in the prefabricated sectional frame.
  • the device is equipped with a rectangular bent attached to the waterworks and pivotally connected with a side end of the prefabricated sectional frame; there is a pneumatic cylinder installed in the upper bay of each section of the prefabricated sectional frame and interfaced with the adjacent bay; seals are made pneumatic and the prefabricated sectional frame shape repeats the waterworks shape along the contact line from the side opposite to the repaired surface.
  • the common device cannot be applied for aerial surface cleaning, video and photo survey or technical inspection, including an ultrasonic tomography of welds and other tests of conduit inlet part surfaces.
  • RU unmanned submersible with two controllable cyclic and collective pitch propellers, one of which is a propeller screw which axis is located along the unmanned submersible centerline; another is a propeller which rotation axis is perpendicular to the unmanned submersible centerline and which is activated if only the unmanned submersible propulsion speed is reduced to the very idle or to zero; when the unmanned submersible is propelling at a cruise speed this propeller is fixed and represents an X-shaped system of horizontally operated rudders.
  • the common device can be basically equipped with monitoring and maintenance equipment suitable for conduits full of water, it cannot be used for such purposes because of the second propeller design.
  • the common device comprises a remote-controlled variable floatability platform that accommodates propellers to hold- down and fix the platform, particularly to the vertical surface of the facility being checked; half-track propulsion units fixed on the platform to enable its movement along a facility surface, particularly in cyclic wetting areas;
  • the platform comprises means of navigation for an accurate in-service positioning of the platform, on- site lighting fixture, power and information cable system damping means;
  • the robotic complex comprises at least independently controllable power hoists intended for lifting up/down and positioning replaceable submersible metering and operational units, and the cable system intended for transmission of power and command signals to the platform, as well as information from the platform.
  • the common device can be applied for cleaning, engineering status monitoring and reconditioning repairs of conduits full of water but only in a specific inlet part of such conduits provided that the design has been upgraded with a propulsion afloat positioning system.
  • the technical result accomplished with the claimed invention implementation consists in that it enables a monitoring and maintenance of underground, particularly, shaped channels and conduits full of liquid.
  • the developed complex comprises a cylindrical supporting member, at least two substatic positioning and motion modules mounted opposite to each other on the supporting member sections to ensure a central steady positioning of the robotic complex and its movability inside the inlet part due to variations in the geometrical shape of the module structure and due to mechanical hold-back to the conduit inlet part walls; propulsion units mounted on the external (against the supporting member) sides of the said positioning and motion module structures; at least one substatic actuating unit which base is fixed to a separate section of the supporting member so as to enable its transversal rotation about a relatively horizontal axis of the supporting member body and which is equipped with an independent propulsion system mounted on the external (against the supporting member) side; at least one actuating and at least one metering arrangement, at least one propulsion engine mounted on the supporting member to enable the robotic complex movement in free
  • An application of the remote-controlled robotic complex with the aggregate features described above allows resolving various engineering problems that occur in operation of waterworks that comprise conduits, specifically: conducting an instrumental inspection of inner metal cladding of conduit inlet parts, detecting defects to forecast destructive processes, cleaning biological deposits from surfaces using particularly the mechanical and cavitation method, measuring parameters of cracks and carrying out an instrumental monitoring to identify metal areas with signs of pit corrosion and cavitation damages, conducting a detail or selective ultrasonic inspection of welds as well as a detail or selective ultrasonic measurements of metal thickness throughout the height of a conduit inlet part, collecting information on the condition of materials of conduit sections and the structure in general, assessing the fatigue capacity of metal and its geometric and structural parameters as well as the solidity of reinforced concrete shells of conduits, specifically in the metal cladding contact area, assessing a corrosive wear of metal and consequently eliminating concrete cracks, assessing the sectional distribution of stresses in metal and concrete.
  • the developed robotic complex allows preparing the conduit inlet part structures for tests, including cleaning from biological deposits, paint
  • the central supporting member structure which common elements are described above partially depends on the remote-controlled robotic complex application conditions.
  • the central supporting member diameter may be determined by the water conduit effective diameter. It is obvious that a supporting member of larger diameter makes it easier to install additional equipment but when the central*supporting member is moving inside an underground channel, particularly a conduit, there should be enough space available between the conduit walls and the central supporting member body.
  • the central supporting member may consist of connectable sections being hollow inside. This allows for assembling the complex of a simple structure from replaceable module sections to resolve various tasks and installing propulsion engines capable of compensating for strong currents in the supporting member cavity or on the supporting member exterior side. Particularly, when a central supporting member is made hollow inside the resulting cavity may be sealed and used to accommodate mainly electronic equipment or as a living module where the robotic complex personnel is accommodated.
  • Some embodiments enable the robotic complex application in existing conduits with a restricted water flow rate due to the possibility of compensating the flow rate using a propulsion engine as well as the positioning and motion modules that contact with conduit inlet part walls preliminary cleaned by the actuating unit. This will allow using the complex for the purposes of inspection and maintenance of the existing water engineering facilities.
  • the multipurpose remote-controlled robotic complex is embodied for application in conduits of various diameters it should preferably be designed to enable an additional connectivity of supporting member sections with positioning and motion modules as well as actuating units installed on it.
  • the robotic complex In case the robotic complex is embodied for application in cone- shaped water conduits it may be designed to enable an automatically controlled variability of the geometric shape of positioning and motion module structural sides.
  • the complex may incorporate an optional automatic control system that allows monitoring the pressure with which propulsion systems are held-down to the conduit inlet part walls which enables automatic positioning of the robotic complex against conduit inlet part walls, the complex applicability in cone-shaped water conduits and elimination of any overpressure or underpressure of propulsion systems of the substatic modules in operation.
  • an actuating unit may additionally include at least one hydraulic or electromechanical drive.
  • an embodiment of the remote-controlled robotic complex may additionally include a wheeled or track-mounted electrically- or hydraulically actuated propulsion system attached to the supporting member exterior (against the base of a positioning or motion module fixed on the supporting member section) section.
  • Some embodiments of the developed remote-controlled robotic complex may enable an additional installation of actuating devices (particularly for force-to-facility-related applications) on the supporting member exterior (against the base of the actuating unit fixed on the supporting member section) section. This allows enhancing the complex capabilities.
  • the actuating unit of some embodiments of the developed remote-controlled robotic complex is a substatic structure that includes its own wheeled or track-mounted electrically- or hydraulically actuated propulsion system that contacts with the conduit inlet part walls and enables at least 360 degree circular transverse motion of the entire unit structure together with actuating devices.
  • This allows forming the general steady structure of actuating units, locating video and photo cameras, laser scanning systems and arrays of sensors intended for areal ultrasonic inspection of welds properly against the inspected surface, providing the required support for boring, drilling or cutting in the areas of conduit inlet part walls or for carrying out repair activities (welding) that require a force to be applied at the site and then compensated to prevent the complex structures from displacement.
  • the actuating unit may be rotated to enable a rapid positioning of any actuating devices in the defined location as well as the area video and photo survey, detail laser scanning or ultrasonic tomography of the conduit inlet part section and acquiring the information concerning the entire section in question or the entire inlet part of the conduit by means of computer processing.
  • sections of the remote-controlled robotic complex supporting member structure additionally incorporate couplings which enable the three-dimensional displacement of the positioning or motion modules and the actuating unit installed on the supporting member relative to each other so that the complex could move inside a geometrically complex conduit structure. This also enhances engineering capabilities of the modules.
  • the navigation system in part of the dynamic positioning system may incorporate an optional unit for finding a distance between the complex sides and the conduit inlet part walls which makes it possible to avoid any contact with the conduit walls in free floatation as well as when deploying the complex for operation or deactivating it upon the work completion.
  • the robotic complex may include a various number of instruments and equipment in part of the actuating unit which affects the complex floatability
  • the complex may incorporate an optional positive floatability control system installed on any of the complex modules and/or on the supporting member sections.
  • the system of actuating units preferably includes at least a handling device, instruments, video and photo cameras and ultrasonic tomograph.
  • the actuating unit incorporates at least one of the means selected from the group that includes a surface cleaner, wet welding and metal arc cutting tool, drilling and boring tool, and a tool for mounting/dismounting technical control and monitoring sensors. This list does not limit the range of instruments and devices which may be installed on the actuating unit.
  • the remote-controlled robotic complex may additionally incorporate at least one submerged propulsion unit installed on the center structure in the dynamic positioning system so that it is freely rotatable in three planes. This will allow for achieving the desired central position of the complex against the conduit inlet part walls in free floatation, prior to the complex deployment in a conduit or upon the work completion and moving the complex out of the conduit without contacting its walls.
  • Some embodiments enable the robotic complex application in water-free conduits and diversion works of any structure including wooden works. This is accomplished by installation of additional supporting member sections with actuating units displaced circumferentially against the actuating units already installed on the supporting member and positioning the sections on the supporting member periphery which ultimately forms a more stable structure to be located at the conduit bottom and a controllable installation in a water-free conduit due to initial variation in the geometric shape of the actuating units supported by the conduit inlet part walls with wheeled or track-mounted propulsion units which particularly ensure a smooth displacement of the robotic complex towards the conduit center in the course of installation.
  • the positioning and motion module structures are deployed after the complex has been centered in the conduit against the inlet part walls.
  • the substructure on which wheeled or track-mounted propulsion units are installed is also substatic and repeats the hydraulic engineering structure shape along the contact line.
  • Some embodiments of the robotic complex incorporate an optional navigation and travel measuring system installed in the conduit inlet part.
  • some embodiments of the robotic complex may incorporate an additional ballasting system installed on a side of the said module close to the supporting base with wheeled or track- mounted propulsion units; an additional ballasting system may be installed to be then forcedly filled with liquid or gas to control the center floatability and orient a side of the positioning and motion module with that ballasting system always above the entire center structure by gravity which in its turn enables deploying the center in minimal time aside from using only navigation and dynamic positioning systems.
  • the developed robotic complex of a modular structure may be embodied to enable its rapid assembly/disassembly inside a conduit.
  • the robotic complex may incorporate optional instruments for controlling and securing the complex movement inside a water-free conduit at large slope angles of its inlet part.
  • this embodiment of the complex should be implemented using as many composite materials and titanium alloys as possible.
  • the application of the developed remote-controlled robotic complex enables the whole range of inspection and maintenance activities with regard to conduits of any design.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Sewage (AREA)

Abstract

L'invention concerne un moyen d'inspection et d'entretien d'ouvrages hydrauliques, principalement des canalisations d'eau, et peut être utilisée dans l'inspection et l'entretien d'un ensemble de structures prélevant de l'eau de fleuves, réservoirs d'eau ou autres volumes d'eau et transportant celle-ci jusqu'à une unité de station d'une centrale hydroélectrique, station de pompage, etc., et prélevant également de l'eau de telles installations, principalement à partir de structures souterraines de ce type. Le système décrit est prévu pour fonctionner dans des conduits, de préférence dans des structures de canalisations d'eau standard et non standard, y compris celles constituant des éléments structuraux de centrales hydroélectriques, le système étant, à cet effet, capable de fonctionner dans des canalisations d'eau, en particulier celles comportant une structure de partie d'entrée conique et accessibles d'un seul côté.
PCT/RU2013/000089 2013-02-08 2013-02-08 Système robotisé amphibie polyvalent télécommandé WO2014123445A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/RU2013/000089 WO2014123445A1 (fr) 2013-02-08 2013-02-08 Système robotisé amphibie polyvalent télécommandé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2013/000089 WO2014123445A1 (fr) 2013-02-08 2013-02-08 Système robotisé amphibie polyvalent télécommandé

Publications (1)

Publication Number Publication Date
WO2014123445A1 true WO2014123445A1 (fr) 2014-08-14

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Application Number Title Priority Date Filing Date
PCT/RU2013/000089 WO2014123445A1 (fr) 2013-02-08 2013-02-08 Système robotisé amphibie polyvalent télécommandé

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109732578A (zh) * 2019-01-29 2019-05-10 西安交通大学 一种模块化空间变构型机器人结构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416808A1 (fr) * 1978-02-10 1979-09-07 Terrin Ste Provencale Ateliers Vehicules sous-marins automoteurs pour circuler le long des parois immergees et procede d'utilisation
JP2002234490A (ja) * 2001-02-08 2002-08-20 Ishikawajima Harima Heavy Ind Co Ltd 水中移動装置
RU2438914C1 (ru) * 2010-09-27 2012-01-10 Общество с ограниченной ответственностью "Океан-Инвест СПб" Погружаемая платформа-трансформер и роботизированный комплекс для осуществления подводных работ
RU2468959C1 (ru) * 2011-05-25 2012-12-10 Общество с ограниченной ответственностью "Океан-Инвест СПб" Притапливаемый роботизированный комплекс для осуществления измерительных и подводно-технических работ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416808A1 (fr) * 1978-02-10 1979-09-07 Terrin Ste Provencale Ateliers Vehicules sous-marins automoteurs pour circuler le long des parois immergees et procede d'utilisation
JP2002234490A (ja) * 2001-02-08 2002-08-20 Ishikawajima Harima Heavy Ind Co Ltd 水中移動装置
RU2438914C1 (ru) * 2010-09-27 2012-01-10 Общество с ограниченной ответственностью "Океан-Инвест СПб" Погружаемая платформа-трансформер и роботизированный комплекс для осуществления подводных работ
RU2468959C1 (ru) * 2011-05-25 2012-12-10 Общество с ограниченной ответственностью "Океан-Инвест СПб" Притапливаемый роботизированный комплекс для осуществления измерительных и подводно-технических работ

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109732578A (zh) * 2019-01-29 2019-05-10 西安交通大学 一种模块化空间变构型机器人结构
CN109732578B (zh) * 2019-01-29 2021-09-07 西安交通大学 一种模块化空间变构型机器人结构

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