Robot vehicle adapted to operate in pipelines and other narrow passages

• US 20040099175A1
• Filed: 07/15/2003
• Published: 05/27/2004
• Est. Priority Date: 07/18/2000
• Status: Abandoned Application

• Current Assignee: Commissariat a L'Energie Atomique (AES Corporation)
• Original Assignee: Commissariat a L'Energie Atomique (AES Corporation)
• Inventors: Perrot, Yann, David, Olivier
• Application Number:
  US10/333,373
• Publication Number:
  US 20040099175A1
• Time in Patent Office: Days
• US Class Current: 104/138.1
• CPC Class Codes: F16L 2101/30 Inspecting, measuring or testing
• CPC Class Codes: F16L 55/28 Constructional aspects

Abstract

The train (1) of modules (2 to 6) that forms the robot comprises springs (38) to connect the successive modules together enabling curvature of the train in the bends of a pipe. However, cables (41) bring the modules together by compressing the springs when they are pulled, until the conical end faces (39, 40) are engaged in each other; the train is made rigid and can be immobilised inside the pipe to perform different types of machining operations, including welding or cutting joints between successive pipes in the pipework.

Claims

1. Robot free to slide inside pipework or another narrow passage, composed of a train of modules (2 to 6, 10) connected by flexible links (38), characterised in that it comprises means of fixing (41) modules to each other to stiffen the train.

2. Mobile robot according to claim 1, characterised in that at least some of the modules comprise means (26, 59, 85) of achieving fixity in the passage.

3. Mobile robot according to claim 2, characterised in that the immobilisation means consist of the pins activated by sloping cam surfaces (57) sliding axially in the modules.

4. Mobile robot according to claim 3, characterised in that the cam surfaces have two different slopes including a first steeper slope (34) acting firstly on the pins, and a second shallower slope (35).

5. Mobile robot according to claim 2, characterised in that it comprises positioning means (59) in a groove in the passage.

6. Mobile robot according to claim 5, characterised in that one of the modules is provided with means (59, 62, 63, 66) of fixing two consecutive portions of pipework.

7. Mobile robot according to claim 6, characterised in that the positioning means and the fixing means comprise one of the immobilisation means (59) fitted on an axially mobile portion (63) of the module, and in that the fixing means also comprise a cam surface (62) pushing the axially mobile portion.

8. Mobile robot according to claim 2, characterised in that the immobilisation means comprise shape memory pads (85).

9. Mobile robot according to claim 1, characterised in that the module fixing means comprise at least one pulling cable (41), attached to one of the head modules (2), and opposing propulsion means (7, 10) located on one of the tail modules (6, 10).

10. Mobile robot according to claim 1, characterised in that the modules are connected together by springs (38) compressed by the fixing means (41).

11. Mobile robot according to claim 1, characterised in that the modules are provided with complementary conical engagement surfaces (39, 40).

12. Mobile robot according to claim 2, characterised in that it comprises manual safety mechanisms to release the immobilisation means, comprising an activation cable and return springs acting on the immobilisation means.