FR3083842B1 - Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite - Google Patents

Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite Download PDF

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Publication number
FR3083842B1
FR3083842B1 FR1856326A FR1856326A FR3083842B1 FR 3083842 B1 FR3083842 B1 FR 3083842B1 FR 1856326 A FR1856326 A FR 1856326A FR 1856326 A FR1856326 A FR 1856326A FR 3083842 B1 FR3083842 B1 FR 3083842B1
Authority
FR
France
Prior art keywords
frame
inspection
self
motorized
robotized
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
FR1856326A
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English (en)
Other versions
FR3083842A1 (fr
Inventor
Jean-Marie Lusinchi
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.)
Groupe Adf
Original Assignee
Groupe Adf
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Publication date
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Priority to FR1856326A priority Critical patent/FR3083842B1/fr
Publication of FR3083842A1 publication Critical patent/FR3083842A1/fr
Application granted granted Critical
Publication of FR3083842B1 publication Critical patent/FR3083842B1/fr
Active legal-status Critical Current
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • 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
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

Appareil robotisé (1) et autopropulsé comprenant au moins trois chenilles motorisées (3) reliées à un châssis (2) par des mécanismes à parallélogramme déformable (40) articulés entre le châssis et la chenille motorisée concernée et rétractables pour une mobilité de chaque chenille motorisée entre une position rétractée et une position déployée, un système de support (6) monté sur le châssis et supportant au moins un élément d'inspection et/ou de traitement (60; 61), et un système de manœuvre (5) pourvu d'un moteur de manœuvre (50) porté par le châssis et accouplé aux chenilles motorisées via un dispositif mécanique de manœuvre pour actionner une mobilité synchronisée de toutes les chenilles motorisées entre leurs positions rétractées et leurs positions déployées respectives qui sont guidées par une déformation synchronisée de tous les mécanismes à parallélogramme déformable.
FR1856326A 2018-07-10 2018-07-10 Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite Active FR3083842B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1856326A FR3083842B1 (fr) 2018-07-10 2018-07-10 Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1856326A FR3083842B1 (fr) 2018-07-10 2018-07-10 Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite
FR1856326 2018-07-10

Publications (2)

Publication Number Publication Date
FR3083842A1 FR3083842A1 (fr) 2020-01-17
FR3083842B1 true FR3083842B1 (fr) 2022-02-11

Family

ID=63834190

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1856326A Active FR3083842B1 (fr) 2018-07-10 2018-07-10 Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite

Country Status (1)

Country Link
FR (1) FR3083842B1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113107470B (zh) * 2021-05-11 2023-11-24 中海石油(中国)有限公司 一种油气井生产管柱管内爬行器以及多功能编组
CN113399388A (zh) * 2021-07-09 2021-09-17 重庆国翔新材料有限公司 一种隧道管道结晶物清理装置
CN113700976B (zh) * 2021-08-18 2023-06-02 湖北三江航天险峰电子信息有限公司 一种用于管道维护的机器人
WO2024015562A1 (fr) * 2022-07-14 2024-01-18 Boston Atomics, Inc. Robot de maintenance dans une cuve et procédé de fonctionnement
CN115854170A (zh) * 2023-01-03 2023-03-28 中铁市政环境建设有限公司 一种检测清淤一体化管道机器人及其操作方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050104600A1 (en) * 2003-11-18 2005-05-19 Radiodetection Limited Vehicle for inspecting a pipe
CZ302170B6 (cs) * 2009-07-24 2010-11-24 Ceské vysoké ucení technické v Praze - Fakulta elektrotechnická Robot pro cištení a inspekci potrubí a ovládací jednotka pro jeho rízení
CN105972381B (zh) * 2016-05-05 2018-05-25 湖北三江航天红阳机电有限公司 一种管道内部射线探伤机器人
FR3052529B1 (fr) * 2016-06-13 2018-06-01 Battakarst Robot pour la renovation de conduites forcees, muni d'un systeme anti-vrille de deplacement

Also Published As

Publication number Publication date
FR3083842A1 (fr) 2020-01-17

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