• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a robot (1) for renovating the outside of a pipe, in particular a penstock. The autonomous robot includes a mobile device that embeds the tools and renovation fluids (cleaning, stripping, painting) and is able to maintain and move by itself on the work surface can be very strongly inclined, and the displacement is provided by one or more onboard motorized winches that come to dock with a removable anchoring device that is easy to move all along the pipe to be renovated. The invention also relates to the method of renovating an associated pipe.
    公开号:FR3079593A1
    申请号:FR1852685
    申请日:2018-03-28
    公开日:2019-10-04
    发明作者:Pascal Prat
    申请人:Ambpr；
    IPC主号:
    专利说明:

    AUTONOMOUS ROBOT WITH ON-BOARD MOTORIZED WINCHES, IN PARTICULAR FOR RENOVATING THE EXTERIOR OF A FORCED CONDUCT
    Technical area
    The present invention relates to the general field of robots for inspecting and / or renovating pipes.
    It relates more particularly to the field of renovation by stripping and, where appropriate, coating of paint from the outside of pipes, in particular so-called penstocks. A penstock is a hydraulic pipe formed by an assembly of pipes, intended to transport pressurized water to a hydroelectric plant located downstream and below the reservoir that feeds it.
    The present invention aims more particularly to propose an autonomous robot, intended for the external renovation of pipes, the movement of which is guaranteed on the outside surface of pipes, even for very long lengths of pipes and / or for very large inclinations of the pipes. and where appropriate in very difficult and / or restricted access environments.
    By “autonomous robot” is meant here the usual sense of technology, namely equipment the mobile device of which is robotized, that is to say constitutes a mechatronic device, to enable it to move independently and carry out a work operation on a surface automatically, ie without human intervention.
    Although described with reference to an advantageous application for the external renovation of a penstock, the invention applies to any robot intended for any type of inspection and / or repair work on the external surfaces of pipes or other pipes of different sizes and geometries to be made, without trench.
    State of the art
    A large number of pipes of varying sizes are widely used today in a wide spectrum of industries. For example, local communities can use large diameter pipes for rainwater drainage and water management in general. The oil and gas industry, as well as the power generation industry, uses these pipes for the transportation of oil and gas. Hydroelectric power plants very widely use large diameter pipes, the so-called penstock for the transport of pressurized water.
    Although many and varied in their constraints and implementations, all industries using pipes face the same challenges: limited piping life, high repair costs, large service interruptions, major impact infrastructure, staff safety, and repair efficiency.
    The use of robots for cleaning and / or interior inspection of various and varied pipes, conduits and pipes is already known.
    Mention may be made here of the inspection and internal cleaning of ventilation and / or air conditioning ducts, “pipeline” type pipes, drinking water distribution pipes, pressurized gas pipes and sewer system pipes.
    The applicant company sought to define a robot for renovation with stripping and if necessary coating of paint on the outside of penstocks.
    These penstocks generally consist of metal tubes assembled along a slope and which are protected by exterior and interior coatings.
    It is necessary to regularly maintain these penstocks and in particular to renew the exterior protection by eliminating the existing exterior coating as well as any oxidation and by replacing it with a new one.
    In general, maintenance or renovation consists in carrying out a surface preparation in line with the application of a new coating of paint. This preparation can for example consist of a pickling with a projection of abrasive, also generally called shot peening, which makes it possible to create a certain surface roughness for the grip and the application of a new coating of paint.
    These operations are currently carried out manually and are particularly painful, even dangerous.
    Beforehand, they require a long, delicate and painful preparation. In fact, it is generally necessary to install suitable scaffolding over the entire length of the penstock to be renovated. This scaffolding can reach hundreds of tonnes to install.
    In addition, to limit the impact of renovation sites on the environment, necessarily in the event that stripping involves asbestos removal, companies in charge of renovation are asked to cover the entire work area. a tarpaulin which can therefore be placed over a very long length of up to a few kilometers.
    The hardship for the operators in charge of the renovation comes from the fact that they work in an enclosed environment and that the coatings which they must remove are likely to contain toxic substances, such as asbestos or heavy metals. It can be the same for the coatings which replace it, for example because of the solvents used.
    In addition, this work must be relatively precise because the tools used, for example for pickling ultra high pressure water lances (UHP), at around 3000 bars or shot blasting lances, have a relatively limited area of action and the operator's attention must be supported. As a result, these operations can take considerable time for both work and checks, especially since the penstocks can be very long, up to several kilometers in length.
    The applicant therefore wished to automate this maintenance or renovation of the exterior of these pipes and to implement a robot which can carry out these renovation operations.
    However, the specifications imposed for such a robot are strict and consequent, in particular due to the strong constraints intrinsic to penstocks.
    In particular, with regard to the means of movement, such a robot must meet the following specifications:
    - he must move outside a pipe by his own means and by supporting substantial loads, in particular in order to be autonomous in paint tanks for coating;
    - it must be easily adaptable to a range of different pipe diameters;
    - it must be able to move forwards or backwards, up or down, even in very steep inclinations, or even vertically;
    - he must be able to self-maintain outside these pipes, that is to say by his own means, including in very steep pipes, such as vertical pipes;
    - its main displacement parameters (speeds, cycles, etc.) must be able to be adjusted precisely and remotely by an operator;
    - it must be able to pass small internal obstacles, inherent in the pipes which form irregularities on the external wall of the pipes, such as for example the connecting flanges joining two adjacent pipes;
    - he must be able to pass, by his own means, the changes in inclination of the pipes, that is to say elbows which may be present in the penstocks, with in particular a radius of curvature of elbows which can be at least equal to 3 times the diameter of the pipe.
    There is therefore a need to propose an autonomous robot for the renovation of the external surfaces of pipes, more particularly penstocks, in particular with a view to meeting the severe constraints of the latter, while respecting safety standards in restrictive environments, in particular very difficult for a human being to access.
    The object of the invention is to meet these needs at least in part.
    Statement of the invention
    To do this, the invention relates to an autonomous robot, in particular intended to renovate the external surface of a pipe, more particularly of a penstock, comprising:
    - a removable anchoring device comprising:
    • a base, adapted to come to press against the external surface of the pipe, • at least one adjustable clamp, removably fixed on the base, the collar being adapted to wrap around the external surface of the pipe and tighten the base on it;
    - a mobile device comprising:
    • a frame, which extends along a longitudinal axis (X);
    • one or more wheels supported by the chassis, adapted to allow the device to roll against the exterior surface of the pipe, • hooking means fixed to the chassis, adapted to hang the chassis around the exterior surface of the pipe, • at least one cable drum mounted for rotation on the chassis, the free end of the drum cable being fixed to the base of the anchoring device, • at least one motorized winch, of the passing cable type, fixed on the chassis, the winch being adapted to wind or unwind the cable fixed to the base from the drum, in order to move the mobile device along the external surface of the penstock while ensuring its attachment to the penstock by the cable.
    Thus, the invention essentially consists of an autonomous robot for renovating the exterior of a penstock, comprising a mobile device which takes on the renovation tools and fluids (cleaning, stripping, painting) and which is capable of maintaining itself and to move by itself on the work surface which can be very strongly inclined, and whose movement is ensured by one or more on-board motorized winches which come to be secured to a removable anchoring device which it is easy to move all along the pipe to be renovated.
    Removal of the anchor as it progresses can easily be done manually. In fact, it is enough to loosen the clamps, such as straps, as soon as the robot has carried out the renovation task (cleaning, stripping, painting) in a work area on the external surface of the penstock, then remove the base. If necessary, the winch cable (s) can then be rewound on their drum.
    Then, the anchoring device can be fixed in another adjacent work area.
    A major advantage of the invention is that it is not necessary to add / build a winching platform at the highest end of the pipe to be renovated.
    In addition, the fact that the displacement of the autonomous robot is done by motorized winches on board from a removable anchor which is removed and replaced as desired along the pipe to be renovated, makes it possible to envisage a renovation of pipes on any length. In other words, there is no limitation in the length of pipes to be renovated.
    Furthermore, the on-board motorized winch or winches not only guarantee reliable movement of the mobile device all along the pipe to be renovated, but also provide additional security for hooking the mobile device to the latter.
    The mobile device takes along the equipment (tools) strictly necessary to fulfill its renovation tasks, which may include cleaning, stripping, painting an exterior surface of penstock. Fluids (water, shot, suction or blowing air, paint components) can be supplied by flexible pipes supplied from a platform. In this way, the mass of the mobile device is minimized. This in particular makes it possible to optimize the speed of movement and the energy required for hanging and moving the mobile device along the pipe to be renovated.
    According to an advantageous embodiment, the attachment means comprise:
    - at least two extension arms fixed to the chassis, which extend laterally outward on either side of the latter, the distance separating the free end of the two arms being greater than the diameter of the penstock;
    - At least two plating arms each supporting a support wheel, each support arm being pivotally mounted on one of the extension arms around an axis (XI) substantially parallel to the axis of the chassis;
    - At least two plating cylinders each mounted between an extension arm and a plating arm, each plating cylinder being adapted to pivot a plating arm and the support wheel which it supports, so as to flatten the latter with inclination against the external surface of the penstock during the movement of the device.
    This mode is advantageous, since the extension arms preferably detachably fixed to the chassis can be easily and quickly fixed during the in situ installation of the robot on the external surface of a penstock. In addition, the actuation of the tackle cylinders to tackle the support wheels or, conversely, raise them from the outside surface is very easily achieved in real time.
    According to this mode, the mobile device preferably comprises, on each longitudinal side of the chassis:
    - a pair of extension arms, tackle arms and support wheels;
    - a stiffening crosspiece connecting the two extension arms together.
    According to another advantageous embodiment, the robot comprises trains of steered wheels fixed on the chassis in an inclined manner, each train comprising at least two steered wheels, preferably mounted on the same bogie. There is thus a robust steering system.
    According to an advantageous variant, provision is made:
    - two independent steering arms each supporting a steering wheel, the arms being pivoted on the body of the bogie about an axis (X2) inclined relative to the axis (X) of the chassis;
    - two lifting cylinders mounted on the body of the bogie, each lifting cylinder being adapted to pivot a steering arm and the steering wheel which it supports, so as to move them away from the external surface of the forced pipe against which they are support during device movement. In the event of an obstacle on the penstock, such as a clamp for fixing two adjacent pipe portions, the steered wheels can thus be easily and instantly raised near the obstacle.
    According to another advantageous variant, the mobile device comprises:
    - four sets of steered wheels, distributed two by two at the front and at the rear, defining the wheelbase of the mobile device;
    - a common steering linkage connecting the four trains to each other.
    The system consisting of the steered wheels and the common steering linkage constitutes a sort of anti-spin system. Indeed, after passing a bend or by the effect of a slow displacement drift, without anti-spin system, there is a risk that the mobile device changes longitudinal orientation relative to the axis of the pipe on which they are moving, or in other words that it is moving in an unwanted helical movement, commonly called a spin. Implementing an induced anti-spin system advantageously makes it possible first of all to precisely control the position of the tool as well as the position of the wheels against the external wall of the pipe, and therefore makes it possible to detect a passage of obstacles on the pipe. reliably.
    According to an advantageous embodiment, provision is made:
    - a ring fixed at the end of one of the longitudinal ends of the chassis and whose inside diameter is greater than that outside of the penstock;
    Advantageously, for reasons of balance of efforts and reinforcement of safety, the robot comprises two motorized winches and two cable drums, distributed symmetrically on either side of the axis (X) of the chassis.
    The invention also relates to a method for renovating the external surface of a penstock implemented by an autonomous robot as described above, comprising the following steps:
    a / positioning and hanging of the mobile device on a first area to be renovated from the external surface of the penstock;
    b / fixing the anchoring device to one end of the first area to be renovated;
    c / operation of the motorized winch (es) so as to move the mobile device by winching from the anchoring device along the first area to be renovated;
    d / during step c /, carrying out a step of renovating the external surface over the length of the first zone; e / stop moving the mobile device;
    f7 removal of the anchoring device from the end of the first area to be renovated;
    g / fixing the anchoring device at one end of a second area to be renovated, in continuity with the first area to be renovated;
    h / putting into operation of the motorized winch (es) so as to move by winching from the anchoring device the mobile device along the second zone to be renovated;
    i / during step h /, carrying out a step of renovating the exterior surface along the length of the second zone; j / repeating steps e / to i / until the step of renovating the desired length of the penstock is completed;
    k / removal of the anchoring device and release then removal of the mobile device from the penstock.
    detailed description
    Other advantages and characteristics of the invention will emerge more clearly on reading the detailed description of the invention given by way of illustration and not limitation, with reference to the following figures among which:
    - Figure 1 is a schematic perspective view of the mobile device of an example of an autonomous robot according to the invention in installed configuration and hung on a penstock to be renovated;
    - Figure 2 is another schematic perspective view of the mobile device according to Figure 1;
    - Figure 2 is another schematic perspective view of the mobile device according to Figure 1;
    - Figure 3 is a schematic perspective view of the removable anchoring device according to the invention in fixed configuration around a penstock to be renovated;
    - Figure 4 is a schematic detail view in perspective of the mobile device showing the motorized winches on board with their cable drums and the cables unwound;
    - Figure 5 is a schematic perspective view showing the autonomous robot with the cables fixed to the anchoring device, the robot being in winch configuration mounted along a penstock to be renovated, at high inclination;
    - Figure 6 is a schematic perspective view showing the autonomous robot with the cables attached to the anchoring device, the robot being in winch configuration in descent along a penstock to be renovated, at high inclination;
    - Figures 7A and 7B are schematic detail views showing the attachment means of the mobile device on a pipe forced to renovate, respectively in the non-hooked configuration and in the hooked configuration on said pipe;
    FIGS. 8A and 8B are detailed schematic views showing the sets of steering wheels of the mobile device on a pipe forced to be renovated, with part of the front wheels respectively in support configuration on the outside surface of the pipe and in the raised configuration for the passage of obstacles on said pipe;
    - Figures 9A and 9B are schematic detail views showing the tool holder ring of the mobile device, respectively in the closed configuration around a pipe forced to renovate not attached and in the open configuration around said pipe.
    It is specified that the terms "front" and "rear" refer to a direction of movement of a robot according to the invention on the external surface of a penstock. In the example illustrated, the movement of the robot is reversible: also, it goes without saying that a part of the robot, designated before, in one direction of movement of the robot in the pipe becomes a rear part in the opposite direction of movement.
    There is shown in Figures 1 and 2, the movable part of an autonomous robot according to the invention intended to carry out inspection by camera and / or renovation with water pickling and / or shot blasting followed where appropriate by a coating paint the exterior surface of a penstock.
    The robot 1 thus firstly comprises a mobile device 2 which takes on board all of the working tools and fluids (cleaning, stripping, painting) necessary for the renovation of a penstock.
    More specifically, the working tools are carried by a tool holder detailed subsequently and the fluids (water, shot, paint) supply the robot from a fixed platform in an area near the penstock to be renovated.
    The renovation stages will not be described here in detail. For the stripping step, the shot, as an abrasive for stripping the penstock wall, can be projected and recovered by suction over the entire outer surface of the wall. For the coating step using anti-corrosion paint, one or more paints can be sprayed using one or more spray nozzles attached to the tool holder.
    The mobile device 2 firstly comprises a chassis 3 which extends along a longitudinal axis (X), as well as a plurality of trains 4 of steered wheels 40.
    As shown in Figures 1 and 2, these steered wheels 40 will allow the device to roll against the outer surface of the penstock during a renovation operation of the latter. The operation of the wheel sets 4 will be explained in more detail below.
    To ensure that the mobile device 1 is kept on the penstock, hooking means 5 fixed to the chassis 3 are provided. These means 5 are produced in the form of clips which hook the frame 3 around the outer surface of the pipe C. The operation of these clips will also be explained in more detail below.
    According to the invention, in order to allow the autonomous movement of the robot along a penstock to be renovated, a cable winching system 9, with a removable anchoring device 6 and motorized winches 7 and cable drums 8 on board on the mobile device is provided.
    At the end of the front longitudinal end of the chassis 3, a ring 10 is fixed, the inside diameter of which is greater than the outside diameter of the penstock C.
    A tool-carrying carriage 11 is slidably mounted over the entire periphery of the ring 10. The ring 10 can for example be formed into a rack on which a movement wheel of the carriage 11 can mesh by means of a motorization adapted. This carriage 11 serves as a support for at least one tool for renovating the penstock. Among the renovation tools, there may be mentioned a high or ultra-high pressure water spray nozzle, a shot blasting nozzle, a suction nozzle, an anti-corrosion paint spray nozzle ...
    The removable anchoring device 6 is illustrated in FIG. 3 in its configuration installed on the penstock C.
    This device 6 firstly comprises a base 60 adapted to come to bear against the external surface of the pipe,
    Adjustable clamps 61 are removably attached to the base 60 by winding around the outer surface of the pipe C and tightening the base 60 thereon. Each collar 61 may consist of a strap which is tightened, for example by means of a ratchet.
    As shown in Figure 3, the base 60 serves as a point of attachment of the free end 90 of each cable 9 which is to be wound or unwound from a drum 8 rotatably mounted on the chassis.
    The winding or unwinding of each cable 9 which is also fixed to the base 90 of the anchoring device 9 is produced by a motorized winch 7, of the passing cable type, fixed to the chassis 2.
    Thus, the winching system 7, 8, 9 makes it possible to move the mobile device 2 along the outside surface of any pipe forced to be renovated while ensuring its attachment to the latter by the cable or cables 9.
    An advantageous embodiment of the on-board winches 7 with their respective cable drums 8 is illustrated in FIG. 4.
    In this FIG. 4, it can be seen that two motorized winches 7 and two cable drums 8 are arranged by being distributed symmetrically on either side of the axis X of the chassis 3.
    Each winch 7 is fixed to a bracket 70 which is itself fixed directly to the chassis 3. The motor 71 of the winch is arranged on one side of the bracket 70 while the traction drive mechanism 7 of the cable 9 is arranged from the other side.
    A return pulley 72 is rotatably mounted on the bracket 70. Around each return pulley 72 turns the cable 9 from a drum 8 after it has passed through the drive mechanism 7 of the motorized winch.
    Each drum 8 is rotatably mounted on a support 80 fixed directly to the chassis 3. In order to allow the unwinding or winding of a cable 9 respectively from or to a drum 8 from a motorized winch 7, a motor 81 for driving the drum 8 in rotation is fixed on its support 80. The drive speed of the motor 81 can be controlled by that of the motor 7 of the winch in order to best guide the cable 9 during its winding or unwinding.
    A deflection pulley 82 is rotatably mounted on the drum support 80 8. The cable 9 coming from the motorized winch 7 is therefore guided and deflected by this deflection pulley 82.
    Figures 5 and 6 illustrate two alternative winching configurations of the mobile device 2 from the anchoring device 6 tightened around a penstock C, inclined.
    FIG. 5 illustrates the configuration according to which the mobile device 2 moves uphill towards the anchoring device 6. In this configuration, each cable 9 whose free end 90 is fixed to the base 60 is wound by a winch motorized 7 on a corresponding drum 8. The cable 9 passes through the deflection pulley 82 then through the return pulley 72 so as to be returned to the motorized winch 7 and is then wound up in the corresponding drum 8.
    FIG. 6 illustrates the configuration according to which the mobile device 2 moves downhill from the anchoring device 6. In this configuration, each cable 9 whose free end 90 is fixed to the base 60 is unwound by a winch motorized 7 on a corresponding drum 8. The cable 9 is unwound from the drum 8 then passes through the return pulley 72 in order to be returned to the motorized winch 7 then to the anchoring device 6. Here, the deflection pulley 82 is not used because the cable 9 is unwound from the drum 8 in the plane of the return pulley 72 and of the drive mechanism 7 of the motorized winch.
    FIGS. 7A and 7B illustrate an advantageous embodiment of the attachment means 5 and their installation on the penstock.
    These means 5 here comprise four extension arms 50 fixed to the chassis 3, which extend laterally outward two by two on either side of the latter. The distance between the free end of two extension arms 50 on either side of the chassis is greater than the diameter of the penstock.
    On each extension arm 50, a plating arm 51 is pivotally mounted around an axis XI substantially parallel to the axis of the chassis. Each plate arm 51 supports a support wheel 52.
    A plating cylinder 53 is mounted between an extension arm 50 and a plating arm 51.
    Thus, when a plating cylinder 53 is actuated in one direction, the rod 54 thereof passes from a retracted position (FIG. 7A) to a deployed position (FIG. 7B), which causes the plating arm to pivot. 51 and the support wheel 52. In the deployed position of the actuator rods 54, as illustrated in FIG. 7B, the support wheels 52 are all pressed with inclination against the external surface of the forced pipe and thus generate forces holding the chassis towards the inside of the pipe. Thereby, the chassis 3 is hung on the penstock.
    The raising of the support wheels 52 and the associated plating arms 51 is carried out by actuating the plating jacks 53 in the opposite direction, that is to say by retracting the jack rods 54. The raising of the plating arms 51 with their support wheels 52 can for example be produced when, during the movement of the mobile device on the penstock C, it encounters junction flanges J between adjacent portions of pipes and which delimit a diameter greater than the outside diameter of the pipe C which constitutes the rolling surface of the mobile device 2.
    To stiffen the attachment of the chassis 3, provision may be made to arrange on each longitudinal side of the chassis, a stiffening cross member 55 which connects the two extension arms 50 between them.
    FIGS. 8A and 8B illustrate an advantageous embodiment of the sets of steered wheels 4 and their raising from the penstock on which they are supported.
    More specifically, four wheel sets 4 are fixed to the chassis 3 by being symmetrically distributed on either side of the longitudinal axis X of the latter and two by two at the front and at the rear by defining the wheelbase of mobile device 2.
    One can advantageously provide a common steering linkage connecting the four trains 4 of steered wheels together. This common linkage with the steering wheel sets constitutes a sort of anti-spin system, which will therefore make it possible to prevent the device moving on the penstock from moving in an unwanted helical movement.
    Each train 4 comprises a bogie 40 on which two steered wheels 41 are pivotally mounted. More specifically, each steering wheel 41 is supported by an independent steering arm 42 pivotally mounted on the body of the bogie 40 about an axis X2 inclined relative to the longitudinal axis X of the chassis 3.
    Two lifting cylinders 43 are mounted on the body of the bogie 40. The actuation of a lifting cylinder 43 makes it possible to pivot a steering arm 42 and the steering wheel 41 which it supports, so as to move them away from the external surface penstock against which they are pressed during the movement of the device.
    Thus, when it is desired that the mobile device 2 cross an obstacle on the external surface of the pipe, more particularly a junction J between two adjacent pipe portions, only the lifting cylinders 43 of the front wheels 41 of the front axles are actuated. 4 to raise these (FIGS. 8B) while keeping the other wheels in contact with the outside surface of the penstock C. Then the mobile device is moved until these front wheels have crossed the obstacle. Once this obstacle has been overcome, the lifting cylinders 43 are actuated in the opposite direction to lower the front wheels 4L
    The procedure is then identical with the rear wheels 41 of the front axles 4.
    We then proceed in the same way with the rear axle as with the front axle, which allows the entire mobile device 2 to have cleared the obstacle.
    FIGS. 9A and 9B illustrate an advantageous embodiment of the support ring of the tool holder and its opening in two parts, for crossing an obstacle on the penstock, in particular a junction flange J between two pipe portions adjacent.
    The ring 10 comprises a support 12 fixed directly on the front end of the chassis 3 and on which two hoops 13, 13, advantageously identical, are pivotally mounted, which in their closed position defines the annular sliding track of the tool holder 11 ( Figure 9A).
    An opening cylinder 14 is fixed between the support 12 and each of the arches 13.
    When it is desired, when it is desired that the mobile device 2 cross an obstacle on the external surface of the pipe, more particularly a junction J between two adjacent pipe portions, the opening jacks 14 are actuated, which causes l spacing of the hoops 13 from each other over a distance greater than the largest diameter of the obstacle to be crossed (FIG. 9B)
    We now describe the different stages of renovation of a penstock by an autonomous robot 1 which has just been detailed.
    Step a /: the mobile device 2 is positioned and hung on a first area to be renovated from the external surface of the penstock.
    The positioning of the mobile device can advantageously be done by helicopter hoisting.
    The attachment is achieved by the actuation of the plating cylinders 53 which cause the support wheels 52 to press against the penstock according to convergent support forces directed towards the interior thereof.
    Step b /: we just fix the anchoring device 6 at one end of the first area to be renovated. More precisely, the base 60 is brought to bear against the external surface of the penstock, preferably on top, and then the base is fixed by means of the clamps 61. At this stage, the free ends 90 of the cables 9 are fixed to the base 60.
    Step c /: the motorized winches 7 are put into operation so as to move the mobile device 2 by winching either uphill (FIG. 5) or downhill (FIG. 6), from the anchoring device 6 all along the first area to renovate.
    Stage d /: During the winching according to stage c /, a stage of renovation of the external surface is carried out along the length of the first zone. This renovation step can be cleaning, blasting, or applying an anti-corrosion paint to the exterior surface of the penstock.
    Step e /: once the mobile device 2 has joined the anchoring device 6, the movement of the mobile device 2 is stopped.
    Step f /: the anchoring device 6 is then removed from the end of the first area to be renovated.
    Step g /: we again fix the anchoring device 6 but at one end of a second area to be renovated, in continuity with the first area to be renovated.
    Step h /: the motorized winches 7 are put into operation so as to move the mobile device 2 by winching from the anchoring device 6 along the second zone to be renovated.
    Step i /: during the winching according to step h /, a step of renovating the outer surface is carried out along the length of the second zone.
    Step j /: we repeat all the steps e / to i / until the step of renovating the desired length of the penstock is completed
    Step k /: the anchoring device 6 is then removed and the mobile device 2 is lifted and then removed from the penstock.
    The invention is not limited to the examples which have just been described; one can in particular combine together characteristics of the examples illustrated within variants not illustrated.
    Other variants and advantages of the invention can be achieved without departing from the scope of the invention.
    In particular, if in the examples illustrated, an on-board motorized winch is arranged on the chassis at a distance from the cable drum from which the winching cable is unwound, it can be envisaged to group them in one and the same equipment fixed on the chassis .
    Likewise, if in the examples illustrated, the cable drums are fixed to the front of the chassis and the motorized winches to the rear, it is obviously possible to produce a reverse arrangement,
    i.e. with motorized winches at the front of the chassis and cable drums at the rear.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Autonomous robot (1), in particular intended to renovate the external surface of a pipe, more particularly of a penstock, comprising:
    - a removable anchoring device (6) comprising:
    • a base (60), adapted to bear against the external surface of the pipe, • at least one adjustable clamping collar (61), removably fixed on the base, the collar being adapted to wind up around the outside surface of the pipe and tighten the base on it;
    - a mobile device (2) comprising:
    • a chassis (3), which extends along a longitudinal axis (X) • one or more wheels (4, 40, 41, 42) supported by the chassis, adapted to allow the device to roll against the external surface of the pipe, • hooking means (5, 50, 51, 52, 53) fixed to the frame, adapted to hang the frame around the outside surface of the pipe, • at least one cable drum (8) rotatably mounted on the chassis, the free end of the drum cable being fixed to the base of the anchoring device, • at least one motorized winch (7), of the passing cable type, fixed to the chassis, the winch being adapted to wind or unwind the cable fixed to the base from the drum, in order to move the mobile device along the external surface of the penstock while ensuring its attachment to the penstock by the cable.
    [2" id="c-fr-0002]
    2. Autonomous robot (1) according to claim 1, the attachment means (5) comprising:
    - at least two extension arms (50) fixed to the chassis, which extend laterally outward on either side of the latter, the distance separating the free end of the two arms being greater than the diameter of the pipe forced;
    - At least two pressing arms (51) each supporting a support wheel (52), each support arm being pivotally mounted on one of the extension arms around an axis (XI) substantially parallel to the axis of the frame;
    - At least two plating cylinders (53) each mounted between an extension arm and a plating arm, each plating cylinder being adapted to pivot a plating arm and the support wheel which it supports, so as to press the latter against the external surface of the penstock during the movement of the device.
    [3" id="c-fr-0003]
    3. Autonomous robot (1) according to claim 2, the mobile device comprising, on each longitudinal side of the chassis:
    - a pair of extension arms, tackle arms and support wheels;
    - A stiffening crosspiece (55) connecting the two extension arms together.
    [4" id="c-fr-0004]
    4. Autonomous robot (1) according to one of the preceding claims, the mobile device comprising trains (4) of steered wheels fixed on the chassis in an inclined manner, each train comprising at least two steered wheels (41).
    [5" id="c-fr-0005]
    5. Autonomous robot (1) according to claim 4, the two steering wheels being mounted on the same bogie (40).
    [6" id="c-fr-0006]
    6. Autonomous robot (1) according to claim 5, the bogie comprising:
    - two independent steering arms (42) each supporting a steering wheel, the arms being pivoted on the body of the bogie about an axis (X2) inclined relative to the axis (X) of the chassis;
    - two lifting cylinders (43) mounted on the body of the bogie, each lifting cylinder being adapted to pivot a steering arm and the steering wheel which it supports, so as to move them away from the external surface of the penstock against which they are in support during the movement of the device.
    [7" id="c-fr-0007]
    7. Autonomous robot (1) according to one of claims 4 to 6, the mobile device comprising:
    - four sets of steered wheels, distributed two by two at the front and at the rear, defining the wheelbase of the mobile device;
    - a common steering linkage connecting the four trains to each other.
    [8" id="c-fr-0008]
    8. Autonomous robot (1) according to one of the preceding claims, comprising:
    - A ring (10) fixed at the end of one of the longitudinal ends of the chassis and whose inside diameter is greater than that outside of the penstock;
    - a tool-carrying carriage (11) slidably mounted over the entire periphery of the ring, the carriage being adapted to carry at least one tool for renovating the penstock.
    [9" id="c-fr-0009]
    9. Autonomous robot (1) according to one of the preceding claims, comprising two motorized winches and two cable drums, distributed symmetrically on either side of the axis (X) of the chassis.
    [10" id="c-fr-0010]
    10. A method of renovating the external surface of a penstock implemented by an autonomous robot according to one of the preceding claims, comprising the following steps:
    a / positioning and hanging of the mobile device on a first area to be renovated from the external surface of the penstock;
    b / fixing the anchoring device to one end of the first area to be renovated;
    c / operation of the motorized winch (es) so as to move the mobile device by winching from the anchoring device along the first area to be renovated;
    d / during step c /, carrying out a step of renovating the exterior surface along the length of the first zone;
    e / stop moving the mobile device;
    f / removal of the anchoring device from the end of the first area to be renovated;
    g / fixing the anchoring device at one end of a second area to be renovated, in continuity with the first area to be renovated;
    h / putting into operation of the motorized winch (es) so as to move by winching from the anchoring device the mobile device along the second zone to be renovated;
    i / during step h /, carrying out a step of renovating the exterior surface along the length of the second zone;
    j / repeating steps e / to i / until the step of renovating the desired length of the penstock is completed;
    k / removal of the anchoring device and release then removal of the mobile device from the penstock.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3079593B1|2020-03-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB2119679A|1982-05-11|1983-11-23|Donald Graham Brown|Device for performing surface operations|
    DE29502234U1|1995-02-11|1995-04-13|Peiniger Ernst Gmbh|Surface processing device for elongated, stationary bodies, in particular for suspension cables on bridges|
    US20100226724A1|2009-04-17|2010-09-09|Doleshal Donald L|Pile cleaner apparatus|
    US8844463B2|2011-01-14|2014-09-30|Automatic Coating Limited|Pipe conditioning tool|
    US20140054390A1|2012-08-22|2014-02-27|Richard Timothy Oliver|Tubular Service Device|
    US9339670B1|2013-03-15|2016-05-17|Robert J Burnham|Vertical pole spraying system|CN111085365A|2020-03-07|2020-05-01|张轶芳|Portable trunk whitewashing device|
    CN111425770A|2020-05-20|2020-07-17|杭州唛唐智能科技有限公司|Pipeline detection device with positioning function|
    法律状态:
    2019-03-25| PLFP| Fee payment|Year of fee payment: 2 |
    2019-10-04| PLSC| Publication of the preliminary search report|Effective date: 20191004 |
    2020-03-25| PLFP| Fee payment|Year of fee payment: 3 |
    2021-03-31| PLFP| Fee payment|Year of fee payment: 4 |
    2021-12-28| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1852685A|FR3079593B1|2018-03-28|2018-03-28|AUTONOMOUS ROBOT WITH ON-BOARD MOTORIZED WINCHES, IN PARTICULAR FOR RENOVATING THE EXTERIOR OF A FORCED CONDUCT|
    FR1852685|2018-03-28|FR1852685A| FR3079593B1|2018-03-28|2018-03-28|AUTONOMOUS ROBOT WITH ON-BOARD MOTORIZED WINCHES, IN PARTICULAR FOR RENOVATING THE EXTERIOR OF A FORCED CONDUCT|
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