PIPE EXPLORATION ROBOT WITH A STORAGE MODULE

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of conduit exploration robots. It finds a particularly advantageous application in the field of conduit exploration robots implementing step-by-step movement. STATE OF THE ART

[0002] Water supply networks consist of mostly buried pipes, formed by assembling cylindrical sections. Water supply networks constitute large-scale infrastructures. For example, for a country like France, these networks together cover nearly one million linear kilometers. Globally, their size is estimated at 30 million linear kilometers, and these networks are expanding every day.

[0003] These networks are very complex. They include many elements including capture and treatment units, reservoirs and dams, lifting units, meshes and interconnections, as well as pipes and connections.

[0004] Among these elements, pipelines constitute, in linear terms, the majority of water supply networks. These pipelines are very heterogeneous. Indeed, in the same territory, sections of new networks can coexist with others up to one or even two centuries old. This can lead to significant differences between pipelines, particularly in terms of constituent materials, installation techniques, renewal rates and maintenance procedures.

[0005] Furthermore, the operating conditions of these pipes can be harsh. Their internal pressure is generally between 3 and 20 bars, and the typical water flow speed can be up to 2 or even 4 m / s.

[0006] Pipes are therefore susceptible to deterioration. The causes of deterioration are numerous, including external impacts, for example during construction sites or due to the passage of vehicles, impacts linked to the operation of the water network, for example during the water cut-off and reconnection phases and in the event of significant pressure variations, internal abrasion caused by the presence of minerals in the transported water, corrosion and plant intrusion.

[0007] These degradations lead to recurring drinking water supply problems. In particular, it is estimated that 20 to 40% of water is lost between the collection point and the delivery point. To increase the efficiency of these pipes, they should be inspected to detect any degradation so that repairs can be carried out.

[0008] However, the documentation available on these pipelines is generally insufficient, especially in rural areas. It is therefore also necessary to be able to map them in order to carry out their maintenance.

[0009] However, the network must operate continuously. All operations creating downtime must be scheduled and limited in time and frequency. It is therefore difficult to implement sufficient human interventions, which will disrupt the operation of the water supply network, to carry out these mapping and inspection operations.

[0010] One solution is to explore these pipes from the inside. For this, there are conduit exploration robots. These robots aim to explore conduits, such as pipes in water supply networks, in order to gather information to map them, or even inspect them to detect possible deterioration. This exploration can also be carried out without there being any interruption in distribution by the network. These robots are therefore intended to be exposed to the conditions in which the pipes are used. In particular, they may find themselves under pressure and have to move with or against the flow of water,

[0011] In addition, common conduit diameters vary depending on their position in the network. Nominal diameters of 30 mm are generally used for individual connections, while nominal diameters for distribution conduits are generally between 150 and 500 millimeters (mm). It is therefore preferable for robots to be configured to adapt to a variation in the configuration of these conduits, in order to be able to explore the entire supply network.

[0012] In particular, document CN 107191740 A discloses a robot implementing step-by-step movement and comprising a first frame and a second frame, the first and second frames being relatively movable in translation, along the longitudinal axis of the robot. The first frame and the second frame are further provided with a support module. Each support module comprises lateral arms articulated according to a pantograph structure, actuated by a piston via a sliding plate, and each terminated by a support plate applicable to the wall of a conduit. Each lateral arm comprises a fixed rod and a sliding rod. The piston tightens or moves away, according to a translation movement parallel to the longitudinal axis of the robot, the sliding rod of the lateral arm relative to the fixed rod. The articulated arms are thus movable between a retracted position and a deployed position.

[0013] The use of articulated arms allows their length to be adjusted in extension, so as to engage the frame with a wall of a duct. The first or second frame can then be translated so as to allow the robot to progress.

[0014] Documents US 2013 / 104676 A1 and EP 0484701 A1 each describe a conduit exploration robot implementing step-by-step movement, in which the deployment of the support module is carried out by a sliding crank mechanism. By means of connecting rods, the rotation of a crank drives arms in translation perpendicular to the longitudinal axis of the robot.

[0015] Document CN 208417970 U describes a conduit exploration robot comprising support modules. Each support module comprises articulated arms formed of two rods mounted in rotation relative to the frame and connected by a connecting roller.

[0016] Document JP H0493188 A describes a conduit exploration robot whose support module comprises a rotating crank, having three arms. Each arm is connected by a pivot to a connecting rod. During rotation of the crank, the movement of each connecting rod is guided by a sliding lug in a rail extending along each connecting rod.

[0017] However, these support modules still have room for improvement in terms of size and strength. Furthermore, the extension range of the support module and / or the stability of the support on the duct wall still have room for improvement.

[0018] An object of the present invention is therefore to improve the support module of a conduit exploration robot. In particular, a non-limiting object of the present invention may be to improve the compactness of a conduit exploration robot. Another non-limiting object of the present invention may be to improve the support of the robot on the wall of a conduit.

[0019] Other objects, features, and advantages of the present invention will become apparent from the following description and accompanying drawings. It is understood that other advantages may be incorporated. SUMMARY

[0020] To achieve this objective, the invention provides a conduit exploration robot according to claim 1. The robot comprises a first frame and a second frame, the first frame and the second frame each comprising a support module provided with several articulated arms, each articulated arm comprising a support portion applicable to a wall of the conduit, the support portion being movable by a movement of an articulated arm, each support module being configured to alternately pass from a configuration of engagement of the support portion, to a configuration of disengagement of the support portion, each articulated arm being more deployed in said engagement configuration than in said disengagement configuration, each support module being configured so that the articulated arms are arranged in a plane perpendicular to a longitudinal axis of at least one of the first frame and the second frame,and such that the articulated arms are at least partly movable between said engagement configuration and said release configuration, according to a rotational movement, on at least one angular sector, around an axis parallel to the longitudinal axis of at least one of the first frame and the second frame.,

[0021] Thus, the rotational movement around the longitudinal axis of at least one of the first frame and the second frame allows deployment of the articulated arms in a plane perpendicular to the longitudinal axis of said frame, rather than in a plane including this longitudinal axis. Thus, the size associated with the support module is reduced, at least along this longitudinal axis. Good compactness of the robot can be obtained. The robot, of reduced length, can advantageously be more easily maneuverable in winding conduits. Alternatively advantageously, the support module according to these characteristics makes it possible to increase the capacity of the robot to carry devices, including for example sensors, for the same final size of the robot.

[0022] According to the invention, each articulated arm comprises a first rod and a second rod, the first rod being configured so as to be articulated in rotation with the second rod, in a direction parallel to the longitudinal axis of at least one of the first frame and the second frame, by at least one distal pivot and one proximal pivot. Thus, each articulated arm is movable alternately between a retracted position and a deployed position. In addition, the proximal pivot and the distal pivot reinforce the structure of the articulated arm. Good support stability is obtained when the support module is in the engagement configuration of the support portion. The support grip on the wall by the robot is consequently improved. In addition, the use of two pivot connections makes it possible to improve the compactness of the articulated arm in its retracted configuration, while increasing its elongation in its deployed configuration.

[0023] By aillerus, a conduit exploration robot is provided comprising a first frame and a second frame, the first frame and the second frame each comprising a support module provided with several articulated arms, each articulated arm comprising a support portion applicable to a wall of the conduit, the support portion being movable by a movement of an articulated arm, each support module being configured to alternately pass from a configuration of engagement of the support portion, to a configuration of disengagement of the support portion, each articulated arm being more deployed in said engagement configuration than in said disengagement configuration, each articulated arm comprising a first rod and a second rod, a distal end of the first rod being configured so as to be articulated in rotation with the one distal end of the second rod, in a direction parallel to the longitudinal axis of a frame,by at least one distal pivot, the distal end of the second rod forming the support portion of each articulated arm.,

[0024] The use of articulated arms according to these characteristics allows good support stability when the support module is in the engagement configuration of the support portion, compared to arms comprising only one rod to be deployed. In addition, the support portion of the support module makes it possible to obtain a limited contact surface with the wall of the duct, or even to obtain point contact, when the support module is in the engagement configuration of the support portion. The force exerted by the support portion on the wall of the duct is thus concentrated. The support module can also be less sensitive to irregularities in the wall of the duct. The support grip on the wall by the robot is consequently improved. BRIEF DESCRIPTION OF THE FIGURES

[0025] The aims, objects, as well as the characteristics and advantages of the invention will emerge more clearly from the detailed description of an embodiment thereof which is illustrated by the following accompanying drawings in which: There figure 1 represents an assembled and perspective view of the conduit exploration robot according to one embodiment of the invention. The figure 2 represents an assembled view and transverse to the longitudinal axis of the robot illustrated in figure 1 , in a configuration of engagement of the support portion. The figure 3 represents an assembled and perspective view of a part of the robot illustrated in figure 1 , comprising the support module in a configuration for releasing the support portion. The figure 4 represents an assembled and perspective view of a part of the robot illustrated in figure 1, comprising the support module according to another embodiment, in a configuration for releasing the support portion. The Figure 5 represents an assembled and perspective view of a part of the support module according to the embodiments illustrated in the Figures 3 and 4 . There figure 6 represents an assembled view, transverse to the longitudinal axis of the robot, of the part of the support module illustrated in Figure 5 . There figure 7 represents an assembled and perspective view of a detail of the part of the support module illustrated in Figure 5 . There figure 8 represents an assembled view and along the longitudinal axis of the robot of the detail illustrated in figure 7 .

[0026] The drawings are given by way of example and are not limiting of the invention. They constitute schematic representations of principle intended to facilitate the understanding of the invention and are not necessarily to the scale of practical applications. DETAILED DESCRIPTION

[0027] Before commencing a detailed review of embodiments of the invention, optional features which may possibly be used in combination or alternatively are set out below.

[0028] According to one example, a distal end of the first rod may be articulated with a distal end of the second rod by the distal pivot. The distal end of the first rod and the distal end of the second rod may further form the bearing portion of each articulated arm. The bearing portion formed by the ends of the first rod and the second rod makes it possible to obtain a limited contact surface with the wall of the duct, or even to obtain point contact, when the bearing module is in the engagement configuration of the bearing portion. The force exerted by the bearing portion on the wall of the duct is thus concentrated. The bearing module may also be less sensitive to irregularities in the wall of the duct. The bearing on the wall by the robot is thus further improved.

[0029] The first rod and the second rod each comprise a distal portion and a proximal portion, the distal portion and the proximal portion being rotatably articulated by an intermediate pivot, in a direction parallel to the longitudinal axis of at least one of the first frame and the second frame. The intermediate pivot is located between the distal pivot and the proximal pivot, along each of the first rod and second rod. The intermediate pivot makes it possible to maximize the compactness of the articulated arm in its retracted configuration, while maximizing its elongation in its deployed configuration, and to further strengthen the structure of the articulated arm.

[0030] According to one example, the support module may comprise a drive mechanism and a motor unit, the drive mechanism being configured to be driven by the motor unit, and to induce the rotational movement of at least a portion of each articulated arm when alternately passing from said engagement configuration to said disengagement configuration. The use of a motor unit to drive the drive mechanism makes it possible to further reduce the size of the support module, in particular compared to the use of a piston. The compactness of the robot can thus be improved.

[0031] Preferably, the drive mechanism may be configured to be driven by the motor unit, and induce the rotational movement of at least a portion of each articulated arm when alternately passing from said engagement configuration to said disengagement configuration, the rotational movement of at least a portion of each articulated arm being simultaneous between each articulated arm of the support module. Thus, when passing from the disengagement configuration to the engagement configuration of the support portion, the position and orientation in the conduit of one of the first frame and the second frame are retained.

[0032] According to one example, each articulated arm may comprise a first rod and a second rod, the first rod may be configured so as to be articulated in rotation with the second rod, in a direction parallel to the longitudinal axis of at least one of the first frame and the second frame, the drive mechanism may comprise a first crown, the first rod of each articulated arm may be mounted on the first crown so as to be free to rotate, over at least one angular sector, relative to the first crown, around an axis parallel to said longitudinal axis.

[0033] The first crown can further be configured so as to be driven in rotation, in a first direction of rotation, when passing from said disengagement configuration to said engagement configuration, and in a second direction, when passing from said engagement configuration to said disengagement configuration, the second direction of rotation being opposite to the first direction of rotation. Thus, at least one rod of the articulated arm can be driven in rotation, allowing the rotational movement of at least a portion of each articulated arm. In addition, the crown being driven in rotation by the motor unit, the size of the support module is further reduced, in particular along the longitudinal axis of the robot.

[0034] According to one example, the drive mechanism may further comprise a mechanical reducer, configured at least to induce rotation of the first ring gear.

[0035] According to this example, the engine block may comprise a pinion, and the reducer may comprise a first gear cooperating on the one hand with the pinion so as to be driven in rotation along an axis of rotation parallel to the longitudinal axis of the pinion, and on the other hand with the first crown.

[0036] According to one example, the drive mechanism may further comprise a second crown, the second rod being able to be mounted on the second crown so as to be free to rotate, over at least one angular sector, relative to the second crown, around an axis parallel to the longitudinal axis of at least one of the first frame and the second frame.

[0037] The second crown can be configured so as to be driven in the second direction of rotation, when passing from said disengagement configuration to said engagement configuration, and in the first direction, when passing from said engagement configuration to said disengagement configuration. Thus, the second rod can also be driven in rotation when passing alternately from the engagement configuration to the disengagement configuration. The movement of each articulated arm can thus be faster than when only one rod of each articulated arm is rotatable. In addition, the contacting of the support portion with the wall of the conduit is carried out radially. The support module can thus be less sensitive to irregularities in the wall of the conduit and better adapt to a variation in the pipe diameters. The support on the wall by the robot is further improved.

[0038] According to one example, the drive mechanism may comprise a mechanical reducer, and the reducer may comprise a first gear cooperating on the one hand with the pinion, so as to be driven in rotation about an axis of rotation parallel to the longitudinal axis of the pinion, and on the other hand with the first crown, the reducer may further comprise a second gear cooperating on the one hand with the first gear, so as to be driven in rotation about an axis of rotation parallel to the longitudinal axis of the pinion, and on the other hand with the second crown. Thus, the second crown may be driven in rotation in a direction opposite to the direction of rotation of the first crown, by the same motor unit. This makes it possible to avoid having to use a second motor unit for driving the second crown, which minimizes the size of the support module.Furthermore, the rotational movements of the first rod and the second rod can thus be synchronized, when alternately changing from the engagement configuration to the disengagement configuration.

[0039] In one example, the support module may include at least one assembly element configured to hold the drive mechanism assembled.

[0040] In one example, the drive mechanism includes a first ring gear and a second ring gear, the first ring gear and the second ring gear being disposed between a first platen and a second platen, the at least one assembly element may be mounted on the first platen and the second platen so as to maintain the drive mechanism assembled.

[0041] According to one example, the at least one assembly element may include a first fastening element mounted on the first plate, a second fastening element mounted on the second plate, and a panel mounted on the first fastening element and the second fastening element, the panel being configured not to be in direct contact with the first crown and the second crown.

[0042] According to one example, the first rod and the second rod may be respectively articulated with the first crown and the second crown by a connecting pivot along an axis parallel to the longitudinal axis of at least one of the first frame and the second frame, so as to allow a rotational movement, over at least one angular sector, of the first rod and the second rod, around the axis parallel to the longitudinal axis of the robot, relative to the at least one of the first frame and the second frame. According to this example, the articulation of the first rod and the second rod may be abutted on one of the plurality of stops at the end of travel of each articulated arm during the transition from said engagement configuration to said disengagement configuration.

[0043] According to one example, the motor unit may comprise a stepper motor or a stepper geared motor, and a code wheel. The code wheel may cooperate with the stepper motor or the stepper geared motor, so as to measure a degree of deployment of the articulated arms, when alternately passing from the disengagement configuration of the support portion to the engagement configuration of the support portion. The diameter of the pipeline may thus be measured by the robot using the support module, via the code wheel.

[0044] It is specified that in the context of the present invention, the term “support portion” designates a portion of the robot, and more particularly of a support module, intended to be supported on the wall of a conduit.

[0045] The longitudinal axis x of the robot corresponds to an axis passing through the centers of the first frame and the second frame, when the first frame and the second frame are aligned. Thus, the longitudinal axis x can equivalently designate the longitudinal axis of the robot and / or the longitudinal axis of the first frame, and / or the longitudinal axis of the second frame, when the first frame and the second frame are aligned. When the first frame and the second frame are not aligned, the longitudinal axis of the robot can be divided into two longitudinal axes x and x', the longitudinal axis x being the longitudinal axis of the first frame, and the longitudinal axis x' being the longitudinal axis of the second frame. In use, the longitudinal axis x can be oriented along a long dimension of the conduit to be explored.

[0046] When an axis is "parallel" to another axis or direction, this axis may be parallel to, or coincide with, the other axis or direction considered.

[0047] The "inner circumference" of a crown refers to its circumference arranged opposite the center of the crown, and therefore the circumference closest to this center, in a direction radial to the crown. The "outer circumference" of a crown refers to its circumference furthest from the center of the crown, in a direction radial to the crown.

[0048] The "outside diameter" of a pinion or gear means the diameter of a circle including the ends of the teeth of the pinion or gear.

[0049] A parameter "substantially equal / greater / less than" a given value means that this parameter is equal / greater / less than the given value, to within plus or minus 10%, or even plus or minus 5%, of this value.

[0050] The conduit exploration robot, according to an exemplary embodiment of the invention, is now described.

[0051] According to this embodiment, and as illustrated by the figure 1 , the robot 1 comprises a first frame 10 and a second frame 10'. The first frame 10 and the second frame 10' each comprise a support module 11. The support module 11 is configured to support at least one of the first frame 10 and the second frame 10' on a wall 20 of a conduit 2, by means of a support portion 1100 applicable to the wall 20. More particularly, the support module 11 can be configured to pass at least one of the first frame 10 and the second frame 10' alternately from a configuration of engagement of the support portion 1100, to a configuration of disengagement of the support portion 1100.

[0052] The robot 1 may further comprise a positioning system 12, connecting the first frame 10 and the second frame 10'. The positioning system may in particular be configured to allow the relative positioning of the first frame 10 and the second frame 10'.

[0053] The robot 1 can implement a step-by-step type movement, the kinematics of which are now described for a forward movement of the robot 1, along the longitudinal axis of the conduit 2. According to this embodiment, in order to allow the robot 1 to progress forward, the movement kinematics can be described in two main phases: a deployment phase and a retraction phase.

[0054] During the deployment phase, the support module 11 of the second frame 10' is in the engagement configuration of the support portion 1100. The second frame 10' is therefore fixed relative to the conduit 2. The support module 11 of the first frame 10 is furthermore in the release configuration of the support portion 1100. The positioning system 12 can be actuated so as to position the first frame 10 relative to the second frame 10'. For example, the first frame 10 is distant from the second frame 10' along the longitudinal axis of the conduit 2, coincident with the longitudinal axis x of the robot 1 in the figure 1 . When the first frame 10 is thus positioned, the second frame 10' still being in the engagement configuration of the support portion 1100, the support module 11 of the first frame 10 can be moved into the engagement configuration. The first frame 10 is thus fixed relative to the conduit 2.

[0055] During the retraction phase, the module 11 of the second frame 10' can be moved into the release configuration. The positioning system 12 can be actuated so as to position the second frame 10' relative to the first frame 10. For example, the second frame 10' is brought closer to the first frame 10 along the longitudinal axis of the conduit 2. When the second frame 10' is thus positioned, the first frame 10 still being in the engagement configuration of the support portion 1100, the support module 11 of the second frame 10' can be moved into the engagement configuration. The second frame 10' is thus fixed relative to the conduit 2.

[0056] These deployment and retraction phases can follow one another to allow the robot to progress. Note that depending on which frame among the first frame 10 and the second frame 10' is in the clearance configuration at the start of the movement, the movement of the robot 1 can be carried out along the longitudinal axis of the robot 1, and more particularly along the longitudinal axis of the duct, in forward or reverse motion. The robot 1 can thus explore a network of ducts, for example it can go back when it encounters a dead end. The robot 1 can also return to its starting point, for example the point of introduction of the robot 1 into the duct 2, to be recovered. Thus, an exploration of the pipes can be carried out even when the number of access points to these pipes is limited.

[0057] In the remainder of the description, the support module 11 of the first frame 10 is described. It is understood that the characteristics described are also applicable to the support module 11 of the second frame 10'. In the remainder, the engagement configuration of the support portion 1100 is designated as "engagement configuration", and the release configuration of the support portion 1100 as "disengagement configuration".

[0058] In order for the first frame 10 to be alternately passed from the engagement configuration to the disengagement configuration, the support module 11 is provided with several articulated arms 110, each articulated arm 110 comprising the support portion 1100. The support portion 1100 can further be moved by a movement of an articulated arm 110. In the engagement configuration, each articulated arm 110 is more deployed than in the disengagement configuration. In the engagement configuration, each articulated arm 110 can be deployed so that the support portion 1100 is supported on the wall 20 of the duct 2.

[0059] More particularly, the support module 11 comprises several articulated arms arranged in a plane perpendicular to the longitudinal axis x of the first frame 10. Each articulated arm 110 is at least partly movable between the engagement configuration and the disengagement configuration, according to a rotational movement, on at least one angular sector, around an axis parallel to the longitudinal axis x of the first frame 10. Each articulated arm 110 is thus deployable in a main direction perpendicular to the longitudinal axis of the first frame 10, between a retracted position, for example illustrated by the Figures 3 and 4 , and a less partially deployed position, for example illustrated by the figure 2, in which each articulated arm 110 is deployed so as to place the support portion 1100 in support on the wall 20 of the conduit 2. According to the example illustrated in the figures, each support module 11 comprises three articulated arms arranged radially relative to the frame, equidistant from each other. It will be seen that the mobility of the arms is advantageously synchronous.

[0060] The structure of the articulated arms is now described with reference to the figures 2 And 3. In order for each articulated arm 110 to be at least partly movable, alternately between a retracted position and an at least partially deployed position, each articulated arm 110 comprises a first rod 1101 and a second rod 1102. The first rod 1101 is configured so as to be articulated in rotation with the second rod 1102, by a distal pivot 1103 and a proximal pivot 1104. In general, an articulation forms a connecting junction between several elements, allowing their relative mobility. Each pivot forms an articulation joining the elements that it articulates in rotation. The distal pivot 1103 and the proximal pivot 1104 each allow the relative rotation of the first rod 1101 and the second rod 1102 around an axis parallel to the longitudinal axis of the first frame 10.More particularly, the first rod 1101 and the second rod 1102 each comprise a distal portion 1101b, 1102b and a proximal portion 1101c, 1102c. The distal portion 1101b, 1102b and the proximal portion 1101c, 1102c of each of the first rod 1101 and second rod 1102 are articulated in rotation by an intermediate pivot 1105, around an axis parallel to the longitudinal axis of the first frame 10. The intermediate pivot 1105 is located between the distal pivot 1103 and the proximal pivot 1104, along each of the first rod 1101 and second rod 1102.

[0061] As illustrated in figure 3, the first rod 1101 and the second rod 1102 of each articulated arm 110 may further be articulated so as to overlap, at least when the articulated arm 110 is in its retracted position. For this, the proximal portion 1101c of the first rod 1101 and the distal portion 1102b of the second rod 1102 may be arranged in the same first plane, and the proximal portion 1102c of the second rod 1002 and the distal portion 1101b of the first rod 1101 may be arranged in the same second plane different from the first plane. Thus, the compactness of the articulated arm 110 is improved, at least in its retracted position.

[0062] Furthermore, each articulated arm 110 can be configured so as to establish limited, or even point, surface contact with the wall 20 of the conduit 2. For this, and as illustrated in figure 2, the distal portion 1101b of the first rod 1101 and the distal portion 1102b of the second rod 1102 can be articulated at their distal end 1101a, 1102a by the distal pivot 1103.

[0063] In order to allow the movement of each articulated arm 110 alternately between a retracted position and an at least partially deployed position, the support module 11 may comprise a drive mechanism 111. This drive mechanism 111 may be driven by a motor unit 112, comprising a motor 1122, as illustrated in figure 3 , or a geared motor 1122, as illustrated in figure 4 The motor unit 112 may further comprise a transmission shaft 1120 capable of transmitting the rotational movement of the motor or geared motor 1122 to the drive mechanism 111. As illustrated in Figure 5 , the transmission shaft 1120 can be arranged along the longitudinal axis of the first frame 10.

[0064] As illustrated by the figures 5 to 8 , the drive mechanism 11 may comprise a first crown 1110 and a second crown 1111. The first rod 1101 and the second rod 1102 of each articulated arm 110 may respectively be mounted freely rotatable on the first crown 1110 and the second crown 1111. The first crown 1110 may be configured so as to be driven in rotation, in a first direction of rotation S1, when changing from the disengagement configuration to the engagement configuration, and in a second direction S2, when changing from the engagement configuration to the disengagement configuration, the second direction of rotation S2 being opposite to the first direction of rotation S1, for example as illustrated in Figure 5The second crown can be configured so as to be driven in the second direction of rotation S2, when passing from the disengagement configuration to the engagement configuration, and in the first direction S1, when passing from the engagement configuration to the disengagement configuration. Since the first rod 1101 and the second rod 1102 of each articulated arm 110 can respectively be mounted freely in rotation on the first crown 1110 and the second crown 1111, and since the first rod 1101 can be configured so as to be articulated in rotation with the second rod 1102, by a distal pivot 1103 and a proximal pivot 1104, it is understood that the rotational movement of each of the first crown 1110 and second crown 1111, involves a modification of the angular position of the first rod 1101 and the second rod 1102.Thus, the articulated arm 110 can alternately move from a retracted position to an at least partially deployed position.

[0065] For this, and as illustrated in the Figures 3 and 4, the first crown 1110 comprises an outer periphery 1110a, on which is mounted the proximal portion 1101c of the first rod 1101 of each articulated arm 110, preferably by its proximal end 1101d. Each first rod 1101 of the articulated arms 110 being mounted on the first crown 1110, it is understood that, in a support module 11, the movements of each first rod 1101 of the articulated arms 110 are simultaneous. The outer circumference 1110a may more particularly comprise an articulation, and more particularly a connecting pivot 1110b, making it possible to secure this proximal end 1101d relative to the first crown 1110, while allowing the rotation of the proximal portion 1101c of the first rod 1101 around an axis parallel to the longitudinal axis x of the first frame 10.

[0066] In addition, and as illustrated in the Figures 3 and 4, the second crown 1111 may comprise an outer periphery 1111a, on which the proximal portion 1102c of the second rod 1102 is mounted, preferably by its proximal end 1102d. Each second rod 1102 of the articulated arms 110 being mounted on the second crown 1111, it is understood that, in a support module 11, the movements of each second rod 1102 of the articulated arms 110 are simultaneous. The outer periphery 1111a may more particularly comprise an articulation, and more particularly a connecting pivot 1111b, making it possible to secure this proximal end 1102d relative to the second crown 1111, while allowing the rotation of the proximal portion 1102c of the second rod 1102 around an axis parallel to the longitudinal axis x of the first frame 10.

[0067] Furthermore, the outer peripheries 1110a, 1111a of the first crown 1110 and of the second crown 1111 may be juxtaposed and aligned along the longitudinal axis of the first frame 10.

[0068] The support module 11 may comprise two plates 114 between which the drive mechanism 111 is mounted. The two plates 114 may be arranged on either side of the assembly formed by the first ring 1110 and the second ring 1111, as illustrated in figure 3 .

[0069] In order to maintain the two plates 114 and the assembly formed by the first ring 1110 and the second ring 1111, the support module may comprise at least one assembly element 113. Preferably, a plurality of assembly elements may be arranged around the outer peripheries 1110a, 1111a of the first ring 1110 and the second ring 1111. Each of the assembly elements 113 may be fixed to each plate 114 by a fixing element 1130. Thus, for each assembly element 113, two fixing elements 1130 may be arranged facing each other in a direction parallel to the longitudinal axis of the first frame 10. Each fixing element 1130 may comprise an opening 1130a, radial to the first ring 1110 and to the second ring 1111.A panel 1131 can be inserted into the opening 1130a of the two fixing elements 1130 arranged opposite each other, so that the panel 1131 is transverse to the outer peripheries 1110a, 1111a of the first ring 1110 and the second ring 1111.

[0070] The panel 1131 may further be configured so as not to be in direct contact with the first ring 1110 and the second ring 1111. For this purpose, the proximal longitudinal edge of the panel 1131 may comprise a recess. Alternatively, a ball bearing may be arranged between the panel 1131 and the assembly formed by the first ring 1110 and the second ring 1111. Thus, the rotation of the first ring 1110 and the second ring 1111 around the longitudinal axis x of the first frame 10 induces little, if any, friction on the panel 1131. The two plates 114 and the assembly formed by the first ring 1110 and the second ring 1111 may be maintained even during operation of the drive mechanism 111.

[0071] Advantageously, the assembly made by the first crown 1110 and the second crown 1111 and the plates 114 can define a watertight interior volume within which the mobilities of the gears occur. It will be noted that the articulated arms 110 are only mounted on the first crown 1110 and the second crown 1111 from the outside, avoiding any sealing difficulty at this level. Alternatively or additionally, the assembly made by the motor unit 112 on a plate 114 can define a watertight interior volume, in order to ensure proper operation of the motor unit 112.

[0072] The support module 11 may further comprise a plurality of stops configured to stop the drive mechanism 111, so as to stop the rotational movement of each articulated arm 110, at the end of travel of each articulated arm 110, when changing from the engagement configuration to the disengagement configuration. Thus, the stop makes it possible to prevent the rotation of at least one part of each articulated arm beyond the end of travel, i.e. when each articulated arm is in a retracted position. The risk of damaging the articulated arms by actuating them beyond their retracted position is thus limited, or even avoided. For example, the assembly element 113 may further act as a stop.

[0073] For this, a plurality of stops can be arranged around the outer peripheries 1110a, 1111a of the first crown 1110 and the second crown 1111. For example, and as illustrated in the Figures 3 and 4, three stops 113 can be arranged so as to stop the rotation of the first crown 1110 and the second crown 1111 by putting the connecting pivots 1110b, 1111b connecting the three articulated arms 110 into abutment, when each articulated arm 110 is in its retracted position. For this, each of the stops 113 can be fixed to each plate 114 by a fixing element 1130. Thus for each stop 113, two fixing elements 1130 can be arranged opposite each other in a direction parallel to the longitudinal axis of the first frame. Each fixing element 1130 may comprise an opening 1130a, radial to the first ring 1110 and to the second ring 1111. A panel 1131 may be inserted into the opening 1130a of the two fixing elements 1130 arranged opposite each other, so that the panel 1131 is transverse to the outer peripheries 1110a, 1111a of the first ring 1110 and of the second ring 1111. Thus, according to the example illustrated in figure 3, the connecting pivots 1110b, 1111b connecting the three articulated arms 110, can be put into abutment on the panel 1131, when each articulated arm 110 is in its retracted position.

[0074] In order for the first ring 1110 and the second ring 1111 to be driven in rotation and induce the movement of the articulated arms 110, the first ring 1110 and the second ring may each comprise an inner circumference 1110c, 1111c. As illustrated in Figure 5, this inner circumference 1110c, 1111c may have teeth, so as to be able to be driven in rotation around the longitudinal axis of the first frame 10, during a rotation of the transmission shaft 1120 of the engine block 112. The drive mechanism may further comprise a mechanical reducer 1112, making it possible to couple the transmission shaft 1120 and each of the inner circumferences 1110c, 1111c of the first crown 1110 and of the second crown 1111. This mechanical reducer 1112 may more particularly be configured to drive the rotation of the first crown 1110 and the rotation of the second crown 1111 in opposite directions of rotation.

[0075] For this, the transmission shaft 1120 is secured to a pinion 1121 having an external diameter D1, as illustrated in figure 6. Thus, the transmission shaft 1120 drives the pinion 1121 in rotation along the longitudinal axis of the first frame 10. For example, when changing from the disengagement configuration to the engagement configuration, the central pinion 1121 is driven in rotation by the transmission shaft 1120, in the first direction S1, as illustrated in Figure 5 .

[0076] The mechanical reducer 1112 may comprise a first gear 1112a, the external diameter D2 of which is greater than the external diameter D1 of the pinion 1121, and cooperating with the pinion 1121, as illustrated in figure 6. The first gear can further cooperate with the inner periphery 1110c of the first crown 1110. For example, when changing from the disengagement configuration to the engagement configuration, the first gear 1112a is rotated about an axis parallel to the longitudinal axis of the first frame 10, in the first direction S1. The first crown 1110 is then rotated in the first direction S1, allowing the deployment of the articulated arms 110, as illustrated in Figure 5 . Preferably, the mechanical reducer 1112 comprises a first pair of gears 1112a, arranged on either side of the pinion 1121 in a plane perpendicular to the longitudinal axis x of the first frame 10. The use of a first pair of gears 1112a makes it possible in particular to improve the solidity of the drive mechanism 111 by ensuring good alignment between the transmission shaft 1120 and the first crown 1110.

[0077] The mechanical reducer 1112 may comprise a second gear 1112b, cooperating with the first gear 1112a without cooperating with the pinion 1121, as illustrated by the figures 6 And 7 . For example, when changing from the disengagement configuration to the engagement configuration, the first gear 1112a being driven in rotation about an axis parallel to the longitudinal axis of the first frame 10, in the direction S1, the second gear 1112b can be driven in rotation about an axis parallel to the longitudinal axis of the first frame 10, in the second direction S2. The second gear 1112b further cooperates with the inner periphery 1111c of the second crown 1111, thus inducing its rotation about the longitudinal axis x of the first frame 10, in the second direction S2, as illustrated in Figure 5 .

[0078] Furthermore, the external diameter D3 of the second gear 1112b may be substantially equal to the external diameter D2 of the first gear 1112a, as illustrated in figure 6 The diameter of the inner circumference 1110c of the first crown 1110 may be substantially equal to the diameter of the inner circumference 1111c of the second crown 1111. Thus, the rotational movements of the first rod 1101 and the second rod 1102 of each articulated arm 110 are synchronized.

[0079] As illustrated by the figures 7 and 8, the transmission shaft 1120, the first gear 1112a and the second gear 1112b may extend between the two plates 114 of the support module 11, each in a direction parallel to the longitudinal axis x of the first frame 10. The transmission shaft 1120, the first gear 1112a and the second gear 1112b may be mounted by inserting into openings 140 on each of the plates 140. The first gear 1112a and the second gear 1112b may each comprise a smooth portion 1112c and a toothed portion 1112d.

[0080] As illustrated more particularly in figure 8, three spaces E1, E2, and E3 can be described, these spaces being perpendicular to the longitudinal axis x of the first frame 10. A first space E1 can comprise the inner periphery 1110c of the first crown 1110, a part of the toothed portion 1112d of the first gear 1112a, at least a part of the smooth portion 1112c of the second gear 1112b, as well as the pinion 1121, so as to allow the rotational driving of the first crown 1110 in one of the first direction S1 and the second direction S2, without rotating the second crown 1111 in the same direction.

[0081] A second space E2 may comprise a portion of the toothed portion 1112d of the first gear 1112a and a portion of the toothed portion 1112d of the second gear 1112b. Thus, a rotation of the first gear 1112a in one of the first direction S1 and the second direction S2 may cause the second gear 1112b to rotate in the other of the first direction S1 and the second direction S2. A third space E3 may comprise the inner periphery 1111c of the second crown 1111, a portion of the toothed portion 1112d of the second gear 1112b, at least a portion of the smooth portion 1112c of the first gear 1112a, so as to allow the second crown 1111 to be driven in rotation in the other of the first direction S1 and the second direction S2.

[0082] The support module 11 may further comprise a measuring device configured to measure the amplitude of the movement of the articulated arms 110, when alternately passing from the engagement configuration to the disengagement configuration. When the amplitude of the movement of the articulated arms 110 is measured when passing from the disengagement configuration to the engagement configuration, the amplitude being able to be measured when passing from the engagement configuration to the disengagement configuration, the robot may be configured to stop the motor unit 112 when the articulated arms 1130 are in their retracted position. Therefore, it is understood that it is not necessary to use a stop. For example, the motor unit 112 may comprise a code wheel 1123, as illustrated in figure 3, and configured to cooperate with the motor 1122 or the geared motor 1122. The motor 1122 or the geared motor 1122 is therefore preferably a stepping motor or geared motor.

[0083] Each support module can further be equipped with distance sensors, not shown in the drawings. These distance sensors can more particularly be configured to measure the distance between the first frame 10 and the wall 20 of the conduit 2. Thus, these sensors allow the machine to know its position in the conduit 2. From this position, it is possible to determine the amplitude of movement of the articulated arms 1130 allowing the support module 11 to pass into its configuration for engaging the support portion 1100. This amplitude can be measured by the encoder wheel 1123, the robot 1 can be configured to stop the motor unit 112 when the articulated arms 130 are deployed over this amplitude.

[0084] Furthermore, the articulated arms 110 may comprise a stop detection device, not shown in the drawings. More particularly, the bearing portion 1100 of at least one articulated arm 110 of each bearing module 11 may be provided with this stop detection device, so as to detect the bearing of the bearing portion 1100 on the wall 20 of the conduit 2. For this, the stop detection device may comprise a steel ball, applicable on the wall 20, secured to an internal spring. The internal spring is preferably arranged in the main direction of deployment of the at least one articulated arm 110. The bearing of the bearing portion 1100 may trigger a movement of the ball by compression of the spring. This movement may be measured by a sensor.This measurement can then be transmitted to a control system, for example to stop the engine block 112 when transitioning from a disengagement configuration to an engagement configuration.

[0085] According to one example, at least one, and preferably each of the articulated arms 110 may comprise a support element for the arm 110 on the wall 20, not shown in the drawings. This support element may more particularly be arranged at the distal end of the articulated arms 110, at the level of the support portion 1100. The support element may comprise at least one, and preferably two extensions based on a deformable material in contact with the wall 20, in the engagement configuration of the support portion 1100. Thus, the stabilization of the robot 1 by the support module 11 is improved. In addition, the support element thus makes it possible to compensate for a lack of ovalization of the pipe 2, as is typically the case for pipes under traffic lanes, subject to significant vibrations which can cause their deformation, for example under roads and highways.Each extension of the support element can extend, from the distal pivot 1103, in a direction parallel to the longitudinal axis x of the robot 1. The thickness of the support element can typically be a few mm, for example substantially 3 mm.

[0086] The invention is not limited to the embodiments previously described and extends to all embodiments covered by the claims.

[0087] For example, it can be provided that the support module 11 comprises more than three articulated arms, for example four or six. LIST OF REFERENCES

[0088] 1.Robot 10.First frame 10'.Second frame 100, 100'.Opening 11.Support module 110.Articulated arm 1100.Support portion 1101.First rod 1101a.Distal end 1101b.Distal portion 1101c.Proximal portion 1101d.Proximal end 1102.Second rod 1102a.Distal end 1102b.Distal portion 1102c.Proximal portion 1102d.Proximal end 1103.Distal pivot 1104.Proximal pivot 1105.Intermediate pivot 111.Drive mechanism 1110.First ring 1110a.Outer rim 1110b.Connecting pivot 1110c.Inner circumference 1111.Second crown 1111a.Outer circumference 1111b.Connecting pivot 1111c.Inner circumference 1111b.Connecting pivot 1112.Mechanical reducer 1112a.First gear D2.Outer diameter of the first gear 1112b.Second gear D3.Outer diameter of the second gear 1112c.Smooth portion 1112d.Toothed portion 112.Motor block 1120.Transmission shaft 1121.Pinion D1.Outer diameter of the pinion 1122.Motor or geared motor 1123.Encoder wheel 113.Assembly element 1130. Fixing element 1130a. Opening 1131. Panel 114. Holding plate 1140. Hole 12. Positioning system 2. Conduit 20. Wall E1. First space E2. Second space E3. Third space.

Claims

1. A robot (1) for exploring a pipe (2) comprising a first frame (10) and a second frame (10'), the first frame (10) and the second frame (10') each comprising a bearing module (11) provided with several hinged arms (110), each hinged arm (110) comprising a bearing portion (1100) applicable to a wall (20) of the pipe (2), the bearing portion (1100) being displaceable by a movement of a hinged arm (110), each bearing module (11) is configured to alternately switch from a configuration of engagement of the bearing portion (1100) to a configuration of disengagement of the bearing portion (1100), each hinged arm (110) being more deployed in said engagement configuration than in said disengagement configuration, each bearing module (11) is further configured such that the hinged arms (110) are disposed in a plane perpendicular to a longitudinal axis (x) of at least one of the first frame (10) and the second frame (10'), and such that the hinged arms (110) are at least partially movable between said engagement configuration and said disengagement configuration, according to a rotational movement, on at least one angular sector, about an axis parallel to the longitudinal axis (x) of at least one of the first frame (10) and the second frame (10'), each hinged arm (110) comprises a first rod (1101) and a second rod (1102), the first rod (1101) being configured so as to be hinged in rotation with the second rod (1102), in a direction parallel to the longitudinal axis of the at least one of the first frame (10) and the second frame (10') by at least one distal pivot (1103) and one proximal pivot (1104), the robot being characterised in that the first rod (1101) and the second rod (1102) each comprise a distal portion (1101b, 1102b) and a proximal portion (1101c, 1102c), the distal portion (1101b, 1102b) and the proximal portion (1101c, 1102c) being hinged in rotation by an intermediate pivot (1105), in a direction parallel to the longitudinal axis of the at least one of the first frame (10) and the second frame (10'), the intermediate pivot (1105) being located between the distal pivot (1103) and the proximal pivot (1104), along each of the first rod (1101) and second rod (1102).

2. The robot (1) according to the preceding claim, wherein a distal end (1101a) of the first rod (1101) is hinged with a distal end (1102a) of the second rod (1102) by the distal pivot (1103), the distal end (1101a) of the first rod (1101) and the distal end (1102a) of the second rod (1102) forming the bearing portion (1200) of each hinged arm (110) .

3. The robot (1) according to any one of the preceding claims, wherein the bearing module (11) comprises a drive mechanism (111) and a motor unit (112), the drive mechanism (111) being configured so as to be driven by the motor unit (112), and to induce the rotational movement of at least one portion of each hinged arm (110) when alternately switching from said engagement configuration to said disengagement configuration.

4. The robot (1) according to the preceding claim, wherein the drive mechanism (111) comprises a first ring gear (1110), the first rod (1101) of each hinged arm (110) being mounted on the first ring gear (1110) so as to be free to rotate, on at least one angular sector, relative to the first ring gear, about an axis parallel to said longitudinal axis (x), the first ring gear (1110) being further configured so as to be driven in rotation, in a first direction of rotation (S1), when switching from said disengagement configuration to said engagement configuration, and in a second direction (S2), when switching from said engagement configuration to said disengagement configuration, the second direction of rotation (S2) being opposite to the first direction of rotation (S1).

5. The robot (1) according to the preceding claim, wherein the drive mechanism (111) further comprises a mechanical reducer (1112), configured at least so as to induce a rotation of the first ring gear (1110).

6. The robot (1) according to the preceding claim, wherein the motor unit (112) comprises a pinion (1121), and the reducer (1112) comprises a first gear (1112a) cooperating, on the one hand, with the pinion (1121) so as to be driven in rotation along an axis of rotation parallel to the longitudinal axis of the pinion (1121) and, on the other hand, with the first ring gear (1110).

7. The robot (1) according to any one of claims 4 to 6, wherein the drive mechanism (111) comprises a second ring gear (1111), the second rod (1102) being mounted on the second ring gear (1111) so as to be free to rotate, on at least one angular sector, relative to the second ring gear (1111), about an axis parallel to the longitudinal axis of the at least one of the first frame (10) and the second frame (10'), the second ring gear (1111) being configured so as to be driven in the second direction of rotation (S2), when switching from said disengagement configuration to said engagement configuration, and in the first direction (S1), when switching from said engagement configuration to said disengagement configuration.

8. The robot (1) according to the preceding claim, wherein, the drive mechanism (111) comprising a mechanical reducer (1112), the reducer (1112) comprising a first gear (1112a) cooperating, on the one hand, with the pinion (1121), so as to be driven in rotation along an axis of rotation parallel to the longitudinal axis of the pinion (1121) and, on the other hand, with the first ring gear (1110), the reducer (1112) further comprises a second gear (1112b) cooperating, on the one hand, with the first gear (1112a), so as to be driven in rotation along an axis of rotation parallel to the longitudinal axis of the pinion (1121) and, on the other hand, with the second ring gear (1111).

9. The robot (1) according to any one of claims 3 to 8, wherein the bearing module (11) comprises at least one assembly element (113) configured to maintain the drive mechanism (111) assembled.

10. The robot (1) according to the preceding claim, wherein, the drive mechanism (111) comprising a first ring gear (1110) and a second ring gear (1111), the first ring gear (1110) and the second ring gear (1111) being disposed between a first plate (114) and a second plate (114), the at least one assembly element (113) is mounted on the first plate (114) and the second plate (114) so as to maintain the drive mechanism (111) assembled.

11. The robot (1) according to the preceding claim, wherein the at least one assembly element (113) comprises a first fastening element (1130) mounted on the first plate (114), a second fastening element (1130) mounted on the second plate (114), and a panel (1131) mounted on the first fastening element (1130) and the second fastening element (1130), the panel (1131) being configured so as not to be in direct contact with the first ring gear (1110) and the second ring gear (1111).

12. The robot (1) according to any one of claims 3 to 11, wherein the motor unit (112) comprises a stepper motor (1122) or a stepper geared motor (1122), and an encoder wheel (1123), the encoder wheel (1123) cooperating with the stepper motor (1122) or the stepper geared motor (1122), so as to measure a degree of deployment of the hinged arms (110), when alternately switching from the disengagement configuration of the bearing portion (1100) to the engagement configuration of the bearing portion (1100) .

13. The robot according to any one of the preceding claims, wherein each distal and proximal pivot (1103, 1104) forms a hinge joining the first rod (1101) and the second rod (1102) which each distal and proximal pivot (1103, 1104) hinges in rotation.