Pipeline intervention robot and associated method

Abstract

Robot for intervention in a pipeline and associated method The robot comprises an elongated body along a longitudinal axis (A-A'), the elongated body comprising: • at least one propulsion module (22), configured to move the robot in two opposite directions (D1, D2) along the longitudinal axis (A-A'); • at least one intervention module, comprising at least one sensor and / or at least one tool. The propulsion module (22) is also configured to move the elongated body in rotation around the longitudinal axis (A-A') in the pipeline. Figure for abstract: figure 4

Description

Title of the invention: Robot for intervention in a pipeline and associated method

[0001] The present invention relates to a robot for intervention in a pipeline, comprising:

[0002] - an elongated body along a longitudinal axis, the elongated body comprising:

[0003] • at least one propulsion module, configured to move the robot in two di opposite sections along the longitudinal axis;

[0004] • at least one intervention module, comprising at least one sensor and / or least one tool.

[0005] Such a robot is used in particular to carry out interventions in pipes, for example pipes of a water network, by limiting the extent of the work necessary to access the pipe. These interventions are, for example, the installation of a shutter at a connection, the perforation of a wall, the installation of sockets or even inspection / control of the internal wall of the pipe.

[0006] To carry out such interventions while minimizing the work, the robot must access the intervention zone by moving inside the pipe while being remotely operated.

[0007] Given the variety of pipes existing in a network, the robot must move in linear or curved pipes of different diameters and adapt to different inclinations of the pipe.

[0008] We know of intervention robots (for example marketed by the company BATTAKARST) which can move in a pipe to carry out an intervention there.

[0009] Once the robot is introduced into the pipe, it moves in two opposite directions along a longitudinal axis of the pipe using tracks arranged to rest on the internal surface of the pipe. The tracks are each driven by a motor.

[0010] The friction between the tracks and the internal surface of the pipe allows the robot to move regardless of the inclination of the pipe, including vertically. The robot is configured to cross bends present in the pipe. It is equipped with an intervention module adapted according to the operation to be carried out, mounted on a rotating arm at the front of the robot.

[0011] Such a robot adapts to different pipe diameters within a defined diameter range. For this, the arms carrying the tracks are deployable to apply to the internal surface of the pipe.

[0012] However, such a robot is not entirely satisfactory. Thus, each propulsion module comprising the tracks and the rotating arm of the intervention module are bulky. This limits the use of the robot in pipes with small diameters, in particular for diameters equal to 100 mm, or in particular between 100 mm and 300 mm.

[0013] An aim of the invention is to propose a robot for intervention in a pipe, which can intervene in particular in pipes of small diameters, regardless of the angular orientation of the intervention zone around the axis of the pipe.

[0014] For this purpose, the invention relates to a robot as defined above, characterized in that the propulsion module is also configured to move the elongated body in rotation around the longitudinal axis in the pipe.

[0015] The intervention robot according to the invention may comprise one or more of the following characteristics, taken in isolation or in any technically possible combination:

[0016] - the propulsion module is configured to move the elongated body in rotation around the longitudinal axis in the pipe without longitudinal displacement of the elongated body along the longitudinal axis;

[0017] - the or each propulsion module comprises two opposing wheel sets, each wheel train comprising:

[0018] * a rotatable member about the longitudinal axis; and

[0019] * at least one wheel mounted rotatably around an axis oblique to the long axis gitudinal, carried by the rotating organ;

[0020] - each wheel set comprises a deployment mechanism, suitable for deploying the or each wheel relative to the rotatable member between a retracted position close to the elongated body and a deployed position intended to bear against an interior surface of the conduit;

[0021] - the deployment mechanism comprises a biasing element of the or each wheel to the deployed position;

[0022] - the propulsion module comprises at least one drive motor having a rotating shaft, the rotating member provided with teeth, the rotating shaft being meshed with the rotating member;

[0023] - the propulsion module comprises a drive motor for each member rotary, each drive motor comprising a rotary shaft engaged on the respective rotary member, the rotary shafts being positioned parallel to the longitudinal axis, advantageously in opposite directions;

[0024] the propulsion module comprises a control unit, suitable for controlling the or each motor between:

[0025] * a first configuration of movement of the robot in a first direction the along the longitudinal axis, in which one of the wheel sets is rotated in a first direction, the other of the wheel sets being rotated in a second direction opposite to the first direction;

[0026] * a second configuration of movement of the robot along the longitudinal axis in a second direction opposite to the first direction, in which one of the wheel sets is rotated in the second direction, the other of the wheel sets being rotated in the first direction opposite to the first direction;

[0027] * a configuration for driving the robot in rotation around the longitudinal axis, in which the two sets of wheels are rotated in the same direction;

[0028] - the elongated body comprises at least one support module;

[0029] - the support module comprises at least one pad deployable between a position contracted towards the elongated body and an expanded position intended to be applied against an interior surface of the conduit;

[0030] - the elongated body comprises at least one blocking module, capable of blocking and center the robot longitudinally in the pipe;

[0031] - the blocking module comprises at least one support wedge deployable from a contracted position for deactivating the lock and a deployed position for activating the lock and a mechanism for deploying and maintaining the wedge in the deployed position for activating the lock;

[0032] - it includes a battery and / or an electrically connected power supply cable strictly to the or each propulsion module.

[0033] The invention also relates to a method of intervention in a pipe, comprising the following steps:

[0034] - insertion of a robot as defined above, into the pipe;

[0035] - deployment of the or each wheel against an interior surface of the pipe;

[0036] - longitudinal movement of the robot along the longitudinal axis in the pipe in a first direction towards an intervention zone;

[0037] - activation of the intervention module in the intervention zone;

[0038] - longitudinal movement of the robot along the longitudinal axis in the pipe, in a second direction opposite to the first direction;

[0039] - robot exit from the pipe.

[0040] The method according to the invention may comprise the following characteristic:

[0041] - the robot performs a rotation around the longitudinal axis without displacement in translation along the longitudinal axis to position itself opposite the intervention zone.

[0042] The invention will be better understood on reading the following description, given solely as a non-limiting example, and made with reference to the appended drawings in which:

[0043] - [Fig.l] is a schematic view in partial section of an intervention robot according to the invention during an intervention in a pipeline;

[0044] - [Fig.2] is a side view of a propulsion module of the robot of [Fig.l];

[0045] - [Fig.3] is a schematic view, taken in section along a longitudinal plane median, of the propulsion module of [Fig.2];

[0046] - [Fig.4] is a perspective view of two propulsion modules (a) in a translational displacement configuration in a first direction, (b) in a translational displacement configuration in a second direction opposite to the first direction and (c) in a rotational displacement configuration about a longitudinal axis;

[0047] - [Fig.5] is an end view of the propulsion module of [Fig.2];

[0048] - [Fig.6] is an end view of a support module of the robot of [Fig.l];

[0049] - [Fig.7] is an end view of a blocking module of the robot of [Fig.l].

[0050] With reference to [Fig.l], an intervention robot 10 according to the invention is intended to carry out an intervention in a pipe 12, for example a pipe of a water network. The intervention consists for example of the installation of a shutter at a connection 14, the perforation of a wall or the installation of a socket. Alternatively or in addition, the intervention robot 10 is intended to carry out an inspection / control of the interior of the pipe 12, in particular of the internal wall of the pipe 12.

[0051] The water network is for example a drinking water distribution network. Alternatively, the water network is a wastewater recovery network. It advantageously has pipes 12 of variable diameters and inclinations, linear or curved and possibly bends modifying the direction of the pipe 12.

[0052] The diameter of the pipe 12 in which the intervention is carried out is for example less than 300 mm, in particular between 100 mm and 300 mm.

[0053] As visible in [Fig.l], the robot 10 comprises an elongated body 16 along a longitudinal axis A-A' and an electrical power source 13, which is advantageously arranged at a longitudinal end of the body 16.

[0054] The elongated body 16 comprises modules 21 to 26 assembled end to end along the longitudinal axis A-A'. The number and type of modules 21 to 26 are defined according to the pipe 12 and the intervention to be carried out. They are connected to each other by flexible connecting elements 18 configured to absorb terrain variations and give the robot deformability in bending.

[0055] The modules 21 to 26 define, over all or part of the length of the elongated body 16, a central member 20 of the elongated body 16. The central member 20 generally extends coaxially or parallel to the longitudinal axis A-A'. The central member 20 is advantageously hollow, allowing the passage of power and communication cables.

[0056] The electrical power source 13 is configured to electrically power the modules 21 to 26 requiring electrical power to operate, in particular to move the intervention robot 10 or carry out interventions. It comprises, for example, a battery and / or an electrical power supply cable.

[0057] In the example illustrated in [Fig.l], the robot 10 comprises at least one intervention module 21, intended to carry out an intervention in an intervention zone 19 of the pipe 12, at least one propulsion module 22 intended to move the intervention module 21 in the pipe 12 to the intervention zone 19 and from there, at least one support module 24 configured to prevent the robot 10 from bending under the weight of the other modules during its movement, and at least one blocking module 26 intended to immobilize and center the robot 10 on the intervention zone 19.

[0058] A particular example of configuration of the robot 10 is shown in [Fig.l] by way of illustration. Other examples of configurations of the robot 10 will be described below as a variant, in particular comprising only a single propulsion module 22.

[0059] In the example of [Fig.l], the robot 10 successively comprises, from front to rear, a head, a first propulsion module 22, a first intervention module 21 and a first blocking module 26 interposed between two centering modules 24, a second intervention module 21, a third support module 24, a second blocking module 22 and the electrical power source 13.

[0060] The intervention module 21 comprises at least one sensor and / or at least one tool intended to carry out the intervention. The sensor is for example a position sensor, a temperature sensor, a magnetic sensor, an optical sensor or an obstacle sensor. The tool is for example a sanding tool, a perforator, a product dispenser (for example a sprayer), a shutter or socket installer, a repair tool.

[0061] As illustrated by figures 2 and 3, the propulsion module 22 comprises two opposite wheel sets 27, spaced from each other along the longitudinal axis A-A' and for each wheel set 27, a drive motor 28 of the wheel set 27.

[0062] The motors 28 are positioned between the wheel sets 27, in the center of the propulsion module 22. In the particular example, illustrated [Fig.3], they are mounted on either side of the central member 20 parallel to the latter, facing each other in projection on the longitudinal axis A-A'.

[0063] Each motor 28 comprises a rotary shaft 30 parallel to the longitudinal axis A-A' while being spaced transversely from the longitudinal axis A-A'. The rotary shafts 30 of the two opposite motors 28 extend in opposite directions along the longitudinal axis A-A'.

[0064] Each wheel train 27 is arranged at one end of the propulsion module 22 and is connected to a respective motor 28 to be driven in rotation by the motor 28.

[0065] Each wheel train 27 comprises a rotating member 34 provided with teeth 32, for example a plate or a toothed crown, meshed on the rotating shaft 30 of the motor 28, an intermediate connection skirt 36, and a wheel support sleeve 37.

[0066] Each wheel set 27 further comprises a plurality of wheels 46 with an axis oblique to the longitudinal axis A-A', and a mechanism 39 for radial deployment of the wheels from the sleeve 37 (visible in [Fig.5]).

[0067] The rotary member 34, the connection skirt 36 and the sleeve 37 are mounted to move jointly in rotation around the longitudinal axis A-A' on the central member 20.

[0068] With reference to [Fig.5], the deployment mechanism 39 comprises for each wheel 46, a radial rod 38 fixed to the sleeve 37, and a rotary arm 42, pivotally mounted on the radial rod 38 by means of a pivot 40, between a retracted position and a deployed position.

[0069] The deployment mechanism 39 further comprises a biasing element (not shown) for biasing the rotary arm 42 towards the deployed position and a stop 48 for blocking the arm 42, projecting radially from the rotary member 34.

[0070] The biasing element is positioned between the rotary arm 42 and the radial rod 38. It biases the rotary arm 42 permanently towards the deployed position. Thus, the robot 10 is configured to adapt to several diameters of pipe 12, absorb variations in terrain such as obstacles or reliefs in the pipe 12, the biasing element pressing the wheels 46 against the inner surface of the pipe 12. The biasing element is for example a compression, traction or torsion spring. In a variant, the biasing element is an electrical or hydraulic system for deploying the rotary arm 42.

[0071] As will be seen below, the stressing element allows the wheels 46 to deploy to the diameter of the pipe 12, but also, when the robot 10 moves along the pipe 12, to absorb obstacles, imperfections and reliefs in the pipe 12.

[0072] The pivot 40 is mounted at the free end of the radial rod 38. The rotary arm 42 is rotatably mounted on the rod 38, advantageously in a middle region of the rotary arm 42, by means of the pivot 40.

[0073] The pivot axis of the rotary arm 42 between the retracted position and the deployed position is parallel to the longitudinal axis A-A'.

[0074] The rotating arm 42 has a free end which abuts against the stop 48 in the deployed position. It also has an opposite end provided with a yoke 50 for mounting the wheel 46.

[0075] The wheel 46 is mounted freely rotatably in the yoke 50 around an axis of rotation B-B'. The yoke 50 is oriented so that the axis of rotation B-B' of the wheel 46 is oblique to the longitudinal axis A-A'.

[0076] In a first wheel train 27 of the propulsion module 22, located at a first end of the propulsion module 22, the median plane MRI of each wheel 46 perpendicular to the axis of rotation B-B' of the wheel 46 forms a non-zero acute angle A with the median plane MPI of the rotary member 34, perpendicular to the longitudinal axis A-A'.

[0077] In a second wheel train 27 of the propulsion module 22, located at a second end of the propulsion module 22, the median plane MR2 of each wheel 46 perpendicular to the axis of rotation B-B' of the wheel 46 forms an angle B with the median plane MP2 of the rotary member 34 perpendicular to the longitudinal axis A-A', the angle B being of opposite sign to the angle A and preferably having an absolute value identical to that of the angle A.

[0078] These oblique angles A, B of opposite signs allow the translational movement of the robot 10 combined with a rotation, following a screw movement of axis A-A', when the wheel sets 27 are driven in rotation in opposite directions around the longitudinal axis A-A'.

[0079] For this purpose, as visible in [Fig.4], the propulsion module 22 also comprises a control unit 52, advantageously mounted on the motors 28 between the wheel sets 27.

[0080] The control unit 52 is configured to selectively drive each motor 28 in rotation in a defined direction, to allow the robot 10 to move according to three configurations shown in [Fig.4].

[0081] In configuration (a), the motors 28 are controlled by the control unit 52 so that one of the rotary members 34 is driven in rotation in a first direction (marked “+” in [Fig.4]), the other of the rotary members 34 being driven in rotation in a second direction (marked “-” in [Fig.4]), opposite to the first direction, which moves the robot 10 in translation along the longitudinal axis A-A' in a first direction D1.

[0082] In configuration (b), the motors 28 are controlled by the control unit 52 so that one of the rotary members 34 is driven in rotation in the second direction, the other of the rotary members 34 being driven in rotation in the first direction opposite to the second direction, which moves the robot 10 in translation along the longitudinal axis A-A' in a second direction D2 opposite to the direction D1.

[0083] In configuration (c), the motors 28 are controlled by the control unit 52 so that the two rotary members 34 are driven in the same direction and at the same rotation speed, either in the first direction or in the second direction, which drives the robot 10 in rotation around the longitudinal axis A-A', without translational movement along the longitudinal axis A-A'.

[0084] In an alternative configuration (c), the two rotating members 34 are driven in the same direction at different rotational speeds, which causes the robot 10 to move in rotation around the longitudinal axis A-A' combined with a translational movement along the longitudinal axis A-A'.

[0085] In a variant of configurations (a) and (b) the two rotary members 34 are driven in opposite directions at different rotation speeds, causing a combination of a rotation of the robot 10 around the axis A-A' and a translation of the robot 10 along the axis A-A'.

[0086] The support module 24, illustrated [Fig.6], comprises a central sleeve 54 forming a part of the central member 20, support pads 62 and a mechanism 55 for deploying the pads 62.

[0087] The deployment mechanism 55 comprises for each pad 62, a radial rod 56 projecting from the sleeve 54, a deployable arm 60 between a contracted position and an expanded position, and a member (not shown) for urging the deployable arm 60 towards the expanded position.

[0088] Each radial rod 56 has a first end provided with a pivot 58. The arm 60 is rotatably mounted on the radial rod 56 via the pivot 58, around an axis parallel to the longitudinal axis A-A'. The pad 62 is freely rotatably mounted at a second end of the arm 60 around an axis of rotation perpendicular to a median plane of the pad containing the longitudinal axis A-A'

[0089] In the expanded position, the pads 62 are in contact with the inner surface of the conduit 12 and thus center the longitudinal axis A-A' of the elongated body 16 so that it is coaxial or parallel to the longitudinal axis of the conduit 12.

[0090] The locking module 26, illustrated [Fig.7], comprises a motor (not visible) mounted on one side of the central member 20 and fixed to the latter, and a central sleeve 64 fixedly mounted on the central member 20.

[0091] The locking module 26 further comprises deployable locking wedges 72, and a mechanism 73 for radially deploying the wedges 72 between a contracted position for deactivating the locking and a deployed position for activating the locking.

[0092] The motor comprises a rotating shaft (not visible), advantageously arranged parallel to the longitudinal axis A-A' and connected to the deployment mechanism 73.

[0093] The deployment mechanism 73 comprises a rotating hub 66 engaged on the rotating shaft of the motor and for each wedge 72, a non-rotating radial rod 68 projecting from the sleeve 64, and a connecting rod 70 for deploying the wedge 72, actuated by the rotating hub 66.

[0094] Each connecting rod 70 is rotatably mounted on the radial rod 68 in a middle region. The connecting rod 70 has an outer end on which the shim 72 is mounted and an inner end provided with a slider 75.

[0095] The rotating hub 66 has on a first face facing the motor, a toothing peripheral (not visible) extending around the longitudinal axis A-A'. The rotating shaft of the motor is meshed with the teeth of the hub 66.

[0096] The rotary hub 66 comprises, on a second face opposite the first face, a curved guide slide 74. The guide slide 74 extends between an end close to the longitudinal axis A-A' towards an end remote from the longitudinal axis A-A', located here close to the periphery of the hub 66.

[0097] In the contracted position of the shims 72, illustrated in [Fig.7], the slider 75 of each connecting rod 70 is located at the outer end of the guide slide 74.

[0098] In a deployed position of the wedges 72, resulting from a rotation of the hub 66 around the longitudinal axis A-A', the slide 75 of each connecting rod 70 is arranged at the internal end of the guide slide 74. The connecting rods 70 have pivoted around their axis towards the outside to move the wedges 72 away from the longitudinal axis A-A'.

[0099] The operation of the robot 10 according to the invention, during an intervention in a pipe 12 in an intervention zone 19 will now be described.

[0100] The intervention zone 19 is, for example, located on a surface of the pipe 12 or at the level of a connection 14.

[0101] Initially, the robot 10 is introduced into the conduit 12. It centers itself relative to the internal diameter of the conduit 12 thanks to the deployment mechanism 39 of the propulsion modules 22 and the deployment mechanism 55 of the centering modules 24.

[0102] Thus, to introduce the robot 10 into the conduit 12, the rotary arms 42 of each propulsion module 22 pivot towards the longitudinal axis A-A', against the stress force generated by the stress elements, until the distance between the longitudinal axis A-A' and the outer end of the wheels 46 is less than the radius of the conduit 12.

[0103] Furthermore, the deployable arms 60 of each support module 24 pivot towards the longitudinal axis A-A' against the stressing members, until the distance between the center of the longitudinal axis A-A' and the outer end of the pads 62 is less than the radius of the pipe 12.

[0104] Similarly, the locking module 26 is held in its contracted position.

[0105] As soon as the robot 10 is inserted, the biasing elements deploy the rotating arms 42 towards the deployed position, to apply the wheels 46 against the interior surface of the conduit 12.

[0106] The biasing members deploy the deployable arms 60 toward the expanded position, to apply the pads 62 against the inner surface of the conduit 12.

[0107] Then, the robot 10 is moved towards the intervention zone 19 by translation in a first direction along the pipe 12, as illustrated by the reference (a) in [Fig.4],

[0108] For this purpose, the control unit 52 of each propulsion module 22 activates the motors 28 for driving one of the wheel sets 27 in rotation around the longitudinal axis A-A' in a first direction and the other of the wheel sets 27 in rotation around the longitudinal axis A-A' in a second direction opposite to the first direction.

[0109] For each wheel set 27, the drive motor 28 connected to the wheel set 27 drives the rotary shaft 30 in rotation around the longitudinal axis A-A'.

[0110] The rotary shaft being meshed with the teeth of the rotary member 34, the rotary member 34 and jointly, the connection skirt 36, the sleeve 37 and the arms 42 carrying the wheels 46 are driven in rotation around the axis A-A'. This rotation combined with the inclination of the wheels 46 relative to a plane perpendicular to the axis A-A' causes the robot 10 to move in translation following a helical movement.

[0111] The two wheel sets 27 of each propulsion module 22 having wheels 46 inclined in opposite directions, the rotation in opposite directions of the motors 28 allows the wheel sets 27 to move the robot 10 in the same direction along the axis A-A'.

[0112] The propulsion force exerted by the wheel sets 27 allows the robot 10 to move in pipes 12 having an inclination, or vertical pipes 12, without slipping.

[0113] The robot moves automatically, advantageously to predefined points in the intervention zone 19.

[0114] When the robot 10 reaches the intervention zone 19, the control unit 52 of each propulsion module 22 deactivates the motors 28. Each blocking module 26 is then activated to immobilize the robot 10 and center it relative to the longitudinal axis A-A'.

[0115] The deployment mechanism 73 of the locking module 26 deploys the wedges 72 towards their deployed position for activating the locking.

[0116] For this purpose, the rotary shaft of the motor of the locking module 26 is driven in rotation. By means of the toothed crown of the rotary hub 66, the radial rods 68 being fixedly mounted on the sleeve 64, the rotation of the hub 66 moves the slide 75 of each connecting rod 70 towards the internal end of the guide slide 74.

[0117] The connecting rods 70 pivot about their axis outwards to move the wedges 72 away from the longitudinal axis A-A' in their deployed position in abutment against the inner surface of the pipe 12.

[0118] The robot 10 is thus kept immobilized and centered longitudinally in the pipe 12.

[0119] If necessary, before activating the or each blocking module 26, the robot 10 is moved in rotation around the longitudinal axis A-A', without moving longitudinally along the longitudinal axis A-A', as illustrated by the reference (c) in [Fig.4],

[0120] For this purpose, the control unit 52 of each propulsion module 22 activates the motors 28 so that the two wheel sets 27 begin to rotate around the longitudinal axis A-A' in the same direction of rotation and at the same speed.

[0121] The wheel sets 27 of each propulsion module 22 having wheels 46 inclined in opposite directions, their rotation in the same direction and at the same rotation speed causes the robot 10 to rotate around the longitudinal axis A-A' without moving it in translation.

[0122] Thus, the intervention module 21 is positioned adequately with respect to the intervention zone 19, not only along the pipe 12, but also angularly around the local axis of the pipe 12. However, it remains very compact radially and centered in the pipe 12.

[0123] The tool(s) and / or the sensor(s) of the intervention module 21 are then arranged opposite the intervention zone 19.

[0124] Then, the intervention module 21 is activated under the supervision of an operator. The intervention consists, for example, in imaging the interior of the pipe 12 and in particular the internal wall of the pipe 12 using an optical sensor, in a temperature measurement using a temperature sensor, in the injection of a material into the pipe 12, in the installation of a shutter at a connection 14, and / or a perforation of a wall using a perforator installed on the intervention module 21.

[0125] As soon as the intervention is finished, the blocking module 26 is activated to retract the wedges 72 to their contracted position and allow the robot 10 to move again.

[0126] The motor of the locking module 26 is activated to rotate the rotary hub 66 in the opposite direction to that described above during deployment. The slider 75 of each connecting rod 70 thus moves towards the outer end of the guide slide 74. The connecting rods 70 pivot inwards about their axis to bring the wedges 72 closer to the longitudinal axis A-A'.

[0127] Then, each propulsion module 22 is activated to move the robot 10 in translation along the longitudinal axis A-A' of the pipe 12.

[0128] For example, the robot 10 always moves in the first direction DI towards a new intervention zone 19 further away on the pipe 12. In this case, the control unit 52 of each propulsion module 22 activates the two motors 28 as described previously. The robot 10 then repeats the blocking, rotation and intervention steps described above.

[0129] On the contrary, the movement of the robot 10 is carried out in the second direction D2 opposite to the first direction D1, so that it returns to its starting point from the intervention zone 19.

[0130] In this case, the control unit 52 of each propulsion module 22 activates the motors 28 of each wheel set 27 to make each of them turn in the direction opposite to the direction described above in order to move towards the intervention zone 19, as illustrated by the reference (b) in [Fig.4].

[0131] Thanks to the presence of the wheel sets 27, the intervention robot 10 is particularly radially compact, which allows it to move easily to intervene even in pipes 12 of small diameters.

[0132] It is also possible to very simply move the intervention robot 10 in rotation around its longitudinal axis A-A', without translational movement along the longitudinal axis A-A', to position the sensors and / or the tools to be used during the intervention in an angular position adapted relative to the intervention zone 19.

[0133] The modular configuration of the robot 10 makes it possible to adapt its configuration to the pipe 12 in which it circulates and to the intervention which must be carried out.

[0134] Thus, the configuration illustrated in [Fig. 1] is given only as an example and can be modified. For example, in a variant, as indicated above, the robot 10 comprises a single propulsion module 22 or on the contrary more propulsion modules 22, and / or a reduced or increased number of support modules 24 and / or blocking modules 26. Furthermore, the position of the different modules 21 to 26 along the robot can be modified depending on the driving 12 and the intervention carried out.

Claims

Claims

1. Robot (10) for intervention in a pipe (12), comprising: - an elongated body (16) along a longitudinal axis (A-A'), the elongated body (16) comprising: • at least one propulsion module (22), configured to move the robot (10) in two opposite directions along the longitudinal axis (A-A'); • at least one intervention module (21), comprising at least one sensor and / or at least one tool; characterized in that the propulsion module (22) is also configured to move the elongated body (16) in rotation around the longitudinal axis (A-A') in the pipe (12).

2. The robot (10) of claim 1, wherein the propulsion module (22) is configured to move the elongate body (16) in rotation about the longitudinal axis (A-A') in the conduit (12) without longitudinal movement of the elongate body along the longitudinal axis (A-A').

3. Robot (10) according to any one of the preceding claims, in which the or each propulsion module (22) comprises two opposing wheel sets (27), each wheel set (27) comprising: - a rotating member (34) around the longitudinal axis (A-A'); and - at least one wheel (46) mounted to rotate around an axis oblique to the longitudinal axis (A-A'), carried by the rotating member (34).

4. A robot (10) according to claim 3, wherein each wheel set (27) comprises a deployment mechanism (39) adapted to deploy the or each wheel (46) relative to the rotatable member (34) between a retracted position close to the elongate body (16) and a deployed position intended to bear against an interior surface of the conduit (12).

5. A robot (10) according to claim 4, wherein the deployment mechanism (39) comprises a member for biasing the or each wheel (46) towards the deployed position.

6. Robot (10) according to any one of claims 3 to 5, in which the propulsion module (22) comprises at least one drive motor (28) having a rotary shaft (30), the rotary member (34) provided with teeth, the rotary shaft (30) being meshed with the rotary member (34).

7. Robot (10) according to claim 6, characterized in that the propulsion module (22) comprises a drive motor (28) for each rotary member (34), each drive motor (28) comprising a rotary shaft (30) meshed with the respective rotary member (34), the rotary shafts (30) being positioned parallel to the longitudinal axis (A-A'), advantageously in opposite directions.

8. Robot (10) according to one of claims 6 or 7, wherein the propulsion module (22) comprises a control unit (52), suitable for controlling the or each motor (28) between: - a first configuration of movement of the robot (10) in a first direction along the longitudinal axis (A-A'), in which one of the wheel sets (27) is driven in rotation in a first direction, the other of the wheel sets (27) being driven in rotation in a second direction opposite to the first direction; - a second configuration of movement of the robot (10) along the longitudinal axis (A-A') in a second direction opposite to the first direction, in which one of the wheel sets (27) is driven in rotation in the second direction, the other of the wheel sets (27) being driven in rotation in the first direction opposite to the first direction;- a configuration for driving the robot (10) in rotation around the longitudinal axis (A-A'), in which the two sets of wheels (27) are driven in rotation in the same direction.;

9. Robot (10) according to any one of the preceding claims, wherein the elongate body (16) comprises at least one support module (24).

10. Robot (10) according to claim 9, in which the support module (24) comprises at least one pad (62) deployable between a contracted position towards the elongated body (16) and an expanded position intended to be applied against an interior surface of the conduit (12).

11. Robot (10) according to any one of the preceding claims, wherein the elongate body (16) comprises at least one locking module (26), capable of locking and centering the robot (10) longitudinally in the conduit (12).

12. Robot (10) according to claim 11, in which the blocking module (26) comprises at least one support wedge (72) deployable from a contracted position for deactivating the blocking and a deployed position for activating the blocking and a mechanism for deploying (73) and maintaining the wedge (72) in the deployed position for activating the blocking.

13. Robot (10) according to any one of the preceding claims, comprising a battery and / or an electrical power cable electrically connected to the or each propulsion module (22).

14. Method of intervening in a pipe (12), comprising the following steps: - insertion of a robot (10) according to any one of the preceding claims, into the conduit (12); - deployment of the or each wheel (46) against an interior surface of the pipe (12); - longitudinal movement of the robot (10) along the longitudinal axis (A-A') in the pipe (12) in a first direction towards an intervention zone (19); - activation of the intervention module (21) in the intervention zone (19); - longitudinal movement of the robot (10) along the longitudinal axis (A-A') in the pipe (12), in a second direction opposite to the first direction; - exit of the robot (10) from the pipe (12).

15. Method according to claim 14, in which the robot (10) performs a rotation around the longitudinal axis (A-A') without translational movement along the longitudinal axis (A-A') to position itself opposite the intervention zone (19).

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