Robot with flexible arms that can be deployed by inversion and use of the same in confined areas

Abstract

The present invention relates to a robot with an arm in the form of a tubular body having a sleeve (12) formed of a flexible membrane that can be inflated and deployed from a storage chamber (4) by inverting at the distal end of the arm with a first fluid flow. When deployed, the tubular sleeve (12) forms a central inner sheath that can be used to house and accommodate a flexible tubular element carrying a payload, such as a camera, sensor, or actuator. According to the present invention, a second fluid flow can be injected between the tube and the tubular element, thereby moving the tubular element separately from the tube. Cables or wires (22a, 22c) arranged in the surrounding sheath of the sleeve (12) guide and direct the movement of the arm. The present invention can be used for the inspection of straight or curved pipes, such as pipes in enclosed environments, or for the transport of payloads within pipes, particularly in industrial, sanitary, nuclear, or marine environments, or in harsh or hazardous conditions.

Description

[Technical Field]

[0001] The invention relates to a robot comprising an arm deployable from a storage room and a control station for the arm, the arm being a flexible pneumatic arm, and in particular an arm envisaged for introduction into a confined zone. [Background technology]

[0002] Intervention in a confined zone requires the transport of a payload such as a video camera, sensors or actuators in communication with an operator controlling the robot.

[0003] Robotic arms in the form of flexible pneumatic arms that can be deployed from a storage chamber under the action of a gas flow, such as an air flow, are known. Such robotic arms take the form of a tubular body with a sleeve made of a flexible membrane that can be inflated and deployed by eversion. The eversion phenomenon occurs at the distal end of the arm, where the membrane is expelled from the storage chamber under the action of the gas flow. In the deployed state, this tubular sleeve provides a central inner sheath for the accommodation and passage of a longitudinal element, usually tubular and flexible, carrying a payload (for example a video camera or a sensor).

[0004] Such a robotic arm, deployed by inversion, i.e. by deployment of the membrane from the inside to the outside of the sleeve, has the advantage that it does not transfer contaminants or cause degradation of the environment to which it is transported.

[0005] However, during deployment of the tubular form by eversion, the inflated sleeve surrounds the longitudinal element at the level of the central sheath, and if not held to the side of the storage chamber, the longitudinal element moves forward twice as fast as the distal end of the tubular form.

[0006] Thus, controlling the positioning and movement of the payload, and therefore holding the payload in a predetermined position relative to the distal end of the robot arm, presents particular challenges.

[0007] Thus, for example, US Pat. No. 6,299,499 discloses a robot with deployable arms. However, in practical implementations of this robot, it has been found that it is suitable for unidirectional deployment towards the front (i.e., by expanding the arms). In fact, it is not possible to rewind and effectively store the arms using the mechanism described in the document. Furthermore, the disclosed robot cannot be guided in three directions in space. US Pat. No. 6,299,499 thus discloses a robot with practical limitations to its use.

[0008] US Patent No. 5,949,999 discloses a flexible robot equipped with a tow line that allows steering of the formed arm. However, the device described in US Patent No. 5,949,999 employs arm retraction, which limits its use, particularly in placing and delivering payloads in the center of the arm.

[0009] US Patent Nos. 5,299,949, 5,399,965, 5,399,975, and 5,399,975 are examples of such robots where these same types of problems are repeated. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0394358 [Patent Document 2] Chinese Patent Application Publication No. 109732581 [Patent Document 3] U.S. Patent No. 10,954,789 [Patent Document 4] U.S. Patent Application Publication No. 2021 / 354289 [Patent Document 5] US Patent Application Publication No. 2022 / 105627 Summary of the Invention [Problem to be solved by the invention]

[0011] The first objective of the invention is to alleviate the drawbacks of the above robots by proposing a flexible robot arm that can be deployed by inverting and allows for controlled movement and / or positioning of a payload.

[0012] Another object of the invention is to propose a flexible, flexible robotic arm that can be deployed by turning inside out and that can move inside pipes, especially in enclosed environments such as ATEX (Explosive Atmosphere) environments.

[0013] Another object of the invention is to provide a flexible robot that can be easily deployed and folded, especially over multiple use cycles. [Means for solving the problem]

[0014] These and other objects are achieved by a robot according to the present invention, which proposes a robot comprising an arm deployable from a base including a storage room, a control station for the arm and an operator interface, the arm being a flexible pneumatic arm particularly intended for introduction into confined zones, a tubular body attached to a base, the tubular body comprising a sleeve formed of an inverted flexible inflatable membrane, the two ends of the membrane being fixed to the base, the base including a storage chamber for the membrane of the sleeve; Equipped with the storage chamber comprises at least one first inlet for a fluid, referred to as the first fluid flow, and the sleeve, in its undeployed state, is at least partially folded in the storage chamber, in particular folded in an accordion-like manner, and expands from the storage chamber under the action of the first fluid flow and is deployed by everting itself at the distal end of the tubular body of the arm, referred to as the tip, and in its deployed state (which is advantageously tubular in shape), forms a central internal sheath along the axis of the tubular body, which sheath can serve to accommodate and pass a flexible tubular element; the distal end of the tubular body of the arm, referred to as the tip, comprises a head equipped with at least one payload carried by a tubular element and pressed during deployment of the tubular body (pulled over a flexible tubular element passing through the tubular body and the base to form a communication passage between the base and the head), an operator interface for controlling the supply of fluid for applying a flow for eversion deployment of the sleeve from the storage chamber and thereby forward movement of the distal end of the tubular form of the robotic arm; It is equipped with:

[0015] According to the invention, the robot is characterized in that it comprises a supply inlet for a second fluid, referred to as the second fluid stream, connected to a sheath formed along the central axis of the tubular body, such that the second fluid stream is capable of creating and maintaining a fluid film around the tubular element to facilitate the introduction of the tubular element into the sheath and / or movement in the tubular element, and thus the forward movement of the payload.

[0016] In one particular embodiment, the robot according to the present invention is a robot for performing inspections in enclosed environments.

[0017] The presence of this fluid film creates a layer that separates the sheath from the outer wall of the tubular element, and the movement of the tubular element is "decoupled" from the movement of the sleeve. Therefore, the movement of the tubular element carrying at least one payload is independent of the deployment by eversion and can therefore occur at the same speed as the deployment, rather than twice as fast as the distal end of the tubular body.

[0018] Advantageously, the arm comprises means for propelling the sleeve into and out of the storage compartment, the propelling means preferably being a winding means for respectively enabling the sleeve to be unfolded and folded, e.g. the sleeve may be at least partially accordion-folded in the storage compartment.

[0019] Advantageously, the storage compartment comprises a support, such as a tube, for storing the thin film, configured to limit friction between the support and the thin film (e.g., with an appropriate size and / or surface coating), and at least one means for adjusting the thin film, such as a dilator, which is configured to, inter alia, optimize the folding of the thin film by first stretching it to remove wrinkles, and to provide a taut thin film to the winding means (wrinkles in the thin film would prevent successful storage or unwinding of the thin film).

[0020] The means for adjusting the membrane, such as the expander, can be made of any material that does not generate high friction, for example plastic polymers (PVC, PLA, PE, etc.), or so-called self-lubricating materials, such as PTFE.

[0021] In one embodiment, the means for adjusting the membrane, such as a dilator, includes at least one idler or driven wheel to limit friction.

[0022] In one embodiment, the means for adjusting the membrane, such as a dilator, includes a plurality of idler or driven wheels.

[0023] In one particular embodiment, the means for adjusting the membrane, such as a dilator, is comprised of a plurality of idler or driven wheels with no stationary elements in contact with the membrane.

[0024] In one embodiment, the means for adjusting the membrane, such as a dilator, has at least one flat surface that is intended to be placed in opposition to the winding means, such that the membrane is gripped between the flat surface of the means for adjusting the membrane, such as a dilator, and the winding means. The flat surface of the means for adjusting the membrane, such as a dilator, allows for optimized contact between the winding means and the membrane, thereby improving control of the movement of the membrane.

[0025] In one particular embodiment, the means for adjusting the membrane, such as a dilator, is made of a rigid material in the shape of a polygon with rounded corners, possibly the overall shape of a toroid.

[0026] In one particular embodiment, the means for adjusting the membrane, such as a dilator, is made of a flexible material that allows for optimization of the contact pressure with the winding means (between which the membrane is gripped).

[0027] In one particular embodiment, the means for adjusting the membrane, such as a dilator, comprises a plurality of idler or drive wheels with no static element in contact with the membrane, the idler wheels being arranged such that each of the winding means is positioned opposite at least one of the idler or drive wheels.

[0028] In one embodiment, the means for adjusting the membrane, such as a dilator, forms an annulus of low friction material (such as PTFE) around a portion of the support for storing the membrane.

[0029] In one particular embodiment, the means for adjusting the membrane, such as a dilator, functions to apply tension to the membrane, allowing it to unwind or unfold. To apply tension to the membrane in this manner, in one embodiment, the means for adjusting the membrane, such as a dilator, opens the deployable arms to a maximum or near maximum diameter.

[0030] Advantageously, the dilator is placed at the entrance of the storage support so that the membrane to be refolded first comes into contact with the dilator before the support for storing the membrane.

[0031] In one particular embodiment, the storage support, such as a tube, comprises a membrane and / or a plurality of means for adjusting the propulsion means, such as a winding means, to increase the storage capacity (which is the same when the arms are deployed and when stored).

[0032] In one particular embodiment, the support for storing the thin film, including the tube, comprises at least one curved or bent section within the length of the tube, for example, so that the support for storing the thin film comprises at least one S-shaped, U-shaped, and / or corkscrew-shaped section. Thus, the support for storing the thin film has a curved or bent portion to optimize the storage capacity. It is particularly advantageous to eliminate the need for multiple means for adjusting the thin film and / or propelling means such as winding means, which allows optimal use of the storage capacity.

[0033] The winding means, which respectively allow the unfolding and folding of the sleeve, are advantageously opposed to at least one means for adjusting the membrane, such as a dilator, so as to be in contact with the membrane, which is itself in contact with the at least one adjusting means. The sleeve (and therefore the membrane) can be folded in an accordion-like manner, for example, onto a support for storing the membrane, at least in the storage compartment.

[0034] In one particular embodiment, the winding means is compressed against at least one adjustment means, such as a dilator, which provides increased control over the movement of the membrane. This compression can be achieved in any suitable manner, such as by pneumatic or hydraulic means such as a cylinder, by loaded shape memory material, etc.

[0035] Such pressure may be variable, for example to accommodate unexpected situations in use (such as the arm getting stuck in the pipe, or one or more winder motors exhibiting performance changes due to wear, for example).

[0036] In one particular embodiment, the winding means comprises a surface with a material that increases friction, such as it may be made of an elastomer such as rubber, which surface allows optimal contact with the membrane.

[0037] In one particular embodiment, the winding means acts as a brake to limit and / or control the forward movement of the deployment of the arms, in such an embodiment the winding means inter alia allows for contact pressure operation for deployment of the arms.

[0038] According to a preferred embodiment of the robot according to the invention equipped with a flexible pneumatic arm, the arm comprises a cable or cord housed in a longitudinal surrounding sheath of a sleeve and connected to at least one traction mechanism in order to guide and / or orient the tip of the tubular body (which is also the tip of the robot arm).

[0039] Each of the cables or cords advantageously has a first end of the cable or cord fixed in a chamber for storing the sleeve and advantageously extends along the sheath of the tubular body, being housed in the longitudinal surrounding sheath of the sleeve along the entire tubular body, and the second end of the cable or cord is connected to at least one traction mechanism.

[0040] An outer longitudinal surrounding sheath containing the cable or cord is preferably disposed along the generatrix of the tubular body.

[0041] The presence of a flat surface on the means for adjusting the membrane, such as a dilator, which is intended to be placed opposite the reel, is particularly advantageous when the arm comprises a cable or cord housed in a circumferential longitudinal sheath of the sleeve and connected to at least one traction mechanism in order to guide / orient the distal end of the tubular form (which is also the distal end of the robot arm). Indeed, the presence of a cord or cable potentially under tension can affect the unwinding or deployment of the arm, and the flat surface opposite the reel allows for control of the deployment, unwinding and storage of the arm regardless of this.

[0042] When the sleeve (made of a thin film) is folded in an accordion style and stored in a storage room, a cable or cord housed in the sleeve's circumferential longitudinal sheath and connected to at least one traction mechanism allows the distal end of the tubular form to be guided / oriented, which is surprising since the accordion fold does not interfere with the guidance / orientation of the distal end of the tubular form.

[0043] According to one embodiment of the invention, the fluid supply comes from a single source that is divided into two flows: a first flow for the eversion deployment of the sleeve that forms the body of the robot, and a second flow that supplies fluid to the sheath to create and maintain a layer of fluid around the tubular element.

[0044] At least one of the first and second fluids may be a gas, preferably a neutral gas such as air or nitrogen. Alternatively, the first fluid may be a fluid present in the pipe being investigated, for example methane.

[0045] It is equally possible that at least one of the first and second fluids is a liquid, preferably water. Alternatively, this second fluid may be a fluid present in the pipe to be investigated, for example water.

[0046] The payload may include a (connected) video camera, or at least one sensor, or one suction device, or a fluid propulsion device, or a photogrammetry device, or one or more actuators.

[0047] A robot according to the invention equipped with a flexible pneumatic arm may be characterized by carrying a spatial positioning device such as an inertial center, equipped with at least one accelerometer and / or at least one gyro.

[0048] The membrane of the sleeve is made of a reversible, preferably impermeable, material, or a permeable material that allows the sleeve to be reversed under the action of the first fluid flow. Advantageously, the membrane of the sleeve is made of a material selected from polymeric materials such as polyvinyl chloride or polyethylene, preferably low density polyethylene or chlorosulfonated polyethylene, or woven fabrics impregnated with polymers, such as canvas or towing fabric (e.g. woven materials such as canvas or windsurfer's canvas).

[0049] By "reversible material" is meant in the context of the present invention a material that is capable of forming a thin film that is flexible enough to allow it to be inverted from inside out and vice versa.

[0050] The invention also relates to the use of the robot described above equipped with a flexible pneumatic arm, more particularly for inspecting straight or curved pipes, such as pipes in enclosed environments, or for transporting payloads within the pipes.

[0051] Uses for such robots can be found in industrial, sanitary, nuclear, marine or corrosive or hostile environments, for example for archaeology or salvage. [Brief explanation of the drawings]

[0052] The invention will be more clearly understood when the following description of the embodiments is read in conjunction with the accompanying drawings. [Figure 1] 1 is an overall perspective view of a robot according to the present invention; [Figure 2] FIG. 2 is a cross-sectional view of the entire robot of FIG. 1. [Figure 3] FIG. 3 is an enlarged view of the end B of the arm of the robot shown schematically in FIG. 2. [Figure 4] FIG. 10 is a cross-sectional view of the tubular body showing the surrounding sheath for housing the cable. [Figure 5] FIG. 10 is a perspective view of a portion of the sleeve showing the surrounding sheath for housing the steering cables. [Figure 6] FIG. 10 is a perspective view of the end of a curved sleeve. [Figure 7] FIG. 7 is a side perspective view of a portion of the sleeve shown schematically in FIG. 6. [Figure 8] FIG. 8 is a cross-sectional view taken along line AA in FIG. 7. [Figure 9] FIG. 9 is an enlarged view of zone D of FIG. 8 showing the positioning of the cable in the surrounding sheath. DETAILED DESCRIPTION OF THE INVENTION

[0053] 1 and 2, which are schematic representations of the overall working section of a robot according to the present invention, the robot's flexible arm 2 is attached to a box-shaped base 1. The base 1 is disposed in an open environment, whereas the flexible arm 2 is intended to move within an enclosed environment. To this end, the arm 2 carries a payload 3, which may include some kind of sensing or intervention device, attached to the distal end of the arm 2, hereinafter referred to as tip 14.

[0054] The robot arm 2 according to the present invention is a flexible pneumatic arm having a tubular body consisting of a sleeve 12 formed of a membrane 13 that is turned back on itself with its two ends fixed to a base as described below.

[0055] The base 1 is a housing consisting of two chambers: a primary chamber and a secondary chamber 5. The primary chamber constitutes a storage chamber 4 for storing the membrane 13 of the sleeve 12, through which a first fluid is delivered via a first fluid inlet 8 (also known as a primary inlet). This first fluid is intended to inflate the membrane 13 of the sleeve 12, enabling it to unfold by turning inside out. The primary chamber encompasses a storage zone 7 for storing the at least partially accordion-folded membrane 13 and a winder 7 (here, a drive roller) that enables the unfolding or folding of the sleeve. The storage chamber 4 thus comprises a storage support, such as a tube 25, configured to limit friction between the membrane 13 and the support 25 for storing the membrane 13 (which constitutes the sleeve 16 as shown in FIG. 3 ), and at least one means for adjusting the membrane 13, such as an expander 24, configured to optimize the folding of the membrane 13. The expander 24 is preferably made of a friction-limiting material, such as PTFE. As shown in Figure 2, the dilator 24 makes it possible to create four different bends 26, 27, 28, 29 in the membrane 13 at the level of the sheath (i.e. the sheath 16 shown in Figure 3) to facilitate the insertion of a tube 25 for storage of the membrane 13. In Figure 2, the reel 6 is shown to be in contact with the membrane 13, which is itself in contact with the dilator 24.

[0056] The secondary chamber 5 is fed with a second fluid by a second inlet 9 (also known as a secondary inlet) and provides a fluid-tight interface 10 between the secondary chamber and the open medium in which the robot's operator is located. Thus, the base 1 provides the means for the expansion, storage, retraction and control of the robot's arm 2 (by an operator interface not shown).

[0057] A longitudinal tubular element 17 containing a central passage 18 forming the axis of direct communication between the storage zone 11 and the distal end 14 (also known as the tip) of the arm 2 passes through the arm+base assembly.

[0058] As shown in Figures 4 and 5, the tubular body of the arm consists of a central sheath 20 formed by a flexible membrane 13 that is fluid-tight or substantially fluid-tight, and is surrounded by four peripheral sheaths 21 (here, 21a, 21b, 21c, 21d) along the generatrices of the tubular body that form the sleeve. Each of these peripheral sheaths accommodates a cable or cord 22 (see Figure 6, reference numerals 22a, 22b, 22c, 22d). This central sheath, which is folded back on itself as can be seen in Figures 6, 7, and 8, and these peripheral sheaths together form the sleeve 12. The everted membrane 13 of the sleeve is fixed at both ends to the storage chamber 4, with the first end fixed to the outer wall of the storage chamber 4 and the second end fixed to the inside of the storage chamber 4, upstream of the zone 7 for storing the membranes.

[0059] Essentially regardless of the state, the sleeve 12 forms in its central part or core 15 a free space forming a longitudinal sheath 16 for the accommodation and passage of a tubular element 17. This flexible tubular element 17 passes completely through the core of the tubular body forming the sheath and carries at its tip 14 a cap 19 which serves to support at least one payload 3.

[0060] As seen in FIG. 2, the cap 19 is oval in shape and wider than the sheath, allowing the distal end of the sleeve to compress the cap during eversion deployment, pushing the payload forward.

[0061] Next, the operation of this robot arm will be described in more detail.

[0062] For delivery of payloads 3 in difficult to access zones, the tubular body forming the robot's arm 2 can move forward, backward and branch off, opening a passage 18 between the tip 14 and the zone 11 for storage of tubular elements 17.

[0063] Forward movement operating principle The pressure and flow rate of a first fluid (for example a gas, advantageously air) applied to the sleeve via the main inlet 8 causes the sleeve 12 to move forward by turning inside out, expanding it from the inside out. A point located on the wall of the sheath 16 thus moves (advantageously at a constant speed) to the tip 14, where the speed gradually decreases to zero at the level of the outer wall of the sleeve. The speed of the forward movement of the tip 14, which determines the speed of the forward movement of the tubular body of the robot arm 2 in the environment to be investigated, is equal to half the speed of the movement of the sheath 16 inside the sleeve 12.

[0064] The use of an inside-out structure makes it possible to eliminate the need for a central free space in the tubular body, i.e., a core bounded by the sheath 16. A tubular element 17 can then be placed in this sheath 16 to create a communication passage 18.

[0065] The pressure of the first fluid in the sleeve 12 applies a force from the sheath 16 to the tubular element 17, forcing it to move at twice the velocity of the wall of the sheath 16, i.e., at the tip 15. To alleviate this, a flow of fluid (a second fluid, which may also be a gas or a liquid such as water) from the secondary inlet 9 is applied, which pulls the sheath away from the tubular element, thus breaking the adhesion between the tubular element 17 and the sheath 16.

[0066] The tip 14 is then pressed against the cap 19, which allows the cap 19 to propel the tubular element 17 forward at the speed of the tip 14. Alternatively, it is equally possible to desynchronize the speed by imposing a speed on the tubular element 17 from the storage zone 11, thus making it possible, for example, to move the payload 3 forward in a zone where the tubular element cannot move further forward.

[0067] Storage operation principle Thin film winders 6 for storing tubular bodies are arranged in the storage chamber 4. These rewind the thin film of the sleeve 12 into its storage zone 7, thus making it possible to return the sheath and tip to the base 1.

[0068] The zone 7 for storing the membrane of the sleeve consists of a hollow cylinder through which a passage 18 can pass between the tip 14 and the zone 11 for storing the flexible tubular element.

[0069] Branching operating principle Cords 22 (22a, 22b, 22c, 22d) located in the surrounding sheath 21 (21a, 21b, 21c, 21d) along the entire sleeve allow for the guidance of the tip 14. The cords are fixed to the membrane of the sleeve at the end of the membrane storage zone 7, but are free at the other end of the sheath, where a traction mechanism 23 (23a, 23b, 23c, 23d, see FIG. 1) is provided for each cord. Applying a traction force to the cord 22 reduces the distance between the tip 14 and the base 1 along the surrounding sheath 21 that houses the cord. FIG. 6 shows the sleeve after activation of the traction mechanism 23d, which applies a traction force to the cord 22d. This has the effect of correcting the direction of the tip 14 and thus changing the trajectory of the arm 2. By combining traction forces on several cords, the tip can be oriented in any direction. The tubular body of the arm 2 can move forward in any linear direction in an open environment. In a confined environment, the tubular body is able to change direction at each turn it encounters. [Explanation of symbols]

[0070] 1 base 2 flexible pneumatic arms 3 Payload 4 Storage room 5 Secondary room 6 Winding means 7 Zone 8 1st fluid inlet 9 2nd fluid inlet 10 Fluid-tight interface 11 Storage Zone 12 sleeves 13 Thin Film 14 Tip 15 cores 16 Central inner sheath 17 Flexible tubular elements 18 Central aisle 19 Cap 20 Central sheath 21a, b, c, d Surrounding sheath 22a, b, c, d Cable or cord 23a,b,c,d Traction mechanism 24 Dilator 25 tubes 26 Curved section 27 Curved section 28 Curved section 29 Curved section

Claims

1. A robot comprising an arm (2) deployable from a base (1) including a storage room, a control station for the arm (2) and an operator interface, said arm being a flexible pneumatic arm (2) particularly intended to be introduced into a confined zone; a tubular body attached to the base (1), the tubular body comprising a sleeve (12) formed of an inverted soft, flexible, inflatable membrane, the two ends of which are fixed to the base (1) containing the storage chamber (4) for the membrane of the sleeve (12); Equipped with said storage chamber (4) comprising at least one first inlet (8) for a fluid, referred to as a first fluid stream; the sleeve (12), in its undeployed state, is at least partially folded in the storage chamber (4) and can be expanded and deployed from the storage chamber (4) by inverting the arm (2) at the distal end of the tubular body, referred to as the tip (14), under the action of the first fluid flow, and in its deployed state forms a central inner sheath (16) along the axis of the tubular body, the sheath (16) being capable of accommodating and passing a flexible tubular element (17); the distal end of the tubular body of the arm (2), referred to as the tip (14), comprises a head equipped with at least one payload (3) carried by the tubular element (17) and pressed against during the deployment of the tubular body, an operator interface for controlling the supply of fluid for applying a flow for the eversion deployment of the sleeve (12) from the storage chamber (4) and the forward movement of the distal end of the tubular body of the robot arm (2); A robot comprising: a robot comprising a second fluid supply inlet, referred to as a second fluid stream, connected to the sheath (16) formed along the central axis of the tubular body, said second fluid stream being capable of creating and maintaining a fluid film around the tubular element (17) to facilitate the introduction of the tubular element (17) into and / or movement through the sheath (16) and the forward movement of the payload (3); robot.

2. 2. The robot of claim 1, wherein the arm (2) comprises means for propelling the sleeve (12) into and out of the storage chamber (4), the propelling means preferably being a winding means (6) that allows the sleeve (12) to be unfolded and folded, respectively.

3. 3. The robot according to claim 1 or claim 2, equipped with a flexible pneumatic arm (2), wherein the flexible pneumatic arm (2) comprises a cable or cord (22) housed in a longitudinal surrounding sheath (21) of the sleeve (12) and connected to at least one traction mechanism (23) for guiding and / or orienting the tip (14) of the tubular body.

4. 4. The robot according to claim 3, wherein each of the cables or cords (22) comprises a flexible pneumatic arm (2) having a first end of the cable or cord (22) fixed to the chamber (4) for storing the sleeve (12), extending along the sheath (16) of the tubular body and housed in a longitudinal surrounding sheath of the sleeve (12) along the entire tubular body, and a second end of the cable or cord (22) connected to at least one traction mechanism (23).

5. 5. A robot according to claim 4, comprising a flexible pneumatic arm (2) in which the outer longitudinal surrounding sheath (21) containing the cables or cords (22) is arranged along the generatrix of the tubular body.

6. 6. The robot according to claim 1, equipped with a flexible pneumatic arm (2), the fluid supply coming from a single source being divided into two flows: a first flow for the eversion deployment of the sleeve (12) forming the body of the robot, and a second flow for supplying fluid to the sheath (16) to create and maintain a layer of fluid around the tubular element.

7. 7. Robot according to any one of claims 1 to 6, equipped with a flexible pneumatic arm (2), in which at least one of the first and second fluids is a gas, preferably air or a neutral gas such as nitrogen.

8. 7. Robot according to any one of the preceding claims, equipped with a flexible pneumatic arm (2), wherein at least one of the first and second fluids is a liquid, preferably water.

9. 9. The robot according to any one of claims 1 to 8, equipped with a flexible pneumatic arm (2), the payload (3) comprising a video camera, or at least one sensor or suction device, or a fluid propulsion device, or a photogrammetry device, or one or more actuators.

10. 10. The robot according to any one of claims 1 to 9, equipped with a flexible pneumatic arm (2) on which the head of the tubular body carries a spatial positioning device such as an inertial center equipped with at least one accelerometer and / or at least one gyro.

11. 11. The robot according to any one of claims 1 to 10, equipped with a soft, flexible pneumatic arm (2), wherein the membrane of the sleeve (12) is made of a reversible, preferably impermeable material, or a material with permeability that allows the sleeve to be turned inside out under the action of the first fluid flow, said material being selected from polymer materials such as polyvinyl chloride, or polyethylene, preferably low density polyethylene, or chlorosulphonated polyethylene, or woven fabrics impregnated with polymers, such as canvas or towing cloth.

12. 12. The robot according to any one of claims 1 to 11, equipped with a flexible pneumatic arm (2), in which the storage chamber (4) is provided with a storage support, such as a tube (25), configured to limit friction between the support for storing the membrane (13) and the membrane (13), and at least one means for adjusting the membrane (13), such as a dilator (24).

13. Use of a robot according to any one of claims 1 to 12, equipped with a flexible pneumatic arm, for inspecting straight or curved pipes, such as pipes, in an enclosed environment.

14. Use of a robot according to claim 13 for transporting a payload in a pipe.

15. 15. Use of a robot according to claim 13 or claim 14 in industrial, sanitary, nuclear, marine, corrosive or hostile environments.

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