Robot vehicle adapted to operate in pipelines and other narrow passages

Abstract

The train ( 1 ) of modules ( 2 to 6 ) that forms the robot comprises springs ( 38 ) to connect the successive modules together enabling curvature of the train in the bends of a pipe. However, cables ( 41 ) bring the modules together by compressing the springs when they are pulled, until the conical end faces ( 39, 40 ) are engaged in each other; the train is made rigid and can be immobilised inside the pipe to perform different types of machining operations, including welding or cutting joints between successive pipes in the pipework.

1 . Robot free to slide inside pipework or another narrow passage, composed of a train of modules ( 2  to  6 ,  10 ) connected by flexible links ( 38 ), characterised in that it comprises means of fixing ( 41 ) modules to each other to stiffen the train.  
     
     
         2 . Mobile robot according to  claim 1 , characterised in that at least some of the modules comprise means ( 26 ,  59 ,  85 ) of achieving fixity in the passage.  
     
     
         3 . Mobile robot according to  claim 2 , characterised in that the immobilisation means consist of the pins activated by sloping cam surfaces ( 57 ) sliding axially in the modules.  
     
     
         4 . Mobile robot according to  claim 3 , characterised in that the cam surfaces have two different slopes including a first steeper slope ( 34 ) acting firstly on the pins, and a second shallower slope ( 35 ).  
     
     
         5 . Mobile robot according to  claim 2 , characterised in that it comprises positioning means ( 59 ) in a groove in the passage.  
     
     
         6 . Mobile robot according to  claim 5 , characterised in that one of the modules is provided with means ( 59 ,  62 ,  63 ,  66 ) of fixing two consecutive portions of pipework.  
     
     
         7 . Mobile robot according to  claim 6 , characterised in that the positioning means and the fixing means comprise one of the immobilisation means ( 59 ) fitted on an axially mobile portion ( 63 ) of the module, and in that the fixing means also comprise a cam surface ( 62 ) pushing the axially mobile portion.  
     
     
         8 . Mobile robot according to  claim 2 , characterised in that the immobilisation means comprise shape memory pads ( 85 ).  
     
     
         9 . Mobile robot according to  claim 1 , characterised in that the module fixing means comprise at least one pulling cable ( 41 ), attached to one of the head modules ( 2 ), and opposing propulsion means ( 7 ,  10 ) located on one of the tail modules ( 6 ,  10 ).  
     
     
         10 . Mobile robot according to  claim 1 , characterised in that the modules are connected together by springs ( 38 ) compressed by the fixing means ( 41 ).  
     
     
         11 . Mobile robot according to  claim 1 , characterised in that the modules are provided with complementary conical engagement surfaces ( 39 ,  40 ).  
     
     
         12 . Mobile robot according to  claim 2 , characterised in that it comprises manual safety mechanisms to release the immobilisation means, comprising an activation cable and return springs acting on the immobilisation means.