Robots and systems based on linear electromagnetic actuators for movement inside pipes

Abstract

This invention relates to the technical field of inspection, maintenance, and unblocking inside pipelines, primarily for long pipelines, and more specifically to a robot that moves inside a pipeline based on a linear electromagnetic actuator. The robot includes: an internal module having an arrangement of rings; and an external module. The robot performs a peristaltic translational motion inside the pipeline by means of a self-locking mechanism for securing the robot to the inner wall of the pipeline and electromagnetic interaction between the ring arrangement of the internal module and the external module. The invention also relates to a system for moving inside a pipeline based on a linear electromagnetic actuator, the system including: at least one robot; and at least one control module; wherein an umbilical cable is connected to the system for movement inside the pipeline.

Description

Technical Field

[0001] This invention relates to the technical field of pipeline inspection, maintenance, and internal unblocking, primarily addressing long pipelines, such as those in the oil and gas industry, where it is necessary to pull umbilical cables and power cables through long pipelines. More specifically, this invention relates to a system based on the movement of a linear electromagnetic actuator inside a pipeline. Background Technology

[0002] Pipelines are fundamental components of water supply, sewage, and gas systems in urban environments. Furthermore, the use of pipelines is also linked to the development of large industries such as metallurgy, petroleum, chemicals, and natural gas, as these pipelines are used to transport large volumes of fluids.

[0003] Like any mechanical structure, pipelines are frequently subjected to various forms of damage, such as corrosion, mechanical shock, vibration, and damage caused by third parties. Furthermore, pipeline blockage is also a common occurrence.

[0004] Therefore, to prevent pipeline deterioration, it is necessary to inspect, monitor, and maintain pipelines, as any of the aforementioned types of damage can partially or completely affect the operation of critical fluid transport pipelines and even lead to potential environmental impacts. Furthermore, such damage can cause significant economic losses, impacting local, regional, and even global socioeconomic factors.

[0005] To eliminate or mitigate the aforementioned problems, one current solution involves robots and systems that can be introduced into the pipes to be inspected. These robots and systems are developed to move inside the pipes and perform a variety of specific activities, such as cleaning, coating, monitoring, measuring, welding, and unblocking.

[0006] Therefore, existing technologies have developed several robot topologies with specific applications for operation within pipes. Typically, the manner of robot movement varies depending on the kinematic mechanism employed, with the primary aim of allowing movement within its operating environment. Some commonly used kinematic mechanisms are based on wheels, belts, articulated rods, and snake- and / or caterpillar-like (peristaltic) movements. However, significant difficulties have been encountered in standardizing robot designs for specific applications due to variations in diameter, high geometric complexity, and curves within pipes, making each robot design complex and unique in practice.

[0007] Another frequently encountered difficulty relates to the robot's ability to pull high loads during operation. Existing topologies have shown few options to meet this requirement, and these topologies typically have large structural dimensions and a large number of components, including moving parts. The large structural dimensions make operation in pipes with small inner diameters impractical, and the large number of components significantly increases the complexity of the function and structure, as well as the manufacturing cost.

[0008] Therefore, in the prior art, there is a need to develop a system that can provide a topology designed to meet the needs of applications requiring high traction force to be applied by the system, and that the topology has a simple structure. Existing technology

[0009] A search of history yielded some documents that disclosed the subject matter within the technical field of this invention.

[0010] Document CN 112630229 A describes a robot for maintenance inside oil and gas pipelines. The robot's movement is achieved through a rotary motor-based motion mechanism, with the motor's shaft connected to wheels. This type of mechanism is particularly noteworthy due to its simple structure and low construction cost. Furthermore, the electric drive of this type of robot is very simple, thus requiring minimal computational effort for control. On the other hand, this type of robot cannot move vertically through pipes due to the low adhesion between the wheels and the inner surface of the pipe. Additionally, when operating in pipes with small diameters, the wheeled robot topology typically cannot achieve high-load traction within the pipe. It should also be noted that the force generated by the motor is related to the motor's volume, and the motor in this document occupies a relatively small proportion compared to the overall volume of the robot.

[0011] Therefore, in addition to the aforementioned issues, document CN 112630229 A does not disclose or suggest the use of linear electromagnetic actuators or robot gripping systems capable of vertical movement within pipes. Furthermore, the power generation mechanism in this document occupies a small volume, making it difficult to generate sufficient force to pull other devices connected to the robot.

[0012] Accordingly, document CN 10546551A describes a robot based on a drive mechanism with a belt that presses against the inner wall of a pipe, which helps the robot adhere better to the inner surface of the pipe. The robot topology shown in the document has a central module and three arms spaced at 120º angles, which are adjusted by means of hinged rods. This allows the robot to better adapt to different pipe diameters. The transmission of the robot's motion is essentially achieved by the rotation of an electric motor mounted in each belt module, thus allowing the robot to move freely inside the pipe, including freely within vertically positioned pipes. In this way, the robot has a greater pulling load capacity compared to the drive mechanism of a wheeled robot. However, as disclosed in document CN 105465551A, the robot with the belt pressing against the wall still has a limited load pulling capacity, and its structural and functional components require a large number of parts, resulting in greater structural complexity.

[0013] In addition to the aforementioned issues, document CN 10546551A does not disclose or suggest the use of linear electromagnetic actuators. Instead, it proposes a rotary motor for a robot's power generation mechanism and a belt for attaching the robot to the inner wall of a pipe. Furthermore, the robot topology developed in document CN 105465551A as a belt-driven robot mechanism requires components for converting rotational motion into linear motion.

[0014] The paper by Sun et al. (1998) [“Micro robot in small pipe with electromagnetic actuator,” Proceedings of the 1998 International Symposium on Micromechatronics and Human Science: pp. 243–248, doi.org / 10.1109 / MHS.1998.745789] describes the use of a linear electromagnetic actuator. In this paper, the authors demonstrate a microrobot comprising a solenoid-type electromagnetic actuator, which allows it to operate in a small pipe with an inner diameter of 20 mm. The device operates within a mm-sized pipe. It comprises two main components: a moving part with a piston attached thereto; and another part including a solenoid coil surrounding the piston. Additionally, there are two sets of tilting rods fixed to each of the main components, and a helical spring separating the two components. The tilting rods contact the pipe wall, and the sinusoidal electrical actuation of the solenoid generates an electromagnetic force that interacts with the elastic force of the spring, thus propelling the robot through vibration.

[0015] However, the document by Sun et al. does not disclose or suggest the use of servo-driven actuators, and in the document, springs are used as the traction mechanism. Furthermore, the mechanism proposed in the document for attaching a robot to a pipe wall does not permit its use in applications requiring the pulling of high mechanical loads, or applications requiring control of the relative position between moving parts and rapid dynamic response.

[0016] Document CN 101463936 B describes a pipe inspection robot also based on a solenoid-type electromagnetic actuator. The robot consists of three modules, each with a solenoid-type actuator. Two end modules include multiple sets of hinged rods, each set consisting of two interconnected rods forming a "V" shape. A rectangular anti-slip element is located at the common point of the two interconnected rods, responsible for attaching the robot to the inner wall of the pipe. As the pistons of the end module actuators translate, the anti-slip element moves tangentially to or away from the inner wall of the pipe. The third module, the central module, functions to execute the robot's forward and backward movements based on the relative motion between an outer armature made of ferromagnetic material and an inner piston. Based on these aspects, the robot can perform a cyclical, peristaltic, or tracked motion mechanism.

[0017] However, document CN 101463936 B does not disclose or suggest a topology that allows the use of a single servo-controlled actuator. Furthermore, it does not disclose or suggest the use of a self-locking pipe wall fastening mechanism without a hinged rod. Moreover, the fastening system with a hinged rod disclosed in document CN 101463936 B may slip or slide when the load to be pulled exceeds the design limit.

[0018] Robots that use rotary linear actuators also exist. However, these robots typically have a large number of components that constitute the systems and mechanical parts used for rotary linear motion conversion, such as the robots disclosed in documents US 9021900 B2 and US9982830 B2. Summary of the Invention

[0019] Currently, there is a lack of robotic devices and systems in existing technologies that can provide high load-bearing capacity to pull other devices inside pipes and pipelines.

[0020] Therefore, the present invention includes the development of a structurally simple system that meets the needs of various applications requiring the application of high traction forces. To this end, the developed system uses a servo-controlled linear electromagnetic actuator mechanism as the source for facilitating the system's movement within a tube.

[0021] This invention describes a system using a linear electromagnetic actuator as its traction element, which generates the force required to move the system within a pipe without requiring a component to convert rotational motion into linear motion. Furthermore, the movement within the pipe combines the force generated by the actuator with a creeping or tracked motion method and a system for attaching to the inner wall of the pipe via a self-locking mechanism. In this way, the system exhibits high adhesion between the attachment component and the inner wall of the pipe, and therefore has the capacity to pull high loads.

[0022] These characteristics make this invention highly promising for applications in long pipelines, such as those in the oil and gas industry, where it is necessary to pull umbilical cables and feeder cables through long pipelines. Due to its high load capacity, the device, capable of performing various tasks such as inspection, cleaning, maintenance, and pipeline unblocking, can also be pulled and moved along with the system.

[0023] Therefore, the advantages and objectives of the present invention are achieved by providing a robot that moves inside a pipe based on a linear electromagnetic actuator, the robot comprising: an internal module having an arrangement of rings; and an external module; wherein the robot performs a peristaltic translational motion inside the pipe by means of a self-locking mechanism that fixes the robot to the inner wall of the pipe and electromagnetic interaction between the arrangement of rings of the internal module and the external module.

[0024] Furthermore, in one embodiment of the present invention, a system for moving inside a pipe based on a linear electromagnetic actuator is provided, the system comprising: at least one robot; and at least one control module; wherein an umbilical cable is connected to the system for moving inside the pipe. Attached Figure Description

[0025] The preferred embodiments of the invention discussed will be better understood when read in conjunction with the accompanying drawings. However, it should be understood that the invention discussed is not limited to the precise arrangements and apparatus shown.

[0026] Therefore, the invention will now be described with reference to typical embodiments thereof and, in addition, to the accompanying drawings.

[0027] Figure 1 A schematic diagram of a robot based on a linear electromagnetic actuator moving inside a pipe according to an embodiment of the present invention is shown, the linear actuator having an internal module and an external module.

[0028] Figure 2 A schematic diagram of all the components of the internal module of a robot according to an embodiment of the present invention is shown.

[0029] Figure 3A schematic diagram of all components of the external module of a robot according to an embodiment of the present invention is shown.

[0030] Figure 4 The motion sequence of a robot according to an embodiment of the present invention is shown.

[0031] Figure 5 A schematic diagram of a robot based on a linear electromagnetic actuator moving inside a pipe according to another embodiment of the present invention is shown, the linear actuator having an internal module and an external module.

[0032] Figure 6 The invention is shown Figure 5 A schematic diagram of all components of the internal module of the robot in the illustrated embodiment.

[0033] Figure 7 The invention is shown Figure 5 A schematic cross-sectional view of all components of the external module of the robot in the illustrated embodiment.

[0034] Figure 8 A schematic diagram of an offshore oil production system using a robotic system according to an embodiment of the present invention is shown.

[0035] Figure 9 The application of the present invention according to embodiments is illustrated in detail. Figure 8 The diagram shows a schematic of a robot system in an oil production system. Detailed Implementation

[0036] Refer in detail to the preferred embodiments of the invention illustrated in the accompanying drawings. Wherever possible, the same or similar reference numerals will be used throughout the drawings to refer to the same or similar features. It should be noted that the drawings are simplified and not to scale, and therefore minor variations are expected.

[0037] First, it should be noted that the terms “pipe,” “pipeline,” “pipeline,” “riser,” and other terms used throughout the text of this invention should not be interpreted in a specific or limiting manner, but rather in a general sense. These terms are generally used as synonyms for each other to refer to any type of tubular structure widely used and known in the oil and gas industry for transporting hydrocarbons.

[0038] A linear electromagnetic actuator is a device that directly converts electrical energy into mechanical energy through electromagnetic interactions between its components. Regarding the shape of linear electromagnetic actuators, there are essentially two types: planar and cylindrical. This invention discloses a robotic system based on a linear electromagnetic actuator with a generally cylindrical structural shape, which allows for better utilization of available space within the device. In this way, the effective volume of the electromagnetic device can be larger, and therefore, a higher level of force can be achieved for a given machine volume.

[0039] It is worth noting that several topologies of linear electromagnetic actuators can be derived from rotary electric motor topologies. Rotary motor configurations such as synchronous motors, induction motors, and variable reluctance motors can be applied to linear machines. Therefore, as proposed in this invention, the configuration of the system and the robot comprising the system have the potential for diversification in terms of linear electromagnetic actuator topologies.

[0040] Due to the internal geometry of the pipe through which the robotic system will move, a cylindrical geometry has proven more suitable because it better optimizes the power-to-volume ratio of the actuator. In the case of a cylindrical linear electromagnetic actuator, as described in embodiments of the invention, the robot is essentially divided into a larger diameter tubular module situated on top of another smaller cylindrical or tubular module, wherein the movement is based on the relative motion between the two modules. For naming purposes, the larger module may simply be referred to as the outer module of the actuator, and the smaller module may simply be referred to as the inner module.

[0041] It is important to emphasize that the robot based on linear electromagnetic actuators of this invention does not require elements to convert rotational motion into translational motion because the force generating the motion is parallel to the longitudinal axis of the pipe. Furthermore, compared to solutions consisting of rotary motors with rotation-to-linear motion conversion systems or solutions with hydraulic or pneumatic actuators, the robot's main advantages lie in characteristics such as rapid dynamic response, precise control, and better energy efficiency.

[0042] The motion and displacement mechanisms employed in the systems and robots of this invention are based on peristaltic or tracked motion associated with a self-locking mechanism. This is due to the limited stroke produced by the actuator, which necessitates the selection of a cyclic motion mechanism. This differs from prior art mechanisms using wheels and belts, where the motion is continuous.

[0043] Furthermore, the robot of the present invention, due to its simple construction, can be easily adapted to a variety of applications depending on the operating environment, including applications in pipes with small inner diameters. It should be noted that the present invention does not have a large number of parts in terms of its composition, which simplifies the system.

[0044] Therefore, refer to Figure 1 , Figure 1 A robot based on a linear electromagnetic actuator, moving inside a pipe according to an embodiment of the present invention, is shown. The robot includes a front or internal module 101 and a rear or external module 102. These modules 101, 102 are configured to secure the robot to the inner wall of the pipe, wherein the internal module 101 is disposed inside the robot and the external module 102 is disposed outside the robot.

[0045] Figure 2 An internal module 101 of a robot according to an embodiment of the present invention is shown. Therefore, the internal module 101 includes an arrangement structure consisting of rings 201, 202, and 203, the arrangement structure having a plurality of first-direction magnet rings 201, a plurality of second-direction magnet rings 202, and a plurality of ferromagnetic rings 203.

[0046] It is worth noting that the plurality of first-direction magnet rings 201 and the plurality of second-direction magnet rings 202 are formed of axially magnetized permanent magnet rings, wherein the magnetization direction of each magnet ring 201 in the plurality of first-direction magnet rings 201 is opposite to the magnetization direction of each magnet ring 202 in the plurality of second-direction magnet rings 202. Furthermore, the plurality of ferromagnetic rings 203 are formed of rings composed of soft ferromagnetic material, wherein each magnet ring 201 in the plurality of first-direction magnet rings 201 and each magnet ring 202 in the plurality of second-direction magnet rings 202 are alternately placed relative to each other, i.e., one at a time between the ferromagnetic rings 203 arranged along the longitudinal direction of the inner module 101, as shown below. Figure 2 As illustrated by example, the configuration of multiple ferromagnetic rings 203, multiple first-direction magnet rings 201, and multiple second-direction magnet rings 202 forms the main magnetic field generating part of the robot.

[0047] Furthermore, according to an embodiment of the present invention, the internal module 101 also includes a metal rod 204 having a threaded end. The rod 204 is introduced into an arrangement structure formed by a plurality of magnetic rings 201, 202 and a plurality of ferromagnetic rings 203, passing through holes in the plurality of magnetic rings 201, 202 and the plurality of ferromagnetic rings 203, thereby aligning the rings 201, 202, 203.

[0048] According to one embodiment of the invention, the internal module 101 further includes a front base portion 205, which has a first set of fastening members 206, also referred to as "legs". The front base portion 205 is disposed at the front end of an arrangement consisting of rings 201, 202, and 203, wherein a rod 204 passes through a generally centrally located hole in the front base portion 203, such as... Figure 2 As shown. Furthermore, the front base portion 205 is configured to secure the inner module 101 to the inner wall of the pipe by means of fastening members 206 connected to the front base portion 205, wherein the fastening members 206 of the fastening member assembly 206 are mechanically spaced from each other at 120° relative to the longitudinal geometric axis of the rod 204, that is, each fastening member 206 is positioned at 120° from the other adjacent fastening member 206.

[0049] Furthermore, according to one embodiment of the invention, the internal module 101 also includes pins 207, preferably cylindrical in shape, which are inserted into each fastening member 206 of the fastening member assembly 206 such that the fastening member 206 rotates about the longitudinal geometric axis of the pin 207. Thus, the fastening members 206 of the internal module 101 rotate about these pins 207 at different angles, and therefore, the robot can operate even with dimensional variations in the inner diameter of the pipe.

[0050] Furthermore, according to one embodiment of the invention, two helical tension springs 208 are installed in each fastening member 206 for retracting each fastening member 204, wherein the springs 208 apply the necessary force to provide contact between the fastening member 206 and the inner wall of the pipe.

[0051] In one embodiment of the invention, after arranging rings 201, 202, and 203, a stopper 210 is inserted into rod 204 to establish the travel distance between the robot's internal module 101 and external module 102, i.e., the endpoint of the maximum displacement.

[0052] Furthermore, according to one embodiment of the invention, the robot's internal module 101 also includes a hexagonal nut 209, which is inserted into both ends of the rod 204 to secure all components mounted along the rod 204, thereby preventing the components from moving in the longitudinal direction of the rod 204.

[0053] Figure 3An external module 102 of a robot according to one embodiment of the present invention is shown. Therefore, the external module 102 includes a spool 301 made of a non-ferromagnetic and electrically insulating material, the spool 301 being machined to house copper coils 302 surrounding the spool 301, wherein the coils 302 form a three-phase winding of a robot actuator. In this embodiment of the invention, four sets of coils are provided, each set having three coils; however, the invention is not limited to the number of coils in each set, and therefore more or fewer coils can be used to meet the desired application.

[0054] In one embodiment of the invention, the outer module 102 further includes an armature 303 or breech with an opening for internally accommodating a spool 301 with a coil 302. The armature 303 has a generally cylindrical shape, is made of a ferromagnetic material, and is used to electrically actuate the electromagnetic actuator of the robot. Bushings 304, 305 made of a low-friction material are connected at both ends of the armature 303. This allows the outer module 102 of the robot to slide freely in the longitudinal direction of the robot, and also to slide freely on the arrangement of the inner module 101 within the slidably arranged inner portion of the spool 301, consisting of rings 201, 202, 203.

[0055] Furthermore, according to one embodiment of the invention, the outer module 102 also includes a rear base portion 306 mounted at the rear end of the armature 303. Additionally, like the front base portion 205 of the inner module 101, the rear base portion 306 also includes a second set of fastening members 307 or "legs". The rear base portion 306 is configured to fasten the outer module 102 to the inner wall of the conduit by means of fastening members 307 connected to the rear base portion 306, wherein the fastening members 307 in the second set of fastening members 307 are mechanically spaced 120º apart from each other, i.e., each fastening member 307 is positioned at 120º from its adjacent fastening member 307.

[0056] Furthermore, similar to the situation in the inner module 101, the outer module 102 also includes preferably cylindrical pins 308, which are inserted into each of the second set of fastening members 307, such that the fastening members 307 rotate about the longitudinal geometric axis of the pins 308. Thus, the fastening members 307 of the outer module 102 rotate about these pins 308 at different angles, and therefore, the robot can operate even with dimensional variations in the inner diameter of the pipe.

[0057] Furthermore, according to one embodiment of the invention, two helical tension springs 309 are installed in each fastening member 307 for retracting each fastening member 307, wherein the springs 309 apply the necessary force to bring the fastening member 307 into contact with the inner wall of the pipe.

[0058] In addition, screws 310 and 311 are installed through holes in bushings 304 and 305 and holes in the rear base portion 306 to secure the components forming the external module 102 of the robot to the armature 303.

[0059] Figure 4 A sequence of peristaltic or tracked motion of a robot based on a self-locking mechanism is shown. The robot includes an internal module 101 and an external module 102. Therefore, the state of the robot when it is stationary must first be considered, in which the fastening members 206 of the first set of fastening members 206 and the fastening members 307 of the second set of fastening members 307 are in contact with the inner wall of the tube, as illustrated in the state involved in step ET1.

[0060] Subsequently, an external force is applied in the direction opposite to the indicated motion. In this case, the fastening members 206 and 307, which are in contact with the inner surface of the pipe, apply a force toward the center of the robot. Therefore, the fastening members 206 and 307 tend to apply even greater forces to the inner surface of the pipe, thereby preventing movement in the direction opposite to the indicated motion. Conversely, if an external force is applied in the direction of motion, the fastening members 206 and 307 tend to rotate, thereby losing their grip on the inner wall of the pipe, which facilitates free movement of the robot in the forward direction.

[0061] Therefore, according to one embodiment of the present invention, based on the self-locking mechanism of fastening members 206 and 307, the robot motion sequence is as follows: Figure 4 As illustrated in the diagram. In summary, the self-locking mechanism includes a normal gripping or anchoring force proportional to the force the robot must pull, thereby facilitating the robot's anchoring ability to the inner wall of the pipe. In this sense, it should be understood that any force or mechanical load coupled to the robot can contribute to a greater gripping or anchoring force to the inner wall of the pipe, thereby facilitating efficient movement of the robot through periodic translational motion. Therefore, according to one embodiment of the invention, the peristaltic motion performed by the robot is executed by means of a self-locking mechanism implemented or activated by fastening members 206, 307, which provides anchoring to the inner wall of the pipe in an alternating manner between the fastening members 206 of the first set of fastening members 206 and the fastening members 307 of the second set of fastening members 307.

[0062] Specifically, in order to execute this motion sequence based on the self-locking mechanism, such as Figure 4As shown, all fastening members 206 and 307 must contact the inner wall or inner surface of the pipe to activate or execute the self-locking mechanism. In stage ET1, the electromagnetic actuator-based robot generates force in the indicated direction of motion through the interaction of the components of the inner module 101 and the outer module 102, allowing the inner module 101 to begin its forward movement. In this case, the fastening member 307 of the outer module 102 is fixed to the wall due to a repulsive force applied to the outer module 102, causing the outer module 102 to tend to move in the opposite direction of motion, and the movement of the module 102 is prevented due to the self-locking mechanism. In stage ET2, the inner module 101 reaches the end of its stroke. Next, the actuator-based robot applies force in the opposite direction, and the movement of the outer module 102 begins because, in this case, the self-locking mechanism is generated by the fixing member 206 of the inner module 102. When the outer module 102 reaches the end of its stroke in stage ET3, a new cycle begins. Thus, the motion steps of the robot based on the linear electromagnetic actuator are repeated cyclically, enabling the robot to move continuously inside the tube.

[0063] Figures 5 to 7 A robot based on a linear electromagnetic actuator, moving inside a pipe according to another embodiment of the invention, is shown. It is worth emphasizing that this other embodiment of the invention demonstrates a robot that can move according to... Figures 1 to 4 Examples of possible structural modifications to the described embodiments are provided, in which many basic and specific features are shared among these embodiments. Therefore, details regarding fastening elements such as screws, nuts, springs, etc., are not described in this embodiment. Furthermore, it is worth emphasizing that other features described below can also be applied to the embodiments already mentioned above without departing from the purpose of the invention.

[0064] In this other embodiment, such as Figure 5 As shown, the robot has a topology based on a permanent magnet linear electromagnetic actuator. The robot includes an internal module 501 and an external module 502. The internal module 501 also includes a central through-hole for a multi-functional umbilical cable to pass axially through it. It should be noted that, according to this embodiment of the invention, the robot includes multiple permanent magnet rings 604 located in the internal module 501. These permanent magnet rings 604 are magnetized using a quasi-Halbach array and have three-phase concentrated windings. The robot topology based on a linear electromagnetic actuator used in this embodiment is also synchronized via permanent magnets, such as... Figure 1 As shown. However, it uses permanent magnets with different shapes and magnetizations, which illustrates the possibility of the topological changes mentioned earlier.

[0065] therefore, Figure 6The internal module 501 of the robot according to another embodiment of the present invention is highlighted. The internal module 501 includes a front base portion 601 having a first set of fastening members 602, also referred to as "legs," wherein the fastening members 602 of the first set are mechanically spaced 120º apart from each other relative to the central longitudinal geometric axis of the internal module 501, i.e., each fastening member 602 is positioned at 120º from another adjacent fastening member 602. Furthermore, the front base portion 601 includes a cylindrical pin 603 mounted at the end of each fastening member 602 and fixed to the front base portion 601, such that the fastening member 602 can rotate about the longitudinal geometric axis of the pin 603, and considering the geometry of the fastening member 602, a self-locking mechanism is technically feasible, as previously described. Figures 1 to 4 The implementation methods presented are as described.

[0066] Furthermore, the internal module 501 also includes an arrangement of rings 604 having a plurality of permanent magnet rings in a quasi-Haelbeck array. In this embodiment, the permanent magnet rings 604 in a quasi-Haelbeck array repeat along the internal module 501.

[0067] Figure 7 An external module 502 of a robot according to another embodiment of the invention is highlighted. The external module 502 includes a rear base portion 701 having a second set of fastening members 702, also referred to as "legs". Notably, the fastening members 702 of the second set share the same features described for the fastening members 602 of the first set of fastening members 602, enabling proper activation or execution of a self-locking mechanism on the inner wall of the tube. Therefore, the rear base portion 701 also includes a pin 703 coupled thereto, allowing each fastening member 702 to rotate about the longitudinal geometric axis of the pin 703.

[0068] Furthermore, the external module 502 also includes an armature with a modular structure made of ferromagnetic material, which is fabricated to accommodate copper coils 704. The copper coils 704 constitute the three-phase windings of the external module 502, wherein single-phase windings 705 are distributed alternately between the phases along the external module 502. In embodiments of the invention, twenty-four coils are provided, with eight coils per phase, thus forming a three-phase electrical configuration; however, the invention is not limited to this number of coils, and therefore more or fewer coils can be used to meet the desired application.

[0069] By way of examples Figure 8The overall diagram illustrates a system for extracting oil in the high seas. A stationary production unit (SPU) 801 is connected to a well 802 via a flexible conduit 803, into which two robots 804 are inserted, and these robots 804 are controlled by a control module 805. An umbilical cable 806, responsible for powering all electrical components of the robots 804, connects the SPU 801 and the robots 804. In this way, the robots, and thus the system formed by one or more robots 804, are allowed to move the operating module group to the desired point.

[0070] Figure 9 Detailed illustrations Figure 8 A schematic diagram of an internal pipeline movement robot 804 in an oil production system is shown. In this configuration, the entire robot system is inserted into the pipeline 901, with the front robot 902 responsible for moving the module components to the well and the rear robot 903 responsible for returning to the UEP. A control module 904 is responsible for servo actuation of the actuators. Finally, it is important to emphasize that structural modifications to the robot and robot system can be made depending on the context and requirements. Additionally, monitoring and maintenance tools can also be connected to the robot system. Therefore, in embodiments of the invention, according to... Figure 8 and Figure 9 The configuration shown, a system for moving inside a pipe based on a linear electromagnetic actuator, includes at least one robot 902, 904, such as a forward robot 901, a retracting robot 903, and at least one control module 904, wherein an umbilical cable 905 is connected to the system for movement inside the pipe 901.

[0071] It is worth noting that the proposed robots and systems can be applied to a variety of practical applications, such as pipeline inspection in natural gas and oil extraction systems, water supply systems, and sewage systems.

[0072] Furthermore, the robots and systems described in this invention have high power density and are designed for operation in oil pipelines with diameters starting from approximately 0.1 m (approximately 4 inches).

[0073] Furthermore, it is important to mention that the foregoing description is merely an example derived from the design of the robot and system proposed in this invention. Various structural modifications can be made to suit specific applications, and different linear electromagnetic actuator topologies, such as inductive actuators, switched reluctance actuators, brushless DC actuators, etc., can be used in addition to the permanent magnet synchronous topology.

[0074] Those skilled in the art will understand the knowledge shown and can reproduce the invention in the indicated embodiments and other variations covered by the appended claims.

Claims

1. A robot that moves inside a pipe based on a linear electromagnetic actuator, characterized in that, The robot includes: Internal modules (101; 501), the internal modules having an arrangement structure consisting of rings (201, 202, 203; 604); and External modules (102; 502); The robot performs a peristaltic translational motion inside the pipe by means of a self-locking mechanism for fixing the robot to the inner wall of the pipe and the electromagnetic interaction between the arrangement of the inner module (101; 501) consisting of rings (201, 202, 203; 604) and the outer module (102; 502).

2. The robot according to claim 1, characterized in that, The ring (201, 202, 203); The arrangement structure consisting of 604) includes: Multiple first-direction magnet rings (201), multiple second-direction magnet rings (202), and multiple ferromagnetic rings (203); or Multiple magnet rings (604) with quasi-Haelbeck array magnetization.

3. The robot according to claim 2, characterized in that, Each of the plurality of first-direction magnet rings (201) and each of the plurality of second-direction magnet rings (202) are alternately placed between the ferromagnetic rings (203) arranged along the longitudinal direction of the inner module (101).

4. The robot according to any one of the preceding claims, characterized in that, The internal module (101; 501) also includes a metal rod (204) with a threaded end, which is introduced into the arrangement of rings (201, 202, 203; 604) to align the rings (201, 202, 203; 604).

5. The robot according to any one of the preceding claims, characterized in that, The internal module (101; 501) also includes a front base portion (205; 601) having a first set of fastening members (206; 602).

6. The robot according to any one of the preceding claims, characterized in that, The external module (102; 502) also includes a rear base portion (306; 701) having a second set of fastening members (307; 702).

7. The robot according to any one of the preceding claims, characterized in that, The self-locking mechanism is achieved by the fastening components (206, 307; 602, 702).

8. The robot according to any one of the preceding claims, characterized in that, A stopper (210) is inserted in the rod (204) to establish maximum displacement between the inner module (101) and the outer module (102).

9. The robot according to any one of the preceding claims, characterized in that, The external module (102) also includes a spool (301) made of a non-ferromagnetic and electrically insulating material, the spool (301) for accommodating a copper coil (302) surrounding the spool (301), wherein the coil (302) forms a three-phase winding.

10. The robot according to any one of the preceding claims, characterized in that, The external module (102) also includes an armature (303) with an opening for internally accommodating the spool (301) with the coil (302).

11. The robot according to any one of the preceding claims, characterized in that, The external module (502) also includes an armature having a modular structure made of ferromagnetic material, the modular structure being used to accommodate copper coils (704) that constitute the three-phase windings of the external module (502), wherein single-phase windings (705) are distributed in an alternating manner between the phases along the external module (502).

12. The robot according to any one of the preceding claims, characterized in that, The internal module (101; 501) also has a central through-hole for the axial passage of a multi-functional umbilical cable through the internal module (101; 501).

13. A system for movement inside a pipe based on a linear electromagnetic actuator, characterized in that, The system includes: At least one robot (902; 904) according to any one of claims 1 to 12; and At least one control module (904); The umbilical cable (905) is connected to the system to move inside the conduit (901).

14. The system according to claim 13, characterized in that, At least one control module (904) performs servo actuation of the system.

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