Robot and system for moving inside in pipes based on a linear electromagnetic actuator

Abstract

The present invention is applied to the field of technologies for inspecting, maintaining and unblocking inside pipes, mainly used in the field of long pipes, and more particularly relates to a robot for moving inside pipes based on a linear electromagnetic actuator, the robot comprising: an internal module, which has an arrangement of rings, and an external module, wherein the robot performs peristaltic translational movements inside the pipe by means of a self-locking mechanism for fixing the robot to an internal wall of the pipe and an electromagnetic interaction between the arrangement of rings of the internal module and the external module. The present invention further relates to a system for moving inside pipes based on a linear electromagnetic actuator, the system comprising: at least one robot and at least one control module, wherein an umbilical cable is coupled to the system for moving inside a pipe.

Description

[0001] ROBOT AND SYSTEM FOR INTERNAL DISPLACEMENT IN PIPELINES BASED ON LINEAR ELECTROMAGNETIC ACTUATOR Field of the invention

[0001] The present invention is applied to the field of technologies for inspection, maintenance, and internal unclogging of pipelines, acting primarily in the field of long pipelines, such as in the oil and gas industry, where it is necessary to pull umbilical and power cables through long ducts. More particularly, the present invention relates to a system for internal displacement in pipelines based on a linear electromagnetic actuator. Background of the invention

[0002] Pipes are essential elements in water supply, sewage, and gas systems in urban environments. Furthermore, the use of pipes is also associated with the development of large industries, such as the metallurgical, petroleum, chemical, and natural gas sectors, as they transport large volumes of fluids.

[0003] A pipeline, like any mechanical structure, is constantly subject to damage of various kinds, such as corrosion, mechanical impact, vibration, and third-party damage. Furthermore, pipeline obstructions are also a common occurrence.

[0004] Therefore, to prevent pipeline problems from worsening, inspections, monitoring, and repairs are necessary, as any of the aforementioned damages can partially or completely compromise the operation of important fluid transport lines and even result in potential environmental impacts. Furthermore, such damage also leads to significant financial losses, affecting local, regional, and even global socioeconomic factors.

[0005] A solution adopted today, with the intention of eliminating or mitigating the problems mentioned above, concerns robots and systems that can be introduced into the pipelines to be inspected, with such robots and systems being developed to move within these pipelines and perform various specific activities, such as cleaning, coating, monitoring, measuring, welding and unclogging.

[0006] Thus, state-of-the-art robot topologies have been developed for specific applications in pipelines. Typically, the robot's movement varies depending on the movement mechanism adopted, primarily aimed at enabling movement within the environment in which it operates. Some commonly used movement mechanisms are based on wheels, belts, articulated bars, and the (peristaltic) movement of snakes and / or caterpillars. However, due to the presence of diameter changes, high geometric complexity, and curves in pipelines, it has been significantly difficult to standardize robot designs for specific applications, which, in practice, makes each robot's design complex and unique.

[0007] Another difficulty frequently encountered is related to the need for the robot to have the capacity to pull high loads during operation, as the topologies presented by the state of the art have shown rare options that meet this need and generally have a large structural size — which makes operation with smaller internal diameters of pipelines unfeasible — and a high number of components, including moving parts — which significantly increases functional and structural complexity, in addition to manufacturing costs.

[0008] Therefore, there is a need in the state of the art for the development of systems that can offer a topology that aims to meet applications that require high traction force exerted by the system and its constructive simplicity. State of the Art

[0009] The search for history led to some documents that reveal matters within the technological field of the present invention.

[0010] Document CN112630229A describes a robot that performs maintenance on oil and gas pipelines. Its movement is achieved using a movement mechanism based on a rotary motor whose shaft is coupled to wheels. This type of mechanism has been recognized primarily for its structural simplicity and low construction cost. Furthermore, the electrical drive of this type of robot is quite simple, thus not requiring significant computational effort to control it. On the other hand, this type of robot is unable to move in vertical pipelines due to the wheels' poor adhesion to the pipe's internal surface. Furthermore, the wheeled robot topology generally does not allow for heavy load traction in pipelines when the robot operates in pipelines with smaller diameters.It is also worth mentioning that the force produced by the motor is associated with the volume of the motor, and the motor in this document has occupied a relatively low percentage compared to the total volume of the robot.

[0011] Therefore, in addition to the aforementioned issues, document CN112630229A also fails to reveal or suggest the use of a linear electromagnetic actuator, nor a robot attachment system capable of enabling vertical displacement in the pipeline. Furthermore, the volume occupied by the drive mechanism in this document is small, making it difficult to produce high force to pull other equipment attached to the robot.

[0012] In turn, document CN105465551A describes a robot based on a movement mechanism with belts pressed against the inner wall of the pipeline, which contributes to greater adherence of the robot to the internal surface of the pipe. The robot topology presented in this document has a central module and three arms, separated by an angle of 120°, which are adjusted by articulated bars. This allowed for greater adaptability of the robot to different pipe diameters. The robot's movement is transmitted primarily by the rotation of electric motors installed in each belt module, allowing the robot to move freely within the pipeline, including vertically positioned pipes. This gives the robot greater load-pulling capacity compared to the movement mechanism of a wheeled robot.However, the robot with belts pressed against the wall, as disclosed in document CN105465551A, still has limited load pulling capacity and requires a large number of parts for its structural and functional composition, which results in greater construction complexity.

[0013] In addition to the aforementioned issues, document CN105465551A also fails to reveal or suggest the use of a linear electromagnetic actuator. This document proposes a rotary motor for the robot's driving force mechanism and belts for attaching the robot to the inner wall of the pipe. Furthermore, the topology of the robot developed in document CN105465551A, because it is a belt-driven robot mechanism, requires components for converting rotary 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: 243-248, doi.org / 10.1109 / MHS.1998.745789] describes the use of a linear electromagnetic actuator. In this paper, the authors presented a microrobot containing a solenoid-type electromagnetic actuator that allows it to operate in pipes with an internal diameter of 20 mm. This device consists of two main elements: a moving part with a plunger attached to it and a part containing the solenoid coil surrounding the plunger. In addition, there are two sets of inclined bars attached to each of the main elements and a helical spring separating the two elements.The inclined bars make contact with the pipe wall and a sinusoidal electric drive of the solenoid generates an electromagnetic force that interacts with the elastic force of the spring and the resulting vibration promotes the propulsion of the robot.

[0015] However, the Sun et al. paper neither reveals nor suggests the use of a servo-driven actuator, and this paper uses springs as the traction mechanism. Furthermore, the robot's attachment mechanism to the pipe walls proposed in this paper does not allow for use in applications requiring high mechanical load traction or requiring control of the relative position between moving parts and rapid dynamic response.

[0016] Document CN101463936B describes a pipeline inspection robot that is also based on a solenoid-type electromagnetic actuator. This robot consists of three modules, each with a solenoid actuator. The two end modules contain sets of articulated bars, each of which forms a "V" shape. At their common point, a non-slip rectangular piece secures the robot to the inner wall of the pipe. With the translational movement performed by the end module's actuator plunger, the non-slip pieces either touch or move away from the inner wall of the pipe. The third module—the central one—is responsible for advancing and retreating the robot according to the relative movement between the external armature and the internal ferromagnetic plunger.Based on these aspects, the robot is allowed to perform the peristaltic or caterpillar type movement mechanism in a cyclical manner.

[0017] However, document CN101463936B fails to disclose or suggest a topology that allows the use of a single servo-controlled actuator. Furthermore, this document also fails to disclose or suggest the use of a self-locking duct wall fastening mechanism without articulated bars. Furthermore, the hinged bar fastening system disclosed in document CN101463936B is subject to possible slippage and slipping when the load to be pulled exceeds the designed limit.

[0018] There are also robots that use rotary-linear actuators. However, these robots generally have a large number of components that make up the system and mechanical parts for converting rotary-linear motion, such as the robots disclosed in documents US9021900B2 and US9982830B2. Brief description of the invention

[0019] Currently, there is a lack of state-of-the-art robotic equipment and systems capable of providing high load capacity for pulling other devices inside ducts and pipes.

[0020] Therefore, the present invention consists of the development of a system with simple construction that meets a wide range of applications requiring high traction force. To this end, the developed system utilizes a mechanism based on a servo-controlled linear electromagnetic actuator to drive the system within the pipeline.

[0021] The present invention describes a system whose traction element is a linear electromagnetic actuator capable of producing the force necessary to move the system within a pipeline, without the need for rotary-to-linear motion conversion elements. Furthermore, movement within the pipeline combines the force produced by the actuator with a peristaltic or track-type displacement method and a fastening system to the inner wall of the pipeline with a self-locking mechanism. Thus, the system provides high adhesion between the fastening assembly and the inner wall of the pipeline and, therefore, the capacity to pull heavy loads.

[0022] These characteristics give this invention great potential for application in long pipelines, such as those in the oil and gas industry, where umbilical and power cables must be pulled through long ducts. Due to their high load capacity, devices capable of performing various tasks, such as inspection, cleaning, repair, and unclogging, can also be pulled and moved within the system.

[0023] Thus, the advantages and objectives of the present invention are achieved by providing a robot for internal displacement in pipelines based on a linear electromagnetic actuator, the robot comprising: an internal module having an arrangement of rings; and an external module; in which the robot performs peristaltic translational movement inside the pipeline by means of a self-locking mechanism for fixing the robot to the inner wall of the pipeline and the 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 internal displacement in pipelines based on a linear electromagnetic actuator is provided, the system comprising: at least one robot; and at least one control module; in which an umbilical cable is coupled to the system for displacement within a pipeline. Brief description of the figures

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

[0026] Thus, the present invention will be described below with reference to its typical embodiments and also with reference to the attached drawings, in which:

[0027] Figure 1 shows a schematic view of a robot for internal displacement in pipelines based on a linear electromagnetic actuator having an internal module and an external module, according to an embodiment of the present invention.

[0028] Figure 2 shows a schematic view of all components of an internal robot module, according to an embodiment of the present invention.

[0029] Figure 3 shows a schematic view of all components of an external robot module, according to an embodiment of the present invention.

[0030] Figure 4 shows a sequence of movement of the robot, according to an embodiment of the present invention.

[0031] Figure 5 shows a schematic view of a robot for internal displacement in pipelines based on a linear electromagnetic actuator having an internal module and an external module, according to another embodiment of the present invention.

[0032] Figure 6 shows a schematic view of all components of an internal module of the robot, according to the embodiment represented by Figure 5 of the present invention.

[0033] Figure 7 shows a schematic cross-sectional view of all components of an external robot module, according to the embodiment represented by Figure 5 of the present invention.

[0034] Figure 8 shows a schematic of an offshore oil production system where the robot system is applied, according to an embodiment of the present invention.

[0035] Figure 9 shows in detail the schematic of the robot system applied to the oil production system illustrated in Figure 8, according to an embodiment of the present invention. Detailed description of the invention

[0036] Below, reference is made in detail to the preferred embodiments of the present invention illustrated in the accompanying drawings. Whenever 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 in simplified form and are not represented to scale, so slight variations are anticipated.

[0037] Initially, it should be noted that the words “duct(s)”, “pipe(s)”, “pipe(s)”, “riser(s)”, and others, as used throughout the text of the present invention, should not be interpreted in a specific or limiting manner, but rather in a general manner, and are often used as synonyms to refer to any type of tubular structure for transporting hydrocarbons, as widely used and known in the oil and gas sector.

[0038] A linear electromagnetic actuator is a device that directly converts electrical energy into mechanical energy through electromagnetic interactions between its component parts. Regarding the shape of a linear electromagnetic actuator, there are basically two classes: planar and cylindrical. The present invention reveals a robot system based on a linear electromagnetic actuator with a general cylindrical structural format, due to the better use of available space within the piping. This allows for a larger active volume of the electromagnetic device and, consequently, a higher level of force achieved for a given machine volume.

[0039] It is important to note that various linear electromagnetic actuator topologies can be derived from rotary electric motor topologies. Rotary motor configurations, such as synchronous, induction, and variable reluctance motors, for example, can be adapted to linear machines. Thus, the configuration of the system and the robots that comprise it, as proposed in the present invention, allows for diversification in terms of linear electromagnetic actuator topology.

[0040] Due to the internal geometry of the pipes through which the robot systems must move, a cylindrical geometric shape is more suitable, as it better optimizes the actuator's power-to-volume ratio. In the case of a cylindrical linear electromagnetic actuator, as described in embodiments of the present invention, the robot's composition is basically divided into a tubular module with a larger diameter over a smaller cylindrical or tubular module, with displacement based on the relative motion between these two modules. For nomenclature purposes, the larger module can simply be referred to as the actuator's outer module and the smaller module as the inner module.

[0041] It is important to highlight that the linear electromagnetic actuator-based robots of the present invention do not require rotational-to-translational motion conversion elements, since the force to produce the movement is parallel to the longitudinal axis of the pipeline. Furthermore, characteristics such as fast dynamic response, precise control, and improved energy efficiency are the robot's main advantages when compared to solutions composed of rotary motors with rotary-to-linear motion conversion systems, or solutions with hydraulic or pneumatic actuators.

[0042] The movement and displacement mechanism adopted by the system and robots of this invention is based on peristaltic or track-type movement associated with a self-locking mechanism. This is due to the limited stroke developed by the actuator, necessitating the selection of a cyclic movement mechanism. This differs from prior-art mechanisms that use wheels and belts, as their movement occurs continuously.

[0043] Furthermore, due to its simple construction, the robot structure of the present invention can be easily adapted to a variety of applications, depending on the operating environment, including pipelines with small internal diameters. It is worth noting that the present invention does not require a large number of components, which makes the system simple.

[0044] Thus, reference is made to Figure 1, which shows a robot for internal displacement in pipelines based on a linear electromagnetic actuator, according to an embodiment of the present invention. The robot comprises a front or internal module 101 and a rear or external module 102. These modules 101, 102 are configured to perform the attachment of the robot to the internal wall of the pipeline, with the internal module 101 being disposed on the inside of the robot and the external module 102 being disposed on the outside of the robot.

[0045] Figure 2 shows the internal module 101 of the robot, according to an embodiment of the present invention. Thus, the internal module 101 comprises: a ring array 201, 202, 203 having a plurality of first magnetization direction magnet rings 201; a plurality of second magnetization direction magnet rings 202; and a plurality of ferromagnetic rings 203.

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

[0047] Additionally, according to one embodiment of the present invention, the internal module 101 further comprises a metal rod 204 having threaded ends. The rod 204 is introduced into the arrangement formed by the plurality of magnet rings 201, 202 and the plurality of ferromagnetic rings 203, passing through holes therein, thus providing alignment of the rings 201, 202, 203.

[0048] According to one embodiment of the present invention, the inner module 101 further comprises a front base portion 205 having a first set of attachment members 206, also called “legs”. The front base portion 205 is disposed at a front end of the ring array 201, 202, 203, with the rod 204 passing through a hole substantially centered in the front base portion 203, as shown in Figure 2. Furthermore, the front base portion 205 is configured to secure the inner module 101 to the inner wall of the pipeline by means of the fastening members 206 coupled to said front base portion 205, wherein the fastening members 206 of the set of fastening members 206 are mechanically offset from each other by 120°, that is, each fastening member 206 is positioned 120° from another fastening member 206 adjacent thereto, relative to a longitudinal axis of the rod 204.

[0049] Furthermore, according to an embodiment of the present invention, the internal module 101 further comprises a pin 207, preferably in cylindrical shape, inserted into each fixing member 206 of the set of fixing members 206 so that the fixing member 206 rotates around the longitudinal geometric axis of the pin 207. With this, the fixing members 206 of the internal module 101 rotate around these pins 207 to different angles and, therefore, the robot can operate even if there are dimensional variations of the internal diameters of the pipes.

[0050] Additionally, according to an embodiment of the present invention, two tension coil springs 208 are installed on each fastening member 206 for retraction of each fastening member 206, wherein the springs 208 exert a force necessary to provide contact of the fastening members 206 with the inner wall of the pipeline.

[0051] In one embodiment of the present invention, a stop 210 is inserted into the rod 204, after the arrangement of rings 201, 202, 203, to establish the end of stroke, i.e., the maximum excursion between the internal module 101 and the external module 102 of the robot.

[0052] Furthermore, according to an embodiment of the present invention, the internal module 101 of the robot further comprises a hexagonal nut 209, which is inserted into both ends of the rod 204 for fixing all the components installed along the rod 204, preventing the components from moving in the longitudinal direction of the rod 204.

[0053] Figure 3 shows the external module 102 of the robot, according to one embodiment of the present invention. Thus, the external module 102 comprises a spool 301 of non-ferromagnetic and electrically insulating material that has been machined to house copper coils 302 around the spool 301, wherein the coils 302 form a three-phase winding of the robot actuator. In embodiments of the present invention, four coil sets are provided, each set having three coils; however, the present invention is not limited to this number of coils per set, so that more or fewer coils may be employed to meet the desired application.

[0054] In one embodiment of the present invention, the external module 102 further comprises an armature 303, or yoke, having an opening for housing the spool 301 with the coils 302 therein. The armature 303 has a general cylindrical shape, is made of ferromagnetic material, and acts to electrically excite the robot's electromagnetic actuator. At both ends of the armature 303, bushings 304, 305 made of low-friction material are coupled. This allows the external module 102 of the robot to slide freely in the longitudinal direction of the robot and over the ring arrangement 201, 202, 203 of the internal module 101, which is slidably arranged within the spool 301.

[0055] Furthermore, according to one embodiment of the present invention, the outer module 102 further comprises a rear base portion 306 that is installed at a rear end of the armature 303. Additionally, as with the front base portion 205 of the inner module 101, the rear base portion 306 further includes a second set of attachment members 307, or "legs." The rear base portion 306 is configured to attach the outer module 102 to the inner wall of the pipeline by means of the attachment members 307 coupled to said rear base portion 306, wherein the attachment members 307 of the second set of attachment members 307 are mechanically offset from each other by 120°, that is, each attachment member 307 is positioned 120° from another attachment member 307 adjacent thereto.

[0056] Furthermore, similarly to what occurs with the internal module 101, the external module 102 further comprises a pin 308, preferably in cylindrical shape, inserted into each fastening member 307 of the second set of fastening members 307 so that the fastening member 307 rotates around the longitudinal geometric axis of the pin 308. With this, the fastening members 307 of the external module 102 rotate around these pins 308 to different angles and, therefore, the robot can operate even if there are dimensional variations in the internal diameters of the pipes.

[0057] Additionally, according to an embodiment of the present invention, two tension coil springs 309 are installed on each fastening member 307 for retraction of each fastening member 307, wherein the springs 309 exert a force necessary to provide contact of the fastening members 307 with the inner wall of the pipeline.

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

[0059] Figure 4 shows the peristaltic or crawler-type movement sequence of the robot including the internal module 101 and the external module 102 based on a self-locking mechanism. Thus, one should initially consider the condition in which the robot is at rest, with the fixing members 206 of the first set of fixing members 206 and the fixing members 307 of the second set of fixing members 307 in contact with the inner wall of the tube, as illustrated in the condition referred to in step ET1.

[0060] Next, consider applying an external force in the opposite direction to the indicated movement. Under these conditions, the clamping members 206, 307, which are in contact with the inner surface of the pipe, exert force toward the center of the robot. This results in the clamping members 206, 307 exerting an even greater force against the inner surface of the pipe, blocking movement in the opposite direction to the indicated movement. Conversely, if the external force is applied in the direction of movement, the clamping members 206, 307 tend to rotate, losing their grip on the inner wall of the pipe, which favors the robot's free movement in the forward direction.

[0061] Thus, based on the self-locking mechanism of the fastening members 206, 307, the movement sequence of the robot, according to one embodiment of the present invention, is presented as illustrated in Figure 4. In summary, the self-locking mechanism consists of a normal gripping or anchoring force that is proportional to the force that must be pulled by the robot, favoring the robot's anchoring capacity to the internal walls of the duct. In this sense, it is understood that any mechanical forces or loads coupled to the robot can contribute to a greater gripping or anchoring force against the internal walls of the duct, favoring the effective displacement of the robot through periodic translational movements.Thus, the peristaltic movement performed by the robot, according to an embodiment of the present invention, is carried out by means of the self-locking mechanism, effected, or actuated, by the fastening members 206, 307, which provides an anchorage to the inner wall of the pipeline 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, to perform this movement sequence based on a self-locking mechanism, as demonstrated in Figure 4, all clamping members 206, 307 must be in contact with the wall or inner surface of the pipe to actuate or perform the self-locking mechanism. In step ET1, the electromagnetic actuator-based robot, through the interaction of the components of the internal module 101 and external module 102, produces the force in the indicated direction of movement so that the internal module 101 can begin its forward movement. In this condition, due to the repulsive force exerted on the external module 102, which causes it to tend to move in the opposite direction of movement, the clamping members 307 of the external module 102 attach to the wall and, due to the self-locking mechanism, prevent the movement of this module 102. In step ET2, the internal module 101 reaches the limit switch.Next, the actuator-based robot exerts force in the opposite direction, and the external module 102 begins to move, since in this condition the self-locking mechanism occurs with the fixing members 206 of the internal module 102. When the external module 102 reaches the limit switch in step ET3, the new cycle begins. Thus, the steps of the linear electromagnetic actuator-based robot's movement operation proceed cyclically, enabling the robot's continuous movement within the duct.

[0063] Figures 5 to 7 show a robot for internal displacement in pipelines based on a linear electromagnetic actuator, according to another embodiment of the present invention. It is worth noting that this other embodiment of the present invention demonstrates an example of the possibilities for structural modifications that can be made based on the embodiments described in Figures 1 to 4, with many essential and particular features shared between these embodiments. Therefore, details regarding fasteners, such as screws, nuts, springs, etc., are not further described for this embodiment. Furthermore, it is also worth noting that other features, which will be described below, can also be applied to the aforementioned embodiments, without departing from the objectives of the present invention.

[0064] In this other embodiment, as shown in Figure 5, the robot has a topology based on a permanent magnet linear electromagnetic actuator, comprising an internal module 501 and an external module 502. The internal module 501 also includes a central through hole for the axial passage of a multifunctional umbilical cable. It should be noted that the robot, according to this embodiment of the present invention, comprises a plurality of permanent magnet rings 604 in the internal module 501 using a quasi-Halbach magnetization arrangement and a three-phase concentrated winding. The topology of the linear electromagnetic actuator-based robot used in this embodiment is also a permanent magnet synchronous robot, as shown in Figure 1. However, it uses permanent magnets with distinct shapes and magnetizations, which exemplifies the possibility of topological variations already mentioned.

[0065] Thus, Figure 6 shows highlighted the internal module 501 of the robot, according to this other embodiment of the present invention. The internal module 501 comprising: a front base portion 601 having a first set of attachment members 602, also called “legs”, in which the attachment members 602 of the first set of attachment members 602 are mechanically offset from each other by 120°, that is, each attachment member 602 is positioned 120° from another attachment member 602 adjacent to it, relative to a central longitudinal axis of the internal module 501.Furthermore, the front base portion 601 further comprises a cylindrical pin 603 installed at the end of each fastening member 602 and fixed to the front base portion 601 so that the fastening members 602 can perform a rotational movement around a longitudinal geometric axis of the pin 603 and, given the geometry of the fastening members 602, the self-locking mechanism is technically feasible, as previously described in the embodiments presented for Figures 1 to 4.

[0066] Additionally, the inner module 501 further comprises a ring array 604 having a plurality of permanent magnet rings in a quasi-Halbach arrangement. In this embodiment, the magnet rings 604 in a quasi-Halbach arrangement are repeated throughout the inner module 501.

[0067] Figure 7 shows highlighted the external module 502 of the robot, according to this other embodiment of the present invention. The external module 502 comprising: a rear base portion 701 having a second set of attachment members 702, also called "legs". It is noted that the attachment members 702 of the second set of attachment members 702 share the same characteristics described as the attachment members 602 of the first set of attachment members 602, so that the self-locking mechanism is adequately actuated or performed on the inner wall of the duct. Thus, the rear base portion 701 further includes pins 703 coupled thereto to allow rotation of each attachment member 702 around a longitudinal axis of the pin 703.

[0068] Furthermore, the external module 502 further comprises an armature having a modular structure of ferromagnetic material that is machined to house copper coils 704 that comprise a three-phase winding of the external module 502, wherein a single-phase winding 705 is distributed throughout the external module 502 in an interleaved manner between phases. In embodiments of the present invention, twenty-four coils are provided, with eight coils per phase, forming a three-phase electrical configuration; however, the present invention is not limited to this number of coils, so that more or fewer coils may be employed to meet the desired application.

[0069] By way of example, Figure 8 illustrates a general offshore oil extraction system. A Stationary Production Unit (SPU) 801 is connected to a well 802 via a flexible pipeline 803, where two robots 804 are inserted into this pipeline 803, and these robots 804 are controlled by control modules 805. An umbilical cable 806—responsible for powering all the electrical components of the robots 804—interconnects the SPU 801 and the robots 804. This allows the robots, and consequently the system formed by one or more robots 804, to move the set of operation modules to the desired point.

[0070] Figure 9 illustrates in detail the schematic of the robots for internal displacement in pipelines 804 for the oil production system illustrated in Figure 8. In this context, the entire robot system is inserted inside a pipeline 901, where the advance robot 902 is responsible for moving the set of modules to the well, and the retreat robot 903 is responsible for the return to the UEP. The control modules 904 are responsible for servo-actuating the actuators. Finally, it is important to highlight that, depending on the context and needs, various structural modifications to the robots and the robot system can be made. Furthermore, monitoring and maintenance tools can also be coupled to the robot system.Thus, in embodiments of the present invention, according to configurations demonstrated in Figures 8 and 9, the system for internal displacement in pipelines based on a linear electromagnetic actuator comprises at least one robot 902, 904, being, for example, an advance robot 901, a retreat robot 903 and at least one control module 904, in which an umbilical cable 905 is coupled to the system for displacement inside a pipeline 901. .

[0071] It is worth noting that the application of the proposed robot and system can meet various practical contexts, such as inspection of pipelines in gas and oil extraction, water supply and sewage systems.

[0072] Furthermore, the robot and the system, as described by the present invention, have high power density, being designed to act as robot movement in oil lines, for example, with a diameter of approximately 0.1 m (approximately 4 inches).

[0073] Furthermore, it is important to note that the above descriptions are merely examples 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 can be used in addition to the permanent magnet synchronous topology, such as induction actuators, switched reluctance actuators, brushless direct current actuators, and others.

[0074] Those skilled in the art will appreciate the knowledge presented herein and will be able to reproduce the invention in the presented embodiments and in other variants, covered by the scope of the attached claims.

Claims

CLAIMS 1. Robot for internal displacement in pipelines based on a linear electromagnetic actuator, the robot characterized by the fact that it comprises: an internal module (101; 501) having an arrangement of rings (201, 202, 203; 604); and an external module (102; 502); in which the robot performs peristaltic translational movement inside the pipeline by means of a self-locking mechanism for fixing the robot to the internal wall of the pipeline, and the electromagnetic interaction between the arrangement of rings (201, 202, 203; 604) of the internal module (101, 501) and the external module (102, 502). 2.Robot according to claim 1, characterized in that the ring arrangement (201, 202, 203; 604) comprises: a plurality of first magnetization direction magnet rings (201), a plurality of second magnetization direction magnet rings (202) and a plurality of ferromagnetic rings (203); or a plurality of magnet rings (604) having a quasi-Halbach array magnetization.

3. Robot according to claim 2, characterized in that each first magnetization direction magnet ring (201) of the plurality of first magnetization direction magnet rings (201) and each second magnetization direction magnet ring (202) of the plurality of second magnetization direction magnet rings (202) are placed alternately with respect to each other between ferromagnetic rings (203) of the plurality of rings. ferromagnetic elements (203) arranged along the longitudinal direction of the internal module (101).

4. Robot according to any one of the preceding claims, characterized in that the internal module (101; 501) further comprises a metal rod (204) having threaded ends, the rod (204) being introduced into the ring arrangement (201, 202, 203; 604) to provide alignment of the rings (201, 202, 203; 604).

5. Robot according to any one of the preceding claims, characterized in that the internal module (101; 501) further comprises a front base portion (205, 601) having a first set of attachment members (206; 602).

6. Robot according to any one of the preceding claims, characterized in that the external module (102; 502) further comprises a rear base portion (306; 701) having a second set of attachment members (307; 702). 7.Robot according to any one of the preceding claims, characterized in that the self-locking mechanism is effected by the fixing members (206, 307; 602, 702).

8. Robot according to any one of the preceding claims, characterized in that a stop (210) is inserted in the rod (204) to establish the maximum excursion between the internal module (101) and the external module (102).

9. Robot according to any one of the preceding claims, characterized in that the external module (102) further comprises a spool (301) of non-ferromagnetic and electrically insulating material for housing. copper coils (302) around the spool (301), wherein the coils (302) form a three-phase winding.

10. Robot according to any one of the preceding claims, characterized in that the external module (102) further comprises an armature (303) having an opening for housing the spool (301) with the coils (302) inside it.

11. Robot according to any one of the preceding claims, characterized in that the external module (502) further comprises an armature having a modular structure of ferromagnetic material for housing copper coils (704) that make up a three-phase winding of the external module (502), wherein a single-phase winding (705) is distributed along the external module (502) in an interleaved manner between phases. 12.Robot, according to any one of the previous claims, characterized by the fact that the internal module (101, 501) also has a central through hole for the axial passage of a multifunctional umbilical cable therethrough.

13. System for internal displacement in pipelines based on a linear electromagnetic actuator, the system characterized by the fact that it comprises: at least one robot (902, 904) as defined in any one of claims 1 to 12; and at least one control module (904); in which an umbilical cable (905) is coupled to the system for displacement inside a pipeline (901).

14. System, according to claim 13, characterized by the fact that the at least one control module (904) performs the servo-drive of the system.

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