Device and method for exploiting the propulsive force of a moving fluid

Abstract

The present invention relates to a device for exploiting the propulsive force of a fluid flow comprising a system of petals that can be opened under the action of one or more springs. The device comprises a selective unlocking mechanism for opening the petals and a connecting joint for transferring the captured propulsive force by means of the petals.

Description

[0001] DEVICE FOR EXPLOITING THE PROPULSIVE FORCE OF A MOVING FLUID

[0002] TECHNICAL FIELD

[0003] The present invention relates to a device that makes it possible to exploit the propulsive energy from a fluid flow for moving an apparatus submerged in the aforesaid fluid flow . The device that i s the obj ect of the invention can be instal led on robots or pigs used for monitoring, inspecting and repairing pipes for transporting both liquid and gaseous fluids , pure or mixed ( e . g . hydrocarbons , water, hydrogen, oxygen, carbon dioxide ) . More generally, the device obj ect of the invention can be instal led on any apparatus submerged in a fluid flow so as to exploit its propulsive energy and be used to help move said apparatus .

[0004] PRIOR ART

[0005] The problems related to the movement , locomotion and recovery of apparatuses used in fluid flows have been known for a long time . In particular, the movement of robots or pigs within pipes is of great importance in the field as it is a key element for inspecting, cleaning and repairing pipes . Over the years , various locomotion systems have been developed for apparatuses to be used in fluid flows within pipes . Di f ferent locomotion and propulsion systems based on di f ferent physical principles and with varying performance and reliability characteristics are also available in the prior art .

[0006] In particular, according to the teachings of the prior art , the modes of locomotion within pipes can be categorised as follows :

[0007] - wheeled or tracked devices

[0008] - screw devices

[0009] - systems that mimic a snake-like movement ( snake )

[0010] - systems that mimic an inchworm-like movement ( inchsworm)

[0011] - devices provided with propellers (propeller type )

[0012] - devices provided with "paws" that mimic walking (walking)

[0013] - devices that move by applying forces to the inner wal l of pipes (wall-pressing robots )

[0014] All the movement solutions available in the prior art , in various ways , optimise and develop architectures aimed at increasing the movement speed of the robot / pig in order to increase its operational flexibility . However, all the solutions proposed to date are strongly dependent on the proper functioning and reliability of the locomotion mechanism installed on the robot / pig . In the event of a mal functioning of the locomotion system of the prior art , whatever it may be , the risk of losing the apparatus inside the pipe becomes real with very little chance of recovering the robot / pig once its locomotion system has failed . The fai lures to which the locomotor devices of the robot / pig may be subj ected may be of a di f ferent nature , ranging from mechanical to electrical or electronic problems , not to mention the potential scenario of a lack of power supply for the proper functioning of the locomotion device .

[0015] In all these cases , it is highly probable that the robot / pig or , more generally, the apparatus submerged in the fluid flow is to be considered unrecoverable with important consequences both from an economic point of view for the cost of the apparatus itsel f , and for the operational impacts on the total or partial unavailability of the pipe in which the apparatus is stuck with no possibility of recovery .

[0016] AIM OF THE PRESENT INVENTION

[0017] The aim of the present invention is therefore a device for exploiting the propulsive force of a fluid, the device being installable on apparatuses working submerged in a fluid flow such as , for example , robots or pigs operating inside pipes . The device that is the obj ect of the invention comprises a spring selective unlocking mechanism that allows the opening of a corolla of petals which intercept the propulsive force from the fluid flow and trans fer it to the apparatus . Thus , the force generated by the device of the invention can cause the movement of the apparatus submerged in the fluid even in the presence of a failure of a conventional locomotion system, thus ensuring that the apparatus can be recovered even in a mal functioning condition .

[0018] The aim of the present invention i s therefore to create a device capable of reacting selectively in emergency conditions following mal functions of conventional locomotion systems , ensuring the recovery of the faulty apparatus and restoring the functionality of the pipe when such apparatus is , for example , an inspection, monitoring, cleaning robot / pig, etc .

[0019] The aim of the present invention is also to exploit the propulsive force of a fluid as described hereinafter .

[0020] GENERAL DESCRIPTION

[0021] Thus , the obj ect of the present invention is a device 100 for exploiting the propulsive force of a fluid flow comprising :

[0022] - a main body 110 and a slide 150 prismatically coupled to each other in such a way that the slide 150 can translate with respect to the main body 110 along a longitudinal axis A;

[0023] - a plurality of petals 240 kinematically connected to the main body 110 and to the slide 150 so that translation of the slide 150 causes the movement of the petals from a first folded position to a second open position;

[0024] - at least a first spring 250 hooked to the main body 110 and to the slide 150 which causes the movement of the slide 150 with respect to the main body 110 , bringing the petals into the second open position;

[0025] - a selective unlocking mechanism 310 which, when at rest , maintains the slide 150 in a position corresponding to the first folded position of the plurality of petals 240 and, when actuated, causes the unlocking of the translation movement of the s lide 150 under the action of the at least one first spring 250 ; - a j oint 130 for the trans fer of the propulsive force intercepted by the plurality of petals 240 in the second open position .

[0026] The device 100 of the invention is configured as an assembly of petals that can be opened by unlocking the slide 150 which, sliding under the action of the first return spring 250 , brings the corolla of petals into a position that is fully open and capable of intercepting the propulsive force contained in the fluid flow in which the device is submerged .

[0027] The device 100 of the invention is configured as a technical solution to the problem of recovering an apparatus submerged in a fluid flow when the apparatus traditional movement systems are subj ected to failure , preventing its locomotion and thus its recovery . The device 100 , when activated, brings the plurality of petals 240 into the open position acting as a sail that trans fers the propulsive force captured by the fluid flow to the apparatus allowing it to be recovered even in the event o f a failure . The device 100 is thus a selectively activatable emergency solution for recovering an apparatus submerged in a fluid and unable for any reason to move by means of traditional locomotion means .

[0028] BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Further characteristics and advantages of the present invention will become clear from the following description of non-limiting embodiments thereof , with reference to the figures of the attached drawings , in which :

[0030] - Figure 1 is a simpli fied view of the device obj ect o f the invention with the petals in the open position and parts removed for clarity;

[0031] - Figure 2 is a simpli fied view of the device obj ect o f the invention with the petals in the closed position and parts removed for clarity; - Figure 3 is a simpli fied exploded view of the device obj ect of the invention with parts removed for clarity;

[0032] - Figures 4 and 5 are simpli fied views of the selective unlocking mechanism in the hooked and unhooked positions respectively, with parts removed for clarity;

[0033] - Figures 6 and 7 are simpli fied views of the kinematic mechanisms of the petal s in the closed and open positions respectively, with parts removed for clarity;

[0034] - Figure 8 is a simplified view of the selective unlocking mechanism comprising a collar and a rotating shutter with parts removed for clarity;

[0035] - Figure 9 i s a simpli f ied view o f the device obj ect o f the invention connected to an apparatus in bidirectional mode so as to exert opposite thrusts .

[0036] DETAILED DESCRIPTION OF THE INVENTION

[0037] The aim of the present invention is thus to create a device 100 for exploiting the propulsive force of a fluid flow in order to move an apparatus submerged in a fluid .

[0038] Referring to Figure 3 , the device 100 of the invention comprises a main body 110 and a slide 150 which are prismatically coupled to each other . The slide 150 is thus free to translate with respect to a longitudinal axis A of the main body 110 but cannot rotate with respect to that axis .

[0039] The device 100 is also provided with a plurality of elongated petals 240 which are kinematically connected to both the main body 110 and the slide 150 so that the translation of the slide 150 causes the movement of the petals 240 with respect to the main body 110 , bringing them from a first folded pos ition to a second open position . In the first folded position, the petals 240 do not o f fer a signi f icant surface area to the fluid flow, thus not generating a signi ficant thrust . In the second open position, however, the petals 240 of fer an important surface to the fluid flow, thereby capturing the propulsive force that is transmitted to an apparatus to which the device 100 is connected . As exempli fied in Figures 1 and 2 , the movement of the slide 150 and the consequent opening of the petals 240 occurs under the action of at least a first spring 250 which is hooked at an end to the main body 110 and at the other end to the slide 150 ; the first spring 250 causes the movement of the slide 150 with respect to the main body 110 and, consequently, the passage of the plurality of petals 240 from the first folded position to the second open position .

[0040] The action exerted by the first spring 250 is counteracted by a selective unlocking mechanism 310 which, when not activated, maintains the slide 150 in a position corresponding to the first folded position of the petals 240 . The unlocking mechani sm 310 can be selectively activated by causing the unlocking of the translation movement of the slide 150 under the action of the first spring 250 .

[0041] The device 100 transfers the propulsive force , intercepted by a fluid flow by means of the plural ity of petals 240 deployed in the second open position, through a j oint 130 .

[0042] Since the device 100 obj ect of the invention represents an emergency solution for the movement of an apparatus submerged in a fluid flow when traditional locomotion systems fail , the configuration in which the s lide 150 , by its translation, controls the opening of all the petals 240 represents an advantage in terms of reliability of the system .

[0043] The presence of individual mechanisms for opening each petal could make the overall system more delicate and less rel iable , while the overall movement of the petals 240 linked to the translation of the slide 150 represents an ef fective , simple system with greater operation reliability in cases of emergency . In a preferred embodiment of the invention, the main body 110 comprises a first right prismatic element 120 of a predetermined length and having a first and a second end, defining a longitudinal axis A. The main body 110 comprises a flange 140 at the first end . In addition, the slide 150 , having a first and second end, comprises a second hollow right prismatic element 160 , of predetermined length, which is prismatically coupled to the main body 110 in such a way as to allow its translation with respect to the main body 110 and to prevent its rotation with respect to the longitudinal axis A.

[0044] With reference to Figures 6 and 7 , the petals 240 are preferably hinged to the first end of the s lide 150 and connected to the flange 140 by means of rods 210 so that the trans lation of the slide 150 along the longitudinal axi s A causes the movement of the petals 240 from the first folded position to the second open position . The adoption of the kinematic mechanism described above achieves a rototranslational movement of each individual petal 240 consisting in a rotation around a hinge 270 at the first end of the slide 150 and a translation along the longitudinal axis A following the translation of the same slide 150 . The combination of the translation of the slide 150 and the presence of the rods 210 hinged to the flange 140 and to the petals 240 causes the opening of the petals 240 .

[0045] Referring to Figure 3 , in a preferred embodiment of the invention, the device 100 comprises a cap 230 which is fixed to the second end o f the s lide 150 so that the at least one first spring 250 hooks the cap 230 to the sl ide 150 exerting a force that causes the slide 150 to translate . In this preferred configuration, the cap 230 represents the anchorage point of the at least one first spring 250 to the main body 110 which is also connected to the slide 150 .

[0046] Considering that the opening of the petals 240 is the response to an emergency condition in which conventional locomotion systems fail , it is necessary for the device 100 of the invention to ensure high reliability with very low risk of failure . For this purpose , the selective unlocking mechanism 310 must al so be implemented simply and, at the same time , ef fectively .

[0047] Referring to Figure 3 , in a preferred configuration of the invention the selective unlocking mechanism 310 comprises a collar 170 prismatically coupled to the main body 110 and fixed adj acent to the flange 140 , and a rotating shutter 180 coupled to the collar 170 in a rotatable way around the longitudinal axis A in such a way that the collar acts as a track for the shutter, the rotating shutter 180 comprises at least a first shaped contour 190 which, in the first folded position of the petals 240 , hooks at least a corresponding second shaped contour 200 of the slide 150 blocking the translation of the sl ide itsel f , and at least one actuator 260 , integral with the flange 140 , which, when actuated, causes the rotation of the rotating shutter 180 with respect to the slide 150 with a consequent unhooking of the at least one first shaped contour 190 from the at least one corresponding second shaped contour 200 allowing the translation of the slide 150 . The selective unlocking mechanism 310 described above is quick, simple and ef fective , with no danger of j amming . The collar 170 , which is fixed to the flange 140 and prismatically coupled to the main body 110 , represents the track on which the shutter 180 moves , rotating . As also represented in Figures 4 and 5 , the rotating shutter 180 has at least one first shaped contour 190 which engages an at least second shaped contour 200 present on the slide 150 preventing it from moving under the action of the at least one first spring 250 . The shutter 180 can rotate around the collar 170 caus ing the unhooking of the at least one first shaped contour 190 from the at least one second shaped contour 200 and allowing the translation of the slide 150 . The at least one actuator 260 , integral with the flange 240 , when activated, causes the rotation of the rotating shutter 180 , the unhooking of the at least one first shaped contour 190 from the at least one second shaped contour 200 and the opening of the plural ity of petals 240 .

[0048] In a preferred embodiment of the invention, as clear in Figure 8 , the at least one actuator 260 is a solenoid actuator in which a selectively translating shaft 350 is provided with a transverse dowel 360 that is housed in at least one seat 340 that is open at one side and is placed circumferentially on the rotating shutter 180 so as to establish a nonholonomic constraint between the translating shaft 350 and the rotating shutter 180 , in such a way that the rotation of the rotating shutter 180 occurs only as a consequence of a traction force exerted by means of the translating shaft 350 on the at least one seat 340 . The shaft 350 of the at least one actuator 260 performs a translatory movement in which the transverse dowel 360 is housed in at least one seat 340 caus ing the rotation of the dowel 180 , but only when the shaft 350 exerts traction on the shutter 180 : conversely, when the shaft 350 translates in the opposite direction to that exerting a traction force , it has no ef fect on the rotation of the shutter 180 because the transverse dowel 360 moves towards the open side o f the at least one seat 340 .

[0049] Pre ferably, the device 100 of the invention as described above comprises three actuators 260 and, accordingly, three seats 340 . This creates redundancy on the drive system of the selective unlocking mechanism 310 , which ensures the opening of the petals 240 even in case of mal functioning o f the one or two actuators 260 . Furthermore , the nonholonomic constraint between the transversal dowels 360 and the seats 340 that are open at one side allows the rotation of the shutter 180 even under the action of only one of the three actuators 260 since the transversal dowels 360 of the two inert actuators 260 cannot interfere with the rotation of the shutter 180 ; therefore , even in the event of a mal functioning of up to two of the three available actuators 260 , the device 100 is able to operate .

[0050] Considering that the device 100 obj ect of the invention has the purpose o f intercepting the propulsive force from a fluid f low in order to trans fer it to an apparatus to which it is connected, maximising the surface area exposed to the fluid flow is an advantage because it increases the force intercepted by the fluid flow .

[0051] For this purpose , in a preferred embodiment of the invention, the device 100 comprises a flexible sail 300 with a substantially circular corolla shape , which is fixed to the plurality of petals 240 so as to increase the surface area exposed to the propulsive force of the fluid when the petals 240 are in the second open pos ition . Pre ferably, the flexible sail 300 is made of polymer material with an elastic modulus between 400 and 1000 MPa and resistant to corrosive environments generated by the presence of hydrocarbons . More preferably, the polymeric material of the sail 300 is Teflon .

[0052] In order to guarantee maximum reliability of the device 100 obj ect of the invention, a number of measures were taken to make the device 100 functional even under conditions of partial mal function of certain components .

[0053] For this purpose , in a preferred embodiment of the invention, the rods 210 comprise an element that exhibits a programmed col lapse under predefined load conditions . In case one or more rods j am during the opening of the petals 240 , in order to prevent such j amming from hindering the opening of the petals 240 , the rods 210 are designed with an element that yields and reduces its strength when loads greater than a predefined value are applied to it ( a symptom of j amming or blockage ) . More preferably, the rods 210 that exhibit a programmed collapse comprise a central metallic foil made of spring steel that performs the function of yielding under predetermined load conditions . Thus , the complete opening of the petals 240 i s ensured even in the presence of disturbing elements that lead to increased resistance of some of the rods 210 to the movement of the petals 240 .

[0054] In order to ensure that the device 100 obj ect of the invention does not open the petals 240 accidentally, a safety mechanism has been devised to prevent free rotation of the rotating shutter 180 when not selectively rotated by activation of the at least one actuator 260 . In a preferred embodiment of the invention as described above , the rotating shutter 180 is provided with at least one radial protrusion 320 interfering with at least one elastic foil 220 fixed to the flange 140 and placed parallel to the longitudinal axis A so as to prevent the free rotation of the rotating shutter 180 . Thus , i f the rotating shutter 180 were to accidentally rotate without the at least one actuator 260 being selectively activated, the rotation would be prevented because the at least one radial protrus ion 320 would interfere with the at least one elastic foil 220 . The stif fness of the at least one elastic foil 220 is calculated so as to exhibit adequate resistance to accidental rotation of the shutter 180 but to yield elastically under the action exerted by the at least one actuator 260 .

[0055] The device 100 obj ect o f the invention according to any of its preferred embodiments is particularly advantageous when the apparatus 700 to which it is connected is a pig or robot for the cleaning, inspection or maintenance of pipelines . It is also an obj ect of the present invention to have a pig or robot , known in itsel f , provided with the device 100 described above .

[0056] In a preferred embodiment , the pig or robot is provided with two devices 100 installed in such a way as to exert propulsive forces in opposite directions (bidirectional installation mode ) .

[0057] It is also an obj ect of the present invention to use the propulsive force of a fluid flow comprising the steps of : - preparing a device 100 according to any of the preferred embodiments described;

[0058] - connecting the device 100 to an apparatus 700 by means of the j oint 130 and submerging it into the fluid;

[0059] - causing the movement of the petals 240 from the first folded position to the second open position by activating the selective unlocking mechanism 310 ;

[0060] - intercepting the propulsive force of the fluid flow by means of the petals 240 in the second open position and trans ferring said propulsive force to the apparatus 700 ;

[0061] - causing the movement of the apparatus 700 under the action of the intercepted propulsive force .

[0062] The device of the present invention thus conceived i s susceptible in any case to many modi fications and variants , all falling within the same inventive concept ; furthermore , all details can be replaced by equivalent technical elements .

[0063] The protective scope of the invention is therefore defined by the appended claims .

Claims

CLAIMS1. A device (100) for exploiting the propulsive force of a fluid flow comprising:- a main body (110) and a slide (150) prismatically coupled to each other in such a way that the slide (150) can translate with respect to the main body (110) along a longitudinal axis (A) ;- a plurality of petals (240) kinematically connected to the main body (110) and to the slide (150) in such a way that the translation of the slide (150) causes the movement of the petals from a first folded position to a second open position;- at least one first spring (250) hooked to the main body (110) and to the slide (150) that causes the translation of the slide (150) with respect to the main body (110) moving the petals to the second open position;- a selective unlocking mechanism (310) that, at rest, maintains the slide (150) in a position corresponding to the first folded position of the plurality of petals (240) and, when activated, causes the unlocking of the translation movement of the slide (150) under the action of the at least one first spring (250) ;- joint (130) for the transfer of the propulsive force intercepted by the plurality of petals (240) in the second open position.

2. The device (100) according to claim 1 in which:- the main body (110) comprises a first right prismatic element (120) of predefined length and having a first end and a second end, defining a longitudinal axis (A) , provided with a flange (140) at the first end;- the slide (150) comprises a second hollow right prismatic element (160) , of predefined length and having a first end and a second end, prismatically coupled to the main body (110) so as to allow the translation thereof with respect to the main body (110) ;- the petals (240) are hinged to the first end of the slide (150) and connected to the flange (140) by means of rods (210) in such a way that the translation of the slide (150) along the longitudinal axis (A) causes the movement of the petals (240) from the first folded position to the second open position.

3. The device (100) according to claim 2 in which:- a cap (230) is comprised, which is fixed to the second end of the first right prismatic element (120) ;- the at least one spring (250) hooks the cap (230) to the slide (150) exerting a force that causes the translation of the slide (150) .

4. The device (100) according to any of the preceding claims in which the selective unlocking mechanism (310) comprises:- a collar (170) prismatically coupled to the main body (110) and fixed next to the flange (140) ;- a rotating shutter (180) coupled to the collar (170) in a rotatable way around the longitudinal axis (A) in such a way that the collar serves as a track for the shutter itself; the rotating shutter (180) comprising at least one first shaped contour (190) that, in the first folded position of the petals (240) , is hooked to at least one corresponding second shaped contour (200) of the slide (150) blocking the translation of the slide itself;- at least one actuator (260) , integral with the flange (140) , that, when activated, causes the rotation of therotating shutter (180) with respect to the slide (150) with a consequent unhooking of the at least one first shaped contour (190) from the at least one corresponding second shaped contour (200) allowing the translation of the slide ( 150 ) .

5. The device (100) according to claim 4 in which the at least one actuator (260) is a solenoid actuator in which a selectively translating shaft (350) is provided with a transversal dowel (360) that is housed in at least one seat (340) that is open at one side and is placed circumferentially on the rotating shutter (180) so as to establish a nonholonomic constraint between the transversal dowels (360) of the translating shaft (150) and the seats (340) of the rotating shutter (180) in such a way that a rotation of the rotating shutter (180) occurs only as a consequence of a traction force exerted by means of the translating shaft (350) on the at least one seat (340) .

6. The device (100) according to claim 5 comprising three actuators (260) and three seats (340) .

7. The device (100) according to any of the preceding claims comprising a flexible sail (300) , having a substantially annular shape, fixed to the plurality of petals (240) so as to increase the surface exposed to the propulsive force of the fluid when the petals (240) are in the second open position .

8. The device (100) according to claim 2 in which the rods (210) comprise an element that exhibits a programmed collapse under predefined load conditions.

9. The device (100) according to claim 8 in which the element of the rods (210) that exhibits a programmed collapse comprises a central metallic foil made of spring steel.

10. The device (100) according to claim 2 in which the rotating shutter (180) has at least one radial protrusion (320) interfering with at least one elastic foil (220) fixed to the flange (140) and placed parallel to the longitudinal axis (A) so as to prevent the free rotation of the rotating shutter (180) .11 Apparatus (700) for cleaning or inspecting pipes comprising at least one device (100) according to any of the preceding claims .

12. Apparatus (700) according to claim 11 comprising two devices (100) according to any of the claims from 1 to 11, the two devices (100) being connected to the apparatus (700) so as to exert propulsive forces in opposite directions.

13. Method for exploiting the propulsive force of a fluid comprising the steps of:- arranging a device (100) according to any of claims 1 to 11;- connecting the device (100) to an apparatus (700) by means of the joint (130) and submerging the apparatus in the fluid;- causing the movement of the petals (240) from the first folded position to the second open position by means of the activation of the selective unlocking mechanism (310) ;- intercepting the propulsive force of the fluid by means of the petals (240) in the second open position and transferring said propulsive force to the apparatus (700) ;- causing the movement of the apparatus (700) under the action of the intercepted propulsive force.

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