Device and method for exploiting 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 controlled movement and selective unlocking mechanism for opening the petals and a connecting joint for transferring the propulsive force captured through the petals.

Description

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

[0002] TECHNICAL FIELD

[0003] The present invention relates to a device for exploiting the propulsive energy contained in a fluid flow to move an apparatus submerged in said flow . The device according to the invention can be installed 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 according to the invention can be installed 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 retrieval of apparatuses used in fluid flows have long been known . In particular, the handling of robots or pigs inside pipes is of great importance in industry as it is a key element in the inspection, cleaning and repair of pipes . Over the years , various locomotion systems have been developed for apparatus 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 , modes of locomotion within pipes can be categorized as follows :

[0007] - wheeled or tracked devices

[0008] - screw devices

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

[0010] - systems that mimic a worm-like movement ( inchworm)

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

[0012] - devices equipped with "paws" that mimic walking

[0013] - devices that move by applying forces to the inner wall 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 feed speed of the robot / pig by increasing its operational flexibility . However, all the solutions proposed to date are strongly dependent on the proper operation and reliability o f the locomotion mechanism installed on the robot / pig . In the event of mal functioning of the locomotion system of the prior art , whatever it may be , the risk of losing the apparatus ins ide the pipe becomes real with very little chance of retrieving the robot / pig once its locomotion system has failed . The failures to which the locomotor devices of the robot / pig may be subj ect are of various kinds , ranging from mechanical to electrical or electronic problems , not forgetting the potential scenario of a failure of the power supply necessary for the proper functioning of the locomotion device .

[0015] In all these cases , it is highly likely that the robot / pig or, more generally, the apparatus submerged in the fluid flow is to be considered irretrievable 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 has been stuck with no possibility of retrieval .

[0016] It is also well known that traditional locomotion systems need energy to be operated and, if large distances have to be covered inside pipes , in the absence of power lines that can follow the apparatus , this energy is provided by batteries or accumulators installed on board the apparatus . It is therefore immediately apparent that the capacity of the batteries or accumulators determines both the speed and the maximum distance that can be covered by the apparatus , drastically limiting its use over long distances . 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 according to the invention comprises a selective mechanism of movement that allows the opening of a corolla of petals that intercept propulsive force of the fluid flow and trans fer it to the apparatus . In thi s way, the force generated by the device of the invention can cause the displacement of the apparatus submerged in the fluid even in the presence of a signi ficant failure of a conventional locomotion system, thus ensuring that the apparatus can be retrieved even in a mal functioning condition .

[0018] The aim of the present invention is therefore to provide a device that can be used as a means o f locomotion of an apparatus submerged in a fluid to complement or replace a traditional movement system . A further aim of the present invention is to provide a device capable of selectively reacting under emergency conditions to mal functions of traditional locomotion systems of apparatus such as , for example , a robot / pig for inspection, for monitoring, for cleaning, ensuring the retrieval of the faulty apparatus and restoring the functionality of the pipe .

[0019] It is also an aim of the present invention to exploit the propulsive force of a fluid as described below .

[0020] GENERAL DESCRIPTION

[0021] Thus , the subj ect matter of the present invention is a device 400 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; - 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 controlled movement of the petals that can assume any position comprised between a f irst folded position and a second open position;

[0023] - a selective movement mechanism 500 that , when activated, causes the controlled translation of the slide 150 in order to move the plurality of petals 240 in any position comprised between a f irst folded position and a second open position;

[0024] - a j oint 130 for the trans fer of the propulsive force intercepted by the plurality of petals 240 .

[0025] The device 400 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 selective movement mechanism 500 , brings the corolla of petals to any desired position between a f irst folded position and a second open position and capable of intercepting propulsive force exerted by the fluid flow in which the device is submerged . The continuous and controlled movement imparted by the selective movement mechanism 500 of slide 150 allows the opening of the petals 240 to be modulated and, consequently, the propulsive force intercepted by the fluid flow to be proportioned .

[0026] The device 400 of the invention is configured as a technical solution to the problem of moving an apparatus submerged in a fluid flow even when traditional systems for moving the apparatus itsel f are subj ect to failure , preventing its locomotion and thus its retrieval . The device 400 , when activated, brings the plurality of petals 240 to any selectable position between a first folded position and a second open position by acting as a sail that trans fers propulsive force captured by the fluid flow to the apparatus allowing it to be moved either in synergy with traditional locomotion systems or as the only locomotion system; furthermore , the device 400 according to the invention is useful in retrieving an apparatus submerged in a fluid flow even in the event o f failure o f installed traditional locomotion systems . The device 400 is therefore an alternative or concurrent solution to traditional locomotion systems for moving an apparatus submerged in a fluid flow . Since the device 400 of the invention generates thrust by opening the petals 240 , the energy required to produce propulsive force is only that which is useful for activating the selective movement mechanism 500 to bring the petals 240 to a speci fic position corresponding to a specific area on which the fluid flow acts . It is therefore evident that a locomotion system based on the device 400 , for the same distance travelled by the apparatus submerged in the fluid flow, requires much less energy than traditional locomotion systems . This implies that the device 400 of the invention is much more ef fective and ef ficient by decreasing the energy consumption for movement . In addition, the device 400 can be used in synergy with a conventional locomotion system so that long travel distances to a given point within a pipe through which a fluid flow is flowing are covered by means of the device 400 itsel f , while " fine" movements around the point of attention can be made by means of a conventional locomotion system . While in cases where the operations performed by the apparatus submerged in the fluid flow are constrained to movements at speci fic speeds or with speci fic movement modes such movements are only possible with traditional precision locomotion systems , when it i s neces sary to move the apparatus submerged in the fluid flow from a starting point to one or more "operation" points , or when it i s necessary to retrieve the apparatus , the device 400 is an ef fective and reliable means of locomotion .

[0027] In addition, the device 400 is also a selectively activated emergency solution for retrieving apparatus submerged in a fluid and unable for any reason to move by traditional means of locomotion .

[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 examples of an embodiment thereof , with reference to the figures of the attached drawings , in which :

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

[0032] - Figure 3 is a simpli fied exploded view of the device of the invention with parts removed for clarity;

[0033] - Figure 4 is a simpli fied cross-sectional view of the device of the invention;

[0034] - Figure 5 is a simpli fied sectional view of the device of the invention in which the emergency release has been activated with parts removed for clarity;

[0035] - Figures 6 and 7 are simpli fied views of the kinematics of the petals in the closed and open positions , respectively, with parts removed for clarity;

[0036] - Figure 8 is a simpli fied view o f the collar and rotating shutter with parts removed for clarity;

[0037] - Figure 9 is a simpli fied view of the device of the invention connected to an apparatus in bidirectional mode so as to exert thrusts in opposite directions .

[0038] DETAILED DESCRIPTION OF THE INVENTION

[0039] The aim of the present invention is thus to provide a device 400 for exploiting the propulsive force of a fluid flow in order to move an apparatus submerged in a fluid . With reference to Figure 3 , the device 400 of the invention comprises a main body 110 and a slide 150 which are prismatically coupled to each other . The sl ide 150 is thus free to translate with respect to a longitudinal axis A o f the main body 110 but cannot rotate with respect to that axis .

[0040] The device 400 is also equipped with a plurality of elongated petals 240 , which are kinematical ly connected to both the main body 110 and the slide 150 so that the translation of the slide 150 causes the petals 240 to move with respect to the main body 110 in a controlled manner to any position between a first folded position and a second open position . In the first folded position, the petals 240 do not of fer a signi ficant surface area to the fluid flow, thus not generating a signi ficant thrust . In the second open position or in intermediate positions between the first folded position and the second open position, the petals 240 instead of fer a signi ficant surface area to the fluid flow, thereby capturing propulsive force that is transmitted to an apparatus to which the device 400 is connected . A selective movement mechanism 500 ensures the controlled movement of the slide 150 by bringing the petals 240 to any desired position comprised between the first folded position and the second open position .

[0041] In a preferred embodiment of the invention, the main body 110 comprises a first hollow 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 , o f 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 sl ide 150 and connected to the flange 140 by means o f 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 .

[0042] The adoption of the kinematic mechanism described above achieves a rototranslational movement o f each individual petal 240 composed of a rotation about a hinge 270 at the first end of the slide 150 and a translation along the longitudinal axis A fol lowing the translation of the s lide 150 . The combination of the translation of the slide 150 and the presence of the rods 210 hinged to the f lange 140 and the petals 240 determines the opening of the petals 240 .

[0043] As previously mentioned, the device 400 according to the invention achieves controlled movement of the slide 150 and, consequently, of the petals 240 which can then assume any desired position comprised between the first folded position and the second open position .

[0044] To this end, in a preferred embodiment of the invention, the selective movement mechanism 500 comprises :

[0045] - a rotative actuator 540 comprising a cylindrical shell 610 and a screw 550 that is positioned in use longitudinally concentrically with the longitudinal axis A, whose rotation is selectively activatable ;

[0046] - a support 560 , housed inside the first hollow right prismatic element 120 and integral with it , comprising a hollow cylinder 630 designed to house the rotative actuator 540 ;

[0047] - at least one couple of first dowels 580 , protruding from the cylindrical shell 610 and housed in corresponding seats 620 obtained in the hollow cylinder 630 , which prevent the rotation o f the cyl indrical shell 610 when the screw 550 is rotated maintaining possible the translation of the rotative actuator 540 with respect to the longitudinal axis A;

[0048] - at least one couple of second dowels 590 , placed radially with respect to the hollow cylinder 630 and piercing the thickness of the cylinder itsel f through corresponding holes 640 , said second dowels 590 blocking the cylindrical shell 610 so as to prevent the translation of the rotative actuator 540 along the longitudinal axis A;

[0049] - a lead screw 510 , housed inside the second hollow right prismatic element 160 and integral with it , engaging with the screw 550 so as to selectively cause the controlled translation of the s lide 150 when the rotative actuator 540 is activated .

[0050] The selective movement mechanism 500 described above creates a screw-lead screw kinematic motion which, following the action of the rotative actuator 540 , sets the screw 550 in rotation which, engaged in the lead screw 510 integral with the slide 150 , causes the controlled translation of the slide 150 and, consequently, the movement of the petals 240 . The cylindrical shell 610 of the rotative 540 actuator is housed within the hollow cylinder 630 of the first right prismatic element 120 . The cylindrical shell 610 is prevented from rotating with respect to the longitudinal axis A by the couple o f first dowels 580 which, protruding from the cylindrical shell 610 , engage in seats 620 in the hol low cyl inder 630 . Instead, the translation of the rotative actuator 540 i s prevented by the adoption o f a couple of second dowels 590 that radial ly pierce the thickness of the hollow cylinder 630 and block the cylindrical shell 610 in position .

[0051] The device 400 according to the invention, as anticipated, can also operate as an emergency device for the retrieval o f robots / pigs or other apparatuses in use in pipes where a fluid flow is flowing ; in the event o f mal functioning of traditional locomotion systems , the device 400 reacts by guaranteeing propulsive force captured by the fluid flow which, trans ferred to the mal functioning apparatus , ensures its retrieval . To this end, in a preferred embodiment of the invention as described above , the device 400 comprises :

[0052] - a cap 230 fixed to the second end of the first right prismatic element 120 ;

[0053] - at least a first spring 250 hooked to the cap 230 and to the slide 150 exerting a force that causes the translation of the slide 150 with respect to the main body 110 moving the petals to the second open position;

[0054] - 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 s lide 150 under the action of the at least one first spring 250 .

[0055] In this way, the device 400 comprises two distinct modes of operation : the first is the one that causes the controlled movement of the petals 240 , which can assume any desired position until reaching full opening, while the second is the one that causes the complete and irreversible opening of the petals 240 . Under normal conditions of use , the first mode of operation enables the generation of modular propulsive force for the movement of apparatus submerged in fluid flows ( e . g . robots and pigs ) ; this propulsive force may represent the only movement component of the apparatus or it may complement other traditional movement systems with which the apparatus is equipped . In emergency conditions , it is necessary to retrieve apparatus that is unable to move due to mal functioning of traditional locomotion systems ; in these cases , the second mode of operation of the device 400 guarantees maximum opening of the petals 240 , even in the event of mal functioning of the selective movement mechanism 500 , guaranteeing the retrieval of the apparatus .

[0056] In order to correctly implement the second mode of operation, the device 400 is equipped with a first spring 250 which, being coupled to both the main body 110 and the slide 150 , causes the slide 150 to translate with consequent positioning of the petals 240 in the second open position . A selective unlocking mechanism 310 is necessary to control the action of the first spring 250 . The selective unlocking mechanism 310 , i f not activated, maintains the slide 150 in the position corresponding to the first folded position of the plurality of petals 240 without interfering with the operation of the device 400 in the first mode . When the selective unlocking mechanism 310 is activated, the slide 150 is free to translate along the longitudinal axis A under the action of the first spring 250 , guaranteeing full opening of the petals 240 . The device 400 trans fers the propulsive force , intercepted by a fluid flow via the plurality of petals 240 unfolded in the second open position, through the j oint 130 .

[0057] As the device 400 according to 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 with respect to the reliability of the system .

[0058] The presence of individual mechanisms for opening each petal could make the overall system more delicate and less reliable , while the overall movement of the petals 240 linked to the translation of the slide 150 represents an ef fective , simple system with greater reliability of operation in cases of emergency .

[0059] With reference to Figures 1 and 3 , 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 in such a way that the translation of the slide 150 along the longitudinal axis A causes the petals 240 to move . In view of the fact that the opening of the petals 240 i s also the response to an emergency condition in which conventional locomotion systems fail , it i s neces sary for the device 100 of the invention to guarantee high reliabi lity with very low risk of fai lure . To this end, the selective unlocking mechanism 310 must also be implemented in a simple and, at the same time , ef fective manner .

[0060] With reference to Figure 3 , in a preferred embodiment of the invention, the selective unlocking mechanism 310 comprises :

[0061] - a collar 170 prismatically coupled to the main body 110 and fixed next to the flange 140 , the collar 170 having at least one couple of radial openings 530 in front of the couple of second dowels 590 ;

[0062] - 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 itsel f ; the rotating shutter 180 comprising at least a couple of radial overhangs 570 directed towards the longitudinal axis A that , in use , maintain the second dowels 590 locked on the cylindrical shell 610 ;

[0063] - at least an actuator 260 , integral with the flange 140 , that , when activated, causes the rotation of the rotating shutter 180 with a consequent movement of the radial overhangs 570 releasing the second dowels 590 under the action of second springs 600 coaxial with the second dowels 590 and allowing a translation of the slide 150 .

[0064] 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 , by rotating . As also depicted in Figures 3 and 4 , the rotating shutter 180 has at least one pair of radial protrusions 570 facing the inside of the device which keep the second dowels 590 pressed and generate a block to the translation of the cylindrical shell 610 of the rotative actuator 540 . The at least one actuator 260 , integral with the flange 240 , when activated causes the shutter 180 to rotate on the collar 170 so that the radial springs 570 no longer press on the second dowels 590 which are then free to retract radially under the action of the second springs 600 , leaving the rotative actuator 540 free to translate .

[0065] In a preferred embodiment of the invention, as evident in Figure 5 , the at least one actuator 260 is a solenoid actuator in which a selectively translating shaft 350 is provided with a dowel 360 that i s housed in at least a seat 340 that is open at one s ide and is placed circumferentially on the rotating shutter 180 so as to establish a nonholonomic constraint between the translating shaft 150 and the rotating shutter 180 that causes the rotation of the rotating shutter 180 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 expres ses a translatory movement in which the transverse dowel 360 is housed in the at least one seat 340 causing the rotation of the shutter 180 , but only when the shaft 350 exerts a traction force 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 of the at least one seat 340 .

[0066] Pre ferably, the device 100 of the invention as described above comprises three actuators 260 . This creates redundancy on the drive system of the selective unlocking mechanism 310 , which ensures that the petals 240 can be opened even i f one or two actuators 260 are mal functioning .

[0067] In view of the fact that the device 400 according to the invention has the purpose of intercepting propulsive force from a fluid flow 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 .

[0068] To this end, in a preferred embodiment of the invention, the device 400 comprises 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 any position comprised between a first folded position and a second open position . Preferably, the flexible 300 sail is made of polymer material with an elastic modulus comprised between 400 and 1000 MPa and resistant to corrosive environments generated by the presence o f hydrocarbons . More preferably, the polymer material is Teflon . In order to ensure maximum reliability of the device 400 according to the invention, a number of measures have been taken to make it functional even under conditions of partial mal functioning of some of its components .

[0069] To this end, in a preferred embodiment of the invention, the rods 210 comprise an element with programmed collapse under predefined load conditions . In the event of one or more rods snagging during the opening of the petals 240 , in order to prevent such snagging from preventing the petals 240 from opening, the rods 210 are des igned with an element that yields and decreases its strength when loads greater than a predefined value are applied to it ( a symptom of snagging or blockage ) . More preferably, the programmed collapse rods 210 comprise a central harmonic steel foil that performs the function o f yielding under predetermined load conditions . In this way, the complete opening of the petals 240 is ensured even in the presence of disturbing elements that lead to increased resistance to the movement of the petals 240 of some of the rods

[0070] 210 . In order to ensure that the device 400 according to 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, rotation would be prevented because the at least one radial protrusion 320 would interfere with the at least one elastic foil 220 . The sti f fness of the at least one elastic foil 220 is calculated so as to present adequate resistance to accidental rotation of the shutter 180 but to yield elastically under the action exerted by the at least one actuator 260 .

[0071] The device 400 of the invention according to any of its preferred embodiments is of particular advantage when the apparatus 700 to which it is connected is a pig or robot for cleaning, inspection or maintenance of pipes . It is therefore also an obj ect of the present invention to provide a pig or robot 710 , available in the prior art, which is equipped with the device 400 described above .

[0072] In a preferred embodiment , the pig or robot 710 i s provided with two devices 400 installed in such a way as to exert propuls ive forces in opposite directions (bi-directional installation mode ) .

[0073] It is also subj ect matter of the present invention a method to use the propulsive force of a fluid flow comprising the steps of : - arranging a device 400 according to any of the preferred embodiments described;

[0074] - connecting the device 400 to an apparatus 700 submerged in the fluid by means of the j oint 130 ;

[0075] - causing the controlled movement o f the petals 240 to any position comprised between a first folded position and a second open position by means of the activation of the selective movement mechanism 500 ;

[0076] - intercepting the propuls ive force of the fluid by means of the petals 240 and trans ferring said propulsive force to the apparatus 700 through the j oint 130 ;

[0077] - causing the movement of the apparatus 700 under the action of the intercepted propulsive force .

[0078] The process described above refers to the operation of the device 400 in the mode of modular interception of propul sive force by a f luid f low so as to induce displacement o f the apparatus 700 in a manner proportional to the degree of opening of the petals 240 .

[0079] Further subj ect matter of the present invention is a method for exploiting propulsive force of a fluid flow comprising the steps of :

[0080] - arranging a device 400 according to any of the preferred embodiments described;

[0081] - connecting the device 400 to an apparatus 700 submerged in the fluid by means of the j oint 130 ;

[0082] - 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 ;

[0083] - intercepting the propulsive force of the f luid by means of the petals 240 in the second open position and trans ferring said propulsive force to the apparatus 700 ;

[0084] - causing the movement of the apparatus 700 under the action of the intercepted propulsive force . The procedure described above refers to the operation of the 400 device in the emergency mode in which the petals 240 are irreversibly opened so as to intercept the maximum propulsive force from a fluid flow, inducing the displacement of the apparatus 700 aimed at its retrieval . The irreversibility of the opening of petals 240 i s characterised by the imposs ibi lity of reclosing the corolla of petals 240 remotely, necessitating direct manual intervention on the device 400 to restore the first folded position of said petals . 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 .

[0085] The protective scope of the invention is therefore defined by the appended claims .

Claims

CLAIMS1) A device (400) for exploiting 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 controlled movement of the petals that can assume any position comprised between a first folded position and a second open position;- a selective mechanism of movement (500) that, when activated, causes the controlled translation of the slide (150) in order to move the plurality of petals (240) in any position comprised between a first folded position and a second open position;- a joint (130) for the transfer of the propulsive force intercepted by the plurality of petals (240) .2) The device (400) according to claim 1 in which:- the main body (110) comprises a first hollow 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) .3) The device (400) according to claim 2 in which the selective mechanism of movement (500) comprises:- a rotative actuator (540) comprising a cylindrical shell (610) and a screw (550) that is positioned in use longitudinally concentrically with the longitudinal axis (A) , whose rotation is selectively activatable;- a support (560) , housed inside the first hollow right prismatic element (120) and integral with it, comprising a hollow cylinder (630) designed to house the rotative actuator (540) ;- at least one couple of first dowels (580) , protruding from the cylindrical shell (610) and housed in corresponding seats (620) obtained in the hollow cylinder (630) , which prevent the rotation of the cylindrical shell (610) when the screw (550) is rotated maintaining possible the translation of the rotative actuator (540) with respect to the longitudinal axis (A) ;- at least one couple of second dowels (590) , placed radially with respect to the hollow cylinder (630) and piercing the thickness of the cylinder itself through corresponding holes (640) , said second dowels (590) blocking the cylindrical shell (610) so as to prevent the translation of the rotative actuator (540) along the longitudinal axis (A) ;- a lead screw (510) , housed inside the second hollow right prismatic element (160) and integral with it, engagingwith the screw (550) so as to selectively cause the controlled translation of the slide (150) when the rotative actuator (540) is activated;4) The device (400) according to claim 3 comprising:- a cap (230) fixed to the second end of the first right prismatic element (120) ;- at least one spring (250) hooked to the cap (230) and to the slide (150) exerting a force 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 spring (250) .5) The device (400) according to claim 4 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) , the collar having at least one couple of radial openings (530) in front of the couple of second dowels (590) ;- 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 a couple of radial overhangs (570) directed towards the longitudinal axis (A) that, in use, maintain the second dowels (590) locked on the cylindrical shell (610) ;- at least an actuator (260) , integral with the flange (140) , that, when activated, causes the rotation of therotating shutter (180) with a consequent movement of the radial overhangs (570) releasing the second dowels (590) under the action of second springs (600) coaxial with the second dowels (590) and allowing a translation of the slide ( 150 ) .6) The device (400) according to claim 5 in which the at least one actuator (260) is a solenoid actuator in which a selectively translating shaft (350) is provided with a dowel (360) that is housed in at least a 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 (150) and the rotating shutter (180) that causes the rotation of the rotating shutter (180) only as a consequence of a traction force exerted by means of the translating shaft (350) on the at least one seat (340) .7) The device (400) according to claim 6 comprising three actuators (260) .8) The device (400) 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 any position comprised between a first folded position and a second open position.9) The device (400) according to claim 2 in which the rods (210) comprise an element that exhibits a programmed collapse under predefined load conditions.10) The device (400) according to claim 9 in which the element of the rods (210) that exhibits a programmed collapse comprises a central metallic foil made of spring steel.11) The device (400) according to claim 5 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) .12) Apparatus (700) for cleaning or inspecting pipes comprising at least one device (400) according to any of the preceding claims.13) Apparatus (700) according to claim 12 comprising two devices (400) according to any of the claims from 1 to 12, the two devices (400) being connected to the apparatus (700) so as to exert propulsive forces in opposite directions.14) Method for exploiting the propulsive force of a fluid comprising the steps of:- arranging a device (400) according to any of claims 1 to 11;- connecting the device (400) to an apparatus (700) submerged in the fluid by means of the joint (130) ;- causing the controlled movement of the petals (240) to any position comprised between a first folded position and a second open position by means of the activation of the selective movement mechanism (500) ;- intercepting the propulsive force of the fluid by means of the petals (240) and transferring said propulsive force to the apparatus (700) through the joint (130) ;- causing the movement of the apparatus (700) under the action of the intercepted propulsive force.15) Method for exploiting the propulsive force of a fluid comprising the steps of:- arranging a device (400) according to any of claims 1 to 11;- connecting the device (400) to an apparatus (700) submerged in the fluid by means of the joint (130) ;- 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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