Everting robot

Abstract

The invention relates to an everting robot consisting of a base station (1) and a locomotion tube (2), wherein the locomotion tube (2) can be extended by a folding-out process and shortened by a folding-in process. An outer head (3) is provided outside the locomotion tube (2) at the end facing away from the base station (1), and an inner head (4) is provided within the locomotion tube (2). The locomotion tube (2) is positioned such that it can pass between the inner head (4) and the outer head (3). A current user (5) is provided on the outer head (3), the inner head (4) has a current transmitter (6), and the outer head (3) has a current receiver (7), current energy and / or data information being wirelessly transmissible from the current transmitter (6) to the current receiver (7).

Description

[0001] Inverting robot

[0002] Technical area

[0003] The invention relates to an inversion robot according to the preamble of claim 1.

[0004] State of the art

[0005] Various inversion robots are known and commonly used in the state of the art. These are often also called vine robots or soft, growing robots. In this context, reference is made to US 2019 / 0217908 A1 and US 2022 / 0355468 A1, for example.

[0006] These are inverted robots whose useful lifespan is limited by the battery life of the cameras and sensors at their peak.

[0007] These are inverted robots whose sensors are limited to cameras, 3D cameras, microphones and position sensors.

[0008] Object of the invention

[0009] The object of the present invention is to provide an inversion robot that can operate continuously without interruptions.

[0010] Another object of the present invention is to provide an inverting robot that uses sensors for non-destructive testing and inspection of systems, for example, industrial plants. Solution to the problem

[0011] The features of claim 1 lead to the solution of the problem.

[0012] The inventive inverting robot primarily consists of a base station and a propulsion tube. The propulsion tube can be extended by eversion from the inside out, and shortened or compressed by eversion from the outside in. The eversion to lengthen the propulsion tube occurs by applying air pressure to an interior of the propulsion tube. The shortening of the propulsion tube occurs by eversion.

[0013] For this purpose, an outer head is provided outside the movement tube at the end facing away from the base station, and an inner head is provided inside the movement tube. The movement tube is arranged so that it can be passed between the inner head and the outer head. This is achieved, for example, by a clamped or magnetically held connection of the outer head to the inner head, whereby the movement tube is given enough play to slide between the inner head and the outer head. The outer head and inner head are defined primarily by their relationship to the movement tube. The inner head is always located in an area enclosed by the movement tube, whereas the outer head is located on the other side of the movement tube.In other words, the inner head is located in the pressurized area of ​​the propulsion tube, while the outer head is at ambient atmospheric pressure. For example, the outer head can have two ball elements and one rod-shaped element. The inner head, in turn, can be designed to press the propulsion tube against the rod-shaped area of ​​the outer head, for example, using balls.

[0014] In one embodiment, the design is achieved, for example, by the outer head having an outer roller and the inner head having, for example, two inner rollers, with the outer roller sliding between the two inner rollers in a clamping manner. The outer roller grips the propulsion hose from an outer surface and places it between itself and the inner rollers. This ensures that the propulsion hose can always slide through, so that the propulsion hose is arranged so that it can be passed between the outer roller and the inner roller. In addition to the combination of inner roller and outer roller, inner balls and outer balls, or inner rollers and outer rollers, are also possible.In this context, it is less the design of the individual coupling between the outer head and the inner head that is important, but rather the mounting of a combination that allows the movement tube, for example when it is everting out or in, to slide through without causing unnecessary friction.

[0015] Furthermore, a power consumer is mounted on the external head. The power consumer can be, for example, a camera and / or a sensor. In addition to conventional camera systems, night vision cameras, time-of-flight cameras, or thermal imaging cameras can also be considered. The power consumer can also be a power storage unit or battery, which in turn simply provides electrical energy.

[0016] Ultrasonic sensors, temperature sensors, and similar sensors are also being considered as sensors. These power users were previously powered by batteries without a constant power supply, which limited the operating time of the inverting robot, or required complex cables to be routed outside the movement tube, which in turn limited the replaceability of the inverting robot. The externally mounted cables could become caught on objects lying around during movement or expansion. By eliminating the batteries without a constant power supply, weight is saved and the required installation space is also reduced.

[0017] According to the invention, the inner head comprises a current transmitter and the outer head comprises a current receiver, whereby electrical energy and / or data information or data can be wirelessly transmitted from the current transmitter to the current receiver. This ensures a continuous supply of electrical energy to the current receiver and also the transmission of data. When transmitting data, it is important to note that the data can be transmitted either from the current transmitter to the current receiver and / or back from the current receiver to the current transmitter.

[0018] For wireless transmission of electrical energy and / or data information from the power source to the power receiver, inductive transmission is possible. Alternatively, the electrical energy, or in the context of the invention also referred to as electrical energy, can be transmitted from the power source to the power receiver via electromagnetic fields such as microwaves, radio waves, or infrared. The same applies to the data information, which can be transmitted back and forth between the power source and the power receiver. Alternatively, the electrical energy and / or data information can also be transmitted via a resonant magnetic coupling.

[0019] Wireless transmission can therefore transmit data in addition to electrical energy.

[0020] For the wireless transmission of electrical energy, a power cable is arranged between the power supply and the base station. The base station, in turn, either has its own power source in the form of a battery or can be connected to a generator or the public power grid. The power cable can transfer data and / or electrical energy. The power cable can also be a bundle of different cables, such as data cables or power cables.

[0021] In one embodiment, the outer head has a receptacle for easy insertion, retention, and removal of the power user. A click connection, for example, can be provided here.

[0022] This allows the power user to be reconnected to the mount. "Reconnectable" refers to the fact that the mount, using the click connection, can accommodate a power user and securely hold it for the duration of the deployment. After deployment, the power user can be removed either manually or at least with simple tools.

[0023] Furthermore, the receptacle can have a power supply interface for the power consumer. The power supply interface can either be automatically connected to the power consumer, for example, when the power consumer is clicked into the receptacle, or at least a simple plug connection can be provided to transfer the electrical energy from the power consumer to the power consumer.

[0024] The base station also features a winding and unwinding unit for the mobility hose. This is necessary to enable easy winding and unwinding of the mobility hose.

[0025] The base station also has an additional winding and unwinding unit for the power cable. Within the scope of the invention, it is important that the power cable, which is routed within the movement tube, expands when the movement tube is extended and is also retracted into the base station when the movement tube is shortened. The base station is also operatively connected to an air pressure source. The air pressure source is required to extend the movement tube by folding it inside out. The shortening can be achieved mechanically, for example, via the winding and unwinding unit when the air pressure in the movement tube is released.

[0026] The inversion robot can also have a lateral impulse unit at the end of the propulsion hose facing away from the base station. It is arranged inside or outside the propulsion hose to initiate or enable a lateral movement of the propulsion hose. This also makes it possible to steer the end of the propulsion hose. Furthermore, the lateral impulse unit can be movable in or on the propulsion hose not only at its end point, but also across its end section of up to several meters. For this purpose, for example, the lateral impulse unit can have several chambers that can be pressurized with a medium. The chambers expand when pressurized and flatten again when the medium is released, thus causing the propulsion hose to move. Air or compressed air is preferably used as the medium.

[0027] The inventive inverting robot primarily consists of a base station and a propulsion tube. The propulsion tube can be extended by eversion from the inside out, and shortened or compressed by eversion from the outside in. The eversion to lengthen the propulsion tube occurs by applying pressure, for example, air pressure, to an interior of the propulsion tube. The shortening of the propulsion tube occurs by eversion.

[0028] For this purpose, at the end facing away from the base station, outside the

[0029] An outer head is arranged on the propulsion tube. An inner head can be arranged within the propulsion tube. The propulsion tube is arranged so that it can be passed between the inner head and the outer head. This is achieved, for example, by a clamped or magnetically held connection of the outer head to the inner head, whereby the propulsion tube is given enough play to slide between the inner head and the outer head. The outer head and inner head are primarily defined by their relationship to the propulsion tube. The inner head is always located in an area enclosed by the propulsion tube, whereas the outer head is located on the other side of the propulsion tube. In other words, the inner head is located in the pressurized area of ​​the propulsion tube, while the outer head is at atmospheric ambient pressure.For example, the outer head can have two ball elements and one rod-shaped element. The inner head, in turn, can be designed to press the propulsion tube against the rod-shaped area of ​​the outer head, for example, using balls.

[0030] In one embodiment, the design is achieved, for example, by the outer head having an outer roller and the inner head having, for example, two inner rollers, with the outer roller sliding between the two inner rollers in a clamping manner. The outer roller grips the propulsion hose from an outer surface and places it between itself and the inner rollers. This ensures that the propulsion hose can always slide through, so that the propulsion hose is arranged so that it can be passed between the outer roller and the inner roller. In addition to the combination of inner roller and outer roller, inner balls and outer balls, or inner rollers and outer rollers, are also possible.In this context, it is less the design of the individual coupling between the outer head and the inner head that is important, but rather the mounting of a combination that allows the movement tube, for example when it is everting out or in, to slide through without causing unnecessary friction.

[0031] Furthermore, a current user is arranged on the outer head. According to the invention, a sensor for non-destructive testing is considered as the current user.

[0032] According to the invention, it is now provided that a current generator is arranged in the outer head and the current user is a sensor for non-destructive testing, wherein the current storage device is operatively connected to the sensor for non-destructive testing in a contact-transmitting manner or the current generator is designed as part of the sensor for non-destructive testing.

[0033] In this context, contact-transmitting active connection means that when contact is established between the non-destructive testing sensor and the power storage device, the non-destructive testing sensor is supplied with electrical energy for operation.

[0034] The current generator can be designed as part of the non-destructive testing sensor. The non-destructive testing sensor is then supplied with power before it is inserted into the holder. However, it is only in its operating position after the non-destructive testing sensor with the power storage unit has been inserted into the designated holder in the outer head.

[0035] The current sensor can also be designed as part of the outer head. If the current sensor is designed as part of the outer head, it can be supplied with power via a contact in the outer head's receptacle when the sensor is inserted for non-destructive testing.

[0036] The power source can be a power storage device, such as a battery compartment with replaceable batteries or rechargeable batteries. Alternatively, it can also be a rechargeable battery permanently installed in the sensor for non-destructive testing.

[0037] Alternatively or optionally to the power storage unit, the power transmitter can also be a cable outside the propulsion tube that carries electrical energy.

[0038] In one embodiment, the outer head has a receptacle for easy insertion, holding, and removal of the sensor for non-destructive testing. A click connection, for example, can be provided here.

[0039] This allows the sensor to be reconnected to the mount for non-destructive testing. "Reconnectable" refers to the fact that the mount can accommodate the sensor for non-destructive testing using the click connection and securely hold it for the duration of the test. After use, the sensor can be removed for non-destructive testing either manually or at least with simple tools.

[0040] Furthermore, the holder can have a current sensor interface for the non-destructive testing sensor. The current sensor interface can either be automatically connected to the non-destructive testing sensor when the non-destructive testing sensor is clicked into the holder, for example, or at least a simple plug connection can be provided to transfer the electrical energy from the current sensor to the non-destructive testing sensor.

[0041] According to the invention, an ultrasonic sensor, for example, can be considered as a sensor for non-destructive testing. More specifically, this can be an ultrasonic transducer (UT), an electromagnetic acoustic transducer (EMAT), or a sensor for long-range guided wave inspection. Other possible sensors for non-destructive testing are sensors based on magnetic flux leakage (MFL) or pulsed eddy current (PEC).

[0042] Alternatively, X-ray, laser and gas sensors can also be considered.

[0043] Optionally, the sensor for non-destructive testing can utilize a coupling medium that creates a connection between the sensor and the surface to be tested. The coupling medium can be stored in a reservoir located in or on the outer head. Optionally or alternatively, a line outside the propulsion tube can provide the coupling medium. During the test, the coupling medium is applied between the sensor and the surface to be tested. Water, for example, can be used as a coupling medium.

[0044] The base station also features a winding and unwinding unit for the mobility hose. This is necessary to enable easy winding and unwinding of the mobility hose.

[0045] The base station also features an additional winding and unwinding unit for the power cable. Within the scope of the invention, it is important that the power cable, which is routed inside the movement tube, expands when the movement tube is extended and is also retracted into the base station in the same way when the movement tube is shortened.

[0046] In addition, the base station is operatively connected to a pressure source, for example, an air pressure source. The pressure source is required to extend the propulsion hose by inverting it. The shortening can occur mechanically, for example, via the winding and unwinding unit when the air pressure in the propulsion hose is released. The inverting robot can also have a lateral impulse unit at the end of the propulsion hose facing away from the base station. This is arranged inside or outside the propulsion hose to initiate or enable a lateral movement of the propulsion hose. This also makes it possible to steer the end of the propulsion hose. Furthermore, it is possible for the lateral impulse unit to be movable in or on the propulsion hose not only at its end point, but also across its end section of up to several meters.For this purpose, the side impulse unit can, for example, have several chambers that can be pressurized with a medium. These chambers expand when the medium is applied and flatten again when the medium is released, thus causing the propulsion tube to move. Air or compressed air is preferably used as the medium.

[0047] Character description

[0048] Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings, which show:

[0049] Figure 1 shows a schematic, partially sectioned side view of an inversion robot.

[0050] Figure 2 shows part of the inversion robot from Figure 1 in an enlarged and sectioned view.

[0051] Figure 3 shows a schematic, partially sectioned side view of an inversion robot.

[0052] Figure 4 shows part of the inversion robot from Figure 3 in an enlarged and sectioned view.

[0053] Example

[0054] Figure 1 shows an everting robot consisting of a base station 1 and a locomotion tube 2. The locomotion tube 2 can be extended by everting and shortened or compressed by everting.

[0055] The eversion moves an end of the movement tube 2 extending away from the base station 1, with the outer head 3 arranged at that end, away from the base station 1. The travel paths a of the movement tube 2 can therefore be carried out using the outer head 3 away from the base station 1 during expansion or eversion, or toward the base station 1 during compression or inversion of the movement tube 2. The outer head 3 is arranged outside the movement tube 2 at the end facing away from the base station 1. Within the movement tube 2, an inner head 4 is indicated by dashed lines.

[0056] When the propulsion hose 2 is extended, the propulsion hose 2 is deployed along the first running direction 14, and when the propulsion hose 2 is shortened, it is brought back into the base station 1 in a second running direction 15. The first running direction 14 is arranged away from the base station 1, and the second running direction 15 is arranged toward the base station 1.

[0057] Furthermore, the propulsion tube 2 is arranged so that it can be passed between the inner head 4 and the outer head 3. Details of this can be clearly seen in Figure 2.

[0058] In the embodiment shown here, the outer head 3 has one outer roller 9, and the inner head 4 has two inner rollers 10. The outer roller 9 slides between the two inner rollers 10, so that the inner rollers 10 and the outer roller 9 are clamped together, with the propulsion hose 2 being arranged so that it can pass between the outer roller 9 and the inner roller 10. A passable arrangement means that the propulsion hose 2 runs between the inner rollers and the outer roller, while the outer head 3 is still connected to the inner head 4.

[0059] Furthermore, a power user 5 is arranged on the outer head 3 on the side facing away from the base station 1. Figure 2 shows an outer head 3 without the power user 5. This shows a receptacle 11 into which the power user 5 can be inserted in a connectable and detachable manner if necessary. This reconnectability is advantageous for quickly replacing power users 5. A camera and / or a sensor can be used as the power user 5. It is also conceivable for the power user 5 to be additionally maintained functional with a battery.

[0060] However, it is important in the exemplary embodiment according to the invention that the inner head 4 has a current transmitter 6 and the outer head 3 has a current receiver 7. Electrical energy or current energy is to be transmitted wirelessly from the current transmitter 6 to the current receiver 7. In a preferred exemplary embodiment, this is achieved by inductively transmitting the current energy from the current transmitter 6 to the current receiver 7. For this purpose, an annular current transmitter 6 is introduced into the inner head 4 or provided therein, and another annular current receiver 7 is introduced into the outer head 3 or provided therein. The current transmitter 6 and the current receiver 7 are to be provided at the respective locations on the outer head 3 and the inner head 4 in such a way that the distances bridged are as short as possible. The current transmitter 6 is annular in this exemplary embodiment. However, the shape of the current transmitter 6 has no direct impact on the advantages of the invention.The shape depends primarily on the structural conditions and may deviate from the ring shape.

[0061] A power cable 8 is arranged between the power generator 6 and the base station 1, which supplies the power generator 6 with electrical energy.

[0062] Furthermore, the receptacle 11 or the outer head 3 can have a current sensor interface for the current user 5 in order to ensure the simplest and quickest possible connection between the current collector 7 and the current user 5.

[0063] Figure 3 shows an everting robot consisting of a base station 101 and a movement tube 102. The movement tube 102 can be lengthened or expanded by everting and shortened or compressed by everting. The everting guides an end of the movement tube 102 extending away from the base station 101, with the outer head 103 arranged at the end, away from the base station 101. The travel paths b of the movement tube 102 can therefore be carried out using the outer head 103 away from the base station 101 during expansion or everting, or towards the base station 101 during compression or everting of the movement tube 102.

[0064] The outer head 103 is arranged outside the propulsion tube 102 at the end facing away from the base station 101. An optional inner head 104 is indicated by dashed lines within the propulsion tube 102.

[0065] When the propulsion hose 102 is extended, the propulsion hose 102 is deployed along the first direction 114, and when the propulsion hose 102 is shortened, it is brought back into the base station 101 in a second direction 115. The first direction 114 is arranged away from the base station 101, and the second direction 115 is arranged toward the base station 101.

[0066] Furthermore, the propulsion tube 102 is arranged so that it can be passed between the inner head 104 and the outer head 103. Details of this can be clearly seen in Figure 4.

[0067] In the embodiment shown here, the outer head 103 has one outer roller 109, and the inner head 104 has two inner rollers 110. The outer roller 109 slides between the two inner rollers 110, so that the inner rollers 110 and the outer roller 109 are clamped together, with the propulsion hose 102 being arranged so that it can pass between the outer roller 109 and the inner roller 110. A passable arrangement means that the propulsion hose 102 runs between the inner rollers and the outer roller 109, while the outer head 103 is still connected to the inner head 104.

[0068] Furthermore, a power user 105 is arranged on the outer head 103 on the side facing away from the base station 101. Figure 4 shows an outer head 103 without the power user 105. A receptacle 111 is shown there, into which the power user 105 can be inserted in a connectable and detachable manner, if necessary. This reconnectability is advantageous for the rapid replacement of power users 105.

[0069] The power user 105 is the sensor for non-destructive testing, for example, an ultrasonic sensor. The power user 105 is operatively connected to a power generator 107, which may be, for example, a power storage device. Alternatively or optionally, the power generator 107 is supplied with electrical energy via a power line 106 outside the propulsion tube 102.

[0070] The receptacle 111 or the outer head 103 can have a current sensor interface for the current user 105 in order to ensure the simplest and quickest possible connection between the current collector 107 and the current user 105.

[0071] Optionally, a container for a coupling medium 108 can be arranged on or in the outer head 103. Alternatively or additionally, a line outside the propulsion hose can transport the coupling medium to the outer head 103.

[0072] Reference number: P 6154 / PCT List of reference symbols

Claims

Patent claims 1. Inverting robot consisting of a base station (1) and a movement hose (2), wherein the movement hose (2) can be lengthened by being turned out and shortened by being turned in, wherein an outer head (3) is provided outside the movement hose (2) at the end facing away from the base station (1) and an inner head (4) is provided inside the movement hose (2), wherein the movement hose (2) is arranged so that it can be passed between the inner head (4) and the outer head (3), wherein a power user (5) is arranged on the outer head (3), characterized in that the inner head (4) has a power transmitter (6) and the outer head (3) has a power receiver (7), wherein electrical energy and / or data information can be transmitted wirelessly from the power transmitter (6) to the power receiver (7).

2. Inversion robot according to claim 1, characterized in that the electrical energy and / or the data information can be transmitted inductively from the current transmitter (6) to the current receiver (7).

3. Inversion robot according to claim 2, characterized in that the electrical energy and / or the data information can be transmitted from the current transmitter (6) to the current receiver (7) by electromagnetic radiation such as microwaves, radio waves or via infrared.

4. Inversion robot according to one of the preceding claims, characterized in that the current energy and / or the data information can be transmitted from the current transmitter (6) to the current receiver (7) magnetically, for example via a resonant magnetic coupling.

5. Inverting robot according to one of the preceding claims, characterized in that a power cable (8) is arranged between the power generator (6) and the base station (1).

6. Inverting robot according to one of the preceding claims, characterized in that the power user (5) is a camera and / or a sensor and / or a power storage device.

7. Inversion robot according to one of the preceding claims, characterized in that the receptacle has a power supply interface for the power user (5).

8. Inversion robot according to one of the preceding claims, characterized in that the outer head (3) has an outer roller (9) and the inner head (4) has an inner roller (10), wherein the outer roller (9) and the inner roller (10) are clampably connected to one another, wherein the movement hose (2) is arranged so that it can be passed between the outer roller (9) and the inner roller (10).

9. Inversion robot according to one of the preceding claims, characterized in that the power user (5) can be recoupled to a receptacle (11).

10. Inversion robot according to one of the preceding claims, characterized in that a side impulse unit is arranged at the end facing away from the base station (1) inside or outside the movement hose (2).

11. Inversion robot comprising a base station (101) and a movement tube (102), wherein the movement tube (102) can be extended by being turned out and shortened by being turned in, wherein an outer head (103) is provided outside the movement tube (102) at the end facing away from the base station (101), a current generator (107) and a current user (105) being arranged on the outer head (103), characterized in that the current user (105) is a sensor for non-destructive testing, the current generator (107) being operatively connected to the current user (105) in a contact-transmitting manner or the current generator (107) being a part of the current user (105).

12. Inversion robot according to claim 11, characterized in that the current generator (107) is a current storage device.

13. Inversion robot according to claim 11 or 12, characterized in that the current generator (107) is supplied with electrical energy via a power line (106) outside the propulsion tube (102).

14. Inversion robot according to claim 11, 12 or 13, characterized in that an inner head (104) is provided within the movement tube (102), wherein the movement tube (102) is arranged so that it can be passed between the inner head (104) and the outer head (103).

15. Inversion robot according to one of claims 11 to 14, characterized in that the sensor for non-destructive testing (105) is operatively connected to transmit data information to a receiving device wirelessly or via a data cable outside the movement tube (102).

16. Inversion robot according to one of claims 11 to 15, characterized in that the receptacle (111) has a current sensor interface for the sensor for non-destructive testing (105).

17. Inversion robot according to one of claims 11 to 16, characterized in that the receptacle (111) has a quick-release fastener for resumable connection of the sensor for non-destructive testing (105).

18. Inversion robot according to one of claims 11 to 17, characterized in that the sensor for non-destructive testing (105) can be recoupled to a holder (111).

19. Inversion robot according to one of claims 11 to 18, characterized in that a reservoir for a coupling medium (108) is arranged on the outer head (103).

20. Inversion robot according to one of claims 11 to 19, characterized in that a line outside the movement hose (102) leads a coupling medium to the outer head (103).

21. Inversion robot according to one of claims 11 to 20, characterized in that the sensor for non-destructive testing (105) is an ultrasonic sensor.

22. Inversion robot according to one of claims 11 to 21, characterized in that the sensor for non-destructive testing (105) is a sensor for testing with magnetic leakage flux.

23. Inversion robot according to one of claims 11 to 22, characterized in that the sensor for non-destructive testing (105) is a sensor for eddy current testing.

24. Inversion robot according to one of claims 11 to 23, characterized in that the sensor for non-destructive testing (105) is an X-ray sensor and / or a laser sensor and / or a gas sensor.

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