Pipe clamping robot

Abstract

A pipe clamping device (10) is designed for the automation of tasks associated with the maintenance and monitoring pipelines. The pipe clamping device (10) comprises a driving platform (12) and a set of various functional units, including a tensioning unit (14), an inspecting unit (16), a cleaning unit (18), and an installing unit (20). The primary function of the pipe clamping device (10) is to efficiently secure pipes and install various sensors, such as strain sensors, temperature sensors, and similar devices within pipelines.

Description

DescriptionTitle of Invention: Pipe Clamping RobotTechnical Field

[0001] The present invention relates to a pipe clamping robot. More particularly, the invention is a pipe clamping device consisting of a driving platform and a variety of functional units designed to perform various tasks and functionalities.Background Art

[0002] In the realm of pipe fittings, the clamping device plays a crucial role as an essential component. The current clamping mechanisms typically rely on manual installation of clamp, resulting in a cumbersome installation process. The assembly, disassembly and maintenance of the pipes also require additional tools, leading to a significant reduction in overall work efficiency. Furthermore, the existing clamping devices have a limited angle of regulation, necessitating the development of an automated adjustment system.

[0003] The pipe fitting involves various tasks such as cleaning, tensioning, deburring, trimming, grinding, polishing, and more. The current practice involves fixing the product with a clamping tool, which is then undergo machining processes on corresponding machines, such as tensioning, cleaning, or installing machines.

[0004] The diverse types and shapes of pipe fitting products pose a challenge for conventional clamping tools, which struggle to adapt and provide low positioning precision. Additionally, these tools often contend with large overall dimensions, leading to interference with processing equipment.

[0005] Acknowledging these challenges, there arises a necessity for innovative design enhancements in pipe clamping devices. The increasing use of robots in various industries, such as construction and manufacturing, has significantly reduced manual labour and increased operational efficiency. However, the current clamping devices used in conjunction with industrial robots exhibit complexities in design, high manufacturing costs, and insufficient stability. This deficiency poses potential safety risks, with the possibility of pipe fittings falling out during handling.

[0006] Therefore, there is a need for an innovative and automated pipe fitting clamping device that addresses issues such as cumbersome installation, low positioning precision, interference with processing equipment, and potential safety concerns.Summary of Invention

[0007] Aspects of the present invention provide a pipe clamping device specifically designed to automate tasks associated with the maintenance and monitoring of pipelines.

[0008] One key aspect involves configuring the pipe clamping device for the dual purpose of securing pipes and installing sensors such as strain sensors, temperature sensors, or comparable devices onto the pipe. This integrated functionality streamlines the process, offering a comprehensive solution for efficient and automated pipeline maintenance.

[0009] In a specific aspect, the present invention provides a robotic pipe clamping device. The device is designed to automate both the clamping of pipes and the installation of strain sensors and temperature sensors onto the walls of actively operational water and wastewater pipes.

[0010] In a particular aspect of the present invention, the pipe clamping device, dedicated to automating tasks related to maintenance and monitoring pipelines, comprises a driving platform and multiple functional units designed to perform specific tasks. The driving platform serves the dual purpose of providing both mobility and support to the functional units. The structure of the driving platform involves a series of segment brackets, each featuring a window to facilitate the installation of one or more functional units. The functional units encompass a tensioning unit, an inspecting unit, a cleaning unit, and an installing unit, collectively contributing to the comprehensive automation of pipeline-related tasks.

[0011] In one aspect the present invention, the tensioning unit is configured to tighten the driving platform onto a pipe, and applying tension ensuring a secure clamp onto the pipe.

[0012] In one aspect the present invention, the inspecting unit is equipped with a camera and an NDT (Non-Destructive Testing) probe to inspect the condition ofthe pipe or surrounding environment to ensure proper placement of sensors or identify any issues in the pipe's surface.

[0013] In one aspect the present invention, the cleaning unit facilitates cleaning of a surface of rusted metal pipes to ensures a clean and suitable surface for sensors installation,

[0014] In one aspect the present invention, the installing unit facilitates installing sensors onto the pipe.

[0015] In another aspect of the present invention provides a pipe clamping device comprising a driving platform and a plurality of functional units designed for specific tasks. The driving platform is configured to provide both mobility and support to the functional units. The driving platform is constructed with a series of segment brackets, each featuring a window to facilitate the installation of one or more functional units. The segment brackets are interconnected by a cylindrical axle, with wheels positioned at the ends of the axle, allowing for adjustments to the functional units to execute specific tasks effectively. Moreover, adjustment members are strategically located on both sides of each segment bracket, connected in a rotating manner through wheels. This design facilitates the adjustment of the driving platform according to the dimensions of a pipe, enhancing the adaptability of the clamping device for various pipeline scenarios.

[0016] One advantage of the present invention, the pipe clamping device allows for automated adjustment to accommodate various sizes and shapes of pipe fittings.

[0017] One advantage of the present invention, the pipe clamping device is implemented with an automatic clamping mechanism that can adapt to different dimensions of the pipes.

[0018] One advantage of the present invention, the pipe clamping device provides a quick and easy installation method to replace the current cumbersome installation process, improving overall efficiency.Brief Description of Drawings

[0019] The foregoing aspects and many of the advantages of the present invention will be more appreciated and better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:

[0020] Fig.1a is a pipe clamping device in accordance with an embodiment of the present invention;Fig.lb is an exploded view of the pipe clamping device in accordance with an embodiment of the present invention;Fig.2 is a driving platform of the pipe clamping device in accordance with an embodiment of the present invention;Fig.3a shows a clamping mechanism of a 6-inch-pipe by the pipe clamping device of the present invention;Fig.3b shows a clamping mechanism of a 10-inch-pipe by the pipe clamping device of the present invention;Fig.4a shows a view of a tensioning unit of the pipe clamping device in accordance with an embodiment of the present invention;Fig.4b shows another view of the tensioning unit of the pipe clamping device in accordance with an embodiment of the present invention;Fig.4c shows the tensioning mechanism by the tensioning unit in configuration with the driving platform in accordance with an embodiment of the present invention;Fig.5 shows a tensioning of a pipe by the pipe clamping device in accordance with an embodiment of the present invention;Fig.6 shows an inspecting unit of the pipe clamping device in accordance with an embodiment of the present invention;Fig.7a shows a view of a cleaning unit of the pipe clamping device in accordance with an embodiment of the present invention;Fig.7b shows another view of the cleaning unit of the pipe clamping device in accordance with an embodiment of the present invention;Fig.8a shows a view of an installing unit of the pipe clamping device in accordance with an embodiment of the present invention; andFig.8b shows another view of the installing unit of the pipe clamping device in accordance with an embodiment of the present invention.]Description of Embodiments

[0021] The present invention will now be described more fully hereinafter with reference to the accompanying drawings in which a preferred embodiment of the invention is shown. This invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, the embodiments are provided so that this disclosure will be thorough, and will fully convey the scope of the invention to those skilled in the art.

[0022] Embodiments of the present invention will be described herein with reference to the figures. Referring to Fig.1 a and Fig.1 b, in one embodiment, the present invention provides a pipe clamping device 10 for securing pipes and installing strain sensors, temperature sensors, or similar devices within pipelines. The clamping device 10, functioning as a robotic apparatus, automates both the clamping of pipes and the installation of strain sensors and temperature sensors onto the walls of operational water and wastewater pipes. The clamping device 10 includes a driving platform 12 and a set of various units designed to perform various tasks and functionalities. These units are including such as a tensioning unit 14, an inspecting unit 16, a cleaning unit 18 and an installing unit 20.

[0023] The overall purpose of this clamping device 10 is for automation of tasks related to maintenance and monitoring pipelines. By combining tensioning, inspecting, cleaning, and installing functionalities into a single robotic system, it aims to streamline the process of securing pipes and attaching sensors to the pipes without requiring manual intervention.

[0024] As shown in Fig.2, the driving platform 12 serves as the primary body of the clamping device 10, providing both mobility and support to the other units. The driving platform 12 is constructed with a series of segment brackets 22 interconnected by a cylindrical axle 23, with wheels 24 positioned at the ends of the cylindrical axle 23. Each segment bracket 22 incorporates a window 26 designed to facilitate the installation of one of the units. This feature allows for the integration of various units within the clamping device 10, enhancing its versatility and enabling the execution of specific tasks through the windows in each segment bracket 22. Additionally, adjustment members 28 are located on both sides of each segment bracket 22, connected in a rotating manner through wheels 25. These adjustment members 28 facilitate the adaptation of the driving platform 12 to the dimensions, shapes, and sizes of the pipe during the clamping process. Thewheels 24 and 25 are Omni wheels, strategically placed in two different directions and driven by motors, enabling the clamping device 10 to achieve both rotating movement around the pipe and linear movement along the pipe.

[0025] Fig.3a and Fig.3b show clamping mechanism of a pipe by the clamping device 10, where the segment bracket 22 are adjusted utilizing the adjustment members 28, enabling the clamping device 10 to clamp pipes of different dimensions, such as 6-inch and 10-inch pipes. In Fig. 3a, the clamping device 10 is depicted clamping a 6-inch pipe 30, while in Fig. 3b, it demonstrates the clamping of a 10-inch pipe 30. Additionally, it is shown that the segment bracket 22 features a hole 27 on each side frame designed for the placement of components from various units.

[0026] Fig.4a and Fig.4b show the tensioning unit 14 designed to tighten the driving platform 12 onto the pipe. The tensioning unit 14 is responsible for applying tension, ensuring a secure clamp the clamping device 10 onto the pipe. The tensioning unit 14 includes a bracket 41 , a motor 42, and a cylinder 43. A bearing 44a is connected to the motor 42 via an axle 47, while another bearing 44b is positioned on the cylinder 43, and both bearings 44a and 44b are rotatably linked. The cylinder 43 incorporates brass sleeves 45, and where a metal string 50 (depicted in Fig.4c) is affixed to the cylinder 43, passing through the brass sleeve 45. By rotating the cylinder 43 through the motor 42, the overall length of the metal string 50 can be shortened. Additionally, an L-shape bracket 48 is provided to secure the axle 47 with the bracket 41 . The bracket 41 is equipped with multiple holes 46, facilitating the fixation of the bracket 41 onto the segment bracket 22 of the driving platform 12 using rivets 49.

[0027] In Fig.4c, the tensioning unit 14 is positioned within one of the segment brackets 22 of the driving platform 12 and securely fixed using the rivet 49. The cylinder 43 is inserted into the segment bracket 22 through a hole 27 as illustrated in Fig. 3a and Fig. 3b. The metal string 50 is attached to the cylinder 43, passing through the brass sleeve 45, and further extended and fastened onto the cylindrical axle 23 of the segment brackets 22. This configuration allows for the rotation of the cylinder 43 by the motor 42, thereby shortening the overall length of the metal string 50. This mechanism aids in effectively tensioning the pipe.

[0028] In Fig.5, a side view of the clamping device 10 depicts a metal tensioning string 50 encircling the entire device 10, serving to tension the segment brackets 22 and secure the clamp onto the pipe. The metal string 50 is affixed to the cylinder 43, passing through the brass sleeve 45, and further extended and fastened onto the cylindrical axle 23 of the segment bracket 22. The length of the string 50 is adjustable through the tensioning unit 14. When the string 50 is shortened, the segments 22 rotate inwards at greater angles, resulting in a stronger clamping force applied by the entire device 10 onto the pipe.

[0029] In Fig.6, the inspecting unit 16 is depicted, consisting of a bracket 62 and a cylinder 63. A motor 64 is employed to rotate the cylinder 63, and on the bracket 62, a camera 65 and an NDT (Non-Destructive Testing) probe 66 are mounted. The inspecting unit 16 can be positioned on the segment bracket 22 of the driving platform 12. The cylinder 63 is inserted into the segment bracket 22 through the hole 27 (shown in Fig. 3a and Fig. 3b). The motor 64 facilitates the linear movement required for the camera's 65 focusing procedure and the NDT probe's 66 detecting operations. The NDT probe 66 serves the purpose of inspecting and evaluating materials, components, or assemblies without causing any damage to their serviceability.

[0030] In one embodiment, the inspecting unit 16 is equipped with a camera 65 and an NDT (Non-Destructive Testing) probe 66 to inspect the condition of the pipe or surrounding environment. It could ensure proper placement of sensors or identify any issues in the pipe's surface.

[0031] In Figs.7a and 7b, the cleaning unit 18 is illustrated, designed to be situated within one of the segment brackets 22 of the driving platform 12 to clean the surface of the pipe in preparation for sensor installation. The cleaning unit 18 comprises a bracket 72, multiple motors 73 linked to bearings 74, and a brush 75. The brush 75 is capable of rotation via the motors 73 connected with bearings 74, facilitating the cleaning of the surface of rusted metal pipes. The cleaning unit 18 ensures a clean and suitable surface for subsequent sensor installation activities.

[0032] In Figs.8a and 8b, the installing unit 20 is depicted, designed to be positioned within one of the segment brackets 22 of the driving platform 12 for the purpose of installing sensors onto the pipe. The installing unit 20 consists of a bracket 82,multiple motors 83 linked to pressing plates 84. The pressing plates 84 feature pressing members 85 that enable pressing movements. Additionally, the base of the pressing plate 84 includes holders 86 capable of securing a sensor 87 in each one. With the assistance of the motors 83, the installing unit 20 can perform the installation of sensors onto the pipe by applying pressing movements.

[0033] In an alternate embodiment, the clamping device 10 may include pneumatic piston clamping solution instead of the metal string tightening solution. Further, for driving solution of the around-pipe movement, the wheels are replaced with special wheels that can be driven by belts, so that the driving motor for the whole system can be reduced.

[0034] The described invention represents a significant advancement in pipeline excavation, inspection, and sensor installation capabilities tailored for water utilities. This innovation entails the creation of a robotic system designed to automate the process of applying strain and temperature sensors to the walls of active water and wastewater pipes. The utilization of these sensors plays a crucial role in generating data essential for predicting potential asset failures in water distribution and wastewater networks. By preventing water loss and environmental contamination, this invention stands to significantly enhance the efficiency and sustainability of water companies.

[0035] As outlined in the described embodiments, the present invention offers a significant advantage through the automation of tasks associated with the maintenance and monitoring of pipelines. The integration of diverse units within the clamping device 10 allows for the execution of a range of tasks and functionalities on pipes, eliminating the need for manual intervention. This automation not only enhances efficiency but also contributes to precision and consistency in tasks such as clamping, inspection, cleaning, and sensor installation, ultimately improving the overall management of water and wastewater pipelines.The foregoing description of embodiments of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the invention without departing from the scope of the invention. The embodiments werechosen and described in order to explain the principles of the invention and its practical application to enable one skilled in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims

Claims

1. A pipe clamping device (10), comprising: a driving platform (12); and a plurality of functional units to perform tasks associated with the maintenance and monitoring pipelines; characterized by, the driving platform (12) that is configured to provide both mobility and support to the functional units, the functional units that include a tensioning unit (14), an inspecting unit (16), a cleaning unit (18) and an installing unit (20), where the tensioning unit (14) is configured to tighten the driving platform 12 onto a pipe, and applying tension ensuring a secure clamp onto the pipe, where the inspecting unit (16) is equipped with a camera (65) and an NDT (Non-Destructive Testing) probe (66) to inspect condition of the pipe or surrounding environment to ensure proper placement of sensors or identify any issues in the pipe's surface, where the cleaning unit (18) facilitates cleaning of a surface of the pipe to ensures a clean and suitable surface for sensors installation, where the installing unit (20) facilitates installing sensors onto the pipe.

2. The pipe clamping device (10) of claim 1 , wherein the pipe clamping device (10) is configured for securing pipes and installing strain sensors, temperature sensors, or similar devices onto the pipe.

3. The pipe clamping device (10) of claim 1 , wherein the pipe clamping device (10) is a robotic apparatus, automates clamping of pipes and installation of strain sensors and temperature sensors onto the walls of operational water and wastewater pipes.

4. A pipe clamping device (10), comprising:a driving platform (12); and a plurality of functional units; characterized by, the driving platform (12) that is configured to provide both mobility and support to the functional units, where the functional units include a tensioning unit (14), an inspecting unit (16), a cleaning unit (18) and an installing unit (20), where the driving platform (12) is constructed with a series of segment brackets (22), where each segment bracket (22) incorporates a window (26) to facilitate an installation of one of the functional units, where the segment brackets (22) are interconnected by a cylindrical axle (23), with wheels (24) positioned at the ends of the cylindrical axle (23), enabling adjustments of the functional units for execution of a task, additionally, adjustment members (28) are located on both sides of each segment bracket 22, connected in a rotating manner through wheels (25), facilitate the driving platform (12) to adjust according to dimension of a pipe.

5. The pipe clamping device (10) of claim 4, wherein pipe clamping device (10) is configured for securing pipes and installing strain sensors, temperature sensors, or similar devices onto the pipe.

6. The pipe clamping device (10) of claim 4, wherein the pipe clamping device (10) is a robotic apparatus, automates clamping of pipes and installation of strain sensors and temperature sensors onto the walls of operational water and wastewater pipes.

7. The pipe clamping device (10) of claim 4, wherein the tensioning unit (14) is configured to tighten the driving platform (12) onto the pipe, and applying tension ensuring a secure clamp onto the pipe.

8. The pipe clamping device (10) of claim 4, wherein the tensioning unit (14) includes a bracket (41 ), a motor (42), and a cylinder (43), where a bearing (44a) is connected to the motor (42) via an axle (47), while another bearing (44b) is positioned on the cylinder (43), and both the bearings (44a) and (44b) are rotatably linked, where a metal string (50) is affixed to thecylinder (43) passing through sleeves (45), when rotating the cylinder (43), the overall length of the metal string (50) can be shortened and applies tension to secure clamp onto the pipe.

9. The pipe clamping device (10) of claim 8, wherein the metal tensioning string (50) encircle the device (10) serving to tension the segment brackets (22) and secures a clamp onto the pipe.

10. The pipe clamping device (10) of claim 4, wherein the inspecting unit (16) is equipped with a camera (65) and an NDT (Non-Destructive Testing) probe (66) to inspect the condition of the pipe or surrounding environment to ensure proper placement of sensors or identify any issues in the pipe's surface.11 . The pipe clamping device (10) of claim 4, wherein the cleaning unit (18) facilitates cleaning of a surface of rusted metal pipes to ensures a clean and suitable surface for subsequent sensor installation.

12. The pipe clamping device (10) of claim 4, wherein the installing unit (20) is positioned within one of the segment brackets (22) of the driving platform 12 for the purpose of installing sensors onto the pipe.

13. The pipe clamping device (10) of claim 4, wherein the installing unit (20) consists of a bracket (82), multiple motors (83) linked to pressing plates (84), the pressing plates (84) feature pressing members (85) enable pressing movements for installation of the sensors onto the pipe.

14. The pipe clamping device (10) of claim 1 , wherein the wheels (24, 25) are Omni wheels, placed in two different directions and driven by motors, enabling the clamping device (10) to achieve both rotating movement around the pipe and linear movement along the pipe.

15. A pipe clamping device (10) for automation of tasks related to maintenance and monitoring pipelines, comprising: a driving platform (12); and a plurality of functional units; characterized by,the driving platform (12) that is configured to provide both mobility and support to the functional units, where the driving platform (12) is constructed with a series of segment brackets (22), where each segment bracket (22) incorporates a window (26) to facilitate an installation of one of the functional units, the functional units that include a tensioning unit (14), an inspecting unit (16), a cleaning unit (18) and an installing unit (20), where the tensioning unit (14) is configured to tighten the driving platform 12 onto a pipe, and applying tension to secure clamp onto the pipe, where the inspecting unit (16) is equipped with a camera (65) and an NDT (Non-Destructive Testing) probe (66) to inspect the condition of the pipe or surrounding environment to ensure proper placement of sensors or identify any issues in the pipe's surface, where the cleaning unit (18) facilitates cleaning of a surface of rusted metal pipes to ensures a clean and suitable surface for sensors installation, where the installing unit (20) facilitates installing sensors onto the pipe.

16. The pipe clamping device (10) of claim 15, wherein the pipe clamping device (10) is configured for securing pipes and installing strain sensors, temperature sensors, or similar devices onto the pipe.

17. The pipe clamping device (10) of claim 15, wherein the pipe clamping device (10) is a robotic apparatus, automates clamping of pipes and installation of strain sensors and temperature sensors onto the walls of operational water and wastewater pipes, j

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