Active Joint Module for Pipeline Inspection Robot Steering
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Solution Overview
Problem
Conventional pipeline inspection robots lack active steering performance and inefficiently consume power due to passive link modules that adapt only to the pipeline's shape, leading to energy wastage and difficulty in navigating complex routes.
Innovation Solution
An active joint module with independently rotatable brackets and a pulley system that consumes power only when navigating divergent areas, allowing for adjustable rotation angles and minimizing energy usage in straight sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If passive link modules are used to adapt to pipeline shape, then the robot can flexibly transform according to pipeline shape, but steering performance cannot be improved and power is wasted
Solution Approach 1:
The link module transitions from a passive static structure to an active dynamic structure with motors that can actively adjust the angle between link modules. This allows the system to adapt to pipeline shapes only when necessary (in divergent areas) while maintaining a fixed configuration during straight sections, thereby reducing unnecessary power consumption while preserving adaptability.
2Ease of operation
If active link modules are used to improve steering performance, then the robot can actively adjust to route changes, but power consumption increases
Solution Approach 1:
The active link modules operate periodically rather than continuously - they are activated only when approaching divergent areas detected by the pipeline shape recognition unit, and remain inactive during straight sections. This periodic activation maintains high steering performance when needed while significantly reducing overall power consumption.
Solution Approach 2:
The system uses its own shape recognition capability to determine when active steering is needed, making the decision autonomously without external control. The pipeline shape recognition unit detects divergent areas and automatically triggers the active link modules to adjust, enabling the system to serve its own navigation needs efficiently.
3Ease of operation
If link modules continuously maintain active state to navigate complex routes, then steering performance is improved, but unnecessary energy is consumed in straight sections
Solution Approach 1:
The system incorporates a pipeline shape recognition unit that continuously monitors the pipeline geometry and provides feedback to the control unit. This feedback mechanism allows the system to distinguish between straight sections and divergent areas, activating the active link modules only when the feedback indicates a need for steering adjustment, thereby eliminating energy wastage while maintaining navigation capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the steering performance of pipeline inspection robots by actively adjusting to route changes while conserving energy by maintaining a passive state during straight sections, improving navigation efficiency and reducing power consumption.
Implementation Method 1
a main pulley connected to the frame unit in a rotatable manner, and to which the first bracket and second bracket are coupled; and a pulley rotating unit connected to the main pulley, and rotates the main pulley
Implementation Method 2
a wire connected to the main pulley and sub pulley, and rotates the main pulley and sub pulley; and a wire motion unit connected to the wire, and moves the wire
Implementation Method 3
an LM block to which the wire is coupled; an LM guide that guides motion of the LM block; and an LM block driving unit that moves the LM block
Implementation Method 4
a driving motor; a ball screw connected to the driving motor, and configured to be rotated by the driving motor; and a moving nut coupled to the LM block, and configured to be geared to the ball screw
Data Source
AI summary
Provided herein is an active joint module, and a robot for inspecting pipelines having the active joint module, the active joint module including a frame unit; a first bracket connected to one side of the frame unit in a rotatable manner, and to which a first module is coupled; a second bracket connected to another side of the frame unit in a rotatable manner, and to which a second module is coupled; and a bracket rotating unit supported to the frame unit, and is configured to rotate the first bracket and second bracket independently from each other in response to receiving an operating signal, and to unconstrain rotation of the first bracket and second bracket in response to there being no operating signal received.