Articulated Inspection Robot for Branched Pipe Navigation
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Solution Overview
Problem
Existing inspection devices, such as video endoscopy devices and remote-controlled drones, are limited in their ability to navigate complex geometries, particularly vertical-horizontal direction changes, and are restricted to non-branching pipeline systems.
Innovation Solution
An inspection device with articulated, interconnected sections equipped with wheels and magnetic-adhesive surfaces, allowing for flexible maneuverability and vertical climbing, featuring independent wheel drives and various inspection techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If video endoscopy devices are used, then the device structure is simple, but the device cannot navigate vertical-horizontal direction changes and is limited to non-branching pipelines
Solution Approach 1:
The inspection device is divided into multiple articulated sections (first section, second section, third section) that can move relative to each other via ball joints. This segmentation allows the device to navigate complex geometries including vertical-horizontal direction changes while maintaining a manageable structure for each individual section.
2Adaptability or versatility
If the inspection device has multiple articulated sections, then the navigation flexibility improves, but the device width increases
Solution Approach 1:
By dividing the device into multiple compact sections connected by ball joints, each section can be kept relatively narrow while the overall device achieves high navigation flexibility through the articulated configuration.
Solution Approach 2:
The device utilizes three-dimensional spatial arrangement of articulated sections, allowing navigation flexibility to be achieved through spatial configuration rather than increasing the width of individual sections.
3Ease of operation
If conventional steering systems are used, then the control mechanism is simple, but the maneuverability in tight spaces is limited
Solution Approach 1:
The patent replaces conventional mechanical steering systems with independent electric hub drives on each wheel. This allows maneuverability to be achieved through differential wheel speeds controlled by motors, eliminating the need for complex mechanical steering linkages while improving control precision in tight spaces.
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
Enables flexible navigation through complex geometries, including vertical-horizontal direction changes, and accommodates multiple inspection and cleaning functions, enhancing maneuverability and adaptability to diverse surfaces.
Implementation Method 1
wheels, preferably all wheels, are provided with magnets on their outer circumferential surface... This results in the wheels adhering to magnetic surfaces
Implementation Method 2
wheels, in particular all wheels, are provided on their outer circumferential surface with a silicone-based adhesive film coating having a microstructural surface. This achieves a high, but not permanent, adhesion of the edges, even on non-magnetic surfaces, essentially through van der Waals forces of attraction
Data Source
Figure 1~2
Figure 3
AI summary
The invention relates to inspection equipment (1), which is designed for inspecting regions of machinery and/or installation components and/or piping systems which are inaccessible to people, comprising at least three consecutive elements (2), which are each fastened to the next by means of at least one articulated link (3), wherein each element (2) is provided with at least two wheels (4). Drives (6) are provided which drive the wheels (4) of at least two elements (2) to rotate, and at least one element (2) comprises at least one item of inspection technology (7).