Auger Robot Maneuvering Through Viscous Sludge With Fluid Injection
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Solution Overview
Problem
Self-propelled robotic inspection devices face difficulties maneuvering through viscous fluids and mixtures, such as oil sludge and sediment, often getting stuck and requiring harsh chemicals or excessive power for inspection, which is costly and environmentally harmful.
Innovation Solution
A robotic system with a chassis, forward and rear propulsion augers, and a maneuvering gimbal that uses fluid injection and vibration to locally reduce viscosity, allowing the robot to move through viscous mixtures without external chemicals, using counter-rotating augers and a gimbaled directional system for controlled propulsion and maneuvering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a self-propelled robot uses conventional propulsion methods in viscous fluids, then it can maintain simple structure, but it gets stuck and cannot maneuver effectively
Solution Approach 1:
The robot is divided into modular components including a chassis, maneuvering gimbal, propulsion auger, and fluid injection system. This segmentation allows each component to perform its specific function independently, improving maneuvering capability while maintaining overall system manageability
Solution Approach 2:
A fluid injection system acts as an intermediary between the robot and the viscous mixture. By injecting fluid to locally reduce viscosity, the system creates a favorable interaction environment that enables the propulsion auger to move effectively without requiring complex adaptive structures
2Speed
If the robot uses brute force to penetrate through sludge, then it may achieve movement, but it requires excessive power to be practical
Solution Approach 1:
The system changes the physical parameter of viscosity locally by injecting fluid that reduces the viscosity of the viscous mixture. This parameter change allows the propulsion auger to move through the mixture at practical speeds without requiring excessive power, as the resistance is reduced in the immediate vicinity of the auger
Solution Approach 2:
The propulsion auger utilizes rotational motion and associated vibrations to further reduce the viscosity of the viscous mixture through which it moves. This mechanical action complements the fluid injection effect, enabling effective movement at lower power consumption by continuously disrupting the viscous structure
3Reliability
If chemicals are applied to clear out sludge for inspection, then inspection can be performed, but it causes environmental issues and additional costs
Solution Approach 1:
The robot performs inspection while operating directly in the viscous mixture without requiring chemical treatment. The fluid injection system uses environmentally benign fluids to locally modify viscosity, allowing the robot to navigate and inspect tanks containing sludge or sediment without introducing harmful chemicals that would contaminate the environment or require additional disposal costs
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 inspections in environments like crude oil tanks without removing the viscous mixture, reducing the power required for movement and avoiding chemical contamination, thus facilitating efficient and environmentally friendly inspections in dense materials like sludge and sediment.
Implementation Method 1
at least one fluid nozzle configured to eject a fluid therefrom for fluidizing at least a portion of a viscous mixture adjacent to the forward propulsion auger
Implementation Method 2
a vibrator configured to generate mechanical vibrations
Data Source
AI summary
Various aspects include a robot and method of using the robot, which includes a chassis and a forward propulsion auger. The chassis may include a forward section a rear section; and a maneuvering gimbal. The forward propulsion auger may be positioned on a leading end of the forward section and coupled to a first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject a fluid therefrom.