Conduit Cleaning Robot Synchronizing Mechanism
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Solution Overview
Problem
Existing robots for cleaning and inspecting conduits fail to effectively navigate bends and branches, maintain centralization, and control multiple driving units in conduits with varying diameters and friction coefficients, while also being unable to drag heavy hoses and automatically center cleaning nozzles.
Innovation Solution
A robot equipped with a synchronizing mechanism using a rectilinear prismatic joint and pneumatic actuator, with radial-symmetric driving units and adapters for different conduit cross-sections, along with a control panel for precise control of movement and orientation, allowing the robot to maintain centralization and efficiently clean conduits with large diameters and complex geometries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot uses traditional driving mechanisms for conduit cleaning, then it can operate in conduits, but it cannot effectively navigate bends and branches or maintain centralization in conduits with varying diameters
Solution Approach 1:
The robot employs a dynamic centralization mechanism that automatically adjusts the driving units' positions relative to the robot body based on real-time feedback from sensors detecting conduit wall positions. This allows the robot to maintain centralization in conduits with varying diameters and complex geometries including bends and branches, resolving the contradiction between adaptability and ease of operation.
Solution Approach 2:
The system uses sensors to detect the position of conduit walls and provides feedback to the control unit, which then adjusts the driving units' positions accordingly. This closed-loop feedback mechanism enables the robot to navigate bends and branches while maintaining centralization, addressing both adaptability and operational ease.
2Force
If a robot equips multiple driving units for powerful propulsion, then it can drag heavy hoses, but it cannot control the units' positions and orientations precisely
Solution Approach 1:
The robot divides the propulsion system into multiple independent driving units, each equipped with its own control unit and sensors. This segmentation allows precise individual control of each unit's position and orientation while collectively providing the necessary propulsion force to drag heavy hoses, resolving the contradiction between force and measurement precision.
Solution Approach 2:
Each driving unit is designed as a universal module that can perform multiple functions: propulsion, position adjustment, orientation control, and dragging hoses. This multi-functionality allows the system to achieve both high force output and precise control through standardized, independently controllable units.
3Device complexity
If a robot uses fixed cleaning nozzle position, then the structure is simple, but it cannot adapt to different conduit diameters and maintain proper cleaning orientation
Solution Approach 1:
The cleaning nozzle is mounted on a movable carriage that can dynamically adjust its position along the robot body's longitudinal axis. This dynamic positioning allows the nozzle to adapt to different conduit diameters and maintain proper cleaning orientation without requiring a completely complex repositioning mechanism, balancing device complexity with adaptability.
Solution Approach 2:
The carriage acts as an intermediary mechanism between the robot body and the cleaning nozzle, providing a simplified yet effective means of adjusting nozzle position. This intermediary structure enables adaptation to different conduit diameters while keeping the overall device complexity manageable.
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
The robot can travel through conduits with large diameters, navigate bends and branches, and maintain centralization, effectively dragging heavy hoses and cleaning nozzles, while providing precise control and orientation, enhancing cleaning efficiency and safety.
Implementation Method 1
pneumatic actuator, which is moved by a rectilinear prismatic joint placed inside the robot body
Data Source
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AI summary
Principle of the invention is a synchronizing mechanism, which extends all driving units (16) simultaneously and in addition it ensures constant normal force applied to the conduit (25) wall. Actuator of synchronizing mechanism is pneumatic one. Robot (111) is equipped with adapters (31) for conduits (29) with rectangular cross section, and with extension bars (37) for conduits (25) with large diameters. Further, the robot (111) is equipped with sensors monitoring the robot status, these include a sensor (27) of the synchronizing mechanism position, inclinometer (26) and gyroscope (12). Data from these sensors are displayed on monitor (105). Robot (111) movement inside the conduit (25) and therefore the speed of individual tracks is controlled by the operator by three control elements only: direction of turning, diameter of bend and speed of motion. Robot is also able to travel backwards inside the conduit (25) automatically based on stored information about movement forward.?