Conduit Robot Positioning Frames for Winding Pipe Navigation
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Solution Overview
Problem
Existing duct exploration robots face challenges in mobility, particularly in navigating convoluted pipes, due to complex orientation mechanisms and difficulty in translating within high-pressure and flowing water conditions, leading to inefficient pipe exploration.
Innovation Solution
A duct exploration robot with a positioning system comprising two pairs of linear actuators, each independently actuable in translation and rotation, and an intermediate support, allowing for relative translation and orientation of frames to adapt to pipe sinuosity, enhancing mobility and navigation through winding conduits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a complex joint with multiple sections is used to orient the robot in winding conduits, then the robot can navigate bends, but the orientation mechanism becomes complex and time-consuming to adjust
Solution Approach 1:
The robot body is divided into multiple frames (first frame, second frame, etc.) that can be independently positioned and oriented relative to each other using separate positioning systems. This segmentation allows each frame to be controlled independently, simplifying the overall orientation mechanism while maintaining the ability to navigate complex conduit geometries.
Solution Approach 2:
The positioning systems use linear actuators that can dynamically adjust the relative positions and orientations of frames in real-time, allowing the robot to adapt to winding conduits through continuous, programmable motion rather than complex mechanical joints.
2Speed
If a rolling system is used to translate the robot along the pipe, then movement along the longitudinal axis is possible, but translation becomes difficult due to high water flow velocity and poor adhesion conditions
Solution Approach 1:
The robot employs propellers (hydrodynamic propulsion elements) to generate thrust for translating along the conduit. These propellers operate effectively in the water flow environment, converting rotational motion into linear propulsion regardless of water flow velocity or pipe wall adhesion conditions.
3Measurement precision
If human intervention is increased to map and inspect pipes, then inspection quality improves, but the water supply network operation is disrupted
Solution Approach 1:
The robot is an autonomous system capable of self-propulsion, self-positioning, and self-inspection. It carries its own propulsion elements, positioning systems, and inspection equipment, allowing it to perform mapping and damage detection operations independently without requiring human entry or manual intervention that would disrupt water supply operations.
4Measurement precision
If a positioning system with hexapod linear actuators is used between frames, then positioning capability is provided, but the system remains complex and mobility effectiveness is limited
Solution Approach 1:
The positioning system uses multiple independent positioning units, each with linear actuators, distributed between different frames. Each positioning unit handles specific directional adjustments, dividing the complex six-degree-of-freedom positioning task into simpler, independent linear actuation tasks that are easier to control and maintain.
Data Source
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AI summary
The invention relates to a robot (1) comprising a first frame (10) and a second frame (10'), the first frame (10) and the second frame (10') each comprising a bearing engagement module (11) on a wall (20) of a conduit (2), and at least one positioning system (12) of the first frame (10) and the second frame (10'), the robot (1) being characterized in that the positioning system (12) comprises at least a first pair (120) of linear actuators which are arranged in a direction parallel to a longitudinal axis x of the robot (1), independently operable in translation and configured to be free to rotate relative to at least one of the first frame (10) and the second frame (10') so as to position the first frame (10) and the second frame (10') relative to one another.