Conduit Robot Positioning Frames for Winding Pipe Navigation
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Solution Overview
Problem
Conduit-exploring robots face challenges in mobility and orientation within complex, heterogeneous water supply pipes, particularly in winding conduits, due to complex articulation systems and limited mobility, which hinders efficient exploration and maintenance.
Innovation Solution
A conduit-exploring robot design featuring a positioning system with a pair of linear actuators that can independently translate and rotate relative to each other, allowing precise placement and orientation within conduits, adapting to varying degrees of winding and facilitating efficient exploration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articulated joint with multiple portions is used to enable the robot to advance around bends in conduits, then the robot's ability to navigate winding conduits is improved, but the complexity of the orientation system increases and adjustment time is extended
Solution Approach 1:
The robot body is divided into multiple modular frames (first frame, second frame, etc.) connected by positioning systems. Each frame can be independently positioned and oriented, allowing the robot to navigate bends by coordinating the movement of segmented sections rather than relying on a complex articulated joint.
Solution Approach 2:
The positioning system uses linear actuators that can dynamically adjust the relative positions and orientations of frames in real-time. This dynamic adjustment capability allows the robot to adapt to winding conduit geometries while maintaining a simpler overall structure compared to fixed articulated joints.
2Measurement precision
If a hexapod positioning system with linear actuators is used between frames, then the robot's positioning capability is improved, but the device complexity and effectiveness in advancing through conduits is limited
Solution Approach 1:
The linear actuators in the positioning system serve multiple functions: they position frames relative to each other, enable orientation adjustments, and facilitate advancement through conduits. This multi-functionality reduces the need for separate specialized mechanisms, simplifying the overall system while maintaining positioning precision.
3Speed
If track wheels or propellers are used for translation along the conduit axis, then the robot's ability to move forward is improved, but the system becomes difficult to implement under high water flow velocity and poor adhesion conditions
Solution Approach 1:
The positioning system with linear actuators acts as an intermediary mechanism between the robot's propulsion system and the conduit walls. By providing controlled relative movement between frames, it enables the robot to maintain position and advance reliably even when direct adhesion methods (track wheels, propellers) fail under high flow conditions.
Data Source
AI summary
A robot includes a first frame and a second frame. The first frame and the second frame each include a bearing module for bearing against a wall of a conduit, and at least one positioning system for the relative positioning of the first frame and the second frame, the robot where the positioning system includes at least a first pair of linear actuators disposed in a direction parallel to a longitudinal axis x of the robot, able to be independently actuated such that they move in translation, and free to rotate relative to at least one of either the first frame or the second frame, so as to position the first frame and the second frame relative to one another.