Articulated In-Pipe Inspection Robot for Bends and Diameter Changes
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Solution Overview
Problem
Existing inspection systems face challenges in accessing and inspecting complex pipeline networks and constrained spaces due to limitations in adapting to sharp changes in pipe direction and diameter, as well as corrosive environments, which hinders effective maintenance and data collection.
Innovation Solution
A robotic in-pipe inspection system with independently movable front and rear leg assemblies, allowing for adjustable angles and modular components, including sensors and actuators, to navigate and inspect pipes with varying diameters and complex structures, and switch between different mobility modes to accommodate various environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional inspection systems are used in pipelines, then they can inspect linear sections, but they cannot adapt to sharp changes in pipe direction and diameter
Solution Approach 1:
The inspection system is divided into multiple segments including front and rear leg assemblies that can independently articulate and position themselves to navigate sharp changes in pipe direction and diameter, allowing each segment to adapt locally while maintaining overall system functionality
Solution Approach 2:
The leg assemblies incorporate dynamic articulation capabilities with multiple degrees of freedom, enabling the system to continuously adjust its configuration in real-time to match varying pipe geometries and directions during inspection operations
2Adaptability or versatility
If rigid inspection systems are deployed in constrained spaces, then they maintain structural stability, but they cannot access narrow gaps and tortuous infrastructure
Solution Approach 1:
The system employs flexible leg assemblies with articulated joints that can bend and conform to narrow gaps and tortuous infrastructure geometries while maintaining sufficient structural integrity through controlled flexibility and strategic reinforcement at critical joints
Solution Approach 2:
The leg assemblies can be collapsed and nested within the main body of the inspection system during transport, then deployed and extended when entering constrained spaces, allowing the system to pass through narrow access points while maintaining full functionality during inspection
3Loss of information
If inspection systems navigate complex pipeline networks, then they can collect more data, but the risk of damage to pipes and equipment increases
Solution Approach 1:
The leg assemblies are designed to make partial contact with pipe walls only when necessary for navigation and stabilization, using controlled articulation to minimize contact points and contact forces, thereby reducing the risk of damage while maintaining adequate support for data collection sensors
Data Source
AI summary
A robotic in-pipe inspection system having a front that moves independently of the rear. The system comprises a center shaft that has a connector that allows a front portion of the shaft to be at a desired angle from a rear portion of the shaft. A front leg assembly is operatively coupled to the front portion of the shaft, while a rear leg assembly is operatively coupled to the rear portion of the shaft. The front leg assembly comprises front legs that can be positioned at various angles relative to each other, while the rear leg assembly comprises rear legs that can similarly be positioned at various angles relative to each other. The system also includes a shaft controller (for controlling the desired angle of the center shaft), a front controller (for controlling the front leg assembly), and a rear controller (for controlling the rear leg assembly).