Segmented Inchworm Vehicle for Pipe Navigation
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Solution Overview
Problem
Existing unmanned vehicles designed for navigating enclosed spaces, such as pipes, face limitations due to size constraints and require separate holding mechanisms and centering devices, which restrict their deployment in pipes of varying diameters and hinder navigation through debris.
Innovation Solution
A vehicle with a head section and a tail section, both equipped with selectively actuated claws, is coupled by a linear actuator that extends and retracts to move forward in an inchworm-like manner, allowing the vehicle to navigate pipes of different sizes and maneuver around obstacles by adjusting claw extension and using a spring-biased mechanism for gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a plurality of wheels positioned around a perimeter of a vehicle are used to move the vehicle, then the vehicle can move through an enclosed space, but the vehicle is limited in use to a specific diameter pipe
Solution Approach 1:
The vehicle body is divided into multiple segments that can expand and contract independently. This segmentation allows the vehicle to adjust its overall diameter to match different pipe sizes, resolving the contradiction between adaptability and complexity by using modular, scalable components rather than a fixed rigid structure
Solution Approach 2:
The vehicle employs dynamic expansion and contraction capabilities through its segmented body and adjustable wheel arrangement. The vehicle can change its physical dimensions in real-time to adapt to varying pipe diameters, transforming a static design into a dynamic one that maintains versatility without requiring completely different vehicle configurations for each pipe size
2Adaptability or versatility
If a complicated crawler system with separate holding mechanisms and centering devices is used, then the vehicle can navigate enclosed spaces, but the stroke length of actuators and bumper length limit the minimum or maximum diameter pipe
Solution Approach 1:
The holding mechanism and centering function are merged into a single integrated system using claws that can both grip the pipe wall for propulsion and position the vehicle centrally. This consolidation eliminates the need for separate actuators and bumpers, expanding the usable pipe diameter range while reducing overall system complexity
Solution Approach 2:
The claws serve multiple functions: they act as gripping elements for propulsion, centering devices for positioning, and adaptive components for different pipe diameters. This multi-functionality resolves the contradiction by having a single component system that performs multiple roles, eliminating the need for specialized separate mechanisms for each function
3Adaptability or versatility
If the vehicle uses fixed gripping mechanisms, then the vehicle can maintain position, but the vehicle cannot maneuver around obstacles or navigate pipes of varying diameters
Solution Approach 1:
The gripping mechanism transitions from fixed to dynamic, with claws that can be selectively actuated and positioned at different angles and depths. This dynamic capability allows the vehicle to maintain reliable gripping while adapting to obstacles and varying pipe diameters, resolving the contradiction between reliability and adaptability
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 navigation through pipes of varying diameters and around debris without getting stuck, with the ability to extend claws for centering and using actuators to maintain position, enhancing versatility and maneuverability within enclosed spaces.
Implementation Method 1
using a spring-biased mechanism for gripping
Data Source
AI summary
A vehicle includes a head section having a selectively actuated first plurality of claws, a tail section having a selectively actuated second plurality of claws, and a linear actuator operably coupling the head section to the tail section. The linear actuator is configured to be selectively extended and retracted. The vehicle is configured to move forward within an enclosed space by extending the linear actuator, while the first plurality of claws is not actuated and the second plurality of claws is actuated, then retracting the linear actuator, while the first plurality of claws is actuated and the second plurality of claws is not actuated.