Modular Pipe Crawler With Hybrid Locomotion for Small-Diameter Inspection
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Solution Overview
Problem
Current pipe inspection robots are limited in their ability to perform advanced maintenance tasks in smaller diameter pipes due to restricted load carrying capacity, and they struggle with maintaining stable locomotion, avoiding obstacles, positioning, and conducting nondestructive inspections in complex piping systems.
Innovation Solution
A modular robotic crawler with hybrid legged-peristaltic locomotion and a biomimetic design, equipped with a computer vision camera and radially actuated nondestructive evaluation module, capable of gripping and adjusting to varying pipe diameters, navigating complex piping configurations, and carrying additional sensor payloads and mechanical equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If traditional pipe inspection robots are used in smaller diameter pipes, then the robot can navigate the pipe, but the load carrying capability is limited due to restricted pull force
Solution Approach 1:
The robot is divided into multiple modular segments that can be connected in series. Each segment contains its own actuation mechanism and can generate pull force independently. By adding more segments, the total pull force and load carrying capability increase while maintaining the ability to navigate small diameter pipes.
Solution Approach 2:
The robot employs a dynamic inchworm locomotion mechanism where segments alternately attach and detach from the pipe wall. The attachment/detachment timing and force application are dynamically adjusted based on pipe diameter and load requirements, optimizing both navigation capability and pull force generation.
2Ease of operation
If separate functions for longitudinal and radial actuation are used, then the robot can move inside small diameter pipe, but the device complexity increases
Solution Approach 1:
The robot combines longitudinal and radial actuation functions into a single integrated mechanism. The same actuator that extends the segment radially outward to attach to the pipe wall also provides the longitudinal force for forward movement. This merging eliminates the need for separate actuation systems while maintaining full locomotion capability.
Solution Approach 2:
Each robotic segment is designed as a multi-functional unit that can perform both radial attachment/detachment and longitudinal propulsion. The universal design allows the same hardware to serve multiple purposes, reducing overall system complexity while achieving sophisticated locomotion behavior.
3Speed
If lightweight tools such as cameras are used for inspection, then the robot can operate in small diameter pipes, but advanced maintenance tasks cannot be performed
Solution Approach 1:
The robotic system is designed as a universal platform that can perform multiple functions including inspection, cleaning, repair, and monitoring. By equipping the modular segments with interchangeable tools and maintaining high load carrying capability, the same robot can transition from simple camera inspection to complex maintenance tasks such as debris removal and structural repair.
Solution Approach 2:
The robot's capability parameters can be changed by adjusting the tool configuration and segment arrangement. For inspection tasks, lightweight cameras are used; for maintenance tasks, heavier equipment such as cutting tools, welding equipment, or cleaning mechanisms can be attached, with the robot's pull force and load capacity scaling accordingly.
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 robotic crawler achieves reliable navigation and inspection in complex piping systems with varying diameters, enhances traction, and supports multi-scale mechanism tasks, enabling effective inspection and mechanical repairs in small diameter pipes, overcoming limitations of existing robots.
Implementation Method 1
a self-propelled robot comprising a plurality of modules, at least one of the modules having a drive mechanism for peristaltic movement of the robot
Implementation Method 2
utilize the modules' optimal, lightweight design and usage of additive manufacturing to provide significant improvements in radial traction and the ability to provide a maximum pull force
Data Source
AI summary
A modular pipe-crawling robot for in-pipe maintenance operations in aspects of the present disclosure may have one or more of the following features: (a) at least two locomotion modules, (b) each module has feet which can extend outward to grip a wall of a pipe while simultaneously reducing its length or disengaging its feet from the inner wall while increasing its length, (c) a gear mechanism built into mechanical linkage, wherein each module's feet are held perpendicular with respect to the inner wall of the pipe, and (d) a joint coupling the at least two modules.