Modular Pipe Traversal Robot with Mechanical Clamping
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing pipe crawling apparatuses are ineffective in navigating horizontal and vertical pipes with obstacles such as flanges, valves, and changes in pipe diameter, and they often rely on magnets, which add weight, increase power consumption, and fail on insulated pipes.
Innovation Solution
A modular robotic apparatus with multiple wheel assemblies and clamping members that can position wheels on different circumferential portions of the pipe, apply force for securing the apparatus, and adjust to accommodate pipes of varying diameters, all without using magnets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If magnets are used to attach the robot to the pipe, then the robot can remain secured to the pipe, but the robot's weight increases and power consumption increases
Solution Approach 1:
The patent removes magnets entirely from the robot system, replacing magnetic attachment with a mechanical clamping mechanism using wheels and clamping members that press against the pipe surface to provide attachment and traction without magnetic forces
Solution Approach 2:
The patent replaces the magnetic field-based attachment system with a mechanical friction-based system where clamping members apply normal force to the pipe surface, creating friction that secures the robot and enables motion without magnets
2Reliability
If magnets are used to attach the robot to the pipe, then the robot can remain secured to the pipe, but the robot requires more power to operate
Solution Approach 1:
The patent removes electromagnets and their power requirements, replacing them with a passive mechanical clamping system that uses springs or elastic elements to maintain contact force without continuous energy input
Solution Approach 2:
The clamping mechanism uses elastic deformation of spring elements to automatically maintain attachment force, with the springs self-regulating to provide consistent normal force on the pipe surface without active control or power consumption
3Reliability
If magnets are used to attach the robot to the pipe, then the robot can remain secured to the pipe, but magnets do not work well on insulated pipes
Solution Approach 1:
The patent removes magnets that cannot penetrate insulation, replacing them with mechanical clamping members that contact the outer surface of the pipe including insulated surfaces, enabling operation on both bare and insulated pipes
Solution Approach 2:
The clamping mechanism is designed to work on various pipe surfaces including bare metal, painted, and insulated pipes by applying friction-based attachment that does not depend on magnetic properties of the underlying material
4Adaptability or versatility
If the robot is designed to navigate around obstacles, then the robot can traverse pipes with flanges, valves, and bends, but the robot requires more clearance space
Solution Approach 1:
The patent divides the robot into modular wheel assemblies that can independently navigate obstacles, with each assembly capable of adjusting to local pipe geometry changes, allowing the robot to traverse flanges, valves, and bends with minimal overall clearance
Solution Approach 2:
The robot employs dynamically adjustable wheel assemblies where the clamping members and wheels can move relative to each other to accommodate changes in pipe diameter and curvature, enabling the robot to adapt to obstacles while maintaining a compact form factor
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 apparatus effectively traverses pipes with obstacles, maintains traction without magnets, and efficiently adjusts to different pipe diameters, ensuring reliable operation on both horizontal and vertical pipes.
Implementation Method 1
apply a force for urging the first and second wheels towards the outer surface of the pipe for securing the robotic apparatus to the pipe
Data Source
AI summary
A robotic apparatus for traversing the outer surface of a pipe, having: (i) first and second modules each having a clamping member coupling two wheels and positioning those wheels on first and second circumferential one-third portions of the pipe, and (ii) a third module connecting the first and second modules and positioning another wheel on a third circumferential one-third portion of the pipe; wherein the wheels are configured to permit movement of the modular robotic apparatus in axial, circumferential, and helical directions along the pipe. Another robotic apparatus having first and second wheel assemblies coupled by a clamping member and positioned on opposing circumferential half of the pipe, each wheel assembly having a wheel, a drive assembly for rotating the wheel about a driving axis, and a steering assembly for adjusting the direction in which the wheel is steered.