Passive In-Pipe Centering for Perpendicular Probe Deployment
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Solution Overview
Problem
In-pipe inspections and maintenance are challenging due to the difficulty in reliably deploying sensor probes and tool heads perpendicular to the pipeline inner walls, especially with varying pipe diameters and obstacles like weld beads, using robotic systems.
Innovation Solution
An in-pipe apparatus with a passive centering mechanism and radial probe or tool deployment mechanism, featuring a rotational deployment mechanism, a radial deployment mechanism with a linear actuator and spring, and a passive centering mechanism with legs and springs to maintain alignment with the pipe axis, allowing for consistent and perpendicular deployment across different pipe sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic systems are used for in-pipe inspections and maintenance, then automation and operational flexibility are improved, but reliability of probe deployment perpendicular to pipe walls deteriorates due to varying pipe diameters and obstacles
Solution Approach 1:
The passive centering mechanism uses the pipe's own geometry to automatically center the deployment apparatus. The mechanism includes radial arms with contact surfaces that engage the pipe wall, causing the apparatus to self-center without active control systems. This self-service approach ensures reliable perpendicular probe deployment across varying pipe diameters and around obstacles like weld beads.
2Measurement precision
If active centering mechanisms are used to maintain alignment during longitudinal movement, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts the active control system from the centering mechanism, retaining only the passive mechanical elements. The centering is achieved through geometric constraints and elastic deformation of radial arms, eliminating motors, sensors, and control electronics. This reduction to essential elements maintains alignment precision while dramatically simplifying the device.
Solution Approach 2:
The patent replaces complex active mechanical centering systems with a passive elastic-mechanical system. Radial arms with spring elements provide continuous contact with the pipe wall, using elastic deformation to maintain alignment during longitudinal movement without requiring active mechanical adjustments or control systems.
3Adaptability or versatility
If perpendicular probe deployment is attempted with varying pipe diameters, then adaptability to different pipe sizes is improved, but deployment accuracy deteriorates due to difficulty in maintaining perpendicular orientation
Solution Approach 1:
The deployment mechanism uses dynamic radial arms that can flex and adjust their orientation based on the local pipe geometry. The radial arms are connected through elastic elements that allow the mechanism to adapt to varying diameters while maintaining perpendicular probe deployment. This dynamic adjustment ensures accurate deployment across different pipe schedules and around obstacles.
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
Ensures reliable and consistent deployment of probes and tools perpendicularly to the pipe inner walls, maintaining alignment during longitudinal movement, even with varying pipe diameters, without active centering mechanisms, thus improving the accuracy and efficiency of in-pipe inspections and maintenance.
Implementation Method 1
the passive centering mechanism includes legs and a spring, the legs are configured to make at least three points of contact with an inside wall of the pipe, and the spring is configured to exert outward force on the legs and against the inside wall of the pipe sufficient to passively align the axis of rotation with the axis of the pipe
Implementation Method 2
a linear actuator to linearly actuate the first slider along the first linear guide, to radially deploy the probe or tool in the radial direction
Implementation Method 3
the spring is configured to exert outward force on the legs and against the inside wall of the pipe sufficient to passively align the axis of rotation with the axis of the pipe
Data Source
AI summary
An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the pipe axis, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.