Modular Pipe Crawler Clamping for Obstacle Traversal
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Solution Overview
Problem
Existing pipe crawling apparatuses are ineffective in navigating horizontal and vertical pipes, and around obstacles such as flanges, valves, and bends, often relying on magnets that increase weight, power consumption, and fail on insulated pipes, while also experiencing slippage due to uneven wheel contact.
Innovation Solution
A robotic apparatus with multiple wheels and a clamping assembly that allows secure attachment to the pipe surface without magnets, featuring wheels with rollers for uniform contact and adjustable clamping to accommodate various pipe diameters and orientations, enabling traversal of complex piping systems.
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 weight of the robot increases and power consumption increases
Solution Approach 1:
The patent removes the magnet component from the robot system entirely, replacing magnetic attachment with a mechanical clamping system. The clamping assembly uses friction and normal force applied through clamping wheels against the pipe surface to achieve attachment without magnets, thereby eliminating the weight and power consumption issues associated with magnetic systems.
Solution Approach 2:
The patent replaces the electromagnetic attachment system (magnets) with a purely mechanical clamping system. The clamping assembly applies mechanical normal force through clamping wheels to generate sufficient friction for attachment, substituting electromagnetic force with mechanical force transmission.
2Reliability
If magnets are used to attach the robot to the pipe, then the robot can remain secured to the pipe, but power consumption increases
Solution Approach 1:
The patent removes the electromagnetic attachment system that requires continuous power input to maintain magnetic force. The mechanical clamping system uses passive friction-based attachment that does not require ongoing energy input, eliminating the power consumption associated with electromagnetic actuators and control systems.
Solution Approach 2:
The clamping system utilizes the robot's own weight and the applied clamping force to generate sufficient friction for attachment without requiring additional power input. The system is self-sustaining once clamped, using mechanical force transmission rather than active electromagnetic control.
3Reliability
If magnets are used for attachment, then the robot can be secured to the pipe, but the robot does not work well on insulated pipes
Solution Approach 1:
The patent replaces the electromagnetic attachment system with a mechanical friction-based clamping system. The clamping wheels apply normal force directly to the pipe surface, and friction between the wheels and pipe provides the attachment force, which works on both metal and insulated pipes without requiring direct magnetic contact with conductive material.
4Ease of operation
If wheels are configured to spin about an axis perpendicular to the direction of travel, then the wheels can rotate like a car, but the wheels ride on their inside edges and cause slippage
Solution Approach 1:
The patent inverts the conventional wheel orientation: instead of the wheel axis being perpendicular to the direction of travel (like a car), the wheel axis is parallel to the direction of travel. This causes the wheels to contact the pipe surface with their broad face rather than their edge, providing uniform contact and preventing slippage while maintaining ease of rotation.
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 navigates complex piping systems, including horizontal and vertical pipes, and obstacles, with improved traction and reduced power consumption, while maintaining uniform contact and adaptability to different pipe sizes and orientations.
Implementation Method 1
a clamping assembly coupling the third wheel and the fourth wheel and configured to apply a clamping force for urging the third wheel and the fourth wheel towards the outer surface of the pipe for securing the robotic apparatus to the pipe
Data Source
AI summary
A robotic apparatus having first and second wheels with rollers coupled by a frame, third and fourth wheels with rollers circumferentially offset from the first and second wheels, and a clamping assembly coupled to the frame and configured to apply a force for urging the third and fourth wheels towards the pipe to secure the robotic apparatus thereon. Another robotic apparatus having first and second wheels with rollers on a first side of a pipe, third and fourth wheels with rollers on a second, opposing side of the pipe, and a clamping member coupling the first and second wheels to the third and fourth wheels and configured to apply a force for urging the wheels towards the pipe to secure the robotic apparatus thereon. The robotic apparatuses may have a modular design in which different sized clamping members/assemblies can be swapped out to accommodate pipes of different diameters.