Pipe Inspection Gripper With Equal-Angle Ultrasonic Probes
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Solution Overview
Problem
Existing pipe inspection devices using robot arms struggle to maintain the perpendicular orientation of ultrasonic probes on pipes with curved surfaces, leading to slipping and difficulty in accurate thickness measurements due to changes in surface angle, and existing devices are either complex, large, or ineffective in guiding the probe properly.
Innovation Solution
A pipe inspection device with a multi-joint gripping member and a four-bar linkage mechanism that maintains equal angles between link members, equipped with ultrasonic probe holding members and a drive device, ensuring the probes are pressed perpendicularly against the pipe surface, using a two-axis gimbal mechanism and a contact medium supply system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If an ultrasonic probe is pressed against a pipe surface using a simple pressing mechanism, then the device structure is simple, but the probe cannot maintain perpendicular orientation on pipes with curved surfaces, causing slipping and measurement errors
Solution Approach 1:
The patent employs a dynamic parallel linkage mechanism that automatically adapts its configuration to match the curvature of pipes with different diameters. The linkage maintains a constant angle between adjacent links through mechanical constraints, enabling the ultrasonic probe to remain perpendicular to the pipe surface regardless of the pipe's curvature, thus solving the contradiction between structural simplicity and measurement accuracy.
2Measurement precision
If a parallel link mechanism is used to adjust ultrasonic probe posture, then measurement precision is improved, but the device becomes complex and large, making it difficult to attach to robot arm tips
Solution Approach 1:
The patent segments the probe positioning function into a modular parallel linkage mechanism with four or more link members of fixed length connected via rotation shafts. This segmented structure maintains constant angles between adjacent links, providing precise probe orientation while keeping each component compact and manageable, thus reducing overall device complexity and size for robot arm attachment.
Solution Approach 2:
The parallel linkage mechanism is designed to be universally applicable to pipes of various diameters by maintaining constant angles between link members. This multi-functional capability allows the same device structure to accurately position probes on different pipe sizes without requiring complex adjustment mechanisms, thereby reducing device complexity while maintaining measurement precision.
3Ease of operation
If the contact position on a pipe changes by 20 mm in the circumferential direction, then the surface angle changes by about 45 degrees, but a simple pressing mechanism cannot compensate for this angle change, causing the probe to slip
Solution Approach 1:
The patent uses a dynamic parallel linkage mechanism that automatically adjusts its configuration in response to changes in pipe curvature. The mechanical restraining unit maintains constant angles between adjacent link members, enabling the probe to adapt to surface angle changes of about 45 degrees without slipping, thus improving both ease of operation and reliability.
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 accurate and efficient ultrasonic thickness measurements on pipes of various sizes by maintaining the ultrasonic probes perpendicular to the pipe surface, even with curvature changes, improving measurement precision and safety.
Implementation Method 1
measuring the thicknesses of the pipes by contacting an ultrasonic probe with the surfaces of the pipes, by emitting ultrasonic waves, and by detecting the reflected waves from the inner surfaces of the pipes
Data Source
AI summary
A pipe inspection device includes a multi-joint gripping member, a base, ultrasonic probe holding members, and a drive device that drives the multi-joint gripping member. The multi-joint gripping member includes four or more link members of a fixed length connected in series via rotation shafts and a mechanical restraining unit that always keeps angles between adjacent link members approximately equal, the base is fixed to one of the link members constituting the multi-joint gripping member, each of the ultrasonic probe holding members is fixed to a middle of one of the link members, and the drive device is fixed to one of the link members constituting the multi-joint gripping member or to the base.