Pipe Inspection Apparatus With Segmented Arms For Accurate Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing pipe inside processing apparatuses face challenges in accurately positioning and moving within pipes due to complex structures and increased risk of failure, leading to offset inspection sensors and potential damage to the pipe and equipment during maintenance tasks in radiation environments.
Innovation Solution
The apparatus employs traveling drive units with a rotation support mechanism and coupling mechanism that allows for accurate circumferential movement within the pipe, maintaining a simple structure and reducing the risk of damage, enabling safe and secure operations like rinse, inspection, and repair without disassembling the pipe.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a plurality of arms are developed in a radial direction to fix the processing apparatus in the pipe, then the apparatus can be positioned and stabilized, but the structure becomes complex and the size increases
Solution Approach 1:
The apparatus divides the positioning function into multiple independent arms that can operate separately. Each arm independently contacts the pipe inner wall to provide positioning, eliminating the need for a complex integrated positioning system while maintaining stability.
Solution Approach 2:
The arms are retractably stored within the cylindrical casing when not in use, and deployed only when needed for positioning. This nesting approach minimizes the apparatus size during insertion and retrieval while providing full positioning capability during operation.
2Adaptability or versatility
If the extreme ends of the arms are inclined due to offset from the pipe center axis, then the apparatus can adapt to pipe misalignment, but the inspection sensor becomes offset from the welding line
Solution Approach 1:
Detectors are installed at the extreme ends of the arms to detect the pipe inner wall position. This feedback information is used to determine when the arms are properly positioned, ensuring the inspection sensor remains aligned with the welding line even when the pipe has slight misalignments.
Solution Approach 2:
The arms are designed to be movable and adjustable rather than fixed, allowing them to dynamically adapt to pipe misalignment while maintaining proper sensor positioning through the detector feedback system.
3Manufacturing precision
If the processing apparatus is raised or lowered to correct offset center axis, then the center alignment is improved, but the relative positions of the pipe and apparatus may become offset
Solution Approach 1:
The detectors at the arm ends detect pipe inner wall position in advance, allowing the arms to be positioned correctly before the apparatus is fully inserted or raised/lowered. This preliminary positioning prevents subsequent offset issues.
4Measurement precision
If an articulated arm with multiplicity of degrees of freedom is used to correct offset and move the inspection sensor, then the positioning accuracy is improved, but the structure becomes complex and the size increases
Solution Approach 1:
The positioning function is segmented into multiple simple arms with detectors rather than one complex articulated arm. Each arm independently contributes to positioning accuracy through simple radial movement combined with detector feedback, avoiding the need for complex multi-degree-of-freedom mechanisms.
Data Source
AI summary
An apparatus for processing an inside of a pipe which performs various works from an inside of a pipe, includes traveling drive units, a working device, rotation support mechanisms, a coupling mechanism, and suspension devices. The traveling drive units are inserted into the inside of the pipe, and the working device is moved in a circumferential direction along the inside of the pipe by the traveling drive units.