Pipe Robot Bearing Module Perpendicular Arm Deployment
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Solution Overview
Problem
Conduit exploration robots face challenges in achieving compactness, stability, and adaptability to varying conduit diameters, leading to inefficient mapping and inspection of water supply network pipes, which are prone to degradation due to harsh conditions and insufficient documentation, especially in rural areas.
Innovation Solution
A conduit exploration robot design featuring a support module with articulated arms that rotate around an axis parallel to the longitudinal axis, allowing for deployment in a plane perpendicular to the axis, enhancing compactness and stability, and incorporating a drive mechanism with a motor unit to reduce bulk and improve maneuverability in winding conduits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the support module uses articulated arms that deploy in the longitudinal direction, then the robot can engage with conduit walls, but the robot's length increases and maneuverability in winding conduits deteriorates
Solution Approach 1:
The patent applies dimensionality change by making the articulated arms deploy in a plane perpendicular to the longitudinal axis rather than along the longitudinal direction. This allows the arms to extend radially outward to engage conduit walls while keeping the robot's longitudinal footprint compact, directly resolving the contradiction between wall engagement capability and robot length.
2Length of moving object
If the support module uses a compact design, then the robot's length is reduced, but the stability and contact area with conduit walls deteriorates
Solution Approach 1:
The support module deploys articulated arms in a radial direction perpendicular to the longitudinal axis, allowing compact longitudinal design while achieving stable wall contact through multiple articulated arms that can adapt to conduit curvature and provide distributed contact points.
Solution Approach 2:
The articulated arms are designed to be movable and adaptable rather than rigid, allowing them to dynamically adjust their position and orientation to maintain stable contact with the conduit wall while keeping the robot body compact. The articulation joints enable the arms to conform to varying conduit geometries.
3Stability of the object's composition
If the robot is designed for stability in straight conduits, then wall contact is improved, but adaptability to varying conduit diameters and winding paths deteriorates
Solution Approach 1:
The articulated arms incorporate joints that allow dynamic adjustment of arm position and orientation, enabling the support module to adapt to varying conduit diameters and winding paths while maintaining stable wall contact. The degrees of freedom in the articulation mechanism provide the necessary flexibility.
Solution Approach 2:
By deploying arms in a plane perpendicular to the longitudinal axis, the support module can radially adjust to different conduit diameters while the robot maintains a compact longitudinal profile, enabling adaptation to both straight and winding conduit configurations.
Data Source
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AI summary
The invention relates to a robot (1) for the exploration of a pipe (2), comprising a first frame (10) and a second frame (10') that each comprise a bearing module (11) provided with a plurality of articulated arms (110), each articulated arm (110) comprising a bearing portion (1100) that can be applied to a wall (20) of the pipe. Each bearing module (11) is additionally configured to pass alternately from a configuration of engaging to a configuration of disengaging the bearing portion (1100). The articulated arms (110) are arranged in a plane perpendicular to the longitudinal axis x of the robot, and the articulated arms (110) are at least in part able to move between said engaging configuration and said disengaging configuration with a rotational movement about an axis parallel to the longitudinal axis x.