Articulated Pipe Inspection Robot for Bends and Diameter Changes
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Solution Overview
Problem
Existing pipe inspection robots struggle to navigate narrow turns and junctions, and accommodate a wide range of pipe sizes without requiring customized designs, particularly in below-ground piping systems.
Innovation Solution
A pipe inspection robot with a novel multi-link wheel-leg design, utilizing a connection mechanism and independently driven legs with wheel-engaging members, capable of passively adjusting to small changes and actively adapting to large changes in pipe profile, including sharp bends, through articulating linkages and a differential joint for steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional wheeled robots are used for pipe inspection, then they can perform visual inspection tasks, but they cannot navigate narrow turns and junctions effectively
Solution Approach 1:
The robot body is divided into multiple articulated segments that can flex relative to each other, allowing the robot to navigate bends and turns in pipes. The segmentation enables the robot to adapt its shape to conform to the pipe geometry while maintaining structural integrity.
Solution Approach 2:
The robot employs dynamic leg mechanisms with adjustable linkages that can extend and retract. These legs are actively controlled to adapt to varying pipe diameters and maintain contact with the pipe wall, enabling the robot to navigate both straight sections and turns effectively.
2Manufacturing precision
If customized robots are designed for specific pipe sizes, then they can fit specific pipe dimensions, but they cannot accommodate a larger range of pipe sizes
Solution Approach 1:
The robot is designed as a universal platform that can operate in pipes of varying diameters through its adjustable leg mechanisms. The same robot can adapt to different pipe sizes by extending or retracting its legs, eliminating the need for multiple customized robots for different pipe dimensions.
Solution Approach 2:
The robot changes its physical parameters (leg length, body configuration) dynamically to adapt to different pipe diameters. By adjusting the extension of its leg linkages, the robot can maintain optimal contact with the pipe wall across a wide range of pipe sizes.
3Device complexity
If the robot uses fixed-length legs, then the structure is simple, but it cannot adapt to changes in pipe profile and bends
Solution Approach 1:
The leg mechanisms are designed to be dynamically adjustable rather than fixed. Each leg contains linkages that can extend and retract, allowing the robot to adapt its leg length to match the pipe profile and maintain stable contact during navigation through bends and varying diameters.
Solution Approach 2:
The robot's articulated body and adjustable legs allow it to conform to the curved geometry of bent pipes. The mechanism enables the robot to navigate sharp bends by adjusting its configuration to match the curvature of the pipe path.
Data Source
AI summary
A pipe inspection robot includes first and second bodies connected by a connection mechanism, at least two legs connected to the first body, and at least two additional legs connected to the second body, each of the at least two legs and the at least two additional legs including a linkage connected at one end to the first or second body, and a pipe engaging member connected at another end of the linkage; wherein each linkage is configured to operate between a stowed position, in which the pipe engaging member is disposed adjacent the first or second body, and an extended position, in which the linkage is adapted to cause the pipe engaging member to slide against an inner surface of a pipe.