Pipe Inspection Robot Wheel-Joint Layout for Bends and Branches
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Solution Overview
Problem
Existing pipe interior inspection devices face challenges in navigating through pipes with bends and branches, particularly in inserting and stabilizing within pipe headers due to wheel spacing issues and insufficient gripping angles, leading to instability during travel and inspection.
Innovation Solution
A pipe interior inspection robot with a moving mechanism featuring three sets of wheel units connected by adjustable arms and joints that can rotate around pitch and yaw shafts, allowing for flexible insertion and stable gripping, along with a water supply system and ultrasonic sensors for condition evaluation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the distance between wheels of wheel units is increased, then the device can span larger pipe diameters, but the device cannot be inserted into pipe headers with smaller diameters
Solution Approach 1:
The arm connecting wheel units is made rotatable around a pitch shaft, allowing the distance between wheels to dynamically adjust. During insertion, the arm rotates to reduce the effective distance between wheels, enabling passage through narrow pipe headers. During operation, the arm can be positioned to span larger diameters as needed.
2Ease of operation
If the distance between wheels is decreased, then the device can be inserted into pipe headers, but the angle formed between axles of wheel units becomes excessively small, causing unstable traveling and gripping
Solution Approach 1:
The rotatable arm allows dynamic adjustment of the geometric configuration. During insertion, the arm rotates to achieve a compact configuration with small wheel spacing for stability. During traveling and gripping operations, the arm can be repositioned to achieve optimal angles between axles, ensuring stable gripping without compromising insertion capability.
3Ease of manufacture
If the device structure is simplified, then dustproof and waterproof properties are easier to achieve, but the ability to adapt to different pipe configurations is reduced
Solution Approach 1:
The single rotatable pitch joint provides the necessary adaptability for different pipe configurations (bends, branches, varying diameters) while maintaining a relatively simple overall structure. This dynamic element allows the device to conform to various geometries without requiring complex multi-axis mechanisms, thus preserving dustproof and waterproof properties.
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 easy insertion and stable travel through pipes with varying diameters and bends, ensuring accurate positioning and condition assessment within pipe headers while maintaining dustproof and waterproof properties.
Implementation Method 1
joints that can rotate around pitch and yaw shafts
Implementation Method 2
joints that can rotate around pitch and yaw shafts
Implementation Method 3
ultrasonic sensors for condition evaluation
Data Source
AI summary
Provided is a pipe interior inspection robot that has characteristics of having an extremely simple device structure to easily achieve dustproof and waterproof properties, being able to pass through a pipe bent in any direction, and enabling the selection of the advancing direction.A pipe interior inspection robot for inspecting the inside of a pipe branched from a pipe header, the robot including:1) a moving means having a structure capable of being introduced from a pipe base, which is an inlet of the pipe header, and capable of moving in the pipe header and being fixed to a pipe wall inside the pipe header at a desired position;2) a mechanism for specifying a position of a pipe to be inspected; and3) a mechanism for inspecting a condition inside the pipe to be inspected.