In-Pipe Robot Wheel-Bag Mechanism for Easy Retrieval
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Solution Overview
Problem
Existing in-pipe moving apparatuses are prone to getting stuck in pipes with bent or branching portions if the drive motor fails, as they rely on friction between wheels and the pipe wall for movement, making it difficult to retrieve the apparatus.
Innovation Solution
The apparatus employs two sets of wheel-based or crawler traveling elements with a variable bag that expands and contracts to adjust its position, allowing it to move freely and be easily removed from the pipe, even if the drive motor fails, by using a mechanism that includes linkage links, springs, and auxiliary wheels to maintain contact with the pipe surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive motor provides continuous driving force to press wheels against the pipe wall for movement, then the apparatus can move through the pipe, but it gets stuck when the drive motor fails
Solution Approach 1:
The patent applies the dynamics principle by making the pressing force adjustable rather than fixed. The pressing member can dynamically change the contact force between the wheels and pipe wall based on operational needs - providing strong pressing force during normal operation for reliable movement, and reducing or releasing the pressing force when retrieval is needed, thus preventing the apparatus from getting stuck
Solution Approach 2:
The patent implements parameter changes by modifying the pressing force parameter. The pressing member changes the magnitude of the force applied to the wheels against the pipe wall, allowing the system to transition between different operational states - high pressing force for movement and low or zero pressing force for retrieval, resolving the contradiction between movement reliability and retrievability
2Adaptability or versatility
If the apparatus uses friction between wheels and pipe wall for propulsion, then it can move through bent and branching pipes, but it becomes difficult to remove when stuck
Solution Approach 1:
The pressing member dynamically adjusts the friction engagement between wheels and pipe wall. During traversal of bent and branching pipes, the pressing member maintains adequate contact force for adaptability. When removal is required, the pressing member releases or reduces the force, allowing easy extraction without being stuck, thus resolving the contradiction between adaptability and removal ease
3Stability of the object's composition
If the drive motor continuously presses the wheels against the pipe wall, then the apparatus maintains stable movement, but it cannot be easily extracted when something goes wrong
Solution Approach 1:
The pressing member provides dynamic control over the wheel-pipe wall contact. It maintains stable pressing force during normal operation to ensure movement stability through various pipe configurations. When extraction is needed, the pressing member can quickly release or reduce the force, enabling reliable extraction without damage or difficulty, thus resolving the contradiction between movement stability and extractability
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 smooth movement through bent and branching pipes and allows for easy retrieval by releasing pressure in the variable bag, reducing the force holding it in place, thus preventing it from getting stuck.
Implementation Method 1
a variable bag expanded and contracted in accordance with pressure of a fluid supplied to the variable bag
Implementation Method 2
the upper and lower driving wheels installed at one-side ends of the drive arms are pressed against the inner wall surface of the pipe and the reaction force from the inner wall surface resulting from the rotational force from the upper and lower driving wheels causes the in-pipe traveling carriage to travel in the pipe
Data Source
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AI summary
An object of the invention is to provide an in-pipe moving apparatus that can freely and smoothly move in a pipe having a bent portion and a branching portion, is not stuck in the pipe even if a drive motor of a movement mechanism fails or otherwise experiences a problem, and can be readily taken out of the pipe. The in-pipe moving apparatus includes two sets of wheel-based traveling elements 2A and 2B, which each have two driving wheels 8A and 8B linearly arranged, and a variable bag 3, which is expanded and contracted in accordance with the pressure of a fluid supplied to the variable bag, and the two sets of wheel-based traveling elements 2A and 2B are so disposed as to sandwich the variable bag 3 and are fixed to the outer surface of the variable bag 3.