Pipe Maintenance Robot Leg Actuation for Precise Tool Orientation
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Solution Overview
Problem
Existing motorized maintenance systems for structures, such as pipes, face challenges in maintaining precise orientation and stability due to the complexity and cost of actuators, which can lead to shifting or misalignment during service operations, especially in complex layouts and hard-to-reach locations.
Innovation Solution
A motorized apparatus with a plurality of independently actuated leg assemblies that support and position a maintenance device, allowing for precise control of orientation and position using actuator assemblies, eliminating the need for separate actuators on the maintenance device itself, and incorporating sensors and a controller for real-time adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If actuators are coupled directly to the maintenance device head to position it relative to the surface, then the maintenance device can be positioned in the desired orientation, but the cost to assemble and maintain the motorized apparatus increases
Solution Approach 1:
The patent extracts the actuation function from the maintenance device head and relocates it to the leg assemblies. The legs are independently actuated to position the entire maintenance device, eliminating the need for separate actuators coupled directly to the head. This reduces assembly complexity while maintaining positioning precision through the leg actuation system.
2Manufacturing precision
If actuators are coupled directly to the maintenance device head, then the head can be positioned in the desired orientation, but the complexity and difficulty of operating the motorized apparatus increases
Solution Approach 1:
The leg assemblies serve multiple functions: they support the weight of the maintenance device, provide actuation for positioning, and enable orientation control. This multi-functionality eliminates the need for separate actuation systems, reducing operational complexity while maintaining precise orientation control through the integrated leg actuation mechanism.
3Manufacturing precision
If actuators are used to position the maintenance device head, then the desired orientation can be achieved, but the head may not maintain the desired orientation during service operation due to shifting or movement
Solution Approach 1:
The patent merges the positioning and orientation control functions into the leg assembly system. By actuating the legs to position the entire maintenance device rather than just the head, the system ensures that the head maintains its desired orientation relative to the body assembly even during service operations, as the entire structure is positioned as a unified system.
4Measurement precision
If separate actuators are included on the maintenance device, then positioning control is improved, but the number of components and assembly requirements increases
Solution Approach 1:
The actuation components are extracted from the maintenance device and relocated to the leg assemblies. This reduces the number of components that need to be assembled on the maintenance device itself, simplifying manufacturing and assembly processes while maintaining precise position control through the independently actuated legs.
Data Source
AI summary
A motorized apparatus includes a body assembly and a maintenance device mounted to the body assembly. The maintenance device is configured to perform a service operation on a surface. The maintenance device extends from the body assembly at an angle. The motorized apparatus also includes a plurality of leg assemblies coupled to the body assembly and configured to support the body assembly and the maintenance device at a distance from the surface. The motorized apparatus further includes at least one actuator assembly coupled to the plurality of leg assemblies and configured to independently actuate each leg assembly of the plurality of leg assemblies. The at least one actuator assembly is configured to receive instructions related to a position of the maintenance device and actuate the plurality of leg assemblies to adjust an orientation of the body assembly and the maintenance device relative to the surface.