Modular Pipe Maintenance Robot for Stable In-Pipe Traversal
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Solution Overview
Problem
Existing pipe maintenance systems face challenges in accessing and inspecting/repairing pipes due to inhospitable conditions such as high temperatures, pressures, and obstacles within the pipes, and struggle to provide precise localization and traversal through varying pipe sizes and shapes.
Innovation Solution
A motorized apparatus with independently actuated multi-legged mechanisms that can traverse non-concentric transitions, navigate curves, and adjust to changes in pipe size and debris, equipped with sensors for pressure measurement and adjustment, and modular tool options for various maintenance tasks, allowing precise positioning and stable operation within pipes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If motorized apparatus is used to travel through pipe interior cavity, then maintenance operation can be performed at inaccessible locations, but apparatus may slip or fall due to inhospitable conditions (high temperature, pressure, obstacles)
Solution Approach 1:
The apparatus is divided into multiple leg assemblies that can independently contact the pipe interior surface. Each leg assembly acts as an independent segment that can be positioned and secured separately, providing stable support throughout the pipe cavity rather than relying on a single contact point.
Solution Approach 2:
The leg assemblies are configured to dynamically adjust their position and orientation to adapt to varying pipe conditions including non-concentric transitions, curves, and debris. This dynamic capability allows the apparatus to maintain stable contact with the pipe wall despite changes in pipe geometry or presence of obstacles.
2Adaptability or versatility
If multi-legged mechanisms are used to navigate curves and non-concentric transitions, then apparatus can traverse varying pipe configurations, but device complexity increases
Solution Approach 1:
The leg assemblies are designed as universal components that can perform multiple functions: providing support, enabling traversal along the pipe, and adapting to different pipe configurations. This multi-functionality reduces the need for separate specialized mechanisms for each function, thereby managing complexity while maintaining versatility.
Solution Approach 2:
The apparatus utilizes actuators that can change the parameters of the leg assemblies (position, angle, extension length) to adapt to different pipe conditions. By dynamically adjusting these parameters, the same basic mechanism can handle various configurations without requiring multiple specialized designs.
3Measurement precision
If independently actuated mechanisms are used for precise positioning, then apparatus can maintain stable operation, but use of energy increases
Solution Approach 1:
The actuators are configured to automatically adjust the leg assemblies to maintain optimal contact with the pipe wall without requiring continuous external control input. This self-adjusting capability allows precise positioning while reducing energy consumption by only activating actuators when adjustment is needed rather than continuous operation.
Data Source
AI summary
A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.