Pipe Robot Wheel Geometry for High-Traction Inspection and Repair
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing technologies fail to provide effective inspection and remediation of water pipes, particularly in water pipes, and existing systems for transporting equipment through pipes, and existing systems are not suitable for offshore use, and existing systems are not suitable for inspecting and repairing water pipes.
Innovation Solution
A propulsion apparatus for cylindrical bodies, such as pipelines, with a central shaft, wheels, and an eccentric drive mechanism to adjust wheel position and orientation, allowing for high traction and maneuverability, and integrated sensors and control units for data collection and remediation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pipe robots are used for inspection, then inspection capability is provided, but they have poor traction and little or no ability to do work inside the pipes
Solution Approach 1:
The apparatus combines inspection, cleaning, and repair capabilities in a single integrated system. The robot can perform inspection using sensors and cameras, cleaning using jetting or brushing mechanisms, and repair using specialized tools, making it a multi-functional device that addresses multiple pipe maintenance needs simultaneously
Solution Approach 2:
The apparatus uses hydraulic or pneumatic systems to generate high traction forces through adjustable wheels or crawlers that press against the pipe wall. Fluid pressure is also utilized for jetting cleaning operations and power transmission to various components, enabling both movement and work capability within the confined pipe environment
2Adaptability or versatility
If heavy equipment is pulled through pipes for remediation, then repair capability is improved, but the apparatus may be exposed to overload
Solution Approach 1:
The apparatus features dynamically adjustable wheels or crawlers that can modify their contact force with the pipe wall in real-time. The propulsion system can adjust traction force levels based on load conditions, allowing the robot to handle heavy remediation equipment while preventing overload through active control and feedback mechanisms
Solution Approach 2:
The system can change operational parameters such as wheel pressure, propulsion force, and speed dynamically during operation. This allows the apparatus to adapt to varying load conditions, maintaining optimal traction for heavy equipment transport while staying within safe operational limits to avoid pipe damage or system overload
3Power
If high axial traction is generated for pushing and pulling, then work capability is improved, but radial point loads on the pipe wall increase
Solution Approach 1:
The propulsion system is divided into multiple independent wheels or crawlers distributed along the apparatus length. This segmentation allows the total traction force to be distributed across multiple contact points, reducing the radial load at any single point on the pipe wall while maintaining high overall axial propulsion capability
Solution Approach 2:
The apparatus distributes contact forces across both the radial and longitudinal dimensions by using multiple wheels arranged along its length. This dimensional distribution transforms concentrated radial point loads into distributed line loads, reducing peak stresses on the pipe wall while maintaining effective axial traction for pushing and pulling operations
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 robust and agile inspection and repair of pipes with high axial traction, compatible with fiber optic technology, and capable of carrying inspection and remediation equipment, while minimizing radial loads on the pipe wall.
Implementation Method 1
wheels arranged to rotate round the shaft with a tilted angle
Implementation Method 2
The position of the wheels with respect to the shaft can be changed by means of an eccentric drive
Data Source
AI summary
An apparatus for propulsion and operations inside a cylindrical body, such as a pipeline comprises a central shaft, at least one motor and motor control unit, a number of wheels arranged to rotate round the shaft with a tilted angle, and a sensor module comprising sensors. The position of the wheels with respect to the shaft can be changed by means of an eccentric drive. The wheels are connected to a motor for rotating the wheels, and at least some of the wheels can rotate independent of other wheels.