Pipe Traversal Robot With Helical Wheel Alignment

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Solution Overview

Problem

Existing pipe crawling apparatuses are ineffective in navigating around or over obstacles such as changes in pipe diameter, curvature, and protrusions, and lack the ability to operate without magnets, vacuum, or aerodynamic forces, limiting their functionality in pipe inspection and sensing tasks.

Innovation Solution

A robotic apparatus with a wheel assembly and clamping mechanism that allows for movement along both straight and helical paths on pipes, featuring adjustable wheel orientations and a clamping mechanism with biasing members to secure the device to the pipe, enabling navigation of obstacles and independent operation from the pipe surface.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If existing pipe crawling apparatuses are used, then they can travel inside pipes, but they cannot navigate around or over obstacles such as changes in pipe diameter, curvature, and protrusions

Engineering Contradiction:

Improveability to navigate obstaclesVSAvoideffective operation

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The wheel assembly incorporates an alignment mechanism that dynamically adjusts the orientation of the wheel relative to the pipe surface. This allows the wheel to adapt to varying pipe geometries and obstacles, enabling the apparatus to navigate around flanges, valves, and bends while maintaining stable contact and reliable operation

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The alignment mechanism changes the orientation parameter of the wheel assembly to adapt to different pipe conditions. By adjusting the wheel angle relative to the pipe axis, the system can navigate obstacles without compromising its ability to travel effectively inside the pipe

Inventive Principle:

Principle #35Parameter changes

2Reliability

If magnets, vacuum or aerodynamic forces are used for attachment, then the apparatus can secure to the pipe, but it lacks independence and requires specific environmental conditions

Engineering Contradiction:

Improvesecure attachmentVSAvoidindependence from environmental conditions

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The invention replaces magnetic, vacuum, or aerodynamic attachment systems with a purely mechanical clamping mechanism. The wheel assembly uses friction-based contact and mechanical pressure to secure to the pipe surface, providing reliable attachment that is independent of environmental conditions such as magnetic fields, vacuum levels, or air flow

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If the wheel orientation is fixed, then the apparatus structure is simpler, but it cannot move along both straight and helical paths

Engineering Contradiction:

Improvemovement path flexibilityVSAvoidwheel alignment mechanism

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The alignment mechanism provides dynamic adjustment of wheel orientation, enabling the apparatus to switch between straight and helical movement paths. This mechanical adjustment capability adds complexity to the device structure but is necessary to achieve the desired versatility in movement patterns along the pipe

Inventive Principle:

Principle #15Dynamics

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

The robotic apparatus effectively traverses complex piping systems, including obstacles, and performs tasks like corrosion detection and imaging without magnets or vacuum forces, ensuring secure attachment and minimizing the risk of slipping or damaging the pipe.

Implementation Method 1

The clamping mechanism may include one or more biasing members for generating the pulling force. The one or more biasing members, in some embodiments, may be configured to passively generate the pulling force and may, in an embodiment, include at least one of a tension spring, a compression spring, and a torsion spring.

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS11732832B2Pipe traversing apparatus and methods

Publication Date: 2023.08.22 ARIX TECHNOLOGIES INC

AI summary

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.