Segmented Linear Actuator for Curved Pipe Inspection
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Solution Overview
Problem
In-pipe inspection robots using rack-and-pinion or ball screw mechanisms face issues with motion on curved pipes due to inflexibility, requiring additional brake devices and struggling to exert repulsive force effectively.
Innovation Solution
An in-pipe inspection robot equipped with a braking unit that includes a linear actuator with extendable and contractable capabilities, featuring a braking system with motor-driven friction parts and a screw guide mechanism to securely attach and release at different pipe sections, allowing smooth movement on curved surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a rack-and-pinion system or ball screw device is used as a linear actuator, then the robot can exert repulsive force against the pipe wall, but the robot cannot move on curved portions of the pipe because the rigid actuator gets stuck
Solution Approach 1:
The linear actuator is divided into multiple segments that can relatively move with respect to each other. The actuator comprises a first linear actuator segment and a second linear actuator segment connected through a connection unit, allowing each segment to independently contact and exert force on different portions of the pipe wall, enabling navigation through curved sections while maintaining propulsive capability.
Solution Approach 2:
The connection unit between actuator segments provides dynamic adjustment capability, allowing the actuator to adapt its configuration based on pipe geometry. The segments can rotate or pivot relative to each other, transforming the rigid structure into a flexible system that maintains contact with curved pipe surfaces while preserving the ability to generate repulsive force for propulsion.
2Stability of the object's composition
If a rigid linear actuator is used, then the robot can maintain stable propulsion, but the robot cannot adapt to curved pipe sections
Solution Approach 1:
By segmenting the linear actuator into multiple independently controllable units connected through flexible joints, the system maintains propulsion stability through coordinated action of segments while adapting to curved geometries through relative motion between segments.
Solution Approach 2:
The connection unit acts as a flexible element between rigid actuator segments, allowing bending and rotation to accommodate curved pipe sections while maintaining the structural integrity and force transmission capability of the overall actuator system.
3Force
If a separate brake device is added to enable movement, then the robot can exert repulsive force, but the device complexity increases
Solution Approach 1:
The braking function is merged with the linear actuator segments themselves. The actuator segments serve dual purposes: providing propulsive force through extension/contraction and providing braking/adhesion through controlled contact with the pipe wall, eliminating the need for separate brake devices.
Solution Approach 2:
The linear actuator segments are designed to perform multiple functions: propulsion through linear motion, braking through controlled friction contact, and navigation adaptation through relative segment movement. This multi-functionality reduces overall system complexity by consolidating multiple subsystems into a single integrated actuator assembly.
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 the robot to exert repulsive force and move smoothly within pipes, including curved sections, by adjusting its attachment points during extension and contraction, enhancing its navigation capabilities.
Implementation Method 1
a friction part screw-engaged, at one side, to the rotating member, and movably supported, at the other side, by the linear actuator, wherein during driving of the braking motor, the friction part is moved along a lengthwise direction of the rotating member
Data Source
AI summary
Technical objective is to provide an in-pipe inspection robot for inspecting interior of a pipe, which can exert repulsive force to the pipe when the linear actuator is driven. To this purpose, the in-pipe inspection robot, which is moved inside the pipe to inspect the interior of the pipe, includes a linear actuator which is extendably and contractably driven, and a braking unit configured to fix a rear end of the linear actuator to an inner wall of the pipe and release a front end of the linear actuator from a fixed state, when the linear actuator is being extended, and release the rear end of the linear actuator from the fixed state and fix the front end of the linear actuator to the inner wall of the pipe, when the linear actuator is being contracted.