Soft Body Robot Navigating Sharp Pipe Bends
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Solution Overview
Problem
Existing robots fail to effectively navigate through small diameter water pipes with sharp bends and T-junctions while maintaining position and orientation stability for leak detection, and their insertion and removal from pipes is costly due to the need for special entry and exit points.
Innovation Solution
A soft-bodied robot with silicone rubber components that can bend through sharp bends and T-junctions, equipped with a leak sensor and embedded electronics, allowing it to follow water flow and maintain stability within the pipe system, and methods for easy insertion and retrieval through existing pipe infrastructure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If rigid single-piece PIGs are used, then position and orientation stability is maintained, but the robot cannot navigate sharp bends and T-junctions
Solution Approach 1:
The robot body is divided into multiple rigid sections connected by flexible bellows joints, allowing the robot to bend and navigate sharp turns while maintaining structural integrity and sensor stability during straight sections
Solution Approach 2:
The robot transitions from a rigid structure to a dynamically flexible structure using bellows joints that allow controlled bending, enabling the robot to adapt its shape to navigate complex pipe geometries while maintaining operational stability
2Adaptability or versatility
If train-like multi-sectional PIGs are used, then sharp turns can be navigated, but manufacturing complexity increases
Solution Approach 1:
Multiple rigid sections and flexible bellows joints are merged into a single integrated robot body structure, simplifying manufacturing compared to traditional multi-sectional PIGs that require separate components and complex assembly
3Ease of operation
If special entry and exit points are installed, then robot deployment is enabled, but deployment cost increases
Solution Approach 1:
The robot is designed with universal compatibility to deploy through existing fire hydrants and standard pipe infrastructure without requiring special entry/exit points, enabling cost-effective deployment across various pipe systems
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 robot successfully navigates complex water pipe systems, including 80 elbows and 40 T-junctions over 221 meters, with a 100% success rate, enabling effective leak detection and reducing the cost of deployment by using existing pipe features like fire hydrants for insertion and retrieval.
Implementation Method 1
The soft bodies have a tapering configuration with a neck portion wherein a soft body length to neck width ratio is selected to allow the soft bodies to bend permitting the passive robot to pass through sharp bends
Implementation Method 2
A mobile platform must be able to go through small diameter pipe systems with T-junctions and elbows, under flow condition
Data Source
AI summary
Passive robot for transporting sensors and instruments such as leak sensors into water pipes. The robot includes a leak sensor having a diameter to fit closely within a water pipe. A leak sensor is flanked by, and bonded to, substantially symmetrical first and second soft bodies. End caps are provided on each of the first and second soft bodies. Each of the soft bodies has a tapering configuration with a neck portion wherein a soft body length to neck width ratio is selected to allow the soft bodies to bend permitting the passive robot to pass through sharp bends and T junctions.