Tilted-Wheel Pipe Robot for High-Traction In-Pipe Repair
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Solution Overview
Problem
Existing pipe inspection and repair technologies are inadequate for inspecting and repairing water pipes, lacking traction, maneuverability, and compatibility with data collection and remediation equipment, and often require disruptive replacement methods.
Innovation Solution
An apparatus for propulsion and operation inside cylindrical bodies, featuring a central shaft with tilted wheels and an eccentric drive mechanism that allows for high traction, maneuverability, and integration with fiber optic technology, capable of pulling and pushing heavy equipment while minimizing radial loads on the pipe wall.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pipe replacement is performed, then pipeline reliability is improved, but construction disruption and cost increase
Solution Approach 1:
The apparatus enables self-contained inspection and repair operations within the pipe using integrated sensors, motors, and manipulation tools that function autonomously once deployed, eliminating the need for extensive external construction work
Solution Approach 2:
The system changes the operational parameters by transitioning from replacement-based maintenance to in-situ rehabilitation, using controlled radial wheel expansion and helical propulsion to perform repairs without disrupting the surrounding infrastructure
2Measurement precision
If pipe inspection equipment is used, then leak detection capability is improved, but traction and work capability remain insufficient
Solution Approach 1:
The apparatus merges inspection sensors, propulsion motors, and repair tools into a single integrated system that can both detect leaks and perform remediation tasks, combining previously separate functions into one unified device
Solution Approach 2:
The device is designed with multi-functionality, capable of inspection, cleaning, repair, and manipulation of pipe components, making it a universal tool that replaces multiple specialized devices and provides both detection and work capability
3Ease of manufacture
If rehabilitation is performed, then cost is reduced, but the apparatus must generate high axial traction with minimal radial loads
Solution Approach 1:
The apparatus uses helical wheel paths and tilted wheel arrangements that convert radial forces into axial propulsion, utilizing the curved geometry of the pipe to generate forward motion while minimizing damaging radial loads on the pipe wall
Solution Approach 2:
The system employs hydraulic or pneumatic actuation for the eccentric wheel drive mechanism, providing controlled force application that generates high axial traction through helical motion while maintaining minimal radial contact pressure on the pipe structure
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 efficient inspection and repair of pipes with high axial traction, allowing for data collection and remediation, while maintaining minimal radial loads on the pipe, thus reducing the need for disruptive replacement methods.
Implementation Method 1
the hydraulic or pneumatic cylinder provides hydraulic or pneumatic force to move the wheel relative to the shaft
Implementation Method 2
the hydraulic or pneumatic cylinder provides hydraulic or pneumatic force to move the wheel relative to the shaft
Implementation Method 3
The spring provides return force to center the wheel on the shaft when the hydraulic or pneumatic force is relieved
Implementation Method 4
Each wheel is tilted relative to the center line and when rotated by the motor, these will undergo a helical movement and thereby 'screw' through the tube
Implementation Method 5
generate a high axial traction with small radial point loads on the pipe wall
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.