Systems and methods for maintaining pipes

Patent metadata

Field	Value
Publication number	US-11560977-B2
Application number	US-202016751655-A
Country	US
Kind code	B2
Filing date	Jan 24, 2020
Priority date	Jul 23, 2019
Publication date	Jan 24, 2023
Grant date	Jan 24, 2023

Abstract

A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

First claim

What is claimed is:

1. A motorized apparatus for use in maintaining a pipe having a sidewall defining an interior cavity, said motorized apparatus comprising:
a body assembly sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, said body assembly comprising a first end and a second end and extending along a longitudinal axis;
a plurality of leg assemblies coupled circumferentially around said body assembly, wherein each leg assembly of said plurality of leg assemblies comprises:
a first leg member comprising a first end, a second end, and a telescoping portion extending between said first end and said second end, wherein said second end of said first leg member is coupled to said body assembly and configured to move along the longitudinal axis of said body assembly;
a bias member coupled to said telescoping portion and configured to bias said telescoping portion longitudinally along said first leg member;
a second leg member coupled to said body assembly and said first leg member; and
a drive mechanism coupled to at least one of said first leg member and said second leg member and configured to interact with the sidewall as the body assembly travels along the pipe;

at least one sensor configured to collect data associated with a force between the sidewall and said drive mechanism; and
an actuator assembly coupled to each said leg assembly of said plurality of leg assemblies and configured to independently actuate each said leg assembly of said plurality of leg assemblies.

2. The motorized apparatus in accordance with claim 1 , wherein each said leg assembly of said plurality of leg assemblies further comprises a joint configured to rotatably couple said first end of said first leg member to said second leg member such that said joint moves radially outward from said body assembly as said second end of said first leg member moves along the longitudinal axis of said body assembly.

3. The motorized apparatus in accordance with claim 1 , wherein said body assembly comprises a support comprising a first end and a second end, and a housing comprising a first end and a second end, wherein said housing second end is coupled to said support first end, and wherein said second end of said first leg member is movably coupled to said support.

4. The motorized apparatus in accordance with claim 1 , wherein said drive mechanism is configured to contact the sidewall, and wherein said bias member is compressed when said drive mechanism contacts the sidewall.

5. The motorized apparatus in accordance with claim 1 , wherein said actuator assembly is configured to actuate each said leg assembly of said plurality of leg assemblies such that said at least one sensor measures a force that indicates interaction between said drive mechanism and the sidewall.

6. The motorized apparatus in accordance with claim 1 , wherein said at least one sensor comprises a plurality of sensors, each sensor of said plurality of sensors coupled to one of said bias members.

7. The motorized apparatus in accordance with claim 6 , wherein said actuator assembly is configured to actuate each said leg assembly of said plurality of leg assemblies such that force data from each said sensor of said plurality of sensors are substantially equal.

8. A system for use in maintaining a pipe having a sidewall defining an interior cavity, said system comprising:
a motorized apparatus sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, said motorized apparatus comprising:
a body assembly sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, said body assembly comprising a first end and a second end and extending along a longitudinal axis;
a plurality of leg assemblies coupled circumferentially around said body assembly, wherein each leg assembly of said plurality of leg assemblies comprises:
a first leg member comprising a first end, a second end, and a telescoping portion extending between said first end and said second end, wherein said second end of said first leg member is coupled to said body assembly and configured to move along said the longitudinal axis of said body assembly;
a bias member coupled to said telescoping portion and configured to bias said telescoping portion longitudinally along said first leg member;
a second leg member coupled to said body assembly and said first leg member; and

at least one sensor configured to collect data associated with a force between the sidewall and said plurality of leg assemblies;
an actuator assembly coupled to each said leg assembly of said plurality of leg assemblies and configured to independently actuate each said leg assembly of said plurality of leg assemblies; and

a controller communicatively coupled to said motorized apparatus and configured to receive information from said at least one sensor relating to said force, wherein said controller is configured to determine the force between the sidewall and said plurality of leg assemblies based on the information from said at least one sensor.

9. The system in accordance with claim 8 , wherein said body assembly comprises a support comprising a first end and a second end, and a housing comprising a first end and a second end, wherein said housing second end is coupled to said support first end, and wherein said second end of said first leg member is movably coupled to said support.

10. The system in accordance with claim 8 , wherein each said leg assembly of said plurality of leg assemblies further comprises a drive mechanism configured to contact the sidewall, and wherein said bias member is compressed when said drive mechanism contacts the sidewall.

11. The system in accordance with claim 8 , wherein said controller is configured to compare the determined force to a minimum threshold contact force to verify contact between said plurality of leg assemblies and the sidewall.

12. The system in accordance with claim 8 , wherein said at least one sensor comprises a plurality of sensors, each sensor of said plurality of sensors coupled to one of said bias members.

13. The system in accordance with claim 12 , wherein said controller is further configured to:
receive force data from each sensor of said plurality of sensors;
compare the received force data; and
determine if the forces between said plurality of leg assemblies and the sidewall are equal.

14. The system in accordance with claim 12 , wherein said controller is further configured to:
receive force data from each sensor of said plurality of sensors;
generate a biasing member force profile based on the force data; and
identify a difference between the biasing member force profile and a predetermined biasing member force profile.

15. The system in accordance with claim 14 , wherein said controller is further configured to:
generate an instruction set based on the identified difference between the biasing member force profile and the predetermined biasing member force profile; and
communicate the instruction set to said actuator assembly to cause said actuator assembly to individually actuate said plurality of leg assemblies such that the identified difference between the biasing member force profile and the predetermined biasing member force profile is reduced.

16. A method for maintaining a pipe having a sidewall defining an interior cavity, said method comprising:
positioning a motorized apparatus within the interior cavity, the motorized apparatus including a body assembly sized to fit within the interior

Assignees

• Gen Electric

Inventors

• Duncan Alexander Kyle
• Danko Todd William
• Foehner Justin
• Polishchuk Yakov
• Forman Douglas R

Classifications

• F16L2101/12

  Cleaning · CPC title

• F16L55/48

  Indicating the position of the pig or mole in the pipe or conduit · CPC title

• B08B2209/04

  using cleaning devices introduced into and moved along the pipes · CPC title

• B08B9/051

  the cleaning devices having {internal} motors {, e.g. turbines} for powering cleaning tools · CPC title

• B08B7/0042

  by laser · CPC title