Soft body robot for in-pipe missions

• US 10,451,210 B2
• Filed: 05/17/2017
• Issued: 10/22/2019
• Est. Priority Date: 05/17/2017
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Wu, You, Youcef-Toumi, Kamal, Demay, Solene Marie Amelie
• Primary Examiner(s): Schmitt, Benjamin R
• Application Number:
  US15/597,345
• Publication Number:
  US 20180335176A1
• Time in Patent Office: 888 Days
• Field of Search: 73 40, 73 491, 73 495
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: F16L 2101/30 Inspecting, measuring or testing
• CPC Class Codes: F16L 55/38 driven by fluid pressure
• CPC Class Codes: F16L 55/40 of the body
• CPC Class Codes: F16L 55/46 Launching or retrieval of pigs or moles
• CPC Class Codes: G01M 3/00 Investigating fluid-tightness of structures

Abstract

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.

Claims

1. A passive robot for traveling inside water pipes comprising:

at least one soft body, wherein the at least one soft body is connected to sensors or instruments that require particular positions or orientations in the pipe to function;

an end cap on each at least one soft body;

wherein each at least one soft body has a tapering configuration with a neck portion, wherein a soft body length to neck width ratio is selected to allow the at least one soft body to bend, permitting the passive robot to pass through a sharp bend, and

wherein the at least one soft body has a curved profile that tapers along the soft body length to the neck portion, the neck portion being located past a mid-point of the soft body length.

2. The robot of claim 1 wherein the sharp bend is 90°

.

3. The robot of claim 1 wherein the end cap has a curvature less than a half circle.

4. The robot of claim 3 wherein the end cap has a radius of curvature configured to create a clockwise moment on the end cap when an upper side of the end cap contacts a step in a pipe and a counterclockwise moment on the end cap when a lower side of the end cap contacts a step in a pipe.

5. The robot of claim 3 wherein the end cap has a center of curvature in a back of the end cap to create a clockwise moment on the end cap when an upper side of the end cap contacts a step in a pipe and a counterclockwise moment on the end cap when a lower side of the end cap contacts a step in a pipe.

6. The robot of claim 1 wherein all electronics are embedded inside the at least one soft body.

7. The robot of claim 6 wherein the electronics are embedded inside of the at least one soft body adjacent to the neck portion.

8. The robot of claim 1 wherein the at least one soft body is made of silicone rubber.

9. The robot of claim 1 wherein the silicone rubber has a shore 00-50 hardness.

10. The robot of claim 1 wherein the soft body length to neck width ratio is approximately two.

11. The robot of claim 1 wherein the at least one soft body includes

an interface configured to bond to other rigid devices.

12. The robot of claim 1 wherein the soft body length of the at least one soft body is approximately equal to the diameter of a pipe.

13. The robot of claim 1 wherein the soft body length of the at least one soft body is approximately equal to two inches.

14. The robot of claim 1 wherein the at least one soft body includes a concave portion.

15. The robot of claim 1 wherein the at least one soft body includes a convex portion.

16. The robot of claim 1 wherein the sensors include a leak sensor having a diameter substantially equal to a diameter of the pipe.

17. The robot of claim 1 wherein the sensors include a membrane sensor that is configured to stretch in response to a suction force from a leak in a pipe.

18. The robot of claim 1 wherein the robot is a flow driven robot.

19. A passive robot for traveling inside water pipes comprising:

at least one soft body, wherein the at least one soft body is connected to sensors or instruments that require particular positions or orientations in the pipe to function;

an end cap on each at least one soft body;

wherein each at least one soft body has a tapering configuration with a neck portion, wherein a soft body length to neck width ratio is selected to allow the at least one soft body to bend, permitting the passive robot to pass through a sharp bend, and

wherein the at least one soft body has a curved profile that tapers along the soft body length to the neck portion and the soft body length to neck width ratio is approximately two.

20. A passive robot for traveling inside water pipes comprising:

at least one soft body having a first end and a second end, the first and second ends being on opposite sides of the at least one soft body, wherein the at least one soft body is connected to sensors that require particular positions or orientations in the pipe to function;

an end cap on each at least one soft body;

wherein each at least one soft body has a tapering configuration with a neck portion, wherein a soft body length to neck width ratio is selected to allow the at least one soft body to bend, permitting the passive robot to pass through a sharp bend, wherein the at least one soft body has a curved profile that tapers along the soft body length to the neck portion, and

wherein the end cap is disposed on the first end of the at least one soft body and the sensors are disposed at the second end of the at least one soft body.