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.

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.

A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

A robot for exploring a conduit including a first frame and a second frame. The first frame and the second frame each including a bearing module provided with a plurality of articulated arms. Each articulated arm including a bearing portion that can be applied against a wall of the conduit. Each bearing module is further configured to alternately switch from a bearing portion engaged configuration into a bearing portion disengaged configuration. The articulated arms are disposed in a plane perpendicular to the longitudinal axis x of the robot, and the articulated arms are capable of at least partially moving between said engaged configuration and said disengaged configuration, via a rotational motion about an axis parallel to the longitudinal axis x.

A robot for exploring a conduit including a first frame and a second frame. The first frame and the second frame each including a bearing module provided with a plurality of articulated arms. Each articulated arm including a bearing portion that can be applied against a wall of the conduit. Each bearing module is further configured to alternately switch from a bearing portion engaged configuration into a bearing portion disengaged configuration. The articulated arms are disposed in a plane perpendicular to the longitudinal axis x of the robot, and the articulated arms are capable of at least partially moving between said engaged configuration and said disengaged configuration, via a rotational motion about an axis parallel to the longitudinal axis x.

A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

The invention relates to a robot 1 comprising a first frame 10 and a second frame 10′, the first frame 10 and the second frame 10′ each comprising a bearing module 11 for bearing against a wall 20 of a conduit 2, and at least one positioning system 12 for the relative positioning of the first frame 10 and the second frame 10′, the robot 1 being characterised in that the positioning system 12 comprises at least a first pair 120 of linear actuators disposed in a direction parallel to a longitudinal axis x of the robot 1, able to be independently actuated such that they move in translation, and configured to be free to rotate relative to at least one of either the first frame 10 or the second frame 10′, so as to position the first frame 10 and the second frame 10′ relative to one another.

The invention relates to a robot 1 comprising a first frame 10 and a second frame 10′, the first frame 10 and the second frame 10′ each comprising a bearing module 11 for bearing against a wall 20 of a conduit 2, and at least one positioning system 12 for the relative positioning of the first frame 10 and the second frame 10′, the robot 1 being characterised in that the positioning system 12 comprises at least a first pair 120 of linear actuators disposed in a direction parallel to a longitudinal axis x of the robot 1, able to be independently actuated such that they move in translation, and configured to be free to rotate relative to at least one of either the first frame 10 or the second frame 10′, so as to position the first frame 10 and the second frame 10′ relative to one another.