Patent ID: 9101967
Filing Date: 2015-08-11
Classification: B08B,B62D,F16L

Abstract:
1. A robot for cleaning and inspecting conduits comprising: at least three driving units; and a synchronizing mechanism comprising a guiding device attached to the robot, a carriage attached to the guiding device, and an actuator; each driving unit being radially symmetrically attached to the carriage by a first arm comprising a first portion formed to be perpendicular to a second portion, and a second arm, the first and second arms of each driving unit being adapted to extend the driving unit radially outward from the robot, the first and second arms of each driving unit pivoting within a plane passing through a longitudinal axis of the robot; wherein the first portion of the first arm of each driving unit is connected to a rod attached to the carriage and extends to a pivot point secured to the robot, the second portion of the first arm extending from the pivot point to the driving unit, the first arm transforming a carriage force generated during longitudinal translation of the carriage along the longitudinal axis of the robot to a driving unit force acting on each driving unit, the driving unit force being linearly proportional to the carriage force and independent of an angular position of the first arm; wherein the second arm of each driving unit is pivotally secured to the robot; and wherein the first and second arms of each driving unit remain substantially parallel to each other as the carriage longitudinally translates along the longitudinal axis of the robot and as the first and second arms are extended radially outward from the robot.