Centerline clamp assembly and associated systems and methods
A centerline clamp assembly sized to insert into an end aperture of a pipe structure, characterized by two or more symmetrically-formed linkages interoperably connected in series, with each of these linkages comprising respective opposing toggle joints pivotally joined at their inner ends to a shared common linkage assembly and at their outer ends by a respective first linkage assembly and a second linkage assembly, with each linkage assembly defining a respective bore configured to concurrently receive an actuating shaft in position along a common geometric centerline axis of the pipe. Multiple alternative configurations may be used in which the number of linkages and linkage assemblies may be increased to achieve clamping action at multiple locations in a pipe structure, thus varying the clamping force according to the properties of the pipe. The configuration and number of linkage assemblies may serve as mounting platforms for instruments, tools, and/or accessories.
1. A centerline clamp assembly for holding a pipe comprising:
a common linkage assembly positioned between a first linkage assembly and a second linkage assembly along a common axis, to define a centerline; and
a plurality of linkages each comprising a plurality of toggle joints each comprising a respective first arm pivotally connected to a respective second arm to define a respective joint, wherein each of the respective joint is positioned on each of the respective first arm substantially longitudinally inward, with respect to the centerline, of a respective gripping appendage and a respective contact surface member of each of the respective first arm proximate a respective first arm proximal end with respect to the centerline, and is positioned on each of the respective second arm proximate a respective second arm proximal end with respect to the centerline;
wherein the common linkage assembly is pivotally connected to the respective second arm of the plurality of second arms of each of the plurality of linkages at a respective common arm hinge substantially opposite a respective joint of the respective second arm;
wherein the first linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of a first subset of the plurality of linkages at a respective first linkage arm hinge substantially opposite a respective contact surface member of the respective first arm of each of the first subset of the plurality of linkages and is configured to actuate coaxially along the centerline to position the respective second arm of each of the first subset of the plurality of linkages at a first angle greater than 0 degrees and less then 90 degrees with respect to the centerline and to position the respective contact surface member of each of the first subset of the plurality of linkages oriented at a first inward holding angle toward the common linkage assembly with respect to a first plane perpendicular to the centerline; and
wherein the second linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of a second subset of the plurality of linkages at a respective second linkage arm hinge substantially opposite a respective contact surface member of the respective first arm of each of the second subset of the plurality of linkages and is configured to actuate coaxially along the centerline to position the respective second arm of each of the second subset of the plurality of linkages at a second angle greater than 0 degrees and at less than 90 degrees with respect to the centerline and to position the respective contact surface member of each of the second subset of the plurality of linkages oriented at a second inward holding angle toward the common linkage assembly with respect to a second plane perpendicular to the centerline, wherein the second inward holding angle substantially equally opposes the first inward holding angle with respect to the centerline exerting equal and opposite axial forces on interior walls of the pipe producing a self-holding effect during clamping; and
wherein the respective contact surface member of the respective first arm of each of the first subset of the plurality of linkages and the respective contact surface member of the respective first arm of each of the second subset of the plurality of linkages have an equal and opposite range of motion.
2. The centerline clamp assembly according to claim 1 , wherein the first linkage assembly is further configured to actuate along the centerline axis axially toward the common linkage assembly to radially increase the first angle with respect to the centerline.
3. The centerline clamp assembly according to claim 1 , wherein the first linkage assembly is further configured to actuate along the centerline away from the common linkage assembly to radially decrease the first angle with respect to the centerline.
4. The centerline clamp assembly according to claim 1 , wherein each of the common linkage assembly, the first linkage assembly, and the second linkage assembly further define respective bores aligned along the centerline.
5. The centerline clamp assembly according to claim 4 further comprising a shaft configured for threaded reception by the bore of the second linkage assembly.
6. The centerline clamp assembly according to claim 1 wherein the plurality of linkages further comprises at least one pair of the plurality of linkages positioned symmetrically opposed through respective ranges of motion with respect to the centerline.
7. The centerline clamp assembly according to claim 6 wherein the plurality of linkages are symmetrically opposed through respective ranges of motion along a single plane that includes the centerline.
8. The centerline clamp assembly according to claim 1 wherein at least one of the respective contact surface members of the plurality of toggle joints is substantially rounded.
9. A centerline clamp assembly for holding a pipe comprising:
a plurality of common linkage assemblies positioned between a first linkage assembly and a second linkage assembly along a common axis, to define a centerline; and
a plurality of linkages each comprising a plurality of toggle joint each comprising a respective first arm pivotally connected to a respective second arm to define a respective joint, wherein each of the respective joint is positioned on each of the respective first arm substantially longitudinally inward, with respect to the centerline, of a respective gripping appendage and a respective contact surface member of each of the respective first arm proximate a respective first arm proximal end with respect to the centerline, and is positioned on each of the respective second arm proximate a respective second arm proximal end with respect to the centerline;
wherein the plurality of common linkage assemblies is pivotally connected in series by a central subset of the plurality of linkages;
wherein the first linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of an inner subset of the plurality of linkages at a respective first linkage arm hinge substantially opposite a respective contact surface member of the respective first arm of each of the inner subset of the plurality of linkages and the first linkage assembly is configured to actuate coaxially along the centerline to position the respective first arm of each of the inner subset of the plurality of linkages at a first angle greater than 0 degrees and less than 90 degrees with respect to the centerline and to position the respective contact surface member of each of the inner subset of the plurality of linkages oriented at a first inward holding angle toward the plurality of common linkage assemblies with respect to a first plane perpendicular to the centerline; and
wherein the second linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of an outer subset of the plurality of linkages at a respective second linkage arm hinge substantially opposite the respective contact surface member of the respective first arm of each of the outer subset of the plurality of linkages and the second linkage assembly is configured to actuate coaxially along the centerline to position the respective first arm of each of the outer subset of the plurality of linkages at a second angle greater than 0 degrees and less than 90 degrees with respect to the centerline and to position the respective contact surface member of each of the outer subset of the plurality of linkages oriented at a second inward holding angle toward the plurality of common linkage assemblies with respect to a second plane perpendicular to the centerline, wherein the second inward holding angle substantially equally opposes the first inward holding angle with respect to the centerline exerting equal and opposite axial forces on interior walls of the pipe producing a self-holding effect during clamping; and
wherein the respective contact surface member of each of the inner subset of the plurality of linkages and the respective contact surface member of the respective first arm of each of the outer subset of the plurality of linkages have an equal and opposite range of motion.
10. The centerline clamp assembly according to claim 9 wherein the first linkage assembly is further configured to actuate along the centerline axis toward the plurality of common linkage assemblies to radially increase the first angle with respect to the centerline.
11. The centerline clamp assembly as claimed in claim 9 wherein the first linkage assembly is further configured to actuate along the centerline axially away from the plurality of common linkage assemblies to radially decrease the first angle with respect to the centerline.
12. The centerline clamp assembly according to claim 9 wherein each of the plurality of common linkage assemblies, the first linkage assembly, and the second linkage assembly further comprises a respective bore positioned along the centerline.
13. The centerline clamp assembly according to claim 12 further comprising a shaft configured for threaded reception by the bore of the second linkage assembly, and configured to actuate at least one of the first linkage assembly and the second linkage assembly.
14. The centerline clamp assembly according to claim 9 wherein the plurality of linkages further comprises at least one pair of the plurality of linkages positioned symmetrically opposed through respective ranges of motion with respect to the centerline.
15. The centerline clamp assembly according to claim 14 wherein a first subset of the plurality of linkages are symmetrically opposed through respective ranges of motion along a first single plane that includes the centerline, and wherein a second subset of the plurality of linkages are symmetrically opposed through respective ranges of motion along a second single plane perpendicular to the first single plane.
16. The centerline clamp assembly according to claim 9 wherein at least one of the respective contact surface members of the plurality of toggle joints is substantially rounded.
17. A method of operating a centerline clamp assembly for holding a pipe comprising:
a common linkage assembly positioned between a first linkage assembly and a second linkage assembly along a common axis, to define a centerline; and
a plurality of linkages each comprising a plurality of toggle joints each comprising a respective first arm pivotally connected to a respective second arm to define a respective joint, wherein each of the respective joint is positioned on each of the respective first arm substantially longitudinally inward, with respect to the centerline, of a respective gripping appendage and a respective contact surface member of each of the respective first arm proximate a respective first arm proximal end with respect to the centerline, and is positioned on each of the respective second arm proximate a respective second arm proximal end with respect to the centerline;
wherein the common linkage assembly is pivotally connected to a respective second arm of the plurality of second arms of each of the plurality of linkages at a respective common arm hinge substantially opposite a respective joint of the respective second arm;
wherein the first linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of a first subset of the plurality of linkages at a respective first linkage arm hinge substantially opposite a respective contact surface member of the respective first arm of each of the first subset of the plurality of linkages; and
wherein the second linkage assembly is pivotally connected to a respective first arm of the plurality of first arms of each of a second subset of the plurality of linkages at a respective second linkage arm hinge substantially opposite a respective contact surface member of the respective first arm of each of the second subset of the plurality of linkages;
the method comprising the steps of:
selectively actuating the first linkage assembly coaxially along the centerline to position the respective second arm of each of the first subset of the plurality of linkages at a first angle greater than 0 degrees and less than 90 degrees with respect to the centerline and to position the respective contact surface member of each of the first subset of the plurality of linkages oriented at a first inward holding angle toward the common linkage assembly with respect a first plane perpendicular to the centerline; and
selectively actuating the second linkage assembly coaxially along the centerline to position the respective second arm of each of the second subset of the plurality of linkages at a second angle greater than 0 degrees and less than 90 degrees with respect to the centerline and to position the respective contact surface member of each of the second subset of the plurality of linkages oriented at a second inward holding angle toward the common linkage assembly with respect to a second plane perpendicular to the centerline, wherein the second inward holding angle substantially equally opposes the first inward holding angle with respect to the centerline exerting equal and opposite axial forces on interior walls of the pipe producing a self-holding effect during clamping; and
wherein the respective contact surface member of the respective first arm of each of the first subset of the plurality of linkages and the respective contact surface member of the respective first arm of each of the second subset of the plurality of linkages have an equal and opposite range of motion.
18. The method according to claim 17 further comprising actuating the first linkage assembly along the centerline toward the common linkage assembly to radially increase the first angle with respect to the centerline.
19. The method according to claim 17 further comprising actuating the first linkage assembly coaxially along the centerline away from the common linkage assembly to radially decrease the first angle with respect to the centerline.
20. The method according to claim 17 wherein the centerline clamp assembly further comprises:
a respective bore defined in each of the common linkage assembly, the first linkage assembly, and the second linkage assembly and aligned along the centerline; and
a shaft configured for threaded reception by the bore of the second linkage assembly;
the method further comprising the step of actuating the shaft inserted into the respective bores of each of the first and second linkage assemblies along the centerline to linearly actuate of the first linkage assembly and the second linkage assembly along the centerline.