In-pipe passive centering mechanism with radial probe or tool deployment mechanism

1. An in-pipe apparatus for pipe inspection or maintenance, the apparatus comprising:

a rotational deployment mechanism configured to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation;

a radial deployment mechanism configured to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe, the radial deployment mechanism comprising:

a first slider holding the probe or tool;

a first linear guide configured to linearly guide the first slider in the radial direction;

a linear actuator configured to linearly actuate the first slider along the first linear guide in order to radially deploy the probe or tool in the radial direction;

a first spring held by the first slider;

a second slider holding the first spring; and

a second linear guide configured to linearly guide the second slider in the radial direction,

wherein the linear actuator is further configured to linearly actuate the second slider along the second linear guide in order to radially deploy the probe or tool in the radial direction until the probe or tool touches the target point and the first spring exerts a desired amount of force on the probe or tool in the radial direction against the target point; and

a passive centering mechanism configured to passively align the axis of rotation with an axis of the pipe.

2. The apparatus of claim 1 , further comprising a longitudinal deployment mechanism configured to longitudinally deploy the probe or tool in a longitudinal direction along the axis of the pipe.

3. The apparatus of claim 2 , wherein

a diameter of the pipe varies in the longitudinal direction, and

the passive centering mechanism passively maintains alignment of the axis of rotation with the axis of the pipe across the varying pipe diameter during the longitudinal deployment of the probe or tool.

4. The apparatus of claim 1 , wherein the rotational deployment mechanism comprises a motor configured to rotate the radial deployment mechanism about the axis of rotation.

5. The apparatus of claim 4 , wherein

the target point comprises a plurality of target points on the inner circumference of the pipe at a corresponding plurality of radial directions from the axis of rotation, and

the rotational deployment mechanism is further configured to rotationally deploy the probe or tool to each of the radial directions while the passive centering mechanism passively maintains alignment of the axis of rotation with the axis of the pipe and the radial deployment mechanism radially deploys the probe or tool toward a corresponding one of the target points.

6. The apparatus of claim 1 , wherein

the linear actuator directly linearly actuates the second slider along the second linear guide, and

the linear actuator indirectly linearly actuates the first slider along the first linear guide through compression or tension in the first spring.

7. The apparatus of claim 1 , wherein

the passive centering mechanism comprises legs and a second spring,

the legs are configured to make at least three points of contact with an inside wall of the pipe, and

the second spring is configured to exert outward force on the legs and against the inside wall of the pipe sufficient to passively align the axis of rotation with the axis of the pipe.

8. The apparatus of claim 7 , wherein

the legs comprise wheels configured to longitudinally deploy the probe or tool in a longitudinal direction along the axis of the pipe,

a diameter of the pipe varies in the longitudinal direction, and

the outward force exerted by the second spring is further sufficient to passively maintain alignment of the axis of rotation with the axis of the pipe across the varying pipe diameter during the longitudinal deployment of the probe or tool.

9. A method of in-pipe inspection or maintenance of a pipe, the method comprising:

automatically rotationally deploying a probe or tool about an inner circumference of the pipe with respect to an axis of rotation;

radially deploying, using a radial deployment mechanism, the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe, wherein radially deploying the probe or tool comprises:

holding the probe or tool with a first slider;

linearly actuating the first slider in the radial direction along a first linear guide;

holding a first spring with the first slider and with a second slider; and

linearly actuating the second slider in the radial direction along a second linear guide until the probe or tool touches the target point and the first spring exerts a desired amount of force on the probe or tool in the radial direction against the target point; and

passively aligning the axis of rotation with the axis of the pipe.

10. The method of claim 9 , further comprising automatically longitudinally deploying the probe or tool in a longitudinal direction along the axis of the pipe.

11. The method of claim 10 , wherein

a diameter of the pipe varies in the longitudinal direction, and

passively aligning the axis of rotation comprises passively maintaining alignment of the axis of rotation with the axis of the pipe across the varying pipe diameter during the longitudinal deployment of the probe or tool.

12. The method of claim 9 , wherein rotationally deploying the probe or tool comprises rotating the radial deployment mechanism about the axis of rotation using a motor.

13. The method of claim 12 , wherein

the target point comprises a plurality of target points on the inner circumference of the pipe at a corresponding plurality of radial directions from the axis of rotation, and

rotationally deploying the probe or tool further comprises rotationally deploying the probe or tool to each of the radial directions while passively maintaining alignment of the axis of rotation with the axis of the pipe and the radial deployment mechanism radially deploys the probe or tool toward a corresponding one of the target points.

14. The method of claim 9 , wherein actuating the first and second sliders comprises:

directly linearly actuating the second slider along the second linear guide, and

indirectly linearly actuating the first slider along the first linear guide through compression or tension in the first spring.

15. The method of claim 9 , wherein passively aligning the axis of rotation comprises:

making at least three points of contact with legs against an inside wall of the pipe, and

exerting outward force with a second spring on the legs and against the inside wall of the pipe sufficient to passively align the axis of rotation with the axis of the pipe.

16. The method of claim 15 , further comprising automatically longitudinally deploying the probe or tool in a longitudinal direction along the axis of the pipe using wheels that are part of the legs, wherein

a diameter of the pipe varies in the longitudinal direction, and

exerting the outward force with the second spring is further sufficient to passively maintain alignment of the axis of rotation with the axis of the pipe across the varying pipe diameter during the longitudinal deployment of the probe or tool.