Background of the invention

[0001] The invention relates to a robotic device for inspecting a pipe for conveying a fluid. In particular, the invention relates to a robotic device for inspecting forced pipes in hydroelectric plants, waterworks, oil pipelines and gas pipelines.

Prior art

[0002] Robotic devices are known for inspecting a pipe for conveying a fluid. A robotic device of known type comprises a structure provided with advancement means and sensor means for collecting data necessary for evaluating the state of integrity of the pipe.

[0003] The robotic device is inserted into a pipe that conveys a fluid, for example water, petroleum, gas, to conduct an inspection by gathering data by the sensor means. The sensor means enables non-destructive tests to be run to detect defects of the pipe, whilst the robotic device advances inside the pipe owing to the advancement means.

[0004] A robotic device for inspecting a pipe is known from EP3056787A1.

[0005] One limit of the robotic device of the prior art is poor operating flexibility. In other words, this robotic device is unable to adapt to various dimensions and geometric shapes of the pipes, thus hardly being versatile, or at least being unable to ensure a rapid and easy data detection session. It is thus often necessary to have available robotic devices of different sizes to inspect pipes that are structurally and geometrically different. In fact, a robotic device designed to operate inside a pipe having a given cross section can hardly work in a pipe that has cross sections with different dimensions. As the pipes do not have standard dimensions and the dimension of the cross section thereof can vary according to the type of plant and according to other design constraints, it is clear that pipes of different plants can hardly have similar dimensions. Further, still for design needs, even pipes of the same plant can have a width that varies over the longitudinal extent of the pipes. The need accordingly arises to procure different robotic devices designed with suitable dimensions for inspecting different pipes or portions of a pipe that has a variable width; this all has negative implications from the financial point of view.

[0006] A further limit of known robotic devices arises from the difficulty experienced in transporting the robotic devices; such devices in fact may have considerable dimensions, especially if they are designed for inspecting pipes with large dimensions. Further, as the access passages to the pipe are often much less wide than the pipe to be inspected, it is clear how it can be difficult, if not impossible, to place these robotic devices inside the pipe.

[0007] In the light of what has been said above, it is clear how known robotic devices have limits that make the use thereof difficult, because they are hardly versatile; there is thus great room for improvement of these robotic devices.

Ob jects of the invention

[0008] One object of the present invention is to improve current robotic devices for inspecting pipes.

[0009] Another object of the present invention is to provide a robotic device for inspecting a pipe for conveying a fluid that is more reliable and constructionally simpler than prior art devices.

[0010] A further object of the present invention is to provide a robotic device provided with greater versatility, which can be used to inspect pipes having different cross sections.

[0011] A still further object is to provide a robotic device that is able to take up less space during transport, that is easily transportable and which can be easily inserted into a pipe, even in the presence of access passages to the pipe having a much smaller cross section than the cross section of the pipe to be inspected.

Short description of the invention

[0012] These objects and still others are achieved by a robotic device for inspecting a pipe for conveying a fluid as specified in one or more appended claims.

[0013] According to the present invention, a robotic device is provided for inspecting a pipe for conveying a fluid, for example water, petroleum or gas, which comprises advancement means arranged for enabling the devices to advance in the pipe along a direction of extent of the latter, sensor means for detecting one or more parameters indicating physical and structural features of the pipe, a support structure that is modularly configurable by one or more structural modules that are reciprocally couplable to be able to vary the support structure geometry and dimensions so as to be able to adapt the dimensions and geometry of the robotic device to those of a section of the pipe.

Short description of the drawings

[0014] The invention can be better understood and implemented with reference to the attached drawings that illustrate some embodiments thereof by way of non-limiting invention, in which:

Figure 1 is a perspective view of a robotic device according to the present invention that further shows a portion of a pipe for conveying a fluid, illustrated schematically, inside which the robotic device operates.

Figure 2 shows a structural module according to the present invention included in the robotic device of Figure 1.

Figure 3 is a perspective view that shows arm means included in the robotic device of Figure 1.

Figure 4 is a perspective view that shows advancement means included in the robotic device of Figure 1.

Figure 5 is a plan view of the advancement means shown in Figure 4.

Figure 6 is a perspective view of a robotic device according to the present invention in a possible configuration that comprises four resting and advancement units.

Detailed description of the invention

[0015] With reference to the attached figures, a robotic device 1 is disclosed for inspecting a pipe 15 for conveying a fluid.

[0016] Pipe 15 can be, for example, a pipe for conveying liquid or gaseous substances. In particular, pipe 15 can be a forced pipe in a hydroelectric plant, a pipe of a waterworks, a pipe of an oil pipeline, a pipe of a gas pipeline or a pipe for any type of plant for conveying a fluid. Pipe 15 extends along a direction of extent C. Pipe 15 is provided with an inner surface. Pipe 15 can have a cross section of circular or rectangular or oval or any other geometrical shape.

[0017] The robotic device 1 extends along an axis of longitudinal extent A.

[0018] The robotic device 1 can further extend along an axis of transverse extent B . The axis of longitudinal extent A is transverse to the axis of transverse extent B.

[0019] In use, the robotic device 1 is arranged inside pipe 15 and the axis of longitudinal extent A is substantially parallel to the direction of extent C of the pipe 15.

[0020] The robotic device 1 comprises a support structure 3.

[0021] The robotic device 1 comprises advancement means 2.

[0022] The robotic device 1 comprises sensor means 5.

[0023] The sensor means 5 and the advancement means 2 are coupled with the support structure 3.

[0024] The advancement means 2 is arranged for enabling the robotic device 1 to advance in the pipe 15. The advancement means 2 is arranged for enabling the robotic device 1 to advance in the pipe 15 along the direction of extent C of the pipe 15. Whilst the robotic device 1 advances in the pipe 15, the axis of longitudinal extent A is substantially parallel to the direction of extent C of the pipe.

[0025] In one embodiment that is not illustrated, the advancement means 2 can be further arranged to enable the robotic device 1 to rotate around the axis of longitudinal extent A.

[0026] The sensor means is suitable for detecting one or more parameters indicating physical and structural features of the pipe 15. The sensor means 5 can be housed, for example, on the advancement means 2. In particular, the advancement means 2 can provide a housing suitable for receiving the sensor means 5.

[0027] In one embodiment that is not illustrated, the sensor means 5 is housed in the support structure 3 or at an end thereof.

[0028] The sensor means 5 is configured to detect a state of integrity and/or possible damage conditions of the pipe 15. This sensor means 5 can be chosen from a group comprising: camera means, ultrasound sensor means, pressure sensor means, position sensor means, x-ray sensor means, sensor means for detecting thickness. Further, the sensor means 5 can comprise any other type of sensor that is suitable for collecting data for assessing the conditions of the pipe, for example a state of possible damage. In particular, the sensor means 5 can comprise at least one camera to detect visually an inner surface of the pipe 15 and/or ultrasound sensors that detect information on the thickness and the integrity of a wall of the pipe 15.

[0029] In other words, depending on the scope and needs, it is possible to choose the most suitable sensor for the specific object and in function of the available prior art.

[0030] In one embodiment that is not illustrated, the advancement means 2 can be arranged for enabling the robotic device 1 to rotate around the axis of longitudinal extent A so as to enable the sensor means 5 to record information on the entire inner surface of the pipe 15. The rotation of the robotic device 1 around the axis of longitudinal extent A then enables the robotic device 1 to inspect along circumferential paths the inner surface of the pipe 15. This circumferential detection makes it possible to inspect a greater surface of the pipe 15, this circumferential detection can for example enable the entire inner surface of the pipe 15 to be inspected.

[0031] The support structure 3 is configurable in a modular manner. More in detail, the support structure 3 is configurable by one or more structural modules 4. The structural modules 4 are reciprocally couplable so as to be able to vary the support structure 3 geometry and dimensions. Thus the support structure 3 can be made using just one structural module of such structural modules 4, to which the sensor means 5 and/or the advancement means 2 are fitted. The support structure 3 can also be made by coupling together several structural modules 4 so as to obtain a support structure 3 with different geometry and dimensions from that obtained by using just one structural module.

[0032] For example, one or two or more structural modules 4 can be coupled so as to obtain a support structure 3, and consequently a robotic device 1, with desired geometry and dimensions to be able to operate inside any pipe 15. A support structure 3 is thus obtained with the most appropriate shape and dimensions for the inspection to be conducted in the pipe 15.

[0033] The structural modules 4 can be coupled so as to vary the dimensions of the support structure 3 and of the robotic device 1 according to the direction of longitudinal extent A.

[0034] The structural modules 4 can be coupled so as to vary the dimensions of the support structure 3 according to the direction of transverse extent B. For example, the structural modules 4 can coupled by overlapping two or more structural modules 4.

[0035] In addition, the structural modules 4 can be coupled so as to vary the dimension of the support structure 3 according to a further direction of extent D of the robotic device 1. The further direction of extent D is substantially perpendicular to the direction of longitudinal extent A and to the direction of transverse extent B of the robotic device 1.

[0036] In substance the structural modules 4 can be coupled so as to vary the width, height and length of the robotic device 1.

[0037] Each of the structural modules 4 comprises a plurality of beams 4’ that are connected together. Each beam 4’ of the plurality of beams 4’ can have a variable dimension. This means that each beam 4’ can have a different length and/or width from those of other beams 4’. This enables structural modules 4 with geometries and dimensions that are variable according to need to be obtained.

[0038] According to the illustrated embodiment, each of the structural modules 4 comprises twelve beams 4’ coupled with one another. The beams 4’ can be coupled by removable coupling. The type of coupling can be for example a threaded coupling, a coupling by interference, a mechanical shape coupling and still other types of coupling.

[0039] Alternatively, the beams 4’ can be coupled by fixed coupling, for example by welding.

[0040] Again according to the embodiment illustrated in the attached figures, the structural modules 4 have a parallelepipedon shape.

[0041] In one embodiment that is not illustrated, each of the structural modules 4 can have another suitable shape for coupling with other structural modules 4 and for making the support structure 3.

[0042] The robotic device 1 can further comprise quick fixing means 16 for mechanically coupling one of the structural modules 4 with further structural modules 4. The quick fixing means 16 can be fixing pins, bayonet fixing means, snap-closing fixing means, clamp means, sliding clamps for grooved profiles, lever quick-fixing means and yet others.

[0043] Further, in order to couple one of the structural modules 4 with further structural modules 4, a threaded coupling, a mechanical shape coupling, a coupling by interference and yet others can be provided.

[0044] The robotic device 1 can further comprise arm means 6 arranged for supporting the advancement means 2. The arm means 6 is movable for varying the position of the advancement means 2 with respect to the support structure 3.

[0045] The arm means 6 can be configured to move the advancement means 2 along a direction that is transverse, in particular substantially perpendicular, to the axis of longitudinal extent A. Moving the advancement means 2 along a direction that is transverse to the axis of longitudinal extent A enables the robotic device 1 to advance in the pipe 15 even in the presence of variations in the section of the pipe 15 and enables obstacles to be overcome that may be found in the pipe 15.

[0046] Further, the arm means 6 can be configured to move the advancement means 2, with respect to the support structure 3 of the robotic device, along a direction substantially parallel to the axis of longitudinal extent A. Moving the advancement means 2 along a direction substantially parallel to the axis of longitudinal extent A enables the robotic device 1 to be balanced, for example by centring the centre of mass with the centre of gravity of the robotic device 1. Consequently, the movement of the advancement means 2 with respect to the support structure 3 along a direction substantially parallel to the axis of longitudinal extent A prevents the rotation and possible locking of the robotic device 1 inside the pipe 15. In particular, the movement of the advancement means 2 with respect to the support structure 3 along a direction substantially parallel to the axis of longitudinal extent A prevents pitching, i.e. rotation around the further direction of extent D of the robotic device 1. Further, the movement of the advancement means 2 with respect to the support structure 3 can enable the curves present in the pipe 15 to be overcome.

[0047] The arm means 6 can be for example pantograph means, articulated quadrilateral means, telescopic means or still others. [0048] The arm means 6 can be connected to the support structure 3 by removable coupling, for example by quick coupling fixing, fixing pins, bayonet fixing means, snap closing fixing means, clamp means, sliding clamps for grooved profiles, quick lever fixing means, threaded coupling, coupling by interference, mechanical coupling and yet other types.

[0049] The arm means 6 can comprise first rod elements 7 and second rod elements 8.

[0050] The first rod elements 7 and the second rod elements 8 include respective distal ends 7’, 8’. The first 7 and the second rod elements 8 include respective proximal ends 7”, 8”. In particular, the first rod elements 7 include distal ends 7’ and proximal ends 7”, the second rod elements 8 include distal ends 8’ and proximal ends 8”.

[0051] The distal ends 7’, 8’ are connected to the advancement means 2. In particular, as shown in figure 3, the distal ends 7’, 8’ are connected to a support element 6’ to which the advancement means 2 is connected. More in particular, the advancement means 2 is coupled removably with the support element 6’, for example by mechanical coupling, such as a threaded coupling or a coupling of another desired type.

[0052] In one embodiment that is not illustrated, the advancement means 2 can be connected to the support element 6’ by fixed coupling, for example by welding.

[0053] In a further embodiment that is not illustrated, the advancement means 2 and support element 6’ are configured as a single piece.

[0054] The proximal ends 7”, 8” are arranged nearer the support structure 3. Further, the proximal ends 7”, 8” are connected to a first drive member 9 and to a second drive member 10 respectively. In other words, the first rod elements 7 are connected to a first drive member 9, the second rod elements 8 are connected to a second drive member 10.

[0055] The first drive member 9 and the second drive member 10 can be drive members of screw-nut screw type, rack and pinion type, hydraulic, or pneumatic or electrical actuating means or yet others.

[0056] The first drive member 9 and the second drive member 10 are configured to vary the position of the respective proximal ends 7”, 8” relatively to the support structure 3. More in detail, the first 9 and the second drive member 10 are configured to move the respective proximal ends 7”, 8” according to a direction substantially parallel to the axis of longitudinal extent A relatively to the support structure 3. The first 9 and the second drive member 10 are configured to move independently respectively of the proximal ends 7”, 8”. Further, the first 9 and the second drive member 10 can be configured to be controlled in a synchronized manner. The first 9 and second drive member 10 are thus configured to drive the first 7 and the second rod elements 8 so as to move the advancement means 2 with respect to the support structure 3 according to a direction that is transverse to the longitudinal axis A and/or according to a direction that is substantially parallel to the longitudinal axis A.

[0057] In other words, the first drive member 9 and the second drive member 10 are configured to be controlled in an independent and/or synchronized manner to ensure the advancement means 2 movement according to two degrees of freedom. In fact, by suitably controlling the first 9 and the second drive member 10, the advancement means 2 can be moved away from or towards the support structure 3 according to a direction that is transverse, in particular perpendicular, to the axis of longitudinal extent A. Further, again by suitably positioning the first 9 and the second drive member 10, it is possible to move the advancement means relatively to the support structure 3 according to a direction substantially parallel to the axis of longitudinal extent A.

[0058] As shown in the figures, according to an embodiment of the present invention, the arm means 6 is so configured that by moving the proximal ends 7”, 8” approximately away from one another, there is a movement of the advancement means 2 along a transverse direction, in particular perpendicular to the axis of longitudinal extent A approaching the support structure 3. On the other hand, by bringing the proximal ends 7”, 8” near, the advancement means 2 moves away from the support structure 3 along a transverse direction, in particular perpendicular to the axis of longitudinal extent A. Further, the arm means 6 is so configured that by moving the proximal ends 7”, 8” with respect to the support structure 3, maintaining the distance between the proximal ends 7”, 8” unvaried, there is a movement along a direction that is substantially parallel of the advancement means 2.

[0059] In the embodiment shown in the figures, the first drive member 9 comprises a first screw nut block 9’ on which are hinged the proximal ends 7” of the first rod elements 7. The first screw nut block 9’ is coupled with a first driven screw element 9”. The first driven screw element 9” can be driven for example by an electric motor.

[0060] By driving the first driven screw element 9”, the first screw nut block 9” slides along a direction substantially parallel to the axis of longitudinal extent A. More precisely, the first screw nut block 9” slides along the axis of the first driven screw element 9’.

[0061] Further, as shown in the figures, the second drive member 10 comprises a second nut screw block 10’ on which the proximal ends 8” of the second rod elements 8 are hinged. The second nut screw block 10’ is coupled with a first driven screw element 10”. The second driven screw element 10” can be driven for example by an electric motor.

[0062] By driving the second driven screw element 10”, the second nut screw block 10” runs along a direction substantially parallel to the axis of longitudinal extent A. More precisely, the second nut screw block 10” runs along the axis of the second driven screw element 10’.

[0063] The arm means 6 and the advancement means 2 define a resting and advancement unit 11 suitable for coming to rest on and advance along, an inner surface of the pipe 15.

[0064] As can be understood from what has been said so far and from the attached drawings, the resting and advancement unit 11 is connected to the support structure 3.

[0065] The robotic device 1 can comprise at least one resting and advancement unit 11. The resting and advancement unit 11 can be arranged on one side of the support structure 3. The resting and advancement unit 11 can be arranged on one side of the support structure 3 lying on a side substantially parallel to the axis of longitudinal extent A.

[0066] The robotic device 1 can also comprise a plurality of resting and advancement units 11. Each resting and advancement unit 11 can be arranged on sides of the support structure 3 lying on respective planes that extend substantially parallel to the axis of longitudinal extent A and are distributed around the latter.

[0067] In one embodiment that is not illustrated, at least one resting and advancement unit 11 can be arranged on one side of the support structure 3 lying on a transverse plane, for example perpendicular to the axis of longitudinal extent A.

[0068] As shown in figure 1, the robotic device 1 can comprise a pair of resting and advancement units 11 arranged on opposite sides of the support structure 3. The pair of resting and advancement units 11 is arranged on opposite sides of the support structure 3. Each resting and advancement unit 11 of the pair of resting and advancement units 11 is arranged on sides lying on respective planes that are substantially parallel to the axis of longitudinal extent A.

[0069] Further, each resting and advancement unit of the pair of resting and advancement units 11 can be arranged on opposite sides of the support structure 3 lying on respective planes that are transverse, in particular perpendicular, to the axis of transverse extent B.

[0070] As illustrated in figure 6, the robotic device 1 can comprise a further pair of resting and advancement units 11 arranged on further opposite sides of the support structure 3 and spaced 90° from the aforesaid pair of resting and advancement units 11. In particular, each resting and advancement unit 11 of the further pair of resting and advancement units 11 is arranged on opposite sides of the support structure 3 lying on respective planes parallel to the axis of longitudinal extent A and to the axis of transverse extent B .

[0071] In one embodiment that is not illustrated, the robotic device 1 can comprise three resting and advancement units 11. The three resting and advancement units 11 can be arranged on sides of the support structure 3 lying on planes parallel to the axis of longitudinal extent A. In particular, the robotic device 1 can comprise the pair of resting and advancement units 11 arranged on opposite sides of the support structure 3, and a further resting and advancement units 11 arranged on a further side of said support structure 3. The further resting and advancement units 11 spaced apart by 90° with respect to each resting and advancement unit 11 of said pair of resting and advancement units 11. More in particular, the robotic device 1 can comprise two resting and advancement units 11 each of which arranged on opposite sides of the support structure 3, lying on respective planes that are substantially parallel to the axis of longitudinal extent A and to the axis of transverse extent B and a further resting and advancement units 11 arranged on one side of the support structure 3 lying on a transverse plane, in particular perpendicular to the axis of transverse extent B. In other words, the embodiment that has just been disclosed is based on the embodiment shown in Figure 6, nevertheless differing from the latter through the absence of the upper resting and advancement unit 11.

[0072] According to the present invention, the advancement means 2 can comprise a carriage element 18 connected to the arm means 6. In particular, the carriage element 18 is connected to the support element 6’. More in particular, the carriage element 18 is coupled with the support element 6’ for example by mechanical coupling, threaded coupling or a coupling of another type.

[0073] The advancement means 2 can comprise rolling means 12 suitable for rolling on an inner surface of the pipe 15. The rolling means 12 can be fixed to the carriage element 18.

[0074] In particular, the rolling means 12 is configured to roll on the inner surface of the pipe 15 when the advancement means and/or the robotic device 1 move along a direction substantially parallel to the axis of longitudinal extent A and along the direction of extent C of the pipe 15.

[0075] The rolling means 12 can comprise wheel means 13. The wheel means 13 can have rotation axes substantially perpendicular to the direction of the axis of longitudinal extent A. This arrangement of the wheel means 13 enables the advancement means 2 to be moved according to a direction substantially parallel to the axis of longitudinal extent A. This enables the movement of the advancement means 2 and of the robotic device 1 along the direction of extent C of the pipe 15.

[0076] According to one embodiment that is not illustrated, the rolling means 12 can comprise for example track means or other means for enabling the robotic device 1 to advance.

[0077] As illustrated in the attached figures, the wheel means 13 can comprise four wheels 13’. Each of the four wheels 13’, in one illustrated embodiment, is fitted near a respective vertex of the carriage element 18 connected to the arm means 6.

[0078] According to embodiments that are not illustrated, the wheel means 13 can comprise one, two, three, five or more wheels 13’.

[0079] According to the present invention, the advancement means can further comprise driven advancement means 14. The driven advancement means 14 is configured to drive the advancement means 2, in particular for driving the rolling means 12, and enabling the robotic device 1 to move.

[0080] As illustrated in figure 5, the driven advancement means 14 can comprise a motor 14’ and a drive chain 14”. The motor 14’ and the drive chain 14” rotate the wheels 13’. Owing to the rotation of the wheels 13’ by the driven advancement means 14, the robotic device 1 can move along the direction substantially parallel to the axis of longitudinal extent A, that, as already said previously, during an operating step is substantially parallel to the direction of extent C of the pipe 15.

[0081] According to the present invention, the support structure 3 can further comprise a control unit CU and supply means AL.

[0082] The control unit CU and the supply means AL are configured to drive the arm means 6 to vary the position of the advancement means 2 with respect to the support structure 3. In particular, the control unit CU and the supply means AL are configured to drive the first drive member 9, and the second drive member 10.

[0083] The control unit CU and the supply means AL can be configured to drive the advancement means 2 to enable the robotic device 1 to move. In particular, the control unit CU and the supply means AL are configured to drive the driven advancement means 14. More in particular, the control unit CU and the supply means AL are configured to drive the motor 14’.

[0084] Further, the control unit CU and the supply means AL can be configured to drive the sensor means 5. In particular, the control unit CU and the supply means AL are configured to drive one or more sensor means 5 provided in the robotic device 1. Further, the control unit CU can be configured to process the data collected by the sensor means 5.

[0085] Accordingly, as already specified previously, the control unit CU and the supply means AL can be configured to drive the first drive member 9, the second drive member 10 and/or the driven advancement means 14 and/or the sensor means 5.

[0086] The supply means AL, according to the present invention, can comprise a cable for the electric connection and drawing electric power from the exterior.

[0087] The supply means AL can comprise a battery unit B placed on the robotic device 1. [0088] The control unit CU can be a programmable control unit. In particular, the control unit CU can be programmed for a completely automatic inspection session run by the robotic device 1. The robotic device 1, and more precisely the control unit CU, can thus be programmed before inspection of the pipe 15 so that the robotic device 1 automatically performs the inspection by suitably driving the arm means 6 and/or the driven advancement means 14 and/or the sensor means 5.

[0089] The robotic device 1, according to the present invention, can comprise a transceiving unit RT for transmitting to and/or receiving from an operator or a remotecontrol terminal. The transceiving unit RT can be configured to enable the operator or the remote-control terminal to command the robotic device 1 in real time and/or transmit in real time to the operator or to the remote-control terminal the data obtained owing to the sensor means 5.

[0090] The transceiving unit RT can be configured to communicate with the operator or with the remote-control terminal in telemetry mode. Telemetry mode means remote wireless transmission of data.

[0091] In particular, the transceiving unit RT can be configured to enable the operator or the remote-control terminal to command the robotic device 1 in telemetry mode. Further, the transceiving unit RT can be configured to transmit to the operator or to the remote-control terminal the data obtained during the inspection in telemetry mode.

[0092] The transceiving unit RT can be configured to communicate with the operator or with the remote-control terminal by a cabled connection. For example, a data transmission cable can be provided. The cabled connection can be configured to enable the operator or the remote-control terminal to command the robotic device 1. Further, the cabled connection can be configured to transmit to the operator or to the remote-control terminal the data obtained during the inspection. [0093] According to the present invention, a memory unit can be provided for saving the data collected by the sensor means 5 during the inspection of the pipe 15. The collected data are downloadable at the end of an inspection session by the robotic device 1. The data downloaded at the end of an inspection can be then analyzed and processed to obtain information on the state of integrity of the pipe.

[0094] The memory unit can be for example a hard disc, a solid-state memory unit or still others.

[0095] Below, in this description, the control unit CU, the supply means AL, the transceiving unit RT, the memory unit and other components for the control and operation of the robotic device 1 will be indicated generally as electronic componentry. The electronic componentry comprises components that can be damaged by the fluid that flows in the pipe. For this reason, a hermetic container is provided inside which the electronic componentry of the robotic device 1 is arranged. The hermetic container is configured to protect the electronic componentry by keeping the electronic componentry separate from fluids that could damage the electronic componentry. In other words, the hermetic container maintains the electronic componentry in a protected and confined environment that is not penetrable by the fluid of the pipe 15.

[0096] In particular, the hermetic container may be necessary in the case of the inspection of pipes 15 that convey liquids, for example water or petroleum. In fact, as the inspection can be performed during normal or reduced operation of the pipe 15, i.e. even when the fluid is present in the pipe 15, the latter could damage the electronic componentry if it came into contact with the electronic componentry.

[0097] The hermetic container can be made of a material that is impermeable to the fluid that runs in the pipe 15.

[0098] Further, the hermetic container can be made of a material that is resistant to corrosion. In fact, as the fluids present in the pipe can be corrosive for some materials, it is essential for the container to remain undamaged in order to protect the electronic componentry.

[0099] In addition, the material of the hermetic container has to be suitable for withstanding the stress exerted by the fluid on the material of the hermetic container. In fact, the fluid inside the pipe 15 can exert pressure on the robotic device 1 and in particular on the hermetic container that must not be deformed and damaged in order to maintain the electronic componentry integral. [0100] In general, the robotic device 1 can be made of a material that is resistant to corrosion that can be caused by the fluids that flow inside the pipe 15. Further, the material must have suitable mechanical properties.

[0101] For example, the support structure 3 can be made of metal material, for example aluminium alloy, steel alloy, or another alloy, of polymer material or another material with suitable features.

[0102] The individual components described so far can be made of different materials. For example, the structural modules 4 can be made of aluminium alloy whereas the first 7 and the second rod elements 8 can be made of another metal alloy.

[0103] In practice, the materials, inasfar as they are compatible with the specific use and with the respective single components for which they are intended, can be chosen appropriately according to the specific needs and according to the available prior art.

[0104] According to the present invention, in one embodiment that is not illustrated, a safety cable can be further provided, for example a steel cable, connected to the robotic device 1 that enables the robotic device 1 to be extracted from the pipe 15 in the event of damage to the robotic device 1.

[0105] According to one embodiment that is not illustrated, the robotic device 1 can be moved or facilitated in advancing inside the pipe 15 owing to the fluid dynamic action of the fluid flowing in the pipe 15.

[0106] The robotic device 1 can further comprise instrumentation for performing maintenance tasks.

[0107] From what has been disclosed, the robotic device 1 according to the present invention overcomes the limits of the prior art devices and successfully achieves all the set objects.

[0108] In fact, owing to the presence of the support structure 3 that is configurable in a modular manner, the robotic device 1 is versatile and can be adapted to pipes that have sections with different geometry and dimensions. It is accordingly clear how by varying the number and dimension of the structural modules 4 coupled to form the support structure 3, it is possible to adapt appropriately the dimension of the robotic device 1 to the dimension of the section of the pipe 15.

[0109] Further, the robotic device 1 of the present invention is constructionally simple owing to the limited number of components and the modular support structure 3.

[0110] In addition, the robotic device 1 is easily transportable, because during transport the support structure 3 and/or the structural modules 4 can be easily disassembled so as to take up less space. Once the pipe to be inspected has been reached, the robotic device 1 can be easily reassembled in situ. This enables the device 1 to also be taken through passages that lead to the pipe to be inspected that have a much smaller section than the pipe, thus facilitating operations prior to the pipe inspection.

[0111] What has been said and shown in the attached drawings has been provided by way of illustration of the innovative features of the robotic device 1 for inspecting a pipe for conveying a fluid.

[0112] Other modifications may be made to the various versions of the apparatus or to parts thereof without falling outside the scope of protection.