US 12,252,198 B2
Modular pipe traversing apparatus
Karl Petter Wehlin, Houston, TX (US); Bryan R. Duerfeldt, Houston, TX (US); Conner S. George, Houston, TX (US); Jakob R. Salazar, Houston, TX (US); Curtis Woods Belknap, Jr., Houston, TX (US); and Gail Paulin Murray, Tomball, TX (US)
Assigned to ARIX TECHNOLOGIES, INC., Houston, TX (US)
Filed by ARIX TECHNOLOGIES, INC., Jackson, LA (US)
Filed on May 17, 2023, as Appl. No. 18/198,422.
Claims priority of provisional application 63/425,348, filed on Nov. 15, 2022.
Claims priority of provisional application 63/342,840, filed on May 17, 2022.
Prior Publication US 2023/0373578 A1, Nov. 23, 2023
Int. Cl. B62D 61/10 (2006.01); B25J 5/00 (2006.01); F16L 55/00 (2006.01)
CPC B62D 61/10 (2013.01) [B25J 5/007 (2013.01); F16L 55/00 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic apparatus, comprising:
a first wheel and a second wheel coupled by a frame and configured to be positioned on an outer surface of a pipe, each wheel including a plurality of rollers disposed about a circumference of the wheel;
a third wheel and a fourth wheel configured to be positioned on the outer surface of the pipe at locations circumferentially offset from the first wheel and the second wheel, each wheel including a plurality of rollers disposed about a circumference of the wheel;
a clamping assembly coupled to the frame, the clamping assembly coupling the third wheel and the fourth wheel and configured to apply a force for urging the first, second, third, and fourth wheels towards an outer surface of the pipe for securing the robotic apparatus to the pipe; and
wherein an axis of rotation of the first and second wheels are configured to be perpendicular to a longitudinal axis of the pipe when the robotic apparatus is secured to the pipe, and
wherein an axis of rotation of the third and fourth wheels are configured to be parallel to a longitudinal axis of the pipe when the robotic apparatus is secured to the pipe.