Papers by Keyword: In-Pipe Robot

Abstract: Congested sewage system causes many health related problem, since every work activity bring sewage workers into contact with perilous and toxic substances while removing the clogs occurring in the system. The major illness includes not just associated the relatively mild case of gastroenteritis, but also the potentially fatal diseases such as leptospirosis and hepatitis. The aim of the project is to implement a robot to remove the choke in the sewage system at low cost and to completely eliminate the human engagement for this task. A robot of that nature could also be used in critical places where human workers cannot be employed to remove the clog because of physical limitations. An improved design incorporating the improvisations learnt from earlier versions of the developed robots is to be attempted in this project work. The performance of this robot is analyzed through multi body dynamics after incorporating the robot into the work environment. After finalizing the design through the analysis, the robot would be fabricated. Finally the evaluation of the robot performance in real-time would be performed through experimental tests. The control mode would be semi-autonomous initially and then would be made completely autonomous. For convenience, the robot can also be operated manually from outside the sewage system based on the environment and requirement.

Abstract: Typical wheeled or tracked robot could hardly apply to middle or small diameter underground pipelines laid by trenchless technology. Aiming at this kind of pipeline’s characteristics, this paper puts forward a basic structure of telescopic in-pipe robot. To provide necessary theoretical basis for the device selection, the mechanical model and force analyzing are given in detail. The speed of robot, as well as the motor torque of locking mechanism, could be expressed as the function of the robot’s structural parameters. As a result, the robot’s structural parameters take influence on its performance. In order to achieve the best performance, it is necessary to use the multi-objective optimization method to select these parameters. Using the genetic algorithm toolbox, the optimal solution of these parameters was obtained. Based on this, the motor torque of locking mechanism is minimum while the speed of the robot is maximum.

Abstract: The paper deals with the analysis of influence of pipe deviations on in-pipe machine locomotion. In-pipe machine locomotes inside a pipe using the friction difference principle of locomotion. Main task of the machine is inspection of inner pipe wall as the prevention of pipe crack and leaks of transported medium. Pipe systems have deviations of inner pipe wall, which are caused by production process and caused by using of pipe (deformations, sediments, changes from coupling of pipes etc.). These pipe deviations have direct influence on machine locomotion inside the pipe.

Abstract: According to the characteristics of the marine pipelines, we present a kind of ships in-pipe reconnaissance robot for different types of pipes. Finish an optimized design for the adjusting mechanism by mechanics analysis of the metamorphic mechanism, and by the analysis of overcoming obstacles performance, the robot can not only adapt to different types of pipes, but also has good obstacle surmounting abilities. No doubt it improves the stability and reliability of the robot. The force and movement trajectory of the robot is obtained by using ADAMS, which carries on the kinematics analysis. Simulation results show that the robot can pass through 330 ~ 486 mm (diameter) pipes smoothly and can pass 5 mm circular obstacle by spring within the scope of the traction.

Abstract: Millions of miles of pipeline are carrying fluent energy for our daily life, including water, natural gas, crude oil and nuclear materials. Micro in-pipe robot offers an effective technical method for pipe inspection and maintenance. A new bidirectional telescopic in-pipe robot was presented in this paper. In the first place, the whole structure of the in-pipe robot was described, illustrating its functions of motion principle and telescopic mechanisms, respectively. Then the inverting discipline and the driving force of mechanisms were analyzed in detail. The supporting lead screw nut was selected according to robots characteristic requirements, and its structural stability requirements were met after a series of verification. In the end, the buffer spring that satisfied with the restriction analysis was successfully designed.

Abstract: To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.

Abstract: Composed of tri-axis differential mechanism and adjustable flexible pipe-diameter adaptability mechanism, an underactuated wheeled in-pipe robot is developed to avoid the motion interference during moving in elbow. The experiment system is established to evaluate the robotic differential performance. The experimental results show that the proposed robot has several advantages such as reliable differential performance and pipe-diameter adaptability, and hence verify that the present underactuated method is an effective way how to prevent a wheeled in-pipe robot from motion interference.

Abstract: An off-line analyzing system is developed to investigate the mechanical adaptability properties of tri-axis differential-drive in-pipe robot. It can real-time obtain the reference velocity without trackslip and the practical velocity for the driving wheels, load carrying properties for the in-pipe robot, as well as the current and voltage of the driving motor. The mechanical adaptability property indexes, such as the driving efficiency, adaptive precision and differential velocity property, are proposed and determined in experiments for the in-pipe robot. It is indicated that the tri-axis differential-drive is provided with the high driving efficiency and differential velocity precision, verifying its remarkable adaptability to various in-pipe configuration.

Abstract: The fluid-driven in-pipe robot is developed. Speed control system was model analyzed and the relationship between the load that affect the speed stability and through-flow area was derived, and the speed control system including double closed-loop feedback part was built.

Abstract: This paper reviews a new wall press walking in-pipe robot. The provided design method is based on pneumatic actuators. This mobile robot can move in pipe of 300 mm diameter. In the first part of this paper, we explain the locomotion principle of the robot, and then we present the design method of the wall press walking in-pipe robot parts.