Design and Analysis of Independently Adjustable Large In-Pipe Robot for Long-Distance Pipeline

Applied Sciences

Jongwon Kim¹  Liang Zhang²  Wentao Zhao² 

[1] Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Chungcheongnam-do 31253, Korea;School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China;

关键词: large in-pipe robot;    long-distance pipeline inspection;    differential;    crawler;   

DOI  :  10.3390/app10103637

来源: DOAJ

【 摘 要 】

Large oil and gas pipelines are prone to corrosion and leakage, so in-pipe inspection is necessary. In this article, we show a novel robot mechanism for long-distance pipeline inspection. The robot consists of three crawlers and electric putters, which can adjust their speed and radius independently. Independent adjustment and system self-checking of the robot are achieved through multiple sensors. To make the robot operate efficiently, we studied the influence of size parameters on the forces between the central body and crawler. Moreover, we investigated how to adjust the attitude of the robot through the differential speed of the three crawlers. Static and dynamic simulations of internal forces are presented. The primary experiments indicate that our robot can operate stably in a large steel pipe.

【 授权许可】

Unknown