“…Screw-driven robots have a large load capacity and can be used as modular extension design combination robots or equipped with robotic arms for pipeline operation tasks such as cleaning and repairing, with incomparable advantages. Therefore, the application prospects are very broad [16]. Figure 1. Types of in-pipe robots.…”
In the pipeline industry, it is often necessary to monitor cracks and damage in pipelines, or need to clean the inside of the pipeline regularly, or collect adhesive on the inner wall of the pipe, but the pipe is too narrow and difficult for humans to enter, it is necessary to use a pipe machine to complete the work. In this paper, a newly designed screw-driven in-pipe inspection robot (IPIR) is proposed. Compared with common robots, this robot innovatively designs adapting mechanism. The robot can not only adapt to the change of the inner diameter size of the pipeline by using the bionic principle and the deformation characteristics of flexible components but also can pass smoothly in the horizontal/oblique/vertical pipelines and has a certain ability to cross obstacles. In addition, it can transmit images of the inner wall of the pipeline wirelessly for data analysis. Finally, through theoretical analysis and prototype construction, the performance of the robot is verified. The results show that the prototype robot can not only smoothly pass through the acrylic pipe with inner diameter of 120–138 mm but also pass through boss with a height of 3 mm.
“…Screw-driven robots have a large load capacity and can be used as modular extension design combination robots or equipped with robotic arms for pipeline operation tasks such as cleaning and repairing, with incomparable advantages. Therefore, the application prospects are very broad [16]. Figure 1. Types of in-pipe robots.…”
In the pipeline industry, it is often necessary to monitor cracks and damage in pipelines, or need to clean the inside of the pipeline regularly, or collect adhesive on the inner wall of the pipe, but the pipe is too narrow and difficult for humans to enter, it is necessary to use a pipe machine to complete the work. In this paper, a newly designed screw-driven in-pipe inspection robot (IPIR) is proposed. Compared with common robots, this robot innovatively designs adapting mechanism. The robot can not only adapt to the change of the inner diameter size of the pipeline by using the bionic principle and the deformation characteristics of flexible components but also can pass smoothly in the horizontal/oblique/vertical pipelines and has a certain ability to cross obstacles. In addition, it can transmit images of the inner wall of the pipeline wirelessly for data analysis. Finally, through theoretical analysis and prototype construction, the performance of the robot is verified. The results show that the prototype robot can not only smoothly pass through the acrylic pipe with inner diameter of 120–138 mm but also pass through boss with a height of 3 mm.
“…This paper examines the fundamental mechanisms of the rubbing behavior in waxy oil deposit breaking (essentially the wax-oil gel) in deepwater pipelines. To meet the high reliability requirements, various experimental techniques are used to design the new structures of in-pipe robots [1][2][3][4][5]. A PIG (pipeline inspection gauge) is a cylindrical tool [1] that scrapes deposits from the inside surface, as shown in Figure 1a-d.…”
The in-pipe robot is the most commonly used technique in offshore pipelines. The use of rubber sealing discs is important for in-pipe robots to ensure that the robots are moved by fluid pressures inside offshore pipelines. This paper focuses on the measuring and modeling of the wax–oil gel-breaking process at the soft frictional area between sealing discs and the pipe wall. In this study, a detailed characterization of the gel-scraping process and in situ probing portable microscopy are performed. Two contributions are made in this study. First, a direct observation of wax–oil deposition breaking is employed to detect the minute changes at the in-pipe robot. Second, we find that a simple function is possible to describe the relationship between the wax contents and dewaxing efficiency, in which the debris material removal ratio (DRR) is discussed. Thus, the gel deposition-breaking phenomena are quite different under the influence of rubber sealing discs. This result is further confirmed by the real contact ratio measurements. It is important to research the sealing disc further and apply it more in the petroleum industry, especially in in-pipe robots for deepwater pipeline systems.
“…This has led to the formation of a vast and interconnected network of undersea pipelines. Compared to maritime shipping, subsea pipelines have saved substantial costs in cross-sea oil product transportation, achieving notable economic and scale benefits [23]. Taking China as an example, pipelines, which constitute 5% of the total length of subsea oil and gas pipelines, handle 25% of the total throughput of petroleum and natural gas [24].…”
Offshore oil and gas resources play a crucial role in supplementing the energy needs of human society. The crisscrossing subsea pipeline network, which serves as vital infrastructure for the storage and transportation of offshore oil and gas, requires regular inspection and maintenance to ensure safe operation and prevent ecological pollution. In-line inspection (ILI) techniques have been widely used in the detection and inspection of potential hazards within the pipeline network. This paper offers an overview of ILI techniques used in subsea pipelines, examining their advantages, limitations, applicable scenarios, and performance. It aims to provide valuable insights for the selection of ILI technologies in engineering and may be beneficial for those involved in pipeline integrity management and planning.
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