Cylindrical Elastic Crawler Mechanism for Pipe Inspection

Nagase, Jun-ya; Fukunaga, Fumika; Shigemoto, Yoshitaka

doi:10.1142/9789813149137_0037

Cited by 2 publications

(1 citation statement)

References 6 publications

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“…According to the movement mode, downhole traction robots can be divided into wheeled-type [7] to [10], telescopic-type [11] and [12], crawler-type [13] and [14], etc. Among them, wheeled and telescopic types are the most widely used in engineering.…”

Section: Introductionmentioning

confidence: 99%

Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

Zhao¹,

Wang²,

Liu³

et al. 2022

sv-jme

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The traditional anchoring mechanism of the traction robot is rigid, which is easy to be stuck in the wellbore. In order to solve the problem produced by the rigid anchoring mechanism of the traction robot, a novel anchoring mechanism was proposed based on the spring type of anchoring mechanism of the inclined block. The key to make the traction robot motion is whether the traction robot can be anchored on the wellbore under the action of the traction force. Therefore, a rigid-hyperelastic coupling dynamic model of the spring type of anchoring mechanism under the action of the traction force was established. On the basis, the effects of span, width, thickness and chamfer parameters on the anchoring performance of the spring type of traction robot were analyzed. Through the experimental comparison, it was found that the error between the theoretical supporting force and the experimental supporting force is only 6.1%, and the maximum error of theoretical and experimental maximum traction force is 4.9%. Experiments verified the correctness of the rigid-hyperelastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of spring type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.

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Section: Introductionmentioning

confidence: 99%

Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

Zhao¹,

Wang²,

Liu³

et al. 2022

sv-jme

View full text Add to dashboard Cite

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Development of an Innovative Inspection Tool for Superheater Tubes in Fossil Fuel Power Plants

Lara¹,

Villamil²,

Abrahao³

et al. 2021

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Fossil fuel power plants are complex systems containing multiple components that require periodic health monitoring. Failures in these systems can lead to increased downtime for the plant, reduction of power, and significant cost for repairs. Inspections of the plant’s superheater tubes are typically manual, laborious, and extremely time-consuming. This is due to their small diameter size (between 1.3 and 7.6 cm) and the coiled structure of the tubing. In addition, the tubes are often stacked close to each other, limiting access for external inspection. This paper presents the development and testing of an electrically powered pipe crawler that can navigate inside 5 cm diameter tubes and provide an assessment of their health. The crawler utilizes peristaltic motion within the tubes via interconnected modules for gripping and extending. The modular nature of the system allows it to traverse through straight sections and multiple 90° and 180° bends. Additional modules in the system include an ultrasonic sensor for tube thickness measurements, as well as environmental sensors, a light detecting and ranging (LiDAR) sensor, and camera. These modules utilize a gear system that allows for 360° rotation and provides a means to inspect the entire internal circumference of the tubes.

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Cylindrical Elastic Crawler Mechanism for Pipe Inspection

Cited by 2 publications

References 6 publications

Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

Development of an Innovative Inspection Tool for Superheater Tubes in Fossil Fuel Power Plants

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