Design and Analysis of an Active Helical Drive Downhole Tractor

Li, Yujia; Liu, Qingyou; Chen, Yonghua; Ren, Tao

doi:10.1007/s10033-017-0076-6

Cited by 9 publications

(4 citation statements)

References 19 publications

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“…Ma et al studied a differential-driven screw in-pipe robot [34,35] and an ASDIR that can travel in circular and square pipes [36]. Ren et al proposed an ASDIR based on compound planetary gearing [37,38], a variable-pitch SDIR [39], an inchworm SDIR [40], and a helical-contact deformation measuring method in pipelines [41]. The abovementioned SDIRs have different structures and driving principles, and each has its own advantages and application scope.…”

Section: Mechanisms and Driving Principlementioning

confidence: 99%

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

Ren

Zhang

et al. 2019

Applied Sciences

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In recent years, interest in in-pipe robot research has been steadily increasing. This phenomenon reflects the necessity and urgency of pipe inspection and rehabilitation as several pipe networks have become outdated around the globe. In-pipe robots can be divided into several groups in accordance with their locomotion principles, each with its own advantages and best suited application scope. Research on the screw drive in-pipe robot (SDIR) has had a rising trend due to the robot's simple driving mechanism design and numerous advantages. This study compares and analyzes the characteristics of various SDIRs from the aspects of mechanism design, driving principle, and motion and mechanical behaviors. Each SDIR has its own advantages and disadvantages depending on its design requirements and intended applications. A number of prototypes have been fabricated to verify their functionality and efficiency in inspection tasks. This study can provide an up-to-date reference for researchers to conduct further analysis on SDIRs.

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Section: Mechanisms and Driving Principlementioning

confidence: 99%

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

Ren

Zhang

et al. 2019

Applied Sciences

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“…The driving wheel generates an axial pulling force that drives the robot to move forward through passive rotation [12], [13]. Another example is the active driving scheme proposed by the authors, where the power source directly propels the driving wheel to rotate and then drives the wheel frame to rotate [14]- [16]. The traction force of the robot is considerably increased relative to the conventional passive helical in-pipe robot and is thus more suitable for hooking detection and repair tools when applied to pipelines.…”

Section: Introductionmentioning

confidence: 99%

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Ren¹,

Zhang²,

Li³

et al. 2019

International Journal of Robotics and Automation

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As pipelines increase in age, the required number of pipeline inspections and maintenance also increases on a yearly basis. Regular inspection and maintenance of pipelines using in-pipe robots can eliminate safety hazards in time and ensure production safety. The current study proposes an active helical drive self-balancing in-pipe robot that is based on compound planetary gearing. The design of the driving and supporting systems is described. The gear ratio and obstacle negotiating of the robot are analysed. Traction experiment of the prototype is conducted to demonstrate the effectiveness of the proposed structure. Within the same length, the proposed configuration can be connected in series to a multi-section drive system. The presented in-pipe robot has larger traction force than an active helical drive support-balanced in-pipe robot. The robot can conduct further inspections and implement repair tools to complete pipeline inspection and maintenance work simultaneously.

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“…The robot will move inside a pipe along a helical pattern. Even though there are different robots to climb inside pipes using helical patterns [23,24], the payload of these robots are not analyzed in detail.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Drive Mechanism of Piping Robot

Decai¹,

Chen²,

Wang³

et al. 2019

J Robotics Autom

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Piping robots are needed for inner pipe operations in nuclear and oil & gas industries etc. Many pipe inspection robots have been developed. However the payload of these robots is small. To perform heavy duty operations such as grinding, piping robot with large payload must be developed. Furthermore detailed payload analysis which is important for the piping robot design is not available. In this paper, a screw-type drive unit which can handle large payload is developed. Detailed payload analysis is performed to guide the design of the drive unit. To validate the proposed methods, a drive unit was fabricated. Experiments were performed and the results demonstrate that the drive unit can climb inside horizontal pipes as well as vertical pipes with large payload.

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Design and Analysis of an Active Helical Drive Downhole Tractor

Cited by 9 publications

References 19 publications

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Design and Analysis of Drive Mechanism of Piping Robot

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