Development of an in-pipe robot with two steerable driving wheels

Ye, Changlong; Liu, Li; Xu, Xiujun; Chen, Jun

doi:10.1109/icma.2015.7237785

Cited by 12 publications

(5 citation statements)

References 8 publications

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“…Wheeled and crawler devices have a long history of use [5,6] and have the advantage of reaching speeds that are higher than those employing other propulsion techniques. However, these types of devices not only require a mechanism to ensure continuous rotation, but also a mechanism that generates a propulsion force of friction by pushing wheels or crawlers to an inner wall of a piping [7][8][9][10], thereby increasing design complexity. Thus, for simplification, several researchers have adopted the use of a mechanical spring to push wheels or crawlers to an inner wall and generate friction [11][12][13].…”

Section: Objectivementioning

confidence: 99%

“…Because of this requirement, many researchers have focused on the realization of a steerable in-pipe device. For example, locomotive devices purposed for travelling through 200-mm-diameter pipes have been equipped with separate motors for locomotion, rotation, and steering [10,13,17]. To simplify the design and reduce the number of motors, Nishimura et al [11] proposed a differential mechanism that allows locomotion, rotation, and steering to be realized with only two motors.…”

Section: Objectivementioning

confidence: 99%

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Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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Section: Objectivementioning

confidence: 99%

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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“…Current issues include the complexity of the design, optimal redesign of the robot is very difficult due to the amount of parameters involved and so a simulation tool had been created to aid in this. Shenyang University created a wall-press robot based on helix movement in-pipe, capable of 250 mm to 300 mm pipeline exploration using a passively adaptive four bar linkage [27]. The robot can complete complex manoeuvres such as T-Sections using its active drive module to steer the course.…”

Section: Screw Systemsmentioning

confidence: 99%

Advances in the Inspection of Unpiggable Pipelines

2017

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Abstract:The field of in-pipe robotics covers a vast and varied number of approaches to the inspection of pipelines with robots specialising in pipes ranging anywhere from 10 mm to 1200 mm in diameter. Many of these developed systems focus on overcoming in-pipe obstacles such as T-sections and elbows, as a result important aspects of exploration are treated as sub-systems, namely shape adaptability. One of the most prevalent methods of hybridised locomotion today is wall-pressing; generating traction using the encompassing pipe walls. A review of wall-pressing systems has been performed, covering the different approaches taken since their introduction. The advantages and disadvantages of these systems is discussed as well as their effectiveness in the inspection of networks with highly varying pipe diameters. When compared to unconventional in-pipe robotic techniques, traditional full-bore wall-pressing robots were found to be at a disadvantage.

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“…Many of these robots are powered and actuated via tethered electrical cables (1,(33)(34)(35)(36)(37)(38)(39)(40)(41)(42) or fluid tubes (15,(43)(44)(45)(46)(47)(48), limiting their usage for long-distance pipeline inspection and rendering them unsuitable for pipelines transporting fluids such as oil and gas. A small number of in-pipe robots incorporate onboard batteries (49)(50)(51)(52) for autonomous navigation, but their operational range is constrained by battery capacity, necessitating frequent recharging. Furthermore, battery-powered in-pipe robots presently remain constrained above a specific centimeter-scale threshold and exhibit limitations in further downsizing.…”

Section: Introductionmentioning

confidence: 99%

Wireless flow-powered miniature robot capable of traversing tubular structures

Hong,

Wu,

Wang

et al. 2024

Sci. Robot.

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Wireless millimeter-scale robots capable of navigating through fluid-flowing tubular structures hold substantial potential for inspection, maintenance, or repair use in nuclear, industrial, and medical applications. However, prevalent reliance on external powering constrains these robots’ operational range and applicable environments. Alternatives with onboard powering must trade off size, functionality, and operation duration. Here, we propose a wireless millimeter-scale wheeled robot capable of using environmental flows to power and actuate its long-distance locomotion through complex pipelines. The flow-powering module can convert flow energy into mechanical energy, achieving an impeller speed of up to 9595 revolutions per minute, accompanied by an output power density of 11.7 watts per cubic meter and an efficiency of 33.7%. A miniature gearbox module can further transmit the converted mechanical energy into the robot’s locomotion system, allowing the robot to move against water flow at an average rate of up to 1.05 meters per second. The robot’s motion status (moving against/with flow or pausing) can be switched using an external magnetic field or an onboard mechanical regulator, contingent on different proposed control designs. In addition, we designed kirigami-based soft wheels for adaptive locomotion. The robot can move against flows of various substances within pipes featuring complex geometries and diverse materials. Solely powered by flow, the robot can transport cylindrical payloads with a diameter of up to 55% of the pipe’s diameter and carry devices such as an endoscopic camera for pipeline inspection, a wireless temperature sensor for environmental temperature monitoring, and a leak-stopper shell for infrastructure maintenance.

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Development of an in-pipe robot with two steerable driving wheels

Cited by 12 publications

References 8 publications

Development of a steerable in-pipe locomotive device with six braided tubes

Development of a steerable in-pipe locomotive device with six braided tubes

Advances in the Inspection of Unpiggable Pipelines

Wireless flow-powered miniature robot capable of traversing tubular structures

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