Steering System of Cylindrical Elastic Crawler Robot

Nagase, Jun-ya; Fukunaga, Fumika; Ishida, Kan; Saga, Norihiko

doi:10.1541/ieejjia.7.441

Cited by 8 publications

(4 citation statements)

References 2 publications

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“…Figure. 4 shows the robot bend pipe motion model. Taking the curvature center o at the bend pipe section as the coordinate origin, an o-xyz coordinate system is established.…”

Section: Motion Constraint Analysis Of Robot In the Bend Pipementioning

confidence: 99%

“…According to the different mechanical structures and movement modes of robots, they are usually divided into fluid type, wheel type, crawler type, crawling type, creeping type, spiral type, and bionic type 2 . Among them, the typical ones are the earthworm creeping pipeline robot developed by Chuo University in Japan 3 , and an elliptical crawler pipeline robot developed by Longgu University in Japan 4 , Southwest Petroleum University has created an active screw pipe robot 5 , and Beijing Jiaotong University has created a mobile robot with multiple motion modes based on parallel mechanisms 6 . However, there are currently a number of issues with pipeline robots, including a single detection mode, a limited range of pipe diameter changes, and poor pipeline passing and adaptability.…”

Section: Introductionmentioning

confidence: 99%

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Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Yang

Xue

2023

J. Phys.: Conf. Ser.

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A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.

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“…Figure. 4 shows the robot bend pipe motion model. Taking the curvature center o at the bend pipe section as the coordinate origin, an o-xyz coordinate system is established.…”

Section: Motion Constraint Analysis Of Robot In the Bend Pipementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Yang

Xue

2023

J. Phys.: Conf. Ser.

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show abstract

“…This robot had a simple structure and was easy to control, but the power source capacity was small and the robot could easily slip. Junya Nagase et al [20], a scholar at Ryukoku University in Japan developed a cylindrical elastic crawler robot for pipeline inspection [21]. This extremely simple structure had a unique steering mechanism, which enabled the robot to perform well in vertical pipelines, curved corners, and uneven narrow pipeline areas [22].…”

Section: Introductionmentioning

confidence: 99%

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Yan

Wang

et al. 2020

IEEE Access

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To repair leaking pipelines for oil, natural gas and other dangerous media, a kind of pipeline sealing robot is proposed. The device is mainly divided into a robot drive unit, connection unit, and blocking unit. The robot drive unit is used to pull the blocking unit, allowing it to move in the pipeline. The connection unit is used to connect the robot drive unit and the blocking unit. The blocking unit is used to complete the repair at the leakage point. When the robot operates, the drive unit drags the blocking device to the pipeline leakage location, and the front camera can detect the size and shape of the leakage hole. The sealing unit is located at the leakage point, an airbag is inflated, and the adhesive in it is used to seal and repair the leak. Two performance indices (climbing performance and curve passing performance) are evaluated when the robot drive unit is walking. A 3D model of the robot is established, and the performance index of the robot is simulated and analyzed using virtual prototype technology. An experimental platform is built for verification. The conclusions are as follows: (1) A spring with a 13 N/mm rigidity yielded the best performance, and the robot could crawl up a 37° slope. (2) When the deflection angle of the driving wheel was set to 30°, the robot could smoothly pass a bend with a radius of curvature of 500 mm. Thus, the robot performance met the design requirements.

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“…正員，中央大学理工学部 E-mail of corresponding author: fumio.ito.020@gmail.com な家庭用配管内の検査は困難と考える．これより著者らは空気圧駆動かつ小型で配管内を移動可能な尺取虫型ロボット PI-Ro(図 1)を開発している．(Kamata et al, 2018a(Kamata et al, , 2018b) ．PI-Ro は単純な 90 度曲がり管(エルボ管，大曲管)を通過するとき先頭部が受動的に屈曲する．一方， PI-Ro には能動的な屈曲機能がなく，分岐管では管路選択できない．そこで，本研究ではガス管に存在する分岐管において管路選択可能なロボットを開発する．既存の管路選択機構には 3 本の直動空気圧シリンダを用いるもの) ，走行用の車輪の速度差を利用するもの(Nagase et al, 2018) ，異方性繊維を内包したゴムチューブを利用するもの …”

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Two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube and its application to a gas pipe inspection robot

Ito

Sato

Mano

et al. 2020

Transactions of the JSME (In Japanese)

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This paper introduces a two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube and a T branch experiment of an in-pipe mobile robot equipped with this mechanism. Household piping is used for gas transportation to each household. If the pipe is cracked or corroded due to long-term use, it becomes difficult to supply a stable gas. Therefore, inspection of household piping is necessary. The existing methods require a lot of time for the inspection or it is difficult to inspect the entire pipeline. Therefore, in this study we developed an inspection robot for home piping using a mobile robot. To date, the robots proposed have been able to bend in the direction along the pipeline, as the tip of the robot passively bends when passing through the curved pipe. However, at the branch pipe, there is no mechanism that actively bends the tip of the robot, and the pipe cannot be selected and moved in a specific direction. Therefore, this paper proposes the application of a small pipe selection mechanism combining a ball-point pen knock mechanism and a wire bending mechanism to an in-pipe mobile robot using the pressure difference of a single tube.

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Steering System of Cylindrical Elastic Crawler Robot

Cited by 8 publications

References 2 publications

Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube and its application to a gas pipe inspection robot

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