Structure design and characteristic analysis of over-line and universal shaft connector of pipeline intelligent plugging robot

Tang, Yang; Zhou, Minghai; Liu, Xiang; Li, Guangyao; Pang, Renshan

doi:10.1016/j.oceaneng.2023.114221

Cited by 6 publications

(1 citation statement)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The development of an Intelligent Plugging Robot equipped with an Over-Line and Universal Shaft Connector featuring a hollow double-ball hinged structure is a noteworthy innovation aimed at enhancing trafficability and reliability in the elbow sections of pipelines. This design offers solutions to common challenges encountered in conventional steering equipment when navigating through pipeline bends [11]. An in-pipe cleaning robot with the 6-link sliding mechanism has been developed which can be adjusted to fit into the inner face of pipe using pneumatic pressure [12].Mobile robot for pipeline exploration utilizing magnetic wheels for vertical travel has been developed for the inspection of pipelines [13].…”

Section: Existing In-pipe Robotsmentioning

confidence: 99%

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Nikhade,

Jha,

Admane

et al. 2024

Scientia Iranica

View full text Add to dashboard Cite

This paper presented a novel mechanism and dynamic model of cam operated in-pipe robot (CIPR) as a proof of concept. The CIPR would be useful for in-pipe inspection for detecting the defects like cracks, surface wear, damage, scaling etc. Based on the dynamic model, a gripping mechanism actuated by a three-lobed cam has been developed. A special three-lobed cam provides sufficient frictional force to maneuver and stop the robot inside the pipe of diameter 250 mm during inspection and cleaning task. A proposed dynamic model determines the frictional force and torque required to move the robot. A specially designed three-lobed cam makes the overall mechanism compact as compared to available inpipe robots. A single cam is adequate to exert uniform gripping force between the contact surface of the wheel and the inner surface of the pipe. In the present work, solid model of the CIPR is used to analyze and simulate the dynamics of the CIPR using ADAMS. The model is tested in simulated environment for vertical motion to determine the frictional force and wheel torque characteristics. The simulation results are in line with the analytical results. Further, the prototype is successfully maneuvering inside the pipefor different orientations.

show abstract

Section: Existing In-pipe Robotsmentioning

confidence: 99%