Variable Pitch Helical Drive in-Pipe Robot

Ren, Tao; Liu, Qingyou; Chen, Yonghua; Ji, Shouhong

doi:10.2316/journal.206.2016.3.206-4774

Cited by 8 publications

(6 citation statements)

References 17 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%

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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reflects the necessity and urgency of pipe inspection and rehabilitation as several pipe networks have become outdated around the globe.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%

“…Schematic diagram of the adaptive mechanism of differential gear transmission [50]. Figure 9 shows the variable helical pitch mechanism steering in curved pipes by adjusting the helical angle of each driving wheel [39]. One driving motor drives the wheel carrier.…”

Section: Motion Behaviormentioning

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 in-pipe robot system, according to existing moving modes and contact forms with pipe wall, can be classified into several classical forms, including pig type, [4][5][6] wheel type, [7][8][9][10] wall-press type, [11][12][13] walking type, 14,15 screw type, [16][17][18][19][20][21] inchworm type, [22][23][24][25] and swimming type. 26,27 The wall-press robots, suitable for walking in circular pipes, have three sets of wheels or legs circularly located 120°apart from each other.…”

Section: Introductionmentioning

confidence: 99%

Design of a novel inchworm in-pipe robot based on cam-linkage mechanism

Xie

Liu

2021

Advances in Mechanical Engineering

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This paper presents a novel double-direction inchworm in-pipe robot, called the Cam-Linkage Robot (CLR), used to carry sensors and instruments to perform inspection and cleaning jobs inside pipelines. The prototype has been developed to improve the driving ability and reduce the difficulty of control. CLR is suitable for pipe diameters from 360 mm to 400 mm due to its functions of manual adjustment and automatic adaptation. The structure of CLR was presented and some critical design issues on the principle of cam-linkage mechanism were discussed. Based on cam-linkage mechanism, CLR could press the wall actively and creep in two directions via only one motor, so this research has broken the limitation that traditional active wall-press robot needs more than one actuator. The cam pressure angle could be reduced to 0, and the propulsion ability was almost not weakened by the support motion at the stable support stage. Finally, experiments were conducted to validate the locomotion principle and the effectiveness of CLR.

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“…Helical in-pipe robots possess certain advantages, such as simple control structure, high reliability and good practicability; thus, they have received increasing attention from scholars [9]- [11]. The helical motion of the in-pipe robot can be achieved through several means, including the conventional passive driving scheme, where the rotation of the wheel carrier drives the driving wheel to passively rotate.…”

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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Variable Pitch Helical Drive in-Pipe Robot

Cited by 8 publications

References 17 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

Design of a novel inchworm in-pipe robot based on cam-linkage mechanism

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

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