Abstract:Water distribution pipe maintenance is a global concern. In this study, we propose a Rehabilitation In-Pipe Robot (R-IPR) to perform pipe rehabilitation operations and contain induced contamination. The robot features three modules: a pipe cleaning module, a mechanical sealing module, and an in-pipe manipulator module. This study emphasizes the comprehensive design of the mechanical sealing module. We introduce a multi-layer compound structure of the seal to deal with two characteristics of tuberculated pipe s… Show more
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