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

Abstract

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.

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

“…Another application of the slider-crank linkage is in the support and/or self-centering units. Ren et al in [37] use a slider-crank linkage to a support unit for a self-balancing robot with a helical drive. In this case, the linkage is similar to the one shown in Figure 1b with the mention that the supporting wheel is mounted at joint B, and the necessary force is provided by a spring on slider 1.…”

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

“…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.…”