Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Li, Te; Ma, Shugen; Li, Bin; Wang, Minghui; Li, Zhiqiang; Wang, Yongqing

doi:10.1115/1.4037617

Cited by 17 publications

(8 citation statements)

References 18 publications

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“…Horodinca [33]. 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].…”

Section: Mechanisms and Driving Principlementioning

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reflects the necessity and urgency of pipe inspection and rehabilitation as several pipe networks have become outdated around the globe.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

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

Ren

Zhang

et al. 2019

Applied Sciences

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“…A large amount of research has been done in this area to overcome this. Methods such as using universal joints and allowing wheel slip [10], varying attack angle [21], and steerable drive units [20] have all been developed. Despite these being shown to be successful their designs are complex, making them difficult to miniaturise.…”

Section: In-pipe Corneringmentioning

confidence: 99%

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Brown

Carrasco

Watson

et al. 2018

J Intell Robot Syst

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Nuclear decommissioning is a global challenge with high costs associated with it due to the hazardous environments created by radioactive materials. Most nuclear decommissioning sites contain significant amounts of pipework, the majority of which is uncharacterised with regards radioactive contamination. If there is any uncertainty as to the contamination status of a pipe, it must be treated as contaminated waste, which can lead to very high disposal costs. To overcome this challenge, an in-pipe autonomous robot for characterisation is being developed. One of the most significant mechatronic challenges with the development of such a robot is the detection of elbows in the unknown pipe networks to allow the robotic system to autonomously navigate around them. This paper presents a novel method of predicting the direction and radius of the corner using whisker-like sensors. Experiments have shown that the proposed system has a mean error of 4.69 • in the direction estimation.

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“…4,5 The development of in-pipe robots is in the 1950s. Based on to the movement modes, they are generally divided into the wheeled type, 6 caterpillar type, 7 inchworm type, 8 screw type, [9][10][11][12] and the above-mentioned mixed modes of the movement. Each in-pipe robot has its own characteristics.…”

Section: Introductionmentioning

confidence: 99%

Motion analysis of screw drive in-pipe cleaning robot

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In-pipe cleaning robots often need to carry cleaning tools, and their tails are connected with cables such as water pipes and air pipes. Especially when cleaning vertical straight pipes and curved pipes, a greater traction is required. Therefore, a new type of screw drive in-pipe cleaning robot was designed in this paper. The robot solves the problems of small traction, complex structure, and unstable motion of the in-pipe cleaning robot. The kinematics modeling was carried out on the screw drive in-pipe cleaning robot’s screw module for generating traction, and the force analysis was performed on this basis. The function model of the torque, air pressure, and traction of the screw module was established, which was verified by the simulation and experiment. The results show that the screw in-pipe cleaning robot has a large traction, stable operation, and can be well adapted to the vertical straight pipes and curved pipes.

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Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Cited by 17 publications

References 18 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

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Motion analysis of screw drive in-pipe cleaning robot

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