Research on the Traction and Obstacle-Surmounting Performance of an Adaptive Pipeline-Plugging Robot

Abstract

To solve a series of problems, such as damage, increased impurities and obstacles caused by medium corrosion, and erosion in the long-term use of the pipeline, a multi-body distributed adaptive pipeline plugging and repairing robot with good driving performance and strong reliability is proposed by using the modular design method. By establishing the obstacle-crossing model of the robot, the traction equation and obstacle-crossing equation of the driving wheel and supporting wheel are studied. It can be seen from the equation that reducing the deflection angle of the driving wheel or reducing the speed of the motor spindle can improve the obstacle-crossing ability. The driving unit model is established in ADAMS software, and its running speed, driving force, and obstacle-crossing height are simulated and analysed. The model prototype is established and verified with experiments. When the deflection angle of the robot driving wheel is set to 20° to 35°, it meets the design requirements. When the deflection angle of the driving wheel is set to 20°, the robot has large traction, good running stability and high obstacle-crossing height. The maximum obstacle-crossing height is 6 mm. At this time, the robot reaches the best running state. The design of an adaptive leakage plugging robot for buried pipelines provides an important reference for the research and development of pipeline emergency prevention and control equipment.

Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

“…In this chapter, using ABAQUS and ADAMS [24] for co-simulation, a rigid-elastic coupled dynamic model was established and compared with the rigid model to verify the superiority of the rigid-elastic coupled dynamic model. Whether the spring-type of anchoring mechanism satisfied the anchoring performance under its design traction force was further verified.…”

Study on Dynamic Characteristics of Pipeline Jet Cleaning Robot

“…Hongwei Yan and his team proposed an adaptive leakage plugging robot and further optimized and developed a spiral robot for pipeline inspections, aiming to address the issue of leakage sealing within pipelines. Although the spiral-driven pipeline inspection robot offers innovative features, its performance may be limited in terms of speed and load capacity, potentially affecting its practicality in various operational scenarios [28,29]. Kwon et al created a wheeled pipe robot for inspecting indoor pipes.…”

Design and Kinematic Characteristic Analysis of a Spiral Robot for Oil and Gas Pipeline Inspections

“…They can be equipped with various sensors, such as ultrasonic, infrared, and magnetic flux leakage sensors, to detect defects such as leakage points, corrosion, and pits in pipelines [7]. Additionally, pipeline robots possess data analysis and storage capabilities, allowing them to process and analyze collected information in real time and provide accurate and reliable results to maintenance personnel [8].…”