Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Abstract

A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.