A review of mechanical model, structure, and prospect for long-distance pipeline pig and robot

作     者：Zhao, Jianguo Wang, Ju Liu, Qingyou Luo, Xu Dong, Xuecheng 

作者机构：Southwest Petr Univ Sch Mech Engn Chengdu 610500 Peoples R China Chengdu Univ Technol State Key Lab Oil & Gas Reservoir Geol & Exploita Chengdu 610059 Peoples R China Chengdu Univ Technol Sch Mechatron Engn Chengdu 610059 Peoples R China 

出 版 物：《ROBOTICA》 (Robotica)

年 卷 期：2022年第40卷第12期

页      面：4271-4307页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：National Natural Science Foundation of China [52004232, U19A200380] Sichuan Science and Technology Program [2021YJ0403, JG2021-624, 2021YFS0305, 22QYCX0196] Sichuan Provincial Key Lab of Process Equipment and Control [GK202006] 

主　　题：pipeline robot long-distance pipeline mechanical model velocity controllable bypass brake 

摘      要：The safety and reliability of robots are very important for the inspection in a long-distance pipeline used for the oil and gas transportation. In this paper, the long-distance pipeline pig and robots (LDPPRs) are classified into two categories, which are velocity-uncontrollable type and velocity-controllable type. Among them, the velocity control of velocity-controllable LDPPR has three ways, which are friction resistance, driving force, and self-running. Meanwhile, the mechanical models of the motion of the LDPPRs are classified into the dynamic model of the velocity-uncontrollable LDPPRs, velocity-controllable LDPPRs, and vibration, and the contact mechanics model between the rubber barrel and the pipe wall. In addition, the anti-stuck technologies, the inspection technologies, and the location technologies are investigated and analyzed. Thus, the purpose of this review is to provide a concise reference for the development and research directions, as well as the design of the LDPPRs.