DEVELOPMENT OF AN ACTIVE HELICAL DRIVE SELF-BALANCING IN-PIPE ROBOT BASED ON COMPOUND PLANETARY GEARING

作     者：Ren, Tao Zhang, Yin Li, Yujia Xian, Lin 

作者机构：Xihua Univ Robot Res Ctr Chengdu 610039 Sichuan Peoples R China Southwest Petr Univ Sch Mechatron Engn Chengdu 610500 Sichuan Peoples R China Southwest Petr Univ Postdoctoral Res Stn Chengdu 610500 Sichuan Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION》 (国际机器人学与自动化杂志)

年 卷 期：2019年第34卷第3期

页      面：235-242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 (NSFC) Sichuan Science and Technology Program [2019YFG0123, 2019YFG0336] Xihua University 

主　　题：Self-balancing active helical in-pipe robot compound planetary gearing 

摘      要：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.