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14th International Conference on Intelligent robotics and Applications (ICIRA)

作者： Liu, Dawei Lu, Jiarui Yanshan Univ Coll Mech Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Natl Engn Technol Res Ctr Cold Rolling Strip Equi Qinghuagndao 066004 Peoples R China

ISBN: (纸本)9783030890926;9783030890919

Considering small diameter pipes, a two-mass inertia pipeline robot driven by a non-circular gear is proposed to study the walking dynamics of the robot in an isotropic Coulomb friction environment. The mechanism principle of the two-mass inertia pipeline robot is given to illustrate the walking mechanism of the robot under the combined action of the internal force and the external isotropic coulomb friction force. A dynamic model of a two-mass impact pipeline robot driven by non-circular gear is established. The dynamic response of the robot is calculated to reveal the walking characteristics of the pipe-impact robot under nonharmonic inertial force by the numerical method. The results show that the moving speed of the robot wavelike decreases with the increase of the input speed. Increasing the eccentricity of the non-circular gear or the motor speed in an appropriate range can be effectively improved the moving speed of the robot.

关键词： pipeline robot Inertial drive Noncircular gear Two-mass system Walking dynamics

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A Review: Technological Trends and Development Direction of pipeline robot Systems

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JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2022年第3期105卷 59-59页

作者： Jang, Heesik Kim, Tae Yu Lee, Ye Chan Kim, Yeon Soo Kim, Jooyong Lee, Hae Yong Choi, Hyouk Ryeol Sungkyunkwan Univ Sch Mech Engn ChunchunDong 300 Suwon 440746 Kyougki Do South Korea Korea Dist Heating Corp KDHC Dept Tech Efficient Res Gigok Ro 92 Yongin 17099 Gyeonggi Do South Korea Korea Dist Heating Corp KDHC Dept DH Network Technol 88228gil Seongnam Si 13487 Gyeonggi Do South Korea

Aging pipes are a deadly hazard that necessitate continuous and periodic pipe maintenance. However, it is impossible for humans to work directly inside small pipes or pipes with toxic internal environments. pipeline robots were developed for this purpose. They have already been used in the field and there is ongoing research to increase their efficiency and develop additional functions that have not yet been commercialized. Recognizing latest research trends in pipeline robot systems will be useful in setting meaningful development goals and reducing the possibility of research duplication. In addition, understanding the practical purpose of pipeline robots in the market will hasten the commercialization of developed models. In this review, studies on pipeline robot research over the past 10 years are reviewed to chart the future directions of research on pipeline robots. The key topics in pipeline robot research are largely divided into six categories, according to the purpose and mechanism, namely, locomotion mechanism, wall-press mechanism, steering joint, sensing and control, localization and mapping, and tool. Recent studies are classified according to each item. Finally, we analyzed the research cases that were not limited to laboratories, but have been tested in the fields and established the key points to be considered to ensure field applicability.

关键词： pipeline robot Review paper Industrial robot Mobile robot

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Structural Design and Motion Analysis of Adaptive pipeline robot

Structural Design and Motion Analysis of Adaptive Pipeline R...

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International Conference on Intelligent Equipment and Special robots (ICIESR)

作者： Zhao, Huacheng Yao, Ning Li, Wenjing Zhejiang Univ Water Resources & Elect Power Engn Expt Training Ctr Hangzhou 310018 Peoples R China

ISBN: (数字)9781510651319

ISBN: (纸本)9781510651319;9781510651302

In this paper, A pipeline robot with variable diameter mechanism is proposed in order to solve the problem of the robot with complicated mechanical structure and a single diameter adaptation problem. The structure composition and working principle of the robot were introduced. The mechanical properties of the variable diameter adaptive mechanism are analyzed and the theoretical model was established. The results show that the pipeline robot has the ability of adapting to the change of diameter and the ability of obstacle surpassing.

关键词： pipeline robot adaptability variable diameter mechanism obstacle surpassing

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Stress and strain analysis of spherical sealing cups of fluid-driven pipeline robot in dented oil and gas pipeline

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ENGINEERING FAILURE ANALYSIS 2020年 108卷

作者： Zhang, Hang Dong, Jinhui Cui, Can Liu, Shuhai China Univ Petr Coll Mech & Transportat Engn Beijing 102249 Peoples R China

pipeline inspection gauge (PIG), as a kind of pipeline robot, pipeline inspections gauges (PIGs) have been the main equipment during different stages of operation to perform functions such as pigging and inner inspecting. However, due to the failure of the sealing cup, the PIG is often stuck when it runs in the oil and gas pipeline especially in dented pipe. The distribution of stress and strain on the outer edge of the spherical sealing cup is complex but rewarding for understanding the blockage problems. When the PIG is in a straight pipeline section, it can be abstracted as an interference problem between polyurethanes rubber and steel. In this study, the numerical solution and the analytical solution of the polyurethane rubber and steel interference problem was first compared with each other to verify the numerical solution. Then, effects of the interference (8), thickness (t), and radian (0) of the spherical sealing cup on the stress and strain distribution on the outer edge of the cup were discussed using MSC Marc 2016 when the PIG was in dented pipe. Results indicate that the interference of the sealing disc has the greatest impact on the stress and strain distribution when PIG runs in the straight pipeline section. However, the thickness of the sealing cup has the greatest impact on the stress and strain distribution when PIG runs through the dent. The conclusions obtained in this study are beneficial for the selection and design of the spherical sealing cups PIG.

关键词： pipeline robot Seal failure Spherical sealing cup Stress and strain analysis Dented pipeline

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Dynamic characteristics of two-mass impact pipeline robot driven by non-circular gears

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ADVANCES IN MECHANICAL ENGINEERING 2022年第5期14卷

作者： Liu, Dawei Lu, Jiarui Cao, Yuetong Jin, Xin Yanshan Univ Coll Mech Engn 438 Xi Duan Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Natl Engn Technol Res Ctr Cold Rolling Strip Equi Qinghuagndao Peoples R China

Considering small diameter pipes, special pipes conveying corrosive, and flammable medium, a two-mass impact pipeline robot driven by a non-circular gear is proposed to study the walking dynamics of the robot in a dry piping environment. The mechanism principle of the two-mass impact pipeline robot is given to illustrate the walking mechanism of the robot under the combined action of the internal force and the external isotropic coulomb friction force. A dynamic model of a two-mass impact pipeline robot driven by non-circular gear is established. The dynamic response of the robot calculated by the numerical method reveals the walking characteristics of the pipe-impact robot under nonharmonic inertial force. The results show that the moving speed of the robot fluctuating rises with the increase of the input speed. The moving speed of the robot can be effectively improved by increasing the eccentricity of the non-circular gear or setting a certain amount of compression of the spring which is between the internal oscillator and the housing.

关键词： pipeline robot inertial drive non-circular gear two-mass system walking dynamics

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FMECA and FTA Methods of Reliability Analysis for Oil and Gas pipeline robot

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International Journal of Plant Engineering and Management 2021年第4期26卷 223-243页

作者： SONG Jin ZHANG Xiaolong LUO Ying HUANG Kuang LIU Jie WU Longfei School of Mechanical and Electrical Engineering Kunming University of Science and TechnologyKunming 650093China Unit 31638 of the Chinese People′s Liberation Army Kunming 650093China

In this paper,FMECA and FTA methods are presented for oil and gas pipeline robot in order to improve the *** a crawler pipeline cleaning robot as the research *** to the robot′s variable working environment,high failure rate and short service life,in order to reduce the probability of its failure,and to extend its use time limit under the premise of being able to adapt to the complex working environment,and reduce maintenance cost of *** realize this purpose,FMECA analysis is fristly proposed,by which obtain the failure modes,causes and effects of each component mechanism,and identify the component mechanism with high risk and failure ***,FTA is developed to establish the fault tree model of Cleaning and diameter changing mechanism,retain the underlying fault and the cause of its *** results are carried out to illustrate the effectiveness of this proposed method and improvement measures to improve the reliability of the robot.

关键词： reliability pipeline robot FMECA FTA

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Research on Technology of pipeline Detection robot Based on Spiral Propulsion 14th

Research on Technology of Pipeline Detection Robot Based on ...

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14th International Conference on Intelligent robotics and Applications (ICIRA)

作者： Wang, ZhiQian Deng, ZhenBo Lei, Pei Aviat Ind Chengdu Aircraft Ind Grp Co Ltd Liabil Chengdu 610037 Peoples R China Sichuan Aviat Intelligent Mfg Equipment Engn Tech Chengdu 610037 Peoples R China

ISBN: (纸本)9783030890926;9783030890919

Aiming at the space curved pipeline with an inner diameter of less than Phi 15 cm, in order to realize its internal detection work, this paper studies a compact, functionally integrated micro pipeline inspection robot and the corresponding pipeline inspection and scanning strategy. First, the robot adopts the driving principle based on spiral propulsion, and uses only one power source to realize the robot's forward, backward, and stop motions in the pipeline, and adapt to the bending and spatial posture of the pipeline. Ensure the robot's traveling ability and traveling efficiency in the pipeline. Second, the robot is equipped with a camera and a variety of measuring sensors to realize the detection of the inside of the pipeline. With the help of the robot's spiral propulsion action, the laser ranging sensor can scan the inside of the pipeline at 360 degrees. And based on the robot's helix angle and coordinate conversion algorithm, the Cartesian coordinate system point cloud data set of the pipeline inner wall is obtained, and the point cloud data is processed based on the Poisson surface reconstruction algorithm to realize the visual surface reverse modeling of the pipeline inner wall, thereby Realize the foreign body inspection inside the pipeline. Third, this paper proposes a pipeline roundness detection algorithm based on point cloud data, which realizes the pipeline roundness detection. Fourth, this paper proposes a method for determining the location of foreign objects based on point cloud data. Finally, this paper designs a verification experiment to verify the robot's traveling mode and detection ability.

关键词： pipeline robot Spiral propulsion Point cloud processing Roundness detection

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Design of A Negative Pressure Adsorption pipeline robot for Omni-directional Mobility 16

Design of A Negative Pressure Adsorption Pipeline Robot for ...

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16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Liu, Gangfeng Mo, Hao Li, Changle Li, Ge Li, Liyi Harbin Inst Technol State Key Lab Robot Technol & Syst Harbin 150080 Heilongjiang Peoples R China Harbin Inst Technol Sch Elect Engn & Automat Harbin 150080 Heilongjiang Peoples R China

ISBN: (纸本)9781728116976

In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.

关键词： Negative Pressure Adsorption pipeline robot Omni-directional Mobile Non-ferromagnetic pipeline Variable adsorbability control

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

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robotICA 2022年第12期40卷 4271-4307页

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

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.

关键词： pipeline robot long-distance pipeline mechanical model velocity controllable bypass brake

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Design and Lab Experience for a pipeline Service robot in Space Orbital Stations

Design and Lab Experience for a Pipeline Service Robot in Sp...

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29th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Zheng, Tao Li, Hui Huang, Qiang Wang, Xiang Ceccarelli, Marco Jiang, Zhihong Wang, Pingli Wang, Sanliang Zhao, Yanyan Liu, Xiao Beijing Inst Technol Key Lab Biomimet Robots & Syst Beijing 100081 Peoples R China Univ Rome Torvergata Lab Robot Mechatron Rome Italy China Acad Space Technol Beijing 100081 Peoples R China

ISBN: (纸本)9783030489915;9783030489892;9783030489885

The inspection and maintenance of ventilating pipelines in space orbital stations is difficult and time-consuming for astronauts. In this paper, a novel pipeline robot with three parts is proposed to replace astronauts in inspecting ventilating pipeline. An experimental testbed is designed to test the operation feasibility of pipeline robot in pipelines with different cross-sections and shapes, including cases with obstacles and ruptures. Ground test results show that the proposed BIT pipeline robot is able to move smoothly in most of pipelines with different cross-sections and shapes.

关键词： Space robotics pipeline robot Design Lab testing

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