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International Conference on Advanced Engineering Materials and Technology (AEMT2011)

作者： He, Fan Fu, Jiaxing Huang, Zhilong Liaoning Tech Univ Coll Mech Engn Fuxin 123000 Liaoning Peoples R China

ISBN: (纸本)9783037851937

Put forward and develop a pipeline cleaning robot. Relying on finite element analysis software ANSYS, establishing finite element model of pipeline robot swinging rod with the solid92 as the basic unit, it was found that the swing rod of the pipeline robot was the weak link by a large number of on-site experiments. After analysis the fatigue properties of pipeline robot's swing rod, compared with the results of its static analysis and evaluation of failure mode of pipe robot's swing rod, reasonable proposals are put forward for the follow-up study of the pipeline robot.

关键词： ANSYS pipeline robot Static strength Fatigue analysis

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Non-linear Control of a robotic Arm for pipeline Reparation

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IEEE LATIN AMERICA TRANSACTIONS 2016年第12期14卷 4681-4687页

作者： Orozco, J. Bello, Y. Patino, D. Colorado, J. Ruiz, F. Solaque, L. Pontificia Univ Javeriana Bogota Colombia Univ Mil Nueva Granada Bogota Colombia

This article presents a non-linear control system for a robotic arm that will be used for pipeline reparation. It starts with the mechanical description of the arm, its parameters and how the arm will repair the pipelines. This arm needs a control law that is non-linear. The proposed control strategy is obtained through the interpolation of classic feedback quadratic controllers that are computed for each operation point in a trajectory. This design is based on a numerical model that avoids computing an analytical model which is very useful for this kind of application. The technique is validated through simulations.

关键词： LPV control LQR control pipeline robot CAD systems

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A New Air-conditioning pipeline Cleaning robot System

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4th International Conference on Engineering Technologies and Ceeusro

作者： Li, Zhixiang Li, Hengwu Li, Zhihui Wuhan Univ Technol Inst Mech & Elect Engn Wuhan Peoples R China

ISBN: (纸本)9783037850015

Presently most of the air-conditioning pipeline cleaning robots in the market do not have the self-adaptive capacity to variable diameter pipelines, and clean the circular pipeline incompletely, have the whipping problems in the working process. For this case, this paper developed a new type of pipe robot;the robot adopts the umbrella-like open-and-close mechanism, scissors lifting mechanism and tail location and navigation device. It can align the center of the circular pipes with different diameters automatically, and sweep 3600 one-time, improve the efficiency and stability of the robot greatly.

关键词： pipeline robot pipeline cleaning Auto alignment center Location and navigation

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The development status and the prospect of the pipeline robots in the oil and gas storage and transportation industry

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International English Education Research 2015年第1期 26-27页

作者： Xu Xin Cao Ying Northeast Petroleum University Daqing Heilongjiang 163000

In the process of the constant development of the oil and gas storage and transportation technology, the maintenance of the large pipelines is an important task. At present, China vigorously promotes the use of the pipeline robots, for the maintenance of the oil and gas pipelines by the unique characteristics of the robots. In this paper, the author carries out the detailed analysis on the current situation of the development of the pipeline robots in the oil and gas storage and transportation industry, and compares the different applications of the pipeline robots at home and abroad. Starting from the principles of the operation of the robots, the author analyzes the characteristics of the different types of the robots, and combined with the existing conditions of the oil and gas storage and transportation in our country, the author tries to find the most favorable way of the working of the pipeline robots, to continuously improve the development of the oil and gas storage and transportation industry using the robot technologies.

关键词： Oil and gas storage and transportation pipeline robot development status

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Vibration Analysis of New Type pipeline-Cleaning robot

Vibration Analysis of New Type Pipeline-Cleaning Robot

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International Conference on Manufacturing Engineering and Automation

作者： He, Qingzhong Zhao, Wenchun Wang, Jia Zhang, Yanling Wang, Mingchao Sichuan Univ Sci & Engn Zigong 643000 Sichuan Peoples R China

ISBN: (纸本)9780878492268

The new type of pipeline-cleaning robot discussed in this paper is developed to clean pipelines within the diameter range 200mm-250mm, which is propelled by using screw locomotion. With the help of CATIA, the modeling & simulation software, the simulation model of the robot and its vibration analysis has been obtained. From the analysis, dynamic characteristics of pipeline robot vary with the output parameters of control module and the structures of robot joints. Stimulated vibration has very little influences on the whole machine. The stability and reliability of the robot have been proven. According to the experimental study of principle prototype and dynamic simulation study of the virtual prototype, dynamic characteristics can be improved by optimizing the structures of robot and the related output parameters of control module, which contributes to the improvement of its motion stability. Therefore, it is believed that the robot has great value in practical use.

关键词： pipeline robot Vibration analysis Kinematic accuracy Motion stability

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Study of a new Cleaner for Pipe Weld Beading

Study of a new Cleaner for Pipe Weld Beading

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International Conference on Mechanical Structures and Smart Materials (ICMSSM 2013)

作者： Zhang Yuan Han Guang Wang Yingying Li Kun Harbin Univ Sci & Technol Mech & Power Engn Coll Harbin Heilongjiang Peoples R China

ISBN: (纸本)9783037859896

When two slender pipes were girthed weld, some of un-solidified solder liquid would ooze from the weld gap. Then the weld beading would be formed in the pipeline after solidification. It is difficult to be cleared away because of the higher hardness. Up to now, there was no effective method to solve this problem. So how to guarantee the pipeline quality was a big question, and it would influence the benefit of companies seriously. This paper presents a new cleaner to solve this problem. The cleaner was driven by direct current motor, and the cutting tool mechanism was driven by pneumatic motor which can carry different kinds of cutting tools. For the question of passing through the bend, the cleaner was designed to specified size after accurate analyzing. And another significant part was monitor, which was mainly composed of camera and video. In the end, we designed a model cleaner and manufactured it. The cleaner had been tested on spot and achieved the desired effect.

关键词： pipeline robot cleaner weld beading pass through the bend

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Development of the Self-adaptive pipeline Cleaning robot

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International Conference on Manufacturing Science and Engineering (ICMSE 2009)

作者： Li, Zhixiang Li, Zhihui Li, Yi Wang, Wei Wuhan Univ Technol Inst Mech & Elect Engn Wuhan Peoples R China

ISBN: (纸本)9780878492800

In view of the existing pipe cleaning robot does not have the self-adaptive capacity to variable diameter pipelines and the whipping problems in the working process, a new style pipe cleaning robot is developed. This robot adopts umbrella's open-and-close mechanism, screw lifting mechanism and tail location navigation mechanism. This is a good solution to the stability of the robot work and improves its work efficiency. This paper describes the overall structure design and the key technique of robot, and the physical model of the robot is created. Finally, the experiment results indicate that the robot have a compact structure and reliable work.

关键词： pipeline robot Self-adaptive Location and navigation

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Tracing and localization system for pipeline robot

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MECHATRONICS 2009年第1期19卷 76-84页

作者： Qi, Haiming Zhang, Xiaohua Chen, Hongjun Ye, Jinrui Harbin Inst Technol Dept Elect Engn & Automat Harbin 150001 Peoples R China

Two different robotic systems for in-pipe inspection of underground oil pipelines are overviewed. This paper mostly introduces the tracing and localization technology of in-pipe robot without tether cable. The key technique is how to achieve reliable communication between inside and outside of metallic pipeline. in order to solve the shielding effect of metallic pipe-wall. extreme-low-frequency electromagnetic pulse (ELF-EP) is adopted to transmit messages. According to the multiple-satellite measuring principle, pipeline global position system (P-GPS) is proposed serving as long-distance tracing and near-field localization. The design method of compacted communication system with low power consumption is introduced and the communication protocol is made. An effective localization algorithm based on database query is presented. The tracing and localization system is verified with robust solutions during field tests and can be applied to various in-pipe robots for autonomous motion and inspection. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： pipeline robot Tracing and localization Extreme low frequency Communication Low power consumption

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A bristle-based pipeline robot for ill-constraint pipes

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2008年第3期13卷 383-392页

作者： Wang, Zhelong Gu, Hong Dalian Univ Technol Sch Elect & Informat Engn Dalian 116024 Peoples R China

This paper presents the study of a pipeline robot based on a bristle mechanism. The bristle mechanism shows great flexibility and makes the pipeline robot to be able to work in ill-constraint pipes, which were previously considered as unpiggable or uninspectable. The working principle of pipeline robot is illustrated and the bristle mechanism is given in-depth analysis. Bristle traction force model is set up and the approximate calculation of bristle traction force based on Euler buckling theory is also described. The approximate calculation is conducted and simulated by using one single bristle. A laboratory experiment of bristle traction force is carried out and then the experimental result is compared with the calculation result. The experimental result shows the validity of bristle traction force model. Field trials of brush pipeline robots are also conducted in ill-constraint pipes and trial results show the flexibility and adaptability of the bristle mechanism. Future work and key issues in the research of brush pipeline robots are discussed at the end of the paper.

关键词： bristle mechanism pipeline robot traction force

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A Hybrid Intelligent System for pipeline robot Navigation in Unknown Environment

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1st International Conference Intelligent robotics and Applications

作者： Wu, Shijing Li, Qunli Zhu, Enyong She, Jinjuan Qin, Ming Wuhan Univ Sch Power & Mech Engn Wuhan 430072 Hubei Province Peoples R China

ISBN: (纸本)9783540885160

This paper developed a fuzzy logic controller with a neural network control system for sensor based pipeline robot navigation in pipe environment. The fuzzy controller creates initial membership functions and fuzzy logic rules. the neural network, which automatically process range information for determining a good steering angle in local regions. This NN-fuzzy system is used to control the mobile pipeline robot, which is equipped with an array of ultrasonic sensors to acquire the distance between the pipeline robot and obstacle. On the basis of this system, a strategy for combining local behavior control with global behavior control planning was proposed in this paper. Finally a pipeline robot runs in simulation environment. The experimental results show that appropriate control mechanisms of the fuzzy controller are obtained by evolution. The controller has evolved well enough to smoothly drive the pipeline robot in different pipe environment.

关键词： pipeline robot neural network fuzzy controller navigation

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