Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Author:

Li Te1,Ma Shugen2,Li Bin3,Wang Minghui3,Li Zhiqiang3,Wang Yongqing4

Affiliation:

1. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China; State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China e-mail:

2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan e-mail:

3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China e-mail:

4. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China e-mail:

Abstract

The in-pipe robots based on screw drive mechanism are very promising in the aspects of pipe inspecting and maintaining. The novel design of an in-pipe robot with differential screw angles is presented for the curved pipes and vertical straight pipes. The robot is mainly composed of the screw drive mechanism, adaptive linkage mechanism, and the elastic arm mechanism. The alternative adjusting abilities of the mobile velocity and traction, and the adaptive steering ability in curved pipes, are achieved by the special designs. A parameter design approach in consideration of the climbing and steering abilities is proposed in detail for the springs and length of the elastic arms. The results are applied to the prototype design of the robot. In several groups of experiments, the proposed robot is competent to pass through curved pipes and vertical straight pipes. The results prove that the proposed mechanism and parameter design approach are both valid.

Funder

National Natural Science Foundation of China

China Postdoctoral Science Foundation

Publisher

ASME International

Subject

Mechanical Engineering

Cited by 18 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Development of hybrid locomotive in-pipe robot;International Journal of Manufacturing Research;2024

2. Development of an inchworm-like soft pipe robot for detection;International Journal of Mechanical Sciences;2023-09

3. Single-Actuated Camshaft Robot With Multiple Sequential Motions;Journal of Mechanisms and Robotics;2023-08-16

4. A comprehensive review of in-pipe robots;Ocean Engineering;2023-06

5. Design of a Modular Pipeline Robot Structure and Passing Ability Analysis;IEEE Access;2023

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3