0
Research Papers

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

[+] Author and Article Information
Te Li

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: teli@dlut.edu.cn

Shugen Ma

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: shugen@se.ritsumei.ac.jp

Bin Li

State Key Laboratory of Robotics,
Shenyang Institute of Automation,
Chinese Academy of Sciences,
Shenyang 110016, China
e-mail: libin_sia@163.com

Minghui Wang

State Key Laboratory of Robotics,
Shenyang Institute of Automation,
Chinese Academy of Sciences,
Shenyang 110016, China
e-mail: mhwang@sia.cn

Zhiqiang Li

State Key Laboratory of Robotics,
Shenyang Institute of Automation,
Chinese Academy of Sciences,
Shenyang 110016, China
e-mail: lizhiqiang@sia.cn

Yongqing Wang

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

1Corresponding author.

Manuscript received December 31, 2016; final manuscript received August 4, 2017; published online August 31, 2017. Assoc. Editor: Jun Ueda.

J. Mechanisms Robotics 9(5), 051014 (Aug 31, 2017) (11 pages) Paper No: JMR-16-1391; doi: 10.1115/1.4037617 History: Received December 31, 2016; Revised August 04, 2017

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.

Copyright © 2017 by ASME
Topics: Robots , Screws , Design , Pipes , Springs , Rollers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Mobile features of the screw drive in-pipe robot: (a) steering speed, (b) speed model, and (c) cross section feature in the curved pipes

Grahic Jump Location
Fig. 2

Steering by adjusting screw angles

Grahic Jump Location
Fig. 3

Mechanism design diagram of the proposed robot: (a) structure overview of the robot, (b) screw drive mechanism, and (c) adaptive linkage mechanism

Grahic Jump Location
Fig. 4

Schematic diagram of the adaptive linkage mechanism

Grahic Jump Location
Fig. 5

Mechanism design of elastic arm (a) supporting elastic arm, (b) rotational elastic arm, and (c) force analysis

Grahic Jump Location
Fig. 6

The lateral view of the static model in the vertical pipes

Grahic Jump Location
Fig. 7

The top view of the static model in the vertical pipes

Grahic Jump Location
Fig. 8

Steering motion relation of the robot in curved pipes

Grahic Jump Location
Fig. 9

The model of steering motion in curved pipes

Grahic Jump Location
Fig. 10

The changing length of the elastic arms when R = 313 mm and L = 200 mm

Grahic Jump Location
Fig. 11

The changing screw angles of the rollers in the curved pipes

Grahic Jump Location
Fig. 12

Prototype of the proposed robot

Grahic Jump Location
Fig. 13

Structure diagram of the control system

Grahic Jump Location
Fig. 14

Experiment environment of the straight pipe

Grahic Jump Location
Fig. 15

The screw rollers of the robot in the straight pipe

Grahic Jump Location
Fig. 16

Experiment environment of the vertical pipe

Grahic Jump Location
Fig. 17

Experiment environments of the curved pipes

Grahic Jump Location
Fig. 18

The screw roller angles of the robot in the curved pipes

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In