Abstract
In-pipe robots are usually used to carry many kinds of equipment to operate in the pipeline. In this article, a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot is proposed. The constant power and continuous locomotion principle is obtained by upgrading the traditional pipeline robot. The structure of the inchworm in-pipe robot is designed including self-locking mechanism and telescopic mechanism. The operating principle of self-locking mechanism is analyzed for parameter design and performance evaluation. A new type of hydraulic cylinder series circuit is introduced, which realizes synchronous motion in the related mechanisms of pipe robot. And the dynamic characteristics of the hydraulic cylinders are analyzed and simulated to verify feasibility of the circuit. The prototype is developed to prove that the novel inchworm in-pipe robot can adapt to diameter of 140–180 mm pipe and has 550 N traction ability with the average speed of 0.11 m/s.
Highlights
With the extensive application of pipeline system, the pipeline problems including detection and maintenance are becoming more and more prominent
The working principle of hydraulic drive system is as follows: the small pump station 1 provides pressure oil for the drive system; locking hydraulic cylinders are controlled by the control valve 7 and control valve 8, to achieve the expansion and the constriction; the hydraulic cylinder series synchronous circuit is formed through connecting the two drive hydraulic cylinder chambers
The continuous propulsion inchworm in-pipe robot can operate stably when driven by the hydraulic system and conforms to the requirements including high traction and fast moving;
Summary
With the extensive application of pipeline system, the pipeline problems including detection and maintenance are becoming more and more prominent. In order to solve difficulty and danger in pipeline operation, the in-pipe robot provides an effective technology approach.[1,2] Recently, bio-inspired robots have developed rapidly, and researchers begin to study the way of in-pipe robot moving from the bionics perspective.[3,4,5] Many kinds of in-pipe robots are developed including mantis robot, spider robot, snake robot, and inchworm in-pipe robot.[6,7,8]. Under the influence of the external magnetic field, the elastic fins oscillate, causing a vortex in front of the body and pushing the body to move forward.[10] Zagler has developed the spider pipeline robot MORITZ. Its structure is College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
