Structure design and characteristic analysis of over-line and universal shaft connector of pipeline intelligent plugging robot

Abstract

To improve the trafficability and reliability of the pipeline intelligent plugging robot (PIPR) in the elbow section, an over-line and universal shaft connector (OUSC) with a hollow double-ball hinged structure were innovatively designed. The dynamics simulation model of the OUSC was established, and the influence rule of its axial load on rotational angular velocity was analyzed to verify the rotational flexibility of the OUSC. In addition, the bending performance experience of the OUSC was constructed to verify the feasibility of the OUSC design and the rationality of theoretical analysis results. The rotation torque experience of the OUSC indicates that the whole moving process of the OUSC turning to the limit position is responding. Cable-traveling performance test of the OUSC shows that the OUSC turns multiple times without affecting the service life of the internal cables. Theoretical and experimental studies show that the innovative design of the OUSC has superior steering performance and meets the requirements of PIPR in the elbow section. This study can further provide support for the optimization and application of unit connectors of robots such as pipeline cleaning, detection, and repair.