Development of a Wheeled and Wall-pressing Type In-pipe Robot for Water Pipelines Cleaning and Its Traveling Capability

Authors

  • Guanhua FENG Institute of Mechanics, Chinese Academy of Sciences
  • Wenhao LI Institute of Mechanics, Chinese Academy of Sciences; School of Engineering Sciences, University of Chinese Academy of Sciences
  • Heng ZHANG Institute of Mechanics, Chinese Academy of Sciences; School of Engineering Sciences, University of Chinese Academy of Sciences
  • Zhigang LI Shenyang Institute of Automation, Chinese Academy of Sciences
  • Zhen HE Shenyang Institute of Automation, Chinese Academy of Sciences

DOI:

https://doi.org/10.5755/j01.mech.26.2.18783

Keywords:

wheeled and wall-pressing type in-pipe cleaning robot (IPCR), preload mechanism, traction force, obstacle-overcoming capability, simplified vibration system

Abstract

Most of existing in-pipe robots are applied to de-fect inspection and regular maintenance, etc. There is al-most no in-pipe robot for big-diameter pipelines cleaningand are still problems of traction force and obstacle-overcoming. To deal with the problems, a novel wheeledand wall-pressing type in-pipe cleaning robot (IPCR) withhigh pressure water jet is proposed. Then the preloadmechanism, traction force, and obstacle-overcoming capa-bility of the IPCR are analyzed. The vibration equations ofthe simplified vibration system of the IPCR are established.Also, the necessity of preloading force is verified andmethods to improve obstacle-overcoming capability areproposed. Finally, the traveling capability is verified in adynamics simulation system. The simulation results showthat the proposed IPCR is powerful with traction force andhas a certain capability of obstacle-overcoming. Setting theattitude angle is zero and adding preloading force to allsprings can obviously weaken vibration of the IPCR.

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Published

2020-04-20

Issue

Vol. 26 No. 2 (2020)

Section

DYNAMICS OF MECHANICAL SYSTEMS

License

The copyright for the articles in this journal is retained by the author(s) with the first publication right granted to the journal. The journal is licensed under the Creative Commons Attribution License 4.0 (CC BY 4.0).