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| Design of a new type crawling in-pipe robot |
| 1.Xingzhi College, Zhejiang Normal University, Jinhua, Zhejiang 321004, China; 2.Department of Mechanical Engineering, Wenzhou Vocational ＆ Technical College, Wenzhou, Zhejiang 325035, China; 3.College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang 310032, China |
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Abstract Based on the self-locking principle, a new type of crawling pipeline robot was designed and made to improve the adaptive ability of in-pipe robot. Without additional pressure, the robot was adaptable to pipe diameter and section with horizontal, vertical and bending pipe in moving process. A telescopic umbrella stand mechanism was adopted in the robot, and the force of telescopic mechanism and the principle of self-locking were deduced based on design requirements. The design of support structure and telescopic mechanism was completed, and the relationship of screw thrust and parallelogram driving force was established. A prototype was developed based on the theoretical foundations, and the experiments of prototype were completed. The results show that the robot traction, self-locking ability and cornering characteristics are in good performance, and the robot can accommodate 90~150 mm inner diameter of pipe. The results provide a reference for the in-pipe robot design.
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Received: 21 November 2014
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2015, Vol. 36 
