Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection.

ABSTRACT: Pipelines are embedded in industrial sites and residential environments, and maintaining these pipes is crucial to prevent leakage. Given that most pipelines are buried, the development of robots capable of exploring their interiors is essential. In this work, we introduce a novel in-pipe robot utilizing Continuously Variable Transmission (CVT) mechanisms for navigating various pipes, including vertical and curved pipes. The robot comprises one air motor, three CVT mechanisms, and six wheels at the end of six slider-crank mechanisms, including three active and three idler ones. The slider crank and spring mechanism generate a wall press force through the wheel to prevent slipping inside the pipe. This capability allows the robot to climb vertical pipes and adapt to various pipe diameters.

SUBMITTER: Park J 

PROVIDER: S-EPMC10886735 | biostudies-literature | 2024 Feb

REPOSITORIES: biostudies-literature