Design and Development of Miniature long distance multi-moving robots for 3D Smart Sensing for underground Pipe Inspection

TL;DR

This paper presents a novel miniature in-pipe climbing robot with a specialized gearbox and instrumentation that enhances its ability to navigate complex pipe networks for underground inspection, improving stability and control.

Contribution

It introduces a new gearbox design and control method that enable precise movement and stability of miniature robots in complex pipe environments.

Findings

Successful navigation of complex pipe networks

Enhanced stability through specialized gearbox

Improved control of robot movement

Abstract

Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest ground plane of a standard dual output gearbox. Instrumentation helps achieve a very well-defined deceleration sequence in which the robot slides and pulls as it moves forward. This instrument takes into account the forces exerted on each track within the line relationship and intentionally modifies the robot's track speed, unlocking the key to fine-tuning. This makes the 3 output transmissions take a lot of time. Deflection of the robot on a pipe network with various bearings and non-slip pipe bends demonstrates the integrity of the proposed structure.