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Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot
Feng GH(冯冠华); Li ZG(李智刚); He Z(何震); Feng YB(冯迎宾); Xue T(薛涛); Liu KZ(刘开周)
Department水下机器人研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages1040-1045
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403535144
WOS IDWOS:000405724600175
Contribution Rank1
ISBN978-1-5090-4363-7
AbstractThe in-pipe cleaning robot (IPCR) is a new equipment for pipelines cleaning. However, most existing in-pipe robots are used to inspection and simple maintenance, etc. They cannot effectively complete the pipelines cleaning works, especially large diameter pipelines. This paper proposes a novel wheeled and wall-pressing type IPCR equipped with new high pressure water jet cleaning device. The whole mechanisms of the proposed IPCR are designed and a novel preload mechanism is applied to guarantee the IPCR reach to the target operation distance. Based on the multi-body theory, the contact mechanisms model is built. The motion equation and differential-algebraic equations of the IPCR system are obtained respectively. To verify the effect of the high pressure water jet cleaning jet on the motion stability of the IPCR, the virtual simulation platform is established in software RecurDyn and some simulation experiments are carried out. The results show that under the condition of sufficient preload force, the high pressure water jet cleaning device starts after the main body runs stable, which can guarantee the global motion stability.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19686
Collection水下机器人研究室
Corresponding AuthorFeng GH(冯冠华)
Affiliation1.Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, 110159, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, CO, 110016, China
3.Automation and Electrical Engineering College, Shen Yang Ligong University, Shenyang, CO, 110159, China
Recommended Citation
GB/T 7714
Feng GH,Li ZG,He Z,et al. Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot[C]. New York:IEEE,2016:1040-1045.
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