Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability

Zechao Wang; Mingyuan Wang; Jianjun Yuan; Shiqiang Wang; Liang Du; Sheng Bao; Weiwei Wan

doi:10.1109/ROBIO55434.2022.10011786

Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability

Zechao Wang
, Mingyuan Wang
, Jianjun Yuan^*
, Shiqiang Wang
, Liang Du
, Sheng Bao
, Weiwei Wan

^*Corresponding author for this work

Shanghai University
Safety Environment Quality Surveillance and Inspection Research of CNPC Chuanqing Drilling Engineering Co. Ltd.
The University of Osaka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.

Original language	English
Title of host publication	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2039-2044
Number of pages	6
ISBN (Electronic)	9781665481090
DOIs	https://doi.org/10.1109/ROBIO55434.2022.10011786
State	Published - 2022
Externally published	Yes
Event	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, China Duration: 5 Dec 2022 → 9 Dec 2022

Publication series

Name	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Conference

Conference	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Country/Territory	China
City	Jinghong
Period	5/12/22 → 9/12/22

Access to Document

10.1109/ROBIO55434.2022.10011786

Cite this

Wang, Z., Wang, M., Yuan, J., Wang, S., Du, L., Bao, S., & Wan, W. (2022). Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability. In 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 (pp. 2039-2044). (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO55434.2022.10011786

Wang, Zechao ; Wang, Mingyuan ; Yuan, Jianjun et al. / Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability. 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 2039-2044 (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022).

@inproceedings{f290fea64f084c30b84f3ae04b2d1734,

title = "Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability",

abstract = "Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.",

author = "Zechao Wang and Mingyuan Wang and Jianjun Yuan and Shiqiang Wang and Liang Du and Sheng Bao and Weiwei Wan",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",

year = "2022",

doi = "10.1109/ROBIO55434.2022.10011786",

language = "英语",

series = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2039--2044",

booktitle = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

address = "美国",

}

Wang, Z, Wang, M, Yuan, J, Wang, S, Du, L, Bao, S & Wan, W 2022, Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability. in 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Institute of Electrical and Electronics Engineers Inc., pp. 2039-2044, 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, 5/12/22. https://doi.org/10.1109/ROBIO55434.2022.10011786

Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability. / Wang, Zechao; Wang, Mingyuan; Yuan, Jianjun et al.
2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 2039-2044 (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability

AU - Wang, Zechao

AU - Wang, Mingyuan

AU - Yuan, Jianjun

AU - Wang, Shiqiang

AU - Du, Liang

AU - Bao, Sheng

AU - Wan, Weiwei

PY - 2022

Y1 - 2022

N2 - Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.

AB - Pipe robots can replace workers to work in harsh environments. Generally, most of the existing pipe robots can only move in pipes with constant diameters, but cannot move in pipes with variable diameters. To this end, we propose a permanent-magnet wheeled pipe robot. We introduce a differential mechanism as well as a slide block and slide rail structure so that the robot can move on the pipe with variable diameters. Firstly, the CAD model is established by SOLIDWORKS, the self-adaptive diameter-variable mechanism of the robot is analyzed, and the applicable pipe diameter range is obtained. Then we use MATLAB to carry out numerical analysis and obtain the relationship of the attraction force of the magnetic wheel. Finally, the MAXWELL module in the ANSYS ELECTRONICS software is used to simulate the magnetic wheel. Through simulation, we obtain the curve of magnetic field strength and the attraction force of the magnetic wheel. The hypothesis of our theory is tested.

UR - https://www.scopus.com/pages/publications/85147329515

U2 - 10.1109/ROBIO55434.2022.10011786

DO - 10.1109/ROBIO55434.2022.10011786

M3 - 会议稿件

AN - SCOPUS:85147329515

T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

SP - 2039

EP - 2044

BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Y2 - 5 December 2022 through 9 December 2022

ER -

Wang Z, Wang M, Yuan J, Wang S, Du L, Bao S et al. Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability. In 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 2039-2044. (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). doi: 10.1109/ROBIO55434.2022.10011786

Structural design and analysis of a permanent-magnet wheeled pipe robot with pipe diameter adaption capability

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