Modular Design of Multi-Unit Pipeline Inspection Robot for Low Pressure Gas Pipeline

Aiming at the problem of inspection inside low-pressure gas pipelines in cities and towns, this paper proposes a modularized multi-unit wheeled pipeline robot, which breaks through the technical limitations of traditional PIG inspection equipment that relies on high-pressure fluid drive. This paper proposes a multi-unit coordinated drive wheel type pipeline robot, the robot has four dynamic units, each unit is connected using a steering module, but also able to replace the steering module into the inspection unit, to become a pipeline inspection robot. The robot is suitable for DN300 pipeline, can pass through straight pipes, bends, T -branches and some obstacles in the pipe, and has a certain adaptive ability to change the diameter of the pipe. Through the bend traffic ability the analysis and simulation to verify the robot's configuration of geometric parameters designed to complete the 1.5D radius of curvature of the 90-degree elbow through the pipe, and traction inspection unit experiments to complete the straight pipe and bend traction load experiment.