Analysis of a Tracked In-Pipe Robot’s Obstacle-Crossing Performance

Pipeline transportation of oil and gas is widespread. To improve inspection and maintenance, a pipeline inspection robot was developed in our study. We employed a threaded nut mechanism with a preload spring and diameter-adjustment methods. A torque output formula was derived. At maximum (340 mm) and minimum (260 mm) diameters, angles α and β were given. A pipeline obstacle model was established with a maximum crossing height of 7.5 mm. Simulation and experiments showed that the robot could cross up to 7.8 mm, performed well, and operated stably, which met our expectations.