Design and Realization of a 6-Wheeled In-Pipe Robot

Abstract

An auto-adjust 6-wheeled in-pipe robot system is designed, which is suitable for pipelines with different diameters. It is composed of the support structure, driving structure, and diameter-change structure. It adopts a 120° evenly distributed 6-wheeled support structure, which is connected with the diameter-change structure and presses the wheels against the pipeline. With these structures, the robot can work in the pipeline with a diameter of 100mm ~ 200mm. The robot is designed to work in different pipelines to detect the inner surface, and image sensors can be fixed to the ends of the robot to carry out the task.