Shengyuan Jiang

Design of continuous climbing pneumatic cable maintenance robot

Aimed to coating cables for cable-stayed bridges, a continuous climbing pneumatic cable maintenance robot is developed. Climbing mechanism driven by pneumatic system is devised and design scheme of pneumatic system which take the synchronized proportional speed distribute loop as core is presented. These make the robot move continuously and stably. The principal and subordinate type monitoring control system can make sure that robot can automatic detect malfunctions and deal with them by itself. Some experiments in robot lab have proved this robot had perfect reliability, speeds continuity and stability and adaptability for cable. it is of foundation for the cable maintenance robot applying to automatic painting of cables.

Development of Hanging-Arm Inspection Robot for High-Voltage Transmission Line

Since many obstacles such as counterweight, strain clamp, suspension clamp, isolator string and insulation stick along 500 kV high-voltage transmission line, in this work one kind of brand-new mechanical structure has been designed for inspection robot, and all parts of the mechanical structure have been fully explained. At the same time, a control system of the robot has been designed based on the working of long-distance wireless monitoring. This control system can be divided into the robot main body control system and the ground monitoring system. The results of experiments with simulation transmission lines show that the robot can satisfactorily span obstacles automatically and fulfill the specified inspection tasks.

Analyzing of tri-axis differential in-pipe robot with adaptive differential capability for moving inside pipelines

In this paper, a novel called Tri-axis Differential In-pipe Robot without tether cable, featured with adaptive differential capability is developed as a mobile platform for long distance inspection of moving inside pipelines. The robot has several remarkable features superior to the others such as an differential mechanism with adaptive differential capability in elbow. Consequently the in-pipe robot can equip with single driving motor to traverse through various pipeline elements smoothly with high efficiency without sophisticated sensory information. To confirm the effectiveness of the proposed robotic differential method, experiments are performed to quantify the differential precision of the respective driving wheel as well as the robotic driving efficiency.

Study on speed control system of in-pipe robot power self-supported by fluid

A in-pipe robot power self-supported by the fluid media in the pipeline was developed. Speed control system was model analyzed and the relationship between the load that affect the speed stability and through-flow area was derived, and the speed control system including double closed-loop feedback part was built.

Study on the simulation system of NC horizontal milling

Based on the features of NC horizontal milling process, the 3D geometric model of virtual machine tool was established by Microsoft Visual C++6.0, MFC and OpenGL graphics library. The method of Construction of Solid Geometry (CSG) and Boundary Representation (B-Rep) were adopted, and some realistic effects treatments (including material, light, texture mapping, etc.) were applied. The established virtual machine tool can be zoomed, rotated and translated in the view area. The workpiece decomposition expression model was put forward, and Boolean subtraction was implemented in this procedure. At the same time, a tool solid model to simulate the real time process of cutting was established. Simulation example proves that this system runs reliably and avoids the inconvenience and material waste of other methods.

Research on a Tri-axial Differential-Drive In-Pipe Robot

Pipelines for oil, gas and fluid transportation require a robot to have an excellent mobility and adaptability to various pipelines with elbows. In this paper, a novel differential drive in-pipe robot called tri-axial differential drive in-pipe robot, which is composed of a tri-axial differential mechanism and a pipeline adaptation mechanism, is presented and developed for the inspection of pipelines with inner diameter from 275 to 300 mm. The tri-axial differential mechanism with 3-DOF for steering allows the robot easily adapt to the existing configuration of pipelines by providing outstanding mobility during navigation. Then differential and mechanics property of the robot in straight pipeline and elbow are analyzed based on established mathematical model, and multi-body simulation on the robot is conducted to confirm the effectiveness of the proposed model.

Design of Pneumatic Cable Maintenance Robot

Aimed to coating, cleaning and inspection of cable for cable-stayed bridges, a pneumatic worming cable maintenance robot is presented. This paper puts forward a design method of modularizing which can simplify the design course greatly. It is composed of cable climbing mechanism, working mechanism and controlling system. The key problems of new climbing mechanisms and painting mechanism applying to cables are developed. Movement of the robot and clamping of climbing mechanism are driving by electrical and pneumatic system to identify malfunctions and make sure automation. The shortcomings such as low efficiency, high cost, less safety of artificial methods that are normally adopted in cable-stayed bridges are overcome. Furthermore, some experiments in robot lab proved this robot had perfect performances under different conditions; it was of foundation for the cable maintenance robot applying to automatic painting of cables.