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Design and application oilfield pipelines inspection prototype robot (progressive cavity pumps and electric submersible pumps)

Abstract:

This paper presents the development of a robot based on tensegrity structure with to perform inspection and maintenance in petroleum pipelines. Due to the nature of application, the robot must be able to move vertically on the outside of the pipe. This type of mechanical structure is characterized by low weight and high capacity to adapt to different diameters. The application requires that the device developed high-speed moving through the pipes used in oil extraction. Note that in these facilities has Submersible Electric Pumps and Progressive Cavity Pumps (PCP), both very sensitive to the environmental conditions, the robot will incorporate sensors to measure variables that may interfere with normal functioning pumps. This article describes in detail the design assumptions made and methodology used to develop the first prototype. Finally, we present the results obtained through the development which has been validated the potential of application.