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Prestressed structure for robotics robot oil pipeline

Abstract:

This paper presents the development of a robot based on the prestressed structure to carry out maintenance inspection on oil pipelines. This type of mechanical structure is characterized by low weight and high capacity of adaptation to different diameters. The application requires the device to move vertically and developed high-speed. Note that in such facilities with electric submersible pumps (ESP) and Progressive Cavity Pumps (BCP), both highly sensitive to adverse environmental conditions, therefore, the importance of this research is that the robot incorporates a specific sensor network to measure those variables that can interfere with the pumps normal operation. In addition, this robot can recover objects that could fall into the well during installation and maintenance activities, this process is currently manual. This paper describes in detail the design hypothesis and the methodology used to develop the first prototype. Finally, we present the results of such development through which it has been able to validate the potential of the application. © 2012 CEA. Publicado por Elsevier España, S.L.