Locomotion Design of In-pipe Spraying Robot with Multiple Modules for Trenchless Rehabilitation of Underground Pipe

Implementing in-pipe robots for rehabbing underground pipelines can keep frontline workers safe and enhance operational efficiency. A powerful and robust shape transformation in-pipe spraying robot with heavy-duty spraying equipment is developed to perform spray-in-place pipe (SIPP) rehabilitation operations on underground pipelines. The SIPP rehabilitation performance of this spraying robotic system was successfully demonstrated using the remote rotary mixing and spraying of plural component protective coating technique. The novelties of this in-pipe adaptive spraying robot are its ability to carry heavy spraying equipment with a compact and robust design locomotion module and integrated spraying module design installed on its hollow body. It can also pass through the bent elbows and long straight pipes to remotely perform the excellent spraying operation. The adaptive robot's mechanical design, kinematics, and spraying performance are experimentally validated. The proposed spraying approach can perform trenchless underground pipe rehabilitation for multiple pipe diameters over a long distance.