Friction Performance of Rubber Sealing Disc Inside Pipe Robots for the Production of High-Paraffin Oil

The in-pipe robot is the most commonly used technique in offshore pipelines. The use of rubber sealing discs is important for in-pipe robots to ensure that the robots are moved by fluid pressures inside offshore pipelines. This paper focuses on the measuring and modeling of the wax–oil gel-breaking process at the soft frictional area between sealing discs and the pipe wall. In this study, a detailed characterization of the gel-scraping process and in situ probing portable microscopy are performed. Two contributions are made in this study. First, a direct observation of wax–oil deposition breaking is employed to detect the minute changes at the in-pipe robot. Second, we find that a simple function is possible to describe the relationship between the wax contents and dewaxing efficiency, in which the debris material removal ratio (DRR) is discussed. Thus, the gel deposition-breaking phenomena are quite different under the influence of rubber sealing discs. This result is further confirmed by the real contact ratio measurements. It is important to research the sealing disc further and apply it more in the petroleum industry, especially in in-pipe robots for deepwater pipeline systems.