Sunday, March 01, 2009

Pipe inspection robot 3

Small Internal Pipe Inspection Robot

IPIR is a small robot designed to navigate through small diameter
pipes and conduits in any orientation. The IPIR system design has
been specifically developed to serve as a platform to carry
inspection instruments such as cameras into the narrow confines
of a pipe. Its principle design is a unique ?inchworm? movement
that optimizes locomotion and position of the robot within the pipe.
The operator will have the ability to accurately and reliably survey
the inside of a piping system remotely.

Pipeline Mobile Robots

Thes-III is the robot for gas pipe of 150mm in diameter. Several
robots were already made for this end, but it was difficult to make
smooth pass through the elbow joint where the pipe bends deep
and some obtrusions exist around it. To solve this problem,
Thes-III introduced the layout of the active wheels arraying radial
in a "wheel plane", and drive the wheels while pressing them on
inside the pipe with spring force. But if the wheels are driven like
this, the wheel plane tends to be inclined and it can not maintain
vertical posture in relation to the pipeline axis. Thes-III thus
introduced the detect wheels for each active wheels to detect
the inclination angle of the active wheel to the pipeline axis, and
at the same time, feedback control was executed to maintain
the vertical posture. Thanks to these, Thes-III can easily follow
the bending of the pipeline and it smoothly makes tight turn on
the elbow joints.


The robot consists of two main parts, a stator and rotor,
connected by an active joint including a D.C.

motor with reducer and, in some cases, a universal joint.
The stator is equipped with a set of wheels
which allow the motion parallel to the tube axis; the rotor is
equipped with wheels tilted with a small
angle with respect to the plane perpendicular to the tube axis

Feeder Pipe Inspection Robot with an Inch-Worm
Mechanism Using Pneumatic Actuators
Changhwan Choi, Seungho Jung, and Seungho Kim
There are various actuation mechanisms to design a
robot such as electrical motors, pneumatic cylinders,
hydraulic actuators, and material forces, and so on.
Although the electrical system has many benefits, the
smaller the actuator, the smaller the actuation force.
That is, we can make the robot as small as possible,
but the robot may not work in an actual environment

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