Movable for a Long Distance
Manabu ONO, Toshiaki HAMANO and Shigeo KATO
Structure of the in-pipe inspection robot
The fabricated new in-pipe inspection robot is shown in Fig. 1.
The in-pipe inspection robot consists of a driving mechanism,
the CCD camera and four light emitting diodes. A driving mechanism
is structured by a rubber bellows actuator, an electromagnetic valve
and lot of friction rings. A rubber bellows actuator is 33 mm in outer
diameter, 23 mm in inner diameter
and 150 mm long. A rubber bellows actuator is connected
with a plastic tube which is 2.5 mm inner diameter, 150 mm
long and connected with the out port of an electromagnetic valve.
An electromagnetic valve weights 20 g and is connected
with two plastic tubes which are 4 mm inner diameter, 6 mm
outer diameter and 40 m long. These feed pneumatic pressure
and vacuum pressure to the electromagnetic valve. Friction
rings are connected with the rubber bellows actuator at the front and
the rear sides of the actuator. A friction ring is the outer diameter
is 46 mm and the inner diameter 20 mm, made of nitrile butyl rubber.
with a plastic tube which is 2.5 mm inner diameter, 150 mm
long and connected with the out port of an electromagnetic valve.
An electromagnetic valve weights 20 g and is connected
with two plastic tubes which are 4 mm inner diameter, 6 mm
outer diameter and 40 m long. These feed pneumatic pressure
and vacuum pressure to the electromagnetic valve. Friction
rings are connected with the rubber bellows actuator at the front and
the rear sides of the actuator. A friction ring is the outer diameter
is 46 mm and the inner diameter 20 mm, made of nitrile butyl rubber.
Development of mobile minirobots for in pipe inspection tasks
the picture and the kinematic scheme of
the in-pipe inspection robot called MRINSPECT I (Multifunctional
Robotic crawler for INpipe inSPECTion) [2] is
presented. It has six slider-crank mechanisms, arranged at
120° one from each other, each of these having a driving
wheel. The wheels are actuated by DC motors, and belt
transmission. The robot is designed as the springs to actuate
the mechanisms with equal forces. This structure allows
the robot to move within pipes with horizontal, vertical,
and elbow-typed portions. The movement of the robot
within T junctions is not possible.
the picture and the kinematic scheme of
the in-pipe inspection robot called MRINSPECT I (Multifunctional
Robotic crawler for INpipe inSPECTion) [2] is
presented. It has six slider-crank mechanisms, arranged at
120° one from each other, each of these having a driving
wheel. The wheels are actuated by DC motors, and belt
transmission. The robot is designed as the springs to actuate
the mechanisms with equal forces. This structure allows
the robot to move within pipes with horizontal, vertical,
and elbow-typed portions. The movement of the robot
within T junctions is not possible.
Design of a Reconfigurable Indoor Pipeline Inspection Robot
Young-Sik Kwon, Eui-Jung Jung, Hoon Lim, and Byung-Ju Yi
The length of robot is 75mm and the exterior
diameter changes from 75mm up to 105mm. The robot
consists of a main body, three linkage structures, and
caterpillar wheel parts as shown in Fig. 1. The main
body contains the main board consisting of a micro
controller (AVR, Atmega8) and a motor drive and
sensor processor (AVR, Atmega128), and a linkage
structure connects the main body to a caterpillar wheel
part. Each caterpillar wheel contains a micro DC motor.
The body is constructed as a triangular shape, which is
adequate to support the three linkage structures.
Young-Sik Kwon, Eui-Jung Jung, Hoon Lim, and Byung-Ju Yi
The length of robot is 75mm and the exterior
diameter changes from 75mm up to 105mm. The robot
consists of a main body, three linkage structures, and
caterpillar wheel parts as shown in Fig. 1. The main
body contains the main board consisting of a micro
controller (AVR, Atmega8) and a motor drive and
sensor processor (AVR, Atmega128), and a linkage
structure connects the main body to a caterpillar wheel
part. Each caterpillar wheel contains a micro DC motor.
The body is constructed as a triangular shape, which is
adequate to support the three linkage structures.
A New Solution for In-line Pipe Inspection
Anouar Jamoussi, Ph.D.
itRobotics’ Solution for In-Line Inspection
In this section, we describe a robotic NDE solution for in-line
pipe inspection. This solution is developed by
itRobotics, a Houston, Texas based company. itRobotics’
product is called the Small Pipe Inspector (SPI). It was
initially designed for the in-yard testing of oilfield coiled tubing
(CT). During an in-line inspection session, the SPI
crawls through an entire CT string ranging from 10,000 to
30,000 feet in length while still coiled on its reel. This
mode of inspection avoids the need to uncoil the CT string
for inspection, saving a fatigue cycle of the string. CT
strings feature the challenge of inside wall mechanical
obstacles. Specifically, almost all CT strings feature a flash
line that runs along the entire length of the tube with a height
of up to .09 inch and a width of up to .08 inch.
Relative to an inside diameter of 2.5 inch or less and a wall
thickness of 3/8 inch or less, the flash line represents a
major “speed bump” for any crawler inside the pipe.
Anouar Jamoussi, Ph.D.
itRobotics’ Solution for In-Line Inspection
In this section, we describe a robotic NDE solution for in-line
pipe inspection. This solution is developed by
itRobotics, a Houston, Texas based company. itRobotics’
product is called the Small Pipe Inspector (SPI). It was
initially designed for the in-yard testing of oilfield coiled tubing
(CT). During an in-line inspection session, the SPI
crawls through an entire CT string ranging from 10,000 to
30,000 feet in length while still coiled on its reel. This
mode of inspection avoids the need to uncoil the CT string
for inspection, saving a fatigue cycle of the string. CT
strings feature the challenge of inside wall mechanical
obstacles. Specifically, almost all CT strings feature a flash
line that runs along the entire length of the tube with a height
of up to .09 inch and a width of up to .08 inch.
Relative to an inside diameter of 2.5 inch or less and a wall
thickness of 3/8 inch or less, the flash line represents a
major “speed bump” for any crawler inside the pipe.
DC Motor and Servo Motor
