The pipelines are the major tools for the transportation of fuel oils,
gas, drinkable water and effluent water. A lot of troubles caused by
piping networks aging, corrosion, cracks, and mechanical damages
are possible, so continuous activities for inspection, maintenance and
repair are strongly demanded. These specific operations as inspection,
maintenance, cleaning a.s.o. are expansive thus the application of
the robots appears to be one of the most attractive solutions at this time.
The inspection of pipes may be relevant for improving security and
efficiency in industrial plants too. The in-pipe robots are an integration
of mechanical, electrical and software subsystems, supporting one or
more sensorial elements for measuring the pipe’s overall state and
structural integrity. One of the main subsystems in such inspection
mobile systems is the mobile platform that carries the sensing and
explorative end of the tool. The robots with flexible structure may
boast adaptability to the operating environment, especially to the pipe
diameter, with enhanced dexterity, maneuverability, capability to
operate under hostile conditions.
IN-PIPE ROBOTS CLASSIFICATION
In-pipe robots can be classified into several elementary forms
according to the locomotion mechanisms as shown in figure
Compact Magnetic Wheeled Robot With High Mobility for
Inspecting
Complex Shaped Pipe Structures
This paper then presents the design and implementation of
a robot (Fig. 1) with 2 aligned magnetic wheels integrating
the lifter-stabilizer function. Steering is ensured thanks to
an active DoF on the front wheel and surface adaptation is
ensured thanks to the free joint in the fork (Fig. 6). This
system has then the main advantages to have high mobility
while being mechanically simple and compact. It only has 5
active DoF (2 driven wheels, 1 active steering and 2 lifterstabilizer
arms pairs) and 1 free joint.
Inspecting
Complex Shaped Pipe Structures
This paper then presents the design and implementation of
a robot (Fig. 1) with 2 aligned magnetic wheels integrating
the lifter-stabilizer function. Steering is ensured thanks to
an active DoF on the front wheel and surface adaptation is
ensured thanks to the free joint in the fork (Fig. 6). This
system has then the main advantages to have high mobility
while being mechanically simple and compact. It only has 5
active DoF (2 driven wheels, 1 active steering and 2 lifterstabilizer
arms pairs) and 1 free joint.
The Pipe Crawler
Mechanical and Structural Design Three mobility requirements
can be defined from the goals above: first, the robot must be able
to move forward and backward (since it will have to travel back to
the entrance without the rather difficult challenge of turning around
inside). Second, a capability for travel in vertical pipe sections is
necessary; as part of this, it is best for the robot to be statically
stable or able to maintain position in a vertical pipe without the use
of motors or other powered devices. Third, the robot should be able
to move through turns such as elbow fittings.
Mechanical and Structural Design Three mobility requirements
can be defined from the goals above: first, the robot must be able
to move forward and backward (since it will have to travel back to
the entrance without the rather difficult challenge of turning around
inside). Second, a capability for travel in vertical pipe sections is
necessary; as part of this, it is best for the robot to be statically
stable or able to maintain position in a vertical pipe without the use
of motors or other powered devices. Third, the robot should be able
to move through turns such as elbow fittings.
DESIGN OF A FULLY AUTONOMOUS MOBILE PIPELINE
EXPLORATION ROBOT (FAMPER)
FAMPER has four caterpillar tracks that provide good gripping
force in both vertical and horizontal pipeline situations.
Independent suspensions and links enable FAMPER to travel in
any type of pipeline network available. Spacious central body
frame allows the ability of installing powerful computing system.
Centralized interface provides easily reachable connections to
many of the sensors that FAMPER uses. Powerful batteries
help FAMPER to be mobile, and also in increasing its ability
to perform the given actions long enough in the given mission range.
