1A1-S-080 Pipe inspection robot adaptive to pipe diameter : CUth report; Applying intelligent servo actuator to pipe inspection robot(Mechanism and Control for Actuator 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

2005 ◽  
Vol 2005 (0) ◽  
pp. 49
Author(s):  
Kodai Tsujino ◽  
Jun Nakajima ◽  
Koichi Suzumori ◽  
Takefumi Kanda
Keyword(s):  
Pipe Diameter ◽  
Pipe Inspection ◽  
Daily Lives ◽  
Inspection Robot ◽  
Servo Actuator ◽  
And Control

Micro SCARA Robot for Miniature Parts Assembling

1997 ◽  
Vol 9 (5) ◽  
pp. 341-347
Author(s):  
Toyomi Miyagawa ◽  
◽  
Kohei Hori ◽  
Yukihisa Hasegawa ◽  
Koichi Suzumori ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Small Diameter ◽  
Reduction Gear ◽  
Optical Encoder ◽  
Scara Robot ◽  
Brushless Dc ◽  
Inspection Robot ◽  
Servo Actuator ◽  
Output Characteristics ◽  
And Control

In this report, application of newly developed ultra-small servo actuators to a micro SCARA robot is presented. An ultra-small servo actuator consists of a miniature brushless DC motor, a reduction gear, and an optical encoder for monitoring the rotation of the motor. Two prototypes of different sizes were developed: one is 3mm in diameter and 10mm in length, and the other is 5mm in diameter and 18mm in length. Including the vertical positioning of the hand the robot has three degrees of freedom. First, the structure of the ultra-small servo actuator is shown and then the output characteristics of the 3mmdiameter and the 5mm diameter servo actuators are described, respectively. Next, the structure and control system of the micro SCARA robot, which has a 24.5mmlong arm, are described. Finally, flexible micro actuators, combined in parallel and acting a miniature handling system, are reported. They enable the gentle handling of small, fragile objects. The prototype of this micro SCARA robot enables the assembly of miniature objects in a small space. In the future, we expect this robot to find application as an inspection robot in narrow spaces, such as in small-diameter pipelines.

scholarly journals Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

2019 ◽  
Vol 2 (1) ◽  
pp. 25
Author(s):  
Ata Jahangir Moshayedi ◽  
Saeed Safara Fard ◽  
Liefa Liao ◽  
Seyed Ali Eftekhari
Keyword(s):  
High Efficiency ◽  
Research Work ◽  
Fatigue Cracking ◽  
Inspection Time ◽  
Pipe Diameter ◽  
Pipe Inspection ◽  
Robot Controller ◽  
Inspection Robot ◽  
Adjustable Mechanism ◽  
Chemical Products

Daily tasks mixed with the various applications in the robotic field. Since past, pipes have been used as the safe fluid transmitter. But gradually, these pipes affected by fatigue, cracking, leakage, sediment and breaking down. Also, sometimes humid environment and chemical products existing in the soil, causes rust and fatigue the pipes. All these problems lead to redundancy and impose high expenses for installation and maintenance. One of the recent inspection ways, is using the robot controller which leads to help and reduces the inspection time and preventive repairs activity. Besides, sometimes there are some unpleasant situation such as unfit pipes. It is obvious that in these conditions, doing inspection in toxic arena, narrow and meandering ways is impossible by human. So, designing a pipe inspection robot can be helpful in such circumstances. In this design, first, the former study, the way of operation, movement, mechanisms and advantages of each robot have studied. Then, by considering important parameters in designing, and sketching, making robot with the help of CATIA took place. This structure enjoys a regular mechanism design. It also has a proportional pipe diameter with the possibility of crossing through the slope routes. On the other hand, recording and processing of visual report, needs a camera and GUI toolbox written in Matlab. So image processing can help to exact investigation. One of the main difference of this research work over the various test on the platform, is hiring the mentioned toolbox which helps the operator to have the double investigation inside of the pipes. Moreover, the adjustable mechanism to pipe diameter, polyhedral movement and ascension power, relatively high efficiency in order to use frictional power and reducing repair and pause time are the advantages of this design. Also, observing the inner side of the pipe on the monitor, leads to reducing images. Moreover, its investigation by the introduced toolbox, causes more effective observation, more quickly diagnosis and analysis.

scholarly journals Cornering Algorithm for a Crawler In-Pipe Inspection Robot

Symmetry ◽  
2020 ◽  
Vol 12 (12) ◽  
pp. 2016
Author(s):  
Liang Xu ◽  
Liang Zhang ◽  
Jinzhou Zhao ◽  
Kiwan Kim
Keyword(s):  
Weight Change ◽  
Large Scale ◽  
Good Stability ◽  
Elastic Structure ◽  
Pipe Diameter ◽  
Pipe Inspection ◽  
Optimization Analysis ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Supporting Force

Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.

Developing an adaptable pipe inspection robot using shape memory alloy actuators

2020 ◽  
Vol 31 (4) ◽  
pp. 632-647 ◽  
Author(s):  
Alireza Hadi ◽  
Azadeh Hassani ◽  
Khalil Alipour ◽  
Reza Askari Moghadam ◽  
Pouya Pourakbarian Niaz
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Laboratory Experiments ◽  
Pipe Inspection ◽  
Inspection Robot ◽  
Modeling Simulation ◽  
Simulation Results ◽  
Simulation And Control ◽  
And Control ◽  
Miniature Robot

To detect and repair the faults existing in pipes and narrow ducts in the industry, access to the inside of these pipes is often required. In this article, the conceptual design for a miniature robot for inspecting the inner walls of pipes is presented, such that the proposed robot can operate adaptably and freely in vertical, inclined, and bent paths. The robot utilizes a simple mechanism based on shape memory alloy actuators for adjusting the contact force between the robot and the inner wall of the pipe. Use of shape memory alloys as actuators for the adaptive part will result in a smaller and lighter robot, further increasing its mobility in narrower ducts. Modeling, simulation, and control of the proposed system is conducted and simulation results are validated by performing practical laboratory experiments on a built prototype.

scholarly journals Iterative Approach on Redesigning and Construction of a Pipe Inspection Robot

2021 ◽  
Author(s):  
◽  
Aleksandar Ristic
Keyword(s):  
Graphical User Interface ◽  
Video Feedback ◽  
Environmental Services ◽  
Iterative Approach ◽  
Purchase Price ◽  
Pipe Inspection ◽  
Inspection Robot ◽  
Video Feed ◽  
Inspection Robots ◽  
And Control

<p>A pipe inspection robot is a device that is inserted into pipes to check for obstructions or damage. These robots are traditionally manufactured offshore, are extremely expensive, and are often not adequately supported in the event of malfunction. This had resulted in Associated Environmental Services Limited, a New Zealand utiliser of this equipment, facing significant periods of down-time as they wait for their robots to be repaired. Recently, they were informed that several of their robots were no longer supported. At their instigation, this project was conceived to redesign the electronics and control system of one of these pipe inspection robots, utilising the existing mechanical platform. Requirements for the robot were that it must operate reliably in confined, dark and wet environments, and provide a human user with a digital video feed of the internal status of the pipes. This robot should, as much as possible, incorporate off-the-shelf components, facilitating cheap, and potentially on-site repair. This project details the redesign and construction of such a robot. It employs three electronic boards integrated with the mechanical components and provides video feedback via a custom graphical user interface. Although at the prototype stage, the electronic redesign has been successful, with a cost of less than a tenth of the original robot purchase price.</p>

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