Development of an inspection robot for small diameter gas distribution mains

Abstract

This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.

Advances in the Inspection of Unpiggable Pipelines

“…The shape adaptability of 100 mm is already greater than twice the length of the body segments which measure just 50 mm, with greater numbers of segments this robot may even be able to handle a wider range of diameters. PIRATE was an in-pipe robot with the intended purpose of autonomous inspection of the gas distribution network in the Netherlands [31]. The robot is snake-like, and modular in nature featuring articulated clamping modules that can actively change the height of the robot to adapt to changes in pipe diameter.…”

Experimental verification of analytical torques enabling a screw drive in-pipe robot to pass through bent pipes

“…A PIGtype robot is passed through a relatively large pipeline and is propelled by the pressure of the product in the pipeline itself [1]. The vehicle-type robot is one of the most researched and commercialized types of pipeline inspection systems; this type is further grouped as follows: the wheeled [2], crawler [3], screw drive [4], and jointed [5] types. Most vehicletype robots are equipped with a wall-press mechanism that supports the robot's body in the pipe [6].…”

Development of Pipe Holding Mechanism for Pipe Inspection Robot Using Flexible Pneumatic Cylinder

“…02006-p. 3 Figure 4(a) shows the view of the thinner pipe holding mechanism proposed in this study. The mechanism consists of three acrylic claws that can expand toward radial direction and three bellows.…”

“…Water pipe lines are very complex and includes quite a lot of corners and joints. The cost of the inspection of pipe will be reduced by using inspection robot [2][3][4]. In the case of pipe inspection, the robot is required higher mobility.…”