Tracked Robot for Cleaning of Pipe

Abstract

Urgency of the research. Service robot is as device which is currently used for standard works as cutting the grass or vacuum cleaning and also teleoperation robot which is remote controlled by human for special tasks as exploring, bomb removing, rescue action etc. Tendency is substitute human in dangerous or monotonous works via using of robots. Target setting. Tracked robot is designed for cleaning of pipe, which has inner pipe wall covered by sediments. The typical example is chimney, where carbon particles cover the pipe wall. Carbon particles can start burning process with result of total damaging of chimney and also building. Pipe robot can be used as practical aid for cleaning and inspection of pipes. Actual scientific researches and issues analysis. Other similar task is repairing of damaged inner pipe wall. Robot which repair pipe from inside pipe saves the costs for site excavation works. Uninvestigated parts of general matters defining. The questions of the design of pipe repairing robots are uninvestigated, because the next research will be focused to this. The research objective. In-pipe robot is as device for locomotion inside pipe with aim to make inspection or cleaning of inner surface of pipe wall. Tracked robot is designed because of better properties as overcoming of problematic places inside pipe and also lower normal force between the tracks and inner pipe wall. The statement of basic materials. Tracked segments are pressed to inner pipe wall and normal force is controlled by controller on the base of measurement of normal force. Cleaning brush module is connected to robot for dirties removing. CCD camera for inspection can be also connected to robot. Conclusions. The cleaning robot is important device for service of pipe systems as prevention of pipe damage of other negative phenomena. Contribution of this robot is significant, because it saves money and time.