Improvement of Pipe Holding Mechanism and Inchworm Type Flexible Pipe Inspection Robot

K, Hayashi; Akagi, Tetsuya; Dohta, Shujiro; Kobayashi, Wataru; Shinohara, Takashi; Kusunose, Keichi; Aliff, Mohd

doi:10.18178/ijmerr.9.6.894-899

Cited by 19 publications

(20 citation statements)

References 4 publications

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“…Depending on the method used to move inside the pipe, active inspection robots can be classified as follows: Wheel/track type [4][5][6][7][8], Wall pressed type [9][10][11][12], Walking type [13,14], Inchworm type [15,16], Screw type [17,18], Snake type [19,20].…”

Section: Introductionmentioning

confidence: 99%

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Rusu

Tătar

2022

Applied Sciences

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In-pipe inspection robots have proven useful in examining the inside of pipes without affecting their structure, therefore, the interest in researching these robots has constantly increased over time. There are many different types of inspection robots, but the most commonly used are the wall pressed type. This paper proposes a review of the wall pressed type inspection robots in terms of adapting mechanisms. By adapting mechanism is meant a simple linkage or a combination of linkages, with an active or passive force generation system used to adapt the robot to variations in pipe diameter. The characteristics of the different adaptation mechanisms are compared and analyzed regarding the type of linkages used, how the pressure force on the pipe wall is obtained, and the possibility of ensuring the movement through inclined or vertical pipes with elbows and branches.

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Section: Introductionmentioning

confidence: 99%

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Rusu

Tătar

2022

Applied Sciences

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“…Figure 2 shows the construction of sliding/bending mechanism using three EFPAs developed in the previous study 16) . In the mechanism, three EFPAs are set in parallel between both disks in every 120 degrees and have a radius of 12 mm from the central axis of the robot.…”

Section: Development Of Pneumatic Drive Pipe Inspection Robot Using R...mentioning

confidence: 99%

“…In our study, we have aimed to develop inchworm type robots that can be driven by a few valves without vacuum pressure, to realize a compact pneumatic control system. Our robot was also able to move smoothly in a complex pipe with the inner diameter of 100 mm 16) .…”

Section: Introductionmentioning

confidence: 99%

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Development of Pneumatic Drive Pipe Inspection Robot using Radial Bending Type Soft Actuator

Shinohara

FURUYA

Akagi

et al. 2022

JFPS International Journal of Fluid Power System

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In this paper, for the purpose of developing a pipe inspection robot that can catch pipes whose diameter has changed due to rust generated inside, the pipe holding mechanism that can flexibly catch various size of pipes was prototyped. A novel pipe holding mechanism using three extension type flexible pneumatic actuators (EFPAs) that holds the pipe while bending radially was proposed and tested. Also, the holding characteristics for various pipes of the tested mechanism was investigated. Furthermore, the inchworm-type robot using the tested holding mechanism was also proposed and tested. As a result, it could be confirmed that the robot could travel on the straight pipes and complicated pipes that consists of different pipes. In addition, a novel propulsion mechanism using only two holding mechanisms was also proposed and tested. It was also confirmed that a speed of 4.5 mm/s was obtained and that it could travel in a curved pipe.

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“…Based on this concept, we have proposed and tested an inchworm type pipe inspection robot that consists of a sliding propulsion mechanism and a holding mechanism using extension type flexible pneumatic actuators (it is called "EFPAs" for short) in our previous study 13),14) . The robot was able to move smoothly in complex pipe with the inner diameter of 100 mm 14) . As a robot that can travel in the thinner pipe, both "wriggling type" and "cilia type" inspection robots using sliding and bending mechanism with parallel arranged three EFPAs utilizing the difference of frictional force moving forward and backward were also proposed and tested 15) .…”

Section: Introductionmentioning

confidence: 99%