The running characteristics of a screw-principle microrobot in a small bent pipe

Hayashi, Iwao; Iwatsuki, Nobuyuki; Iwashina, S.

doi:10.1109/mhs.1995.494242

Cited by 37 publications

(17 citation statements)

References 1 publication

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“…Especially an in-pipe robot with screw drive, so-called 'a screw type robot', is composed of wheel, wall-pressing and screw mechanism and runs with a helical motion inside a pipe [3]. The in-pipe robot with screw drive has a simple architecture that is suitable for a pipe with small diameter because only one actuator is required for drive [3][4][5][6]. That is, the in-pipe robot with screw drive can be smaller and lighter.…”

Section: Different Types Of In-pipe Robots Have Alreadymentioning

confidence: 99%

Water-jet Cleaning Motion of the In-Pipe Robot with Screw Drive Inside the Water Pipes

Kang

2012

Journal of the Korean Society of Marine Engineering

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：For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

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Section: Different Types Of In-pipe Robots Have Alreadymentioning

confidence: 99%

Water-jet Cleaning Motion of the In-Pipe Robot with Screw Drive Inside the Water Pipes

Kang

2012

Journal of the Korean Society of Marine Engineering

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“…The screw type (or helical-drive type) displays the motion of a screw when it advances in the pipelines, as depicted in Fig. 2(g) [11], [12].…”

Section: Introductionmentioning

confidence: 99%

In pipe mobile robot with passive adaptation ability to pipe diameter

Dashti¹,

Reza²

2016

Fourth International Conference on Advances in Mechanical and Automation Engineering - MAE 2016

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Abstract-In-pipe robotic systems are increasingly being used for visual inspection and nondestructive testing to monitor block, corrosion, crack, defect, and wall thickness of pipeline networks. In this paper an in-pipe mobile robot with the passive ability of adaptation to pipe diameter is presented. Its mechanical structure consists of three sets of parallelogram wheeled leg mechanism which are circumferentially spaced out 120 degrees apart symmetrically. Using a simple preloaded spring makes this structural design capable to realize the adaptation to a wide range of pipe diameters, from 20 to 32 inch, and also wheel normal forces adjustment. On the basis of analyzing the mechanical actions of the adaptation to pipe diameter and normal force adjusting, the related mechanical models are derived. Using simulations performed by Msc Adams the derived models are validated and also the ability of robot in performing challenging tasks in different pipe profiles is inspected. Dynamic simulations prove that the robot can pass well through reducer joints and vertical pipelines by adjusting the spring force such that the suitable thrust force for the robot is obtained. Keywords-in-piperobot, passive pipe diameter adaptability, normal force adjusting, pipelines inspection I.

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“…The screw type (or helical drive type) displays the motion of a screw when it advances in the pipelines as depicted in Fig. 1(g) (Hayashi et al, 1995;Horodinca et al, 2002;Iwashina et al, 1994). Most of in-pipe robots employ the mechanism derived from one of aforementioned basic types of mechanisms or their combinations.…”

Section: Introductionmentioning

confidence: 99%