Improvement of Pipe Holding Mechanism and Inchworm Type Flexible Pipe Inspection Robot
Improvement of Pipe Holding Mechanism and Inchworm Type Flexible Pipe Inspection Robot
复制标题
DOI：
10.18178/ijmerr.9.6.894-899
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Koutaro Hayashi;T. Akagi;S. Dohta;W. Kobayashi;T. Shinohara;K. Kusunose;Mohd Aliff
中科院分区：
文献类型：
--
作者：
Koutaro Hayashi;T. Akagi;S. Dohta;W. Kobayashi;T. Shinohara;K. Kusunose;Mohd Aliff
在复杂管道的潮湿条件下，使用流体柔性执行器的管道检测机器人具有不漏电、易于进入管道并同时变形的优势。在之前的研究中，提出并测试了一种可以通过像尺蠖一样改变管道保持位置来在内径为100毫米的复杂管道中移动的机器人。然而，采用伸缩式柔性气动执行器的管子夹持机构由于与管道的接触面积较小，无法牢固地夹持管道。本文针对75mm和50mm较小直径的管道的可靠夹持，开发了一种与管道大接触面积的夹持机构。改进后的夹持机构具有类似汽车轮胎轮的结构，以减少膨胀时的体积变化。此外，还提出并测试了一种使用新型伸缩式柔性气动执行器的薄型滑动/弯曲机构，用于管径为50毫米的情况。还开发了适用于75毫米和50毫米管道的同时使用管道夹持机构的管道检测机器人。对采用两种夹持机构的管道检测机器人进行了行驶试验。结果可以确认，两个机器人都可以在包括角接头和三通接头的复杂管道中平稳行驶。
In wet condition of complex pipe, pipe inspection robots using fluidic flexible actuators have advantages because of no electrical leakage and easy traveling into pipe while deforming its body. In the previous study, a robot that can travel in a complex pipe with inner diameter of 100 mm by changing pipe holding position like an inchworm was proposed and tested. However, the pipe holding mechanism using extension type flexible pneumatic actuator could not hold the pipe surly because of its small contacting area with pipe. In this paper, to make sure to surely the hold pipe with smaller diameter of 75 and 50 mm, the development of a holding mechanism with large contacting area with pipe is described. The improved holding mechanism has similar construction of automobile tire wheel to decrease volume change for expanding. In addition, a thinner type sliding/bending mechanism using a novel extension type flexible pneumatic actuator for the pipe diameter of 50 mm is proposed and tested. The pipe inspection robots using both pipe holding mechanisms for the pipe diameter of 75 and 50 mm are also developed. The driving test of pipe inspection robots using both holding mechanisms is carried out. As a result, it can be confirmed that both robots can travel smoothly in a complex pipe that includes corner and tee joints.