Screw drive in-pipe robot with axial and circum-directional inspection ability

Document Type

Article

Publication Date

11-5-2010

Abstract

A screw drive robot equipped with only one DC motor and a solenoid is proposed for in-pipe inspection task, which has axial and circum-directional inspection ability. The robot is based on a constraint mechanism which only needs one DC motor and a solenoid. The developed platform which carries a CCD camera and provides the robot with stable axial inspection ability is also investigated. By controlling the motor and the solenoid to work or not, the force constraints acting on the robot change correspondingly. The robot thus has two working modes: under the driving mode the robot propels itself in the pipe, and it will check the defects of the pipe under the detecting mode. By switching these two working modes, the robot can perform the pipeline inspection task. Finally, experiments are conducted to testify the mobility and the inspecting ability of the robot. ©2010 Journal of Mechanical Engineering.

Publication Source (Journal or Book title)

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering

First Page

19

Last Page

28

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