관로 청소 로봇의 최적 설계

정창두(C. D. Jung),정원지(W. J. Chung),안진수(J. S. Ahn),신기수(G. S. Shin),권순재(S. J. Kwon) 한국생산제조학회 2012 한국생산제조학회지 Vol.21 No.1

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS ® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

Prediction Method of an In-pipe robot’s Orientation to pass in a Curved Pipe

Jungwan Park,Sangyong Park,Dongwoo Lee,Hyunseok Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

Pipe systems are infrastructure of a modern society. Since inner conditions of pipe systems could affect quality of transferring mass, inspecting and maintaining pipe system is an important issue. Many in-pipe robots have been introduced and are under developing to resolve the problem. Pipe systems are composed of different shaped pipes such as straight, curved and branch pipes. Therefore, moving algorithms are introduced. In order to move in a bent pipe, detecting the orientation of an in-pipe robot is an important problem. In this paper, we propose a predicting method of in-pipe robot’"s orientation, and verify it by experiments

Development of Pipe Inspection Robot using Ring-type Laser

Yasuto Tamura,Ichirota Kanai,Kazuki Yamada,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

This paper describes the robot capable of inspecting a pipe. The developed robot is composed of three bodies, six legs, a laser range finder, a ring-type laser, and a CCD camera. The six legs are composed of three worm gears that are arranged at an angle of 120 degrees to run inside pipes of different diameters. The robot is designed with two joints to change the direction in pipe junctions, and the robot can measure a fore pipe shape using the laser range finder. The ring-type laser and the CCD camera are installed in the front the robot to detect and evaluate defects of a pipe. The CCD camera takes an image of the ring-type laser light in a pipe, and defects in a pipe are detected and evaluated from a break of the ring-type light by the image processing. We verified the effectiveness of the robot through the movement experiment and the defect inspection experiment.

파이프 구조물 검사를 위한 파이프 등반 로봇의 장애물 회피 제어 연구

이스라엘,이성욱,박종원 한국인터넷방송통신학회 2020 한국인터넷방송통신학회 논문지 Vol.20 No.6

원자력발전소와 석유화학의 노후화된 파이프 구조물을 검사를 위하여 파이프 등반 로봇에 많은 연구가 이루어 졌다. 그러나 파이프 등반 로봇 연구에서는 대부분 파이프 등반 로봇의 구조 설계와 기본적인 동작 제어에 초점을 맞추고 제작되어, 작업자가 파이프 등반 로봇을 제어하기 위해서는 수동 조작으로 파이프를 등반 및 장애물 회피하기 위해 많은 어려움을 가진다. 본 논문에서는 파이프 등반 로봇의 카메라 영상을 이용하여 장애물을 인식하고 파이프 등반 로봇과 장애물 사이의 거리를 추정 및 파이프 등반 로봇이 파이프를 잡을 수 있는 위치를 결정하여 파이프 사이의 장애물을 회피 할 수 있는 알고리즘을 제안한다. A lot of research has been done on pipe climbing robots to investigate the aging pipe structures of nuclear power plants and petrochemical plants. Nevertheless, most of the research on pipe climbing robots focused on the structural design and foundational motion control of pipe climbing robots. So, For the operator to control the pipe climbing robot, it has many difficulties to climb the pipe and avoid obstacles by manual operation. In this paper, propose an algorithm that recognizes obstacle by using camera images of pipe climbing robots, estimates the distance between pipe climbing robots and obstacles, and determines the position where pipe climbing robots can catch pipes to avoid obstacles between pipes.

Design of the Out-pipe type Pipe Climbing Robot

이상헌 한국정밀공학회 2013 International Journal of Precision Engineering and Vol. No.

The pipes in plants, including power and chemical plants, require steady maintenance, as the corrosion and abrasion by the fluid within the pipe and from the external environment occur. However, as the process to inspect the pipe is not automated, manual inspection is a very time-consuming job. Therefore, in order to reduce the inspection time and cost, we have proposed the pipe climbing robot for pipe inspection. The presented robot is applicable to plants in operation, because this robot is an out-pipe type,which allows it to move outside of the pipes. And the robot can cover straight as well as bended pipes in various diameters with independently controlled and length adjustable driving wheels. The designs of the mechanism as well as the control system for this robot have been presented and the feasibility of the proposed robot has been demonstrated by the climbing experiments.

SUS pipe의 자동 취부 로봇 시스템 개발

박영준,김성준,조기수,김재훈 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10

The technical innovation in field of shipbuilding automation is required significantly. However, despite pipe working process takes a lot of man-hours, the process depends on only skilled workers. This paper proposes the auto alignment robot system, including alignment robot and weight balancer, for SUS pipes. The alignment robot consists of driving unit, roundness compensation unit, Laser Vision System(LVS) and Stewart-Gough 6-DOF parallel manipulator. The alignment robot navigates inside pipes not only straight but also elbow pipe which are 600mm, 650mm and 700mm in diameter. Because the cross sections of pipes are often not circle, the roundness compensating unit makes them as a circle and clamps each pipe. LVS measures the cross sections of pipes. According to the measurement data, a parallel manipulator calculates posture in 6-DOF for desired gap and step of pipes. Weight balancer minimizes the load delivered to parallel manipulator using air spring.

Development of In-Pipe Robot Capable of Coping with Various Diameters

Kaname Sato,Taku Ohki,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

This paper describes a robot capable of inspecting a pipe. The robot is composed of units and connecting links. Three or more units are combined for the robot to move in a straight pipe, while four or more units are needed to move and turn in a divergent pipe. It is also able to with pipes with different diameters by adjusting to the number of units. Several experiments are conducted in the pipes with different diameters, and the effectiveness of the mechanism of the robot is confirmed.

Development of Pipe Inspection Robot

Hun-ok Lim,Taku Ohki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper describes a robot capable of inspecting a pipe. The robot consists of a fore leg system, a rear leg system and a body. The fore and rear leg systems are constructed by using three worm gear systems that are arranged at an angle of 120 degrees with respect to each oter to operate inside pipes of different diameters. Also, the body is designed with two joints so as to change the direction in pipe junctions. Several experiments are conducted in pipes of different diameters, and the effectiveness of the mechanism of the robot is confirmed.

파이프 구조물 검사를 위한 파이프 등반 로봇의 위치 추적

이스라엘,권영재,이성욱,김재희,박종원 제어·로봇·시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.6

In nuclear power plants and petrochemical plants, high pressure/temperature steam or fluid flows through pipes and similar structures. Because such structures age with time, they should be inspected and repaired in suitable intervals. However, the inspection of pipes in areas that are difficult for humans to access (for instance, radiation-prone and high-altitude areas) poses a threat to human workers. Therefore, researchers have considered the use of robots to replace human workers in this task. However, when controlling pipe-climbing robots, it is difficult for the user to track the robot position among pipes by using only the image and sensor information of the robot. Therefore, this paper proposes a method to track and calibrate the robot position by using the encoder value, camera images, prior information, and obstacle information (flanges, branches, etc.). To compare the moving distance estimated by the proposed method in the experiment with the measured distance value, graph-based simultaneous localization and mapping was considered. The error rate of the robot tracking position estimated using the proposed method was noted to be adequately small. .

Crawling 방식을 이용한 관 탐사용 소형 로봇의 이동속도 해석

장기현(Kihyun Jang),박현준(Hyunjun Park),김병규(Byungkyu Kim) 대한기계학회 2008 大韓機械學會論文集A Vol.32 No.8

Recently, the necessity for diagnosis and management of pipes has emerged as the issue due to contamination of water supply generated by corrosion of pipes. Although inspection has been performed with industrial endoscopes, the method has limits for full diagnosis of pipes due to the lack of working range. As a solution for this problem, many locomotive mechanisms for a micro robot with endoscope functions were proposed. In this paper, we analyze the locomotive mechanism of crawling robot proposed as locomotive device for pipe inspection. Based on a mechanical modeling of motor and micro robot inside small pipe, the theoretical formula for velocity is obtained. This derived theoretical formula is demonstrated the feasibility through the comparison with experimental result. Also, we could find the most important element influencing the moving velocity of micro robot when the robot operates in small pipe. Consequently, it is expected that this study can supply useful information to design of crawling robot to move in small pipe.