Design of Magnetic Wheels and Drive Motor in Pipe-Surface Inspection Robot
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- YUKAWA Toshihiro
- 秋田県立大学システム科学技術学部
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- OKANO Hideharu
- 秋田県立大学システム科学技術学部
Bibliographic Information
- Other Title
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- 磁石吸着型配管検査ロボットにおける磁石車輪と駆動系の設計
- ジシャク キュウチャクガタ ハイカン ケンサ ロボット ニ オケル ジシャク シャリン ト クドウケイ ノ セッケイ
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Abstract
We develop a robot that can automatically inspect pipes from the outside of the complicated piping in oil plants, etc. Our robots move by means of magnetic wheels. The natural rubber is used to generate friction against the piping. The robot consists of a lift part, a drive part, a motor for lifting a drive part, and a motor for driving a magnetic wheel. The drive part rises and descends through the rack gear when the motor installed in the lift part turns. The robot composed of three connected units is able to move along the horizontal piping, move along the lower side of straight piping, rise along vertical piping, and traverse a flange connecting two pipes, while holding the stability of the robot's posture. Next, we derive the adhesion condition suitable to horizontal/vertical pipes, the condition to detach from the piping, and the degree of adhesion of the magnetic wheel. Then we measure the power of the lift motor necessary for the robot to part from the piping, and we select the driving motor for rising along the vertical piping.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 74 (6), 598-603, 2008
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390001204797575296
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- NII Article ID
- 110006782714
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 9540676
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed