分節型主要配管内検査点検ロボットの開発

• 藤原 茂

  シーエックスアール

• 金原 了二

  シーエックスアール

• 岡田 徳次

  新潟大学工学部

• 実森 毅

  シーエックスアール

書誌事項

タイトル別名

• Development of an Articulated Multi-Vehicle Robot for Monitoring and Testing In Pipe.

抄録

This paper describes a composition of an articulated multi-vehicle robot in pipe, structure of each vehicle, and their control systems. Output pressure versus extension characteristic of the newly developed two-stage air cylinder, reduction of the wave reflection in a wheel-type ultrasonic probe, umbilical cable assembly housing optical fibers, air tubes and electric cables are treated. The articulated robot is designed and fabricated to demonstrate its travelling performance and automatic scanning of five probes for non-destructive test of a weld bead to the longitudinal direction. The results show that the robot can travel in the pipe of radius 520-800 [mm∅] from its entrance to the distance 150 [m] . The robot can pick up surrounding color images and transmit them to the ground station's monitor with sharpness. Also, the NDT is shown to be possible except in the vicinity of elbow area of the pipe.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 12 (2), 318-327, 1994

  一般社団法人 日本ロボット学会

キーワード

• Ultrasonic NDT
• In Pipe Robot
• Locomotion
• Tractive Vehicle
• Slip Ring

詳細情報

• CRID: 1390282679703304576
• NII論文ID: 10006719631
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.12.318
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可