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

• 湯川 俊浩

  秋田県立大学システム科学技術学部

• 岡野 秀晴

  秋田県立大学システム科学技術学部

書誌事項

タイトル別名

• Design of Magnetic Wheels and Drive Motor in Pipe-Surface Inspection Robot
• 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

抄録

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.

収録刊行物

• 精密工学会誌

  精密工学会誌 74 (6), 598-603, 2008

  公益社団法人 精密工学会

キーワード

• pipe-surface inspection
• mechanism
• magnetic wheel
• friction
• motor power/torque

詳細情報

• CRID: 1390001204797575296
• NII論文ID: 110006782714
• NII書誌ID: AN1003250X
• DOI: 10.2493/jjspe.74.598
• ISSN: 1882675X
• ISSN: 09120289
• NDL書誌ID: 9540676
• Web Site: http://id.ndl.go.jp/bib/9540676
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9540676
• データソース種別:
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