Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –

Hiroaki Seki; Hodaka Amakata; Yoshitsugu Kamiya; Masatoshi Hikizu

doi:10.20965/ijat.2012.p0221

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IJAT Vol.6 No.2 pp. 221-227

doi: 10.20965/ijat.2012.p0221

(2012)

Paper:

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Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –

Hiroaki Seki, Hodaka Amakata, Yoshitsugu Kamiya,
and Masatoshi Hikizu

School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa 920-1192, Japan

Received:

September 5, 2011

Accepted:

December 14, 2011

Published:

March 5, 2012

Keywords:

drilling robot, pipe maintenance, sewer robot, parallel link, hydraulic drive

Abstract

Lately,many developed countries see their sewer pipes getting increasingly aged. They try to extend the life of aging pipes by using teleoperated sewer robots to repair them as buried in the ground rather than replacing them by largescale digging work. Currently available robots, however, have tools with small DOF (Degrees Of Freedom) to do complex work such as drilling, cutting, and grinding. They also have too heavy oilostatic cables to be self-propelling. To cope with these problems, we intend to develop a new type of sewer robots that can be self-propelling by built-in cylinder-type hydraulic power source and are equipped with multiple-DOF tool driven by hydraulic cylinders in parallel links. In this paper, we propose a 4-DOF parallel link type mechanism for the tool that have wide reachable areas and no singular points. The proposed mechanism is so designed as to be able to retain high stiffness in the predetermined reachable areas as required for work inside pipes.

Cite this article as:

H. Seki, H. Amakata, Y. Kamiya, and M. Hikizu, “Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –,” Int. J. Automation Technol., Vol.6 No.2, pp. 221-227, 2012.

Data files:

References

[1] S. Roh, H. R. Choi, “Differential-Drive In-Pipe Robot for Moving Inside Urban Gas Pipelines,” IEEE Trans. on Robotics, Vol.21, No.1, pp. 1-17, 2005.
[2] Y. Zhang and G. Yan, “In-pipe inspection robot with active pipediameter adaptability and automatic tractive force adjusting,” Mechanism and Machine Theory, Vol.42, pp. 1618-1631, 2007.
[3] S. Hirose, H. Ohno, and T. Mitsui, “Design of in-pipe inspection vehicles for φ25, φ50, φ150 pipes,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2309-2314, 1999.
[4] K. U. Scholl, et al., “An articulated service robot for autonomous sewer inspection tasks,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1075-1080, 1999.
[5] A. Zagler and F. Pfeiffer, “MORIZ a pipe crawler for tube junctions,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2954-2960, 2003.
[6] W. Neubauer, “A spider-like robot that climbs vertically in ducts or pipes,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1178-1185, 1994.
[7] K. Suzumori, et al., “Micro inspection robot for 1-in pipes,” IEEE/ASME Trans. on Mechatronics, Vol.4, No.3, pp. 286-292, 1999.
[8] H. Qi, et al., “Tracing and localization system for pipeline robot,” Mechatronics, Vol.19, pp. 76-84, 2009.
[9] Y. Kawaguchi, I. Yoshida, and H. Kurumatani, “Internal pipe inspection robot,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 857-862, 1995.
[10] S. M. Ryew, et al., “Inpipe inspection robot system with active steering mechanism,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1652-1657, 2000.
[11] D. Mukoyama, et al., “Self-movable Drilling Robot inside a Pipe – Development of Drilling Mechanism –,” Proc. of 3rd China-Japan Symp. on Mechatronics, p. 338, 2002.
[12] C. D. Jung, et al., “Optimal mechanism design of in-pipe cleaning robot,” Proc. of 2011 Int. Conf. on Mechatronics and Automation, pp. 1327-1332, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Roh, H. R. Choi, “Differential-Drive In-Pipe Robot for Moving Inside Urban Gas Pipelines,” IEEE Trans. on Robotics, Vol.21, No.1, pp. 1-17, 2005.

[2] [2] Y. Zhang and G. Yan, “In-pipe inspection robot with active pipediameter adaptability and automatic tractive force adjusting,” Mechanism and Machine Theory, Vol.42, pp. 1618-1631, 2007.

[3] [3] S. Hirose, H. Ohno, and T. Mitsui, “Design of in-pipe inspection vehicles for φ25, φ50, φ150 pipes,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2309-2314, 1999.

[4] [4] K. U. Scholl, et al., “An articulated service robot for autonomous sewer inspection tasks,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1075-1080, 1999.

[5] [5] A. Zagler and F. Pfeiffer, “MORIZ a pipe crawler for tube junctions,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2954-2960, 2003.

[6] [6] W. Neubauer, “A spider-like robot that climbs vertically in ducts or pipes,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1178-1185, 1994.

[7] [7] K. Suzumori, et al., “Micro inspection robot for 1-in pipes,” IEEE/ASME Trans. on Mechatronics, Vol.4, No.3, pp. 286-292, 1999.

[8] [8] H. Qi, et al., “Tracing and localization system for pipeline robot,” Mechatronics, Vol.19, pp. 76-84, 2009.

[9] [9] Y. Kawaguchi, I. Yoshida, and H. Kurumatani, “Internal pipe inspection robot,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 857-862, 1995.

[10] [10] S. M. Ryew, et al., “Inpipe inspection robot system with active steering mechanism,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1652-1657, 2000.

[11] [11] D. Mukoyama, et al., “Self-movable Drilling Robot inside a Pipe – Development of Drilling Mechanism –,” Proc. of 3rd China-Japan Symp. on Mechatronics, p. 338, 2002.

[12] [12] C. D. Jung, et al., “Optimal mechanism design of in-pipe cleaning robot,” Proc. of 2011 Int. Conf. on Mechatronics and Automation, pp. 1327-1332, 2011.

Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –

Hiroaki Seki, Hodaka Amakata, Yoshitsugu Kamiya, and Masatoshi Hikizu

Hiroaki Seki, Hodaka Amakata, Yoshitsugu Kamiya,
and Masatoshi Hikizu