JRM Vol.12 No.3 pp. 310-317
doi: 10.20965/jrm.2000.p0310


Design and Experiments of In-pipe Inspection Vehicles for ø25, ø50, ø150 Pipes

Shigeo Hirose*, Hidetaka Ohno*, Takeo Mitsui** and Kiichi Suyama***

*Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

**Department of Television Engineering, SONY Corporation, 2-10-14 Osaki, Shinagawa-ku, Tokyo 141-0032, Japan

***Pipeline Engineering and Development Center, Tokyo Gas Co., Ltd. 1-1-7 Suehiro-cho, Tsurumi-ku, Yokohama 230-0045, Japan

January 25, 2000
March 1, 2000
June 20, 2000
in-pipe inspection vehicle, Whole Stem Drive, spiral motion, load-sensetive CVT, gas pipe, CCV, wire-driven
In this paper we outline the design of in-pipe inspection vehicle for pipes with ø25, ø50, ø150mm in diameter, "Theseuse" series. First we introduce the concept "Whole Stem Drive". This concept is very effective to allow an in-pipe vehicle to travel long distance in the pipeline. Based on this concept, we have made three in-pipe vehicles, Theseus-I∼III. First, for the pipe with 50mm in diameter, we propose two mechanisms, in-pipe vehicle with spiral motion (Theseus-I) and in-pipe vehicle for the practical gas pipe (Theseus-II). Next, for the pipe with 150mm in diameter, we propose the in-pipe vehicle based on the idea of Control Configured Vehicle (CCV), Theseus-III. Last, for the pipe with 25mm in diameter, we propose the in-pipe vehicle, which has an actuator outside of the pipe (Theseus-IV).
Cite this article as:
S. Hirose, H. Ohno, T. Mitsui, and K. Suyama, “Design and Experiments of In-pipe Inspection Vehicles for ø25, ø50, ø150 Pipes,” J. Robot. Mechatron., Vol.12 No.3, pp. 310-317, 2000.
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