Design and Development of In-pipe Inspection Robot for Various Pipe Sizes

Abstract

Abstract In-pipe inspection robots are designed to pull out the human role from work load and risky working circumstances. In this paper an in-pipe inspection robot version 2 (IPIR version 2) is presented which composed of two driving leg systems, two supporting leg systems and a connecting body. Novelty of version 2 is its stability and diameter adaptability. Stability of version 2 is enhanced by adding two supporting leg systems in version 1 and diameter adaptability of version 2 is improved by optimizing its spring design. All major components of version 2 are designed safely. Solid modelling of all robot parts and its assembly is carried out in Solidworks 16. Mathematical modelling of version 2 is carried by Lagrange’s method. A planetary geared DC motor with encoder (IG42E-104K) is used as prime mover of IPIR version 2. This robot has mainly employed aluminium as structural material. To verify the efficacy of driving mechanism, several experiments of version 2 are conducted in horizontal pipes, vertical pipes and couplings of 8 inches to 10 inches diameter range. This IPIR version 2 will be employed for offline visual checking of various pipe components like horizontal pipes, vertical pipes and couplings in water pipelines, gas pipelines and drain pipes etc.