나선 주행형 자기누설탐상 배관 검사로봇 시스템 개발

Abstract

The pipe inspection robot using the MFL non-destructive inspection equipment has high inspection efficiency in the pipe with high permeability. However, this equipment generates attractive force between the pipe and the permanent magnet, which requires a high driving force for the robot and sometimes causes the robot to fail. In this study, the development of a spiral running leak detection tube inspection robot system was described. The three-module robot consists of two driving modules and one inspection module, and the inspection module runs in a spiral direction and inspects all directions of the pipe to find defects. The spiral running of the inspection module reduces the overall manufacturing cost and driving load, and enables rapid inspection. Multi-body dynamics analysis was performed to confirm the driving performance of the designed robot. Afterwards, the robot's performance was verified by testing the manufactured robot on a standardized test bed.