Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Inpipe Inspection Robot System for Underground Gas Pipelines

지하매설 가스배관 내부검사용 로봇시스템 개발

  • 최혁렬 (성균관대학교 기계공학부) ;
  • 류성무 (성균관대학교 기계공학부 대학) ;
  • 백상훈 (성균관대학교 기계공학부 대학) ;
  • 조성휘 (성균관대학교 기계공학부 대학) ;
  • 송성진 (성균관대학교 기계공학) ;
  • 신현재 (성균관대학교 기계공학) ;
  • 전재욱 (성균관대학교 전기전자컴퓨터공학부)
  • Published : 2000.02.01
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Abstract

The robotic automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activitites. In this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, respectively and passive modules such as a NonDestructive Testing module and a control module are chained between the active vehicles. The proposed system has outstanding mobility by employing a new steering mechanism called Double Active Universal Joint, which makes it possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system is briefly outlined.

Keywords

References

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