The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Screw Transformation Mechanism of Screw-Propelled Robot for Efficient Void Detection in Grease Pipe

스크류 추진형 검측 로봇의 효율적인 검측을 위한 스크류 구조 변화 메커니즘

  • Received : 2022.03.23
  • Accepted : 2022.04.22
  • Published : 2022.05.31
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Abstract

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

Keywords

Acknowledgement

This work was supported by KOREA HYDRO & NUCLEAR POWER CO., LTD (No.2019-Technology-03)

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