Robot executes following operations inside of pipes
· Sand-blasting
· Painting
· Clearing
· Video-inspection
· Monitoring width of coverage
Characteristics
of the robot
Range of diameters of pipes 200…500 mm
The maximal length of a pipe 7000 mm
Amount of curving Any
Planes of curving Any
Power consumption 1,2 kw
Length of the robot 5000 mm
Width of the robot 1000 mm
Height of the robot 1800 mm
Mass 400 kg
The pre-production prototype of the robot for operations in pipes has was tested under production conditions.
Now the second model of the robot is made. Unlike the first model, the second robot has greater smoothness of motion. Besides it is capable to displace of greater distances inside of pipelines.
The description and characteristics of a pre-production prototype of the robot for operations in pipes РТ-02/05-2 - are presented below.
THE ROBOT FOR OPERATIONS IN PIPES РТ-0,2/0,5-2
The robot is intended for execution technological and diagnostic operations inside of pipelines of various assignment.
Geometrical parameters of pipelines
Range of diameters of pipes, D 200...500 mm
Radiuses of curving Not less than 2 D
Angle of curving No more 90°
Spatial position of section of the pipeline Any (up to vertical)
Characteristics of the robot
The maximal distance of motion 100 m
Speed of motion Regulated, 1 … 10 m/mines
Exactitude of speed ±5 %
The maximal traction force 300 Н
Type of a drive Electromechanical
Power consumption 250 Вт
Power supply ~220 V, 50 Hz
Type of control The human from the board or program control
Overall dimensions
Length of the robot 500 mm
The described diameter 200 mm
Mass 15 kg
Execution on a class of protection Under the requirement specification
The description of a construction
The manipulator represents the flexible multilink construction consisting of several carriages, connected among themselves by flexible links. All carriages are приводными, that ensures недежное transiting by the robot of pipelines sections of any shape with a preseted speed.
For security of reliable ganging wheels of carriages with a surface of the pipeline the carriages contain the mechanism of wheels pressing to walls of the pipeline. The first carriages have elements for installation a working head (technological or diagnostic). On last carriages connectors for connection of a cable of power supply and control of the robot, and also connectors for necessary supplies to a working head are installed.
Structure of the robot:
- The Mechanical part (manipulator)
- The Device of unwinding-winding of a cable (winch)
- The Control panel.
The winch contains a drum on which the cable is wound, and the mechanism of maintenance of a fixed tension of a cable during the robot motion.
The control panel contains elements of motion switching, reverse and speed regulation, and also indication of position of the manipulator in the pipeline.
In case of operation of the robot in field conditions on demand of the requirement specification the winch and a control panel can settle down in the special car.
Designing calculation of a drive part of the robot for operations in pipes
1. Input data:
1.1. A gamut of diameters of pipes - 0,2 … 0,46 mm;
1.2. Radius of curving of pipes - 2 diameters;
1.3. The peak corner of curving - 90°;
1.4. A spatial standing of sites of pipes - any;
1.5. The useful tractive power of the robot - 600 Н;
1.6. The nominal{rated} linear velocity of the robot - 0,03 km/s.
2. Geometrical, kinematic and power parameters of the robot:
D - diameter of a wheel приводного a part, m
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