ボイラ伝熱管における内挿式自走検査ロボットの試作
英字タイトル:
A Mobile Robot Prototype for Non-destructive Testing in of Heat
著者:
Azhar Aulia Saputra （首都大） 澤山 卓也 澤山 智之 （ニューセンサー開発），松山 雅幸 （ウィズソル） 久保田 直行 （首都大）
発刊日:
公開日:
Flexible MechanismHeat Transfer TubesInspectionMobile RobotsThermal Power Stations
A Mobile Robot Prototype for Non-destructive Testing in of Heat
著者:
Azhar Aulia Saputra （首都大） 澤山 卓也 澤山 智之 （ニューセンサー開発），松山 雅幸 （ウィズソル） 久保田 直行 （首都大）
発刊日:
公開日:
カテゴリ: 第15回
キーワードタグ:Flexible MechanismHeat Transfer TubesInspectionMobile RobotsThermal Power Stations
概要
This paper deals with a study on the prototype development of a mobile robot for inspection in heat transfer tubes used in thermal power stations. The proposed total inspection system is composed of a sensor module, robot module, cable control module, and centralized control module (PC). In this paper, we develop a robot module with the flexible mechanism that can move inside of a small pipe where the diameter is around 100 [mm]. Next, we conduct several experiments; (1) move in a bending rail, (2) move in a small pipe, and (3) velocity and posture control. Finally, we show the effectiveness of the flexible mechanism, and discuss the future work to integrate as a total inspection system.
