Mechanisms of Autonomous Pipe-Surface Inspection Robot with Magnetic Elements

In this paper, we propose a pipe inspection robot to move automatically along the outside of piping. In recent years, such pipe inspection robots and climbing robots have been the subject of important research activity worldwide [1]-[3]. Inspection of industrial pipe is a well-known and highly practical application of robotic technology. Robots especially designed to inspect the surface of pipe have recently been realized by some companies, and are in practical use as mechanical pipe inspection devices in various plants. Some of the robots have the capability of self-propelled inspection. These robots are equipped with ultrasonic diagnostic equipment that can measure the thickness of the pipe along its surface [4]. However, they are able to move by manual operation only. Such robots cannot be applied to pipes with flanges and valves, etc. We have designed a mechanism that enables robots to traverse flanges, rise along vertical flanges, and move along the underside of the piping [5]-[8]. The proposed robot is composed of three connected units.