Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
A ROBOTIC DEVICE FOR INSPECTING SMALL DIAMETER PIPES
Submission Author:
Luiz Guilherme Dias de Barros , MG
Co-Authors:
Luiz Guilherme Dias de Barros, Rodrigo Teotônio, Paulo Alves, Mário César Delunardo Torres, Jacó Domingues, Héctor Azpúrua, gustavo freitas, Gustavo Pessin
Presenter: Luiz Guilherme Dias de Barros
doi://10.26678/ABCM.COBEM2021.COB2021-0156
Abstract
Inspecting ducts and pipes with small diameters is a recurring task inside the mining industry and presents significant challenges for timely and efficient monitoring. Due to the nature of the materials passing through the pipe, some problems can preclude or reduce the pipe's transport capacity, such as clogging, cracks, or discontinuities. The leading causes of defects in pipelines are the accumulation of residues, mechanical impacts, corrosion, and vibration; therefore, industrial piping systems should always be subject to regular inspection activities. In this sense, the Instituto Tecnológico Vale (ITV) proposes a robotic platform focused on the inspection of small pipe diameters, inspired by the technological principles of other larger visual inspection robots in the mining industry. The proposed platform can inspect pipes as small as 10.5-inches in diameter and visualize anomaly situations using cameras and other embedded sensors. The proposed device composition is mainly low-cost materials, such as PVC and 3D printed plastics. Its primary purpose is to be a functional and still cost-effective platform, easily replicated with off-the-shelf components and additive manufacturing systems. The platform's cylinder-shaped body has IP-67 protection and adaptable locomotion mechanisms using mats and wheels, which can be oriented to overcome specific pipe conditions. In contrast to similar commercial robots, the platform's modular and low-cost design facilitates performing on-the-field adaptations and embedding extra devices such as gas sensors or a LiDAR. The 3D-printed parts reduce up to 70\% of the manufacturing costs compared to other ITV robotic platforms. The adjustable software platform using ROS (Robot Operating System) allows for semi-autonomous operation and the possibility of online anomaly identification. This paper presents the robotic's platform design and assembly procedures, demonstrating the feasibility of producing inexpensive alternatives for industrial pipe inspections.
Keywords
Pipe Inspection, Robotic Platform, mechanical design, Mobile robotics, Mining Industry
