Robot Engineering Implementation for Monitoring Small-Diameter Pipelines

Background/Objectives: The developed NDT method requires measuring sensor motion along the pipe and around its circumference. This article focuses on determining the design a robotic device for sensor delivery and motion in pipelines. Methods/Statistical Analysis: The review of the existing control systems, examined design concepts, advantages and disadvantages enabled to develop a robotic device considering the following: •It shall consist of several modules interconnected by hinge joints •Secure traction of the robotic device requires expanding modules in the pipe and determines the use of three tracking mechanisms for motion unit. •The "braking" track shall be applied to ensure crossing of the inclined and vertical sections. Findings: As a result of the research, design documentation of the robot motion unit was developed and its unit design was determined, we have obtained an engineering study of the robotic device motion unit, which consists of two motion modules and the motor control circuit stacked together via cardan joints. The motion module consists of a track and a folding mechanism. The authors have also justified the selected technical solutions verified by appropriate calculations the required parameters: motion drive calculation, thrust drive calculation, electric motor and advancing mechanism selection. Applications/Improvements: This device provides solution for timely inspection of corrosion damage in subsurface pipelines of small-diameter heating networks (DN200, DN400) of housing and public utilities in places inaccessible for external inspection.