Screw Transformation Mechanism of Screw-Propelled Robot for Efficient Void Detection in Grease Pipe

Authors

    Dongseon Kim, Hojoong Kim, Jinhyun Kim Future Mechanical Technology Research Center, Seoul National University of Science and Technology (SeoulTech), Seoul, Republic of Korea Department of Mechanical & Automotive Engineering, Seoul National University of Science and Technology (SeoulTech), Seoul, Republic of Korea Department of Mechanical & Automotive Engineering, Seoul National University of Science and Technology (SeoulTech), Seoul, Republic of Korea

Keywords:

Screw-propelled, Overlapped-screw, Magnetic clutch, Grease robot

Abstract

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. To increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

References

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Published

2022-12-31