Piping Inspection Robot: A Case Study of Mechanical Design Issues and Challenges

In a processing facility, gasses and fluids are transported through the network of piping. Inspection and maintenance plan are required to ensure the integrity of the piping to avoid failures that can be catastrophic in nature. In some cases where the piping cannot be accessed externally such as underground piping and piping under insulation, internal inspection is the most practical solution. Due to their size which can be quite small, these piping can only be accessed internally using robotic crawlers. The robotic crawler can conduct visual as well as other type of NDT inspection. It has to be able to pass through various piping sections such as 90 and U bends as well as vertical section. This paper looks at the mechanical design of such crawlers and the issues and challenges associated with it. The design features for each robotic module are covered from the concept stage until the prototype stage. This is followed by the test and validation activities conducted on the prototype parts. The test results are presented and the areas for improvements for the next development stage are highlighted.