Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias

Este documento tiene como objetivo principal verificar la hermeticidad de un robot explorador dedicado a labores de inspección de tuberías hidrosanitarias. Para esto, se realizaron rediseños de empaques, simulaciones y pruebas de laboratorio con el fin de asegurar una protección IP68 según la norma...

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Autores:
Uchima León, Ivan David
Tipo de recurso:
Fecha de publicación:
2017
Institución:
Universidad Militar Nueva Granada
Repositorio:
Repositorio UMNG
Idioma:
spa
OAI Identifier:
oai:repository.unimilitar.edu.co:10654/15858
Acceso en línea:
http://hdl.handle.net/10654/15858
Palabra clave:
REDES DE TUBERIAS
INSTALACIONES SANITARIAS
ALCANTARILLADO
ROBOT
Robot
Pipe lines
Robot Inspector
Tuberias
Robot
Rights
License
http://purl.org/coar/access_right/c_abf2
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oai_identifier_str oai:repository.unimilitar.edu.co:10654/15858
network_acronym_str UNIMILTAR2
network_name_str Repositorio UMNG
repository_id_str
dc.title.spa.fl_str_mv Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
dc.title.translated.spa.fl_str_mv Redesign of the hermetic system of a robot inspector of pipe lines
title Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
spellingShingle Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
REDES DE TUBERIAS
INSTALACIONES SANITARIAS
ALCANTARILLADO
ROBOT
Robot
Pipe lines
Robot Inspector
Tuberias
Robot
title_short Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
title_full Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
title_fullStr Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
title_full_unstemmed Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
title_sort Rediseño del sistema hermético de un robot inspector de tuberías hidrosanitarias
dc.creator.fl_str_mv Uchima León, Ivan David
dc.contributor.advisor.spa.fl_str_mv Solaque Guzman, Leornardo Enrique
dc.contributor.author.spa.fl_str_mv Uchima León, Ivan David
dc.subject.lemb.spa.fl_str_mv REDES DE TUBERIAS
INSTALACIONES SANITARIAS
ALCANTARILLADO
ROBOT
topic REDES DE TUBERIAS
INSTALACIONES SANITARIAS
ALCANTARILLADO
ROBOT
Robot
Pipe lines
Robot Inspector
Tuberias
Robot
dc.subject.keywords.spa.fl_str_mv Robot
Pipe lines
dc.subject.proposal.spa.fl_str_mv Robot Inspector
Tuberias
Robot
description Este documento tiene como objetivo principal verificar la hermeticidad de un robot explorador dedicado a labores de inspección de tuberías hidrosanitarias. Para esto, se realizaron rediseños de empaques, simulaciones y pruebas de laboratorio con el fin de asegurar una protección IP68 según la norma IEC60529. Las pruebas experimentales se basaron en el sometimiento del robot a polvo y agua, concluyendo que el mecanismo tiene un grado de hermeticidad IP65 (resistente al polvo y chorros de baja presión). Además, se pudo observar que la hermeticidad está muy relacionada con la calidad del mecanizado y de los sellos, por lo que se proyecta una segunda fase que pueda mejorar la robustez del sistema hasta llegar a una certificación IP68.
publishDate 2017
dc.date.accessioned.none.fl_str_mv 2017-06-15T16:54:03Z
2019-12-26T22:09:48Z
dc.date.available.none.fl_str_mv 2017-06-15T16:54:03Z
2019-12-26T22:09:48Z
dc.date.issued.none.fl_str_mv 2017-01-31
dc.type.spa.fl_str_mv info:eu-repo/semantics/bachelorThesis
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_7a1f
dc.type.local.spa.fl_str_mv Trabajo de grado
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/10654/15858
url http://hdl.handle.net/10654/15858
dc.language.iso.spa.fl_str_mv spa
language spa
dc.relation.references.spa.fl_str_mv A. S. Z. Abidin, M. H. Zaini, M. F. A. M. Pauzi, M. M. Sadini, S. C. Chie, S. Mohamma- dan, A. Jamali, R. Muslimen, M. F. Ashari, M. S. Jamaludin, and C. Y. Ming, “Develop- ment of cleaning device for in-pipe robot application,” IEEE International Symposium on Robotics and Intelligent Sensors, vol. 76, 2015.
A. Ahrary, Y. Kawamura, and M. Ishikawa, “A laser scanner for landmark detection with the sewer inspection robot kantaro,” 2006 IEEE/SMC International Conference on System of Systems Engineering, apr 2006.
L. P. Andrade, “Proteccio´n de sistemas ele´ctricos contra agentes ambientales,” Ciencia UNEMI, aug 2010.
G. Bright, D. Ferreira, and R. Mayor, “Automated pipe inspection robot,” Industrial Robot: An International Journal, 1997.
C. Choi and S. Jung, “Pipe inspection robot with an automatic tracking system using a machine vision,” 2006 SICE-ICASE International Joint Conference, oct 2006.
C. Choi, B. Park, and S. Jung, “The design and analysis of a feeder pipe inspection robot with an automatic pipe tracking system,” IEEE/ASME Transactions on Mechatronics, vol. 15, aug 2010.
S. Choi, G. F. Rossano, G. Zhang, and T. Fuhlbrigge, “Service robots: An industrial perspective,” IEEE International Conference on Technologies for Practical Robot Ap- plications (TePRA), 2015.
L. G. Company, Manuel de Juntas: Gu´ıa Te´cnica de Estanqueidad, TRIMAS CORPO- RATION, jun 2012.
T. Dang and N. Sainato, “Nema and iec standards: A practical approach,” IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, vol. 50, no. 5, sep 2014.
S. Dhull, D. Canelon, A. Kottas, J. Dancs, A. Carlson, and N. Papanikolopoulos, “Aqua- pod: A small amphibious robot with sampling capabilities,” Intelligent Robots and Sys- tems, oct 2012.
S. Hirose, H. Ohno, T. Mitsui, and K. Suyama, “Design of in-pipe inspection vehicles for 25, 50, 150 pipes,” Robotics and Automation, 1999, vol. 3, may 1999.
M. HORODINCA, I. DOROFTEI, E. MIGNON, and A. PREUMONT, “A simple ar- chitecture for in-pipe inspection robots,” Active Structures Laboratory, 2002.
Pipe Inspection, Inuktun Services Ltd., http://www.inuktun.com/industry-types/pipe- inspection.html, jan 2016.
I. N. Ismail, M. Kajang, A. Anuar, K. S. M. Sahari, and M. Z. Baharuddin, “Develop- ment of in-pipe inspection robot: A review,” Development of in-pipe inspection robot: A review, 2012 IEEE, oct 2012.
Y. Kawaguchi, Y.-H. Liu, T. Tsubouchi, and S. Arimoto, “An efficient algorithm of path planning for an internal gas pipe inspection robot,” lEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, jul 1992.
Y. Kawaguchi, I. Yoshida, H. Kurumatani, T. Kikuta, and Y. Yamada, “Internal pipe inspection robot,” Robotics and Automation, 1995, vol. 1, may 1995.
C. E´ kes and B. Neducza, “Robot mounted gpr for pipe inspection,” 14th International Conference Ground Penetrating Radar (GPR), jun 2012.
D.-W. Kim, C.-H. Park, H.-K. Kim, and S.-B. Kim, “Force adjustment of an active pipe inspection robot,” ICCAS-SICE, 2009, aug 2009.
Z. L. D. Krys, “The use of laser range finder on a robotic platform for pipe inspection,” Mechanical Systems and Signal Processing, vol. 31, aug 2012.
J. Lima, H. Parka, J. Ana, Y.-S. Honga, B. Kima, and B.-J. Yi, “One pneumatic line based inchworm-like micro robot for half-inch pipe inspection,” 8th International IFAC Symposium on Robot Control, vol. 18, sep 2008.
Z. Liu and Y. Kleiner, “State of the art review of inspection technologies for condition assessment of water pipes,” Measurement, vol. 46, jan 2013.
Q. Liua, T. Renb, and Y. Chen, “Characteristic analysis of a novel in-pipe driving robot,” Mechatronics, vol. 23, jun 2013.
J. M. Manahan, Y. Zhao, and M. Foster, “Nema type 7 hazardous-area enclosures,” IEEE Industry Applications Magazine., apr 2015.
H. Masuta, H. Watanabe, K. Sato, and H. ok Lim, “Recognition of branch pipe for pipe inspection robot using fiber grating vision sensor,” International Conference on 10th Ubiquitous Robots and Ambient Intelligence, oct, nov 2013.
A. A. F. Nassiraei, Y. Kawamura, A. Ahrary, and Y. Mikuriya, “A new approach to the sewer pipe inspection: Fully autonomous mobile robot ”kantaro”,” IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, nov 2006.
A. Nayak and S. Pradhan, “Design of a new in-pipe inspection robot,” 12th Global Congress on Manufacturing and Management”GCMM, vol. 97, 2014.
——, “Concept and design of a fully autonomous sewer pipe inspection mobile robot ”kantaro”,” Proceedings 2007 IEEE International Conference on Robotics and Automa- tion, apr 2007.
L. V. Nee, Elamvazuthi, T. Ganesan, M. A. Khan, and S. Parasuraman, “Development of a laboratory-scale pipeline inspection robot,” IEEE International Symposium on Ro- botics and Intelligent Sensors, vol. 76, 2015.
PureRoboticsTM - Robotic Pipeline Inspection, pure Technologies, https://www.puretechltd.com/technologies-brands/pure-robotics, apr 2016.
N. S. Roslin, A. Anuar, M. F. A. Jalal, and K. S. M. Sahari, “A review: Hybrid locomo- tion of in-pipe inspection robot,” International Symposium on Robotics and Intelligent Sensors, vol. 41, 2012.
A. Vick, D. Surdilovic, A. K. Drager, and J. Kruger, “The industrial robot as intelligent tool carrier for human-robot interactive artwork,” The 23rd IEEE International Sympo- sium on Robot and Human Interactive Communication, aug 2014.
T. Wu, Z. S. Lu, and Y. Tang, “An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor,” 12th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD), aug 2015.
T. Yukawa, M. Suzuki, Y. Satoh, and H. Okano, “Design of magnetic wheels in pipe ins- pection robot,” 2006 IEEE International Conference on Systems, Man and Cybernetics, vol. 1, oct 2006.
Y. Zhanga and G. Yana, “In-pipe inspection robot with active pipe-diameter adaptability and automatic tractive force adjusting,” Mechanism and Machine Theory, vol. 42, dec 2007.
M. R. A. M. Zin, K. S. M. Sahari, J. M. Saad, A. Anuar, and A. T. Zulkarnain, “Deve- lopment of a low cost small sized in-pipe robot,” International Symposium on Robotics and Intelligent Sensors 2012, vol. 41, 2012.
Budynas, R., & Keith, J., . (2008). Tornillos, sujetadores y diseño de uniones no permanentes. En Diseño en ingeniería mecánica de Shigley(p.429). México, D.F.: McGraw-Hill Interamericana.
TIVOLY Corp., “iso-metric thread filetage métrique iso rosca iso-metrica(p.221)”, theoretical profile, (2014).
J. H. Capriles, “Diseño y Cálculo de las Uniones Atornilladas,” ingemecánica, Bolívar, Venezuela. oct 2015.
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spelling Solaque Guzman, Leornardo EnriqueUchima León, Ivan DavidIngeniero en MecatrónicaCalle 1002017-06-15T16:54:03Z2019-12-26T22:09:48Z2017-06-15T16:54:03Z2019-12-26T22:09:48Z2017-01-31http://hdl.handle.net/10654/15858Este documento tiene como objetivo principal verificar la hermeticidad de un robot explorador dedicado a labores de inspección de tuberías hidrosanitarias. Para esto, se realizaron rediseños de empaques, simulaciones y pruebas de laboratorio con el fin de asegurar una protección IP68 según la norma IEC60529. Las pruebas experimentales se basaron en el sometimiento del robot a polvo y agua, concluyendo que el mecanismo tiene un grado de hermeticidad IP65 (resistente al polvo y chorros de baja presión). Además, se pudo observar que la hermeticidad está muy relacionada con la calidad del mecanizado y de los sellos, por lo que se proyecta una segunda fase que pueda mejorar la robustez del sistema hasta llegar a una certificación IP68.This document has as main objective to verify the sealing of a robot explorer dedicated to inspection tasks of plumbing pipes. For this, redesigned packages, simulations and laboratory tests were carried out in order to ensure IP68 protection according to IEC60529. The experimental tests were based on the submission of the robot to dust and water, concluding that the mechanism has an IP65 degree of tightness (resistant to dust and low pressure jets). In addition, it was observed that the tightness is closely related to the quality of the machining and the seals, so a second phase is projected that can improve the robustness of the system until an IP68 certification.Pregradoapplication/pdfspaRediseño del sistema hermético de un robot inspector de tuberías hidrosanitariasRedesign of the hermetic system of a robot inspector of pipe linesinfo:eu-repo/semantics/bachelorThesisTrabajo de gradohttp://purl.org/coar/resource_type/c_7a1fREDES DE TUBERIASINSTALACIONES SANITARIASALCANTARILLADOROBOTRobotPipe linesRobot InspectorTuberiasRobotFacultad de IngenieríadIngeniería en MecatrónicaUniversidad Militar Nueva GranadaA. S. Z. Abidin, M. H. Zaini, M. F. A. M. Pauzi, M. M. Sadini, S. C. Chie, S. Mohamma- dan, A. Jamali, R. Muslimen, M. F. Ashari, M. S. Jamaludin, and C. Y. Ming, “Develop- ment of cleaning device for in-pipe robot application,” IEEE International Symposium on Robotics and Intelligent Sensors, vol. 76, 2015.A. Ahrary, Y. Kawamura, and M. Ishikawa, “A laser scanner for landmark detection with the sewer inspection robot kantaro,” 2006 IEEE/SMC International Conference on System of Systems Engineering, apr 2006.L. P. Andrade, “Proteccio´n de sistemas ele´ctricos contra agentes ambientales,” Ciencia UNEMI, aug 2010.G. Bright, D. Ferreira, and R. Mayor, “Automated pipe inspection robot,” Industrial Robot: An International Journal, 1997.C. Choi and S. Jung, “Pipe inspection robot with an automatic tracking system using a machine vision,” 2006 SICE-ICASE International Joint Conference, oct 2006.C. Choi, B. Park, and S. Jung, “The design and analysis of a feeder pipe inspection robot with an automatic pipe tracking system,” IEEE/ASME Transactions on Mechatronics, vol. 15, aug 2010.S. Choi, G. F. Rossano, G. Zhang, and T. Fuhlbrigge, “Service robots: An industrial perspective,” IEEE International Conference on Technologies for Practical Robot Ap- plications (TePRA), 2015.L. G. Company, Manuel de Juntas: Gu´ıa Te´cnica de Estanqueidad, TRIMAS CORPO- RATION, jun 2012.T. Dang and N. Sainato, “Nema and iec standards: A practical approach,” IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, vol. 50, no. 5, sep 2014.S. Dhull, D. Canelon, A. Kottas, J. Dancs, A. Carlson, and N. Papanikolopoulos, “Aqua- pod: A small amphibious robot with sampling capabilities,” Intelligent Robots and Sys- tems, oct 2012.S. Hirose, H. Ohno, T. Mitsui, and K. Suyama, “Design of in-pipe inspection vehicles for 25, 50, 150 pipes,” Robotics and Automation, 1999, vol. 3, may 1999.M. HORODINCA, I. DOROFTEI, E. MIGNON, and A. PREUMONT, “A simple ar- chitecture for in-pipe inspection robots,” Active Structures Laboratory, 2002.Pipe Inspection, Inuktun Services Ltd., http://www.inuktun.com/industry-types/pipe- inspection.html, jan 2016.I. N. Ismail, M. Kajang, A. Anuar, K. S. M. Sahari, and M. Z. Baharuddin, “Develop- ment of in-pipe inspection robot: A review,” Development of in-pipe inspection robot: A review, 2012 IEEE, oct 2012.Y. Kawaguchi, Y.-H. Liu, T. Tsubouchi, and S. Arimoto, “An efficient algorithm of path planning for an internal gas pipe inspection robot,” lEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, jul 1992.Y. Kawaguchi, I. Yoshida, H. Kurumatani, T. Kikuta, and Y. Yamada, “Internal pipe inspection robot,” Robotics and Automation, 1995, vol. 1, may 1995.C. E´ kes and B. Neducza, “Robot mounted gpr for pipe inspection,” 14th International Conference Ground Penetrating Radar (GPR), jun 2012.D.-W. Kim, C.-H. Park, H.-K. Kim, and S.-B. Kim, “Force adjustment of an active pipe inspection robot,” ICCAS-SICE, 2009, aug 2009.Z. L. D. Krys, “The use of laser range finder on a robotic platform for pipe inspection,” Mechanical Systems and Signal Processing, vol. 31, aug 2012.J. Lima, H. Parka, J. Ana, Y.-S. Honga, B. Kima, and B.-J. Yi, “One pneumatic line based inchworm-like micro robot for half-inch pipe inspection,” 8th International IFAC Symposium on Robot Control, vol. 18, sep 2008.Z. Liu and Y. Kleiner, “State of the art review of inspection technologies for condition assessment of water pipes,” Measurement, vol. 46, jan 2013.Q. Liua, T. Renb, and Y. Chen, “Characteristic analysis of a novel in-pipe driving robot,” Mechatronics, vol. 23, jun 2013.J. M. Manahan, Y. Zhao, and M. Foster, “Nema type 7 hazardous-area enclosures,” IEEE Industry Applications Magazine., apr 2015.H. Masuta, H. Watanabe, K. Sato, and H. ok Lim, “Recognition of branch pipe for pipe inspection robot using fiber grating vision sensor,” International Conference on 10th Ubiquitous Robots and Ambient Intelligence, oct, nov 2013.A. A. F. Nassiraei, Y. Kawamura, A. Ahrary, and Y. Mikuriya, “A new approach to the sewer pipe inspection: Fully autonomous mobile robot ”kantaro”,” IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, nov 2006.A. Nayak and S. Pradhan, “Design of a new in-pipe inspection robot,” 12th Global Congress on Manufacturing and Management”GCMM, vol. 97, 2014.——, “Concept and design of a fully autonomous sewer pipe inspection mobile robot ”kantaro”,” Proceedings 2007 IEEE International Conference on Robotics and Automa- tion, apr 2007.L. V. Nee, Elamvazuthi, T. Ganesan, M. A. Khan, and S. Parasuraman, “Development of a laboratory-scale pipeline inspection robot,” IEEE International Symposium on Ro- botics and Intelligent Sensors, vol. 76, 2015.PureRoboticsTM - Robotic Pipeline Inspection, pure Technologies, https://www.puretechltd.com/technologies-brands/pure-robotics, apr 2016.N. S. Roslin, A. Anuar, M. F. A. Jalal, and K. S. M. Sahari, “A review: Hybrid locomo- tion of in-pipe inspection robot,” International Symposium on Robotics and Intelligent Sensors, vol. 41, 2012.A. Vick, D. Surdilovic, A. K. Drager, and J. Kruger, “The industrial robot as intelligent tool carrier for human-robot interactive artwork,” The 23rd IEEE International Sympo- sium on Robot and Human Interactive Communication, aug 2014.T. Wu, Z. S. Lu, and Y. Tang, “An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor,” 12th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD), aug 2015.T. Yukawa, M. Suzuki, Y. Satoh, and H. Okano, “Design of magnetic wheels in pipe ins- pection robot,” 2006 IEEE International Conference on Systems, Man and Cybernetics, vol. 1, oct 2006.Y. Zhanga and G. Yana, “In-pipe inspection robot with active pipe-diameter adaptability and automatic tractive force adjusting,” Mechanism and Machine Theory, vol. 42, dec 2007.M. R. A. M. Zin, K. S. M. Sahari, J. M. Saad, A. Anuar, and A. T. Zulkarnain, “Deve- lopment of a low cost small sized in-pipe robot,” International Symposium on Robotics and Intelligent Sensors 2012, vol. 41, 2012.Budynas, R., & Keith, J., . (2008). Tornillos, sujetadores y diseño de uniones no permanentes. En Diseño en ingeniería mecánica de Shigley(p.429). México, D.F.: McGraw-Hill Interamericana.TIVOLY Corp., “iso-metric thread filetage métrique iso rosca iso-metrica(p.221)”, theoretical profile, (2014).J. H. Capriles, “Diseño y Cálculo de las Uniones Atornilladas,” ingemecánica, Bolívar, Venezuela. oct 2015.http://purl.org/coar/access_right/c_abf2ORIGINALUchimaLeonIvanDavid2017.pdfTrabajo de Gradoapplication/pdf3560721http://repository.unimilitar.edu.co/bitstream/10654/15858/1/UchimaLeonIvanDavid2017.pdf870595b1d873b7356b5621abcd84ef16MD51LICENSElicense.txttext/plain1521http://repository.unimilitar.edu.co/bitstream/10654/15858/2/license.txt57c1b5429c07cf705f9d5e4ce515a2f6MD52TEXTUchimaLeonIvanDavid2017.pdf.txtExtracted texttext/plain130723http://repository.unimilitar.edu.co/bitstream/10654/15858/3/UchimaLeonIvanDavid2017.pdf.txt11510019a35c2d82d323bc17c5ac5f94MD53THUMBNAILUchimaLeonIvanDavid2017.pdf.jpgIM Thumbnailimage/jpeg6164http://repository.unimilitar.edu.co/bitstream/10654/15858/4/UchimaLeonIvanDavid2017.pdf.jpge77907a956356a747fbdbff2e0bf5ae2MD5410654/15858oai:repository.unimilitar.edu.co:10654/158582020-06-30 13:07:52.864Repositorio Institucional UMNGbibliodigital@unimilitar.edu.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