• Introduction ExRobotics

• Project scope

• Current status

• Planning

• Market survey

Agenda

The Company, ExRobotics

▪ ExRobotics is specialized in robotic solutions for potentially explosive facilities.

▪ We produce Ex certified robots (ATEX and IECEx Zone 1) that can carry out safety checks at remote facilities.

Basic project phasing

Q2/Q3- 2018 Q1-2019 Q4-2019

Demo & wall thickness

Phase C

Demonstration of locomotion

Phase B

Phase A

Inspection robot

Development phases internal pipe inspection robot project

0

1

2

3

4

5

6

7

8

9Te

chnolo

gy R

eadin

ess

Level (T

RL)

Current

status

2018

• Mechanical concept

available for 2” pipes

• 3D printed components

• Electrical hardware

available

• Not robust!

• Industrial prototype

available for 4” – 8” pipes.

• Robust enough for testing on

industrial sites.

• Tethered

• Works in clean pipes (no

Atex)

• Can pas gate values & ball

vales.

• No sensor, only camera for

navigation.

• Sensors for measurement of

wall thinness.

• Software available for

“auto” navigation

2018 - 2019

• Marketable product

available for operation

2019Consortium members are:

- Kic|Mpi

- ExRobotics B.V.

- University of Twente

- Looking for industry partner

Scope current project:

TRL6

Development phases internal pipe inspection robot project

0

1

2

3

4

5

6

7

8

9Te

chnolo

gy R

eadin

ess

Level (T

RL)

Current

status

2018

• Mechanical concept

available for 2” pipes

• 3D printed components

• Electrical hardware

available

• Not robust!

• Industrial proto type

available for 4” – 8” pipes.

• Robust enough for testing on

industrial sites.

• Tethered

• Works in clean pipes (no

Atex)

• Can pas gate values & ball

vales.

• No sensor, only camera for

navigation.

• Sensors for measurement of

wall thinness.

• Software available for

“auto” navigation

2018 - 2019

• Marketable product

available for operation

2019

Mobility Specs for TRL-6

Inspection of straight pipelines, with diameter between 4 – 8 inch.

Horizontal & Vertical, Up & Down!

Inspection of straight pipelines with 90 degree (1D) turns in

every possible orientation

Inspection of straight pipelines with gate and ball valves full open.

Inspection of straight pipelines and T-joints with the same diameter.

Inspection of straight pipelines and T-joints with the different

diameter (minimum diameter 4 inch)

Principle

• Increase of weight

• Motion Control (software)

• Market requirements

Risks

Towards TRL 6 in 5 Steps• Phase A.1 Feasibility study

• Phase A.2: Test several parts or subsystems of the robot

• Friction test to estimate ??????

• Shape test to retrieve a defect robot

• Stress test clamping mechanism to optimise the design

• Phase A.3: Development 1e “triangle” of the robot

• Development and building

• Evaluate

• Phase A.4: Build full robot

• Phase A.5: Build and program the interface & peripheral equipment.

• Investigated current design of UT. Impressive!

………. try to improved it.

• Spoke with several suppliers to investigated of the self components.

• First basic design (0.0) ready to fit demands.

• Add requirement for retrieval of robot on failure.

• Add requirement on electrical architecture

Current status: Phase A.2 & A.3

UT shape New shape

Current status

Mobility Specs for TRL-6

Inspection of straight pipelines, with diameter between 4 – 8 inch.

Horizontal & Vertical, Up & Down!

Inspection of straight pipelines with 90 degree (1D) turns in

every possible orientation

Inspection of straight pipelines with gate and ball valves full open.

Inspection of straight pipelines and T-joints with the same diameter.

Inspection of straight pipelines and T-joints with the different

diameter (minimum diameter 4 inch)

Scope change4-6 or 6-8

Planning

Output:

- Friction

- Clamping forces

- Torque

Output:

- Relation between wheel

material, clamping

forces and material

tube.

Output:

- Experiment for clamping

mechanism

Output:

- Demonstration of half

robot.

• Akzo

• Basf

• Dow

• DSM

• Adnoc

Conclusion: Market requirements not clear!

Market survey

Thanks

Ontwikkeling naar TRL 6 bestaat uit 5 fases• Fase A.1 Haalbaarheidsstudie

Verschillende aspecten van de robot worden in de basis benaderd om te kijken of het

concept haalbaar is.

• Fase A.2: Testen van onderdelen

Er worden verschillende tests ontwikkeld en uitgevoerd om de haalbaarheid te

bevestigen en om verschillende componenten te ontwerpen. (sterkte vs levensduur vs

gewicht)”

• Frictie test voor de keuze van het wiel materiaal

• Vorm test ( 3d reproductie ) om in te schatten of een dode robot terug uit een pijp

kan.

• Stress test klemmechanisme om de kleinste modulus en breedte te bepalen.

• Fase A.3: ontwikkeling 1e “driehoek” van de robot.

• Ontwerp en bouwen van een eerste klemmechanisme van de robot

• Evalueren driehoek

• Fase A.4: Bouwen volledige robot

• Fase A.5: Interface + rand apparatuur ontwikkelen.

Development towards TRL 6• Phase A.1 Feasibility study

Several features of the robot are studied to verify the feasibility

• Phase A.2: Test several parts or subsystems of the robot

• Several test are being developed and performed to validate subsystems

• Friction test: wheel material and clamping force

• Shape test ( 3d reproduction ) to retrieve a defect robot.

• Stress test clamping mechanism to optimise the design

• Phase A.3: Development 1e “triangle” of the robot

• Development of the first clamping mechanism with three wheels.

• Evaluate

• Phase A.4: Build full robot

• Phase A.5: Build and program the interface & peripheral equipment .