# US 2014/0156067 A1 · Robot for inspecting pipelines > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0156067 A1 - Document ID: US20140156067A1 - Status: Published application - Kind: A1 - Application number: 14/093,129 - Filed: 2013-11-29 - Published: 2014-06-05 - Earliest claimed: 2012-11-30 - Assignees: Research & Business Foundation Sungkyunkwan University - Applicants: Research & Business Foundation Sungkyunkwan University - Inventors: Jae Kyu An; Sang-Chul Han; Hyungpil Moon - Web page: https://patentgrep.com/patent/US20140156067A1 ## CPC - G01N 29/265: by moving the sensor relative to a stationary material - G01M 5/0025: {of elongated objects, e.g. pipes, masts, towers or railways (G01M5/0058 takes precedence)} - G01M 5/0033: {by determining damage, crack or wear} - G01M 5/0075: {by means of external apparatus, e.g. test benches or portable test systems (G01M5/005 takes precedence)} - G01N 29/225: {Supports, positioning or alignment in moving situation} - G01N 29/2412: {using the magnetostrictive properties of the material to be examined, e.g. electromagnetic acoustic transducers [EMAT]; (investigating the presence of flaws using eddy currents G01N27/90, magnetostrictive transducers B06B1/08, measuring magnetostrictive properties G01R33/18)} - G01N 2291/2636: cylindrical from inside - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR ## Abstract Provided herein is a robot for inspecting pipelines as it moves along an outer surface of a pipeline, the robot comprising: a plurality of body parts detachably provided along a longitudinal direction of the pipeline; a connector configured to connect adjacent body parts, and to distance one of the connected body parts away from the pipeline so that the plurality of body parts may cross an obstacle; and a controller configured to control the connector to lift one of the body parts to cross an obstacle, with another body part secured to the pipeline. ## Claims ### Claim 1 A robot for inspecting pipelines as it moves along an outer surface of a pipeline, the robot comprising: a plurality of body parts detachably provided along a longitudinal direction of the pipeline; a connector configured to connect adjacent body parts, and to distance one of the connected body parts away from the pipeline so that the plurality of body parts may cross an obstacle; and a controller configured to control the connector to lift one of the body parts to cross the obstacle, with another body part secured to the pipeline. ### Claim 2 (depends on 1) The robot according to claim 1, wherein each of the plurality of body parts comprises a body; and a plurality of robot arms attached to the body and encircling at both sides of the pipeline. ### Claim 3 (depends on 2) The robot according to claim 2, wherein each of the plurality of robot arms may perform a motion of approaching the pipeline or distancing away from the pipeline. ### Claim 4 (depends on 3) The robot according to claim 3, wherein each robot arm comprises a first robot arm configured to contact the pipeline and guide each body part to perform a straight line motion along a longitudinal direction of the pipeline, and a second robot arm configured to contact the pipeline and guide each body part to perform a rotating motion around a circumference direction of the pipeline. ### Claim 5 (depends on 4) The robot according to claim 4, wherein the first robot arm comprises a first robot arm member connected to the body part; and a first motion part provided between the first robot arm member and the pipeline, and rotates along a longitudinal direction of the pipeline. ### Claim 6 (depends on 5) The robot according to claim 5, wherein each first robot arm consists of a pair of robot arms, and comprises a first main robot arm configured to receive power from outside and move the body part, and a first auxiliary robot arm configured to assist the first main robot arm to guide a movement direction of the body part. ### Claim 7 (depends on 4) The robot according to claim 4, wherein the second robot arm comprises a second robot arm member connected to the body part; and a second motion part provided between the second robot arm member and the pipeline, and is configured to rotate around a circumference direction of the pipeline. ### Claim 8 (depends on 3) The robot according to claim 3, further comprising a sensor provided in the body part, and configured to contact the pipeline to inspect the pipeline, wherein the sensor is interlocked with the first robot arm such that when the first robot arm distance away from the pipeline, the sensor approaches the pipeline. ### Claim 9 (depends on 8) The robot according to claim 8, wherein the sensor is an electromagnetic acoustic transducer (EMAT) configured to perform non-destructive test (NDT). ### Claim 10 (depends on 4) The robot according to claim 4, further comprising a sensor provided in the body part, and configured to contact the pipeline to inspect the pipeline, wherein the sensor is interlocked with the first robot arm such that when the first robot arm distance away from the pipeline, the sensor approaches the pipeline. ### Claim 11 (depends on 10) The robot according to claim 10, wherein the sensor is an electromagnetic acoustic transducer (EMAT) configured to perform non-destructive test (NDT). ### Claim 12 (depends on 5) The robot according to claim 5, further comprising a sensor provided in the body part, and configured to contact the pipeline to inspect the pipeline, wherein the sensor is interlocked with the first robot arm such that when the first robot arm distance away from the pipeline, the sensor approaches the pipeline. ### Claim 13 (depends on 12) The robot according to claim 12, wherein the sensor is an electromagnetic acoustic transducer (EMAT) configured to perform non-destructive test (NDT). ### Claim 14 (depends on 6) The robot according to claim 6, further comprising a sensor provided in the body part, and configured to contact the pipeline to inspect the pipeline, wherein the sensor is interlocked with the first robot arm such that when the first robot arm distance away from the pipeline, the sensor approaches the pipeline. ### Claim 15 (depends on 14) The robot according to claim 14, wherein the sensor is an electromagnetic acoustic transducer (EMAT) configured to perform non-destructive test (NDT). ### Claim 16 (depends on 7) The robot according to claim 7, further comprising a sensor provided in the body part, and configured to contact the pipeline to inspect the pipeline, wherein the sensor is interlocked with the first robot arm such that when the first robot arm distance away from the pipeline, the sensor approaches the pipeline. ### Claim 17 (depends on 16) The robot according to claim 16, wherein the sensor is an electromagnetic acoustic transducer (EMAT) configured to perform non-destructive test (NDT). ### Claim 18 (depends on 1) The robot according to claim 1, wherein the connector comprises a four bar link configured to connect the adjacent body parts, and to restrict the movement of the body parts, and lifts a first link or second link by an interlocked motion of the links to lift the body part connected to the first link or second link. ### Claim 19 (depends on 18) The robot according to claim 18, wherein the connector further comprises a gear part provided in the first link or second link, and configured to decelerate power from outside through the interlocked motion to increase an output torque. ### Claim 20 (depends on 19) The robot according to claim 19, wherein the gear part comprises a plurality of gears engaging adjacent gears, the gears arranged such that the farther away from the gear where power is applied, the greater the number or size of the teeth of the gears.