TARIS - CCTV survey equipment for pipeline diagnostics and repair

С200 Cutter

Robotic complex C200 is intended for cutting and grinding works in pipelines, for example, for processing fistulas or cracks with the purpose of their subsequent closing up or before sanitation of the pipeline with application of a polyethylene sleeve for remove burr on a welded seam and scraps of acting sharp parts in pipes. Complex C200 is applied also to teleinspection of pipelines, and together with pneumatic paker - for closing up of defects in pipes by installation on problem sites of ring metal bandages with polymeric insulating
cover.

Robot C200 is filled from within by dry nitrogen for prevention of condensation of a moisture inside cases at work with difference of temperatures.

The robot is constructed on a new multipurpose platform of management: the equipment will functionally consist of the finished modules (a videocamera, the device of prompting, the transport module, a control panel, etc.). Each module has the uniform interface of management and feed, and also system of internal diagnostics of malfunctions (gauges of pressure and temperatures, devices of protection on a current and voltage). Modules are easily replaced and allow to build teleinspection systems with necessary characteristics. The majority of the finished modules can be applied in others robotic complexes of manufacture of TARIS Ltd.

In robot C200 the adaptive source of power supplies is applied. The adaptive power supply adjusts size of a current on an output depending on resistance of a cable and provides a constant of a current and voltage on an input of the robot and a videocamera, irrespective of length of a cable. It facilitates modernization of the equipment, allows to change length of a cable without recustomizing the power supply.

Structure of a complex:

Robot C200 (wheel, self-propelled) with a color rotary videocamera;

The device of milling EF1 with the complete set of the working tool;

Cable drum ВК-2М with the electric drive and cable-packer, with the electronic gauge of metric area of a cable, with a cable up to 400 m;

The block of management С1 with control panel Р3 and the monitor;

Workstation CD3 on notebook base (option);

Additional equipment (nitrogen injection system, the device of input of a cable in the pipeline, etc.)

The block of management С1 of complex P200 can be completed with workstation СD3 c computer system of processing of the information on the basis of the software package "TELESCAN-Robot 2" which allows to combine the videoimage on the monitor with managing graphic interface, to keep images in a digital format, suitable for viewing on a personal computer, to print out reports with the videostaff on the color printer with imposing the text and graphic information, archive and to systematize the data on a condition of communications for the subsequent analysis.

Marked by arrows in the scheme:
А - robot motion due to wheel drive, speed from 0 up to 0.2 m/s;
В - arrester advance, force 500 N;
С - cutting head advance, move 100 mm, force 500 N;
D - cutting head spindle cross-feed motion, stroke 50 mm, force 500 N;
Е - cutting head rotation, angle ±180°, torque 50 Nm;
F - camera tilt, angle ±140°;
G - camera screen wiper;
H - spindle tool rotation.

The additional equipment

For measurement of thickness of a wall of steel, pig-iron and other pipelines in diameter from 200 up to 600 mm, definition of the general deterioration, search of cavities on external and internal walls of a pipe on robot C200 the system of measurement of thickness of a wall of the pipeline is established..