Mini-Rover for Tank Inspection
Category: Robotics > Characterization and Inspection > Other
Reference # : Model No :
The mini-rover for tank inspection has been designed to meet the need for an inspection tool to isolate and pinpoint the source of high-level radioactive tank waste in the tank annulus space. This remote controlled mini-rover can navigate through the refractory paid air channels under the primary liners of the double-shelled tanks, providing live video feedback. This technology was designed to travel through the channels upside-down, to avoid refractory debris along the bottom of the channels.
The current design components include:
• Arduino Uno board with ATMega328 microcontroller
• Eggsnow USB Borescope Endoscope 5.5mm inspection camera
• 298:1 Micro Metal Gear motor (4)
• 3D printed 20mm x 3mm wheels (4)
• Square-Profile O-Ring for wheels
• 3D printed body and bracket
• Neodymium magnet (3/4" x 1/8" x 1/10"), with 3 lbs. pull force (4)
• Tether: 10M in length, 6mm wide and expandable to 11mm wide, braided sleeving
The design parameters for the mini-rover include being capable of travel through small cooling channels as small as 1.5 x 1.5 inches, be remotely controlled, and provide live video feedback.
Iterative prototypes for this technology have been designed, constructed, and bench-scale tested. Engineering-scale tests are planned as well as continued refinement of the final technology design and construction to meet all of the DOE site requirements, including the need to be rad hardened (~80 rad/hr) and able to withstand high temperatures (170 degrees F).
Mini Rover Realization