1. nTof pipe cutting proposal Robotic platform design

2. Task scheduled inside the shaft
Possible operation inside the shaft
Unscrew the pipe support
Remove the pipe support
Cutting the pipe/remove cutting part

3. Task scheduled on the target
Operation inside the shaft
Unscrew the protection plate
Remove the protection plate
Fit the hook in the crane hole?
Protection plate weight ~ 12 kg

4. Design Solution
The first operation mode, the platform will be inserted in the shaft, thanks to the laterals wheels.
In this configuration could be possible the operation of unscrewing and dismount the pipe from the support
Bimanual teleoperated robotic platform
Rotating plate to guarantee the right position of the cutting tool or to press the blade on the pipe the in case of alternative saw
Linear actuator to move in radial position the tool
Cutting tool (saw or other)

5. Design Solution
Second operation mode, the platform will be insert in the shaft from the opposite direction to complete the task on the target.
Extending system to lock the platform in the shaft during the operations
Rubber block to guarantee a good friction coefficient during working position
Neon light tube
In this configuration will be possible to lift the protection plate placed on the target

6. Cutting solution case 1- inside the shaft
Alternative saw case
A vacuum cleaner tube will be mounted near the blade to remove the cutting dust
One robotic arm holds the cut part to avoid the vibration due the cutting process
The part of pipe cut will be collected on the plate of the robot and lift out when the plate is full.
In case we have two hoist, the pipe cut part will be grasped by an automatic tool and lift out

7. Cutting solution case 2- inside the shaft
Shears tool case
Scissors model RSU180 PLUS E-FORCE2
The dimension of this shears impose an angular position in the shaft
We have to test if is possible to cut the pipe in angular position
Solution
Try to find on the market a compact device or could try to separate the cutting part from the hydraulic pump.

8. Cutting solution Case 3 - outside the shaft
Since that the solution proposed of heat the metallic frame before cutting work well.
We could use the same device for cutting also the pipe during the lift operation
The same process could be tested whit our cutting tool RSU180 PLUS E-FORCE2?
The heating process of the structure that will be cut, will be done by a robot?

9. Cutting solution case 3 - outside the shaft
The Husqvarna demolition robot could be used to cut the pipe during the lifting phase
Teodor should handle the removed pipe part during the cutting operation
The torque generated by the cutting tool during the cut operation could move the target in an unpredictable direction since that it will be suspended during the cut?

10. Conclusion
The holding system of the robot and consequent “hard mockup" is needed if will operate the following tasks:
Cutting operation inside the shaft
Unscrewing operation inside the shaft
Our working robotic platform able to work mounted on a crane can operate the following tasks:
Lift the protection metallic plate
Fitting the crane hook
If the operation of fitting the crane hook in the lifting hole will be done by robotic teleoperation will be needed two hoist crane