Magnetic Actuator Capable of Inspection in a Complex Pipe by Phase Control of Multiple Electromagnetic Vibration Components

In this paper, we propose a new type of magnetic actuator that is capable of inspecting complex pipes having inner diameters ranging from 33 to 40 mm using phase control with multiple electromagnetic vibration components. Using the three vibration components loaded in the magnetic actuator, the movement properties in a complex pipe were improved. An experiment to determine the motion principles of the magnetic actuator was performed, and the validity of the obtained results was verified. Movement speeds in the horizontal and vertical directions in a pipe with a T junction were measured for an input current of 0.28 A to vibration component. The experimental results demonstrate that the magnetic actuator was able to stably inspect the complex pipe under all conditions.