This paper proposes a robotic system that automatically identifies and removes spatters generated while removing the back-bead left after the electric resistance welding of the outer and inner surfaces during pipe production. Traditionally, to remove internal spatters on the front and rear of small pipes with diameters of 18–25 cm and lengths of up to 12 m, first, the spatter locations (direction and length) are determined using a camera that is inserted into the pipe, and then a manual grinder is introduced up to the point where spatters were detected. To optimize this process, the proposed robotic system automatically detects spatters by analyzing the images from a front camera and removes them, using a grinder module, based on the spatter location and the circumferential coordinates provided by the detection step. The proposed robot can save work time by reducing the required manual work from two points (the front and back of the pipe) to a single point. Image recognition enables the detection of spatters with sizes between 0.1 and 10 cm with 94% accuracy. The internal average roughness, Ra, of the pipe was confirmed to be 1 µm or less after the spatters were finally removed.

The surge in demand for automating seafood processing necessitates the development of robotic processes for transportation, packaging, and classification. South Korean companies are actively constructing diverse robots and grippers for fishcake handling, yet small workshops face spatial constraints. To address this, the study focuses on creating a gripper capable of versatile fishcake handling within compact spaces. The gripper, designed for single-robot use, employs three suction cups, adapting its grip based on fishcake shapes. Small fishcakes are gripped at the center with one suction cup, elongated ones with two cups aligned to the slope, and wider ones with three cups. A testbed with the gripper attached to a robot facilitates fishcake gripping, classification, and automation testing. Fishcake recognition and gripping tests revealed challenges based on shape, width, and material. Despite difficulties, a commendable 100% success rate was achieved for the majority of fishcakes, showcasing the gripper’s effectiveness. Identified improvements include reducing the suction cup diameter and increasing pressure for enhanced gripping and classification in confined spaces. The study demonstrates the successful development of a gripper for versatile fishcake handling, particularly beneficial for small workshops. The identified improvements offer pathways to enhance efficiency in fishcake gripping and classification within limited spaces.

Recently, various in-pipe robots have been developed, but they are difficult to apply to the field due to their short driving distance. In order to increase the mileage of the piping robot, traction is an essential element, especially for running in pipes. In this paper, we propose a high traction piping robot capable of running mid to long distance inside pipes. The running performance of the designed piping robot was confirmed through multi-body dynamics analysis, and structural stability of the robot was reviewed through structural analysis. In addition, the performance of the manufactured robot was verified by comparing the traction force of the manufactured robot with the analysis result, and the climbing performance was confirmed through a driving test on the pipe test bed. As a result, a high-traction pipe robot can tow 400 kgf of auxiliary equipment and can move vertical and horizontal curved pipes with a diameter of 500 to 800 mm up to 45 degrees.