Symmetric stretching mechanism by using directional bars toward in-pipe exploration

Abstract

Old pipes can be damaged by potential problems such as cracks. In the past, the Mihama Power Station Unit 3 accident caused deaths. As can be seen from such accidents, pipes with potential problems are extremely dangerous, and robots capable of exploring the inside of pipes are necessary and developed to prevent accidents due to pipe rupture and to find damaged parts. There is Currently, there are various types of in-pipe exploration robots, including prototypes. However, there are many things that cannot advance if there are obstacles in the tube or they are not circular. In addition, there are many individuals with external power sources, and their free behavior within the jurisdiction is limited, and many have narrowed their range of action. Therefore, we thought that it is necessary to have a mechanism that can accommodate changes in the shape of the pipe and that can move without being supplied with power or resources from the outside, or a mechanism that can afford a battery. Based on these, we have developed a moving mechanism in a pipe by combining a valve and a telescopic mechanism. And we made a prototype using a 3D printer. Then, the operation in the pipe was confirmed.