管内走行ロボットが走行管に与える影響の一考察

抄録

In this paper, we describe the fabrication of an in-pipe traveling robot that can move through pipes and measure the load using on-board sensors. Direct inspection of pipes is an effective way to check for damage and health conditions in pipes. In recent years, a method using a small robot has been studied for pipe inspection. However, inspection by a robot requires a load to be applied to the pipe to obtain propulsion. Therefore, we constructed a system that can check the load transition by installing sensors on the pipe contact area of the robot, and examined the load applied in the pipe. The robot consists of three rubber bellows, two frictional brake mechanisms, and a sensor to check the load. The braking force by the brake mechanism was calculated.