Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 16, 2023 - March 17, 2023
In this paper, we describe the made of an in-pipe traveling robot that can measure the load to the pipe wall and run with appropriate force. Direct inspection of piping is an effective way to check for damage and health conditions in pipes. In recently years, a method using a small robot has been considered for piping inspection. However, in inspection by a robot, it is necessary to apply a load to the pipes to obtain propulsive force. Therefore, a sensor was installed in the piping contact area of the robot to construct a system that can examine the transition of the load applied in the piping, and the robot was operated with appropriate force based on the measured data. The robot consists of three rubber bellows, two friction brake mechanisms, and a sensor to check the load.
