25Aガス管検査用ロボットに用いる軸方向伸長型ユニットの開発

抄録

We have developed 25A pipe inspection robot in order to prevent accidents due to damage or corrosion of pipes. However, the developed robot has a problem that locomotion speed is slow. Judging from locomotion speed of the robot, it takes a lot of time in the pipe inspection. This problem is the reason why the amount of movement of the robot is small. Therefore, we developed an extension unit to extend in the axial direction to solve this problem. Then, the developed unit is performed a measuring experiment of extension amount, push force and pull force. As a result, the developed unit is confirmed that it satisfies the conditions required for the robot.