Long-mover:配管内の長距離移動を目指した柔軟チューブ形ロボット

―第4報:供給ラインのスリム化―

抄録

This paper describes a new way to inspect and clean pipelines by carrying wired sensors such as cameras, and washing hoses, through long, narrow, curving pipelines. To meet this demand, we propose a drive method improvement by making the supply line slimmer, which can be expected to simplify the overall structure, save air energy, and improve responsiveness. In order to confirm the effectiveness of the proposed method, a propulsion experiment was conducted with a horizontal pipe and a vertical pipe, and it was confirmed that the response was improved even if the total length was increased, suggesting the effectiveness of the proposed method.