配管内検査ロボットのケーブル摩擦軽減ユニットの開発

抄録

In recent years, many pipes used in residential areas and factories constructed during the period of rapid economic growth are reaching the end of their service life. These pipes have problems such as corrosion and cracks, and thus a robot that can travel quickly and directly through pipes attracts attentions. However, many robots are not designed to travel long distances. This is because most robots are connected by cables for power supply and communication, which generate frictional forces with the inner wall of the pipe. In this study, a friction reduction unit for a long-distance pipe inspection robot is proposed.