細径管内検査のためのマイクロ壁面移動ロボットの駆動検証

抄録

In recent years, many of the piping systems used in Japan are more than 50 years old, and the risk of rupture due to aging is increasing. That is why, Research on mobile robot which can move inside pipe has proceeded. However, general mobile robot can only be used in large-diameter pipe. In this study, micro-wall climbing robot for Small-diameter Pipe-inside test is invented. Magnetic wheels are introduced into the robot to achieve suction to the surface of a metal plate. Also, a micro ultrasonic motor whose torque per unit volume is high is used as the actuator. The highest torque which is really measured was about 44 μNm at 40 V_p−p. In this study, a geared motor combining a micro ultrasonic motor and a planetary gear system is fabricated, and the mobility performance of the wall-climbing robot equipped with it is evaluated.