抄録
In recent years, with the increase of the old sewage pipes, the demand of repairing for sewage pipes is increasing in Japan. Because it will take a lot of time and money to use the general way of digging the ground and changing pipes, so we can save them by using the remote-controlled robot for repairing. There are two problems in real application. The one is the robot arm with the few degrees of freedom. At the present stage, there have been In-pipe robots, however with less degree of freedom to do some complex work such as drilling, cutting and grinding. The other one is the big size of the body and heavy cables which make the robot difficult to work in the small pipes. The purpose of this study is to propose and design a compact drilling robot with a manipulator of four degrees of freedom which can work in the sewage pipe of the 150mm diameter. Normally, the drilling motor is put on the front of the robot. However, we put the drilling motor on the body and use a special bevel gear structure in the manipulator to achieve the purpose of complex drilling and miniaturization.
