T-3-3-2 Development of an In-pipe Inspection Robot Movable for a Long Distance

摘要

This paper presents a prototype of a new in-pipe inspection robot which can move for a long distance. The In-pipe inspection robot system consists of a driving mechanism, a CCD camera and light emitting diodes. The driving mechanism is structured by a rubber bellows, many friction rings and an electromagnetic valve. It is driven by pneumatic pressure and vacuum pressure. These two pressures are switched by the electromagnetic valve. The pneumatic pressure (0.3 MPa [gage]) is used to stretch and the vacuum pressure (-0.08 MPa [gage]) is used to shrink the rubber bellows. The rubber bellows is 33 mm in outer diameter, 23 mm in inner diameter and 150 mm long. The friction rings convert the stretching and shrinking motion of the bellows into the moving force. The CCD camera and the light emitting diodes are able to find for a crack in the pipe. Consequently, The in-pipe inspection robot moves freely in the pipe, and can find the crack. It was possible to move the distance of 20 m with the speed of 24 mm/s.