ユニット型小口径配管内走行検査ロボットの開発

• 田口 幹

  神奈川工科大学

• 河原崎 徳之

  神奈川工科大学

書誌事項

タイトル別名

• Development of In-pipe Inspection Robot for Small Radius Pipelines.
• ユニットガタ ショウコウケイ ハイカンナイ ソウコウ ケンサ ロボット ノ カ

抄録

We have already reported the fundamental mechanism for an in-pipe inspection robot which can move in small radius (50 [mm] ) pipeline. The robot could go through elbows and T-joint, but only in horizontal pipelines. In this report, we describe a new in-pipe inspection robot that is extended to go through both horizontal and vertical pipelines with computer control. The robot has 2 steering units at both end, and each steering unit has 2 D.O.F to change the direction of the robot. In order to be controlled automatically, the robot should know the shape of pipeline, the status of the robot and locomotion distance, the robot has various sensors such as tactile sensors, an encoder and potentiometer. Using the information from these sensors, the robot can move along not only straight pipeline but also elbows or T-joint automatically.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 15 (2), 230-235, 1997

  一般社団法人 日本ロボット学会

キーワード

• In-pipe Inspection Robot
• Tactile Sensors
• Elbows or T-joint

詳細情報

• CRID: 1390282679703537024
• NII論文ID: 10007440715
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.15.230
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4159451
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4159451
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可