2A2-G02 配管検査のための能動スコープカメラの挿通引抜性能の向上(極限作業ロボット)

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  • 2A2-G02 Improvement of the insertion and drawing performance of the Active Scope Camera for pipe inspection(Robotics for Hazardous Fields)

説明

We developed the Active Scope Camera (ASC) for pipe inspection, which promote by the Ciliary Vibration Drive mechanism. However, pipes consist of many bent pipes, so required insertion and drawing performance, which stably pass through these pipes. In this paper, we design configuration that takes into account an ease of drawing and propose the flexible tube type ASC for improvement of insertion. In addition, we propose the drawing function using a wire, and can draw in status of combination of the eight bent pipes. Finally, we valuate insertion and drawing performance by use of simulated pipe, which was assembled in three dimensions.

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