Abstract
Currently, in order to prevent accidents due to damage or corrosion of pipes, pipes are regularly inspected. However, it is difficult to inspect complex pipes with narrow diameters deeply. Therefore, we have developed a pipe inspection robot for 25A pipes (whose inner diameter is approximately 28 mm) that are difficult to inspect particularly. So far, we have developed a peristaltic crawling robot using a pneumatic drive which can move through a 25A pipe. However, it takes an extremely time-consuming for the pipe inspection because locomotion speed of the robot is slow. This problem is the major reason why moving amount of the robot is small. Therefore, in order to increase moving amount of the robot, we developed an extension unit to extend in the axial direction and a new 25A pipe inspection robot equipped with it. Then, measurement experiment of locomotion speed is performed in the new robot, and it is confirmed that locomotion speed of the new robot is faster than that of the conventional robot.
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