Abstract
This paper describes a prototype of a new in-pipe mobile high-traction mechanism. A fabricated mechanism is structured by three rubber bellows, lots of friction rings and there electromagnetic valves. A mechanism is driven by pneumatic pressure and vacuum pressure. These two pressures are switched by the electromagnetic valve. The pneumatic pressure (0.1 MPa) is used to stretch and the vacuum pressure (-0.08 MPa) is used to shrink the rubber bellows. The friction rings converts the expansion and contraction movement into the advancement drive. Consequently, The in-pipe mobile high-traction mechanism is moves freely in the pipe and mechanism generated the traction force of 80 N.
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