FABRICATION OF AN ARTIFICIAL EARTHWORM TYPE MOBILE INSPECTION ROBOT MOVABLE IN 100 M LONG PIPES

摘要

(1) We fabricated an artificial earthworm type mobile inspection robot which is constructed by three bellows, 20 friction rings and three electromagnetic valves. (2) The robot was confirmed to move in the pipe which has 79 mm in inner diameter and 100 m long. (3) The traction force depends on the number of friction rings. The inspection robot equipped with 20 friction rings may be able to move more than 130 m. We obtained feasibility on an in-pipe inspection robot of the first cooling-water pipe of atomic power plant.