具有人造肌肉的管道检测蚯蚓机器人

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具有人造肌肉的管道检测蚯蚓机器人

为了减少严重事故的风险，例如由破损和老化的污水管引起的道路沉降，需要对污水管进行内部检查。然而，现有的检测设备很难对小直径管道进行检测。为了解决这一问题，日本一家机器人公司将重点放在蚯蚓的运动上，这种蚯蚓能够在狭窄的空间内稳定地运动。

该公司研制了一种蠕动爬行机器人，该机器人可以通过100米的蠕动运动通过100A规格的管道。该机器人由7个部件、6个关节和一个装有摄像头的头部部件组成。这个机器人是由人工肌肉在气压作用下驱动的。

老化的下水道是引起道路塌陷的主要原因，平成18年约有4000起道路塌陷事故被报告。这种塌陷事故于未然,为了防止管道内部的事先检查,维修和交换的是非,有必要研究,在现有的检查机器人,“小路”“复杂的弯曲”“远距离管”没能充分的检查。

因此，蚯蚓的蠕动运动能够在狭窄的空间中稳定前进，再加上空气压力橡胶人工肌肉，即使小也能获得巨大的力量，从而达到检查所有下水道的目的。

To reduce the risk of serious accidents, such as road subsidence caused by damaged and aging sewer pipes, internal inspections of sewer pipes is required. However, it is difficult to inspect small diameter pipes using existing inspection devices. In order to solve this problem, we focus on the locomotion of an earthworm that is capable of moving stably in a narrow space. A peristaltic crawling robot was developed which was capable of traveling 100 m through a 100A specification pipe using a peristaltic movement. The robot consists of a seven units, six joints, and a head unit equipped with a camera. The robot was actuated with artificial muscles operated by air pressure.

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视频：
Soft Robotics  Earthworm robot for pipelineinspection
https://www.bilibili.com/video/av74376742

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