Introduction

　In this study, we have been developing a pipe inspection robot; WATER(WAseda Tokyogas Endscope Robot), for inspections of underground pipes lines.

Background

　Many pipes lines are lain underground in urban areas for gas supply. Most of them are made by steel pipes.
　Robots for pipe inspections to reduce costs for the maintenance of these pipes are strongly required.

Overview of robot

　This robot consists of two balloons and an extension hose, and locomotes in pipe lines like an inchworm. At the top of the robot, a pneumatic bending module and a camera are mounted. This robot is designed to locomote in steel pipes with an inner diameter of 28[mm] and 53[mm]. This robot is able to locomote horizontally and vertically in these straight steel pipes. In addition, it can pass through curved pipes. In a verification experiment using a mock pile line, this robot could pass through 8 curved sections in 10 minutes.　

Movie

8 curved pipe locomotion

WATER

　This research is conducted under cooperation with SIP "infrastructure upkeeping, renewal and management technology" (Management corporation: JST). We would like to express our thanks to Tokyo Gas Co., Ltd., SolidWorks Japan K. K. for helping us to develop the robot.