Development of the Under Water Pipe Cleaning Robot
足達 康行 （株式会社 東京久栄 技術部開発課）
中野 治 （株式会社 東京久栄 潜水技術部）
Yasuyuki Adachi, Tokyo Kyuei, 3-1-15 Nihonbashi, Chuou-ku, Tokyo, Japan
Osamu Nakagawa, Tokyo Kyuei
Key Words； Sea Water Intake Facilities, Adhesion Biology. Under Water Pipe Cleaning Robot
ABSTRACT
The cleaning robot has developed in order to lighten an under water pipe cleaning work which is carried out by a diver. This robot consists of a main body, a rotational arm and a driving arm in order to move this robot in a pipe. At the top of the rotational arm, a removing head is mounted, and the cleaning of a pipe is carried out by means of rotating the rotational arm pushing this head to a pipe wall. The rotational and driving arm is able to expand and contract by using a stepping motor and an air cylinder respectively.
A cleaning performance of this robot is more than 100?/hr. and this performance is about five times as large as a diver. Furthermore, this performance, differ from the case of a diver, is not depend on a kind of biology adhering on pipe wall.
This report describes the principle and outline of the under water pipe cleaning robot and the results of actual experiment of the intake pipe cleaning work of a power plant.
