In-pipe mobile robot

Abstract

A tube-mounted mobile robot including a robot body (10) has: a fluid supply source (21) connected to multiple telescopic units, and a control device (22) connected to the fluid supply source (21). The control device (22) has a control unit (22a) and a mode switching unit (22b) that switches the control mode between a normal movement mode and an exit mode. In the normal movement mode, the control unit (22a) controls the operation of the fluid supply source (21) to cause the multiple telescopic units to alternately deform into a fully expanded state and a natural state to perform peristaltic movement. In the exit mode, the control unit (22a) controls the operation of the fluid supply source (21) to cause the multiple telescopic units to deform into a partially expanded state, a slightly expanded state, or a natural state, where the diameter is not maintained by the inner circumferential surface of the tube.

Description

Technical Field

[0001] This invention relates to an intra-tube mobile robot that moves inside a tube. Prior Technology

[0002] For example, there is a known type of in-pipe mobile robot, which is configured to move inside curved pipes such as air ducts used in air conditioning systems installed in office buildings, factories, detached houses, etc. This type of in-pipe mobile robot is used for various purposes such as pipe internal inspection and cleaning.

[0003] Conventionally, such tube-moving robots have been known to have multiple telescopic units that expand radially and contract axially when supplied with fluid, and these multiple telescopic units move inside the tube by peristaltic motion in a pattern (see, for example, Patent Document 1). Prior technology documents Patent documents

[0004] Patent Document 1: Japanese Patent Publication No. 2018-69125 Summary of the Invention

[0005] The problem that the invention aims to solve When using this type of in-pipe mobile robot for internal pipe inspections, if the robot itself malfunctions and cannot detach from the pipe by its own power, it is necessary to pull the traction components, such as the wiring harness connected to the robot body, from the outside of the pipe to pull the in-pipe mobile robot out of the pipe.

[0006] However, regarding the telescopic unit installed in the robot body, for example, multiple fiber bundles are arranged axially inside a cylindrical elastomer, which is configured to bend relative to the axial direction but is difficult to extend. Therefore, when the telescopic unit bends along the bend of the tube, the inner circumferential part of the telescopic unit will wrinkle due to relaxation. Therefore, if the bend of the tube is, for example, a synthetic resin molded part with an edge along the mold parting line on the inner circumferential surface, when the traction member is pulled to pull the robot out of the tube, the wrinkles generated by the telescopic unit will hook onto the edge of the inner circumferential surface of the bend of the tube, thus causing the robot to be difficult to pull out of the tube.

[0007] The present invention was made in view of this problem, and its object is to provide an in-tube mobile robot that can easily pull out a robot body that has malfunctioned from the tube.

[0008] Technical means to solve the problem The present invention provides a pipe-mounted mobile robot, characterized in that it comprises: a robot body including at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the telescopic units performing a peristaltic motion to move inside the pipe. The pipe-mounted mobile robot has: a fluid supply source, individually connected to each of the plurality of telescopic units via piping; and a control device connected to the fluid supply source. The control device has: a control unit for controlling the operation of the fluid supply source; and a mode switching unit for switching the control mode of the fluid supply source controlled by the control unit between a normal movement mode and a disengagement mode. In the normal movement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a fully expanded radially expanding state and a non-expanded natural state to perform the peristaltic movement. In the disengagement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a partially expanded state with an internal pressure lower than that of the fully expanded state, resulting in a diameter not held by the inner circumferential surface of the tube, and a slightly expanded state with an internal pressure lower than that of the partially expanded state, or the natural state.

[0009] The present invention provides a pipe-mounted mobile robot, characterized in that it comprises: a robot body including at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the telescopic units performing a peristaltic motion to move inside the pipe. The pipe-mounted mobile robot includes: a fluid supply source individually connected to each of the plurality of telescopic units via piping; a control device connected to the fluid supply source; a traction device for pulling a traction component connected to the robot body in a direction that pulls the robot body out of the pipe; and a traction force detector for measuring the traction force applied to the traction component. The control device includes: a control unit for controlling the operation of the fluid supply source; and a mode switching unit for switching the control mode of the fluid supply source controlled by the control unit between a normal movement mode and an exit mode. In the normal movement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the multiple telescopic units to a fully expanded radial state and a non-expanded natural state to perform the peristaltic movement. In the disengagement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the multiple telescopic units to a partially expanded radial state with a lower internal pressure than the fully expanded state, a slightly expanded radial state with a lower internal pressure than the partially expanded state, or the natural state. When the traction force measured by the traction force detector reaches or exceeds a predetermined value, the control mode is automatically switched from the normal movement mode to the disengagement mode by the mode switching unit.

[0010] In the above-described configuration, the in-tube mobile robot of the present invention preferably comprises: a traction device for pulling a traction component connected to the robot body in a direction that pulls the robot body out of the tube; and the control unit activating the traction device when the control mode is switched from the normal movement mode to the exit mode by the mode switching unit.

[0011] The present invention provides a pipe-mounted mobile robot, characterized in that it comprises: a robot body including at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the telescopic units performing a peristaltic motion to move inside the pipe. The pipe-mounted mobile robot has: a fluid supply source, individually connected to each of the plurality of telescopic units via piping; and a control device connected to the fluid supply source. The control device has: a control unit for controlling the operation of the fluid supply source; and a mode switching unit for switching the control mode of the fluid supply source controlled by the control unit between a normal movement mode and a disengagement mode. The control unit: In the normal movement mode, controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a fully expanded radially expanding state and a non-expanded natural state to perform the peristaltic movement; in the disengagement mode, controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a partially expanded radially expanding state with an internal pressure lower than that of the fully expanded state, and a slightly expanded radially expanding state with an internal pressure lower than that of the partially expanded state, or the natural state. The in-tube mobile robot further includes a traction component, which comprises: a fixing part fixed to the front end of the robot body; and a cable-like part, one end of which is connected to the fixing part and the other end of which is pulled out from the rear end of the robot body through the interior of the robot body.

[0012] The effects of the invention According to the present invention, an in-tube mobile robot is provided that can easily pull out a malfunctioning robot body from the tube. Simple Explanation of the Diagram

[0013] Figure 1 is a perspective view of an in-tube mobile robot according to one embodiment of the present invention. Figure 2 is a block diagram of the control unit shown in Figure 1. Figures 3(a) to 3(b) are diagrams of a portion of the in-tube mobile robot operating in normal movement mode. Figure 3(a) is a side view of the telescopic unit in its natural state, and Figure 3(b) is a side view of the telescopic unit in its fully expanded state. Figures 4(a) to 4(d) are schematic diagrams of the actuation patterns of the telescopic units during the peristaltic motion of the robot body shown in Figure 1. Figures 5(a) to 5(b) are diagrams of a portion of an in-tube mobile robot operating in disengagement mode, wherein Figure 5(a) is a side view of the telescopic unit in its natural state, and Figure 5(b) is a side view of the telescopic unit in its partially inflated state. Figures 6(a) to 6(c) are explanatory diagrams showing the movement of the telescopic unit through the bend of the tube in the disengagement mode. Figure 7 is a block diagram of the control unit for the modified example. Figure 8(a) and Figure 8(b) are explanatory diagrams showing the display status of the display panel in the escape mode, respectively. Figure 9 is a block diagram of the control unit for other variations. Figure 10(a) is a side view of a portion of an in-tube mobile robot equipped with a traction component, and Figure 10(b) is a side view of a portion of an in-tube mobile robot equipped with a traction component according to a modified example. Implementation

[0014] The following is a detailed description of the tube-mounted mobile robot of the present invention, with reference to the drawings.

[0015] Figure 1 shows an in-tube mobile robot 1 according to an embodiment of the present invention, which is configured to move inside a curved tube, such as an air duct for an air conditioning unit, installed in an office building, factory, or detached house.

[0016] The mobile robot 1 within the pipe has a robot body 10 and a control unit 20.

[0017] The robot body 10, also known as an earthworm-type robot or a worm-like robot, has an elongated shape extending along axis O. The robot body 10 is capable of moving axially (along the direction of axis O) inside the tube. That is, the robot body 10 is capable of moving forward inside the tube. Furthermore, the robot body 10 can also be configured to move forward and backward inside the tube.

[0018] The robot body 10 has at least three telescopic units 11 as a driving source for movement inside the tube. In this embodiment, the robot body 10 has seven telescopic units 11 (only four telescopic units 11 are shown in Figure 1). Furthermore, the number of telescopic units 11 of the robot body 10 can be appropriately changed, as long as it has at least three telescopic units 11.

[0019] The telescopic unit 11 is a device referred to as an artificial muscle. The telescopic unit 11 has a cylindrical portion 11a formed of various elastomers such as rubber and centered on an axis O. Both ends of the cylindrical portion 11a are closed in the axial direction. Inside the cylindrical portion 11a, multiple fiber bundles (not shown) with high tensile strength are arranged along the axial direction. This allows the cylindrical portion 11a to elastically deform in a radially expanding manner, but its elastic deformation in the axial direction is restricted. Therefore, when a fluid such as compressed air is supplied to the telescopic unit 11 inside the cylindrical portion 11a, it operates by expanding radially and contracting axially. Furthermore, when fluid is discharged from inside the cylindrical portion 11a, the telescopic unit 11 can return to its original shape by contracting radially and extending axially due to the elastic force of the cylindrical portion 11a. Each telescopic unit 11 can operate individually according to a pattern.

[0020] Furthermore, the telescopic unit 11 can be configured in various ways, such as the so-called McKibben-type, which covers the outside of the cylindrical elastomer with sleeve-shaped woven fibers, as long as it is configured to expand radially and contract axially when supplied with fluid.

[0021] Adjacent telescopic units 11 are axially connected to each other via connecting portions 12. In this embodiment, the connecting portion 12 is a universal joint. This allows the robot body 10 to bend at the connecting portion 12. Therefore, when the robot body 10 moves inside the tube, even if the tube bends, it can move along the curved tube by bending the adjacent telescopic units 11 at the connecting portion 12.

[0022] In this embodiment, the universal joint is used as the connecting part 12, but it is not limited to any device that connects the adjacent telescopic unit 11.

[0023] The robot body 10 can also be configured to have a plurality of brushes 13 spaced apart axially. In this embodiment, brushes 13 in a generally annular shape centered on axis O are respectively provided at both ends of each telescopic unit 11 in the axial direction. By providing a plurality of brushes 13, when the robot body 10 moves inside the tube, it can be ensured that it is supported in a state approximately at the center of the tube by the plurality of brushes 13, and can move efficiently along the tube. In addition, by providing brushes 13, when the robot body 10 moves inside the tube, it can collect foreign objects (dirt) such as debris attached to the inner circumferential surface of the tube by the brushes 13, and can clean the inside of the tube.

[0024] Furthermore, in this embodiment, multiple brushes 13 are provided on the robot body 10, but any brushes with a generally annular shape centered on axis O are acceptable. For example, other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided. Alternatively, the robot body 10 may be configured without multiple brushes 13 or with other components having a generally annular shape centered on axis O.

[0025] The robot body 10 can also be configured to have a front end portion 14 at its forward direction side (left side in FIG1). In this embodiment, the front end portion 14 is cylindrical with axis O as its center, and a brush 15 with a generally annular shape centered on axis O is provided on the outer peripheral surface of its front end. By providing the brush 15, when moving inside the tube, the front end portion 14 can move along the tube while being supported at approximately the center of the tube 2 by the brush 15. Furthermore, by providing the brush 15, when moving inside the tube 2, the front end portion 14 can collect foreign objects (dirt) such as debris attached to the inner peripheral surface of the tube by the brush 15, and can clean the inside of the tube.

[0026] Furthermore, in this embodiment, a brush 15 is provided at the front end 14, but it is acceptable as long as it has a generally annular shape centered on the axis O. For example, other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided. Alternatively, the front end 14 can be configured without a brush 15 or with other components having a generally annular shape centered on the axis O.

[0027] The front end portion 14 can be configured to be connected to the foremost telescopic unit 11 of the robot body 10 via an elastic connection portion 16. The elastic connection portion 16 is configured as a compression coil spring extending along the axis O, capable of elastically deforming in a contracting manner along the axis O. Furthermore, the elastic connection portion 16 can be softly elastically deformed in a bending manner along the axis O. Therefore, when the front end portion 14 approaches the bend of the tube, it can bend in the direction along the bend by elastically deforming in a bending manner along the axis O via the elastic connection portion 16.

[0028] Furthermore, the elastic connecting part 16 is not limited to the aforementioned compression coil spring; it can be any component that connects the telescopic unit 11 and the front end portion 14 and is capable of elastically deforming relative to the axis O between the telescopic unit 11 and the front end portion 14. For example, it can also be a rubber tube or other components. In addition, the telescopic unit 11 can be configured to be directly connected to the telescopic unit 11 without the elastic connecting part 16, or it can be configured to be integrally provided at the front end of the telescopic unit 11.

[0029] The robot body 10 can also be configured to have a transparent cover 17 at the front end of the front end 14, inside which is a camera (not shown) inside the shooting tube.

[0030] The control unit 20 controls the operation of the robot body 10 and is connected to the robot body 10 via the wiring harness 18.

[0031] As shown in Figure 2, the control unit 20 has a fluid supply source 21 and a control device 22.

[0032] In this embodiment, the control unit 20 is configured as a single unit by housing the fluid supply source 21 and the control device 22 within a housing 23. Alternatively, the fluid supply source 21 and the control device 22 may be configured separately, without being housed in the same housing 23.

[0033] The fluid supply source 21 is individually connected to each telescopic unit 11 of the robot body 10 via multiple telescopic pipes 24. In Figure 2, only three telescopic pipes 24 are shown, but the fluid supply source 21 is individually connected to each of the corresponding multiple (seven in this embodiment) telescopic units 11 via multiple (seven in this embodiment) telescopic pipes 24. The multiple telescopic pipes 24 are inserted into the tubes constituting the wiring harness 18 and bundled together.

[0034] The fluid supply source 21 is, for example, a device that combines a pressure source such as an air compressor that supplies compressed air with a directional controller such as a solenoid valve. Alternatively, the pressure source can be located outside the housing 23. The fluid supply source 21 can supply fluid from the pressure source to multiple telescopic pipes 24 via the directional controller, supplying fluid individually to the inner side (inside) of the cylindrical portion 11a of multiple telescopic units 11 via the multiple telescopic pipes 24. Furthermore, the fluid supply source 21 has multiple vent valves (not shown) corresponding to each of the multiple telescopic pipes 24, allowing fluid inside the cylindrical portion 11a to be vented to the outside after the fluid supply to the telescopic unit 11 is stopped. For example, a solenoid valve can be used as the vent valve. Alternatively, the vent valves can be separate from the fluid supply source 21 and individually provided on each of the multiple telescopic pipes 24. Alternatively, the fluid supply source 21 can also be configured as multiple pressure sources with corresponding multiple expansion pipes 24, without using a direction controller, and directly supply fluid from the pressure sources corresponding to the multiple expansion pipes 24.

[0035] The control device 22 is a computer equipped with a CPU (central processing unit), memory, etc., and is connected to the fluid supply source 21.

[0036] The control device 22 includes a control unit 22a and a mode switching unit 22b. The control unit 22a and the mode switching unit 22b are each provided as a function of the control device 22 executed by a computer.

[0037] The control unit 22a controls the operation of the fluid supply source 21. More specifically, the control unit 22a controls the operation of the fluid supply source 21 by outputting instruction signals obtained by the CPU from programs stored in memory or the like to the fluid supply source 21.

[0038] The mode switching unit 22b switches between the normal movement mode and the disengagement mode by controlling the fluid supply source 21 through the control unit 22a.

[0039] The mode switching of the mode switching unit 22b can be performed by manually operating the mode switching switch 25 provided in the control unit 20, or it can be configured to automatically switch from normal movement mode to detachment mode when an abnormality of the robot body 10 is detected. Furthermore, the configuration of the automatic switching mode will be explained in the description section of the control unit 20 related to other variations shown in FIG9.

[0040] The normal movement mode involves the multiple telescopic units 11 moving in a peristaltic pattern, allowing the robot body 10 to move inside the tube. In the normal movement mode, the control unit 22a controls the operation of the fluid supply source 21 by alternating the shape of the multiple telescopic units 11 into a fully expanded radially expanded state and a non-expanded natural state to perform the peristaltic movement. Specifically, in the normal movement mode, the control unit 22a controls the fluid supply source 21 to deform each telescopic unit 11 into a fully expanded radially expanded state where fluid is supplied from the fluid supply source 21 through the telescopic pipe 24 to the inside of the cylindrical portion 11a, and a natural state where fluid supply from the fluid supply source 21 stops and the fluid inside the cylindrical portion 11a of the telescopic unit 11 is exhausted through the exhaust valve, resulting in atmospheric pressure. Thus, in the normal movement mode, the multiple telescopic units 11 move as a whole in a peristaltic pattern, enabling the robot body 10 to move inside the tube.

[0041] As shown in Figure 3(a), the natural state of the telescopic unit 11 in the normal movement mode is that the fluid is not supplied from the fluid supply source 21 to the telescopic unit 11, so that the internal pressure of the cylindrical portion 11a of the telescopic unit 11 is atmospheric, and the telescopic unit 11 does not expand and remains in a cylindrical shape. On the other hand, as shown in Figure 3(b), the fully expanded state of the telescopic unit 11 in the normal movement mode is that the fluid is supplied from the fluid supply source 21 to the internal pressure of the cylindrical portion 11a of the telescopic unit 11, and the telescopic unit 11 expands radially to a diameter D1, so that the internal pressure of the cylindrical portion 11a reaches a predetermined value. In addition, the fully expanded state of the telescopic unit 11 in the normal movement mode is also a state in which the telescopic unit 11 expands to the extent that it can abut against the inner circumferential surface of the tube and hold the robot body 10 inside the tube.

[0042] Figures 4(a) to 4(d) show an example of the peristaltic motion of the multiple telescopic units 11 when the robot body 10 operates in normal movement mode and moves to one side of the axial direction inside the tube 2, that is, when it moves to the left in Figures 4(a) to 4(d).

[0043] First, as shown in Figure 4(a), the leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left in Figures 4(a) to 4(d) are expanded radially and set to a fully expanded state, and then contracted axially. The two fully expanded telescopic units 11 abut against the inner circumferential surface of the pipe 2 throughout their entire circumference. In this way, the robot body 10 is held axially by the two fully expanded telescopic units 11.

[0044] Next, from the state shown in Figure 4(a), as shown in Figure 4(b), the leftmost telescopic unit 11 is restored to its original natural state, and the third telescopic unit 11 from the left expands radially to a fully expanded state and contracts axially. At this time, since the second telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and its axial position is maintained, the left end (front end) of the robot body 10 moves to the left from the position shown in Figure 4(a) as the leftmost telescopic unit 11 contracts radially and extends axially to restore its original shape. In addition, with the second telescopic unit 11 from the left abutting against the inner circumferential surface of the pipe 2 and its axial position maintained, the third telescopic unit 11 from the left expands radially and contracts axially, so the right end (rear end) of the robot body 10 also moves to the left from the position shown in Figure 4(a).

[0045] Next, from the state shown in Figure 4(b), as shown in Figure 4(c), the second telescopic unit 11 from the left returns to its original natural state, and the fourth telescopic unit 11 from the left expands radially to a fully expanded state and contracts axially. At this time, since the third telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and its axial position is maintained, the left end (front end) of the robot body 10 moves further to the left from the position shown in Figure 4(b). In addition, while the third telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and its axial position is maintained, the fourth telescopic unit 11 from the left expands radially and contracts axially, so the right end (rear end) of the robot body 10 also moves further to the left from the position shown in Figure 4(b).

[0046] Next, the same procedure is followed until the rightmost telescopic unit 11 is reached, and the telescopic unit 11 is operated in the above pattern. Then, when the pattern reaches the rightmost telescopic unit 11, as shown in FIG4(d), the operation of the telescopic unit 11 is returned to the initial state and operated in the above pattern.

[0047] Thus, in normal movement mode, by controlling the fluid supply source 21 through the control unit 22a to cause the multiple telescopic units 11 to perform peristaltic movements in the aforementioned pattern, the robot body 10 can move forward to the left inside the tube 2 as shown in Figures 4(a) to 4(d). Furthermore, by controlling the fluid supply source 21 through the control unit 22a to cause the multiple telescopic units 11 to move in a pattern opposite to the left and right shown in Figures 4(a) to 4(d), the robot body 10 can move backward to the right inside the tube 2 as shown in Figures 3(a) to 3(b). That is, in normal movement mode, the robot body 10 can move forward and backward inside the tube 2 by controlling the fluid supply source 21 through the control unit 22a to cause the multiple telescopic units 11 to perform the aforementioned peristaltic movements.

[0048] In addition, the peristaltic motion pattern of the multiple telescopic units 11 in the normal movement mode is not limited to the above. As long as it enables the robot body 10 to move forward and backward, it can also be of other patterns.

[0049] The detachment mode is used when the robot body 10 malfunctions or other abnormalities, preventing it from moving on its own. Instead, the robot body 10 is pulled out of the pipe 2 by pulling the wiring harness 18 or a traction component from the outside of the pipe 2. In the detachment mode, the control unit 22a controls the operation of the fluid supply source 21, causing the multiple telescopic units 11 to deform into a partially expanded state and a natural state, where the internal pressure is lower than that of the fully expanded state. That is, in the detachment mode, the control unit 22a controls the fluid supply source 21 as follows: causing each telescopic unit 11 to deform into a partially expanded state, where fluid is supplied from the fluid supply source 21 to the inside of the cylindrical portion 11a via the telescopic pipe 24, resulting in radial expansion at a lower internal pressure than that of the fully expanded state; and a natural state, where fluid supply from the fluid supply source 21 is stopped, and the fluid inside the cylindrical portion 11a of the telescopic unit 11 is vented to the outside through the exhaust valve, resulting in atmospheric pressure.

[0050] In the release mode, only one selected telescopic unit 11 can be deformed into a partially expanded state and a natural state. Alternatively, multiple telescopic units 11 can be deformed one by one from the front side to the rear side into a partially expanded state and a natural state. Another option is to group multiple telescopic units 11 (an even number from the front side) into a group and simultaneously deform them into a partially expanded state and a natural state, then group multiple telescopic units 11 (an odd number from the front side) into a group and simultaneously deform them into a partially expanded state and a natural state. Alternatively, all telescopic units 11 can be deformed into a partially expanded state and a natural state simultaneously. Furthermore, in the release mode, the selected telescopic units 11 can be alternately deformed into a partially expanded state and a natural state a predetermined number of times in the above-described pattern.

[0051] In addition, in the disengagement mode, the control unit 22a may also be configured to control the operation of the fluid supply source 21, so that the time when the telescopic unit 11 is in the natural state is longer than the time when the telescopic unit 11 is in the incompletely expanded state.

[0052] As shown by the solid line in Figure 5(a), the natural state of the telescopic unit 11 in the disengagement mode is that no fluid is supplied to the telescopic unit 11 from the fluid supply source 21, and the interior of the cylindrical portion 11a of the telescopic unit 11 is at atmospheric pressure and does not expand, thus forming a cylindrical shape. That is, the natural state of the telescopic unit 11 in the disengagement mode is the same as the natural state of the telescopic unit 11 in the normal movement mode. On the other hand, as shown in Figure 5(b), the incomplete expansion state of the telescopic unit 11 in the disengagement mode is that fluid is supplied to the interior of the cylindrical portion 11a of the telescopic unit 11 from the fluid supply source 21, the internal pressure of the cylindrical portion 11a is set to be lower than the internal pressure in the fully expanded state, and it expands radially to a diameter D2 smaller than the diameter D1 of the telescopic unit 11 in the fully expanded state. Preferably, the internal pressure of the cylindrical portion 11a in the incomplete expansion state is less than 90% of the internal pressure of the cylindrical portion 11a in the fully expanded state. Thus, the internal pressure of the telescopic unit 11 in the disengagement mode, in its partially expanded state, is lower than the internal pressure in its fully expanded state in the normal movement mode, and the diameter D2 of the telescopic unit 11 is smaller than its diameter D1. Therefore, the telescopic unit 11, which is expanded to a partially expanded state in the disengagement mode, does not contact the inner circumferential surface of the tube 2 and maintains its axial position, and can easily move axially relative to the tube 2. In addition, by setting the telescopic unit 11 to a moderately expanded state in the disengagement mode, the bent inner circumferential portion is less likely to wrinkle due to relaxation when the cylindrical portion 11a is bent relative to the axial direction.

[0053] In the disengagement mode, by setting the fluid pressure supplied from the fluid supply source 21 to the telescopic unit 11 to be lower than the fluid pressure supplied to the telescopic unit 11 in the normal movement mode, the internal pressure of the cylindrical portion 11a in the incompletely expanded state can be lower than the internal pressure of the cylindrical portion 11a in the fully expanded state. Alternatively, in the disengagement mode, by maintaining the fluid pressure supplied from the fluid supply source 21 to the telescopic unit 11 at the same pressure as the fluid pressure supplied to the telescopic unit 11 in the normal movement mode, and shortening the time for supplying fluid to the telescopic unit 11, the internal pressure of the cylindrical portion 11a in the incompletely expanded state can be lower than the internal pressure of the cylindrical portion 11a in the fully expanded state.

[0054] Furthermore, in the disengagement mode, the telescopic unit 11 can alternately deform between a partially expanded state and a slightly expanded state. The slightly expanded state is achieved by expanding radially with a lower internal pressure than in the partially expanded state, resulting in a diameter D3 smaller than the diameter D2. Preferably, the internal pressure of the cylindrical portion 11a in the slightly expanded state is less than 30% of the internal pressure of the cylindrical portion 11a in the fully expanded state. As shown by the two-point chain line in Figure 5(a), the slightly expanded state is a state slightly expanded compared to the natural state. With this configuration, when the telescopic unit 11 switches from the partially expanded state to the slightly expanded state, the inner circumferential portion of the cylindrical portion 11a is less prone to wrinkles 11b due to relaxation.

[0055] In the tube-moving robot 1 of this embodiment, when the robot body 10 malfunctions or other situations occur, and instead of allowing the robot body 10 to move on its own, the robot body 10 is pulled out of the tube 2 by pulling the wiring harness 18 or traction component from the outside of the tube 2, the control mode of the control unit 22a is switched from the normal movement mode to the extraction mode by the mode switching unit 22b, as shown in Figures 6(a) to 6(c). Even if the bent portion 2a of the tube 2 is a synthetic resin molded product, for example, having an edge 2b along the parting line of the mold on the inner circumferential surface, the robot body 10 can be easily pulled out of the tube 2.

[0056] That is, as shown in Figure 6(a), since the cylindrical portion 11a is configured to bend relative to the axial direction but is difficult to extend, when the telescopic unit 11 in its natural state is located at the bend 2a of the tube 2, the inner circumferential portion of the cylindrical portion 11a will generate multiple wrinkles 11b due to relaxation. Moreover, when the wire harness 18 or traction component is pulled from the outside of the tube 2 in order to pull the robot body 10 out of the tube 2, the wrinkles 11b will strongly hook onto the edge 2b of the bend 2a of the tube 2 due to the force applied to the telescopic unit 11 toward the inner circumferential side, making it difficult to pull the robot body 10 out of the tube 2.

[0057] In contrast, as shown in Figure 6(b), when the control unit 22a controls the operation of the fluid supply source 21 in the disengagement mode, the telescopic unit 11 expands to a partially expanded state. This allows the multiple folds 11b that are naturally formed in the cylindrical portion 11a to extend, making the cylindrical portion 11a a roughly cylindrical shape without folds 11b, thus eliminating the telescopic unit 11 from snagging on the edge 2b. Furthermore, since the telescopic unit 11 expands only to a partially expanded state with a diameter smaller than that of the fully expanded state, the partially expanded telescopic unit 11 does not contact the inner circumferential surface of the bent portion 2a of the tube 2 and is held by that inner circumferential surface. Therefore, in the disengagement mode, by pulling the wire harness 18 or traction component from the outside of the tube 2 at the point when the telescopic unit 11 is in a partially expanded state, as shown in Figure 6(c), the robot body 10 can be moved inside the bent portion 2a of the tube 2 until the folds 11b no longer snag on the edge 2b when the telescopic unit 11 is in a natural or slightly expanded state. Furthermore, if the crease 11b cannot be eliminated by a single movement from the edge 2b, whenever the telescopic unit 11 is in a partially expanded state in the disengagement mode, the operation of pulling the wire harness 18 or traction component from the outside of the tube 2 is repeatedly performed to move the inside of the bent portion 2a of the tube 2 to a position where the crease 11b will not be caught on the edge 2b when the telescopic unit 11 is in a natural or slightly expanded state. Moreover, if the inside of the bent portion 2a of the tube 2 can be moved to a position where the crease 11b will not be caught on the edge 2b when the telescopic unit 11 is in a natural or slightly expanded state, then by further pulling the wire harness 18 or traction component from the outside of the tube 2, the robot body 10 can be easily pulled out of the tube 2.

[0058] In the disengagement mode, for example, when various information such as the length of tube 2, the length of the wire harness 18 pulled into tube 2, and the internal image of tube 2 captured by a camera can be obtained from the telescopic unit 11 of the robot body 10 that is stopped inside tube 2, and which telescopic unit 11 is located at the bend 2a of tube 2, the telescopic unit 11 located at the bend 2a of tube 2 is deformed between a non-fully expanded state and a natural state in the disengagement mode, and the wire harness 18 or traction component is pulled from the outside of tube 2.

[0059] On the other hand, when it is impossible to determine which telescopic unit 11 of the robot body 10, which is stopped inside the tube 2, is located at the bend 2a of the tube 2, the multiple telescopic units 11 are deformed one by one in the disengagement mode between the incomplete expansion state and the natural state. Alternatively, multiple telescopic units 11 with an even number of front side counts are grouped together and deformed simultaneously between the incomplete expansion state and the natural state. Then, multiple telescopic units 11 with an odd number of front side counts are grouped together and deformed simultaneously between the incomplete expansion state and the natural state. Alternatively, all telescopic units 11 are deformed simultaneously between the incomplete expansion state and the natural state. Then, the wiring harness 18 or traction component is pulled from the outside of the tube 2.

[0060] Thus, in the tube-moving robot 1 of this embodiment, since the operation of the control unit 22a can be switched between a normal movement mode and an exit mode by the mode switching unit 22b, in the exit mode, the control unit 22a controls the operation of the fluid supply source 21 as follows: the multiple telescopic units 11 are deformed into a partially expanded state with an internal pressure lower than that of a fully expanded state, and a slightly expanded state or a natural state with an internal pressure lower than that of a partially expanded state. Therefore, even if there is an edge 2b in the bent portion 2a of the tube 2, by operating the telescopic units 11 in the exit mode, the hook of the telescopic units 11 on the edge 2b can be released, and the robot body 10 can be easily pulled out of the tube 2.

[0061] Figure 7 is a block diagram of the control unit 20 of the modified example. Figures 8(a) and 8(b) are explanatory diagrams of the display panel display status in the display exit mode. In addition, in Figures 7, 8(a), and 8(b), the aforementioned components or parts are marked with the same symbols.

[0062] As shown in Figure 7 as a variant example, the control unit 20 can also be configured to include a display panel 30.

[0063] The display panel 30 has multiple indicator lights 31 corresponding to each of the multiple telescopic units 11. In FIG. 7, only three indicator lights 31 corresponding to three telescopic units 11 are shown illustratively, but on the display panel 30, multiple indicator lights 31 corresponding to multiple (seven in this embodiment) telescopic units 11 are arranged in a straight line. The arrangement order of the multiple indicator lights 31 corresponds to the arrangement order of the multiple telescopic units 11 of the robot body 10 from front to rear.

[0064] The display panel 30 is connected to the control unit 22a. The operation of the display panel 30 is controlled by the control unit 22a in the following manner: In the disengagement mode, the indicator light 31 corresponding to the telescopic unit 11 that is in a partially expanded state due to fluid supply from the fluid supply source 21 is illuminated. For example, as shown in FIG8(a), the operation of the display panel 30 is controlled by the control unit 22a in the following manner: In the disengagement mode, when fluid is supplied from the fluid supply source 21 to expand the telescopic unit 11 at the frontmost side of the robot body 10 to a partially expanded state, the indicator light 31 corresponding to this frontmost telescopic unit 11 in FIG7 is illuminated. In addition, as shown in FIG8(b), the operation of the display panel 30 is controlled by the control unit 22a in the following manner: In the disengagement mode, when fluid is supplied from the fluid supply source 21 to expand the second telescopic unit 11 from the front of the robot body 10 to a partially expanded state, the indicator light 31 corresponding to this second telescopic unit 11 from the left in FIG7 is illuminated. Furthermore, although not shown in detail, when multiple telescopic units 11 simultaneously expand to a partially expanded state, the operation of the display panel 30 is controlled by the control unit 22a in the following manner: multiple indicator lights 31 corresponding to these multiple telescopic units 11 that have expanded to a partially expanded state are illuminated. In addition, in FIG7, the illuminated indicator lights 31 are represented by circles, and the extinguished indicator lights 31 are represented by horizontal bars, but the display method is not limited to this.

[0065] Thus, by configuring a display panel in the control unit 20, the user can identify which of the multiple telescopic units 11 is not fully expanded in the disengagement mode by illuminating the indicator light 31. Therefore, in the disengagement mode, the user can pull the wiring harness 18 or the traction component from outside the tube 2 at the moment the indicator light 31 illuminates. This causes the telescopic unit 11 to be pulled and move inside the tube 2 at the moment the hook on the edge 2b is released, thus efficiently pulling the robot body 10 outwards from the tube 2.

[0066] For example, based on various information such as the length of tube 2, the length of the wire harness 18 pulled into tube 2, and the internal image of tube 2 captured by a camera, if the user can determine which telescopic unit 11 of the robot body 10, which is stopped inside tube 2, is located at the bend 2a of tube 2, the user can easily pull the robot body 10 out of tube 2 by pulling the wire harness 18 or the traction component from outside tube 2 when the indicator light 31 corresponding to the telescopic unit 11 located at the bend 2a of tube 2 is lit.

[0067] On the other hand, if it is impossible to determine which telescopic unit 11 of the robot body 10, which is stopped inside the tube 2, is located at the bend 2a of the tube 2, the user can easily pull the robot body 10 out of the tube 2 by pulling the wiring harness 18 or the traction component from outside the tube 2 whenever any indicator light 31 is lit.

[0068] In the modified example shown in Figure 7, the control unit 20 is configured to include a speaker 32 in addition to the display panel 30. The speaker 32 is connected to the control unit 22a and emits an actuation sound under the control of the control unit 22a when at least one of the plurality of telescopic units 11 expands to a non-fully expanded state in the disengaged mode.

[0069] Thus, by configuring a speaker 32 in the control unit 20, in the disengagement mode, the user can be aware that at least one telescopic unit 11 has expanded to a partially expanded state through the actuation sound emitted by the speaker 32. Therefore, in the disengagement mode, the user can pull the wiring harness 18 or the traction component from outside the tube 2 at the moment the speaker 32 emits the actuation sound. In this way, at the moment when the hook of the telescopic unit 11 on the edge 2b is released, the telescopic unit 11 is pulled and moves inside the tube 2, thus efficiently pulling the robot body 10 out of the tube 2.

[0070] Alternatively, the control unit 20 can be configured to include only either the display panel 30 or the speaker 32. Furthermore, the display panel 30 of the control unit 20 is not limited to having the aforementioned plurality of indicator lights 31; for example, it can also be configured to have an image display, such as an LCD (liquid crystal display), that shows which telescopic unit 11 is in a non-fully expanded state.

[0071] Figure 9 is a block diagram of the control unit for other variations. Additionally, in Figure 9, the aforementioned components or parts are labeled with the same symbols.

[0072] In Figure 9, the control unit 20, as another variation, includes a display panel 30, and the control device 22 has an abnormality detection unit 22c. When the abnormality detection unit 22c detects an abnormality in the robot body 10, the mode switching unit 22b is configured to automatically switch the control mode from the normal movement mode to the escape mode.

[0073] More specifically, the control unit 20, as another variation, includes multiple pressure sensors 26. Each pressure sensor 26 is connected to multiple telescopic pipes 24 corresponding to multiple telescopic units 11 and measures the internal pressure of the corresponding telescopic unit 11 via the telescopic pipes 24. In Figure 9, only three pressure sensors 26 corresponding to three telescopic pipes 24 are shown, but the control unit 20 includes multiple (seven in this embodiment) pressure sensors 26 corresponding to multiple (seven in this embodiment) telescopic pipes 24.

[0074] Multiple pressure sensors 26 are connected to an anomaly detection unit 22c, which is connected to a control unit 22a and a mode switching unit 22c. The anomaly detection unit 22c can detect anomalies in the robot body 10 based on the internal pressure of the telescopic unit 11 input from the pressure sensors 26. For example, if the cylindrical portion 11a of the telescopic unit 11 is damaged, resulting in cracks or holes, and in normal movement mode, the internal pressure of the telescopic unit 11 does not reach the specified pressure when fluid is supplied from the fluid supply source 21, the anomaly detection unit 22c detects this anomaly from the internal pressure measurement value of the telescopic unit 11 measured by the pressure sensors 26, thus detecting an anomaly that prevents the robot body 10 from performing normal movement.

[0075] When the anomaly detection unit 22c detects an anomaly in the robot body 10, the mode switching unit 22b automatically switches the control mode of the control unit 22a over the fluid supply source 21 from the normal movement mode to the extraction mode. That is, when the robot body 10 malfunctions and needs to be pulled out of the pipe 2 by pulling the wiring harness 18 or a traction component from the outside of the pipe 2, the user does not need to manually switch the control mode; the control mode will automatically switch to the extraction mode. Therefore, when the robot body 10 malfunctions, the user does not need to manually switch the control mode, making it easier to pull the robot body 10 out of the pipe 2.

[0076] When the anomaly detection unit 22c detects an anomaly in the robot body 10, it can also illuminate the indicator light 31 on the display panel 30 of the corresponding telescopic unit 11 that caused the anomaly to display the anomaly. In the case shown in FIG9, the indicator light 31 on the display panel 30 corresponding to the telescopic unit 11 that caused the anomaly illuminates in an × shape. Furthermore, the indicator light 31 is not limited to illuminating an × shape, as long as it can display an anomaly; for example, it can also be illuminated in various states such as red.

[0077] In addition, the mode switching unit 22b can also be configured to manually switch the control mode from normal movement mode to detachment mode when the operator finds it difficult to pull the robot body 10 out of the pipe 2 by pulling the wire harness 18 or traction component from outside the pipe 2.

[0078] The control unit 20 shown in Figure 9 further includes a traction device 50, which pulls the traction member 40 connected to the robot body 10 in a direction that pulls the robot body 10 out of the tube 2. In the illustrated case, the traction member 40 is disposed outside the housing 23, but it may also be built into the housing 23. The traction device 50 may be, for example, an electric winding device that winds up the traction member 40. In this case, the traction device 50 is configured to pull the robot body 10 out of the tube 2 by winding up the traction member 40.

[0079] The control unit 20 shown in Figure 9 further includes a traction force detector 51. The traction force detector 51 is disposed between the first portion 40a of the traction member 40 connected to the robot body 10 and the second portion 40b of the traction device 50, and is capable of measuring the traction force applied between the first portion 40a and the second portion 40b, i.e., the traction force with respect to the traction member 40. The traction force detector 51 may, for example, be configured to include a load cell (not shown). Furthermore, when the traction device 50 is configured to pull the robot body 10 out of the tube 2 via the winding harness 18, the traction force detector 51 can be disposed on the winding harness 18.

[0080] The traction force detector 51 is connected to the control unit 22a. The control unit 22a is configured such that when the traction device 50 is connected to the traction component 40 or the wiring harness 18 of the robot body 10, and the traction force measured by the traction force detector 51 reaches or exceeds a predetermined value (e.g., 1200N or more), the control mode is automatically switched from the normal movement mode to the disengagement mode by the mode switching unit 22b.

[0081] The traction device 50 is connected to the control unit 22a, and its operation is controlled by the control unit 22a.

[0082] For example, the traction device 50 is configured such that when the mode switching unit 22b switches the control mode from the normal movement mode to the detachment mode, it is activated by the control unit 22a. Therefore, when the anomaly detection unit 22c detects an anomaly in the robot body 10, the mode switching unit 22b automatically switches the control mode from the normal movement mode to the detachment mode, and the traction device 50 automatically activates. The robot body 10 expands to a non-expanded state via the telescopic unit 11, releasing its hook from the edge 2b of the bent portion 2a of the tube 2. The traction device 50 then winds up the traction component 40 and pulls the robot body 10 in the direction of pulling it out of the tube 2. Therefore, when the robot body 10 malfunctions, the user does not need to switch the control mode or pull the robot body 10; the control mode automatically switches to the detachment mode, and the robot body 10 is pulled out of the tube 2. Thus, when the robot body 10 malfunctions, the user does not need to manually switch the control mode or perform any pulling operations, making it easier to pull the robot body 10 out of the tube 2.

[0083] Additionally, the traction device 50 can also be manually activated to pull the robot body 10 out of the pipe 2. In this case, as described above, when the traction device 50 pulls the traction component 40 or the wiring harness 18 connected to the robot body 10, and the traction force measured by the traction force detector 51 reaches or exceeds a predetermined value (e.g., 1200N or more), the control mode automatically switches from the normal movement mode to the release mode. Therefore, even when there is an edge 2b at the bend 2a of the pipe 2, the robot body 10 releases the hook on the edge 2b of the bend 2a of the pipe 2 by expanding the telescopic unit 11 to a non-expanded state, and is pulled in the direction of pulling out of the pipe 2 by the traction device 50 winding the traction component 40 or the wiring harness 19. Therefore, the user can more easily pull the robot body 10 out of the pipe 2 without manually switching the control mode or performing traction operations.

[0084] Figure 10(a) is a side view of a portion of an in-tube mobile robot equipped with a traction component, and Figure 10(b) is a side view of a portion of an in-tube mobile robot equipped with a traction component in a modified example. Furthermore, in Figures 10(a) to 10(b), the aforementioned components or portions are labeled with the same symbols.

[0085] As shown in Figure 10(a), the in-tube mobile robot 1 can also be configured to have a traction component 40, which includes: a fixing part 41 fixed to the front end of the robot body 10, and a cable-like part 42 with one end connected to the fixing part 41 and the other end pulled out from the rear end of the robot body 10 through the interior of the robot body 10.

[0086] In the case shown in Figure 10(a), the user can pull the robot body 10 inside the tube 2 and pull it out of the tube 2 by pulling the cable-like part 42 of the traction member 40.

[0087] The fixing part 41 is made of steel and is formed into a disc shape with a larger diameter than the hole or gap through which the cable-like part 42 of the robot body 10 is inserted. Therefore, when the traction member 40 is pulled and the robot body 10 is pulled, even if a part of the robot body 10 is damaged by the traction force, the damaged part will hook onto the fixing part 41, and together with the fixing part 41, the entire part of the robot body 10 can be pulled out of the tube 2.

[0088] As shown in Figure 10(b), the traction component 40 can also be configured as follows: the cable-like portion 42 is divided into a first portion 42a connected to the fixing portion 41 and a second portion 42b connected to the control unit 20, and the first connecting portion 42c connected to the first portion 42a and the second connecting portion 42d connected to the second portion 42b are detachably connected.

[0089] This invention is not limited to the aforementioned embodiments, and various modifications can be made without departing from its essence, which is self-evident.

[0090] For example, the fluid supplied by the fluid supply source 21 to the telescopic unit 11 is not limited to compressed air, but can also be other compressible fluids such as nitrogen, or other incompressible fluids such as water.

[0091] 1: In-pipe mobile robot 2: pipe 2a: Bending part 2b: Edge 10: Robot Body 11: Telescopic Unit 11a:Tubular part 11b: pleats 12: Connecting parts 13: Brush 14: Front end 15: Brush 16: Flexible connection part 17: Lid 18: Wiring harness 20: Control Unit 21: Fluid supply source 22: Control device 22a: Control Department 22b: Mode Switching Unit 22c: Anomaly Detection Department 23: Shell 24: Expansion piping 25: Mode Switch 26: Pressure sensor 30: Display panel 31: Indicator Light 32: Speaker 40: Traction components 40a: Part 1 40b: Part Two 41: Fixing part 42: Cord-like portion 42a: Part 1 42b: Part Two 42c: First Contractual Part 42d: Second connection part 50: Traction device 51: Traction Detector O: Axis D1: Diameter D2: Diameter D3: diameter

Claims

1. A pipe-mounted mobile robot, configured as follows: the pipe-mounted mobile robot includes: The robot body includes at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid. The telescopic units perform peristaltic movements in a pattern to move inside a tube. The tube-moving robot has: a fluid supply source, individually connected to each of the plurality of telescopic units via piping; and a control device connected to the fluid supply source. The control device has: a control unit for controlling the operation of the fluid supply source. The control unit switches the control mode of the fluid supply source controlled by the control unit between a normal movement mode and a disengagement mode. In the normal movement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a fully expanded radially expanding state and a non-expanded natural state to perform the peristaltic movement. In the disengagement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a partially expanded state with an internal pressure lower than that of the fully expanded state, resulting in a diameter not held by the inner circumferential surface of the tube, and a slightly expanded radially expanding state with an internal pressure lower than that of the partially expanded state, or the natural state.

2. A pipe-mounted mobile robot, configured as follows: the pipe-mounted mobile robot includes: A robot body includes at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid. The telescopic units perform a peristaltic motion in a pattern to move inside a tube. The tube-moving robot has: a fluid supply source individually connected to each of the plurality of telescopic units via piping; a control device connected to the fluid supply source; a traction device for pulling a traction component connected to the robot body in a direction that pulls the robot body out of the tube; and a traction force detector for measuring the traction force applied to the traction component. The control device includes: a control unit for controlling the operation of the fluid supply source. The control unit switches the control mode of the fluid supply source controlled by the control unit between a normal movement mode and a disengagement mode. In the normal movement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a fully expanded radially expanding state and a non-expanded natural state to perform the peristaltic movement. In the disengagement mode, the control unit controls the operation of the fluid supply source by alternating the shape of the plurality of telescopic units to a partially expanded radially expanding state with an internal pressure lower than the fully expanded state, a slightly expanded radially expanding state with an internal pressure lower than the partially expanded state, or the natural state. Furthermore, when the traction force measured by the traction force detector reaches or exceeds a predetermined value, the control mode is automatically switched from the normal movement mode to the disengagement mode by the mode switching unit.

3. The in-pipe mobile robot as described in claim 1, wherein: The tube-mounted mobile robot is configured to include: a traction device that pulls a traction component connected to the robot body in the direction of pulling the robot body out of the tube; and a control unit that activates the traction device when the control mode is switched from the normal movement mode to the exit mode by the mode switching unit.

4. The in-pipe mobile robot as described in claim 2, wherein: When the control mode is switched from the normal movement mode to the disengagement mode by the mode switching unit, the control unit starts the traction device.

5. A pipe-mounted mobile robot, configured as follows: the pipe-mounted mobile robot includes: The robot body includes at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid. The telescopic units perform peristaltic movements in a pattern to move inside a tube. The tube-moving robot has: a fluid supply source, individually connected to each of the plurality of telescopic units via piping; and a control device connected to the fluid supply source. The control device has: a control unit for controlling the operation of the fluid supply source. The system includes a mode switching unit that switches the control mode of the fluid supply source controlled by the control unit between a normal movement mode and a disengagement mode. The control unit: In the normal movement mode, controls the operation of the fluid supply source by alternating the shape of multiple telescopic units to a fully expanded radially expanding state and a non-expanded natural state to perform the peristaltic movement. In the disengagement mode, controls the operation of the fluid supply source by alternating the shape of multiple telescopic units to a partially expanded radially expanding state with an internal pressure lower than the fully expanded state, a slightly expanded radially expanding state with an internal pressure lower than the partially expanded state, or the natural state. The in-tube mobile robot further includes a traction component, which includes a fixing part fixed to the front end of the robot body. And a cord-like portion, one end of which is connected to the fixing portion and the other end of which is pulled out from the rear end of the robot body through the interior of the robot body.

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