Tip extension mechanism

Abstract

To provide a tip extension mechanism that is not easily affected by friction or catching depending on an access route, and does not have a complicated mechanism.SOLUTION: As air pressure is applied to an annulus space 6 formed by an outside cylindrical thin membrane 5, which has an end part 2 of a cylindrical thin membrane 1 folded outward, and an unfolded cylindrical thin membrane 1, with the outside cylindrical thin membrane 5 fixed in place, the unfolded cylindrical thin membrane 1 stretches while turning inside out. A dome 8 with a camera 10 attached thereto is arranged in contact with a tip 4 of the cylindrical thin membrane 1. A power supply and control cable 11 for the camera 10 is disposed inside the cylindrical thin membrane 1.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a tip extension mechanism. [Background technology]

[0002] When performing an investigation using sensors such as cameras or performing work using work tools in an area where people cannot easily enter, it is necessary to move the various sensors and work tools to the area where people cannot enter. In a conventional technique, for example, when investigating the inside of a pipe, various sensors, work tools, and power cables are attached to the tip of a long rod and the investigation or work is performed by pushing the long rod, or a self-propelled device (walking type, crawler type, etc.) is used to access and work in the inaccessible area (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-123908 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the long rod method, the contact area and contact points increase depending on the distance and number of bends as the rod is pushed in, and if the rod gets stuck, it becomes impossible to push it in at that point, making long-distance movement difficult. Furthermore, even with the self-propelled device described in Patent Document 1, the towing cable is subject to similar friction, increasing the load on the self-propelled device. Furthermore, the self-propelled device requires the shape and dimensions of the device to be modified each time depending on the shape of the other device, resulting in a complex configuration. Furthermore, drones are limited by the range of radio waves from remote wireless systems, and the type of work and time required are restricted by the drone's payload and battery capacity.

[0005] The present invention solves the above-mentioned conventional problems, and aims to provide a tip extension mechanism that is less susceptible to friction and snagging that depend on the access route and does not have a complex mechanism. [Means for solving the problem]

[0006] The present invention is characterized in that, by applying fluid pressure to an annulus space formed by an outer cylindrical thin film with one end folded outward and an unfolded cylindrical thin film while the outer cylindrical thin film is fixed, the unfolded cylindrical thin film stretches while turning inside out. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a tip extension mechanism that is less susceptible to the effects of friction or snagging that depends on the access route and does not have a complex mechanism. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a cross-sectional view showing a tip extension mechanism of the first embodiment. [Figure 2] 4 is a cross-sectional view showing a state in which an end portion of the tip extension mechanism of the first embodiment is folded back. FIG. [Figure 3A] FIG. 3 is a cross-sectional view showing a state before extension of the tip extension mechanism of the first embodiment. [Figure 3B] FIG. 4 is a cross-sectional view showing the state after extension of the tip extension mechanism of the first embodiment. [Figure 4] FIG. 10 is a cross-sectional view showing a tip extension mechanism of a second embodiment. [Figure 5] FIG. 10 is a cross-sectional view showing a tip extension mechanism of a third embodiment. [Figure 6A] FIG. 10 is a cross-sectional view showing a state before extension of the tip extension mechanism of the fourth embodiment. [Figure 6B] FIG. 10 is a cross-sectional view showing the state after extension of the tip extension mechanism of the fourth embodiment. [Figure 7A] FIG. 10 is a cross-sectional view showing a tip extension mechanism of a fifth embodiment. [Figure 7B]FIG. 6 is a cross-sectional view taken along line VIIB-VIIB in FIG. 7A. [Figure 7C] 7B is a cross-sectional view taken along line VIIC-VIIC in FIG. 7A. [Figure 7D] FIG. 11 is a cross-sectional view of the distal end extension mechanism of the fifth embodiment when the direction of travel is bent. [Figure 8] FIG. 13 is a cross-sectional view showing a tip extension mechanism of a sixth embodiment. [Figure 9] 9 is a cross-sectional view of the cylindrical thin film of FIG. 8 cut in the longitudinal and radial directions. [Figure 10] FIG. 13 is a cross-sectional view showing the state after extension of the tip extension mechanism of the sixth embodiment. [Figure 11A] FIG. 13 is a cross-sectional view showing a state before extension of the tip extension mechanism of the seventh embodiment. [Figure 11B] FIG. 13 is a cross-sectional view showing the state after extension of the tip extension mechanism of the seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes in detail embodiments of the present invention with reference to the drawings, but the present invention is not limited to the following embodiments and includes various modifications and applications within the technical concept of the present invention. In each of the following embodiments, the cylindrical thin film 1 is omitted from the drawing because it is sufficiently long.

[0010] The tip extension mechanism of this embodiment relates to a mechanism that extends in the longitudinal direction. In particular, it is not related to narrow sections or openings, but relates to, for example, a mechanism that extends and moves through the inside of a pipe, or a device that accesses areas that are inaccessible to humans. Note that being independent of the access route means that it is not affected by the history of the route.

[0011] (First embodiment) FIG. 1 is a cross-sectional view showing a tip extension mechanism of the first embodiment. As shown in Fig. 1, the tip extension mechanism 100A of the first embodiment includes a thin, elongated cylindrical membrane 1. This cylindrical membrane 1 is flexible and is made of a synthetic resin such as nylon, polyurethane, or polyester. The material of the cylindrical membrane 1 only needs to have the functionality to prevent leakage of pressurized fluid.

[0012] Furthermore, the cylindrical thin film 1 has a shape with both ends open, with end 2 on one side and end 3 on the other. End 2 is the tip side, or the side that stretches. End 3 is the base side, or the side that does not stretch and is fixed. Note that marks A, B, and C shown in Figure 1 are imaginary marks for explanation purposes provided on the surface of the cylindrical thin film 1. In Figure 1, mark C is closest to end 2, mark B is farther away than mark C, and mark A is farther away than mark B.

[0013] FIG. 2 is a cross-sectional view showing a state in which the end of the tip extension mechanism of the first embodiment is folded back. As shown in Figure 2, end 2 of cylindrical thin film 1 is folded outward, which is the initial state. The folded U-shaped part is defined as tip 4. In other words, end 2 is located closer to end 3 than tip 4. At this time, the cylindrical thin film folded outward is defined as outer cylindrical thin film 5 (outer cylindrical thin film). This outer cylindrical thin film 5 and the unfolded cylindrical thin film 1 form an annular space 6. This annular space 6 is a donut-shaped space surrounded by outer and inner concentric circles.

[0014] 3A and 3B are cross-sectional views showing the distal end extension mechanism of the first embodiment in a state before extension and after extension, respectively. As shown in Figure 3A, the end 2 of the cylindrical thin film 1 is attached to a cylinder 7. This cylinder 7 is fixed and immobile. Note that Figure 3A shows the state before air pressure (fluid pressure) is applied to the annulus space 6. Also, marks A, B, and C are all located on the cylindrical thin film 1 before it is turned inside out.

[0015] A gap is formed between the cylinder 7 and the unfolded cylindrical thin film 1 so that fluid pressure can be applied. Even if the cylinder 7 and the cylindrical thin film 1 are in contact with each other and no gap is formed, application of fluid pressure will cause the cylindrical thin film 1 to deform, forming a gap through which fluid pressure can be applied.

[0016] As shown in Figure 3B, when air pressure P (fluid pressure) is applied to the annulus space 6, the cylindrical thin film 1 that is not folded back at the tip 4 turns inside out and becomes the outer cylindrical thin film 5, and the tip 4 extends. At this time, the part indicated by mark C is turned inside out at the tip 4 and becomes the outer cylindrical thin film 5, but the positions of marks B and A remain as the cylindrical thin film 1 that is not folded back. In the states shown in Figures 1 to 3, the end 3 side of the cylindrical thin film 1 can be either open or closed.

[0017] The tip extension mechanism 100A of the first embodiment configured in this manner applies air pressure P (fluid pressure) to the annulus space 6 formed by the outer cylindrical thin film 5 (outer cylindrical thin film) with the end 2 (one end) of the cylindrical thin film 1 folded outward, and the unfolded cylindrical thin film 1, while the outer cylindrical thin film 5 is fixed, causing the unfolded cylindrical thin film 1 to extend while turning inside out. This makes it possible to extend the tip 4 without being affected by friction or snagging. Furthermore, a wired investigation work device can be realized without a complex mechanism.

[0018] In addition, when air pressure P is applied to the annulus space 6 of the cylindrical thin film 1, the internal space of the cylindrical thin film 1 may collapse, causing the cylindrical thin film 1 to deform into a flattened shape. However, regardless of whether the internal space of the cylindrical thin film 1 collapses, the tip extension mechanism 100A extends the cylindrical thin film 1 by supplying air pressure P to the annulus space 6, allowing the dome 8 (see FIG. 4) to move forward. Additionally, even if the intermediate portion of the cylindrical thin film 1 is flattened by the pressure applied to the annulus space 6, the tip portion that contacts the dome 8 remains cylindrical. Therefore, deformation of the cylindrical thin film 1 in the intermediate portion from the pressure vessel 50 (see FIG. 8) to the dome 8 does not affect the retention of the dome 8. Incidentally, a collapsed cylindrical thin film 1 is more compact, improving the storage efficiency in the pressure vessel 50, etc. These points also apply to each embodiment described below (including an example using a spring material 12 (see FIG. 6A)).

[0019] (Second embodiment) FIG. 4 is a cross-sectional view showing the tip extension mechanism of the second embodiment. As shown in FIG. 4, the tip extension mechanism 100B of the second embodiment includes a dome 8 (a dome-shaped structure) and a rope 9 (wire) connected to the dome 8 and extending in the opposite direction to the extension direction of the cylindrical thin film 1.

[0020] The dome 8 is formed in a roughly hemispherical shape and is arranged so as to cover the tip 4 of the cylindrical thin film 1. In other words, the concave surface of the dome 8 faces the cylindrical thin film 1 (the side opposite the tip), and the tip 4 (the folded-back part) is arranged so as to be in contact with the inner hemispherical surface of the dome 8. In other words, the dome 8 and the tip 4 are not fixed to each other, but are in contact with each other in a slidable manner.

[0021] One end of the rope 9 is fixed to the inner wall surface (inside) of the dome 8, and the other end passes through the inside of the cylindrical thin film 1 and extends toward the end 3. The rope 9 is made of a material that deforms in accordance with the deformation of the cylindrical thin film 1. Alternatively, the rope 9 is unwound from a bobbin (not shown) or the like in accordance with the deformation 1 (extension) of the cylindrical thin film 1. The unwinding speed (tension) of the rope 9 may be controlled by a brake mechanism or the like to rotate the bobbin.

[0022] In the tip extension mechanism 100B configured in this manner, as in the first embodiment, by applying air pressure P (fluid pressure) to the annulus space 6, the cylindrical thin film 1 that is not folded back at the tip 4 turns inside out to become the outer cylindrical thin film 5, and the tip 4 extends. At this time, the tip 4 extends while sliding against the dome 8, so the dome 8 is also pushed by the tip 4 and moves in the extension direction. In addition, by applying an appropriate tension to the rope 9 at this time, it is possible to prevent the dome 8 from falling off the tip 4. Note that the appropriate tension is a force that does not cause the dome 8 to fall off the cylindrical thin film 1 and does not interfere with the extension of the tip 4.

[0023] The tip extension mechanism 100B of the second embodiment configured in this manner comprises a dome 8 placed at the tip 4 of the cylindrical thin film 1, and a rope 9 connected to the dome 8 and extending in the opposite direction to the extension direction of the cylindrical thin film 1. As the tip 4 of the cylindrical thin film 1 extends, the dome 8 slides against and is pushed by the cylindrical thin film 1 which extends while turning inside out, and moves in the same direction as the extension direction. Thus, even if the dome 8 hits an obstacle, its round dome shape allows it to extend (progress) while avoiding the obstacle.

[0024] (Third embodiment) FIG. 5 is a cross-sectional view showing a tip extension mechanism of the third embodiment. As shown in FIG. 5, the tip extension mechanism 100C of the third embodiment has a configuration in which a camera 10 (various sensors) is added to the tip extension mechanism 100B of the second embodiment. This camera 10 is attached to the outer tip of the dome 8. Note that the various sensors are not limited to the camera 10, and various sensors can be used, such as a temperature sensor, a radiation dosimeter, and a sensor that captures shapes by irradiating a laser. Furthermore, the sensors are not limited to sensors, and a work tool such as a drill may be mounted.

[0025] A power supply / control cable 11 (cables) is connected to the camera 10. This power supply / control cable 11 passes through the inside of the cylindrical thin film 1 and extends toward the end 3. Furthermore, by substituting the rope 9 of the second embodiment, the camera 10, various sensors, and work tools can be transported. Furthermore, as in the second embodiment, the round shape of the dome 8 has the effect of avoiding any obstacles in the traveling direction.

[0026] In the tip extension mechanism 100C of the third embodiment configured in this manner, the camera 10 is mounted on the dome 8 (structure), and the power supply and control cable 11 attached to the camera 10 is arranged inside the cylindrical thin film 1. This allows the power supply and control cable 11 to be housed inside the cylindrical thin film 1, making it easier to handle. In addition, the power supply and control cable 11 and the access route on the outside of the cylindrical thin film 1 are less susceptible to friction or snagging.

[0027] (Fourth embodiment) Fig. 6A is a cross-sectional view showing a state before extension of the tip extension mechanism of the fourth embodiment. Fig. 6B is a cross-sectional view showing a state after extension of the tip extension mechanism of the fourth embodiment. In Fig. 6A and Fig. 6B, the left side is a cross-sectional view taken along the longitudinal direction, and the right side is a cross-sectional view taken along the radial direction. As shown in the left diagram of FIG. 6A, the tip extension mechanism 100D of the fourth embodiment has a configuration in which a spring material 12 is added to the tip extension mechanism 100A of the first embodiment. This spring material 12 is, for example, a thin plate of shape memory alloy coated with synthetic resin and formed into a strip shape, and has a function of having a curling tendency to maintain its original shape. The spring material 12 is also provided on the outer surface of the cylindrical thin film 1, and is provided along the longitudinal direction (axial direction) of the cylindrical thin film 1. The spring material 12 is also attached to the outer surface of the cylindrical thin film 1 with an adhesive or the like.

[0028] As shown in the right diagram of Fig. 6A, the spring materials 12 are provided at equal intervals in the circumferential direction. Note that, although the fourth embodiment has been described with reference to an example in which the spring materials 12 are provided at four locations (top, bottom, left, and right), the number of locations is not limited to four, and may be three or less, or five or more, and can be changed as appropriate.

[0029] In the tip extension mechanism 100D configured in this manner, by applying air pressure P (fluid pressure) to the annulus space 6, the cylindrical thin film 1 extends together with the spring material 12 while turning inside out at the tip 4, as shown in FIG. 6B. When the application of air pressure P is stopped (released), the end 3 side is pulled back to the right (toward the user), which supports the force of the spring material 12 trying to return to its original state, and the cylindrical thin film 1 returns to its original shape (returns to its initial position). This allows the cylindrical thin film 1 to be returned to its original position without having to be pulled by hand, improving usability.

[0030] (Fifth embodiment) Fig. 7A is a cross-sectional view showing the tip extension mechanism of the fifth embodiment. Fig. 7B is a cross-sectional view taken along line VIIB-VIIB in Fig. 7A. Fig. 7C is a cross-sectional view taken along line VIIC-VIIC in Fig. 7A. Fig. 7D is a cross-sectional view showing the tip extension mechanism of the fifth embodiment when the direction of travel is bent. As shown in FIG. 7A, the distal end extension mechanism 100E of the fifth embodiment has a configuration in which covers 13a, 13b, 13c, and 13d and strings 14a, 14b, 14c, and 14d (wire rods) are added to the distal end extension mechanism 100A of the first embodiment.

[0031] The covers 13a to 13d are formed into a bag-like shape by attaching a strip-shaped thin film to the outer surface of the cylindrical thin film 1 (only covers 13a and 13c are shown in FIG. 7A). The covers 13a to 13d extend to the end 3 of the cylindrical thin film 1. The covers 13a to 13d are made of, for example, the same material as the cylindrical thin film 1 and are deformable in response to deformation of the cylindrical thin film 1. The configuration of the covers 13a to 13d is not limited to this embodiment, and may be, for example, a tubular cover attached to the outer surface of the cylindrical thin film 1.

[0032] 7B, covers 13a to 13d are attached evenly in the circumferential direction on the outer surface of cylindrical thin film 1. In the fifth embodiment, cover 13a and string 14a are located on the top of cylindrical thin film 1, and cover 13c and string 14c are located on the bottom. Cover 13b and string 14b are located on the left side of cylindrical thin film 1, and cover 13d and string 14d are located on the right side.

[0033] The strings 14a to 14d are provided inside the covers 13a to 13d. The tip ends of the strings 14a to 14d are adhered and fixed to the cylindrical thin film 1 near the end 2 (one end) (see FIG. 7A). The strings 14a to 14d are made of a material that can deform in response to the deformation of the cylindrical thin film 1.

[0034] As shown in Figure 7C, end 2 of cylindrical thin film 1 is folded outward, so that covers 13a-13d are positioned inside outer cylindrical thin film 5. Furthermore, annulus space 6 is formed between inner cylindrical thin film 1, which has covers 13a-13d and strings 14a-14d formed on its outer surface, and outer cylindrical thin film 5, which has covers 13a-13d and strings 14a-14d formed on its inner surface. In this state, by applying air pressure P (fluid pressure) to annulus space 6, cylindrical thin film 1 and strings 14a-14d will stretch while turning inside out at tip 4.

[0035] 7D, if air pressure P is applied to the annulus space 6 while pulling the proximal end 14a1 of string 14a, tip 4 to which string 14a is attached does not extend, but the other tips 4 to which strings 14b, 14c, and 14d are attached turn upward and extend, allowing tip 4 of cylindrical thin film 1 to bend upward and extend.

[0036] Similarly, for example, by pulling the string 14c at the proximal end 14c1 while applying air pressure to the annulus space 6, the tip 4 of the cylindrical thin film 1 can be bent downward and stretched. The cylindrical thin film 1 can also be bent left and right in the same way.

[0037] In the fifth embodiment configured as described above, strings 14a to 14d are fixed at intervals in the circumferential direction to end 2 of cylindrical thin film 1, and when air pressure P is applied to annulus space 6, leading end 4 of cylindrical thin film 1 extends while turning inside out, the extending direction of the leading end can be controlled by pulling string 14a located at end 3 (the other end). This allows leading end 4 to extend while avoiding obstacles.

[0038] (Sixth embodiment) Hereinafter, an investigation and operation device using the tip extension mechanism according to the embodiment described above will be described in detail with reference to the drawings. Fig. 8 is a configuration diagram showing a tip extension mechanism of the sixth embodiment. Fig. 9 is a cross-sectional view of the cylindrical thin film of Fig. 8 cut in the longitudinal and radial directions. Fig. 10 is a cross-sectional view showing a state in which the tip of the tip extension mechanism of the sixth embodiment is extended. Note that the following description will be given taking as an example an investigation / operation device using the tip extension mechanism 100C shown in Fig. 5. 8, the tip extension mechanism 100F of the sixth embodiment includes a pressure vessel 50, a compressor 53 for applying pressure to the inside of the pressure vessel 50, a monitor 60, etc. A valve 54 for opening and closing the flow path is provided between the pressure vessel 50 and the compressor 53.

[0039] The pressure vessel 50 comprises a box body 50a in which the cylindrical thin film 1 is housed, a flange 51 formed at the front of the box body 50a (towards end 2), and a flange 52 formed at the rear of the box body 50a (towards end 3). Both flanges 51 and 52 are cylindrical and protrude outward from the box body 50a. The cylindrical thin film 1 is housed folded inside the pressure vessel 50, but for convenience of illustration, the folded portion is represented as a folded portion 1a.

[0040] End 2 of cylindrical membrane 1 is hermetically fastened to flange 51 using metal fitting 56. Similarly, the other end 3 of cylindrical membrane 1 is hermetically fastened to flange 52 using metal fitting 57.

[0041] A lid 58 is attached to prevent the cylindrical thin film 1 from extending to the right from the flange 52. A number of holes 59a, 59b are formed in the lid 58. The power supply and control cables 11 for the rope 9 and the camera 10 are routed from the rear side of the dome 8 to the inside of the cylindrical thin film 1, and the power supply and control cables 11 are drawn out from the hole 59a to the outside and connected to the monitor 60.

[0042] As shown in Fig. 9, spring materials 12, each with a tendency to curl in order to maintain its original shape, are attached to the outer surface of the cylindrical thin film 1 at equal intervals in the circumferential direction with an adhesive or the like. Four covers 13a to 13d are attached evenly to the cylindrical thin film 1 in areas where no spring materials 12 are arranged, and strings 14a to 14d are housed inside the covers 13a to 13d, respectively. The ends of the strings 14a to 14d are glued and fixed to the cylindrical thin film 1 near the end 2.

[0043] Proximal ends 14a1 to 14d1 of strings 14a to 14d attached to cylindrical thin film 1 are drawn out from holes 59b to the outside of pressure vessel 50. Note that only end portions 14a1 and 14c1 of strings 14a and 14c are shown in Fig. 8.

[0044] In the tip extension mechanism 100F of the sixth embodiment configured as described above, by operating the compressor 53 and gradually opening the valve 54, the pressure inside the pressure vessel 50 gradually increases, and the same pressure is applied to the annulus space 6. As a result, the cylindrical membrane 1, which is not folded back at the tip 4, turns inside out to form the outer cylindrical membrane 5, and the tip 4 extends as shown in FIG. 10 . At this time, if a pulling force is applied to the rope 9 so that the dome 8 to which the camera 10 is attached constantly slides against the cylindrical membrane 1, which turns inside out at the tip 4, the dome 8 is pushed in the same direction as the tip 4 extends, and the image captured by the camera 10 can be viewed on the monitor 60. Furthermore, even if an obstacle is encountered in the direction of travel due to the shape of the dome 8, it can change direction after contacting the obstacle and avoid the obstacle. If the dome shape cannot avoid the obstacle, the tip 4 can be bent upward, for example, by applying air pressure P while pulling the string 14a at the handle side 14a1. Similarly, for example, by pulling string 14c on proximal side 14c1, it can be bent downward. In this way, by attaching strings 14a to 14d in the direction you want to bend, you can actively change the direction of travel of tip 4. Also, by weakening or eliminating air pressure P, the return force of spring material 12 allows you to recover cylindrical thin film 1.

[0045] The tip extension mechanism 100F of the sixth embodiment, configured in this way, is less susceptible to friction and snagging depending on the access route, and can achieve a wired surveying and work device without complex mechanisms. For example, when pushing a long object, the initial contact length differs between 1 meter and 10 meters, making it gradually more difficult to push the device. In this embodiment, the tip is imagined as growing, and the tip extends with the same frictional force. Therefore, even if it extends 100 meters, friction does not increase.

[0046] Seventh embodiment 11A and 11B are cross-sectional views showing a state before and after extension of the distal end extension mechanism of the seventh embodiment. As shown in FIG. 11A, the tip extension mechanism 100G of the seventh embodiment shows an embodiment in which the end 3 is in a closed state.

[0047] The end 2 of the cylindrical thin film 1 of the tip extension mechanism 100G is folded back and fixed in a sealed state to the proximal lid 58. The unfolded cylindrical thin film 1 is folded back and housed inside the folded cylindrical thin film 1.

[0048] End 3 of cylindrical thin film 1 is closed, and rope 9 and power / control cables 11 are pulled out from end 3 and passed through hole 59a in lid 58 to the outside. Strings 14a to 14d are also pulled out from end 3 of cylindrical thin film 1 (only strings 14a and 14c are shown in FIG. 11A) and passed through hole 59b in lid 58 to the outside. Hole 59a is configured to allow power / control cables 11 to slide without air leaking out. Hole 59b is configured to allow strings 14a to 14d to slide without air leaking out.

[0049] An opening 61 is formed on the end 2 side of the cylindrical thin film 1, and a blower 62 is attached to it. By sending air (fluid) from the blower 62 into the opening 61, air pressure is applied to the annulus space 6, causing the tip 4 of the cylindrical thin film 1 to extend.

[0050] The seventh embodiment of the tip extension mechanism 100G does not require a pressure vessel 50, making it compact and easy to carry, and making it easier to apply to outdoor inspections and checks (visual inspection of bridges, inspection of residential roofs and solar panels, inspection under floors, sewers, etc.). [Explanation of symbols]

[0051] 1 Cylindrical thin film 2 End 3 End 4 Tip 5. Outer cylindrical membrane 6 Annulus space 7 Cylinder 8 Dome (dome-shaped structure) 9 Rope (wire) 10 Cameras (sensors) 11 Power and control cables (cables) 12 Spring material 13a, 13b, 13c, 13d Cover 14a,14b,14c,14d String (wire rod) 14a1,14b1,14c1,14d1 End 50 Pressure Vessels 50a box body 51,52 flange 53 Compressor 54 Valve 56,57 Metal fittings 58 Lid 59a,59b hole 60 monitors 61 Opening 62 Blower 100A,100B,100C,100D,100E,100F,100G Tip extension mechanism

Claims

1. A tip extension mechanism characterized by applying fluid pressure to an annulus space formed by an outer cylindrical thin film with one end folded outward and an unfolded cylindrical thin film while the outer cylindrical thin film is fixed, causing the unfolded cylindrical thin film to extend while turning inside out.

2. The tip extension mechanism according to claim 1, A tip extension mechanism characterized in that the other end of the unfolded cylindrical thin film is closed.

3. The tip extension mechanism according to claim 1, A tip extension mechanism characterized in that the extended cylindrical thin film can be recovered by pulling the cylindrical thin film on the proximal side.

4. The tip extension mechanism according to claim 1, a dome-shaped structure disposed at the tip of the cylindrical thin film; and a wire rod connected to the structure and extending in a direction opposite to the direction in which the cylindrical thin film extends, A tip extension mechanism characterized in that, as the tip of the cylindrical thin film extends, the structure is pushed against the cylindrical thin film, which is turning over and extending, and moves in the same direction as the extension.

5. The tip extension mechanism according to claim 4, The structure is equipped with various sensors and work tools. A tip extension mechanism characterized in that the cables attached to the various sensors and the work tool are arranged inside the cylindrical thin film.

6. The tip extension mechanism according to claim 1, a spring material having a curl that tends to maintain the original shape along the longitudinal direction of the cylindrical thin film; The tip extension mechanism is characterized in that the spring material causes the expanded cylindrical thin film to return to its original shape when the application of the fluid pressure is released.

7. The tip extension mechanism according to claim 1, Attaching wires spaced apart in the circumferential direction to one end of the cylindrical thin film; A tip extension mechanism characterized by controlling the direction in which the tip extends by pulling the wire located at the other end when the tip of the cylindrical thin film extends while turning inside out by applying the fluid pressure to the annulus space.

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