以往使用机器人检查水道管路多用于内径１００毫米以上的大中型管道 ,而对１００毫米以下管道的机器人的开发则明显滞后。由于上下管道在接近末端时 ,管径逐渐变细 ,需要具备能通过异径管接头功能的机器人。日本东京工业大学的林严教授等人和菅清工业公司共同开发了一种新型机 In the past, robots were used to inspect waterway pipelines for large and medium-sized pipes with an inner diameter of 100mm or more, while the development of robots with pipelines under 100mm was obviously lagging behind. As the upper and lower pipe near the end of the pipe diameter taper, you need to have the ability to pass through the pipe joints of the robot. Professor Lin Yan of Tokyo Institute of Technology, Japan, and Sugai Kogyo Co., Ltd. jointly developed a new type of machine