本文へジャンプ

成果報告書詳細
管理番号20190000000217
タイトル*平成30年度中間年報 NEDO先導研究プログラム 新産業創出新技術先導研究プログラム 大深度・極限環境に適応する掘削物揚重用ぜん動ポンプの研究開発
公開日2019/6/14
報告書年度2018 - 2018
委託先名株式会社竹中工務店 学校法人中央大学
プロジェクト番号P14004
部署名ロボット・AI部
和文要約
英文要約Title : Research and Development for Peristaltic Transportation System for Lifting Excavated Soil in Deep Underground and Extreme Environments (FY2018-2019) FY2018 Annual Report

Purpose
This research and development is aimed at the practical application of “Peristaltic Transportation System” which models the human large intestines and enables the lifting of the excavated soil in deep underground and extreme environments such as the deep sea floor and the moon.
To solve four issues for achieving this purpose: Ensuring Practicality, Maximizing lifting efficiency, Motion stabilization and optimization and Performance evaluation of full-scale model, we attempted to Renovate artificial muscle and inner tube, Development of dehydration mechanism, Build response model and Integrated performance evaluation by full-scale model.

Approach and Result
(1) Renovate artificial muscle and inner tube
As the material of artificial muscle, Natural Rubber which has excellent mechanical performance was chosen. And among the three types of hardness of 40, 50 and 60, it was confirmed by test that 40 is the best because the elongation at break is the largest and the elongation due to fatigue is the smallest.
For inner tube, based on the results of seven tests, we selected Nitrile-Butadiene Rubber, which has the best balance of performance, and Natural Rubber, which is slightly inferior in scratch resistance but cheap from five kinds of materials.
For lifting of sandy soil, it was confirmed by experiments that it is most effective to provide inner tube with an axially segmented wedge so as to follow the expansion. (Lifting efficiency +32% against smooth inner tube)
On the other hand, to the lifting of clay, it was confirmed by experiment that the shape of inner tube was not related, but was proportional to the applied pressure. (Lifting efficiency +32% against smooth inner tube. (Lifting efficiency maximum +77% at applied pressure 1.67 times)

(2) Development of dehydration mechanism
For sandy soil, the method of applying pressure intermittently by This System improves the dewatering efficiency more than the method of applying pressure continuously. (Time required for equal amount of dehydration -80% and Maximum amount of dehydration +80%)

(3) Build response model
As a result of measuring the relationship between the size of the rigid body inserted inside This System and the air flow rate, it became clear that the larger the rigid body, the larger the rate of decrease in the flow rate after the peak, and that the difference in the integrated flow rate and the volume of the rigid body are almost the same. These make it possible to recognize the condition of the lift inside Peristaltic Transportation System without using many complicated sensors.

(4) Integrated performance evaluation by full-scale model
To measure the scale effect of Peristaltic Transportation System, we started designing a model that is twice as large as the present. (Inner diameter 100mm, Axis length 160mm)
ダウンロード成果報告書データベース(ユーザ登録必須)から、ダウンロードしてください。

▲トップに戻る