细小管道内爬行的微机器人  

Mobile Micro Robot in Small Pipe

作　　者：孙麟治[1] 孙萍[1] 秦新捷 王存敏[1] 

机构地区：[1]上海大学精密机械工程系

出　　处：《光学精密工程》1998年第5期57-63,共7页Optics and Precision Engineering

基　　金：863国家高技术计划资助

摘　　要：基于现代精密加工技术制造的微机械，有着广阔的应用前景。特别是直径Φ１０～２０ｍｍ（１英寸）的细小管道，要求研制新型微机器人用于无损检查管壁和维修。考虑到电磁驱动器，具有结构简单、单位行程长、动作灵敏、控制方便等优点，研制了一种电磁式微机器人，外形尺寸Φ１５×３０ｍｍ，自重２５ｇ，它可以在Φ２０ｍｍ金属管内爬行，移动速度６～８ｍｍ／ｓ，有垂直爬坡能力。所加电压１６～２０Ｖ，频率３０～７０Ｈｚ。Millimeter size machines based on modern precision machining have potential application in industry.Specially in case of small pipe with diameter samller than 1 inch,it is required to develop new type micro robot for maintenance or inspection of inside defects.Considering of the advantage of electro magnet type actuators with simple structure,long stroke,high response and easy control,we do try to develop of a new mobile micro robot in pipe based on interaction of magnetic attraction and spring force.This paper describes the structure and design.The dimension of prototype is Φ15×30mm,weight is 25g.It can climb in pipe of Φ20mm diameter with speed about 6￣8mm/s in horizontal and in vertical under applied voltage 14￣20V,30￣70Hz.

关 键 词：微机械 机器人 管道检修 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]