A Novel Design on Carrier Mechanism of Micro Inspection Robot within 20mm Pipes  

作　　者：LI Guo-dong, WU Jian, SUJian-liang, CHENG Wei-ming, QIAN Jin-wu School of Electromechanical Engineering and Automation, Shanghai University Shanghai 200072, China 

出　　处：《Advances in Manufacturing》2000年第S1期123-125,共3页先进制造进展（英文版）

基　　金：the the National High-Tech R&D Program(863-5 12-9804-18)

摘　　要：This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot Based on this mechanism, a new micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler.This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot Based on this mechanism, a new micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler.

关 键 词：pipe-inspection MICROROBOT planetary wheel 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]