【摘要】 管径 φ10～ 2 0mm的细小管道在工业中应用十分广泛 ,因此迫切需要研究一种管道检测机器人进入管道内部 ,对其缺陷进行检测或维修。为此目的 ,近年来发展了不同类型的微型机器人 ,例如 :气囊蠕动型、螺旋摩擦型、电磁力型、SMA型、冲击型机器人 ,并且取得了一些可喜进展。本文报道一种采用双压电薄膜PZT驱动器的细小管道实验微机器人 ,它可以携带CCD摄像机进入 φ2 0mm的垂直、水平或弯曲管道 ,检查管壁上的小孔或裂纹。论述了此种微机器人的实验系统、结构、运动机理和性能。更多还原

【Abstract】 Small pipes of φ10～20 mm in diameter are widely used in different industries, and it is therefore necessary to develop robots which can climb inside pipes to detect cracks in walls . Several micro robots, such as of screw f riction drive type, electro-magnetic force type, SMA type and PZT impact type have been developed for this purpose in recent years, and adv anced achievements have been made. An experimental micro in- pipe robot with PZT type actuat or, which can carry a small CCD camera and climb into a φ20 mm vertical, hori zontal or curved pipe to detect fine holes or cracks in inner walls. The moving principle of the micro robot, structural design and performance test w ere described in detail.更多还原