论文部分内容阅读
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。
Small diameter pipe φ10 ~ 20mm in the industry is widely used, so there is an urgent need to study a pipeline inspection robot into the pipeline, the defect detection or repair. To this end, in recent years different types of micro robots have been developed, such as airbag peristaltic type, helical friction type, electromagnetic type, SMA type, impact type robots, and some promising developments have been made. This paper reports a small piezoelectric micro-PZT actuator experimental tube micro-robot that can carry CCD camera into the φ2 0mm vertical, horizontal or curved pipe, check the wall of small holes or cracks. The experimental system, structure, motion mechanism and performance of such micro-robot are discussed.