螺旋轮式微型管道机器人设计

Design of Spiral Wheel In-pipe Micro-robot

微型管道机器人广泛应用于工业检测、工业维修、医学等领域。其移动结构及电驱动技术具有较高的实用价值和学术意义。采用螺旋轮式结构设计了一种微型管道机器人,其原理简单、结构紧凑、控制方便,首先介绍了其螺旋轮式移动结构,然后介绍了其电路驱动部分的设计。试验表明,螺旋轮式微型管道机器人能够适用于在内径20～25mm之间的微型管道内作业,具有前进、后退、调速、自锁等功能,同时,对管道的局部不规则点或细小障碍物具有一定的适应能力。

In-pipe micro-robot is widely used in industrial Inspection,maintenance,medical and other fields. Mobile mechanism and electric drive technology of In-pipe micro-robot has high practical value and academic significance. An in-pipe micro-robot with spiral wheel structure was designed. It had the advantages of simple principle,compact structure and convenient control. First mobile mechanism was introduced,then details about its electric drive were gave. The tests indicate that,It is Suitable for working in mi...