一种新型蠕动式微小管内机器人的研制

Development of a Novel Creeping Micro In-pipe Robot

针对管径为18-20 mm的细小管道,本文研制了一种新型的蠕动式微小管内机器人,采用三组直流减速电机和螺杆传动装置,通过控制三组电机顺序协调动作,实现机器人的蠕动爬行。该机器人由三个单元组成:前后部分为支撑管壁的爪结构单元,中间部分为蠕动单元,各单元之间用微型十字换向节连接。可搭载无损检测(non-destructive testing,NDT)传感器,能适应Φ18-Φ20 mm的管径,可通过曲率半径不小于80mm的弯管,移动速度为5-8mm/s,具有0-90°爬坡能力,可双向移动,其负载能力不小于1kgf,载重自重比可达6.67:1,机器人本体尺寸为Φ13 mm×190 mm,重约150g,实现了管道机器人的"微小化"和"大驱动力"的需求。

For micro pipes with diameters ranging from 18 to 20mm, a novel creeping micro in-pipe robot is developed, which comprises three DC gear motors and screw driven units. The three motors are coordinated to realize the creeping motion. The robot is composed of three units： the front claw, the rear claw and the middle creeping unit. They are connected by micro cross universal joints. The robot can carry non-destructive testing（NDT） sensors, adapt to micro pipes of diameters from 18-20mm, pass the elbows whose radius of curvature is not less than 80mm, move reversibly with a speed of 5-8mm/s , climb the 0-90°incline pipes, and carry load no less than lkg. The body dimension of the robot is （1）Φ13 mm×190 mm, weight 150g and the ratio of load to deadload is 6.67：1. It satisfies the requirement of microminiaturization and big driving force.