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

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.

The Principle of Square Hole Machining and It＇s Tooling Structure Design

In order to meet the rapid needs of processing square hole in mechanical equipment, the paper expounds the square hole processing method： planetary wheel method, and analyze the principle of tooling structure and process with computer graphics parameters design. The results that, as long as the appropriate parameters, using the above method not only can punch the square hole, can also be processed triangle, the five angle and hexagonal regular polygon holes. The square hole processing method can provide theoretical basis and engineering reliable reference for related engineering and technical personnel.

Model and simulation of four-wheeled robot based on Mecanum wheel

Based on Mecanum wheels and“Y”-shaped planetary wheels,we combine these two kinds of wheels’respective motion principle with their advantages to design a new type of four-wheeled robot:install the Mecanum wheels at the end of“Y”-shaped planetary wheel group.The wheel designed based on Mecanum wheels and“Y”-shaped planetary wheel can adapt to the complex terrain such as stairs,steps,and at the same time it can achieve the rotation of the whole body in a limited space.This paper studies the adaptability of the four-wheeled robot to the stairs,analyzing and calculating the parameters of the four-wheeled robot and the stairs.