Micro in-pipe robot for detection of cracks in pip e wall

SUN Lin-zhi; LU Lin-hai; QIN Xin-jie; GONG Zhen-bang

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Micro in-pipe robot for detection of cracks in pip e wall

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- Micro in-pipe robot for detection of cracks in pip e wall
- Optics and Precision Engineering Vol. 11, Issue 1, Pages: 11-16(2003)
- 作者机构：
  
  上海大学, 精密机械研究所上海,200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：17 October 2002，
  
  Revised：11 December 2002，
  
  Published Online：15 February 2003，
  
  Published：15 February 2003
- 稿件说明：
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孙麟治, 陆林海, 秦新捷, 龚振邦. 微型机器人用于检查管道内的缺陷[J]. 光学精密工程, 2003,(1): 11-16

SUN Lin-zhi, LU Lin-hai, QIN Xin-jie, GONG Zhen-bang. Micro in-pipe robot for detection of cracks in pip e wall[J]. Editorial Office of Optics and Precision Engineering, 2003,(1): 11-16
孙麟治, 陆林海, 秦新捷, 龚振邦. 微型机器人用于检查管道内的缺陷[J]. 光学精密工程, 2003,(1): 11-16 DOI：

SUN Lin-zhi, LU Lin-hai, QIN Xin-jie, GONG Zhen-bang. Micro in-pipe robot for detection of cracks in pip e wall[J]. Editorial Office of Optics and Precision Engineering, 2003,(1): 11-16 DOI：

摘要

管径φ10～20 mm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φ20 mm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.

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.

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Keywords

references

TAKAHASHI M, HAYASHI I. The development of an in-pipe micro robot applying the motion of an earthworm[A]. Proceedings of MHS'94[C]. Nagoya, Japan,1994.35-40.

HAYASHI I. The running characteristics of a screw principle micro robot in a small bent pipe[A]. Proceedings of MHS'95[C].Nagoya, Japan, 1995.225-228.

SUN L ZH, SUN P, QIN X J. Study on micro robot in small pipe[A]. Proceedings of Inter. Conference on Control'98[C]. Swansea, U K, 1998.1212-1217.

SUN L, SUN P, LIAN L.Improvement of characteristics of in-pipe micro robot[A].Proceedings of MHS'99[C]. Nagoya, Japan, 1999.153-156.

IDOGAKI T. Characteristics of piezoelectric locomotive mechanism for an in-pipe micro inspection machine[A].Proceedings of MHS'95[C]. Nagoya, Japan, 1995.193-198.

KAWAKITA S. Multi-layered piezoelectric bimorph actuator[A]. Proceedings of MHS'97[C].Nagoya, Japan, 1997.73-78.

SUN L, ZHANG Y, SUN P. Study on robot with PZT actuator for small pipe[A].Proceedings of MHS'2001[C].Nagoya, Japan, 2001.149-154.

SUN L, SUN P, LUO Y,et al. Micro in-pipe robot with PZT actuator[A]. Proceedings of 4th Inter. Climbing and Walking Robots[C].Karlsruhe, Germany, 2001.539-546.

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