A micro inspection robot for 1-in pipes has been developed. The robot is 23 mm in diameter and 110 mm in length and is equipped with a high-quality micro charge-coupled device (CCD) camera and a dual hand for manipulating small objects in pipes. It can travel through both vertical pipes and curved sections, making possible inspections that would be difficult with conventional endoscopes. Its rate of travel is 6 mm/s and it has a load-pulling power of 1 N. To realize this microrobot, the authors have specially designed and developed several micro devices and micromechanisms: a novel micromechanism called a planetary wheel mechanism for robot drive; a micro electromagnetic motor with a micro planetary reduction gear to drive the planetary wheel mechanism; a micro pneumatic rubber actuator that acts as a hand; a micro CCD camera with high resolution; and a pneumatic wobble motor for rotating the camera and hands. In the paper, the design and performance of these micro devices are reported, the performance of the robot as a whole is described, and an application example is given.
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机译：已经开发出一种用于1英寸管道的微型检查机器人。该机器人的直径为23毫米，长度为110毫米，配备了高质量的微电荷耦合器件（CCD）相机和两只手，可以操纵管道中的小物体。它可以穿过垂直管道和弯曲部分，从而使常规内窥镜难以进行检查。它的行进速率为6 mm / s，具有1 N的拉力。为实现这种微型机器人，作者专门设计并开发了几种微型设备和微型机构：一种新颖的微型机构，称为用于机器人驱动的行星轮机构;具有微型行星减速齿轮以驱动行星轮机构的微型电磁马达；用作手的微型气动橡胶致动器；高分辨率的微型CCD相机；以及用于使相机和手旋转的气动摆动马达。本文介绍了这些微型设备的设计和性能，描述了整个机器人的性能，并给出了一个应用实例。
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