管道机器人英文

管道机器人是一种可沿细小管道内部或外部自动行走、携带一种或多种传感器及操作机械，在工作人员的遥控操作或计算机自动控制下， 进行一系列管道作业的机、电、仪一体化系统。

管道机器人是一种可沿细小管道内部或外部自动行走、携带一种或多种传感器及操作机械，在工作人员的遥控操作或计算机自动控制下， 进行一系列管道作业的机、电、仪一体化系统。简介：根据管道机器人的不同驱动模式，可以分为八种：第一种是流动式机器人，这类机器人没有驱动装置，只是随着管内流体流动，属于不需要消耗能源的被动型机器人，但是其运动模式相当有限。第二种是轮式机器人，这一类机器人广泛运用于管道检查工作，许多的商业机器人就是这一类型。第三种是履带式机器人，即用履带代替轮子。第四种是腹壁式机器人，这类机器人通过可以伸张的机械臂紧贴管道内壁，推动机器人前进。第五种是行走式机器人，这类机器人通过机械足运动，但是这类机器人需要大量驱动器，并且难以控制。第六种是蠕动式机器人，这类机器人像蚯蚓一样通过身体的伸缩前进。第七种是螺旋驱动式，即驱动机构做旋转运动，螺旋前进。第八种是蛇型机器人，这类机器人有许多关节，像蛇一样前行。

管道机器人是一种可沿细小管道内部或外部自动行走、携带一种或多种传感器及操作机械，在工作人员的遥控操作或计算机自动控制下， 进行一系列管道作业的机、电、仪一体化系统。一、管道机器人分类根据管道机器人的不同驱动模式，大致可以分为八种。第一种是流动式机器人，这类机器人没有驱动装置，只是随着管内流体流动，属于不需要消耗能源的被动型机器人，但是其运动模式相当有限。第二种是轮式机器人，这一类机器人广泛运用于管道检查工作，许多的商业机器人就是这一类型。第三种是履带式机器人，即用履带代替轮子。第四种是腹壁式机器人，这类机器人通过可以伸张的机械臂紧贴管道内壁，推动机器人前进。第五种是行走式机器人，这类机器人通过机械足运动，但是这类机器人需要大量驱动器，并且难以控制。第六种是蠕动式机器人，这类机器人像蚯蚓一样通过身体的伸缩前进。第七种是螺旋驱动式，即驱动机构做旋转运动，螺旋前进。第八种是蛇型机器人，这类机器人有许多关节，像蛇一样前行。此外，还有一些机器人拥有多种驱动方式。 当然，随着科技发展，技术创新，必将会有越来越多的类型被创造出来。

Micro-robot development and research Abstract: The micro-robot is a micro-electro-mechanical systems an important branch, because it can enter the human and the robot as macro narrow space Operating, in recent decades has been widespread concern. This article first appeared at home and abroad in recent years and give a few micro-robot, the analysis of Its basic characteristics and performance of up to discuss the current micro-robot research encountered some key issues, and pointed out the future of these areas Over a period of time the main research and development direction. Key words: micro-robot; microactuator In recent years, the use of MEMS technology, micro-satellites, micro-flight And enter a narrow space to display the attractive micro-robot application before King and dual-use strategic significance. Therefore, as MEMS technology Technique based on the direction of development of precision micro-machining robot technology Research has become a hot research in this area not only has Powerful market-driven, but there is a large number of research institutions. To date Represented by much of the country in this regard the large number of studies, focusing on Is to develop into the industrial narrow space micro-robot, enter the body narrow space Medical micro-systems and micro-factory. Internally at the National Natural Science Foundation Gold, 863 high-tech research and development program under the auspices of Tsinghua has large Study, Shanghai Jiaotong University, Harbin Institute of Technology, Guangdong Industrial Study, Shanghai University and other research institutes for micro-robot and micro-operation Department EC had undertaken extensive research and developed a prototype separately. At present the country Of micro-robot research focused primarily on three areas [6]: (1) For gas, chemical, power generation equipment to detect small micro-pipeline machine People. (2) for the human body, into the intestinal tract of non-invasive treatment of micro-machines People. (3) for complex mechanical system of non-demolition inspection of micro-machines People. 1 micro-robot development and research According to micro-robot to carry out the study the actual situation, we Focused on the micro-pipe robot, non-invasive medical micro-robot and Special micro-operation robot. 111 micro-pipe robot Micro-pipe robot is based on the narrow space within the context of the application mentioned Out its environmental features are in a small tube into the passageway or gap line Line detection, repair and other operations. Because of the conventional tube operating under conditions of Central Have distinctly different habitats, and its operating methods and structural principles of the conventional pipeline machine Devices are also different people, so in accordance with conventional techniques by means of pipeline robot Scale are not feasible. In view of this, micro-pipe robot Should open a new path to walk. In recent years, with micro-electro-mechanical technology Development and crystal piezoelectric effect and the giant magnetostrictive material magnetic - plane coupling Technology applications development, so that the new micro-drive the emergence and application to become Reality. Micro-drive research results has become a micro-pipe robot re - To develop basic [1]. Nagoya University in Japan developed into a micro-pipe robot can be Detected for the small pipe, in the biomedical field for the small space Small job. This robot can be piped outside electromagnetic coil drive Moving without the need to supply cables. Tokyo Institute of Technology and NEC Company co-operative research spiral-pipe mobile micro-robot, at a diameter of Φ2514mm straight pipe with a maximum speed of exercise are 260mm / s, the most Great traction is 12N. Anthierens French and others developed the application of Φ16mm Inchworm on the robot, the largest of such micro-robot Sports speed of 5mm / s, loads up to 20N, with a high exercise Accuracy, load, but slower and sports complex. Domestic Shanghai University and Shanghai Jiaotong University have developed the inertial Impact pipe Micro Robot, Shanghai Jiaotong University using the micro-robot Stacked-type piezoelectric actuator driven; Shanghai University of micro-robot drive And there is stacked bimorph thin-film two types [3]. Shown in Figure 1 for dual-pressure Electric thin-film micro-pipe robot sport of its mechanism, the dual-robot Piezoelectric thin film drive, as opposed to the single piezoelectric film, increases the drive Edge, improve the bearing capacity. The agency's largest mobile speed Tatsu To 15mm / s, with forward and backward, the rise and fall functions. 回答者：匿名 3-14 20:27The development of miniature robot and study present condition Summary: Miniature robot's ising a micro-electronics machine is an important branch of the system, because it can get into mankind and macroscopic robot the narrow and small space of can not compare with Inside the homework, several near was subjected to extensive concern in a decade.This text gave a few miniature robots that appear at home and abroad in recent years first, in the analysis Discussed currently miniature robot a research in a few key problems meet, and pointed out these realm futures in the foundation of its characteristics and function The main research that is inside a period of time and develop a direction. Keyword: Miniature robot; Tiny actuator In recent years, the miniature satellite, miniature of technique of the adoption MEMS fly Machine with get into the tiny robot of narrow space before displaying a captivating pplication View and armed forces and people two use of strategic meaning.Therefore, conduct and actions tiny electricity & machine system skill One of the Shu development directions of process a tiny robot technique according to the precise machine The research has become one of international top a little bit hot, the research of this aspect not only has Strong market push, and have participate of numerous think factorieses.With day Originally openned an exhibition a great deal of research in this aspect for the representative's many nations, point BE a development to get into industrial narrow space tiny robot and get into a human body narrow empty System with tiny medical treatment and miniature factory.The domestic is in the national natural science Ji Gold, 863 high technique research development plan etc. of under the pecuniary aid have a Chin Hua greatly Learn, Shanghai transportation university, Harbin the industrial university, Guangdong be industrial big Learn, University of Shanghai etc. miniature robot and tiny operation that research hospital aim at fasten Carried on a great deal of research generally, and developped principle kind machine respectively.Currently country Inside study miniature robot main concentration in three realms[6]: (1) Face to coal gas, chemical engineering and generate electricity the miniature machine that the equipments small piping probe into Person.(2) Aim at a human body and get into a have no of bowel way to create the diagnosis and treatment miniature machine Person.(3) Face to the complicated machine system doesn't dismantle to unload the miniature machine that the check fix Person. The development of one miniature robot and study condition Open the actual circumstance of the exhibition miniature robot research according to the domestic, we Emphasize the discussion miniature piping robot and have no the medical treatment robot of the wound miniature with The miniature robot of special homework. 111 miniature piping robot The tiny piping robot is according to the applied background in the narrow and small space to lift Of, its environment characteristics is in narrow and small tube form passage or blind side to run about into Go an examination, maintain etc. homework.Because with under the normal regulations condition take care of inside the homework wreath The Jing is obviously different and it runs about way and structure principle and normal regulations piping machine The machine person is also different, therefore according to normal regulations technique the means presses to the piping robot Comparison's contract isn't viable.Have owing to this, miniature piping robot of Run about a way in response to open up another Xi path.In recent years along with micro-electronics machine technical of Development and crystal piezoelectric effect with super Ci with the result that flex material Ci- The machine Ou match The technique applied development make emergence and application of new tiny actuator become Reality.The research result of tiny actuator has become tiny piping robot of heavy Want to develop foundation[1]. The Japanese University of Nagoya develops into a kind of miniature piping robot, can Used for the examination of small piping, make in the small space of biomedical science realm Small work.This kind of robot can be get rid of by the electromagnetism coil out of the piping Move, but need not with the electric cable power supply.Japanese industrial university in Tokyo and NEC Company cooperation the spiral type of the research tube inside move tiny robot, at diameter is The Φ 2514 mms keeps inside tube it of biggest sport the speed be a 260 mms/ s, most Greatly leading dint is 12 Ns.The French Anthierens waited for someone to develop to apply Robot at the peristalsis type of the Φ 16 mms, this kind miniature robot of biggest Sport speed is a 5 mms/ s and the load can reach to a 20 Ns and have very high sport Accuracy, the load is big, but exercises speed more slow and structure complicated. Local University of Shanghai and transportation university in Shanghais all developped inertial The impact type piping tiny robot, the tiny robot of transportation university in Shanghai adopt The layer type presses an electricity actuator to drive; The tiny robot actuator of University of Shanghai There are layer type and double pressing electricity thin film 2[3].Diagram 1 show to press for the double Give or get an electric shock the thin film small piping robot its sport mechanism, the robot's adoption double Press an electricity thin film actuator, opposite press an electricity thin film at the list, enlarged to drive Dint improve loading ability.That organization of biggest move speed can reach Arrive a 15 mms/ s, have headway, retreat, ascension with descend function.