Development of Micro-Inspection Robot for Small Piping

Abstract

A micro-inspection robot for 1-inch pipes has been developed. It can undertake visual inspections inside piping and also retrieve small objects. The robot in 110 mm long, has an external diameter of 23 mm, and weighs 16 g. Equipped with a high-quality micro CCD camera, it also has a two-digit hand for manipulating small objects within pipes. It is propelled by a micro-electromagnetic motor. The wheels, which are driven by a system of planetary reduction gears and worm gears, press against the pipe wall and enable the robot to travel even within vertical pipes and curved pipes. It travels at a speed of about 6 mm/s, and the pulling force exerted is approximately 1 N. In this report, the robot system is described along with the various micro technologies used in the development of the robot, including the micro-actuator, micro-reduction gears, micro-robotic hands, and micro CCD camera. The specifications of the robot are also presented.