| 摘要 |
A micro robot for detecting and cleaning an interior feed pipe is provided to cut down expenses by completely removing scale and impurities from the aged feed pipe and checking the state of the pipe, and to prevent leak by finely taking pictures of corrosion or crack with a camera. A micro robot(1) includes a head central shaft with a drill and a motor(8) operating the drill, plural wheels(4) arranged around the head central shaft and installed by an elastic member, a driving unit central shaft, plural wheels arranged at regular intervals and mounted around the driving unit central shaft by an elastic member, a joint(27) of multi-degree of freedom connecting the head central shaft to the driving unit central shaft, an interior shape detecting sensor and a camera installed in the head central shaft, and a control unit driving the motor and receiving signals from the camera and the interior shape detecting sensor. The head central shaft is integrally formed with the driving unit central shaft with the joint of the multi-degree of freedom, and direction is changed actively by freely turning at multiple angles in turning the direction of the micro robot.
|
