New minimal invasive drive method of vascular micro-robot;

Development and application prospects of pipe robots used in oil industry;

The background of walking mechanism of micro in-pipe robot is firstly demonstrated in this paper.

Aiming at the special measure object—barrel with rifling,a new type of pipe robot was developed,which was used to measure rifling automatically.

Mechanical Self-adaptive Drive Technology of Triaxial Differential Pipe-robot;

Locomotion interference will happen when wheel pipe-robot passes through bent pipes or irregular pipes.

In order to raise the life span of piping andpreventing the problem such as aging, decay, split etc, the pipe-robot appearswhich can satisfy the needs of the accuracy and efficiency in diagnosisexamination and maintenance.

Study on total distance positioning of in-pipe robot——based on fiber Bragg grating curvature spatial sensor;

A tri-axial differential drive unit composed of a tri-axial differential mechanism and a pipe diameter adapting mechanism is designed for in-pipe robot,and both differential property and mechanics property in straight and elbow pipes are analyzed theoretically.

This paper discusses the mathematical modeling of in-pipe robot,and the analysis of the robot for fitting in pipelines such as siphon and branch pipeline.

Key technology in design of in-pipe robot inspecting system;

For micro pipes with diameters ranging from 18 to 20mm,a novel creeping micro in-pipe robot is developed,which comprises three DC gear motors and screw driven units.