Design Of The Worming Feed Robot In The Pipe

In this paper based on the advantage and disadvantage of wheeled robot and worming robot in the pipe, a new worming feed robot in the pipe in the pipe is presented with both advantages. The new worming feed robot is drived by step motor and screw rod. This makes the the worming robot run quickly. This new worming feed robot is composed of three major parts which all have pipe-diameter adaptive mechanism, and these mechanisms make the robot adapt different pipe-diameter in a wide range. Besides, these mechanisms can make the central axis of the robot overlap the central axis of pipe, so the new worming feed robot can run in the pipe steadily. The three major parts of the robot is connected by two crossheads so that it can travel in the elbow. Step motor can control the robot accurately without the sensors, and it can decrease the cost and the weight of the worming feed robot. The worming feed robot has a lot of advantages, such as moving fast and steadily, big range of pipe-diameter, good traveling capability in elbow and so on.