FBM10 FOXBORO

In complex systems such as aircraft engines and oil refineries,there are numerous pipes used to transport water,gas and oil.Typically,these pipes have various diameters,varying curvatures,and cover long distances.To ensure they are in good working order,regular plumbing inspections,both external and internal,are required.At present,various pipeline inspection robots have been developed,including wheeled,legged,crawler and other motion mechanisms,mostly driven by electromagnetic motors,which are suitable for the inspection of large-diameter pipelines.Robots are difficult to scale down when it comes to tiny pipes less than a centimeter in diameter

在航空发动机和炼油机等复杂系统中，有大量用于输送水、气体和油的管道。通常，这些管道具有各种直径、变化的曲率，并覆盖较长的距离。为确保它们处于良好的工作状态，需要定期从外部和内部进行管道检修。目前已开发的各种管道巡检机器人包括轮式、腿足式、履带式等运动机构，多采用电磁电机驱动，适用于大口径管道的检测。当涉及到直径小于一厘米的微细管道时，机器人的尺寸很难按比例缩小。