Development of an actuator group capable of inspection in a complex pipes with removable structure

本研究利用一种简单的驱动机构，在内径为40~50 mm的复杂管路中，利用CCD摄像机，研制了一种新型的磁致动器。通过形状记忆合金线圈的伸长和收缩，由于复合材料的打开和关闭，致动器能够进行可逆运动。磁致动器根据复合材料向前和向后运动时摩擦力的不同，进行直线运动和旋转运动。在此基础上，研制了内径为100 mm的磁致动器。对于两个电磁执行器，进行了对接，并对可拆卸结构进行了校核。经验证，该执行器系统只需两个放大器、一个信号发生器、一个直流电源和一台安装了视频采集软件的PC机，就可以对复杂的管道系统进行检测。

This research develops a new type of magnetic actuator capable of inspection by using CCD camera loaded in a complex pipe with an inner diameter from 40 to 50 mm using a simple driving mechanism. The actuator is capable of reversible movement due to the opening and closing of a compound material by the elongation and contraction of shape-memory-alloy coils. The magnetic actuator undergoes linear and rotational movement based on the difference in frictional force between the forward and backward movement of the compound material. Furthermore, the magnetic actuator capable of movement inner diameter pipe of 100 mm inside diameter was produced. For two electromagnetic actuators, it was docked, and examination about the removable structure was carried out. It was confirmed that this actuator system is able to inspect the complex pipe system with only two amplifiers, one signal generator, a DC power supply, and a PC installed with software for video capture.