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Bionic squirm type pipeline travelling mechanism and control method thereof

A technology of walking mechanism and pipeline, which is applied in the field of bionic robots, can solve the problems affecting the stability and reliability of the mechanism, the decline of output capacity, and the rapid temperature rise of the coil, etc., so as to facilitate popularization and promotion, easy processing and manufacturing, and prevent the mechanism from being stuck. Effect

Inactive Publication Date: 2013-09-18
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot can adapt to different pipe diameters, and has a simple structure and is easy to control. However, due to the use of push-pull electromagnets, it is easy to generate vibration and noise, and the frequent work of push-pull electromagnets makes the coil temperature rise faster, resulting in a decrease in output capacity. Affect the stability and reliability of the mechanism operation

Method used

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  • Bionic squirm type pipeline travelling mechanism and control method thereof
  • Bionic squirm type pipeline travelling mechanism and control method thereof
  • Bionic squirm type pipeline travelling mechanism and control method thereof

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Experimental program
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Embodiment Construction

[0053] figure 1 Shown is the external structure of the bionic peristaltic pipeline running mechanism in this embodiment, which is composed of the front body segment radial support unit 1 , the middle axial feed unit 2 and the rear body segment radial support unit 3 . The radial support unit 1 of the front body segment and the radial support unit 3 of the rear body segment are arranged symmetrically at both ends of the middle axial feed unit 2, which can realize periodic intermittent radial expansion and tightening between the body segment and the inner wall of the pipeline. Retraction movement; the radial support unit 1 of the front body segment and the radial support unit 3 of the rear body segment are evenly distributed along the circumference of the shell at least two radially telescopic support claws 18 and the same generatrix position as the support claws 18 The guide roller 22 can maintain the self-centering and shape-closed functions of the mechanism in the running pipe...

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Abstract

The invention relates to a bionic squirm type pipeline travelling mechanism and a control method thereof. The travelling mechanism is characterized in that a forebody section radial support unit and an afterbody section radial support unit are symmetrically arranged on the two ends of a middle axial input unit; a periodicity intermittent radial breathing motion between the radial support unit and the inner wall of a pipeline and a periodicity intermittent axial stretching motion of the middle axial input unit are adjusted, and the travelling mechanism imitates motion gait and a rule of a worm somite in the pipeline to walk in a squirm manner; and the travelling mechanism can replace labour to carry out different pipeline job tasks through carrying corresponding instrument, and missions of vertical underground mine disaster detection and rescue and the like can be implemented. The travelling mechanism provided by the invention has the advantages of simple compact body, reliable stable operation, easiness in control, cheap manufacturing cost, and can be suitable for multiple occasion applications and the like.

Description

technical field [0001] The invention relates to a peristaltic walking mechanism in a pipeline, which is used for a pipeline operation robot and belongs to the technical field of bionic robots. Background technique [0002] As an important material transport tool, pipelines are widely used in various fields. During the use of pipelines, various failures or damages will inevitably occur. In most pipeline installation environments, people cannot directly reach or are not allowed to directly enter. Therefore, pipeline operation robots, as an effective intelligent tool to replace manual pipeline fault diagnosis, detection and maintenance, are receiving more and more attention. Pipework robots can be divided into leg type, wheel type, crawler type, vibration type and peristaltic type according to different walking modes. Peristaltic type pipeline operation robot is the most stable gait and the most environment-friendly among many types of pipeline operation robots. A kind of ada...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/32F16L101/30
Inventor 张强张丹曹会彬孙玉香朱旻冯勇葛运建宋全军
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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