Pneumatic pipeline robot system based on pneumatic tendon

A robot system and pneumatic pipeline technology, applied in the field of robots, can solve the problems of self-weight, small step distance, complex structure, etc., and achieve the effect of easy operation, simple structure and simplified mechanism

Inactive Publication Date: 2016-07-13
SHENZHEN POLYTECHNIC
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot adopts a multi-wheel drive type in order to increase the traction, because the diameter of the driving wheel 201 is too small, the ability to overcome obstacles is limited, and the structure is complicated.
image 3 Shown is a foot-type micro-pipeline robot, which can move in the pipeline through the feet 301. The basic principle is to use the feet to push the pipe to support the individual. However, this type of pipeline robot has limited load-bearing capacity, complex structure, and inflexible operation.
Figure 4 Shown is a small peristaltic robot system, which consists of a peristaltic body 401 and electrostrictive displacers 402, 403, and 404. The creep deformation of the peristaltic body is sensed in real time by the resistance strain pasted on the flexible hinge. The overall si

Method used

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  • Pneumatic pipeline robot system based on pneumatic tendon
  • Pneumatic pipeline robot system based on pneumatic tendon
  • Pneumatic pipeline robot system based on pneumatic tendon

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Experimental program
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Example Embodiment

[0038] see Image 6 The present invention is based on the pneumatic muscle tendon pneumatic pipeline robot system, which includes a support module one, a telescopic module, and a support module two connected in sequence. , the joint bearing is a spherical bearing 604 . The spherical pair in the spherical bearing enables the two support modules to orbit around a spatial angle θ relative to the telescopic module, so the robot has the ability to bend.

[0039] In this embodiment, the support module 1 and the support module 2 are respectively provided with two support cylinders 602 and four guide wheels 601, and the four guide wheels 601 are distributed in front of and behind the support cylinder 602, so that the movement is more stable when driving forward. . The end of the support cylinder 602 is provided with a support block 603 . The support is more stable by supporting the cylinder to drive the support block.

[0040] see Figure 7 The difference between the second embod...

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Abstract

The invention provides a pneumatic pipeline robot system based on pneumatic tendon, which comprises a first supporting module, a stretching module and a second supporting module successively connected with each other, wherein the pneumatic tendon is served as the stretching module. The pneumatic pipeline robot system based on the pneumatic tendon provided by the invention is based on a bionic wriggling mode, adopts an external air source, is in a multi-section wriggling form and utilizes the simple and easy as well as practicable pneumatic pipeline robot with pneumatic element design; the structure is simple; the operation is easy; through a bending pipeline, and the matching of the corresponding operation mechanism, the monitoring and maintenance of the pipeline can be realized. The pneumatic pipeline robot system based on the pneumatic tendon provided by the invention has the advantages of high power, excellent dynamic characteristics, excellent sealing property and application to various pipeline environments.

Description

【Technical field】 [0001] The invention relates to the mechanical field, in particular to a robot used in pipelines. 【Background technique】 [0002] In the fields of urban sewage, natural gas transportation, industrial material transportation, water supply and drainage, and building ventilation systems, pipelines are widely used as an effective means of material transportation. Pipelines will inevitably be broken, blocked, and polluted during long-term use. In order to improve the life of the pipeline and prevent accidents such as leakage, it is necessary to carry out effective inspection and maintenance of the pipeline, but the inspection, cleaning, and maintenance of the pipeline are not very Convenient, often spend a lot of manpower and material resources in order to find a crack on the pipeline. At present, pipeline inspection and maintenance are mostly carried out by pipeline robots. The so-called pipeline robot is a kind of automatic walking along the inside or outsid...

Claims

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Application Information

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IPC IPC(8): F16L55/34F16L55/38F16L101/12F16L101/30
CPCF16L55/34F16L55/38F16L2101/12F16L2101/30
Inventor 宋志刚
Owner SHENZHEN POLYTECHNIC
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