A biomimetic inchworm for crawling in pipes

A bionic inchworm and pipeline technology, which is applied to pipe components, pipes/pipe joints/fittings, mechanical equipment, etc., can solve the problems of large cumulative error, robot jamming, and large rotation angle of the robot body, and achieve the effect of overcoming the deviation of the rotation angle

Active Publication Date: 2021-05-07
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Four crank-rocker mechanisms are used to control the robot to walk, but this kind of robot is prone to jamming when it moves, and because of the large number of components and kinematic pairs, the cumulative error is large and the motion accuracy is low, and the main body of the robot has a large rotation angle during the walking process. , unable to maintain a relatively stable state of walking

Method used

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  • A biomimetic inchworm for crawling in pipes
  • A biomimetic inchworm for crawling in pipes
  • A biomimetic inchworm for crawling in pipes

Examples

Experimental program
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Embodiment 1

[0026] Such as Figure 1-2 As shown, a bionic inchworm for crawling in a pipeline, the bionic inchworm includes: a driving mechanism, a transmission system, and an actuator, and the driving mechanism provides power to the actuator to realize the forward exploration of the bionic inchworm task;

[0027] The actuator includes: two crank rocker mechanisms composed of connecting rod one 4, connecting rod two 5 and connecting rod three 6 symmetrically arranged on both sides of the box body 1, and connecting rods symmetrically arranged on both sides of the box body 1. Two double-rocker mechanisms that rod three 6, connecting rod four 7 and connecting rod five 8 are formed; One end of described connecting rod one 4 is installed on the turbine shaft 3, and the other end is connected with connecting rod two 5 through rotating shaft one 12, and The transmission arm of bar two 5, connecting rod three 6, one end of connecting rod four 7 are connected by rotating shaft two 13, and the oth...

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Abstract

The invention discloses a bionic inchworm for crawling in a pipeline. The bionic inchworm includes: a driving mechanism, a transmission system, and an executing mechanism. The driving mechanism provides power to the executing mechanism to realize the forward exploration of the bionic inchworm The task; the executive mechanism is a crank rocker mechanism and a double rocker mechanism, equipped with a wheel with a ratchet mechanism, through the combination of the crank rocker and double rocker mechanism to imitate the telescopic action of the "inchworm" trunk, and use the ratchet mechanism to achieve The "front" and "rear" brakes in turn, through the worm gear transmission system to achieve deceleration and reach the specified transmission ratio, thus creating a bionic inchworm device that can move forward stably and quickly in a relatively straight pipeline.

Description

technical field [0001] The invention belongs to the technical field of pipeline operation equipment, and in particular relates to a bionic inchworm used for crawling in pipelines. Background technique [0002] In the oil and gas industry, there are many ways to maintain larger diameter pipelines, but for smaller diameter pipelines, there is a need to develop highly mobile robots that can move or crawl in these small spaces. In the medical field, this type of microbiological robot can be used for human inspection of smaller ducts such as the human esophagus, intestines, and urinary tract. For example, endoscopic technology can be intervened by micro-robots and can also be used to remove blockages in different body parts such as urinary catheters. The bionic crawling robot uses a similar biological crawling mechanism to move. This type of movement provides greater adhesion to the contact surface and better ability to overcome obstacles. Pipelines are widely used in various ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/28F16L55/32
CPCF16L55/28F16L55/32
Inventor 马正阔苑明海王郑蔡仙仙谢靖刘倩
Owner HOHAI UNIV CHANGZHOU
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