Bionic peristaltic type pipeline inner crawler and crawling method thereof

A bionic peristaltic and biological peristaltic technology, applied in the field of bionic robots, can solve problems such as poor power and stability, and achieve the effects of broadening the scope of application, good stability and economy

Pending Publication Date: 2019-06-18
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention provides a bionic peristaltic crawler and its crawling meth

Method used

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  • Bionic peristaltic type pipeline inner crawler and crawling method thereof
  • Bionic peristaltic type pipeline inner crawler and crawling method thereof
  • Bionic peristaltic type pipeline inner crawler and crawling method thereof

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Embodiment 1

[0046] refer to figure 1 As shown, the embodiment of the present invention provides a bionic peristaltic crawler in a pipeline, including: a propelling part 1 and at least two feet 2 . The propelling part 1 and at least two of the feet 2 form a crawling structure imitating a peristaltic animal, and rely on the friction force between the feet 2 and the pipeline to make the crawler walk in a peristaltic manner in the pipeline. Optionally, the bionic peristaltic crawler in the pipeline can be provided with several propelling parts 1 and feet 2, and several propelling parts 1 and the feet 2 are alternately arranged to form a multi-stage peristaltic crawling structure, which can increase its motion stability sex and flexibility.

[0047] The foot 2 includes: a foot airbag 21 , a plurality of wheel sets 22 arranged along the circumference of the foot airbag 21 and a first air pump assembly (not shown in the figure). The first air pump assembly controls the foot airbag 21 to expand...

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Abstract

The invention provides a bionic peristaltic type pipeline inner crawler and a crawling method thereof, and relates to the technical field of bionic robots. The bionic peristaltic type pipeline inner crawler comprises a propelling part and at least two foot parts, each foot part comprises a foot air bag, a plurality of wheel sets arranged along the circumferential direction of the corresponding foot air bag, and a first air pump assembly for controlling the corresponding foot air bag to extend and contract in the radial direction of a pipeline so that the foot part and the inner wall of the pipeline can be fixed or separated, and the propelling part is connected between the two foot parts, and comprises a middle shaft air bag and a second air pump assembly, wherein the second air pump assembly is used for controlling the middle shaft air bag to extend and contract in the axial direction of the pipeline. According to the bionic peristaltic type pipeline inner crawler and the crawling method thereof, the air pump assemblies are used for orderly inflating and deflating the foot parts and the propelling part, so that creeping of the crawler in the pipeline can be realized, and the goodstability and economical efficiency are achieved.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic peristaltic crawler in a pipeline and a crawling method thereof. Background technique [0002] Due to the limitation of narrow space and long transportation distance in the pipeline, it is very difficult to operate in the pipeline, such as the need for cleaning or unclogging dirt in industrial pipelines, laying lines in protective pipelines, etc., especially in the case of long pipelines, small diameters, and many branches. Unable to manually enter the operation. Traditional maintenance requires a cleaning operation shift to disassemble in sections, using brushes and cleaning agents to clean, which has difficulties such as difficult operation and low efficiency. Therefore, it is urgent to develop a crawling mechanism that can adapt to the complex pipeline environment. In the existing patents, the crawling mechanism is mostly only suitable for pipelines with a cert...

Claims

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Application Information

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IPC IPC(8): F16L55/38F16L101/12
Inventor 袁和平李伟
Owner XIAMEN UNIV OF TECH
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