Peristaltic intra-pipeline crawling device and control method thereof

A technology of crawling device and pipeline, applied in the direction of special pipe, pipe element, pipe/pipe joint/pipe fitting, etc., can solve the problem of poor robot stability, achieve good stability and economy, reduce failure rate and consume less energy Effect

Pending Publication Date: 2019-06-28
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention provides a peristaltic pipeline crawling device and its control method, aimi

Method used

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  • Peristaltic intra-pipeline crawling device and control method thereof
  • Peristaltic intra-pipeline crawling device and control method thereof
  • Peristaltic intra-pipeline crawling device and control method thereof

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Embodiment 1

[0050] refer to Figure 1-5 As shown, the embodiment of the present invention provides a peristaltic crawling device 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 crawling animal, and rely on the friction between the feet 2 and the pipeline to make the crawling device crawl in the pipeline. Optionally, the bionic peristaltic crawling device 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.

[0051] The foot 2 includes: a spherical air bag 21 , a plurality of support rods 22 arranged around the spherical air bag 21 along the radial direction of the pipeline, and an air pump assembly (not shown in the figure). The support rod 22 includes a shaft 221 and ...

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Abstract

The invention provides a peristaltic intra-pipeline crawling device and a control method thereof. The device comprises a push part and at least two foot parts. Each foot part comprises a spherical airbag, an air pump assembly and multiple supporting rods arranged around the spherical airbag in the radial direction of a pipeline. The supporting rods comprise rod bodies and rollers connected with the rod bodies, and part of the rollers are arranged in the rod bodies. The air pump assemblies are used for controlling the spherical airbags to stretch and shrink to the periphery, so that the supporting rods make contact with or are separated from the inner wall of the pipeline, and the foot parts and the inner wall of the pipeline are fixed or loosened. The push part comprises an elastic assembly and a spherical hinge connecting part, wherein the elastic assembly is connected between the two foot parts. The spherical hinge connecting part is used for connecting the two spherical airbags, thespherical airbags stretch and shrink to drive the spherical hinge connecting part to move, and the elastic assembly is stretched so that peristaltic crawling can be achieved. By the adoption of an airbag drive manner, part of the rollers are arranged in the rod bodies, and therefore the stability in the operating process of the crawling device is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a peristaltic crawling device in a pipeline and a control method thereof. Background technique [0002] A pipeline is a device used to transport gas, liquid or fluid with solid particles connected by pipes, pipe connectors and valves. Pipes are mainly used in water supply, drainage, heat supply, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, hydraulic engineering and various industrial installations. However, as the service life increases, corrosion, dirt, blockage, etc. will inevitably occur on the pipe wall, which will affect the use of the pipe. Traditional maintenance manual cleaning is difficult and inefficient. In recent years, pipeline robots have developed rapidly. These robots have different types such as wheeled, peristaltic, and crawler. By carrying corresponding probes and application tools, they can replace humans. C...

Claims

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Application Information

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IPC IPC(8): F16L55/38F16L101/30F16L101/12
Inventor 袁和平
Owner XIAMEN UNIV OF TECH
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