Bionic pipeline crawling robot

A crawling robot and robot technology, applied in the field of bionic robots, can solve problems such as small turning and climbing angles, slow crawling speed, and getting stuck at curves, so as to avoid accidents

Active Publication Date: 2019-11-22
GUIZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to overcome the problems in the prior art that such robots are prone to get stuck in bends, slow in crawling speed, and small in steering and climbing angles when crawling in pipelines, the present invention provides a bionic

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Embodiment Construction

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0029] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying No device or element must have a particular orientation, be constructed, and operate in a particular orientation, and therefore should not be construed as limiting the invention.

[0030] The present invention starts from the gait characteristics of simulating the crawling of inchworms and earthworms, and develops a bionic robot crawling in the pipeline. figure 1 shown.

[0031] Such as figure 2 , image 3 As shown, the bi...

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Abstract

The invention discloses a bionic pipeline crawling robot. The bionic pipeline crawling robot consists of two fundamental expanding and contracting modules, wherein each fundamental expanding and contracting module consists of a supporting structure which is in contact with a pipe wall and a three-freedom-degree parallel connection structure; the three-freedom-degree parallel connection structuresare respectively connected with a moving platform and a static platform; and the fundamental expanding and contracting modules are flexibly connected through springs. According to the bionic pipelinecrawling robot disclosed by the invention, based on simulating gait characteristics of crawling of geometers and earthworms, the bionic robot capable of crawling in a pipeline is developed; the bionicpipeline crawling robot is used as a carrying platform to pick up all kinds of equipment, so that functions of performing flaw detection and periodical scanning in a pipeline, dredging the pipeline and the like can be realized; and solutions are provided for the problems of corrosion, crackles, wear, plugging and the like in the pipeline, so that the situations of the corrosion, the crackles, thewear and the plugging of the pipeline are effectively monitored, and accidents caused by this type of problems are avoided.

Description

technical field [0001] The content of the present invention relates to a mechanical device for crawling in a fluid transport pipeline, which belongs to the field of bionic robots. Background technique [0002] Pipelines are the main tool for transporting gas, water, oil and other fluid substances. In actual production and life, it is often necessary to detect cracks and wear of pipelines. In addition, pipeline blockage and unblocking are also thorny problems faced in production. However, due to the limited operating space of the pipeline, it is difficult to directly detect the internal situation from the outside and it is not suitable for manual work. Therefore, there is an urgent need for a robot platform capable of crawling in pipelines. [0003] In the prior art, an invention patent (publication number 105697927A) applied by Beijing Jiaotong University discloses an IPMC-based bionic inchworm pipeline crawling mechanism, which belongs to the field of mechanical engineerin...

Claims

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Application Information

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IPC IPC(8): F16L55/28F16L101/30
CPCF16L55/28F16L2101/30
Inventor 杨绿张进高娜樊艳娥李辉徐达何沐阳
Owner GUIZHOU UNIV
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