A bionic pipe crawling robot

Abstract

The invention discloses a bionic pipeline crawling robot, which is composed of two basic telescopic modules. Each basic telescopic module is composed of a support structure in contact with the pipe wall and a three-degree-of-freedom parallel structure, and the three-degree-of-freedom mechanism connects the dynamic platform and the static platform respectively. The basic telescopic modules are flexibly connected by springs. The invention starts from simulating the crawling gait characteristics of inchworms and earthworms, and develops a bionic robot crawling in pipelines. The robot is used as a carrier to carry various equipment, which can realize the internal flaw detection of the pipeline, regular inspections, dredging the pipeline and other functions, and provide solutions for internal corrosion, cracks, wear, blockage and other problems of the pipeline, so as to effectively monitor pipeline corrosion and cracks , wear and blockage, so as to avoid accidents caused by such problems.

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...

AI Technical Summary

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 pipeline crawling robot that combines three free A three-degree-of-freedom parallel structure is introduced into the design of the pipeline crawling robot, and a flexible spring connection is used between two three-degree-of-freedom parallel structures

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