A capsule robot

Abstract

A capsule robot, characterized in that it includes a transparent lampshade (1), a robot body (5) and a mobile base (6), the transparent lampshade (1) is fixedly connected to one end of the robot body (5), and the middle piston rod ( 7) It is firmly connected with the robot body (5), the middle piston rod (7) is installed in the middle hydraulic cylinder (16), and the middle hydraulic cylinder (16) is fixed in the mobile base (6); (2), sector gear (3), support rod (4), crank (8), slide block (9), peripheral piston (12) and hydraulic cylinder (15) to form the driving leg system. The robot of the present invention can crawl in soft or hard pipes with small pipe diameters, large pipe diameter fluctuations, many turning places, and spatially changing postures. The device has a simple structure, is easy to miniaturize, has strong power, and can turn, and It is more compliant when in contact with the pipeline, and will not cause damage to the inner wall of the pipeline and its own structure.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a crawling robot, specifically a capsule robot. Background technique [0002] In recent years, due to the diversification of industrial production, various robots have been researched to complete different tasks. Among them, the development of capsule robots is relatively late, and it mainly serves pipelines with narrow spaces and complex environments such as industrial thin pipelines and animal digestive tract inspections. Due to the limitation of structural size, the existing capsule robots have too little freedom and are difficult to adapt to complex environments. Most of the existing capsule robots are driven by motors or magnetically controlled, the driving force is very limited, and the stability of magnetically controlled is difficult to improve. In addition, the existing legged active capsule robot has a small deployment radius and cannot detect pipes with large diameter changes, ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to design a capsule robot with simple structure and convenient manipulation for the defects of the existing capsule robot, such as small driving force, poor adaptability, and poor stability, which can be used in places with small pipe diameters, large fluctuations in pipe diameters, and corners. Crawling in soft or hard pipes with many postures that change in space, the device has a simple structure, is easy to miniaturize, has strong power, can turn, and is more compliant when in contact with the pipe, and will not cause damage to the inner wall of the pipe and its own structure. It is especially suitable for colonic disease screening and has great application prospects

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