Unlock instant, AI-driven research and patent intelligence for your innovation.

In-pipeline crawling robot based on tensegrity structure and method

A technology of tensioning the overall structure and crawling robot, which is applied in the field of robotics, can solve the problems of uncontrollable steering, inconvenient use, long robot, etc., and achieve the effect of easy crossing of complex environments, convenient adjustment, and high degree of freedom

Active Publication Date: 2022-07-22
SHANDONG UNIV
View PDF5 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned robot also has certain limitations. On the one hand, the robot cannot realize active steering when passing through the curved pipe by using its passive compliance. When the robot passes through the T-joint, it cannot control the steering, which causes inconvenience to actual use; The robot adopts a structure in which three or more modules are connected in series. Although more modules can be connected in series to increase the step length, it will also cause the robot to be too long as a whole. The joints of the robot are not controlled. When the angle formed by the two modules is less than 90 degrees, the force from the rear module of the joint cannot fully act on the front module of the joint, and the robot's step length is reduced. In severe cases, it will stop. previous state

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • In-pipeline crawling robot based on tensegrity structure and method
  • In-pipeline crawling robot based on tensegrity structure and method
  • In-pipeline crawling robot based on tensegrity structure and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] This embodiment discloses an in-pipe crawling robot based on an overall tension structure, including a first group of crisscross elastic rods and a second group of crisscross elastic rods that are symmetrically arranged, and the end points of the first group of crisscross elastic rods The end points of the elastic rods crossed with the second group are correspondingly connected through the first fluidic muscle to form the outer contour of the robot. A linear actuator is arranged inside the outer outline, and the first end of the linear actuator is connected to the first group through the second fluidic muscle. The end points of the crossed elastic rods are connected to each end point of the second group of crossed elastic rods through the third fluidic muscle, and the second end of the linear actuator is connected to the first group of crossed elastic rods through the fourth fluidic muscle Each end point is connected with each end point of the second group of crisscross ...

Embodiment 2

[0076] In this embodiment, a method for moving a crawling robot in a pipeline based on a tensioned integral structure disclosed in Embodiment 1 is disclosed, including:

[0077] Step 1: The robot is in the initial state;

[0078] Step 2: The first fluidic muscle, the third fluidic muscle and the fifth fluidic muscle are deflated and elongated, the linear actuator is elongated, the deformation degree of the first group of crisscross elastic rods increases, and the axial length of the robot increases;

[0079] Step 3: The second fluidic muscle and the fourth fluidic muscle are deflated and elongated, and the deformation degree of the first group of crisscrossed elastic rods is reduced, returning to the state of contact with the inner wall of the pipeline;

[0080] Step 4: The third fluidic muscle and the fifth fluidic muscle are inflated and contracted, and the deformation degree of the second set of crisscross elastic rods increases;

[0081] Step 5: The linear actuator contra...

Embodiment 3

[0085] In this embodiment, a method for moving a crawling robot in a pipeline based on a tensioned integral structure disclosed in Embodiment 1 is disclosed, including:

[0086] Step 1: The robot is in the initial state;

[0087] Step 2: One of the first fluidic muscles is inflated and contracted, the rest of the first fluidic muscles are deflated and elongated, and the first group of crossed elastic rods are rotated to a certain angle in the direction of the inflated and contracted first fluidic muscles;

[0088] Step 3: The third fluidic muscle, the fifth fluidic muscle, and the first fluidic muscle are deflated and elongated, the linear actuator is elongated, and the deformation degree of the first group of crisscross elastic rods increases;

[0089]Step 4: The second fluidic muscle and the fourth fluidic muscle are deflated and elongated, and the deformation degree of the first group of crisscrossed elastic rods is reduced, and returns to the state of contact with the inne...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an in-pipeline crawling robot and method based on a tensegrity structure, the in-pipeline crawling robot comprises a first group of crisscross elastic rods and a second group of crisscross elastic rods which are symmetrically arranged, and the end points of the first group of crisscross elastic rods and the end points of the second group of crisscross elastic rods are correspondingly connected through first pneumatic tendons; the outer contour of the robot is formed, a linear actuator is arranged in the outer contour, and the first end of the linear actuator is connected with all end points of the first set of crossed elastic rods through a second pneumatic tendon and connected with all end points of the second set of crossed elastic rods through a third pneumatic tendon. And the second end of the linear actuator is connected with each end point of the first group of crossed elastic rods through a fourth pneumatic tendon, and is connected with each end point of the second group of crossed elastic rods through a fifth pneumatic tendon. Compared with a chain type system, the system is simple in structure, higher in degree of freedom and easier to pass through a complex environment.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an in-pipe crawling robot and a method based on a tensioned integral structure. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In practical engineering applications, due to long-term use and wear, there are some uneven places on the inner wall of the pipeline, and when laying the pipeline, no matter the hard pipe or the hose, there are inevitable bends. The invention patent with the application number 2022102686871 proposes an in-pipe crawling robot based on a tensioned whole. The robot based on this design is light in weight, low in cost and easy to assemble. However, the above-mentioned robots also have certain limitations. On the one hand, the robot uses its passive compliance to pass through the curved pipe, and cannot achieve active stee...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J19/00
CPCB25J11/00B25J19/00
Inventor 刘义祥代孝林毕庆王喆宋锐李贻斌
Owner SHANDONG UNIV