A tensegrity structure and robot suitable for different pipe diameters

Abstract

The present invention discloses a tensegrity structure and a robot applicable to different pipe diameters, and relates to the field of robot technology. The tensegrity structure applicable to different pipe diameters comprises a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod, and a fifth connecting pressure rod; the robot comprises at least three tensegrity structures applicable to different pipe diameters. The tensegrity structure of the present invention can realize axial stretching / radial contraction and axial contraction / radial stretching of the outer dimensions, and adapt to pipes of different diameters; the robot can crawl in pipes of different diameters within a certain range.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a tensegrity structure and a robot suitable for pipes with different diameters. Background Art

[0002] Many existing pipeline systems have small spaces and harsh environments, making manual inspection and maintenance difficult or even impossible. Most of the existing pipeline crawling robots used for pipeline inspection and maintenance are based on traditional rigid transmission mechanism designs, which are relatively poor in flexibility and adaptability. When vertically ascending, overcoming sharp turns or other irregular situations, the requirements for the power of the drive system are also higher. In addition, the adaptability of most pipeline crawling robots to different pipe diameters is relatively limited. The tensegrity structure is a structure that is widely used in the fields of architecture and structural engineering. It is a self-supporting, self-stressed spatial grid structure composed of a group of discontinuous rigid compression members and a group of continuous flexible tension members. The unique structural form enables the tensegrity structure to retain the bearing capacity of rigid components and the deformation capacity of flexible components at the same time, combining the advantages of rigid structures and soft structures, and has gradually gained the favor of researchers in the field of robotics in recent years. Summary of the invention

[0003] The purpose of the present invention is to provide a tensegrity structure and a robot suitable for pipes of different diameters to solve the problems existing in the above-mentioned prior art. The tensegrity structure and the robot suitable for pipes of different diameters have good flexibility and adaptability and can realize axial stretching / radial contraction and axial contraction / radial stretching, and adapt to pipes of different sizes; the robot can realize crawling movement in the pipe.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a tensegrity structure applicable to different pipe diameters, comprising a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod and a fifth connecting pressure rod;

[0006] One end of the first elastic element, one end of the second elastic element, one end of the third elastic element, one end of the fourth elastic element and one end of the fifth elastic element are respectively connected to one end of the driving structure;

[0007] One end of the sixth elastic element, one end of the seventh elastic element, one end of the eighth elastic element, one end of the ninth elastic element and one end of the tenth elastic element are respectively connected to the other end of the driving structure;

[0008] One end of the first connecting pressure rod is connected to the other end of the first elastic element, and the other end of the first connecting pressure rod is connected to the other end of the seventh elastic element; one end of the second connecting pressure rod is connected to the other end of the second elastic element, and the other end of the second connecting pressure rod is connected to the other end of the eighth elastic element; one end of the third connecting pressure rod is connected to the other end of the third elastic element, and the other end of the third connecting pressure rod is connected to the other end of the ninth elastic element; one end of the fourth connecting pressure rod is connected to the other end of the fourth elastic element, and the other end of the fourth connecting pressure rod is connected to the other end of the tenth elastic element; one end of the fifth connecting pressure rod is connected to the other end of the fifth elastic element, and the other end of the fifth connecting pressure rod is connected to the other end of the sixth elastic element;

[0009] The other end of the first connecting pressure rod is connected to one end of the second connecting pressure rod through the eleventh elastic element, the other end of the second connecting pressure rod is connected to one end of the third connecting pressure rod through the twelfth elastic element, the other end of the third connecting pressure rod is connected to one end of the fourth connecting pressure rod through the thirteenth elastic element, the other end of the fourth connecting pressure rod is connected to one end of the fifth connecting pressure rod through the fourteenth elastic element, and the other end of the fifth connecting pressure rod is connected to one end of the first connecting pressure rod through the fifteenth elastic element;

[0010] The lengths of the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod can all be actively adjusted.

[0011] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element and the fifth elastic element are evenly arranged along the circumference of the driving structure; the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element are evenly arranged along the circumference of the driving structure.

[0012] Preferably, the first elastic element, the sixth elastic element, the second elastic element, the seventh elastic element, the third elastic element, the eighth elastic element, the fourth elastic element, the ninth elastic element, the fifth elastic element and the tenth elastic element structure are arranged in sequence along the circumference of the driving structure.

[0013] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element have the same structure.

[0014] Preferably, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element have the same structure.

[0015] Preferably, the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all electric push rods, air cylinders or hydraulic cylinders.

[0016] Preferably, the driving structure is an electric push rod, a pneumatic cylinder or a hydraulic cylinder.

[0017] Preferably, the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all made of plastic.

[0018] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element, the tenth elastic element, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element are all springs or elastic ropes.

[0019] The present invention also provides a robot, comprising at least three tensegrity structures applicable to pipes of different diameters, wherein the driving structures of adjacent tensegrity structures applicable to pipes of different diameters are hinged.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The tensegrity structure applicable to different pipe diameters of the present invention can realize axial stretching / radial contraction and axial contraction / radial stretching of the overall external dimensions, and can adapt to different pipe diameters; on this basis, three or more tensegrity structures applicable to different pipe diameters are connected in series to obtain a robot suitable for crawling in a pipeline, and by reasonably setting the actuation sequence of each tensegrity structure applicable to different pipe diameters, the crawling movement of the robot in the pipeline can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is an axonometric diagram of a tensegrity structure applicable to different pipe diameters of the present invention (the driving structure and each connecting compression rod are in a contracted state);

[0024] Figure 2 This is a front view of the tensegrity structure of the present invention applicable to different pipe diameters (the driving structure and each connecting rod are in a contracted state);

[0025] Figure 3 This is a front view of the tensegrity structure of the present invention applicable to different pipe diameters (the driving structure is in a contracted state, and all connecting rods are in an extended state);

[0026] Figure 4 It is a side view of the tensegrity structure applicable to different pipe diameters of the present invention (the driving structure and each connecting pressure rod are in a contracted state);

[0027] Figure 5 It is a side view of the tensegrity structure applicable to different pipe diameters of the present invention (the driving structure is in a contracted state, and each connecting pressure rod is in an extended state);

[0028] Figure 6 This is an axonometric diagram of a tensegrity structure applicable to different pipe diameters of the present invention (the driving structure is in an extended state, and each connecting pressure rod is in a contracted state);

[0029] Figure 7 It is a side view of the tensegrity structure applicable to different pipe diameters of the present invention (the driving structure is in an extended state, and each connecting pressure rod is in a contracted state);

[0030] Figure 8 It is a side view of the robot of the present invention (the driving structure and each connecting pressure rod are in a retracted state);

[0031] Fig. 9 A schematic diagram of the robot motion process of the present invention;

[0032] Among them: 100-a tensile integral structure suitable for different pipe diameters, 200-a robot, 1-a first elastic element, 2-a second elastic element, 3-a third elastic element, 4-a fourth elastic element, 5-a fifth elastic element, 6-a sixth elastic element, 7-a seventh elastic element, 8-a eighth elastic element, 9-a ninth elastic element, 10-a tenth elastic element, 11-a first connecting pressure rod, 12-a second connecting pressure rod, 13-a third connecting pressure rod, 14-a fourth connecting pressure rod, 15-a fifth connecting pressure rod, 16-an eleventh elastic element, 17-a twelfth elastic element, 18-a thirteenth elastic element, 19-a fourteenth elastic element, 20-a fifteenth elastic element, 21-a driving structure. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide a tensegrity structure and a robot suitable for pipes of different diameters to solve the problems existing in the above-mentioned prior art. The tensegrity structure and the robot suitable for pipes of different diameters have good flexibility and adaptability and can realize axial stretching / radial contraction and axial contraction / radial stretching, and adapt to pipes of different sizes; the robot can realize crawling movement in the pipe.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Embodiment 1

[0037] like Figure 1-Figure 7 As shown: This embodiment provides a tensegrity structure 100 suitable for different pipe diameters, including a driving structure 21, a first elastic element 1, a second elastic element 2, a third elastic element 3, a fourth elastic element 4, a fifth elastic element 5, a sixth elastic element 6, a seventh elastic element 7, an eighth elastic element 8, a ninth elastic element 9, a tenth elastic element 10, an eleventh elastic element 16, a twelfth elastic element 17, a thirteenth elastic element 18, a fourteenth elastic element 19, a fifteenth elastic element 20, a first connecting pressure rod 11, a second connecting pressure rod 12, a third connecting pressure rod 13, a fourth connecting pressure rod 14 and a fifth connecting pressure rod 15;

[0038] One end of the first elastic element 1, one end of the second elastic element 2, one end of the third elastic element 3, one end of the fourth elastic element 4 and one end of the fifth elastic element 5 are respectively connected to one end of the driving structure 21;

[0039] One end of the sixth elastic element 6, one end of the seventh elastic element 7, one end of the eighth elastic element 8, one end of the ninth elastic element 9 and one end of the tenth elastic element 10 are respectively connected to the other end of the driving structure 21;

[0040] One end of the first connecting pressure rod 11 is connected to the other end of the first elastic element 1, and the other end of the first connecting pressure rod 11 is connected to the other end of the seventh elastic element 7; one end of the second connecting pressure rod 12 is connected to the other end of the second elastic element 2, and the other end of the second connecting pressure rod 12 is connected to the other end of the eighth elastic element 8; one end of the third connecting pressure rod 13 is connected to the other end of the third elastic element 3, and the other end of the third connecting pressure rod 13 is connected to the other end of the ninth elastic element 9; one end of the fourth connecting pressure rod 14 is connected to the other end of the fourth elastic element 4, and the other end of the fourth connecting pressure rod 14 is connected to the other end of the tenth elastic element 10; one end of the fifth connecting pressure rod 15 is connected to the other end of the fifth elastic element 5, and the other end of the fifth connecting pressure rod 15 is connected to the other end of the sixth elastic element 6;

[0041] The other end of the first connecting pressure rod 11 is connected to one end of the second connecting pressure rod 12 through the eleventh elastic element 16, the other end of the second connecting pressure rod 12 is connected to one end of the third connecting pressure rod 13 through the twelfth elastic element 17, the other end of the third connecting pressure rod 13 is connected to one end of the fourth connecting pressure rod 14 through the thirteenth elastic element 18, the other end of the fourth connecting pressure rod 14 is connected to one end of the fifth connecting pressure rod 15 through the fourteenth elastic element 19, and the other end of the fifth connecting pressure rod 15 is connected to one end of the first connecting pressure rod 11 through the fifteenth elastic element 20; the lengths of the first connecting pressure rod 11, the second connecting pressure rod 12, the third connecting pressure rod 13, the fourth connecting pressure rod 14 and the fifth connecting pressure rod 15 can all be actively adjusted.

[0042] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4 and the fifth elastic element 5 are evenly arranged along the circumference of the driving structure 21; the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 are evenly arranged along the circumference of the driving structure 21.

[0043] In this embodiment, the first elastic element 1, the sixth elastic element 6, the second elastic element 2, the seventh elastic element 7, the third elastic element 3, the eighth elastic element 8, the fourth elastic element 4, the ninth elastic element 9, the fifth elastic element 5 and the tenth elastic element 10 are arranged in sequence along the circumference of the driving structure 21.

[0044] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 have the same structure, that is, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 have the same length and elastic coefficient.

[0045] In this embodiment, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 have the same structure, that is, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 have the same length and elastic coefficient.

[0046] In this embodiment, the first connecting pressure rod 11, the second connecting pressure rod 12, the third connecting pressure rod 13, the fourth connecting pressure rod 14 and the fifth connecting pressure rod 15 are all electric push rods, cylinders or hydraulic cylinders.

[0047] In this embodiment, the driving structure 21 is a driving device in various forms such as an electric push rod, a cylinder or a hydraulic cylinder.

[0048] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9, the tenth elastic element 10, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 are all lightweight components such as tension springs or elastic ropes.

[0049] The tensile integral structure 100 of the present embodiment, which is suitable for different pipe diameters, has a light weight, a relatively simple structure, and a small number of component parts. It is directly connected by a certain number of connecting pressure rods (a first connecting pressure rod 11, a second connecting pressure rod 12, a third connecting pressure rod 13, a fourth connecting pressure rod 14, and a fifth connecting pressure rod 15) and tension springs (a first elastic element 1, a second elastic element 2, a third elastic element 3, a fourth elastic element 4, a fifth elastic element 5, a sixth elastic element 6, a seventh elastic element 7, an eighth elastic element 8, a ninth elastic element 9, a tenth elastic element 10, an eleventh elastic element 16, a twelfth elastic element 17, a thirteenth elastic element 18, a fourteenth elastic element 19, and a fifteenth elastic element 20), does not require a traditional motion transmission mechanism, and can reduce weight.

[0050] The tensile integral structure of this embodiment, which is suitable for different pipe diameters, can realize axial stretching / radial contraction and axial contraction / radial stretching of the overall external dimensions, and can adapt to different pipe diameters. Each stretching spring bears tension, each connecting pressure rod bears pressure, and the length of each connecting pressure rod and the driving structure 21 can be adjusted.

[0051] like Figure 3 and Figure 5 As shown, when the length of the driving structure 21 remains unchanged, adjusting the length of each connecting pressure rod can correspondingly change the cross-sectional size (diameter) of the tensile integral structure 100 suitable for different pipe diameters. When the length of each connecting pressure rod increases, the cross-sectional size of the tensile integral structure 100 suitable for different pipe diameters also increases (as shown in the above figure); when the length of each connecting pressure rod decreases, the cross-sectional size of the tensile integral structure 100 suitable for different pipe diameters also decreases.

[0052] The beneficial effects of this embodiment are as follows: 1. The tensile integral structure suitable for different pipe diameters is composed of connecting pressure rods and lightweight tension springs, while also retaining the bearing capacity of rigid compression components, so that the overall strength-to-quality ratio of the structure is high; 2. The tensile integral structure 100 suitable for different pipe diameters can distribute the external load to the entire network structure, which helps to improve the load capacity of the robot 200; 3. The tensile integral structure suitable for different pipe diameters occupies a small space, and the internal space can be used to carry sensors and other instruments and equipment; 4. The overall stiffness of the structure can be adjusted by adjusting the preload force of each tension spring; 5. The connecting pressure rods are connected by tension springs without direct rigid contact, and the flexibility is good.

[0053] Embodiment 2

[0054] like Figure 8As shown: This embodiment provides a robot 200, comprising at least three tensegrity structures 100 suitable for different pipe diameters of the first embodiment arranged in series, the driving structures 21 of adjacent tensegrity structures 100 suitable for different pipe diameters can be hinged by structures such as ball joints, and three rotational degrees of freedom are allowed between every two adjacent tensegrity structures 100 suitable for different pipe diameters.

[0055] like Fig. 9 As shown: the robot 200 in the figure is composed of three tensegrity structures 100 suitable for different pipe diameters connected in series, from right to left are the first tensegrity structure 100 suitable for different pipe diameters, the second tensegrity structure 100 suitable for different pipe diameters, and the third tensegrity structure 100 suitable for different pipe diameters, and the movement states are state one, state two, state three, state four, and state five from top to bottom. The whole movement process completes the displacement movement of the robot 200 as a whole from left to right. In state one, the three tensegrity structures 100 applicable to different pipe diameters are all in a contracted state, and the robot 200 maintains close contact with the inner wall of the pipe; in state two, the third tensegrity structure 100 applicable to different pipe diameters is in a contracted state, maintaining close contact with the inner wall of the pipe, and the first tensegrity structure 100 applicable to different pipe diameters and the second tensegrity structure 100 applicable to different pipe diameters become stretched states. At this time, the overall length of the robot 200 becomes longer relative to state one; in state three, the first tensegrity structure 100 applicable to different pipe diameters becomes a contracted state, maintaining close contact with the inner wall of the pipe, and the second tensegrity structure 100 applicable to different pipe diameters and the third tensegrity structure 100 applicable to different pipe diameters remain unchanged, which are respectively in a stretched state and a contracted state. At this time, the robot 200 is The overall length of the robot 200 is shorter than that in state 2, but still longer than that in state 1; in state 4, the second tensegrity structure 100 applicable to different pipe diameters changes to a contracted state, the third tensegrity structure 100 applicable to different pipe diameters changes to a stretched state, and the first tensegrity structure 100 applicable to different pipe diameters remains unchanged and is still in a contracted state. At this time, the overall length of the robot 200 is the same as that in state 3; in state 5, the first tensegrity structure 100 applicable to different pipe diameters and the second tensegrity structure 100 applicable to different pipe diameters remain unchanged and are still in a contracted state, maintaining close contact with the inner wall of the pipe, and the third tensegrity structure 100 applicable to different pipe diameters changes to a contracted state. At this time, the overall position of the robot 200 moves to the right by a distance relative to state 1, realizing rightward movement. State 1, state 2, state 3, state 4, and state 5 are performed in a cycle to realize continuous forward movement of the robot 200.

[0056] Since the robot 200 has three rotational degrees of freedom (rotation around three orthogonal axes in space, i.e., pitch, roll, and yaw) between adjacent tensegrity structures 100 suitable for different pipe diameters, rotation is allowed between two adjacent tensegrity structures 100 suitable for different pipe diameters. In addition to crawling in straight pipes, the robot 200 can also turn in curved pipes within a certain range.

[0057] The advantages of the robot 200 of this embodiment are as follows: good reliability and fault tolerance; it is composed of a plurality of tensegrity structures suitable for pipes of different diameters connected in series; if one of the tensegrity structures suitable for pipes of different diameters is damaged, it can still work normally by relying on other tensegrity structures suitable for pipes of different diameters; it can crawl in pipes of different diameters within a certain range; it can crawl in both circular and square pipes.

[0058] In view of the problems existing in the existing in-pipe crawling robot 200, this embodiment designs an in-pipe crawling robot 200 based on a tensegrity structure 100 suitable for pipes of different diameters. The in-pipe crawling robot 200 has the advantages of light weight, good flexibility, high load capacity, and adaptability to pipes of different diameters, and has broad application prospects in the fields of robots 200 and the like.

[0059] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A robot, characterized in that: It includes at least three tensegrity structures suitable for different pipe diameters; The tensegrity structure applicable to different pipe diameters comprises a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod and a fifth connecting pressure rod; One end of the first elastic element, one end of the second elastic element, one end of the third elastic element, one end of the fourth elastic element and one end of the fifth elastic element are respectively connected to one end of the driving structure; One end of the sixth elastic element, one end of the seventh elastic element, one end of the eighth elastic element, one end of the ninth elastic element and one end of the tenth elastic element are respectively connected to the other end of the driving structure; One end of the first connecting rod is connected to the other end of the first elastic element, and the other end of the first connecting rod is connected to the other end of the seventh elastic element; One end of the second connecting rod is connected to the other end of the second elastic element, and the other end of the second connecting rod is connected to the other end of the eighth elastic element; One end of the third connecting rod is connected to the other end of the third elastic element, and the other end of the third connecting rod is connected to the other end of the ninth elastic element; one end of the fourth connecting rod is connected to the other end of the fourth elastic element, and the other end of the fourth connecting rod is connected to the other end of the tenth elastic element; One end of the fifth connecting rod is connected to the other end of the fifth elastic element, and the other end of the fifth connecting rod is connected to the other end of the sixth elastic element; The other end of the first connecting pressure rod is connected to one end of the second connecting pressure rod through the eleventh elastic element, the other end of the second connecting pressure rod is connected to one end of the third connecting pressure rod through the twelfth elastic element, the other end of the third connecting pressure rod is connected to one end of the fourth connecting pressure rod through the thirteenth elastic element, the other end of the fourth connecting pressure rod is connected to one end of the fifth connecting pressure rod through the fourteenth elastic element, and the other end of the fifth connecting pressure rod is connected to one end of the first connecting pressure rod through the fifteenth elastic element; The lengths of the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod can all be actively adjusted; The adjacent driving structures of the tensegrity structures suitable for different pipe diameters are hinged.

2. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element and the fifth elastic element are evenly arranged along the circumference of the driving structure; The sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element are evenly arranged along the circumference of the driving structure.

3. The robot according to claim 1, characterized in that: The first elastic element, the sixth elastic element, the second elastic element, the seventh elastic element, the third elastic element, the eighth elastic element, the fourth elastic element, the ninth elastic element, the fifth elastic element and the tenth elastic element structure are arranged in sequence along the circumference of the driving structure.

4. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element have the same structure.

5. The robot according to claim 1, characterized in that: The eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element have the same structure.

6. The robot according to claim 1, characterized in that: The first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all electric push rods, air cylinders or hydraulic cylinders.

7. The robot according to claim 1, characterized in that: The driving structure is an electric push rod, a cylinder or a hydraulic cylinder.

8. The robot according to claim 1, characterized in that: The first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all made of plastic.

9. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element, the tenth elastic element, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element are all springs or elastic ropes.

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