A robot based on tensegrity structure, a composite robot and a working method

Abstract

The application provides a kind of based on tensegrity structure robot, composite robot and working method, it is related to robot technical field, including: robot body and two tensegrity wheels;Robot body inside two sides are respectively provided with one drive motor;Tensegrity wheel is tensegrity structure, the center position of tensegrity structure is provided with the drive pressure rod of variable length;Two tensegrity wheels are respectively arranged at the two sides of robot body, and are connected with drive motor by drive pressure rod;Drive motor is used to drive tensegrity wheel to rotate with drive pressure rod as the shaft, realizes the horizontal motion of robot;Drive pressure rod is used to change the shape of tensegrity wheel, changes the width and / or ground clearance of the robot.The application uses tensegrity wheel as the wheel of robot, can realize the deformation of robot, satisfies the motion requirement under complex environment, only one drive pressure rod in tensegrity wheel, easy to control.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot, a composite robot, and a working method based on a tensioned integral structure. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Commonly used inspection and rescue robots have limited capabilities in complex environments, making it difficult to meet the demands of disaster relief, terrain exploration, and other complex and ever-changing environments and diverse operational tasks. Tensioned integral structures, with their high adaptability, adjustable stiffness, and balanced force distribution, have already been applied in robotics in several cases.

[0004] Chinese invention patent CN116374033A discloses a crawling-jumping integrated tensioning robot and its working method. Under gravity, the robot forms a triangular surface in contact with the ground. By adjusting the length of one or more pressure rods, the center of gravity changes, causing the robot to roll and reach a new stable state. However, this robot requires multiple pressure rod actuators, resulting in low driving efficiency, complex structure, cumbersome operation, and susceptibility to terrain limitations, slow speed, and unstable rolling process. Due to its unconventional structure and highly coupled dynamics, efficient motion control is difficult to achieve. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a robot, a composite robot, and a working method based on a tensioned integral structure. Using a tensioned integral wheel as the robot's wheel enables the robot to deform and meet the motion requirements in complex environments. The tensioned integral wheel is driven by a motor, resulting in high driving efficiency. The tensioned integral wheel has only one driving pressure rod, making it easy to control.

[0006] To achieve the above objectives, according to some embodiments, a first aspect of the present invention provides a robot based on a tensioned integral structure, comprising: a robot body and two tensioned integral wheels; a drive motor is respectively disposed on both sides inside the robot body; the tensioned integral wheel is a tensioned integral structure, and a drive pressure rod of variable length is disposed at the center of the tensioned integral structure; the two tensioned integral wheels are respectively disposed on both sides of the robot body and connected to the drive motors through the drive pressure rods; the drive motors are used to drive the tensioned integral wheels to rotate about the drive pressure rods as axes to realize the horizontal movement of the robot; the drive pressure rods are used to change the width and / or ground clearance of the robot by changing the shape of the tensioned integral wheels.

[0007] A second aspect of the present invention, based on the robot based on a tensioned integral structure provided in the first aspect, provides a method for operating the robot based on a tensioned integral structure, comprising:

[0008] The robot's horizontal movement is achieved by driving the tensioning wheel to roll using a drive motor;

[0009] When it is necessary to cross an obstacle or pass through a narrow gap, the drive rods of both tension integral wheels retract, the axial contraction and radial extension of the tension integral wheels increase the robot's ground clearance and reduce its width, thereby allowing it to cross the obstacle or pass through the narrow gap.

[0010] When it is necessary to cross a ditch or pass through a low passage, the drive rods of the two tensioning integral wheels extend, the axial extension of the tensioning integral wheels and the radial contraction reduce the robot's ground clearance and increase its width, thereby allowing it to cross the ditch or pass through the low passage.

[0011] A third aspect of the present invention provides a composite robot based on a tensioned integral structure, comprising: a composite robot body and two tensioned integral wheels; a drive motor is respectively provided on both sides inside the composite robot body; the tensioned integral wheel is a tensioned integral structure, and a drive pressure rod of variable length is provided at the center of the tensioned integral structure; the two tensioned integral wheels are respectively provided on both sides of the composite robot body and are connected to the drive motors through the drive pressure rods; push rods are provided at the upper and lower parts of the composite robot body for controlling the extension or contraction of the composite robot body along the axial direction of the tensioned integral wheel.

[0012] A fourth aspect of the present invention, based on the composite robot based on a tensioned integral structure provided in the third aspect, provides a method for operating the composite robot based on a tensioned integral structure, comprising:

[0013] The composite robot moves back and forth by driving the tensioning integral wheel to roll through the drive motor;

[0014] The composite robot can crawl inside the pipe by using a tensioning integral wheel in conjunction with a push rod;

[0015] When it is necessary to cross obstacles or pass through narrow gaps, the drive rods of both tension integral wheels retract, the tension integral wheels axially contract and radially extend, the ground clearance of the composite robot increases and the width decreases, thereby crossing obstacles or passing through narrow gaps;

[0016] When it is necessary to cross a ditch or pass through a low passage, the drive rods of both tensioning integral wheels extend, the axial extension of the tensioning integral wheels and the radial contraction reduce the ground clearance of the composite robot and increase its width, thereby allowing it to cross the ditch or pass through the low passage.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] This invention provides a robot, a composite robot, and a working method based on a tensioned integral structure. Two tensioned integral structures are introduced as the robot's wheels, which are driven by a motor to roll at high speed and with high driving efficiency. Each tensioned integral wheel contains only one driving pressure rod, resulting in a simple structure that is easy to control. The deformability of the tensioned integral wheels allows the robot to increase its height and decrease its width, or vice versa, to traverse complex and uneven terrain such as ditches and narrow gaps. The tensioned integral structure wheels give the robot good balance, adaptability, and force distribution, not only reducing the robot's weight but also improving its impact resistance.

[0019] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 This is an isometric side view of the tensioning integral wheel;

[0022] Figure 2 This is a front view of the tensioning integral wheel;

[0023] Figure 3 This is a side view of the tensioning integral wheel;

[0024] Figure 4 This is a side view of the tensioning integral wheel when the drive bar is extended;

[0025] Figure 5 This is a schematic diagram of the robot body in Example 1;

[0026] Figure 6 This is a schematic diagram of the robot structure in Example 1;

[0027] Figure 7 This is a schematic diagram of the structure of the composite robot body in Example 3;

[0028] Figure 8 This is a schematic diagram of the composite robot body in the extended state in Example 3;

[0029] Figure 9 This is a schematic diagram of the composite robot in Example 3;

[0030] Figure 10 This is a schematic diagram of the composite robot in crawling state in Example 3.

[0031] Among them, 1. Tensioning integral wheel; 1-1. First elastic element; 1-2. Second elastic element; 1-3. Third elastic element; 1-4. Fourth elastic element; 1-5. Fifth elastic element; 1-6. Sixth elastic element; 1-7. Seventh elastic element; 1-8. Eighth elastic element; 1-9. Ninth elastic element; 1-10. Tenth elastic element; 1-11. Eleventh elastic element; 1-12. Twelfth elastic element; 1-13. Thirteenth elastic element; 1-14. Fourteenth elastic element; 1-15. Fifteenth elastic element; 1-16. First connecting pressure rod; 1-17. Second connecting pressure rod; 1-18. Third connecting pressure rod; 1-19. Fourth connecting pressure rod; 1-20. Fifth connecting pressure rod; 1-21. Drive pressure rod; 2. Robot body; 3. Composite robot body; 31. First outer shell; 32. Second outer shell; 301. Push rod. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] Example 1

[0034] like Figure 6 As shown in Embodiment 1 of the present invention, a robot based on a tensioned integral structure is provided, comprising: a robot body 2 and two tensioned integral wheels 1; a drive motor is respectively arranged on both sides inside the robot body 2; the tensioned integral wheel is a tensioned integral structure, and a drive pressure rod of variable length is arranged at the center of the tensioned integral structure; the two tensioned integral wheels are respectively arranged on both sides of the robot body and are connected to the drive motors through the drive pressure rods; the drive motors are used to drive the tensioned integral wheels to rotate around the drive pressure rods as axes to realize the horizontal movement of the robot; the drive pressure rods are used to change the width and / or ground clearance of the robot by changing the shape of the tensioned integral wheels.

[0035] The tensioned integral structure in this embodiment is as follows: Figures 1-4 As shown, it consists of 15 elastic elements, 5 connecting pressure rods and 1 driving pressure rod. The elastic elements can be lightweight components such as tension springs and elastic ropes, and the elastic elements are available in two specifications. The length of the connecting pressure rod is fixed, while the length of the driving pressure rod is variable, and it is located at the center of the tensioned overall structure.

[0036] Specifically, the tensioning structure includes a first elastic element 1-1, a second elastic element 1-2, a third elastic element 1-3, a fourth elastic element 1-4, a fifth elastic element 1-5, a sixth elastic element 1-6, a seventh elastic element 1-7, an eighth elastic element 1-8, a ninth elastic element 1-9, a tenth elastic element 1-10, an eleventh elastic element 1-11, a twelfth elastic element 1-12, a thirteenth elastic element 1-13, a fourteenth elastic element 1-14, a fifteenth elastic element 1-15, a first connecting pressure rod 1-16, a second connecting pressure rod 1-17, a third connecting pressure rod 1-18, a fourth connecting pressure rod 1-19, a fifth connecting pressure rod 1-20, and a driving pressure rod 1-21.

[0037] The first ends of the first elastic element 1-1, the second elastic element 1-2, the third elastic element 1-3, the fourth elastic element 1-4, and the fifth elastic element 1-5 are connected to the first end of the driving pressure rod 1-21; the first ends of the sixth elastic element 1-6, the seventh elastic element 1-7, the eighth elastic element 1-8, the ninth elastic element 1-9, and the tenth elastic element 1-10 are connected to the second end of the driving pressure rod 1-21.

[0038] The first end of the first connecting rod 1-16 is connected to the second end of the first elastic element 1-1, and the second end of the first connecting rod 1-16 is connected to the second end of the seventh elastic element 1-7; the first end of the second connecting rod 1-17 is connected to the second end of the second elastic element 1-2, and the second end of the second connecting rod 1-17 is connected to the second end of the eighth elastic element 1-8; the first end of the third connecting rod 1-18 is connected to the second end of the third elastic element 1-3, and the second end of the third connecting rod 1-18 is connected to the second end of the ninth elastic element 1-9; the first end of the fourth connecting rod 1-19 is connected to the second end of the fourth elastic element 1-4, and the second end of the fourth connecting rod 1-19 is connected to the second end of the tenth elastic element 1-10; the first end of the fifth connecting rod 1-20 is connected to the second end of the fifth elastic element 1-5, and the second end of the fifth connecting rod 1-20 is connected to the second end of the sixth elastic element 1-6.

[0039] The first end of the first connecting rod 1-16 is connected to the second end of the second connecting rod 1-17 via the eleventh elastic element 1-11. The first end of the second connecting rod 1-17 is connected to the second end of the third connecting rod 1-18 via the twelfth elastic element 1-12. The first end of the third connecting rod 1-18 is connected to the second end of the fourth connecting rod 1-19 via the thirteenth elastic element 1-13. The first end of the fourth connecting rod 1-19 is connected to the second end of the fifth connecting rod 1-20 via the fourteenth elastic element 1-14. The first end of the fifth connecting rod 1-20 is connected to the second end of the first connecting rod 1-16 via the fifteenth elastic element 1-15.

[0040] The first, second, third, fourth, and fifth elastic elements are uniformly distributed along the axial direction of the driving rod, while the sixth, seventh, eighth, ninth, and tenth elastic elements are uniformly distributed along the axial direction of the driving rod.

[0041] All elastic elements bear tensile force, connecting rods bear compressive force, and the length of the driving rod is adjustable. Electric push rods, cylinders, hydraulic cylinders, or other types of drive structures can be selected according to actual needs.

[0042] The first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, and tenth elastic elements are of the first specification, with the same length and elastic coefficient; the eleventh, twelfth, thirteenth, fourteenth, and fifteenth elastic elements are of the second specification, with the same length and elastic coefficient.

[0043] Figure 3 and Figure 4 The diagrams show the state of the tensioning drive wheel during the contraction and extension of the driving bar, respectively. When the driving bar extends, the state of the tensioning drive wheel changes, extending axially and contracting radially; when the driving bar contracts, the tensioning drive wheel contracts axially and expands radially.

[0044] Figure 5 This is a schematic diagram of the robot body. The robot body includes a robot body shell. Inside the robot body shell, there are two drive motors on both sides. The two drive motors are connected to the drive rods of the two tension wheels. By driving the tension wheels to roll through the two drive motors, the robot can move efficiently.

[0045] Figure 6 This is a schematic diagram of the robot's overall structure. Considering the internal space and weight distribution, the two drive motors are symmetrically distributed along the robot's central axis. Sufficient space is reserved within the robot body to accommodate various sensors, such as cameras, GPS, or inertial measurement units, to perform positioning and sensing, enabling semi-automatic or fully automatic operation based on manual control.

[0046] The tensioning integral wheel adopts a tensioning integral structure, which is lightweight and easy to manufacture. It has only one active deformation component, the drive pressure rod, which drives the deformation of the tensioning integral wheel, thereby adjusting the robot's deformation. This allows the robot's size to be changed in different environments according to actual needs. The structure is simple and easy to control. Furthermore, the tensioning integral wheel can also serve as a shock absorption system, allowing the robot to maintain stability under conditions of large drops and high-speed impacts.

[0047] When facing complex road sections, the robot can change the shape of the tensioning wheels by controlling the extension and retraction of the drive levers, thereby changing the robot's width and / or ground clearance to overcome obstacles, ditches, and pass through narrow gaps or low passages. At the same time, when facing slopes or irregular terrain, the robot can adjust the length of the drive levers of the two tensioning wheels in real time based on the terrain recognition or the robot's own state perception through sensors (such as inertial measurement units) to maintain the robot's overall balance.

[0048] Example 2

[0049] This embodiment, based on the robot based on a tensioned integral structure provided in Embodiment 1, further provides a working method for the robot based on a tensioned integral structure, including:

[0050] The robot moves back and forth by driving the tensioning wheel to roll using a drive motor;

[0051] When it is necessary to cross obstacles or pass through narrow gaps, the drive lever retracts, the tension wheel contracts axially and extends radially, the robot's ground clearance increases and its width decreases, thus enabling it to cross obstacles or pass through narrow gaps.

[0052] When it is necessary to cross a ditch or pass through a low passage, the drive lever extends, the tension wheel extends axially and contracts radially, the robot's ground clearance decreases and its width increases, thus allowing it to cross the ditch or pass through the low passage.

[0053] When the robot moves on a horizontal or near-horizontal surface, the drive rods of the two tensioned integral wheels are synchronously controlled, meaning they extend or retract synchronously, to ensure the robot's stability. Furthermore, in some other embodiments, the extension and retraction states of the drive rods of the two tensioned integral wheels can be controlled independently to achieve more movement modes or adapt to various complex terrains. In this case, sensors need to be installed on the robot body accordingly. Based on the robot's status feedback from the sensors, the extension and retraction states of the drive rods of the two tensioned integral wheels are independently controlled to maintain the robot's smooth operation.

[0054] For example, when the robot moves on an inclined surface, the inertial measurement unit can sense the robot's current pose and then retract the drive rod of the tension wheel on the lower side to raise the tension wheel on that side, thereby adjusting the robot to a horizontal state.

[0055] When the robot needs to traverse complex terrain, it can use a camera mounted on the robot body to identify the terrain ahead, and at the same time, use an inertial measurement unit to sense the robot's own posture. During the robot's movement, the extension and retraction of the two drive levers can be adjusted in real time to maintain the robot's stable operation.

[0056] Example 3

[0057] like Figure 7-9 As shown, this embodiment provides a composite robot based on a tensioned integral structure, including: a composite robot body 3 and two tensioned integral wheels 1; a drive motor is respectively provided on both sides inside the composite robot body; the tensioned integral wheel is a tensioned integral structure, and a drive pressure rod of variable length is provided at the center of the tensioned integral structure; the two tensioned integral wheels are respectively provided on both sides of the composite robot body and are connected to the drive motor through the drive pressure rod; push rods 301 are provided at the upper and lower parts of the composite robot body for controlling the extension or contraction of the composite robot body along the axis of the tensioned integral wheel.

[0058] The structure of the tensioning integral wheel in this embodiment is the same as that in Embodiment 1, and will not be described again here.

[0059] The difference between this embodiment and Embodiment 1 is that the composite robot body 3 is a split structure, which can extend or retract along the axis of the tensioning integral wheel, such as... Figure 7-8 As shown, the composite robot body 3 includes a composite robot body shell, which comprises a first shell 31 and a second shell 32. The first and second shells have identical structures and are connected by push rods 301 located at the upper and lower parts of the composite robot body shell. By controlling the extension and retraction of the push rods, the extension and retraction of the composite robot body along the axis of the tensioning integral wheel can be controlled. At this time, the composite robot, in addition to having the ability to move forward and backward, also has the ability to crawl laterally. Figure 9 As shown, a drive motor is symmetrically arranged inside the first and second outer shells of the composite robot body, and the two drive motors are symmetrically distributed on the central axis of the composite robot. They can be connected to the tensioning integral wheel through a coupling or other connecting structure, so that the composite robot has the combined motion function of forward and backward movement and lateral crawling. In addition to having all the motion characteristics of the robot in Embodiment 1 and being adaptable to various complex terrains, the composite robot can also be used as a pipeline robot to achieve lateral crawling in pipelines.

[0060] like Figure 10 The diagram shown illustrates the composite robot in crawling mode. The robot's motion in crawling mode can be divided into five states. Figure 10From top to bottom, the states are: State 1, State 2, State 3, State 4, and State 5. The entire motion process completes the robot's overall displacement motion from left to right. In state one, both tensioning wheels and the composite robot body are in a retracted state, and the composite robot maintains close contact with the inner wall of the pipe. In state two, the left tensioning wheel is in a retracted state, maintaining close contact with the inner wall of the pipe, while the composite robot body and the right tensioning wheel are in an extended state. At this time, the overall length of the composite robot is longer than in state one. In state three, the right tensioning wheel is in a retracted state, maintaining close contact with the inner wall of the pipe, while the composite robot body and the left tensioning wheel remain unchanged, in extended and retracted states respectively. At this time, the overall length of the composite robot is shorter than in state two, but still longer than in state one. In state four, the composite robot body is in a retracted state, the left tensioning wheel is in an extended state, and the right tensioning wheel remains unchanged, still in a retracted state. At this time, the overall length of the composite robot is the same as in state three. In state five, the right tensioning wheel and the composite robot body remain unchanged, still in a retracted state, maintaining close contact with the inner wall of the pipe, while the left tensioning wheel is in a retracted state. At this time, the overall position of the composite robot has shifted a distance to the right relative to state one, achieving rightward movement. The process of state one, state two, state three, state four, and state five is repeated in a cycle to achieve continuous crawling motion of the robot.

[0061] Example 4

[0062] This embodiment, based on the composite robot based on a tensioned integral structure provided in Embodiment 3, further provides a working method for the composite robot based on a tensioned integral structure, including:

[0063] The composite robot moves back and forth by driving the tensioning integral wheel to roll through the drive motor;

[0064] The composite robot can crawl inside the pipe by using a tensioning integral wheel in conjunction with a push rod;

[0065] When it is necessary to cross obstacles or pass through narrow gaps, the drive bar retracts, the tension wheel contracts axially and extends radially, the ground clearance of the composite robot increases and its width decreases, thus enabling it to cross obstacles or pass through narrow gaps.

[0066] When it is necessary to cross a ditch or pass through a low passage, the drive rod extends, the tensioning wheel extends axially and contracts radially, the ground clearance of the composite robot decreases and its width increases, thus allowing it to cross the ditch or pass through the low passage.

[0067] Referring to Embodiment 3, in this embodiment, the composite robot crawls inside the pipe by using a tensioning integral wheel in conjunction with a push rod, specifically including:

[0068] State 1: Both tensioning integral wheels and the composite robot body are in a retracted state, and the composite robot maintains close contact with the inner wall of the pipe;

[0069] State 2: The tensioning wheel on the first side remains in a contracted state, maintaining close contact with the inner wall of the pipe, while the composite robot body and the tensioning wheel on the second side are in a stretched state.

[0070] In state three, the tensioning wheel on the second side becomes retracted and maintains close contact with the inner wall of the pipe. The composite robot body and the tensioning wheel on the first side remain unchanged, in the stretched state and the retracted state, respectively. At this time, the overall length of the composite robot is shorter than that in state two, but still longer than that in state one.

[0071] State 4: The composite robot body is in a retracted state, the tension wheel on the first side is in an extended state, and the tension wheel on the second side remains unchanged and is still in a retracted state. At this time, the overall length of the composite robot is the same as in State 3.

[0072] In state five, the tensioning wheel on the second side and the composite robot body remain unchanged and are still in a contracted state, maintaining close contact with the inner wall of the pipe. The tensioning wheel on the first side becomes contracted. At this time, the overall position of the composite robot relative to state one has moved towards the second side.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A composite robot based on a tensioned integral structure, characterized in that, include: The composite robot body and two tensioning integral wheels; The composite robot body has a drive motor on each of its two sides; the tensioning integral wheel is a tensioning integral structure, and a drive pressure rod of variable length is set at the center of the tensioning integral structure; the two tensioning integral wheels are respectively set on both sides of the composite robot body and connected to the drive motor through the drive pressure rod; push rods are set at the upper and lower parts of the composite robot body to control the extension or contraction of the composite robot body along the axis of the tensioning integral wheel. The drive motor is used to drive the tensioning integral wheel to rotate around the drive pressure rod as an axis, thereby realizing the horizontal movement of the robot; the drive pressure rod is used to change the shape of the tensioning integral wheel to change the width and / or ground clearance of the robot, and through the tensioning integral wheel and push rod, to realize the composite robot crawling in the pipeline; The tensioning integral wheel is a tensioning integral structure, consisting of an elastic element, a connecting pressure bar, and a drive pressure bar of variable length; wherein: The driving pressure rod is located at the center of the tensioned integral structure; The elastic element includes the first to the fifteenth elastic elements, and the connecting rod includes the first to the fifth connecting rod; The first ends of the first to fifth elastic elements are connected to the first end of the driving rod; the first ends of the sixth to tenth elastic elements are connected to the second end of the driving rod. The first end of the first connecting rod is connected to the second end of the first elastic element, and the second end of the first connecting rod is connected to the second end of the seventh elastic element; the first end of the second connecting rod is connected to the second end of the second elastic element, and the second end of the second connecting rod is connected to the second end of the eighth elastic element; the first end of the third connecting rod is connected to the second end of the third elastic element, and the second end of the third connecting rod is connected to the second end of the ninth elastic element; the first end of the fourth connecting rod is connected to the second end of the fourth elastic element, and the second end of the fourth connecting rod is connected to the second end of the tenth elastic element; the first end of the fifth connecting rod is connected to the second end of the fifth elastic element, and the second end of the fifth connecting rod is connected to the second end of the sixth elastic element. The first end of the first connecting rod is connected to the second end of the second connecting rod through the eleventh elastic element; the first end of the second connecting rod is connected to the second end of the third connecting rod through the twelfth elastic element; the first end of the third connecting rod is connected to the second end of the fourth connecting rod through the thirteenth elastic element; the first end of the fourth connecting rod is connected to the second end of the fifth connecting rod through the fourteenth elastic element; and the first end of the fifth connecting rod is connected to the second end of the first connecting rod through the fifteenth elastic element. The first, second, third, fourth, and fifth elastic elements are uniformly distributed along the axial direction of the driving rod, while the sixth, seventh, eighth, ninth, and tenth elastic elements are uniformly distributed along the axial direction of the driving rod.

2. The composite robot based on a tensioned integral structure as described in claim 1, characterized in that, The composite robot body includes a composite robot body shell, which includes a first shell and a second shell. The first shell and the second shell have the same structure and are connected by push rods located at the upper and lower parts of the composite robot body shell.

3. A composite robot based on a tensioned integral structure as described in claim 2, characterized in that, A drive motor is installed inside the first outer shell and the second outer shell respectively. The two drive motors are symmetrically distributed on the central axis of the composite robot. The drive motors are connected to the tensioning integral wheel through a coupling.

4. A working method for a composite robot based on a tensioned integral structure, characterized in that, A composite robot based on a tensioned integral structure according to any one of claims 1-3 includes: The composite robot moves back and forth by driving the tensioning integral wheel to roll through the drive motor; The composite robot can crawl inside the pipe by using a tensioning integral wheel in conjunction with a push rod; When it is necessary to cross obstacles or pass through narrow gaps, the drive rods of both tension integral wheels retract, the tension integral wheels axially contract and radially extend, the ground clearance of the composite robot increases and the width decreases, thereby crossing obstacles or passing through narrow gaps; When it is necessary to cross a ditch or pass through a low passage, the drive rods of both tensioning integral wheels extend, the axial extension of the tensioning integral wheels and the radial contraction reduce the ground clearance of the composite robot and increase its width, thereby allowing it to cross the ditch or pass through the low passage.

5. The working method of a composite robot based on a tensioned integral structure as described in claim 4, characterized in that, The process of using a tensioning integral wheel in conjunction with a push rod to enable the composite robot to crawl within the pipeline includes: State 1: Both tensioning integral wheels and the composite robot body are in a retracted state, and the composite robot maintains close contact with the inner wall of the pipe; State 2: The tensioning wheel on the first side remains in a contracted state, maintaining close contact with the inner wall of the pipe, while the composite robot body and the tensioning wheel on the second side are in a stretched state. In state three, the tensioning wheel on the second side becomes retracted and maintains close contact with the inner wall of the pipe. The composite robot body and the tensioning wheel on the first side remain unchanged, in the stretched state and the retracted state, respectively. At this time, the overall length of the composite robot is shorter than that in state two, but still longer than that in state one. State 4: The composite robot body is in a retracted state, the tension wheel on the first side is in an extended state, and the tension wheel on the second side remains unchanged and is still in a retracted state. At this time, the overall length of the composite robot is the same as in State 3. In state five, the tensioning wheel on the second side and the composite robot body remain unchanged and are still in a contracted state, maintaining close contact with the inner wall of the pipe. The tensioning wheel on the first side becomes contracted. At this time, the overall position of the composite robot relative to state one has moved towards the second side.

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