In-pipeline crawling robot with elastic plates and ropes in tension balance
By using a structure that balances elastic plates and rope tension, the problem of inflexible movement and poor stability of existing crawling robots in narrow pipes is solved, achieving stable crawling and safety in narrow pipes and adapting to various pipe environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI JIAOTONG UNIV
- Filing Date
- 2026-04-03
- Publication Date
- 2026-05-12
AI Technical Summary
Existing crawling robots are ill-suited to narrow, confined spaces, have complex structures, poor stability, and are prone to damaging pipes.
The robot employs a structure that balances elastic plates and rope tension. By deforming the elastic plates and actively controlling the ropes, it achieves both mobility and safety. It utilizes a five-degree-of-freedom drive system to adapt to pipes of different diameters and with varying degrees of curvature.
It enables stable crawling within narrow pipes, reduces mechanical complexity, avoids damage to pipe walls, and adapts to various pipe environments.
Smart Images
Figure CN122014957A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and more particularly to a pipe-crawling robot with a balance between elastic plates and rope tension. Background Technology
[0002] In engineering applications, due to long-term use and wear, some components inside pipelines require regular wear inspection. However, some components are located in narrow pipelines, making manual internal inspection difficult. Using robot-assisted methods can greatly improve inspection efficiency. However, common crawling robots are ill-suited to such environments and therefore cannot perform crawling movements.
[0003] Existing pipe-crawling robots with integral tensioned structures are lightweight, low-cost, and simple to manufacture. However, their cross-sectional areas are generally too large, making them unsuitable for narrow, confined spaces. Furthermore, the large number of parts and complex connections contribute to poor stability and reliability. In addition, existing crawling robots cannot control contact forces, easily damaging the pipes.
[0004] Therefore, those skilled in the art are dedicated to providing a pipe-crawling robot with a balance between elastic plates and rope tension, achieving a simple structure, strong mobility, and high safety. Summary of the Invention
[0005] In view of the deficiencies in the existing technology, the technical problem to be solved by the present invention is how to provide a crawling robot that is simple in structure, flexible in movement, and highly safe.
[0006] To achieve the above objectives, the present invention provides a pipe-crawling robot with balanced elastic plate and rope tension, comprising: The upper fuselage component has a first end and a second end that are opposite each other; At least two first elastic members are distributed along the circumference of the upper fuselage member, with their first ends connected to the first end of the upper fuselage member and their second ends distributed along the circumference of the upper fuselage member and away from the upper fuselage member, and are capable of deforming individually or simultaneously along the length direction. The lower fuselage component has a first end and a second end; At least two second elastic members are distributed circumferentially along the lower fuselage member, with their first ends connected to the first end of the lower fuselage member and their second ends distributed circumferentially and away from the lower fuselage member, and capable of synchronously deforming along the length direction. The second end of the upper mechanism component is connected to the first end of the lower fuselage component.
[0007] Furthermore, the first elastic element and the second elastic element are rectangular elastic plates, which are capable of elastic bending along their length.
[0008] Preferably, there are three first elastic elements, which are evenly distributed along the circumference of the upper fuselage component; there are three second elastic elements, which are evenly distributed along the circumference of the lower fuselage component; the three first elastic elements and the three second elastic elements are arranged opposite to each other.
[0009] Furthermore, it also includes three sets of first rope devices. Each set of first rope devices includes a first drive mechanism, a first winding wheel, and a first rope. The first drive mechanism and the first winding wheel are located on the lower body component. Each of the three second elastic elements is provided with a wire-passing hole. One end of the first rope is connected to the first drive mechanism. The first rope passes through the first winding wheel and the wire-passing hole of one of the second elastic elements and is connected to the first elastic element opposite to the winding hole.
[0010] Furthermore, it also includes a second rope device, which includes a second drive mechanism, a second winding reel, and three second ropes. The second drive mechanism and the second winding reel are disposed on the upper body component. One end of each of the three second ropes is connected to the second drive mechanism, and each of the three second ropes passes around the second winding reel. The other end of each of the three second ropes is connected to one of the first elastic elements.
[0011] Preferably, each group of second ropes is connected to a first spring between itself and the first elastic element.
[0012] Furthermore, it also includes a third rope device, which includes a third drive mechanism, a third winding reel, and three third ropes. The third drive mechanism and the third winding reel are located on the lower body component. One end of each of the three third ropes is connected to the third drive mechanism, and each of the three third ropes passes around the third winding reel. The other end of each of the three third ropes is connected to one of the second elastic elements.
[0013] Preferably, each of the third ropes in each group is connected to a second spring between itself and the second elastic element.
[0014] Furthermore, the first rope, the second rope, and the third rope remain under tension.
[0015] Preferably, a third spring is connected between the second end of the first elastic element and the first end of the upper fuselage component.
[0016] The present invention has at least the following beneficial technical effects: This invention relates to a pipe-crawling robot with elastic plates and rope tension balance. By replacing rigid rods with elastic plates, it reduces mechanical complexity and failure rate, making it particularly suitable for confined pipe spaces. The large deformation characteristics of the elastic plates, combined with active rope control, allow it to be used in pipes of varying diameters and autonomously adjust its posture in curved pipes. Contact force control is achieved through spring-rope coupling, preventing damage to the pipe wall. The five-degree-of-freedom drive system of this invention supports complex gaits such as creeping, contraction, and turning, making it suitable for various pipe environments, including vertical, horizontal, and curved pipes.
[0017] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description
[0018] Figure 1 A schematic diagram of a pipe-crawling robot with elastic plate and rope tension balance according to an embodiment of the invention; Figure 2 This is a front view of a pipe-crawling robot with elastic plate and rope tension balance according to an embodiment of the present invention. Figure 3 This is a side view of a pipe-crawling robot with elastic plate and rope tension balance according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the rope device of the upper fuselage component according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the bottom rope extending from the upper fuselage component according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the rope device for the lower fuselage component according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the bottom rope outlet of the lower fuselage component according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the crawling gait in a narrow pipe according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the crawling gait in a curved pipe according to an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the adaptation of the present invention within pipes of different diameters.
[0019] Wherein, 1-first elastic element, 2-third spring, 3-rope fixing bolt, 4-spring fixing bolt, 5-first winding wheel, 6-first drive mechanism, 7-first spring, 8-upper body component, 9-upper fixing bolt, 10-first rope, 11-second elastic element, 12-third drive mechanism, 13-lower body component, 14-third winding wheel, 15-third rope, 16-second rope, 17-second drive mechanism, 18-second winding wheel, 19-second spring Detailed Implementation
[0020] The preferred embodiments of the present invention are described below to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.
[0021] In the accompanying drawings, components with the same structure are represented by the same numerical symbols, and components with similar structures or functions are represented by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.
[0022] This invention provides a pipe crawling robot with spatial tension balance between an elastic plate and ropes. The elastic plate and ropes work together to form a balanced state. By controlling the length of the ropes, the shape and relative position of the elastic plate are changed, enabling the robot to crawl in narrow pipes.
[0023] like Figure 1 , Figure 2 and Figure 3 As shown, the pipe-crawling robot with elastic plate and rope tension balance in this embodiment comprises an upper body component 8, a first elastic element 1, a lower body component 13, and a second elastic element 11. Multiple first elastic elements 1 are evenly distributed circumferentially along the upper body component 8. The first end of each first elastic element 1 is connected to the first end of the upper body component 8, and the second end of each first elastic element 1 is distributed around the upper body component 8. Similarly, multiple second elastic elements 11 are evenly distributed circumferentially along the lower body component 13. The first end of each second elastic element 11 is connected to the first end of the lower body component 13, and the second end of each second elastic element 11 is distributed around the lower body component 13. The second end of the upper body component 8 is connected to the first end of the lower body component 13, forming an integral structure. During robot crawling, the second ends of the first elastic elements 1 and the second ends of the second elastic elements 11 contact the pipe wall. Each first elastic element 1 can deform individually or synchronously along its length direction, and each elastic element 11 can deform synchronously along its length direction. Through the coordinated deformation of the first elastic element 1 and the second elastic element 11, the robot can achieve compound gaits such as crawling, contraction, and turning.
[0024] In this embodiment, "upper part" and "lower part" are only relative descriptions and do not necessarily mean that they are in a vertical position. Generally, when the robot moves, the upper body component 8 is the head and the lower body component 13 is the tail. The length direction of the first elastic member 1 and the second elastic member 11 is from the first end to the second end. For the crawling robot of the present invention, the upper body component 8 and the first elastic member 1 constitute the upper body, and the lower body component 13 and the second elastic member 11 constitute the lower body.
[0025] Both the first elastic element 1 and the second elastic element 11 are rectangular elastic plates that can be elastically bent along their length, meaning they can elastically deform and return to their original state when bent. The first end of the first elastic element 1 is connected to the first end of the upper fuselage component 8 via an upper connecting bolt 9.
[0026] The number of first elastic elements 1 and second elastic elements 11 is usually equal, and they are arranged "top to bottom" opposite each other. This embodiment uses a combination of three sets of first elastic elements 1 and second elastic elements 11 as an example for detailed description. It should be noted that the number of first elastic elements 1 and second elastic elements 11 can also be other, and they should still be within the protection scope of this invention.
[0027] To achieve independent deformation of the three first elastic elements 1, this invention provides three sets of first rope devices. Each set of first rope devices includes a first drive mechanism 6, a first winding wheel 5, and a first rope 10. The first drive mechanism 6 and the first winding wheel 5 are mounted on the lower body mechanism 13. One end of the first rope 10 is connected to the output end of the first drive mechanism 6, the first rope 10 passes around the first winding wheel 5, and the other end of the first rope 10 is connected to one of the first elastic elements 1. To facilitate the wiring of the first rope 10, a wire-passing hole is opened on the second elastic element 11. After the first rope 10 passes around the first winding wheel 5, it passes through the wire-passing hole of the second elastic element 11 and is connected to the first elastic element 1 by a rope fixing bolt 3.
[0028] The first winding wheel 5 can be a single-wire winding wheel. The first driving mechanism 6 stretches the first rope 10 to different lengths, achieving different bending deformations of the first elastic element 1. The three first driving mechanisms 6 independently control the three first elastic elements 1, achieving individual deformation of each element. It should be understood that when the three first driving mechanisms 6 work synchronously, synchronous deformation of the three first elastic elements 1 can also be achieved.
[0029] To further achieve synchronous deformation of the three first elastic elements 1, the present invention also includes a second rope device. For example... Figure 4 and Figure 5As shown, the second rope device includes a second drive mechanism 17, a second winding reel 18, and three second ropes 16. The second drive mechanism 17 and the second winding reel 18 are mounted on the upper fuselage component 8. One end of each of the three second ropes 16 is connected to the second drive mechanism 17, and each of the three second ropes 16 passes around the second winding reel 18. The other end of each of the three second ropes 16 is connected to one of the first elastic elements 1. Driven by the second drive mechanism 17, the three second ropes 16 can achieve synchronous stretching, thereby achieving synchronous deformation of the three first elastic elements 1. Without considering the effect of the first rope 10, the length distribution of the three second ropes 16 ensures that the three first elastic elements 1 are in the same deformation state.
[0030] In this embodiment, each of the three second ropes 16 is connected to a first spring 7 at its end, and the first spring 7 is then connected to a first elastic element 1. Figure 1 As shown, the first spring 7 is connected to the spring fixing bolt 4 on the first elastic element 1, and the spring fixing bolt 4 is close to the second end of the first elastic element 1. The first spring 7 can control the contact force between the first elastic element 1 and the pipe wall, thus avoiding secondary damage to the pipe.
[0031] To achieve synchronous deformation of the three second elastic elements 11, the present invention also includes a third rope device. For example... Figure 6 and Figure 7 As shown, the third cable device includes a third drive mechanism 12, a third winding reel 14, and three third ropes 15. The third drive mechanism 12 and the third winding reel 14 are mounted on the lower fuselage component 13. One end of each of the three third ropes 15 is connected to the third drive mechanism 12, and each of the three third ropes 15 passes around the third winding reel 14. The other end of each of the three third ropes 15 is connected to one of the second elastic elements 11. Driven by the third drive mechanism 12, the three third ropes 15 can achieve synchronous tension, thereby achieving synchronous deformation of the three second elastic elements 11. The length distribution of the three third ropes 15 ensures that the three second elastic elements 11 are in the same deformation state.
[0032] In this embodiment, each of the three third ropes 16 is connected to a second spring 19 at its end, and the second spring 19 is then connected to a second elastic element 11. Figure 1 As shown, the second spring 19 is connected to the spring fixing bolt 4 on the second elastic element 11, and the spring fixing bolt 4 is close to the second end of the second elastic element 11. The second spring 19 can control the contact force between the second elastic element 11 and the pipe wall, thus avoiding secondary damage to the pipe.
[0033] In order to control the deformation of the first elastic element 1 and the second elastic element 11, the first rope 10, the second rope 16, and the third rope 15 should all be under tension.
[0034] The second winding wheel 18 and the third winding wheel 14 can be three-rail winding wheels. The first drive mechanism 6, the second drive mechanism 17, and the third drive mechanism 12 can be servo motors, or they can be driven by electric push rods, cylinders, hydraulic cylinders, etc.
[0035] like Figure 1 As shown, a third spring 2 is connected between the first end of the upper fuselage component 8 and the second ends of the three first elastic elements 1 to improve the stability of the structure.
[0036] In this example, the relative pose of the upper and lower body of the crawling robot can be fully controlled, except that the upper body cannot rotate relative to the axis of the lower body. That is, the upper body has two rotational degrees of freedom about the direction perpendicular to the axis of the lower body and one translational degree of freedom along the axis, for a total of three degrees of freedom. In addition, the shape of the elastic plates of the upper and lower body can be controlled, for a total of five degrees of freedom.
[0037] The robot's crawling motion inside the pipe in this embodiment is as follows: Figure 8 As shown, the motion states from step 1 to step 6 complete one cycle of motion, realizing the robot's overall upward movement. In step 1, both the upper and lower body elastic plates are radially open, the distance between the upper and lower bodies is at its shortest, and they are in contact with the environment. In step 2, the upper body elastic plate radially contracts, no longer in contact with the environment. In step 3, the upper body moves upward along the pipe axis, increasing the distance between the upper and lower bodies. In step 4, the upper body elastic plate radially opens, contacting the environment. In step 5, the lower body elastic plate radially contracts, no longer in contact with the environment. In step 6, the lower body moves upward along the axis, decreasing the distance between the upper and lower bodies, and the lower elastic plate opens radially after completing its movement. The robot's overall posture in step 6, relative to step 1, is simply upward movement along the environment, with the same shape, therefore it can be considered as completing one cycle of upward movement.
[0038] In this embodiment, the relative rotation angle between the robot's upper and lower body can be controlled by setting three first drive mechanisms 6 with different drive amounts, such as... Figure 9 As shown, the robot can crawl through curved pipes using a similar peristaltic gait.
[0039] like Figure 10 Because the elastic plate itself has large deformation characteristics, the robot can adapt to pipe environments of different widths.
[0040] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.
Claims
1. A pipe-crawling robot with elastic plate and rope tension balance, characterized in that, include: The upper fuselage component has a first end and a second end that are opposite each other; At least two first elastic members are distributed along the circumference of the upper fuselage member, with their first ends connected to the first end of the upper fuselage member and their second ends distributed along the circumference of the upper fuselage member and away from the upper fuselage member, and are capable of deforming individually or simultaneously along the length direction. The lower fuselage component has a first end and a second end that are opposite each other; At least two second elastic members are distributed circumferentially along the lower fuselage member, with their first ends connected to the first end of the lower fuselage member and their second ends distributed circumferentially and away from the lower fuselage member, and capable of synchronously deforming along the length direction. The second end of the upper mechanism component is connected to the first end of the lower fuselage component.
2. The pipe crawling robot with balanced elastic plate and rope tension as described in claim 1, characterized in that, The first elastic element and the second elastic element are rectangular elastic plates, which are capable of elastic bending along their length.
3. The pipe-crawling robot with balanced elastic plate and rope tension as described in claim 1, characterized in that, The number of first elastic elements is three, and the three first elastic elements are evenly distributed along the circumference of the upper fuselage component; the number of second elastic elements is three, and the three second elastic elements are evenly distributed along the circumference of the lower fuselage component; the three first elastic elements and the three second elastic elements are arranged opposite to each other.
4. The pipe crawling robot with elastic plate and rope tension balance as described in claim 3, characterized in that, It also includes three sets of first rope devices. Each set of first rope devices includes a first drive mechanism, a first winding wheel, and a first rope. The first drive mechanism and the first winding wheel are located on the lower body component. Each of the three second elastic elements has a wire hole. One end of the first rope is connected to the first drive mechanism. The first rope passes through the first winding wheel and the wire hole of one of the second elastic elements and is connected to the first elastic element opposite to the winding hole.
5. The pipe-crawling robot with balanced elastic plate and rope tension as described in claim 4, characterized in that, It also includes a second rope device, which includes a second drive mechanism, a second winding reel, and three second ropes. The second drive mechanism and the second winding reel are located on the upper body component. One end of each of the three second ropes is connected to the second drive mechanism, and each of the three second ropes passes around the second winding reel. The other end of each of the three second ropes is connected to one of the first elastic elements.
6. The pipe crawling robot with tension balance between the elastic plate and the rope as described in claim 5, characterized in that, Each set of second ropes is connected to a first spring between itself and the first elastic element.
7. The pipe-crawling robot with balanced elastic plate and rope tension as described in claim 5, characterized in that, It also includes a third rope device, which includes a third drive mechanism, a third winding reel, and three third ropes. The third drive mechanism and the third winding reel are located on the lower body component. One end of each of the three third ropes is connected to the third drive mechanism, and each of the three third ropes passes around the third winding reel. The other end of each of the three third ropes is connected to one of the second elastic elements.
8. The pipe crawling robot with elastic plate and rope tension balance as described in claim 7, characterized in that, Each set of the third ropes is connected to a second spring between itself and the second elastic element.
9. The pipe crawling robot with tension balance between the elastic plate and the rope as described in claim 7, characterized in that, The first rope, the second rope, and the third rope remain under tension.
10. The pipe-crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, A third spring is connected between the second end of the first elastic element and the first end of the upper fuselage component.