The invention discloses a pipeline detection
robot based on a
echinoderm inspired bionic
variable stiffness structure, which is suitable for detection, maintenance and
obstacle avoidance operation of pipelines in complex environments such as space stations and the like, and is formed by connecting a plurality of single bodies with platforms in series through
universal joint couplings, each single body comprises a platform, a
thigh, a shank, a
power output system and a foot end
actuator, a motor is installed in the middle of the platform, and output drives the
thigh to swing through a straight
bevel gear and a wheel shaft; the platform side wing steering engines drive the shanks to
pitch around the rotating shafts, and two-degree-of-freedom movement is achieved. The foot end
actuator adopts a roller mechanism with switchable
modes, and two working states of rolling and rigid supporting are supported. All the modules are mechanically connected through self-lubricating universal joints and have the deflection capacity of + / -30 degrees, and module posture
collaboration and structure reconstruction are achieved. The
system has high flexibility, high adaptability and dynamic stability, and can stably operate in variable-
diameter, bent and vertical pipeline sections and the like.