CN103307408A - Bionic peristaltic pipeline running mechanism and control method thereof - Google Patents
Bionic peristaltic pipeline running mechanism and control method thereof Download PDFInfo
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- CN103307408A CN103307408A CN2013102607762A CN201310260776A CN103307408A CN 103307408 A CN103307408 A CN 103307408A CN 2013102607762 A CN2013102607762 A CN 2013102607762A CN 201310260776 A CN201310260776 A CN 201310260776A CN 103307408 A CN103307408 A CN 103307408A
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Abstract
The invention relates to a bionic peristaltic pipeline running mechanism and a control method thereof, which are characterized in that a front somite radial direction supporting unit and a back somite radial direction supporting unit are symmetrically arranged at the two ends of a middle axial direction feeding unit; through the matching of the periodic batch-type radial direction dilation movement between the radial direction supporting units and pipeline inner walls and the periodic batch-type axial direction stretching movement of the middle axial direction feeding unit, the mechanism imitates the moving gait and regularity of a worm somite to crawl in the pipeline. Through the carrying of corresponding tools, the mechanism can replace manual work to carry out various pipeline work tasks, can carry out tasks such as perpendicular underground mine disaster detection and rescue, and has the advantages that the shape is simple and compact, the running is stable and reliable, the control is easy, the manufacturing cost is inexpensive, and the mechanism can be applied to various occasions.
Description
The application is to be on October 19th, 2011 applying date, and application number is 2011103181414, and denomination of invention is dividing an application of a kind of Bionic squirm type pipeline travelling mechanism and controlling method thereof.
Technical field
The present invention relates to creeping type traveller in a kind of pipeline, be used for the pipeline operations robot, belong to the biorobot technical field.Background technique
Pipeline obtains using widely in a large number in various fields as a kind of important mass transfer instrument.Pipeline in use various faults or damage can occur unavoidably.Under most pipeline installation environments, the people can not arrive directly or not allow that the people directly enters, therefore the pipeline operations robot more and more comes into one's own as a kind of effective intelligence tool that replaces manually carrying out pipeline fault diagnosis, detection and maintenance.The pipeline operations robot can be divided into the polytypes such as leg formula, wheeled, crawler, oscillatory type and creeping type according to the difference of walking manner, creeping type pipeline operations robot be in the numerous types of pipeline operations robot gait the most stable, have a kind of of environmental suitability most.
ZL200310120880.8 has reported a kind of " crawling conduit creeper ", adopts by single motor coaxle to drive, and by mechanical drive modes such as three end cam groups and leverages, the wriggling of realization crawl device in small pipeline advanced.This creeping crawling device structure is comparatively simple compact, and the walking but it can only be wriggled in straight pipeline can not adapt to crooked pipeline; And there is the elastic energy storage element in this mechanism, has reduced to a certain extent wheel efficiency.
ZL200710042310.X has reported a kind of " creep walking mechanism inside pipeline ", adopt single motor positive and inverse driving axial screw pair, the radially combination drive of fit shapes memory alloy, the wriggling walking function has the large characteristic of power to weight ratio in the pipeline of realization robot.But this mechanism has adopted the marmem new function material, and cost is higher, is difficult to penetration and promotion, and the frequent clockwise and anticlockwise of drive motor is unfavorable for the simplification of control system.
ZL200910071240.X has reported a kind of " based on the pipe exploring robot of sliding electromagnet ", relies on friction swelling principle, adopts push-pull electromagnet to drive and realizes the wriggling walking of robot in pipeline.This robot can adapt to different tube diameters, and simple in structure, and control is convenient, but owing to having used push-pull electromagnet, easily produce vibration and noise, and the frequent operation of push-pull electromagnet is so that coil temperature rise is very fast, cause output capability to descend, affect mechanism's traveling comfort and reliability.
Summary of the invention
The present invention is for avoiding the existing deficiency of above-mentioned prior art, provide that a kind of body is simple light and handy, reliable, the practical function of operating steadily, controlling method Bionic squirm type pipeline travelling mechanism and controlling method thereof easy, cheap for manufacturing cost, be used for creeping type pipeline operations robot.
The present invention is that the technical solution problem adopts following technological scheme:
The characteristics of Bionic squirm type pipeline travelling mechanism of the present invention are:
Be symmetrical arranged to the two ends of feed unit at jack shaft to support unit and rear body segment radial support unit by the precursor pitch diameter and consist of;
Described precursor pitch diameter has identical structural type to support unit with rear body segment radial support unit, is that the excircle along housing is evenly distributed to the support claw of few two expandables and is in the locational guide roller of same bus with described support claw;
Described jack shaft is to be made of Anterior Segment and rear sections to feed unit, and described Anterior Segment and rear sections can be movable relatively each other vertically, forms the telescopic jack shaft of axial length to feed unit;
In described precursor pitch diameter to support unit and jack shaft between the feed unit, and described rear body segment radial support unit and jack shaft between the feed unit respectively before universal joint, rear universal joint connect.
Described precursor pitch diameter is to the structure setting of support unit and rear body segment radial support unit:
The first DC speed-reducing is fixedly mounted on the first cylinder bearing, and the output shaft of the first DC speed-reducing links by the first coupling and the first transmission shaft; The first transmission shaft is a multidiameter shaft, is supported between the second cylinder bearing and the first cylinder bearing by the first angular contact ball bearing and the second angular contact ball bearing of installing at two ends respectively; Double-track cam and the first transmission shaft connect firmly, and between the second cylinder bearing and the first cylinder bearing;
Be embedded with respectively cam bawl in each cam path of described double-track cam, described cam bawl connects firmly by the support claw connecting plate on push rod and the corresponding position, and described support claw is connected by the universal knot of support claw with the support claw connecting plate.
The cam path that double-track cam is set is special-shaped curved grooves, described special-shaped curved grooves is to be distributed along even circumferential by each compound conduit section, and described each compound conduit section is to be connected and composed successively by top arc conduit a, decline conduit b, bottom circular arc conduit c and rising conduit d; The circumferential angle alpha of described top arc conduit a is
The angle of circumference β of described decline conduit b, bottom circular arc conduit c and rising conduit d is
Described n is the number of cam bawl.
The structure of described guide roller is set to: described guide roller is articulated on the rolling wheel support along central axis, but described rolling wheel support is arranged on the axial elastic extension structure between guide roller and the first circular cylindrical shell.
Described jack shaft is set to the structure of feed unit:
The structure of the Anterior Segment of described jack shaft in the feed unit is set to: the second DC speed-reducing is fixedly mounted on the Anterior Segment cylinder stent, and the output shaft of described the second DC speed-reducing links by the second coupling and second driving shaft; Second driving shaft is supported on the Anterior Segment cylinder stent by the duplex angular contact ball bearing; The central principal axis that connects firmly on second driving shaft is cylindric, and the cylinder outer surface of described central principal axis is with a reversal means, and described reversal means is cylindrical, and reversal means is sleeved on the reversal means seat with Spielpassung and can rotates around the reversal means seat; The other end of described reversal means seat is consolidated on the cylinder outer surface of central principal axis;
The structure of the rear sections of described jack shaft in the feed unit is set to: with the coaxial cylindrical shell that arranges of described central principal axis, the oval groove that is closed loop along one of cylindrical shell circumference setting is arranged on the madial wall of described cylindrical shell, reversal means is as sliding rail take described oval groove; Periphery at described cylindrical shell arranges deutomerite cylindrical section support, is provided with axially directed structure between described Anterior Segment cylinder stent and deutomerite cylindrical section support;
Described axially directed structure is that the axial restraint along central principal axis is provided with guide rod on the end face of described Anterior Segment cylinder stent, is fixedly installed guide cylinder at the corresponding position of deutomerite cylindrical section support, and guide rod and guide cylinder are for being slidingly matched.
Described cylindrical shell one combined sleeve, inner core and urceolus by concentric setting form, inner core be by about two and half consist of, the elliptic curve groove about the oval groove on the madial wall of described cylindrical shell is formed between two and half, urceolus is sleeved on the outside of inner core.
The controlling method of described Bionic squirm type pipeline travelling mechanism is characterized in that carrying out as follows:
In support unit and rear body segment radial support unit, be with the first DC speed-reducing Driven by Coaxial double-track cam separately in described precursor pitch diameter; In feed unit, be with the second DC speed-reducing Driven by Coaxial central principal axis at described jack shaft; According to the different motion state of described precursor pitch diameter to support unit, rear body segment radial support unit and jack shaft to feed unit, the time of described Bionic squirm type pipeline travelling mechanism step pitch of wriggling walking left in pipe is set as an action cycle T, as follows control in an action cycle T:
I, initial state: the precursor pitch diameter is in maximum to the support claw of support unit and props up state, and jack shaft is in the maximum elongation state to feed unit, and the support claw of rear body segment radial support unit is in maximum and props up state;
II, in the time period of 0～T/6: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Jack shaft stops the rotation to the second DC speed-reducing in the feed unit; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches T/6 is: the precursor pitch diameter is in maximum to the support claw of support unit and props up state, and jack shaft is in the maximum elongation state to feed unit, and the support claw of rear body segment radial support unit is in the minimum retracted state;
III, in the time period of T/6～2T/6: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Second DC speed-reducing of jack shaft in the feed unit be Rotate 180 ° at the uniform velocity; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches the 2T/6 place is: the precursor pitch diameter is in maximum to the support claw of support unit and props up state, and jack shaft is in minimum shortening state to feed unit, and the support claw of rear body segment radial support unit is in the minimum retracted state;
IV, in the time period of 2T/6～3T/6: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Jack shaft stops the rotation to the second DC speed-reducing in the feed unit; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches the 3T/6 place is: the precursor pitch diameter is in maximum to the support claw of support unit and props up state, and jack shaft is in minimum shortening state to feed unit, and the support claw of rear body segment radial support unit is in maximum and props up state;
V, in the time period of 3T/6～4T/6: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Jack shaft stops the rotation to the second DC speed-reducing in the feed unit; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches the 4T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw of support unit, and jack shaft is in minimum shortening state to feed unit, and the support claw of rear body segment radial support unit is in maximum and props up state;
VI, in the time period of 4T/6～5T/6: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Second DC speed-reducing of jack shaft in the feed unit be Rotate 180 ° at the uniform velocity; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches the 5T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw of support unit, and jack shaft is in the maximum elongation state to feed unit, and the support claw of rear body segment radial support unit is in maximum and props up state;
VII, in the time period of 5T/6～T: precursor pitch diameter first DC speed-reducing in the support unit is at the uniform velocity rotated
Jack shaft stops the rotation to the second DC speed-reducing in the feed unit; The first DC speed-reducing in the rear body segment radial support unit is at the uniform velocity rotated
The state that reaches the T place is: the precursor pitch diameter is in maximum to the support claw of support unit and props up state, and jack shaft is in the maximum elongation state to feed unit, and the support claw of rear body segment radial support unit is in maximum and props up state.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, practical function of the present invention, cheap for manufacturing cost.Its precursor pitch diameter has identical structural type to support unit with rear body segment radial support unit, and be symmetrical arranged at the two ends of jack shaft to feed unit, adopt universal joint to connect between the adjacent cells, can in the pipeline of level and arbitrary inclination, freely move forward and backward, also can overcome own wt and in vertical pipeline, walk, and can be by the crooked pipeline of certain curvature radius; Because the precursor pitch diameter is provided with universal knot between support claw and the support claw connecting plate in support unit and the rear body segment radial support unit, support claw can wide situation self adaption be adjusted support angle according to the shape on walking inner-walls of duct surface, but and the axial elastic extension structure of guide roller structure in arranging can spontaneous adjustment guide roller with complicated inner-walls of duct to effectively contacting, therefore can effectively prevent mechanism blockage, also can effectively adapt to the pipeline and the pipeline that certain liq is arranged of the wide complex of inner wall surface shape; Because the double-track cam manufacturing is comparatively easy, has reduced the manufacture cost of mechanism, is conducive to penetration and promotion; The present invention can be applicable to Microminiature pipeline to numerous model pipeline occasions such as medium-and-large-sized pipelines, and manufacturing dimension to the suitable size that only needs to adjust double-track cam and corresponding component gets final product.
2, the cam path that double-track cam is set among the present invention is served as reasons each compound conduit section along the special-shaped curved grooves that even circumferential distributes, and top arc conduit a, decline conduit b, bottom circular arc conduit c and the rising conduit d etc. that consist of each compound conduit section easily realize the compound movement states such as jacking movement, retraction movement and the maintenance of support claw be motionless reposefully by being flush-mounted in wherein cam bawl; Jack shaft is made of Anterior Segment and rear sections to feed unit, between Anterior Segment and the rear sections by central principal axis with reversal means and the oval guide groove interlock fit of cylinder inboard wall, realize reposefully that easily described jack shaft is to the axial stretching motion of feed unit, avoided crank linkage driving system heavy and be difficult for the shortcoming of self-locking because eccentric load easily produces vibration, impact and dead point and rack and pinion drive mechanism, its body is simply light and handy, move submissive steadily, improved system's delivery efficiency and reliability.
3, controlling method of the present invention is easy.Precursor pitch diameter during walking in support unit and the rear body segment radial support unit the first DC speed-reducing all the time Driven by Coaxial separately double-track cam be unidirectional uniform speed rotation, the precursor pitch diameter only need be set has a dislocation angle along circumference each other to the double-track cam in support unit and the rear body segment radial support unit
; Each compound conduit section consists of along the special-shaped curved grooves that even circumferential distributes because the cam path of double-track cam is served as reasons, radially move back and forth so that n all does sexual refractoriness synchronizing cycle formula to push rod, thereby and n to present between corresponding n the support claw of push rod and the inner-walls of duct sexual refractoriness synchronizing cycle formula radially swelling contact with the pine contracting and break away from; Meanwhile, second DC speed-reducing of jack shaft in the feed unit all the time Driven by Coaxial central principal axis done the intermittent type unidirectional rotary motion, because jack shaft has interlocked relationship to oval guide groove and reversal means in the feed unit, so that the relative movement that generation intermittent type one-way rotation and intermittent type reciprocating linear move between central principal axis and the cylindrical shell; The precursor pitch diameter is coordinated to the characteristics of motion of feed unit with jack shaft with rear body segment radial support unit mutually to support unit, can make jack shaft drive the precursor pitch diameter to feed unit and do regular intermittent type axial feed motion to support unit and rear body segment radial support unit.That is to say, in pipeline the wriggling walking process in, only need control precursor pitch diameter to do continuously unidirectional at the uniform velocity rotation with identical speed to support unit all the time with the first DC speed-reducing in the rear body segment radial support unit, control simultaneously second DC speed-reducing of jack shaft in the feed unit and do the unidirectional at the uniform velocity rotation of cyclical intermission formula with another suitable speed all the time and get final product, avoided the shortcoming that traditional feed screw nut's feed mechanism must frequently commutate.
4, the present invention can replace manually carrying out the work such as various pipeline monitorings, cleaning, maintenance, fault diagnosis and maintenance by carrying corresponding probe and engineering application tool; Also can be used for vertical direction pipeline occasion, by carrying the instruments such as corresponding video acquisition system, signal transmitting/receiving unit, infrared life-detection instrument, implement the task such as mine disaster detection and rescue under the peupendicular hole.
Description of drawings
Fig. 1 is external structure schematic diagram of the present invention;
Fig. 2 is internal structure schematic diagram of the present invention;
Fig. 2 (a) is cam roller of the present invention, bearing pin and nut structure schematic diagram;
Fig. 2 (b) is roller support, Compress Spring and cylindrical piece structural representation among the present invention;
Fig. 2 (c) is reversal means and reversal means stand structure schematic diagram among the present invention;
Fig. 2 (d) is duplex angular contact ball bearing structural representation among the present invention;
Fig. 2 (e) is the first angular contact ball bearing structural representation among the present invention;
Fig. 2 (f) is the second angular contact ball bearing structural representation among the present invention;
Fig. 3 is the radial support modular construction schematic diagram of front body segment and rear body segment among the present invention;
Fig. 4 (a) is double-track cam structural representation in the radial support unit of front body segment among the present invention and rear body segment;
Fig. 4 (b) is the A-A sectional view of Fig. 4 (a);
Fig. 5 (a) for jack shaft among the present invention to the feed unit structural representation;
Fig. 5 (b) is the B-B sectional view of Fig. 5 (a);
Fig. 6 is that the present invention is at the periodicity gait rule schematic diagram of walking in pipe process;
Fig. 7 is the periodicity Electric Machine Control view of the present invention in the walking in pipe process.
Number in the figure: 1 precursor pitch diameter is to support unit; 2 jack shafts are to feed unit; The 2A Anterior Segment; Sections behind the 2B; 3 rear body segment radial support unit; 4 front universal joints; 5 rear universal joints; 6 second cylinder bearings; 7 first transmission shafts; 8 double-track cams; 9 first angular contact ball bearings; 10 cam bawls; 11 bearing pins; 12 nuts; 13 push rods; 14 slides; 15 second circular cylindrical shells; 16 support claw connecting plates; The universal knot of 17 support claws; 18 support claws; 19 first circular cylindrical shells; 20 roller supports; 21 rolling wheel supports; 22 guide rollers; 23 Compress Springs; 24 cylindrical pieces; 25 first cylinder bearings; 26 first motor pinboards; 27 first DC speed-reducing; 28 second DC speed-reducing; 29 second motor pinboards; 30 second coupling; 31 duplex angular contact ball bearings; 32 second driving shafts; 33 deutomerite cylindrical section housings; 34 reversal meanss; 35 reversal means seats; 36 central principal axis; 37 rear sections disk housings; 38 stop nuts; 39 locking nuts; 40 cylindrical shells; The 40A inner core; The 40B urceolus; 41 guide cylinders; 42 guide rods; 43 Anterior Segment cylinder stents; 44 Anterior Segment circular cylindrical shells; 45 Anterior Segment disk housings; 46 disk housings; 47 first coupling; 48 second angular contact ball bearings; 49 deutomerite cylindrical section supports.
Embodiment
Figure 1 shows that the external structure of Bionic squirm type pipeline travelling mechanism in the present embodiment, formed to feed unit 2 and rear body segment radial support unit 3 to support unit 1, jack shaft by the precursor pitch diameter.The precursor pitch diameter is symmetrical arranged at the two ends of jack shaft to feed unit 2 to support unit 1 and rear body segment radial support unit 3, can realize radially swelling and the retracting motion of cyclical intermission formula between body segment and the inner-walls of duct; The precursor pitch diameter is in the locational guide roller 22 of same bus to support unit 1 and rear body segment radial support unit 3 along the support claw 18 of at least two expandables of housing even circumferential distribution with support claw 18, but the self contering of retaining mechanism in institute's walking pipeline and the function of shape sealing, and can adapt within the specific limits the wide situation of shape of inner-walls of duct complexity and adapt to the pipeline that certain liq is arranged; Jack shaft is made of the Anterior Segment 2A and the rear sections 2B that can be movable relatively vertically each other to feed unit 2, can realize the axial feed motion between the forward and backward body segment of mechanism; In the precursor pitch diameter to support unit 1 and jack shaft between the feed unit 2, and rear body segment radial support unit 3 and jack shaft between the feed unit 2 respectively before universal joint 4 and rear universal joint 5 connect, can realize the integral body of mechanism in the institute's walking pipeline function of turning round.
Referring to Fig. 1, Fig. 2, the precursor pitch diameter is fixedly mounted on the first cylinder bearing 25 to the first DC speed-reducing 27 in support unit 1 and the rear body segment radial support unit 3 in the present embodiment, and the output shaft of the first DC speed-reducing 27 links by the first coupling 47 and the first transmission shaft 7; The first transmission shaft 7 is a multidiameter shaft, shown in Fig. 2 (e), 2 (f), is supported between the second cylinder bearing 6 and the first cylinder bearing 25 by the first angular contact ball bearing 9 and the second angular contact ball bearing 48 of installing at two ends respectively; Double-track cam 8 and the first transmission shaft 7 connect firmly, and between the second cylinder bearing 6 and the first cylinder bearing 25; At least two pairs of push rods 13 of even circumferential distribution along double-track cam 8, shown in Fig. 2 (a), push rod 13 is equipped with a bearing pin 11, nut 12 is axially fixed at bearing pin 11 on the push rod 13, columniform with the cam bawl 10 of push rod 13 corresponding settings, be sleeved on the bearing pin 11 by Spielpassung, cam bawl 10 is inserted in the curved grooves of double-track cam 8 and can rotates around bearing pin 11; With at least two pairs of slides of push rod 13 corresponding settings 14, every pair of slide 14 is installed in respectively on the second cylinder bearing 6 and the first cylinder bearing 25, and push rod 13 can reciprocatingly slide at corresponding slide 14 cathetus; Push rod 13 passes and connects firmly with support claw connecting plate 16 on the corresponding position from the second circular cylindrical shell 15; Support claw 18 installs on the support claw connecting plate 16 on the corresponding position by the universal knot 17 of support claw, so that described Bionic squirm type pipeline travelling mechanism can according to the adaptive adjustment support angle of the wide situation of complex shape on inner-walls of duct surface, prevent mechanism blockage; The outer surface of support claw 18 is arc surface, can overlap a rubber pad, to increase the friction between described Bionic squirm type pipeline travelling mechanism and the inner-walls of duct; The second circular cylindrical shell 15 is fixed between the second cylinder bearing 6 and the first cylinder bearing 25, and the first circular cylindrical shell 19 is fixed between the first cylinder bearing 25 and the disk housing 46, plays seal action; At least two guide rollers 22 distribute along the even circumferential of the first circular cylindrical shell 19, described guide roller 22 is articulated on the rolling wheel support 21 along central axis, but rolling wheel support 21 is arranged on the axial elastic extension structure between guide roller 22 and the first circular cylindrical shell 19; Axially but elastic extension structure is: shown in Fig. 2 (b), be fixedly connected with a Compress Spring 23 on the rolling wheel support 21, the other end of Compress Spring 23 is with externally threaded cylindrical piece 24 and roller support 20 scyewed joint by one, and roller support 20 is fixedly mounted on the first circular cylindrical shell 19; Rolling wheel support 21, Compress Spring 23, cylindrical piece 24 and roller support 20 4 central axes; Axially but elastic extension structure can make and remain effective contact condition between guide roller 22 and the inner-walls of duct, so that traveller can effectively adapt to the pipeline of the wide complex of inner wall surface shape.Jack shaft is fixedly mounted on the Anterior Segment cylinder stent 43 to the second DC speed-reducing 28 among the Anterior Segment 2A of feed unit 2, and the output shaft of the second DC speed-reducing 28 links with second driving shaft 32 by the second coupling 30; Shown in Fig. 2 (d), second driving shaft 32 is supported on the Anterior Segment cylinder stent 43 by duplex angular contact ball bearing 31; The central principal axis 36 that connects firmly on second driving shaft 32 is cylindric, the cylinder outer surface of central principal axis 36 is with a reversal means 34, shown in Fig. 2 (c), reversal means 34 is cylindrical, and reversal means 34 is sleeved on the reversal means seat 35 with Spielpassung and can rotates around reversal means seat 35; The other end of reversal means seat 35 is consolidated on the cylinder outer surface of central principal axis 36; The cylindrical shell 40 and described central principal axis 36 coaxial settings of jack shaft in the rear sections 2B of feed unit 2, cylindrical shell 40 is a combined sleeve, inner core 40A and urceolus 40B by concentric setting form, inner core 40A be by about two and half consist of, about be formed with an elliptic curve groove between two and half, urceolus 40B is sleeved on the outside of inner core 40A, forms an inwall with the cylindrical shell 40 of oval guide groove; Central principal axis 36 penetrate cylindrical shell 40 and with the central axes of cylindrical shell 40, reversal means 34 embeds the oval guide groove of cylindrical shells 40 inwalls and can slide in guide groove; Because the interlocked relationship of reversal means and guide groove is so that the relative movement between central principal axis 36 and the cylindrical shell 40 is the resultant motion around the continuous rotation of axle and sinusoidal rule linear reciprocating motion, when center main shaft 36 is done continuous rotation, cylindrical shell 40 is just done linear reciprocation and is moved, when cylindrical shell 40 maintained static, central principal axis 36 was done linear reciprocation and is moved when doing continuous rotation; Periphery at cylindrical shell 40 arranges deutomerite cylindrical section support 49, is provided with axially directed structure between Anterior Segment cylinder stent 43 and deutomerite cylindrical section support 49; Axial restraint along central principal axis 36 on the end face of Anterior Segment cylinder stent 43 is provided with at least two guide rods 42 that distribute along even circumferential, corresponding position at deutomerite cylindrical section support 49 is fixedly installed guide cylinder 41, and guide rod 42 and guide cylinder 41 are for being slidingly matched; The free end of guide rod 42 is equipped with a stop nut 38; Anterior Segment circular cylindrical shell 44 is fixed between Anterior Segment disk housing 45 and the Anterior Segment cylinder stent 43, and deutomerite cylindrical section housing 33 is fixed between deutomerite cylindrical section support 49 and the rear sections disk housing 37, plays seal action; Locking nut 39 installs on the transmission shaft 32, jointly plays axially locating effect to central principal axis 36 with the shaft shoulder of transmission shaft 32.
Fig. 1, Fig. 2 and shown in Figure 3, in the present embodiment, the first DC speed-reducing 27 is done at the uniform velocity rotation by the first transmission shaft 7 Driven by Coaxial active double-track cam 8, because double-track cam 8 has the special-shaped curved grooves that is distributed along even circumferential by each compound conduit section, so that double-track cam 8 can drive synchronously and does the cyclical intermission formula along the equally distributed at least two pairs of driven push rods 13 of cam circumference and radially move back and forth by embedding cam bawl 10 in its groove, the every pair of push rod 13 all links by a support claw connecting plate 16 and the universal knot 17 of a support claw and a support claw 18, cyclical intermission formula between realization body segment and the inner-walls of duct is swelling and retraction function radially, support claw 18 can according to the walk adaptive adjustment support angle of the wide situation of shape on inner-walls of duct surface of mechanism, prevent mechanism blockage.
Shown in Fig. 1, Fig. 2, Fig. 4 (a) and Fig. 4 (b), the present embodiment is that four situation is as example take the support claw 18 along the housing circumference uniform distribution with double-track cam 8 corresponding settings.Double-track cam 8 has special-shaped curved grooves, and special-shaped curved grooves is to be distributed along even circumferential by each compound conduit section, and each compound conduit section is to be connected and composed successively by top arc conduit a, decline conduit b, bottom circular arc conduit c and rising conduit d; The circumferential angle alpha of top arc conduit a is 45 °, and the angle of circumference β of decline conduit b, bottom circular arc conduit c and rising conduit d is 15 °; N is the number of cam bawl 10.When 8 rotation of the first DC speed-reducing 27 Driven by Coaxial double-track cams, double-track cam 8 moves radially along the equally distributed four pairs of push rods 13 of cam circumference by the synchronously drive of cam bawl 10 that embeds in its curved grooves; When cam bawl 10 in top arc conduit a sliding process, four support claws 18 keep radially maximum to prop up motionless state, when cam bawl 10 in decline conduit b sliding process, four support claws 18 are in radially retraction movement state, when cam bawl 10 in the circular arc conduit c sliding process of bottom, four support claws 18 keep the radially motionless state of minimum retracted, when cam bawl 10 in rising conduit d sliding process, four support claws 18 are in radially jacking movement state; That is to say, when the first DC speed-reducing 27 Driven by Coaxial double-track cams 8 are done when at the uniform velocity rotating, four pairs of push rods 13 are done the cyclical intermission formula and are radially moved back and forth, and four support claws 18 that link with four pairs of push rods 13 are done regular sexual refractoriness synchronizing cycle of formula radially swelling and retraction movement in pipeline.In order to coordinate described jack shaft to the intermittent type axial stretching motion of feed unit 2, guarantee the normal creepage of gastrointestinal functions walking in pipeline of described Bionic squirm type pipeline travelling mechanism, first DC speed-reducing 27 of described precursor pitch diameter in support unit 1 and the rear body segment radial support unit 3 all the time Driven by Coaxial separately double-track cam 8 be same unidirectional uniform speed rotation, and there is one 45 ° phase difference all the time in the angular displacement of double-track cam 8 in support unit 1 and the rear body segment radial support unit 3 of precursor pitch diameter along circumference.
Shown in Fig. 1, Fig. 2, Fig. 5 (a) and Fig. 5 (b), in jack shaft arranges to the structure of feed unit 2, the second DC speed-reducing 28 all the time coaxial intermittent type driving central principal axis 36 is unidirectional uniform speed rotation, since the oval guide groove of cylindrical shell 40 inwalls and central principal axis 36 with reversal means 34 have interlocked relationship so that the relative movement that generation intermittent type one-way rotation and intermittent type reciprocating linear move between central principal axis 36 and the cylindrical shell 40.The initial embedded location of setting reversal means 34 is the M point in the oval guide groove, and keep maintaining static with the Anterior Segment cylinder stent 43 that the second DC speed-reducing 28 links, when the second DC speed-reducing 28 Driven by Coaxial central principal axis 36 at the uniform velocity rotate half-turn, reversal means 34 slides into the N point along the point of the M in the guide groove, correspondingly, cylindrical shell 40 is with sine law speed step pitch of traveling priority left, and deutomerite cylindrical section support 49, deutomerite cylindrical section housing 33 and the rear sections disk housing 37 that synchronously drive links with it be step pitch of traveling priority left; If this moment, cylindrical shell 40 maintenances maintained static, when the second DC speed-reducing 28 Driven by Coaxial central principal axis 36 continue at the uniform velocity to rotate half-turn toward former direction, reversal means 34 slides into the M point along the point of the N in the guide groove, correspondingly, central principal axis 36 with sine law speed step pitch of traveling priority left, drives the second DC speed-reducing 28 and the Anterior Segment cylinder stent 43 that links with it, Anterior Segment circular cylindrical shell 44 and Anterior Segment disk housing 45 step pitch of traveling priority left synchronously when doing continuous rotation.Rule according to this, when the second DC speed-reducing 28 Driven by Coaxial central principal axis 36 at the uniform velocity revolve when turning around, reversal means 34 slides into first the N point along the point of the M in the oval guide groove and slides back to the point to M again, and jack shaft is to feed unit 2 integral body step pitch of traveling priority left.That is to say, by coordinating the precursor pitch diameter to the characteristics of motion of support unit 1 and rear body segment radial support unit 3, can make jack shaft drive the forward and backward body segment of described Bionic squirm type pipeline travelling mechanism to feed unit 2 by universal joint and in pipeline, do regular intermittent type axial feed motion.Wherein, jack shaft to feed unit 2 in doing intermittent type axial feed motion process, its at least two guide rods that are uniformly distributed along the circumference 42 are done synchronous intermittent and are relatively reciprocatingly slided in corresponding position guide cylinder 41, with stationarity and the reliability that guarantees that described Bionic squirm type pipeline travelling mechanism is wriggled and walked in pipeline.
Fig. 1, Fig. 2, Fig. 5 and Fig. 6 show Bionic squirm type pipeline travelling mechanism periodicity gait rule in the walking in pipe process in the present embodiment.In support unit 1 and rear body segment radial support unit 3, be with the first DC speed-reducing 27 Driven by Coaxial double-track cam 8 separately in the precursor pitch diameter; In feed unit 2, be with the second DC speed-reducing 28 Driven by Coaxial central principal axis 36 at jack shaft; According to the different motion state of precursor pitch diameter to support unit 1, rear body segment radial support unit 3 and jack shaft to feed unit 2, the time of Bionic squirm type pipeline travelling mechanism step pitch of wriggling walking left in pipe is set as an action cycle T, as follows control in an action cycle T:
I, initial state: the precursor pitch diameter is in maximum to the support claw 18 of support unit 1 and props up state, and jack shaft is in the maximum elongation state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in maximum and props up state;
II, in the time period of 0～T/6: precursor pitch diameter first DC speed-reducing 27 in the support unit 1 is at the uniform velocity rotated
Cam bawl 10 slides in top arc conduit a, and n support claw 18 keeps radially maximum to prop up motionless state; Jack shaft stops the rotation to the second DC speed-reducing 28 in the feed unit 2, and the M point that reversal means 34 embeds in the oval guide groove keeps motionless; The first DC speed-reducing 27 in the rear body segment radial support unit 3 is at the uniform velocity rotated
Cam bawl 10 slides in decline conduit b, n support claw 18 is in radially retraction movement state, the state that reaches the T/6 place is: the precursor pitch diameter is in maximum to the support claw 18 of support unit 1 and props up state, jack shaft is in the maximum elongation state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in the minimum retracted state;
III, in the time period of T/6～2T/6: precursor pitch diameter first DC speed-reducing 27 in the support unit 1 continues at the uniform velocity rotation
Cam bawl 10 still slides in top arc conduit a, and n support claw 18 keeps radially maximum to prop up motionless state; Second DC speed-reducing 28 of jack shaft in the feed unit 2 be Rotate 180 ° at the uniform velocity, reversal means 34 slides into the N point along the point of the M in the oval guide groove, cylindrical shell 40 is with sine law speed step pitch of traveling priority left, deutomerite cylindrical section support 49, deutomerite cylindrical section housing 33 and the rear sections disk housing 37 that synchronously drive links with it be step pitch of traveling priority left, and body segment radial support unit 3 is moved to the left a step pitch after then driving synchronously by rear universal joint 5; The first DC speed-reducing 27 in the rear body segment radial support unit 3 continues at the uniform velocity rotation
Cam bawl 10 slides in the circular arc conduit c of bottom, n support claw 18 keeps the radially motionless state of minimum retracted, the state that reaches the 2T/6 place is: the precursor pitch diameter is in maximum to the support claw 18 of support unit 1 and props up state, jack shaft is in minimum shortening state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in the minimum retracted state;
IV, in the time period of 2T/6～3T/6: first DC speed-reducing 27 of precursor pitch diameter in the support unit 1 continues at the uniform velocity rotation
Cam bawl 10) still slide in top arc conduit a, n support claw 18 keeps radially maximum to prop up motionless state; Jack shaft stops the rotation to the second DC speed-reducing 28 in the feed unit 2, and the N point that reversal means 34 embeds in the oval guide groove keeps motionless; The first DC speed-reducing 27 in the rear body segment radial support unit 3 continues at the uniform velocity rotation
Cam bawl 10 slides in rising conduit d, and n support claw 18 is in radially jacking movement state; The state that reaches the 3T/6 place is: the precursor pitch diameter is in maximum to the support claw 18 of support unit 1 and props up state, and jack shaft is in minimum shortening state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in maximum and props up state;
V, in the time period of 3T/6～4T/6: first DC speed-reducing 27 of precursor pitch diameter in the support unit 1 continues at the uniform velocity rotation
Cam bawl 10 slides in decline conduit b, and n is in radially retraction movement state to push rod 13; Jack shaft stops the rotation to the second DC speed-reducing 28 in the feed unit 2, and the N point that reversal means 34 still embeds in the oval guide groove keeps motionless; The first DC speed-reducing 27 in the rear body segment radial support unit 3 continues at the uniform velocity rotation
Cam bawl 10 slides in top arc conduit a, n support claw 18 keeps radially maximum to prop up motionless state, the state that reaches the 4T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw 18 of support unit 1, jack shaft is in minimum shortening state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in maximum and props up state;
VI, in the time period of 4T/6～5T/6: first DC speed-reducing 27 of precursor pitch diameter in the support unit 1 continues at the uniform velocity rotation
Cam bawl 10 slides in the circular arc conduit c of bottom, and n support claw 18 keeps the radially motionless state of minimum retracted; Jack shaft continues at the uniform velocity Rotate 180 ° to the second DC speed-reducing 28 in the feed unit 2, reversal means 34 slides back to the point to M along the point of the N in the oval guide groove, central principal axis 36 when doing continuous rotation with sine law speed step pitch of traveling priority left, drive synchronously the second DC speed-reducing 28 and the Anterior Segment cylinder stent 43 that links with it, Anterior Segment circular cylindrical shell 44 and Anterior Segment disk housing 45 step pitch of traveling priority left, then drive synchronously the precursor pitch diameter by front universal joint 4 and be moved to the left a step pitch to support unit 1; The first DC speed-reducing 27 in the rear body segment radial support unit 3 continues at the uniform velocity rotation
Cam bawl 10 still slides in top arc conduit a, and n support claw 18 keeps radially maximum to prop up motionless state; The state that reaches the 5T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw 18 of support unit 1, and jack shaft is in the maximum elongation state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in maximum and props up state;
VII, in the time period of 5T/6～T: first DC speed-reducing 27 of precursor pitch diameter in the support unit 1 continues at the uniform velocity rotation
Cam bawl 10 slides in rising conduit d, and n support claw 18 is in radially jacking movement state; Jack shaft stops the rotation to the second DC speed-reducing 28 in the feed unit 2, and the M point that reversal means 34 embeds in the oval guide groove keeps motionless; The first DC speed-reducing 27 in the rear body segment radial support unit 3 continues at the uniform velocity rotation
Cam bawl 10 still slides in top arc conduit a, n support claw 18 keeps radially maximum to prop up motionless state, the state that reaches the T place is: the precursor pitch diameter is in maximum to the support claw 18 of support unit 1 and props up state, jack shaft is in the maximum elongation state to feed unit 2, and the support claw 18 of rear body segment radial support unit 3 is in maximum and props up state.
So far, described Bionic squirm type pipeline travelling mechanism has been finished the advance action cycle process of a step pitch of walking of wriggling left.Described Bionic squirm type pipeline travelling mechanism is wriggled to the right, and to retreat the advance controlling method of walking of the controlling method of walking and wriggling left similar, is the sense of rotation of described the first DC speed-reducing 27 and the second DC speed-reducing 28 and to control sequential different.The commutation function of universal joint 4 and rear universal joint 5 before cooperating can make described Bionic squirm type pipeline travelling mechanism can pass through the crooked pipeline of certain curvature radius.
Referring to Fig. 1, Fig. 6, Fig. 7, expressed a kind of embodiment's schematic diagram of Bionic squirm type pipeline travelling mechanism of the present invention periodicity Electric Machine Control state in the walking in pipe process among the figure, corresponding with the periodicity gait rule that Fig. 6 is expressed.Wherein, transverse axis represents each time phase of one-period 0～T, and the longitudinal axis represents respectively the precursor pitch diameter to support unit 1, jack shaft to feed unit 2 and the Electric Machine Control state of rear body segment radial support unit 3.The precursor pitch diameter is all at the uniform velocity rotated with identical speed all the time to the first DC speed-reducing 27 of support unit 1, rear body segment radial support unit 3, and " a ", " b ", " c ", " d " represent that respectively the first DC speed-reducing 27 control cam bawls 10 of precursor pitch diameter in support unit 1 and the rear body segment radial support unit 3 slide among the figure in top arc conduit a, the decline conduit b of double-track cam 8, bottom circular arc conduit c, rising conduit d; Jack shaft is done the unidirectional at the uniform velocity rotation of cyclical intermission formula to the second DC speed-reducing 28 of feed unit 2, " S " among the figure,
Represent that respectively jack shaft stops the rotation, at the uniform velocity rotates half-turn to the second DC speed-reducing 28 in the feed unit 2.
Claims (5)
1. Bionic squirm type pipeline travelling mechanism is characterized in that:
Be symmetrical arranged formation at jack shaft to the two ends of feed unit (2) to support unit (1) and rear body segment radial support unit (3) by the precursor pitch diameter;
Described precursor pitch diameter has identical structural type to support unit (1) with rear body segment radial support unit (3), is that the excircle along housing is evenly distributed to the support claw (18) of few two expandables and is in the locational guide roller of same bus (22) with described support claw (18);
Described jack shaft is to be made of Anterior Segment (2A) and rear sections (2B) to feed unit (2), and described Anterior Segment and rear sections can be movable relatively each other vertically, form the telescopic jack shaft of axial length to feed unit (2);
In described precursor pitch diameter to support unit (1) and jack shaft between the feed unit (2), and described rear body segment radial support unit (3) and jack shaft between the feed unit (2) respectively before universal joint (4), rear universal joint (5) connect;
Described precursor pitch diameter is to the structure setting of support unit (1) and rear body segment radial support unit (3):
The first DC speed-reducing (27) is fixedly mounted on the first cylinder bearing (25), and the output shaft of the first DC speed-reducing (27) links by the first coupling (47) and the first transmission shaft (7); The first transmission shaft (7) is a multidiameter shaft, is supported between the second cylinder bearing (6) and the first cylinder bearing (25) by the first angular contact ball bearing (9) and the second angular contact ball bearing (48) of installing at two ends respectively; Double-track cam (8) connects firmly with the first transmission shaft (7), and is positioned between the second cylinder bearing (6) and the first cylinder bearing (25);
In each cam path of described double-track cam (8), be embedded with respectively cam bawl (10), described cam bawl (10) connects firmly by the support claw connecting plate (16) on push rod (13) and the corresponding position, and described support claw (18) is connected by the universal knot of support claw (17) with support claw connecting plate (16);
The controlling method of described Bionic squirm type pipeline travelling mechanism is to carry out as follows:
In support unit (1) and rear body segment radial support unit (3), be with the first DC speed-reducing (27) Driven by Coaxial double-track cam (8) separately in described precursor pitch diameter; In feed unit (2), be with the second DC speed-reducing (28) Driven by Coaxial central principal axis (36) at described jack shaft; According to the different motion state of described precursor pitch diameter to support unit (1), rear body segment radial support unit (3) and jack shaft to feed unit (2), the time of described Bionic squirm type pipeline travelling mechanism step pitch of wriggling walking left in pipe is set as an action cycle T, as follows control in an action cycle T:
I, initial state: the precursor pitch diameter is in maximum to the support claw (18) of support unit (1) and props up state, jack shaft is in the maximum elongation state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in maximum and props up state;
II, in the time period of 0～T/6: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Jack shaft stops the rotation to the second DC speed-reducing (28) in the feed unit (2); The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches T/6 is: the precursor pitch diameter is in maximum to the support claw (18) of support unit (1) and props up state, jack shaft is in the maximum elongation state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in the minimum retracted state;
III, in the time period of T/6～2T/6: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Second DC speed-reducing (28) of jack shaft in the feed unit (2) be Rotate 180 ° at the uniform velocity; The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches the 2T/6 place is: the precursor pitch diameter is in maximum to the support claw (18) of support unit (1) and props up state, jack shaft is in minimum shortening state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in the minimum retracted state;
IV, in the time period of 2T/6～3T/6: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Jack shaft stops the rotation to the second DC speed-reducing (28) in the feed unit (2); The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches the 3T/6 place is: the precursor pitch diameter is in maximum to the support claw (18) of support unit (1) and props up state, jack shaft is in minimum shortening state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in maximum and props up state;
V, in the time period of 3T/6～4T/6: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Jack shaft stops the rotation to the second DC speed-reducing (28) in the feed unit (2); The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches the 4T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw (18) of support unit (1), jack shaft is in minimum shortening state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in maximum and props up state;
VI, in the time period of 4T/6～5T/6: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Second DC speed-reducing (28) of jack shaft in the feed unit (2) be Rotate 180 ° at the uniform velocity; The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches the 5T/6 place is: the precursor pitch diameter is in the minimum retracted state to the support claw (18) of support unit (1), jack shaft is in the maximum elongation state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in maximum and props up state;
VII, in the time period of 5T/6～T: the precursor pitch diameter is at the uniform velocity rotated to the first DC speed-reducing (27) in the support unit (1)
Jack shaft stops the rotation to the second DC speed-reducing (28) in the feed unit (2); The first DC speed-reducing (27) in the rear body segment radial support unit (3) is at the uniform velocity rotated
The state that reaches the T place is: the precursor pitch diameter is in maximum to the support claw (18) of support unit (1) and props up state, jack shaft is in the maximum elongation state to feed unit (2), and the support claw (18) of rear body segment radial support unit (3) is in maximum and props up state.
2. Bionic squirm type pipeline travelling mechanism according to claim 1, the cam path that it is characterized in that arranging double-track cam (8) is special-shaped curved grooves, described special-shaped curved grooves is to be distributed along even circumferential by each compound conduit section, and described each compound conduit section is to be connected and composed successively by top arc conduit a, decline conduit b, bottom circular arc conduit c and rising conduit d; The angle of circumference (α) of described top arc conduit a is
The angle of circumference (β) of described decline conduit b, bottom circular arc conduit c and rising conduit d is
Described n is the number of cam bawl.
3. described Bionic squirm type pipeline travelling mechanism according to claim 1, the structure that it is characterized in that described guide roller (22) is set to: described guide roller (22) is articulated on the rolling wheel support (21) along central axis, described rolling wheel support (21) be arranged on guide roller (22) and the first circular cylindrical shell (19) but between axial elastic extension structure.
4. Bionic squirm type pipeline travelling mechanism according to claim 1 is characterized in that described jack shaft is set to the structure of feed unit (2):
The structure of the Anterior Segment (2A) of described jack shaft in the feed unit (2) is set to: the second DC speed-reducing (28) is fixedly mounted on the Anterior Segment cylinder stent (43), and the output shaft of described the second DC speed-reducing (28) links by the second coupling (30) and second driving shaft (32); Second driving shaft (32) is supported on the Anterior Segment cylinder stent (43) by duplex angular contact ball bearing (31); The central principal axis (36) that connects firmly on second driving shaft (32) is cylindric, the cylinder outer surface of described central principal axis (36) is with a reversal means (34), described reversal means (34) is cylindrical, and reversal means (34) is sleeved on reversal means seat (35) upward with Spielpassung and can rotates around reversal means seat (35); The other end of described reversal means seat (35) is consolidated on the cylinder outer surface of central principal axis (36);
The structure of the rear sections (2B) of described jack shaft in the feed unit (2) is set to: with the coaxial cylindrical shell (40) that arranges of described central principal axis (36), the oval groove that is closed loop along one of cylindrical shell circumference setting is arranged on the madial wall of described cylindrical shell (40), and reversal means (34) is as sliding rail take described oval groove; Periphery at described cylindrical shell (40) arranges deutomerite cylindrical section support (49), is provided with axially directed structure between described Anterior Segment cylinder stent (43) and deutomerite cylindrical section support (49);
Described axially directed structure is that the axial restraint along central principal axis (36) is provided with guide rod (42) on the end face of described Anterior Segment cylinder stent (43), corresponding position at deutomerite cylindrical section support (49) is fixedly installed guide cylinder (41), and guide rod (42) and guide cylinder (41) are for being slidingly matched.
5. Bionic squirm type pipeline travelling mechanism according to claim 4, it is characterized in that described cylindrical shell (40) is a combined sleeve, inner core (40A) and urceolus (40B) by concentric setting form, inner core (40A) be by about two and half consist of, elliptic curve groove about oval groove on the madial wall of described cylindrical shell (40) is formed between two and half, urceolus (40B) is sleeved on the outside of inner core (40A).
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