CN110645444A - Modular pipeline crawling software robot of tandem type - Google Patents
Modular pipeline crawling software robot of tandem type Download PDFInfo
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- CN110645444A CN110645444A CN201910850234.8A CN201910850234A CN110645444A CN 110645444 A CN110645444 A CN 110645444A CN 201910850234 A CN201910850234 A CN 201910850234A CN 110645444 A CN110645444 A CN 110645444A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
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Abstract
The invention discloses a tandem type modularized pipeline crawling soft robot, which comprises: a pneumatic telescoping unit configured to extend only in an axial direction when inflated; and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated. The robot has the advantages of convenience in replacement, flexibility in assembly, strong functions, simple structure, easiness in operation and the like, and various robot configurations can be combined by simply selecting and serially assembling modular components, so that the robot has different functions and can be well adapted to various working environments and tasks.
Description
Technical Field
The invention belongs to the field of robots, and relates to a serial modular pipeline crawling software robot.
Background
With the development of science and technology, the robot technology develops rapidly and is widely applied to the fields of industrial production, space exploration, cargo transportation, medical operation, disaster relief and rescue, national defense military industry and the like, the automation level of higher degree is realized, and the labor cost is saved to a certain degree. However, most of the traditional robots are composed of rigid mechanisms through assembly, and have the defects of complex structure, limited flexibility, poor safety and manual interactivity, low environmental adaptability and the like.
In special application scenarios, such as the actions of grabbing and carrying fragile or soft objects, or the detection work required in rugged and irregular road or narrow pipelines, the conventional rigid robot has difficulty in achieving similar tasks, while the soft robot has unique advantages in such situations. Compared with a rigid robot, the soft robot has the advantages of high flexibility, light weight, simple structure, convenience in operation, low manufacturing cost, convenience in control and the like.
In order to make the robot have more functions and adapt to more application scenes, the modularized robot is produced. The modular concept was proposed at the earliest in the 80 th century, and the most important component of the modular robot is a replaceable unit with simple structure and various functions, which can be matched with different modules according to different task requirements or working occasions, thereby endowing the robot with different functional characteristics.
The modularized soft robot has the characteristic of modularization and the advantages of the soft robot, can well protect an operation object, and has good interchangeability and environmental adaptability. The application provides a modular pipeline of tandem type software robot of crawling can crawl in the pipeline of various shapes and sizes.
Disclosure of Invention
Based on the advantages of the modular pneumatic soft robot, the invention aims to provide a serial modular pipeline crawling soft robot, which realizes rapid combination and splicing of different modules and can perform crawling motion in pipelines with various shapes and sizes.
The purpose of the invention is realized by at least one of the following technical schemes:
a modular pipeline crawling software robot of the tandem type, comprising:
a pneumatic telescoping unit configured to extend only in an axial direction when inflated;
and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated.
Further, the pneumatic expansion unit comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect other modules.
Further, the two limit adapters are connected with the corresponding modules in a buckling mode, a notch mode, a threaded mode or a bolt mode.
Further, the material of the radially expanding body includes silicone rubber materials, pneumatic artificial muscles, shape memory alloys, dielectric elastomers and ionic polymer metal composites.
Further, the pneumatic telescoping unit comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
and the rigid limiting rings are uniformly and axially arranged on the peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body.
And the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
Further, the two connecting adapters are connected with the corresponding modules in a buckling mode, a notch mode, a thread mode or a bolt mode.
Further, the material of the axial telescopic body comprises a silicon rubber material, a pneumatic artificial muscle, a shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
Further, the connecting portion connects the corresponding modules by means of a snap, a notch, a thread, or a latch.
Furthermore, the center of the radial expansion main body is provided with an axial through hole mutually isolated from the closed air cavity, the middle parts of the two limiting adapters are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from the two ends of the axial through hole and are connected into a whole through a buckle.
Furthermore, the number of the pneumatic telescopic units is more than two, and the pneumatic telescopic units are sequentially connected in series through connecting parts; the pneumatic expansion units are respectively arranged at two ends of the pneumatic telescopic units which are connected in series through connecting parts.
Compared with the prior art, the invention has the outstanding effects that:
the robot is designed in a modularized mode, and has the advantages of simplicity and convenience in installation, strong replaceability, strong adaptability to different working scenes and the like. The robots with different models and different functions can be simply obtained by the serial assembly mode.
And a pneumatic driving mode is adopted, so that the device is environment-friendly and efficient, is simple to operate and is convenient to control. The invention designs the basic modular units forming the robot, and various robots can be assembled by reasonably connecting the modular units in series, so that the robot is convenient to disassemble and assemble and has strong repeatability.
For pipelines with different sizes, the deformation of the expansion unit and the telescopic unit can be controlled by changing the inflation pressure, so that the robot has better adaptability.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a pneumatic expansion unit.
Fig. 3 is a schematic perspective view of the connecting portion.
Fig. 4 is a schematic perspective view of the pneumatic telescopic unit.
Fig. 5 is a schematic cross-sectional view of a pneumatic expansion cell module.
Fig. 6 is a schematic view of the principle of the expansion deformation of the radially expandable body.
FIG. 7 is a cross-sectional schematic view of the axially telescoping body.
Fig. 8 is a schematic view of the axial telescopic body in a telescopic deformation.
Fig. 9 is a schematic perspective view of a second embodiment of the present invention.
Fig. 10 is a schematic diagram of a periodic motion principle of the robot.
Fig. 11 is a schematic diagram of a pipeline crawling software robot of a tandem type crawling in different pipelines, wherein fig. 11(a) shows a scene of the robot crawling in a square pipeline; FIG. 11 (b) shows a scene in which the robot crawls in a circular pipe with an inner diameter of 40mm, and FIG. 11 (c) shows a scene in which the robot crawls when the inner diameter of the pipe changes from 40mm to 50 mm; FIG. 11 (d) shows a scenario where the robot crawls in a circular hose; fig. 11 (e) shows a scene in which the robot crawls in an irregular wall surface.
In the figure: 1-a pneumatic expansion unit; 2-a connecting part; 3-pneumatic telescoping unit.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1 to 4, a modular pipeline-crawling soft robot of a tandem type includes:
a pneumatic telescoping unit 3 arranged to be axially extendable only when inflated;
In particular, in a possible embodiment, the pneumatic expansion unit 1 comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect other modules.
Specifically, in this embodiment, the center of the radial expansion main body is provided with an axial through hole mutually isolated from the closed air cavity, the middle parts of the two limiting adapters are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from the two ends of the axial through hole and are connected into a whole through a buckle, so as to limit the axial deformation of the radial expansion main body.
Wherein, two spacing adapters pass through buckle, notch, screw thread or the corresponding module of bolt mode connection, can comparatively make things convenient for, firmly install, and this embodiment adopts the screw thread mode.
The material of the radial expansion main body comprises a silicon rubber material, pneumatic artificial muscle, shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
As shown in fig. 5 and 6, the middle of the pneumatic expansion unit 1 is provided with a closed air cavity, two sides of the pneumatic expansion unit 1 are provided with two limiting adapters which have limiting and connecting effects with other modules, the two limiting adapters are connected together through a buckle to limit the axial deformation of the radial expansion main body, therefore, when the closed air cavity of the radial expansion main body is inflated, the radial expansion main body can be radially expanded and deformed, the schematic diagram of the inflation deformation is shown in fig. 6, and the geometric dimensions of the air cavity of the radial expansion main body are respectively determined by the heights of the air cavitieshcRadius of air cavityrcAnd wall thickness of air cavitytcThe maximum radial deformation after inflation isΔrc。
In particular, in a possible embodiment, said pneumatic telescopic unit 3 comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
and the rigid limiting rings are uniformly and axially arranged on the peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body.
And the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
Wherein, two connect the adapter and pass through buckle, notch, screw thread or corresponding module of bolt mode connection, can comparatively make things convenient for, firmly install, and this embodiment adopts the screw thread mode.
The axial telescopic main body is made of a silicon rubber material, pneumatic artificial muscles, shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
The working principle of the deformation of the pneumatic telescopic unit 3 after inflation is shown in the attached figures 7 and 8. The height of the axial telescopic main body of the pneumatic telescopic unit ishaThe radius of the air cavity israThe wall thickness of the air cavity ista. Because the outer peripheral wall of the axial telescopic main body is sleeved with a plurality of rigid limiting rings which can limit the radial deformation of the unit, after the axial telescopic main body is inflated, the radial expansion of the axial telescopic main body does not occur, but the wall thickness becomes thinner, the axial extension deformation occurs, and the extension amount isΔha. Various complicated controls such as speed control, force control, etc. can be performed on the pneumatic unit according to the relationship between the driving unit input air pressure and the deformation size. Pneumatic flexible unit both ends have two to connect the adapter, connect the adapter with the terminal surface fixed connection of the flexible main part of axial, it is convenient pneumatic flexible unit is connected with other modules.
As shown in fig. 9, in another possible embodiment of the present invention, the number of the pneumatic telescoping units 3 is two, and the two pneumatic telescoping units 3 are connected in series in sequence through the connecting part 2; pneumatic expansion unit 1 sets up the 3 both ends at the pneumatic flexible unit after establishing ties respectively through connecting portion, establishes ties two pneumatic flexible units 3 of having lengthened the size of robot, and the quantity increase of the flexible pneumatic unit 3 in middle part has certain effect to the crawl speed that improves the robot, can make the robot obtain faster moving speed when crawling. However, it should be noted that when the robot crawls in a pipeline forming a certain inclination angle with the ground, gravity may affect the motion of the robot to a certain extent, so that the module assembly is reasonably used to control the overall weight of the robot, and the blind addition of the robot driving module may make the control of the robot more complicated, and may also make the stability of the robot worse, so that the robot becomes heavy.
Fig. 10 shows the process of the robot performing linear crawling motion in the pipeline in one cycle. Wherein aerify pneumatic expansion unit 1 and can make pneumatic expansion unit produce radial expansion deformation to paste tight pipeline inner wall, pneumatic telescoping unit 3 can realize linear concertina movement, makes the robot accomplish the crawl motion in the pipeline. The working principle of the robot will be described by taking the configuration of the pipeline-climbing soft robot shown in fig. 1 as an example, the pipeline to be climbed is a circular pipeline, because the main driving units of the robot are soft materials, and therefore the robot can better adapt to the shape of the pipeline to move, and the 6 steps of the robot movement in fig. 10 specifically comprise.
Firstly, the rear pneumatic expansion unit 1 is inflated to be expanded, so that the rear pneumatic expansion unit is contacted with the inner side of the pipeline and has a locking effect.
Secondly, the middle pneumatic telescopic unit 3 is inflated to be stretched to no deformation, and the stretching amount isΔx。
And thirdly, the front pneumatic expansion unit 1 is inflated and expanded to contact the inner side of the pipeline and has a locking effect.
And fourthly, the rear pneumatic expansion unit 1 starts to deflate and contract until the rear pneumatic expansion unit 1 is not contacted with the inner wall of the pipeline any more.
And fifthly, the middle pneumatic telescopic unit 3 deflates and contracts to pull the rear part of the robot to move forwards.
Sixthly, the rear pneumatic expansion unit 1 is inflated and expanded to contact the inner side of the pipeline and is locked, so that the front and the rear of the robot are tightly attached to the inner wall of the pipeline, and the robot is maintained in a stable state.
After the 6 steps, the pipeline crawling soft robot completes the whole period of forward motion in the pipeline, and the displacement of the motion isΔx. The robot repeats the periodic movement, and can realize crawling in the pipeline for a long distance.
Fig. 11 is a schematic diagram illustrating a series-type pipeline crawling software robot crawling in different pipelines, wherein fig. 11(a) shows a scene of the robot crawling in a square pipeline; fig. 11 (b) shows a scene that the robot crawls in a circular pipe with an inner diameter of 40mm, and fig. 11 (c) shows a scene that the robot crawls when the inner diameter of the pipeline is changed from 40mm to 50mm, and at this time, the robot can keep contact with the inner wall of the pipeline only by increasing the deformation amount of the pneumatic expansion unit 1; fig. 11 (d) shows a scene that the robot crawls in a circular hose, and the robot crawls in a curved pipeline by using the flexible characteristics of the pneumatic telescopic unit 3; fig. 11 (e) shows a situation that the robot crawls in an irregular wall surface, and the pneumatic expansion unit 1 can still be in close contact with the irregular wall surface through appropriate deformation, so that effective crawling is realized. It can be seen that the tandem type pipeline crawling software robot provided by the embodiment can crawl smoothly in pipelines with different shapes and different sizes, has better adaptability to different motion environments, and has the advantages of simple structure, convenience in assembly, easiness in operation and the like.
The soft robot adopts a pneumatic driving mode, the units can generate telescopic motion or expansion motion by inflating and deflating the driving units, the driving units and the connecting pieces between the units are basic constituent elements of the robot, and the soft robot has the characteristics of convenience in disassembly and assembly, strong interchangeability and the like, is mainly applied to pipeline crawling, mainly emphasizes the characteristic of modularization of the robot, and can combine various robot configurations by simply selecting and serially assembling modularized components, so that the robot has different functions and can better adapt to various working environments and tasks. The modularized assembly is convenient to replace, flexible to assemble and powerful in function, and has the advantages of being simple in structure, convenient to assemble, easy to operate and the like.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a modularization pipeline of tandem type software robot of crawling which characterized in that includes:
a pneumatic telescoping unit configured to extend only in an axial direction when inflated;
and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated.
2. The in-line modular pipeline crawling soft robot of claim 1, wherein said pneumatic expansion unit comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect other modules.
3. The in-line modular pipeline crawling software robot of claim 2, wherein the two limit adapters are connected to the corresponding modules by means of a snap, a notch, a thread or a pin.
4. The in-line modular pipeline-crawling soft robot of claim 2, wherein the material of said radially expanding body comprises silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ionic polymer metal composite.
5. The tandem type modular pipeline crawling soft robot of claim 1, wherein the pneumatic telescoping unit comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
the rigid limiting rings are uniformly and axially arranged on the outer peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body;
and the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
6. The in-line modular pipeline crawling software robot of claim 5, wherein said two connection joints connect the respective modules by means of a snap, notch, thread or latch.
7. The in-line modular pipeline-crawling soft robot of claim 5, wherein the material of said axially telescoping body comprises silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ionic polymer metal composite.
8. The in-line modular pipeline crawling software robot of claim 1, wherein the connection part connects the respective modules by means of a snap, a notch, a thread or a latch.
9. The tandem type modular pipeline crawling soft robot as claimed in claim 1, wherein the center of the radial expansion main body is provided with an axial through hole isolated from the closed air cavity, the middle parts of the two limit joints are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from two ends of the axial through hole and are connected into a whole through a buckle.
10. The tandem-type modular pipeline-crawling soft robot according to any one of claims 1 to 9, wherein the number of said pneumatic telescopic units is two or more, each pneumatic telescopic unit being connected in series in turn by a connecting part; the pneumatic expansion units are respectively arranged at two ends of the pneumatic telescopic units which are connected in series through connecting parts.
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| CN201910850234.8A CN110645444A (en) | 2019-09-10 | 2019-09-10 | Modular pipeline crawling software robot of tandem type |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112756344A (en) * | 2020-12-29 | 2021-05-07 | 常德市鼎城区联友机械有限公司 | Cleaning device for hydraulic oil cylinder |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | Pneumatic soft robot for pipeline |
| CN113243970A (en) * | 2021-05-12 | 2021-08-13 | 中国科学院自动化研究所 | Novel blood vessel intervention device and active opening instrument for CTO lesion |
| CN113803565A (en) * | 2021-09-23 | 2021-12-17 | 清华大学 | Software pipeline detection robot based on intelligent material driving |
| CN113927616A (en) * | 2021-11-11 | 2022-01-14 | 江南大学 | Software crawling robot and control method thereof |
| CN114367967A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscles and super-elastic rods |
| CN114673864A (en) * | 2022-04-08 | 2022-06-28 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN114738600A (en) * | 2022-03-15 | 2022-07-12 | 香港理工大学深圳研究院 | Modular pipeline defect detection software robot |
| CN115781701A (en) * | 2021-09-10 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Telescopic mobile power GIS cavity internal detection robot |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
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| CN114367967B (en) * | 2020-10-14 | 2024-05-28 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscle and super-elastic rod |
| CN114367967A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscles and super-elastic rods |
| CN112756344A (en) * | 2020-12-29 | 2021-05-07 | 常德市鼎城区联友机械有限公司 | Cleaning device for hydraulic oil cylinder |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | Pneumatic soft robot for pipeline |
| CN113243970A (en) * | 2021-05-12 | 2021-08-13 | 中国科学院自动化研究所 | Novel blood vessel intervention device and active opening instrument for CTO lesion |
| CN113243970B (en) * | 2021-05-12 | 2023-10-31 | 中国科学院自动化研究所 | Novel vascular intervention device for CTO lesions and active opening instrument |
| CN115781701A (en) * | 2021-09-10 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Telescopic mobile power GIS cavity internal detection robot |
| CN113803565A (en) * | 2021-09-23 | 2021-12-17 | 清华大学 | Software pipeline detection robot based on intelligent material driving |
| CN113927616A (en) * | 2021-11-11 | 2022-01-14 | 江南大学 | Software crawling robot and control method thereof |
| CN114738600A (en) * | 2022-03-15 | 2022-07-12 | 香港理工大学深圳研究院 | Modular pipeline defect detection software robot |
| CN114738600B (en) * | 2022-03-15 | 2023-11-03 | 香港理工大学深圳研究院 | Modularized pipeline defect detection soft robot |
| CN114673864B (en) * | 2022-04-08 | 2022-11-22 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN114673864A (en) * | 2022-04-08 | 2022-06-28 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
| CN116237321B (en) * | 2023-03-15 | 2023-10-17 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
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