CN211423702U - Modular pipeline robot based on hydraulic artificial muscles - Google Patents
Modular pipeline robot based on hydraulic artificial muscles Download PDFInfo
- Publication number
- CN211423702U CN211423702U CN201922303320.5U CN201922303320U CN211423702U CN 211423702 U CN211423702 U CN 211423702U CN 201922303320 U CN201922303320 U CN 201922303320U CN 211423702 U CN211423702 U CN 211423702U
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- pipeline
- artificial muscle
- artificial
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of software robot, in particular to modularization pipeline robot based on artificial muscle surges. Comprises a supporting module, a cleaning module and a plurality of sections of hydraulic artificial muscles; the multiple sections of hydraulic artificial muscles are sequentially connected end to complete the creeping crawling of the pipeline robot; the support modules are arranged at two ends of each section of hydraulic artificial muscle and used for being tightly fixed with the inner wall of the pipeline in an expanding way; the cleaning module is arranged on the supporting module and used for cleaning the inner wall of the pipeline. The utility model discloses strong adaptability can adapt to different pipe diameters, can apply to the pipeline of different grade type moreover, can realize functions such as the detection of pipeline, cleanness.
Description
Technical Field
The utility model belongs to the technical field of software robot, in particular to modularization pipeline robot based on artificial muscle surges.
Background
The pipeline is used as a common transmission tool in life and has a useful application in many aspects, however, due to long-term use, blockage can occur in the pipeline, if the pipeline is used for transmitting important liquid such as water, petroleum and the like, and particularly when water resources are transported, the blockage of the pipeline not only influences the supply of water resources, but also causes the breeding of bacteria due to sediment in the pipeline, and influences the safety of people. To avoid this situation, the pipe needs to be cleaned regularly.
However, since the narrow width of the pipeline limits the possibility of manual operation, there are many researches and related patents on the pipeline robot as an effective cleaning and detecting means, and some researches on the pipeline robot have been shifted to practical applications. According to different types of pipelines, different application environments and different functions, different robot design schemes are provided, and the robot design schemes respectively have advantages and disadvantages, such as: the THES series pipeline robots designed by ShigeoHirose and the like of the university of Tokyo industries in Japan have different diameters of pipelines passed by the first series, and have the robots with the diameters of 50mm and 110mm, and have characteristics and application scenes respectively; the pipeline robot designed by DaphneD' Zurko et al is used for detecting a gas pipeline, the robot is in a joint-shaped structure, wheel-type movement is adopted, and the whole robot is composed of rigid parts; the multi-joint peristaltic pipeline robot developed by Bernhard Klaassen et al can be suitable for pipelines with the diameter of 300mm-600mm, adopts wheel type movement, and is also formed by rigid parts as a whole; still others employ a tracked mobile pipeline robot.
Meanwhile, in the aspect of a soft driver, the bending artificial muscle is researched more, the bending mechanism is different, the bending effect is different, and the bending artificial muscle designed by B.Wang and the like of Oakland university at present has the advantages that by changing the knitting density of the knitting sleeve, one half of the knitting density is high, and the other half of the knitting density is low, so that the bending deformation of the artificial muscle is realized; there is also the bending artificial muscle proposed by Hassanin Al-Fahaam et Al, Solford university, UK, which is achieved by bending the artificial muscle by sewing a relatively stiff thread to one side of a braided sleeve. Torsional elongation is less studied than bending artificial muscles, but there are still related studies, such as: the torsional stretching artificial muscle proposed by Finnnuala Connolly et al of Harvard university structurally is a phenomenon that the torsional stretching artificial muscle is twisted and stretched under the guidance of a fiber winding by pouring and encapsulating the fiber winding on the outer layer.
Although the existing pipeline robot is integrated, the functions of detection, detection and cleaning can be realized, most pipeline robots have the defects of complex structure, overhigh cost, rigid part formation, difficult miniaturization and the like, and meanwhile, the adaptability of the robot is poor, the structure needs to be redesigned or a new series needs to be designed when the pipeline robots face pipelines with different diameters, and the universality is poor. In addition, these pipeline robots do not address the detection and cleaning of curved pipelines.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a modularization pipeline robot based on artificial muscle surges to there is the problem of a great deal of shortcoming that the structure is complicated, with too high costs, comprises rigid part, miniaturization difficulty etc. in solving current pipeline robot.
In order to achieve the above object, the present invention adopts the following technical solutions.
A modular pipeline robot based on hydraulic artificial muscles comprises a support module, a cleaning module and a plurality of sections of hydraulic artificial muscles;
the multiple sections of hydraulic artificial muscles are sequentially connected end to complete the creeping crawling of the pipeline robot;
the support modules are arranged at two ends of each section of the hydraulic artificial muscle and used for being tightly fixed with the inner wall of the pipeline in an expanding way;
the cleaning module is arranged on the supporting module and used for cleaning the inner wall of the pipeline.
The multistage hydraulic artificial muscle comprises hydraulic torsional elongation artificial muscle and hydraulic torsional contraction artificial muscle which are alternately arranged at intervals, and the hydraulic torsional elongation artificial muscle and the hydraulic torsional contraction artificial muscle realize peristaltic crawling of the pipeline robot under the synergistic effect.
The hydraulic torsional contraction artificial muscle comprises a braided sleeve, a fiber winding and an elastic body;
the elastic body is of a hollow structure; the two ends of the elastic body are respectively provided with a plug and a connector, and the connector is used for being connected with an external liquid supply pipe;
the fiber winding is of a spiral structure and is arranged on the outer surface of the elastic body; when the elastic body is filled with driving liquid, the fiber winding guides the elastic body to twist;
the braided sleeve is arranged on the outer sides of the fiber windings and the elastic body and used for limiting the elastic body to axially extend out and guiding the elastic body to axially contract and radially expand.
The multi-section hydraulic artificial muscle further comprises a hydraulic Mckiben artificial muscle arranged at one end of the modular pipeline robot.
The multi-section hydraulic artificial muscle further comprises a hydraulic bending artificial muscle arranged at the end part of the other end of the modular pipeline robot.
The supporting module comprises a supporting wheel frame and a tightening device arranged on the outer circumference of the supporting wheel frame, and the tightening device is fixed with the inner wall of the pipeline in a tightening mode through the driving liquid filled in the tightening device.
The cleaning module comprises a sweeping mechanism;
cleaning the mechanism including along the circumferencial direction set up in the cleaning brush on the support wheel carrier is outer, the cleaning brush passes through the torsion stretch artificial muscle of surge and the torsional motion of the torsion shrink artificial muscle of surge realize cleaning the pipeline wall.
The cleaning module further comprises a pipeline wiping mechanism;
the pipeline wiping mechanism is located on the rear side of the cleaning mechanism, and the pipeline wiping mechanism achieves secondary cleaning of the inner wall of the pipeline through the twisting motion of the hydraulic twisting and stretching artificial muscle and the hydraulic twisting and contracting artificial muscle.
Be located be equipped with wheel support module on the support wheel carrier of modularization pipeline robot both ends tip, wheel support module includes a plurality of supporting legs and sets up in each the gyro wheel of supporting leg tip, gyro wheel and the contact of pipeline inner wall.
And a detection device or a water spraying device is arranged between every two adjacent hydraulic artificial muscles, and the detection device or the water spraying device can be installed at the end part of the hydraulic artificial muscle.
The utility model has the advantages and beneficial effects that:
the utility model discloses application prospect is extensive: the utility model discloses an artificial muscle modularization pipeline robot strong adaptability surges can adapt to different pipe diameters, can apply to the pipeline of different grade type moreover, can realize functions such as the detection of pipeline, cleanness.
The utility model discloses a modular structure, according to the pipe diameter of difference only need change correspond diameter supporting mechanism and wiper mechanism can.
The utility model discloses can realize the pipeline the detection, survey and function such as clean, only need to increase corresponding detection device and can realize corresponding function, simple structure.
The utility model discloses with low costs, the utility model discloses a main part is formed by the artificial muscle combination of different deformation forms, and the preparation cost is low, and other mechanisms are simple structure if support module, clean module etc. also, and the cost is lower relatively.
The utility model discloses have multiple compound mode, carry out different combinations according to the pipeline of difference, can make up when the straight tube: a hydraulic Mckiben artificial muscle, a hydraulic torsional contraction artificial muscle and a hydraulic torsional elongation artificial muscle; in the case of a pipe having a complex pipe, such as a pipe requiring a bend, it is possible to combine: hydraulic bending artificial muscle, hydraulic twisting contracting artificial muscle and hydraulic twisting elongating artificial muscle.
Drawings
Fig. 1 is a schematic perspective view of a modular pipeline robot based on hydraulic artificial muscles according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a cleaning mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pipe wiping mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a hydraulic torsional contraction artificial muscle according to an embodiment of the present invention;
fig. 6 is a cross-sectional view of a hydraulic torsional contraction artificial muscle according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a winding manner of a fiber winding according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a braided sleeve according to an embodiment of the present invention;
fig. 9 is a schematic structural view of the braided sleeve before deformation in an embodiment of the present invention;
fig. 10 is a schematic structural view of a braided sleeve after deformation according to an embodiment of the present invention;
fig. 11 is a front view of a modular pipeline robot based on hydraulic artificial muscles according to an embodiment of the present invention;
fig. 12 is a schematic diagram of the movement steps of the modular pipeline robot according to an embodiment of the present invention;
fig. 13 is a schematic perspective view of a modular pipeline robot based on hydraulic artificial muscles according to another embodiment of the present invention.
Wherein: 1-supporting legs, 2-hydraulic artificial muscle joints, 3-rollers, 4-expansion devices, 5-pipeline wiping mechanisms, 6-hydraulic Mckiben artificial muscles, 7-supporting wheel frames, 8-water spraying devices, 9-hydraulic torsional contraction artificial muscles, 91-joints, 92-hoops, 93-weaving sleeves, 94-plugs, 95-fiber windings, 96-elastomers, 97-supporting rods, 10-cleaning mechanisms, 11-detection devices, 12-cleaning brushes, 13-hydraulic torsional elongation artificial muscles, 14-hydraulic artificial muscle plugs, 17-position sensors, 18-gap detection sensors, 19-hydraulic bending artificial muscles, A-first nodes, B-second nodes and C-third nodes, d-fourth node, E-fifth node, M-stationary plane.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows that, in an embodiment of the present invention, a modular pipeline robot based on hydraulic artificial muscle includes a support module, a cleaning module, and a plurality of sections of hydraulic artificial muscle; the multiple sections of hydraulic artificial muscles are sequentially connected end to complete the creeping crawling of the pipeline robot; the support modules are arranged at two ends of each section of hydraulic artificial muscle and used for being tightly fixed with the inner wall of the pipeline in an expanding way; the cleaning module is arranged on the supporting module and used for cleaning the inner wall of the pipeline.
The multi-section hydraulic artificial muscle comprises hydraulic twisting and stretching artificial muscle 13 and hydraulic twisting and contracting artificial muscle 9 which are alternately arranged at intervals, and the peristaltic crawling of the pipeline robot is realized under the synergistic effect of the hydraulic twisting and stretching artificial muscle 13 and the hydraulic twisting and contracting artificial muscle 9.
Further, the multi-section hydraulic artificial muscle further comprises a hydraulic Mckiben artificial muscle 6 arranged at one end of the modular pipeline robot.
As shown in fig. 1, the supporting module includes a supporting wheel frame 7 and a tightening device 4 disposed on the outer circumference of the supporting wheel frame 7, and the tightening device 4 is tightened and fixed with the inner wall of the pipeline by filling driving liquid into the tightening device.
The interior of the expansion device 4 is of a hollow structure, and when liquid is filled, the expansion device expands (similar to the inflation and expansion effect of a tire) to be in contact with the pipeline, so that the robot is fixed; the diameter of the expansion means 4 is lower than the height of the cleaning module when not filled with liquid, and does not affect the operation of the cleaning module.
The cleaning module includes a sweeping mechanism 10; as shown in fig. 2, the cleaning mechanism 10 includes a cleaning brush 12 circumferentially provided on the outer circumference of the supporting wheel frame 7, and the cleaning brush 12 cleans the pipe wall by the twisting motion of the hydraulically-twisted elongated artificial muscle 13 and the hydraulically-twisted contracted artificial muscle 9.
Further, as shown in fig. 1, the cleaning module further includes a pipe wiping mechanism 5.
As shown in fig. 3, the pipe wiping mechanism 5 is located at the rear side of the cleaning mechanism 10, and the pipe wiping mechanism 5 implements secondary cleaning of the inner wall of the pipe by the twisting motion of the hydraulic twisting elongation artificial muscle 13 and the hydraulic twisting contraction artificial muscle 9.
In this embodiment, the pipeline wiping mechanism 5 is mainly composed of a sponge, and is used for scraping the surface of the cleaned pipeline, so that the surface is cleaner. The cleaning mechanism 10 and the pipeline wiping mechanism 5 realize forward and reverse cleaning operation through forward and reverse twisting of hydraulic artificial muscles.
Further, be located and be equipped with wheel support module on the support wheel carrier 7 of modularization pipeline robot both ends tip, wheel support module includes a plurality of supporting legs 1 and sets up in the gyro wheel 3 of 1 tip of each supporting leg, and gyro wheel 3 and the contact of pipeline inner wall, when pipeline robot's wriggling crawls, gyro wheel 3 walks on the pipeline inner wall.
Furthermore, a detection device 11 or a water spraying device 8 is arranged between two adjacent hydraulic artificial muscles, and the detection device 11 or the water spraying device 8 is installed at the end part of one hydraulic artificial muscle. The water spraying device 8 is used for spraying water to the inner wall of the pipeline to assist in cleaning the module, so that the cleaning effect of the cleaning module is better.
As shown in fig. 4, the detection device 11 includes a detection base, and a position sensor 17 and a gap detection sensor 18 provided on the detection base.
As shown in fig. 5 and 6, the hydraulic torsional contraction artificial muscle 9 comprises a braided sleeve 93, a fiber winding 95 and an elastic body 96; wherein the elastomer 96 is a hollow structure; both ends of the elastic body 96 are connected with a plug 91 and a connector 91 through a clamp 92, and the connector 91 is used for connecting with an external liquid supply pipe; the fiber winding 95 is a spiral structure and is disposed on the outer surface of the elastic body 96; when the elastic body 96 is filled with driving liquid, the fiber winding 95 guides the elastic body 96 to twist; the braided sleeve 93 is provided outside the fiber windings 95 and the elastic body 96, and is used for restricting the elastic body 96 from axially extending and guiding the elastic body 96 to axially contract and radially expand.
In the embodiment of the present invention, the elastic body 96 is a latex tube.
As shown in fig. 7, the fiber winding 95 is formed by spirally winding a plurality of fiber ropes on the elastic body 96, and the fiber winding 95 and the elastic body 96 are fixedly connected to each other by bonding to form an integral structure.
Further, a plurality of fiber ropes are parallel to each other and are spaced at equal intervals.
In the embodiment of the utility model, the fiber rope is the commercial product, adopts the Kevlar (Kevlar) fibre of the development of United states DuPont (DuPont) company.
In the embodiment of the present invention, as shown in fig. 8, the material stiffness of the braided sleeve 93 greatly limits the movement of the artificial muscle in the axial direction, but the radial direction is not limited. The braided fibers of braided sleeve 93 are crossed in the radial direction with a certain crossing angle. As shown in fig. 9, in the non-operating state, the crossing angle between the braided fibers of the braided sleeve 93 is 60 degrees; as shown in fig. 10, when the braided sleeve 93 undergoes radial expansion and axial contraction with the elastic body 96, the crossing angle between the braided wires becomes 45 degrees.
In the embodiment of the present invention, the braiding sleeve 93 is braided by Kevlar fiber rope or nylon rope.
The utility model discloses well hydraulic twist reverse artificial muscle 9's of contraction deformation principle: the artificial muscle is a combined transformation principle of Mckiben artificial muscle and torsional elongation artificial muscle due to torsional contraction. Therefore, the principle of deformation of a torsionally contracted artificial muscle can be understood as follows: under the action of internal pressure, the fiber windings 95 can guide the elastic body 96 to perform torsional movement and have a tendency to expand due to the binding relationship between the 8-12 fiber windings 95 wound in parallel on the inner layer and the elastic body 96 (there is no relative displacement between the fiber windings and the elastic body). However, the material of the braided sleeve 93 restricts the elongation movement of the artificial muscle in the axial direction due to its large rigidity, fixed length, etc., and thus, like a fixed length string having no elasticity, cannot be elongated but is freely movable in the opposite direction. Meanwhile, as shown in fig. 9, since the braided sleeve 93 is a braided structure that is braided by braiding fibers to cross in the radial direction and has a certain crossing angle, the radial direction is not restricted, and the braided sleeve 93 can guide the shrinkage deformation of the elastic body. Therefore, when the elastic body 96 is in contact with the outer braided sleeve 93, a phenomenon of radial expansion and axial contraction is exhibited, which is similar to the deformation of the Mckibben muscle, thereby achieving a torsional contraction phenomenon of the artificial muscle.
In the embodiment of the utility model, the hydraulic torsional contraction artificial muscle 9 is prepared by the following specific processes:
the support rod 97 is put into the interior of the elastic body 96 while being engaged with the retainer, as shown in fig. 7. Positioning points are marked on the surface of the elastic body 96, various methods are used for marking the positioning points, and in order to accelerate the process of preparing artificial muscles, standard spiral marking is realized by a spraying method after the assembly body is obtained; after obtaining the standard helical mark, a plurality of Kevlar fibers are wound in parallel along the location indicator helix on the elastomer 96, each Kevlar fiber being equidistant in circumferential direction. After the Kevlar fibers are wrapped, the support rods 97 are removed and flexible glue is used to bond the Kevlar fibers to the elastomer 96 in a binding relationship. According to the principle of deformation of the torsionally elongated artificial muscle, in this case, without the peripheral braided sleeve 93, the artificial muscle exhibits a phenomenon of torsional elongation when pressure is applied, and may be accompanied by a phenomenon of local blistering. Therefore, by further adding the outer woven tube 93 to encapsulate the artificial muscle after obtaining the artificial muscle that is twisted and elongated, not only the twisting characteristic can be realized, but also the direction of the artificial muscle movement can be changed from the elongation movement to the contraction movement. Finally, the two ends of the elastic body 96 are sealed by the joints 91 and the plugs 94, and the braided sleeve 93 is bound with the elastic body 96 through the clips 92 to realize encapsulation.
In this implementation, the theory of operation of modularization pipeline robot based on artificial muscle that surges is:
as shown in fig. 11-12, in the initial state (1), the liquid-filled expansion is performed at the third node C and the fifth node E by the expansion device 4, so that the modular pipeline robot is fixed at the fixing plane M; the hydraulic torsional contraction artificial muscle 9 is pumped to contract and expand the hydraulic torsional contraction artificial muscle 9, and the robot enters the state (2); entering a state (3) without deformation of the modular pipeline robot, wherein the expansion devices 4 of the first node A and the fourth node D work, and the expansion devices 4 at the third node C and the fifth node E stop working; and finally, entering a state (4), releasing the pressure in each artificial muscle, entering liquid drainage work, returning the modular pipeline robot to the original state, and then performing the action of the state (1). In the process from the state (1) to the state (4), the modular pipeline robot performs a forward movement. In the whole movement process, the cleaning module performs spiral cleaning on the inside of the pipeline in the twisting process except for the state (3) without twisting movement.
As shown in fig. 13, in another embodiment of the present invention, to the implementation under the complex pipeline, on the basis of the combination to the straight tube condition, the front end is installed the hydraulic bending artificial muscle 19, and the turning problem of the modular pipeline robot is controlled through the hydraulic bending artificial muscle 19, and only when the turning condition is met, the hydraulic bending artificial muscle 19 works, otherwise, the hydraulic bending artificial muscle does not work.
The utility model discloses by the three kinds of artificial muscle combinations of the artifical muscle of the torsional contraction of the Mckiben that surges, the twist and contract artificial muscle that surges and the twist and extend artificial muscle that surges form, can realize under these artificial muscle's that surges the wriggling of pipeline robot crawl, the function such as turning to and rotatory cleanness of complicated pipeline. Meanwhile, the modular design is adopted, so that support modules with different diameters can be adopted when different pipe diameters are met, and the support modules and the cleaning modules with different sizes are arranged at the joints of artificial muscles of all parts so as to adapt to the cleaning and detection of different pipe diameters. The embodiment of the utility model provides an in, the Mckiben artificial muscle that surges and the crooked artificial muscle that surges are prior art, do not give unnecessary details here.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. A modular pipeline robot based on hydraulic artificial muscles is characterized by comprising a support module, a cleaning module and a plurality of sections of hydraulic artificial muscles;
the multiple sections of hydraulic artificial muscles are sequentially connected end to complete the creeping crawling of the pipeline robot;
the support modules are arranged at two ends of each section of the hydraulic artificial muscle and used for being tightly fixed with the inner wall of the pipeline in an expanding way;
the cleaning module is arranged on the supporting module and used for cleaning the inner wall of the pipeline.
2. The modular pipeline robot based on hydraulic artificial muscles of claim 1, wherein the multiple sections of hydraulic artificial muscles comprise hydraulic torsional elongation artificial muscles and hydraulic torsional contraction artificial muscles which are alternately arranged at intervals, and the hydraulic torsional elongation artificial muscles and the hydraulic torsional contraction artificial muscles cooperate to realize the peristaltic crawling of the pipeline robot.
3. The hydraulically powered artificial muscle based modular pipeline robot of claim 2, wherein the hydraulically powered torsionally contracting artificial muscle comprises a braided sleeve, fiber windings, and an elastomer;
the elastic body is of a hollow structure; the two ends of the elastic body are respectively provided with a plug and a connector, and the connector is used for being connected with an external liquid supply pipe;
the fiber winding is of a spiral structure and is arranged on the outer surface of the elastic body; when the elastic body is filled with driving liquid, the fiber winding guides the elastic body to twist;
the braided sleeve is arranged on the outer sides of the fiber windings and the elastic body and used for limiting the elastic body to axially extend out and guiding the elastic body to axially contract and radially expand.
4. The hydraulic artificial muscle-based modular pipeline robot of claim 2, wherein the multi-segment hydraulic artificial muscle further comprises a hydraulic Mckiben artificial muscle arranged at one end of the modular pipeline robot.
5. The modular pipeline robot based on hydraulic artificial muscle of claim 4, wherein the multi-section hydraulic artificial muscle further comprises a hydraulic bending artificial muscle arranged at the other end of the modular pipeline robot.
6. The modular pipeline robot based on hydraulic artificial muscles according to claim 2, wherein the supporting module comprises a supporting wheel frame and a tightening device arranged on the outer circumference of the supporting wheel frame, and the tightening device is tightened and fixed with the inner wall of the pipeline by filling driving liquid into the tightening device.
7. The hydraulically operated artificial muscle based modular pipeline robot of claim 6, wherein the cleaning module comprises a sweeping mechanism;
cleaning the mechanism including along the circumferencial direction set up in the cleaning brush on the support wheel carrier is outer, the cleaning brush passes through the torsion stretch artificial muscle of surge and the torsional motion of the torsion shrink artificial muscle of surge realize cleaning the pipeline wall.
8. The hydraulically operated artificial muscle based modular robotic pipe as defined in claim 7, wherein the cleaning module further comprises a pipe wiping mechanism;
the pipeline wiping mechanism is located on the rear side of the cleaning mechanism, and the pipeline wiping mechanism achieves secondary cleaning of the inner wall of the pipeline through the twisting motion of the hydraulic twisting and stretching artificial muscle and the hydraulic twisting and contracting artificial muscle.
9. The modular pipeline robot based on hydraulic artificial muscle according to claim 6, characterized in that wheel support modules are arranged on support wheel frames at the end parts of the two ends of the modular pipeline robot, each wheel support module comprises a plurality of support legs and rollers arranged at the end parts of the support legs, and the rollers are in contact with the inner wall of the pipeline.
10. The modular pipeline robot based on hydraulic artificial muscles of claim 1, wherein a detection device or a water spraying device is arranged between two adjacent hydraulic artificial muscles, and the detection device or the water spraying device can be installed at the end part of the hydraulic artificial muscles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922303320.5U CN211423702U (en) | 2019-12-20 | 2019-12-20 | Modular pipeline robot based on hydraulic artificial muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922303320.5U CN211423702U (en) | 2019-12-20 | 2019-12-20 | Modular pipeline robot based on hydraulic artificial muscles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211423702U true CN211423702U (en) | 2020-09-04 |
Family
ID=72287818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922303320.5U Active CN211423702U (en) | 2019-12-20 | 2019-12-20 | Modular pipeline robot based on hydraulic artificial muscles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211423702U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
-
2019
- 2019-12-20 CN CN201922303320.5U patent/CN211423702U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN110906104B (en) * | 2019-12-20 | 2024-03-01 | 中国科学院沈阳自动化研究所 | Modularized pipeline robot based on hydraulic artificial muscle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5541825B2 (en) | Telescopic hose | |
| CN110877331B (en) | Torsion contraction artificial muscle | |
| CN211423702U (en) | Modular pipeline robot based on hydraulic artificial muscles | |
| CN207454973U (en) | A kind of fluid conveying self extending hose | |
| ITVI20100189A1 (en) | FLEXIBLE HOSE WITH REINFORCEMENT STRUCTURE AND KNITTING PROCEDURE FOR ITS REALIZATION. | |
| CN103791179A (en) | Extendable hose assembly | |
| CN106764135A (en) | A kind of telescoping tube | |
| AU2015100607A4 (en) | Water Hose | |
| CN110906104A (en) | Modular pipeline robot based on hydraulic artificial muscles | |
| CN211250043U (en) | Twist and contract artificial muscle | |
| CN206398210U (en) | A kind of telescoping tube | |
| CN105987240A (en) | Ultrahigh pressure metal hose with external strengthened layer | |
| US11572966B2 (en) | Dual elastic hose | |
| CN206689156U (en) | A kind of chemical industry material tube inner wall cleaning device | |
| KR100773083B1 (en) | Multiple pipe for cable | |
| CN205859393U (en) | Rise pulling type telescopic water pipe | |
| CN206830978U (en) | A kind of bellows | |
| CN104048117A (en) | Water hose | |
| RU2334863C2 (en) | Segment pipe made of pivotally-connected elements | |
| CN209977467U (en) | Novel HDPE winding arrangement wall pipe | |
| CN211821119U (en) | Anti-seismic axial high-strength fiber pipe | |
| CN211821118U (en) | Anti-seismic axial high-strength fiber pipe | |
| FI86763B (en) | ROERFOERBAND AV POLYMERROER. | |
| JPH0612155B2 (en) | Optical fiber built-in hose | |
| CN211133205U (en) | Water tank filtering device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |