The invention provides a multi-posture pipeline inspection quadruped robot based on air cylinders and pneumatic muscles, the inspection quadruped robot can realize overturning and multi-form movement in a pipeline, has the characteristics of multiple degrees of freedom and rigid-flexible combination, and comprises a front machine body and a rear machine body, inspection equipment is mounted on the front machine body, and the rear machine body is mounted on the rear machine body. The front machine body and the rear machine body are both provided with legs, the legs are driven by air cylinders and pneumatic muscles, the front machine body and/or the rear machine body are/is provided with an overturning supporting mechanism, and the front machine body and/or the rear machine body are/is provided with a driving module used for driving the legs to move and driving the overturning supporting mechanism to move. The front machine body and the rear machine body are connected through a flexible waist part, and the leg parts are provided with telescopic foot ends.

    本发明提供了一种基于气缸与气动肌肉的多姿态管道巡检四足机器人,可实现巡检四足机器人在管道中实现翻转、多形态运动,具有自由度多,刚柔结合的特点,其包括前机身和后机身,所述前机身上安装有巡检设备,所述前机身和所述后机身均设有腿部,所述腿部是由气缸与气动肌肉驱动的腿部,所述前机身和/或所述后机身设有翻转支撑机构,所述前机身和/或所述后机身设有用于驱动所述腿部运动和翻转支撑机构运动的驱动模块,所述前机身和所述后机身之间通过柔性腰部连接,所述腿部安装有可伸缩的足端。


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    Title :

    Multi-posture pipeline inspection quadruped robot based on air cylinders and pneumatic muscles


    Additional title:

    一种基于气缸与气动肌肉的多姿态管道巡检四足机器人


    Contributors:
    CAO GUANGKE (author) / WU HAITENG (author) / WANG LONG (author) / HUA CONGCONG (author) / GUO YUGUANG (author) / MAO ZEQING (author)

    Publication date :

    2023-07-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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