Peristaltic pipeline robot crawling mechanism
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The invention provides a peristaltic pipeline robot crawling mechanism which is suitable for the pipeline diameter between 160mm and 220mm. The three-segment modularization design is adopted in the structure of the mechanism, the tail portion and the end portion of the mechanism are provided with a front locking mechanism and a rear locking mechanism respectively, and the middle of the mechanism is a telescopic mechanism. When the peristaltic pipeline robot crawling mechanism moves forward in a pipeline, the front locking mechanism firstly loosens, the rear locking mechanism is locked, the telescopic mechanism extends and pushes out the front locking mechanism forward, then the front locking mechanism is locked, the rear locking mechanism loosens, the telescopic mechanism retracts and drives the rear locking mechanism to move forward to finish an advancing period, the peristaltic pipeline robot crawling mechanism moves circularly, and accordingly periodical advancing of a peristaltic pipeline robot is achieved. Otherwise, periodical back moving of the peristaltic pipeline robot is achieved. By means of the modularized design, the peristaltic pipeline robot crawling mechanism has certain pipe diameter change adaptive capacity and bent pipe passing capacity, and peristaltic advancing or back moving of the robot in the pipeline can be achieved.