Crawling mechanism of squirming pipeline robot
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The utility model provides a crawling mechanism of a squirming pipeline robot. The crawling mechanism is applicable to pipeline diameter ranging from 160 mm to 220 mm, three-section type modular design is adopted in the structure of the crawling mechanism, the head portion and the tail portion are a front locking mechanism and a back locking mechanism respectively, and the middle portion is a telescopic mechanism. When the robot runs forwards in a pipeline, the front locking mechanism is loosened firstly, the back locking mechanism is locked, the telescopic mechanism stretches out, to push the front locking mechanism forwards, then, the front locking mechanism is locked, the back locking mechanism is loosened, the telescopic mechanism draws back to drive the back locking mechanism to move forwards, and one advancing movement period is completed; through circulation movement in the mode, periodic advancing movement of the squirming pipeline robot is achieved, and otherwise, the retreating movement of the robot can be achieved. According to the crawling mechanism, the modular design is adopted, a certain pipe diameter change adaptive capacity and bend passing capacity are achieved, and the robot can advance or retreat in the pipeline in a squirming mode.