The pipeline robot is designed to improve the work that the local water conservancy staff detect the problem of the reservoir culvert pipe. The machine substitutions will greatly improve the detection efficiency in outside. The omnidirectional pipeline robot has a cross structure which is the basic framework of the robot. The driving wheel, which is fixed on the top of each driving leg, can be changed adaptively according to the wall of the specific terrain. Pass the plane of the robot is the center of pipeline level, it could maximally avoid silt ponds culvert, and can greatly improve the pipeline dislocation climbing ability.
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徐高欢,谢怡杰,张夏良,潘聪华.水库涵管检测用十字结构全向型管道机器人研究[J].机床与液压,2016,44(18):78-81. . Study on omnidirectional pipeline robot with cross structure used in the reservoir culvert pipe detection[J]. Machine Tool & Hydraulics,2016,44(18):78-81