CN112828870A - Pneumatic soft robot for pipeline - Google Patents
Pneumatic soft robot for pipeline Download PDFInfo
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- CN112828870A CN112828870A CN202110227448.7A CN202110227448A CN112828870A CN 112828870 A CN112828870 A CN 112828870A CN 202110227448 A CN202110227448 A CN 202110227448A CN 112828870 A CN112828870 A CN 112828870A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
Abstract
The invention relates to a pneumatic soft robot for a pipeline, which comprises a functional module, an air pump, a direction adjusting air bag group, a walking driving piece and two fixed air bags, wherein the functional module is arranged on the air pump; two ends of the walking driving part are connected with one end of the two fixed air bags, and the air pump is arranged at the other end of one fixed air bag; one end of the direction adjusting air bag group is connected with the other end of the other fixed air bag, and the functional module is arranged at the other end of the direction adjusting air bag group; the walking driving piece can extend and shorten along with inflation and deflation; the direction adjusting air bag group comprises at least three ellipsoidal air bags, each ellipsoidal air bag is mutually and tightly connected with the adjacent ellipsoidal air bag, the expansion and contraction motions of each ellipsoidal air bag are mutually independent, and the steering of the robot is realized through the coordinated motions of all the ellipsoidal air bags. The robot can flexibly and self-adapt to pipelines with different calibers, can realize flexible contact between the robot and the inner wall of the pipeline, and realizes multifunctional operation.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a pneumatic soft robot for a pipeline.
Background
The pipeline is used as an effective material transportation means and is widely applied to numerous fields such as urban infrastructure, industrial transportation systems and the like. The existing pipeline operation mode is mainly traditional manual operation, and the maintenance, detection and cleaning operation in the pipeline is difficult, low in efficiency and dangerous to some extent. With the continuous improvement of the scientific technology and the manufacturing level, the improvement of the intelligent level of the pipeline operation becomes a powerful guarantee for daily life and social production under the industrial background.
The existing pipeline robot mainly adopts a wheel type structure, the structure not only leads to the large volume of the robot, but also can not better adapt to the complicated and changeable conditions in the pipeline, and the motion flexibility is poor. The problems encountered by the wheeled pipeline robot in the practical application process, such as motion interference when bending pipes and irregular pipelines, insufficient driving force caused by internal consumption, deformation of wall surfaces and errors of the robot, cause the robot to deviate from a correct posture in the pipelines, even turn over and block the pipelines. In common pipeline robots, a wheel type robot and a track robot cannot move in a pipeline which is straight up and down, and steering movement at a multi-branch fork of the pipeline is difficult.
Chinese patent publication No. CN101625062B discloses a flexible peristaltic pipeline robot with a guide head, which realizes turning by a front guide head and a magnetic push-pull wheel rod mechanism, but the robot includes two rigid hemispherical shells, left and right, and therefore, the robot can only move in a T-shaped pipeline with a large bending radius and cannot adapt to a pipeline structure with a changed pipe diameter.
Chinese patent publication No. CN209663924U discloses a pipeline cleaning robot, in which a dust removing device is connected to a control mechanism through a motor to clean a pipeline, but the structure is too complex to adapt to the complex internal structure of various curved pipelines.
To sum up, the pipeline operation problem has tentatively been solved to current pipeline robot, but pipeline robot's adaptability is poor, and the motion performance is low when facing the pipeline of different diameters, can't omnidirectional movement in crooked pipeline, and the commonality is poor moreover can't satisfy the multiple function demand to pipeline robot operation. Therefore, it is urgently needed to design a pneumatic hose pipeline robot capable of flexibly adapting to different pipe diameters and realizing omnidirectional flexible feeding motion, and the pneumatic hose pipeline robot aims at completing multifunctional operation in different pipeline environments.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problem to be solved by the invention is to provide a pneumatic soft robot for a pipeline.
In order to solve the technical problems, the invention adopts the technical scheme that:
a pneumatic soft robot for pipelines is characterized by comprising a functional module, an air pump, a direction adjusting air bag group, a walking driving piece and two fixed air bags;
two ends of the walking driving part are connected with one end of the two fixed air bags, and the air pump is arranged at the other end of one fixed air bag; one end of the direction adjusting air bag group is connected with the other end of the other fixed air bag, and the functional module is arranged at the other end of the direction adjusting air bag group; the walking driving piece can extend and shorten along with inflation and deflation; the direction adjusting air bag group comprises at least three ellipsoidal air bags, each ellipsoidal air bag is mutually and tightly connected with the adjacent ellipsoidal air bag, the expansion and contraction motions of each ellipsoidal air bag are mutually independent, and the steering of the robot is realized through the coordinated motions of all the ellipsoidal air bags.
The robot also comprises an air inlet pipe and an air outlet pipe; the air inlet pipe and the air outlet pipe sequentially penetrate through all the fixed air bags and the walking driving part, and extension parts with the same number as that of the ellipsoidal air bags of the direction adjusting air bag group are respectively led out from one end of the air inlet pipe and one end of the air outlet pipe, so that each ellipsoidal air bag is ensured to be internally provided with one extension part of the air inlet pipe and one extension part of the air outlet pipe; the air inlet pipe and the air outlet pipe are respectively provided with a pneumatic electromagnetic valve inside the walking driving part, the fixed air bags and the ellipsoidal air bags, the other end of the air inlet pipe is connected with the output end of the air pump 8, and the other end of the air outlet pipe is positioned outside the robot.
The robot further comprises a microcontroller and a switching value module, the microcontroller is connected with a communication bus through a TTL conversion module, the communication bus is connected with a plurality of switching value modules, it is guaranteed that each walking driving piece, each fixed air bag and each ellipsoidal air bag contain one switching value module, and each switching value module is connected with two corresponding pneumatic electromagnetic valves respectively.
The microcontroller stores a robot motion control program:
when the robot starts to move, the fixed air bag positioned at the tail part of the robot is inflated and expanded and keeps an expanded state, so that the fixed air bag connected with the air pump is tightly attached to the inner wall of the pipeline; the walking driving piece is inflated to extend and keeps an extended state, so that the robot advances; then the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is inflated and expanded and keeps the expanded state, so that the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is tightly attached to the inner wall of the pipeline, and meanwhile, the fixed air bag connected with the air pump is deflated and contracted to a natural state; the air discharge of the walking driving part is shortened to a natural state, so that the advance of the robot in one walking cycle is completed; then the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is deflated and contracted to a natural state, the robot enters the next walking cycle to finish the creeping advance of the robot, the process is a linear walking state, and the direction adjusting air bag group does not work;
when the robot moves to a fork of a pipeline, the ellipsoidal air bags, close to the steering direction, of the direction adjusting air bag group are kept in a natural state, the ellipsoidal air bags far away from the steering direction are inflated and expanded and extrude the ellipsoidal air bags close to the steering direction, when the air pressure in the ellipsoidal air bags far away from the steering direction is large enough, the direction adjusting air bag group integrally deflects to one side close to the steering direction, and the traveling driving piece is inflated and extended to enable the head of the robot to complete steering; when the head of the robot finishes steering, the robot continues to creep and advance, passive steering of the tail of the robot is realized, and steering movement of the whole robot is further finished.
The functional module comprises a temperature and humidity sensor, a pH value sensor, a camera, a cleaning brush or an infrared thermal imaging module.
The two ends of the walking driving piece are respectively provided with a second connector, the second connector comprises a connector body, one end of the connector body is provided with a protruding portion, and the connector body is in threaded connection with the end portion of the walking driving piece.
And the two ends of the fixed air bag and the direction adjusting air bag group are respectively provided with a first connector, and the first connector comprises a connecting disc and a stud positioned on the end surface of the connecting disc.
The direction adjusting air bag group comprises three ellipsoidal air bags which are mutually and tightly connected, and the included angle between every two adjacent ellipsoidal air bags is 120 degrees; each of the ellipsoidal balloons had a length of 75mm and a maximum diameter of 25 mm.
The walking driving piece is a corrugated pipe; the diameter of the bellows is 40mm and the length is 50 mm.
The middle part of the fixed air bag is thick, the two ends of the fixed air bag are thin, the length of the fixed air bag is 200mm, and the maximum diameter of the fixed air bag is 80 mm.
Compared with the prior art, the invention has the beneficial effects that:
1. the main structure of the robot is an inflatable air bag made of rubber and a corrugated pipe with a telescopic function, the size of the robot is easy to change, the robot can flexibly and self-adapt to pipelines with different pipe diameters, and the universality and the safety of the robot in the advancing process are met; the fixed air bag and the ellipsoidal air bag are inflatable rubber air bags, and the inflation and deflation of the rubber air bags are controlled by the opening and closing of a pneumatic electromagnetic valve; the rubber air bag has good telescopic characteristic, is filled with flexible gas, has changeable volume, can flexibly and self-adapt to pipelines with different calibers, well solves the problem that the existing pipeline robot can only work on pipelines with specific diameters, can meet the requirements of pipelines with different calibers, and has good universality; the flexible contact of the robot and the inner wall of the pipeline can be realized through the rubber air bag, the inner wall of the pipeline is not damaged, and the safety requirement is met.
2. The direction adjustment air bag group is composed of a plurality of ellipsoidal air bags, one part of ellipsoidal air bags expand to extrude the other part of ellipsoidal air bags, the moving direction of the robot is adjusted, flexible feeding movement towards various pipelines in all directions can be realized through telescopic matching of the fixed air bags and the walking driving piece, the problem that the existing pipeline robot cannot adapt to the complex structure inside the pipeline due to limitation of the mechanical structure of the existing pipeline robot is solved, and flexible feeding movement in all directions is realized. The walking driving part is formed by a corrugated pipe, and the corrugated pipe is a tubular elastic sensitive element and has the characteristics of strong stretching capacity and easy driving; when the bending amount of the pipeline is large, the robot actively adjusts the direction through the direction adjusting air bag group to enter the bent pipeline, and for the common pipeline with small bending amount, as the main constituent materials of the robot are rubber and corrugated pipes, the robot has the characteristic of easy driving and strong self-adaptive capacity, and the passive bending is realized by virtue of flexible inertia, so that the robot is easy to drive, and the waste of energy in the driving process is reduced.
3. The functional module, the air pump, the direction adjusting air bag group, the walking driving piece and the fixed air bag of the robot all belong to modular structures, each part is provided with a connector, and the parts can be quickly disassembled and assembled through the connectors, so that the robot is convenient to maintain and replace; when the robot breaks down, only the modules need to be checked, and the modules with the problems are replaced.
4. The functional module comprises a camera, a temperature and humidity sensor, a pH value sensor and a cleaning brush, so that the functions of detecting, detecting and cleaning pipelines and the like can be realized, and specific requirements are met; can also infrared thermal imaging module, whether there is obvious problem of revealing in the inside energy distribution condition of user's accessible infrared thermal imaging picture direct judgement pipeline and pipeline to in time maintain the change to the pipeline that has the potential safety hazard.
5. The robot can be flexibly assembled according to the characteristics of the pipeline, and the stable motion of the robot can be ensured without installing a direction adjusting air bag group when the pipeline is straight, so that the motion of the robot is more portable; when the robot needs to move quickly, the two walking driving pieces can be directly connected, so that the extension amount of forward movement is increased; under the condition of a pipeline with a complex pipeline, such as a pipeline needing to turn, the direction adjusting air bag group can be installed on the head of the robot, and the flexible change of the motion direction of the robot is realized.
6. The robot has low cost, the preparation cost of the air bag and the corrugated pipe is low, and other structures such as a connector, a functional module and the like also have simple structures and relatively low cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a second connector according to the present invention;
FIG. 3 is a schematic structural diagram of a first connecting head according to the present invention;
FIG. 4 is a schematic view of the construction of a direction adjusting airbag unit of the present invention;
FIG. 5 is a schematic view of the structure of the cleaning brush of the present invention;
FIG. 6 is a walking state diagram of the present invention;
FIG. 7 is a schematic turn-around view of the present invention;
FIG. 8 is another schematic structural view of the present invention;
FIG. 9 is a control schematic of the present invention;
in the figure: 1-a camera; 2-cleaning the brush; 3-direction adjustment of the airbag group; 4-a first connector; 5-connector II; 6-a walking driving member; 7-fixing the air bag; 8, an air pump; 9-a mounting seat; 10-a connecting ring; 11-a pipeline;
31-ellipsoidal balloon a; 32-ellipsoidal balloon B; 33-ellipsoidal balloon C; 41-connecting disc; 42-a stud; 51-a connector body; 52-extension.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings and is not intended to limit the scope of the present invention.
The invention relates to a pneumatic soft robot (a robot for short, see fig. 1-9) for a pipeline, which comprises a functional module, an air pump 8, a direction adjusting air bag group 3, a walking driving piece 6, an air inlet pipe, an air outlet pipe and two fixed air bags 7, wherein the functional module is arranged on the air pump;
two ends of the walking driving piece 6 are respectively connected with one end of two fixed air bags 7, and the air pump 8 is arranged at the other end of one fixed air bag 7; one end of the direction adjusting air bag group 3 is connected with the other end of the other fixed air bag 7 through a connecting ring 10, and the functional module is arranged at the other end of the direction adjusting air bag group 3; the direction adjusting air bag group 3 is used for adjusting the movement direction of the robot, and the functional module is used for realizing the functions of pipeline detection, cleaning, information acquisition and the like;
the two ends of the walking driving piece 6 are closed, the interior of the walking driving piece is hollow, and the walking driving piece can extend and shorten along with inflation and deflation; the direction adjusting air bag group 3 comprises at least three ellipsoidal air bags, each ellipsoidal air bag is mutually and tightly connected with the adjacent ellipsoidal air bag, the expansion and contraction motions of each ellipsoidal air bag are mutually independent, and the steering of the robot is realized through the coordinated motions of all the ellipsoidal air bags;
the air inlet pipe and the air outlet pipe sequentially penetrate through all the fixed air bags 7 and the walking driving piece 6, the extending parts with the same number as the ellipsoidal air bags of the direction adjusting air bag group 3 are respectively led out from one end of the air inlet pipe and one end of the air outlet pipe, and each ellipsoidal air bag is ensured to be internally provided with the extending part of one air inlet pipe and the extending part of one air outlet pipe; the air inlet pipe and the air outlet pipe are respectively provided with a pneumatic electromagnetic valve inside the walking driving piece 6, each fixed air bag 7 and each ellipsoidal air bag through a three-way joint, two interfaces of the three-way joint are connected with the air pipe, the other interface of the three-way joint is provided with the pneumatic electromagnetic valve, the pneumatic electromagnetic valve on the air inlet pipe is used for controlling air inlet, and the pneumatic electromagnetic valve on the air outlet pipe is used for controlling air outlet; the other end of the air inlet pipe is connected with the output end of the air pump 8, and the other end of the air outlet pipe is positioned outside the robot and used for releasing air; when the pneumatic electromagnetic valve on the air inlet pipe is opened, the air from the air pump 8 is inflated into the corresponding air bag or the walking driving part 6 through the air inlet pipe; when the pneumatic electromagnetic valve on the air outlet pipe is opened, the interior of the corresponding air bag or the walking driving part 6 is communicated with the external space of the robot, and in order to keep the pressure constant, the gas in the corresponding air bag or the walking driving part 6 is diffused outwards, so that the corresponding air bag or the walking driving part 6 is contracted to finish air discharge.
Two ends of the walking driving piece 6 are respectively provided with a second connector 5, the second connector 5 comprises a connector body 51 provided with internal threads, one end of the connector body 51 is provided with a protruding part 52, and the protruding part 52 is provided with internal threads; the connector body 51 is in threaded connection with the end part of the walking driving element 6, and the extension part 52 is connected with the first connector 4, so that the connection between the walking driving element 6 and the fixed air bag 7 is realized;
the two ends of the fixed air bag 7 and the direction adjusting air bag group 3 are respectively provided with a first connector 4, and the first connector 4 comprises a connecting disc 41 and a stud 42 positioned on the end face of the connecting disc 41; the connecting disc 41 connected with the fixed air bag 7 is fixedly connected with the end part of the fixed air bag 7, and the stud 42 is in threaded connection with the corresponding extending part 52 of the second connector 5, so that the connection between the fixed air bag 7 and the walking driving piece 6 is realized.
The functional module comprises a temperature and humidity sensor, a pH value sensor, a camera 1 or a cleaning brush 2 and other functional devices, wherein the temperature and humidity sensor and the pH value sensor are fixed on a mounting disc, and the mounting disc is fixed on a stud 42 of a first connecting piece 4 at the end part of the direction adjusting air bag group 3 and is used for detecting the temperature, the humidity and the pH value in a pipeline; the camera 1 is fixed on the end face of the mounting disc and used for collecting image information in the pipeline; the cleaning brush 2 is sleeved on the circumferential direction of the mounting plate, the cleaning brush 2 is soft, and garbage on the inner wall of the pipeline is automatically cleaned in the moving process of the robot; all the above-mentioned electric components all supply power through power bus, and power bus is connected with the power supply battery, and the power supply battery is fixed on the fixed gasbag 7 of installation air pump 8.
Still include infrared thermal imaging module on the functional module, gather the infrared thermal imaging picture of pipeline through infrared thermal imaging module, user's accessible infrared thermal imaging picture judges whether there is obvious problem of revealing in the inside energy distribution condition of pipeline and pipeline to in time maintain the change to the pipeline that has the potential safety hazard.
The direction-adjusting airbag group 3 comprises three ellipsoidal airbags A31, B32 and C33, the three ellipsoidal airbags are mutually and tightly connected, and the included angle between every two adjacent ellipsoidal airbags is 120 degrees; the ellipsoidal balloon has a length of 75mm and a maximum diameter of 25 mm.
The walking driving part 6 is a corrugated pipe and has the characteristics of strong stretching capacity and easiness in driving, and the diameter of the corrugated pipe is 40mm, and the length of the corrugated pipe is 50 mm.
The middle part of the fixed air bag 7 is thick, the two ends of the fixed air bag are thin, the length of the fixed air bag is 200mm, and the maximum diameter of the fixed air bag is 80 mm; the fixed air bag 7 and the ellipsoidal air bags of the direction adjusting air bag group 3 are both made of rubber with high friction coefficient and good flexibility effect, so that the robot can adapt to the pipe diameter change of a pipeline and realize passive bending by means of inertia; when the steering is performed, the active steering is realized through the direction adjusting air bag group 3.
The functional module, the air pump 8, the direction adjusting air bag group 3, the walking driving piece 6 and the fixed air bag 7 of the robot all belong to modular structures, so that the parts can be quickly disassembled and assembled, and the maintenance and the replacement are convenient; as shown in fig. 8, in order to increase the moving speed of the robot, a walking driver 6 may be added between the direction-adjusting air bag group 3 and the fixed air bag 7 connected to the direction-adjusting air bag group 3, so that the elongation of the walking driver 6 per time is increased, thereby increasing the moving speed of the robot.
The robot further comprises a microcontroller and a switching value module, wherein the microcontroller is connected with a communication bus through a TTL conversion module, the communication bus is connected with a plurality of switching value modules, each walking driving piece 6, each fixed air bag 7 and each ellipsoidal air bag are guaranteed to contain one switching value module, and each switching value module is respectively connected with two corresponding pneumatic electromagnetic valves;
control signals of the microcontroller are transmitted to the switching value module through a communication bus, and output signals of the switching value module act on corresponding pneumatic electromagnetic valves to control the opening and closing of the corresponding pneumatic electromagnetic valves so as to control the contraction and expansion of the walking driving piece 6 and the corresponding air bags and realize corresponding movement of the robot; for example, when the walking driving member 6 needs inflation and expansion, a control signal of the microcontroller is transmitted to a switching value module located inside the walking driving member 6, an output signal of the switching value module acts on a pneumatic solenoid valve located in the walking driving member 6 on an air inlet pipe, the pneumatic solenoid valve is opened, and air in the air inlet pipe enters the walking driving member 6 to inflate and extend the walking driving member 6, so that the robot moves forward.
The camera collects pipeline images, image information is transmitted to the data processing terminal through a wireless transmission module carried by the camera, an image processing program is stored in the data processing terminal, the diameter change and the curve of a pipeline can be identified according to the pipeline image information, a processing result is transmitted to the microcontroller through the Internet of things, the microcontroller generates a control signal, and the corresponding pneumatic electromagnetic valve is controlled to be inflated and deflated, so that the self-adaption or steering function of the robot is realized;
the microcontroller stores a robot motion control program:
when the robot starts to move, the fixed air bag 7 positioned at the tail part of the robot is inflated and expanded and keeps an expanded state, so that the fixed air bag 8 connected with the air pump 8 is tightly attached to the inner wall of the pipeline 11; the walking driving piece 6 is inflated to extend and keeps the extended state, so that the robot advances; then the fixed air bag 7 positioned between the direction adjusting air bag group 3 and the walking driving piece 6 is inflated and expanded and keeps the expanded state, so that the fixed air bag 7 positioned between the direction adjusting air bag group 3 and the walking driving piece 6 is tightly attached to the inner wall of the pipeline 11, and meanwhile, the fixed air bag 7 connected with the air pump 8 is deflated and contracted to the natural state; the air is discharged from the walking driving part 6 and is shortened to a natural state, so that the robot can move forward in one walking cycle; then the fixed air bag 7 positioned between the direction adjusting air bag group 3 and the walking driving piece 6 is deflated and contracted to a natural state, the robot enters the next walking cycle to finish the creeping advance of the robot, the process is a linear walking state, and the direction adjusting air bag group 3 does not work;
when the robot moves to the fork of the pipeline 11, the ellipsoidal air bags, close to the steering direction, of the direction adjusting air bag group 3 keep a natural state, the ellipsoidal air bags, far away from the steering direction, are inflated and expanded and extrude the ellipsoidal air bags, close to the steering direction, when the air pressure in the ellipsoidal air bags, far away from the steering direction, is large enough, the direction adjusting air bag group integrally deflects to one side, close to the steering direction, and the walking driving piece is inflated and extended to enable the head of the robot to complete steering; when the head of the robot finishes steering, the robot continues to creep and advance, passive steering of the tail of the robot is realized, and steering movement of the whole robot is further finished.
Data collected by the temperature and humidity sensor and the pH value sensor are transmitted to the data processing terminal through the wireless data transmission module (the Bluetooth module or the WiFi module) to realize the pipeline environment information collection function, and meanwhile, the internal environment condition of the pipeline is conveniently observed.
The switching value module is a 485 switching value module, the TTL conversion module is a TTL to 485 conversion module, and the microcontroller is an STM32 singlechip; the data processing terminal is an upper computer, a cloud platform or a tablet computer and the like; the model of the camera 1 is OpenMV3 Cam M7.
The working principle and the working process of the invention are as follows:
fig. 6 is a walking state diagram of the robot of the present invention, fig. 6(a) is an initial state of the robot, and the direction adjusting air bag set 3, the walking driving member 6 and the fixed air bag 7 are all in a natural state; the direction adjusting air bag group 3 is the head part of the robot, and the fixed air bag 7 connected with the air pump 8 is the tail part of the robot;
when the robot starts to move, the fixed air bag 7 at the tail of the robot is inflated and expanded and keeps an expanded state, so that the fixed air bag 7 at the tail of the robot is tightly attached to the inner wall of the pipeline, and the robot is fixed, as shown in fig. 6 (b); the walking driving member 6 is inflated to extend the walking driving member 6 in the advancing direction and keep the extended state, so as to realize the advancing of the robot, as shown in fig. 6 (c); then the fixed air bag 7 between the direction adjusting air bag group 3 and the walking driving piece 6 is inflated and expanded and keeps the expanded state, so that the fixed air bag 7 between the direction adjusting air bag group 3 and the walking driving piece 6 is tightly attached to the inner wall of the pipeline, and simultaneously the fixed air bag 7 at the tail part of the robot is deflated and contracted to the natural state, as shown in fig. 6 (d); the walking driving part 6 is deflated, so that the walking driving part 6 is shortened to a natural state, and the advance of the robot in one walking cycle is completed, as shown in fig. 6 (e); then the fixed air bag 7 positioned between the direction adjusting air bag group 3 and the walking driving piece 6 is deflated and contracted to a natural state, the robot enters the next walking cycle to finish the creeping advance of the robot, the process is a linear walking state, and the direction adjusting air bag group 3 does not work;
FIG. 7 is a schematic view showing a turning state of the robot, and FIG. 7(a) is a view showing a straight-ahead state of the robot in a pipe, with an ellipsoidal airbag A31 and an ellipsoidal airbag C33 being adjacent to the turning direction, and an ellipsoidal airbag B32 being away from the turning direction; when the robot moves to the fork of the pipeline 11, the ellipsoidal air bag A31 and the ellipsoidal air bag C33 keep a natural state, the ellipsoidal air bag B32 inflates and expands and presses the ellipsoidal air bag A31 and the ellipsoidal air bag C33, when the air pressure in the ellipsoidal air bag B32 is sufficiently large, the direction adjusting air bag group 3 integrally deflects to one side of the ellipsoidal air bag A31 and the ellipsoidal air bag C33, and simultaneously the walking driving piece 6 inflates and extends to enable the head of the robot to complete left steering, as shown in fig. 7 (B); after the head of the robot finishes left steering, the robot continues to creep and advance, so that passive left steering of the tail of the robot is realized, and further left steering of the whole robot is finished, as shown in fig. 7 (c).
Nothing in this specification is said to apply to the prior art.
Claims (10)
1. A pneumatic soft robot for pipelines is characterized by comprising a functional module, an air pump, a direction adjusting air bag group, a walking driving piece and two fixed air bags;
two ends of the walking driving part are connected with one end of the two fixed air bags, and the air pump is arranged at the other end of one fixed air bag; one end of the direction adjusting air bag group is connected with the other end of the other fixed air bag, and the functional module is arranged at the other end of the direction adjusting air bag group; the walking driving piece can extend and shorten along with inflation and deflation; the direction adjusting air bag group comprises at least three ellipsoidal air bags, each ellipsoidal air bag is mutually and tightly connected with the adjacent ellipsoidal air bag, the expansion and contraction motions of each ellipsoidal air bag are mutually independent, and the steering of the robot is realized through the coordinated motions of all the ellipsoidal air bags.
2. The pneumatic soft robot for pipes of claim 1, further comprising an air inlet pipe and an air outlet pipe; the air inlet pipe and the air outlet pipe sequentially penetrate through all the fixed air bags and the walking driving part, and extension parts with the same number as that of the ellipsoidal air bags of the direction adjusting air bag group are respectively led out from one end of the air inlet pipe and one end of the air outlet pipe, so that each ellipsoidal air bag is ensured to be internally provided with one extension part of the air inlet pipe and one extension part of the air outlet pipe; the air inlet pipe and the air outlet pipe are respectively provided with a pneumatic electromagnetic valve inside the walking driving part, the fixed air bags and the ellipsoidal air bags, the other end of the air inlet pipe is connected with the output end of the air pump 8, and the other end of the air outlet pipe is positioned outside the robot.
3. The pneumatic soft robot for pipes of claim 2, further comprising a microcontroller and a switching value module, wherein the microcontroller is connected to the communication bus through the TTL conversion module, the communication bus is connected to a plurality of switching value modules, and each of the walking driving member, the fixed air bag and the ellipsoidal air bag is ensured to contain one switching value module, and each of the switching value modules is respectively connected to two corresponding pneumatic solenoid valves.
4. The pneumatic soft robot for pipes of claim 3, wherein the microcontroller stores a robot motion control program that:
when the robot starts to move, the fixed air bag positioned at the tail part of the robot is inflated and expanded and keeps an expanded state, so that the fixed air bag connected with the air pump is tightly attached to the inner wall of the pipeline; the walking driving piece is inflated to extend and keeps an extended state, so that the robot advances; then the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is inflated and expanded and keeps the expanded state, so that the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is tightly attached to the inner wall of the pipeline, and meanwhile, the fixed air bag connected with the air pump is deflated and contracted to a natural state; the air discharge of the walking driving part is shortened to a natural state, so that the advance of the robot in one walking cycle is completed; then the fixed air bag positioned between the direction adjusting air bag group and the walking driving piece is deflated and contracted to a natural state, the robot enters the next walking cycle to finish the creeping advance of the robot, the process is a linear walking state, and the direction adjusting air bag group does not work;
when the robot moves to a fork of a pipeline, the ellipsoidal air bags, close to the steering direction, of the direction adjusting air bag group are kept in a natural state, the ellipsoidal air bags far away from the steering direction are inflated and expanded and extrude the ellipsoidal air bags close to the steering direction, when the air pressure in the ellipsoidal air bags far away from the steering direction is large enough, the direction adjusting air bag group integrally deflects to one side close to the steering direction, and the traveling driving piece is inflated and extended to enable the head of the robot to complete steering; when the head of the robot finishes steering, the robot continues to creep and advance, passive steering of the tail of the robot is realized, and steering movement of the whole robot is further finished.
5. The pneumatic soft robot for pipes of claim 1, wherein the functional module comprises a temperature and humidity sensor, a ph sensor, a camera, a cleaning brush, or an infrared thermal imaging module.
6. The pneumatic soft robot for pipeline according to claim 1, wherein the two ends of the walking driving member are respectively provided with a second connector, the second connector comprises a connector body, one end of the connector body is provided with a protrusion, and the connector body is in threaded connection with the end of the walking driving member.
7. The pneumatic soft robot for pipelines of claim 1, wherein the fixed air bag and the direction adjusting air bag set are respectively provided with a first connector at two ends, and the first connector comprises a connecting disc and a stud positioned on the end face of the connecting disc.
8. The pneumatic soft robot for pipelines of claim 1, wherein the direction-adjusting airbag group comprises three ellipsoidal airbags, the three ellipsoidal airbags are connected with each other, and the included angle between two adjacent ellipsoidal airbags is 120 °; each of the ellipsoidal balloons had a length of 75mm and a maximum diameter of 25 mm.
9. The pneumatic soft robot for pipes of claim 1, wherein the walking drive is a bellows; the diameter of the bellows is 40mm and the length is 50 mm.
10. The pneumatic soft robot for pipes of claim 1, wherein the fixed air bag has a thick middle part, thin ends, a length of 200mm and a maximum diameter of 80 mm.
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| CN202110227448.7A CN112828870A (en) | 2021-03-02 | 2021-03-02 | Pneumatic soft robot for pipeline |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
| CN114888008A (en) * | 2022-03-28 | 2022-08-12 | 乌海黑猫炭黑有限责任公司 | Carbon black conveying pipeline dredging robot and working method thereof |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
| CN116481741A (en) * | 2023-06-21 | 2023-07-25 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
| WO2023086029A3 (en) * | 2021-11-11 | 2023-08-10 | National University Of Singapore | Soft robotic modular and reconfigurable actuator |
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2021
- 2021-03-02 CN CN202110227448.7A patent/CN112828870A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
| WO2023086029A3 (en) * | 2021-11-11 | 2023-08-10 | National University Of Singapore | Soft robotic modular and reconfigurable actuator |
| CN114888008A (en) * | 2022-03-28 | 2022-08-12 | 乌海黑猫炭黑有限责任公司 | Carbon black conveying pipeline dredging robot and working method thereof |
| CN114888008B (en) * | 2022-03-28 | 2023-06-27 | 乌海黑猫炭黑有限责任公司 | Carbon black conveying pipeline dredging robot and working method thereof |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
| CN116237321B (en) * | 2023-03-15 | 2023-10-17 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
| CN116481741A (en) * | 2023-06-21 | 2023-07-25 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
| CN116481741B (en) * | 2023-06-21 | 2023-09-26 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
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