CN212203603U - Modular pipeline crawling software robot of tandem type - Google Patents
Modular pipeline crawling software robot of tandem type Download PDFInfo
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- CN212203603U CN212203603U CN201921494462.8U CN201921494462U CN212203603U CN 212203603 U CN212203603 U CN 212203603U CN 201921494462 U CN201921494462 U CN 201921494462U CN 212203603 U CN212203603 U CN 212203603U
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Abstract
The utility model discloses a modular pipeline of tandem type software robot of crawling, include: a pneumatic telescoping unit configured to extend only in an axial direction when inflated; and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated. The utility model discloses the main application occasion is that the pipeline crawls, and what main emphasis was robot modularization's characteristics have and change the convenience, the equipment is nimble, powerful, advantages such as simple structure, easy operation can be through comparatively simple selection and the series connection equipment to modularization subassembly, just can make up out diversified robot configuration to make the robot have different functions, can adapt to diversified operational environment and task betterly.
Description
Technical Field
The utility model belongs to the robot field relates to a modular pipeline of tandem type software robot of crawling.
Background
With the development of science and technology, the robot technology develops rapidly and is widely applied to the fields of industrial production, space exploration, cargo transportation, medical operation, disaster relief and rescue, national defense military industry and the like, the automation level of higher degree is realized, and the labor cost is saved to a certain degree. However, most of the traditional robots are composed of rigid mechanisms through assembly, and have the defects of complex structure, limited flexibility, poor safety and manual interactivity, low environmental adaptability and the like.
In special application scenarios, such as the actions of grabbing and carrying fragile or soft objects, or the detection work required in rugged and irregular road or narrow pipelines, the conventional rigid robot has difficulty in achieving similar tasks, while the soft robot has unique advantages in such situations. Compared with a rigid robot, the soft robot has the advantages of high flexibility, light weight, simple structure, convenience in operation, low manufacturing cost, convenience in control and the like.
In order to make the robot have more functions and adapt to more application scenes, the modularized robot is produced. The modular concept was proposed at the earliest in the 80 th century, and the most important component of the modular robot is a replaceable unit with simple structure and various functions, which can be matched with different modules according to different task requirements or working occasions, thereby endowing the robot with different functional characteristics.
The modularized soft robot has the characteristic of modularization and the advantages of the soft robot, can well protect an operation object, and has good interchangeability and environmental adaptability. The application provides a modular pipeline of tandem type software robot of crawling can crawl in the pipeline of various shapes and sizes.
SUMMERY OF THE UTILITY MODEL
Based on the advantage of the pneumatic software robot of modularization that above-mentioned mentions, the utility model aims at providing a modular pipeline of tandem type software robot of crawling has realized the rapid Assembly and the concatenation between different modules, can crawl in the pipeline of various shapes and size.
The purpose of the utility model is realized through one of following technical scheme at least:
a modular pipeline crawling software robot of the tandem type, comprising:
a pneumatic telescoping unit configured to extend only in an axial direction when inflated;
and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated.
Further, the pneumatic expansion unit comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect other modules.
Further, the two limit adapters are connected with the corresponding modules in a buckling mode, a notch mode, a threaded mode or a bolt mode.
Further, the material of the radially expanding body includes silicone rubber materials, pneumatic artificial muscles, shape memory alloys, dielectric elastomers and ionic polymer metal composites.
Further, the pneumatic telescoping unit comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
and the rigid limiting rings are uniformly and axially arranged on the peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body.
And the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
Further, the two connecting adapters are connected with the corresponding modules in a buckling mode, a notch mode, a thread mode or a bolt mode.
Further, the material of the axial telescopic body comprises a silicon rubber material, a pneumatic artificial muscle, a shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
Further, the connecting portion connects the corresponding modules by means of a snap, a notch, a thread, or a latch.
Furthermore, the center of the radial expansion main body is provided with an axial through hole mutually isolated from the closed air cavity, the middle parts of the two limiting adapters are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from the two ends of the axial through hole and are connected into a whole through a buckle.
Furthermore, the number of the pneumatic telescopic units is more than two, and the pneumatic telescopic units are sequentially connected in series through connecting parts; the pneumatic expansion units are respectively arranged at two ends of the pneumatic telescopic units which are connected in series through connecting parts.
Compared with the prior art, the utility model discloses an outstanding effect includes:
the robot is designed in a modularized mode, and has the advantages of simplicity and convenience in installation, strong replaceability, strong adaptability to different working scenes and the like. The robots with different models and different functions can be simply obtained by the serial assembly mode.
And a pneumatic driving mode is adopted, so that the device is environment-friendly and efficient, is simple to operate and is convenient to control. The utility model discloses a basic module ization unit that constitutes the robot, through the reasonable series arrangement collocation of modularization unit, can assemble into various robots, easy dismounting, repeatability is strong.
For pipelines with different sizes, the deformation of the expansion unit and the telescopic unit can be controlled by changing the inflation pressure, so that the robot has better adaptability.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a pneumatic expansion unit.
Fig. 3 is a schematic perspective view of the connecting portion.
Fig. 4 is a schematic perspective view of the pneumatic telescopic unit.
Fig. 5 is a schematic cross-sectional view of a pneumatic expansion cell module.
Fig. 6 is a schematic view of the principle of the expansion deformation of the radially expandable body.
FIG. 7 is a cross-sectional schematic view of the axially telescoping body.
Fig. 8 is a schematic view of the axial telescopic body in a telescopic deformation.
Fig. 9 is a schematic perspective view of a second embodiment of the present invention.
Fig. 10 is a schematic diagram of a periodic motion principle of the robot.
Fig. 11 is a schematic diagram of a pipeline crawling software robot of a tandem type crawling in different pipelines, wherein fig. 11(a) shows a scene of the robot crawling in a square pipeline; FIG. 11 (b) shows a scene in which the robot crawls in a circular pipe with an inner diameter of 40mm, and FIG. 11 (c) shows a scene in which the robot crawls when the inner diameter of the pipe changes from 40mm to 50 mm; FIG. 11 (d) shows a scenario where the robot crawls in a circular hose; fig. 11 (e) shows a scene in which the robot crawls in an irregular wall surface.
In the figure: 1-a pneumatic expansion unit; 2-a connecting part; 3-pneumatic telescoping unit.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, a modular pipeline-crawling soft robot of a tandem type includes:
a pneumatic telescoping unit 3 arranged to be axially extendable only when inflated;
In particular, in a possible embodiment, the pneumatic expansion unit 1 comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect other modules.
Specifically, in this embodiment, the center of the radial expansion main body is provided with an axial through hole mutually isolated from the closed air cavity, the middle parts of the two limiting adapters are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from the two ends of the axial through hole and are connected into a whole through a buckle, so as to limit the axial deformation of the radial expansion main body.
Wherein, two spacing adapters pass through buckle, notch, screw thread or the corresponding module of bolt mode connection, can comparatively make things convenient for, firmly install, and this embodiment adopts the screw thread mode.
The material of the radial expansion main body comprises a silicon rubber material, pneumatic artificial muscle, shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
As shown in fig. 5 and 6, the middle of the pneumatic expansion unit 1 is provided with a closed air cavity, two limiting adapters which are used for limiting and connecting with other modules are arranged on two sides of the pneumatic expansion unit 1, the two limiting adapters are connected together through a buckle to limit the axial deformation of the radial expansion main body, so that when the closed air cavity of the radial expansion main body is inflated, the radial expansion main body can generate radial expansionThe deformation and the inflation deformation are schematically shown in figure 6, and the geometric dimension of the air cavity of the radial expansion main body is respectively determined by the height of the air cavityhcRadius of air cavityrcAnd wall thickness of air cavitytcThe maximum radial deformation after inflation isΔrc。
In particular, in a possible embodiment, said pneumatic telescopic unit 3 comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
and the rigid limiting rings are uniformly and axially arranged on the peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body.
And the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
Wherein, two connect the adapter and pass through buckle, notch, screw thread or corresponding module of bolt mode connection, can comparatively make things convenient for, firmly install, and this embodiment adopts the screw thread mode.
The axial telescopic main body is made of a silicon rubber material, pneumatic artificial muscles, shape memory alloy, a dielectric elastomer and an ionic polymer metal composite material.
The working principle of the deformation of the pneumatic telescopic unit 3 after inflation is shown in the attached figures 7 and 8. The height of the axial telescopic main body of the pneumatic telescopic unit ishaThe radius of the air cavity israThe wall thickness of the air cavity ista. Because the outer peripheral wall of the axial telescopic main body is sleeved with a plurality of rigid limiting rings which can limit the radial deformation of the unit, after the axial telescopic main body is inflated, the radial expansion of the axial telescopic main body does not occur, but the wall thickness becomes thinner, the axial extension deformation occurs, and the extension amount isΔha. Various complicated controls such as speed control, force control, etc. can be performed on the pneumatic unit according to the relationship between the driving unit input air pressure and the deformation size. Two ends of the pneumatic telescopic unit are provided with two connecting adapters, and the connecting adapters and the pneumatic telescopic unit are connectedThe end face of the axial telescopic main body is fixedly connected, so that the pneumatic telescopic unit is connected with other modules conveniently.
As shown in fig. 9, in another possible embodiment of the present invention, the number of the pneumatic telescopic units 3 is two, and the two pneumatic telescopic units 3 are connected in series in sequence through the connecting portion 2; pneumatic expansion unit 1 sets up the 3 both ends at the pneumatic flexible unit after establishing ties respectively through connecting portion, establishes ties two pneumatic flexible units 3 of having lengthened the size of robot, and the quantity increase of the flexible pneumatic unit 3 in middle part has certain effect to the crawl speed that improves the robot, can make the robot obtain faster moving speed when crawling. However, it should be noted that when the robot crawls in a pipeline forming a certain inclination angle with the ground, gravity may affect the motion of the robot to a certain extent, so that the module assembly is reasonably used to control the overall weight of the robot, and the blind addition of the robot driving module may make the control of the robot more complicated, and may also make the stability of the robot worse, so that the robot becomes heavy.
Fig. 10 shows the process of the robot performing linear crawling motion in the pipeline in one cycle. Wherein aerify pneumatic expansion unit 1 and can make pneumatic expansion unit produce radial expansion deformation to paste tight pipeline inner wall, pneumatic telescoping unit 3 can realize linear concertina movement, makes the robot accomplish the crawl motion in the pipeline. The working principle of the robot will be described by taking the configuration of the pipeline-climbing soft robot shown in fig. 1 as an example, the pipeline to be climbed is a circular pipeline, because the main driving units of the robot are soft materials, and therefore the robot can better adapt to the shape of the pipeline to move, and the 6 steps of the robot movement in fig. 10 specifically comprise.
Firstly, the rear pneumatic expansion unit 1 is inflated to be expanded, so that the rear pneumatic expansion unit is contacted with the inner side of the pipeline and has a locking effect.
Secondly, the middle pneumatic telescopic unit 3 is inflated to be stretched to no deformation, and the stretching amount isΔx。
And thirdly, the front pneumatic expansion unit 1 is inflated and expanded to contact the inner side of the pipeline and has a locking effect.
And fourthly, the rear pneumatic expansion unit 1 starts to deflate and contract until the rear pneumatic expansion unit 1 is not contacted with the inner wall of the pipeline any more.
And fifthly, the middle pneumatic telescopic unit 3 deflates and contracts to pull the rear part of the robot to move forwards.
Sixthly, the rear pneumatic expansion unit 1 is inflated and expanded to contact the inner side of the pipeline and is locked, so that the front and the rear of the robot are tightly attached to the inner wall of the pipeline, and the robot is maintained in a stable state.
After the 6 steps, the pipeline crawling soft robot completes the whole period of forward motion in the pipeline, and the displacement of the motion isΔx. The robot repeats the periodic movement, and can realize crawling in the pipeline for a long distance.
Fig. 11 is a schematic diagram illustrating a series-type pipeline crawling software robot crawling in different pipelines, wherein fig. 11(a) shows a scene of the robot crawling in a square pipeline; fig. 11 (b) shows a scene that the robot crawls in a circular pipe with an inner diameter of 40mm, and fig. 11 (c) shows a scene that the robot crawls when the inner diameter of the pipeline is changed from 40mm to 50mm, and at this time, the robot can keep contact with the inner wall of the pipeline only by increasing the deformation amount of the pneumatic expansion unit 1; fig. 11 (d) shows a scene that the robot crawls in a circular hose, and the robot crawls in a curved pipeline by using the flexible characteristics of the pneumatic telescopic unit 3; fig. 11 (e) shows a situation that the robot crawls in an irregular wall surface, and the pneumatic expansion unit 1 can still be in close contact with the irregular wall surface through appropriate deformation, so that effective crawling is realized. It can be seen that the tandem type pipeline crawling software robot provided by the embodiment can crawl smoothly in pipelines with different shapes and different sizes, has better adaptability to different motion environments, and has the advantages of simple structure, convenience in assembly, easiness in operation and the like.
The utility model discloses a drive mode that software robot adopted is pneumatic, through filling the gassing to the drive unit, can make the unit produce concertina movement or inflation motion, the connecting piece between drive unit and unit is the basic component element of robot, easy dismounting has, characteristics such as interchangeability is strong, main application is that the pipeline crawls, what main emphasize is the characteristics of robot modularization, can be through comparatively simple selection and the series connection equipment to the modularization subassembly, just can make up out diversified robot configuration, thereby make the robot have different functions, can adapt to multiple diversified operational environment and task better. The modularized assembly is convenient to replace, flexible to assemble and powerful in function, and has the advantages of being simple in structure, convenient to assemble, easy to operate and the like.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a modularization pipeline of tandem type software robot of crawling which characterized in that includes:
a pneumatic telescoping unit configured to extend only in an axial direction when inflated;
and the pneumatic expansion units are connected and arranged at two ends of the pneumatic telescopic unit through connecting parts and are only arranged to expand along the radial direction when being inflated.
2. The in-line modular pipeline crawling soft robot of claim 1, wherein said pneumatic expansion unit comprises:
the radial expansion main body is integrally columnar, is made of flexible material and is internally provided with a closed air cavity;
two spacing adapters set up respectively radial expansion main part both ends just link as an organic wholely through the buckle for the axial deformation of restriction radial expansion main part and connect corresponding module.
3. The in-line modular pipeline crawling software robot of claim 2, wherein the two limit adapters are connected to the corresponding modules by means of a snap, a notch, a thread or a pin.
4. The in-line modular pipeline-crawling soft robot according to claim 2, characterized in that the material of said radially expanding body is silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer or ionic polymer metal composite.
5. The tandem type modular pipeline crawling soft robot of claim 1, wherein the pneumatic telescoping unit comprises:
the axial telescopic main body is integrally columnar, is made of flexible materials, and is internally provided with a closed air cavity along the axial direction;
the rigid limiting rings are uniformly and axially arranged on the outer peripheral wall of the axial telescopic main body at intervals and are used for limiting the radial deformation of the axial telescopic main body;
and the two connecting adapters are respectively arranged at two ends of the axial telescopic main body and used for connecting corresponding modules.
6. The in-line modular pipeline crawling software robot of claim 5, wherein said two connection joints connect the respective modules by means of a snap, notch, thread or latch.
7. The in-line modular pipeline-crawling soft robot according to claim 5, wherein the material of said axially telescoping body is silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer or ionic polymer metal composite.
8. The in-line modular pipeline crawling software robot of claim 1, wherein the connection part connects the respective modules by means of a snap, a notch, a thread or a latch.
9. The tandem type modular pipeline crawling soft robot as claimed in claim 2, wherein the center of the radial expansion main body is provided with an axial through hole isolated from the closed air cavity, the middle parts of the two limit joints are respectively provided with a hollow insertion part in a protruding manner, and the two insertion parts are respectively inserted from two ends of the axial through hole and are connected into a whole through a buckle.
10. The tandem-type modular pipeline-crawling soft robot according to any one of claims 1 to 9, wherein the number of said pneumatic telescopic units is two or more, each pneumatic telescopic unit being connected in series in turn by a connecting part; the pneumatic expansion units are respectively arranged at two ends of the pneumatic telescopic units which are connected in series through connecting parts.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110645444A (en) * | 2019-09-10 | 2020-01-03 | 华南理工大学 | Modular pipeline crawling software robot of tandem type |
| CN113803565A (en) * | 2021-09-23 | 2021-12-17 | 清华大学 | Software pipeline detection robot based on intelligent material driving |
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2019
- 2019-09-10 CN CN201921494462.8U patent/CN212203603U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110645444A (en) * | 2019-09-10 | 2020-01-03 | 华南理工大学 | Modular pipeline crawling software robot of tandem type |
| CN113803565A (en) * | 2021-09-23 | 2021-12-17 | 清华大学 | Software pipeline detection robot based on intelligent material driving |
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