WO2021007929A1 - 内置式双向气泵自调控气流蠕动柔性机器人 - Google Patents

内置式双向气泵自调控气流蠕动柔性机器人 Download PDF

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Publication number
WO2021007929A1
WO2021007929A1 PCT/CN2019/103912 CN2019103912W WO2021007929A1 WO 2021007929 A1 WO2021007929 A1 WO 2021007929A1 CN 2019103912 W CN2019103912 W CN 2019103912W WO 2021007929 A1 WO2021007929 A1 WO 2021007929A1
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WIPO (PCT)
Prior art keywords
airbag
air pump
robot
telescopic
head
Prior art date
Application number
PCT/CN2019/103912
Other languages
English (en)
French (fr)
Inventor
吕培军
原福松
张耀鹏
Original Assignee
北京大学口腔医学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京大学口腔医学院 filed Critical 北京大学口腔医学院
Publication of WO2021007929A1 publication Critical patent/WO2021007929A1/zh
Priority to US17/315,264 priority Critical patent/US11913590B2/en

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B41/00—Pumping installations or systems specially adapted for elastic fluids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B43/00—Machines, pumps, or pumping installations having flexible working members
    • F04B43/08—Machines, pumps, or pumping installations having flexible working members having tubular flexible members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/50—Pulling cables or the like

Definitions

  • the invention relates to the technical field of robots, in particular to a peristaltic flexible robot with a built-in two-way air pump self-regulating airflow.
  • the pipeline robot is a machine that can walk along the inner wall of the pipeline. It can carry various inspection instruments or working devices, enter the pipeline under the remote control or autonomous control of the operator, and complete the pipeline defect detection and in-pipe processing tasks.
  • Related technologies disclosed in the prior art, for example, application number 200810106352.X discloses a flexible peristaltic pipeline robot, which is less adaptable to variable diameter pipelines.
  • the inventor of the present application has studied an airbag peristaltic robot with an external air pump.
  • the robot uses an external air pump to inflate the airbag and then adaptively fits the variable diameter pipeline to improve Adaptability to reducing pipes.
  • the robot that uses an external air pump to supply air to the airbag has defects: because the external air pump and the airbag peristaltic robot are connected by a trachea, the range of movement of the robot is limited by the trachea, and the excessively long trachea affects the robot Movement flexibility.
  • the invention provides a built-in two-way air pump self-regulating airflow peristaltic flexible robot to solve the problem of low mobility of the airbag peristaltic robot in related technologies.
  • the embodiment of the present invention provides a built-in two-way air pump self-regulating airflow peristaltic flexible robot, including: a head-end airbag, a telescopic airbag, a tail-end airbag, a power supply module, a control module and a two-way air pump, among which,
  • the power supply module is used for supplying power to the bidirectional air pump and the control module;
  • the head-end airbag, the telescopic airbag, and the tail-end airbag are sequentially connected in the axial direction;
  • the control module is used to control the two-way air pump to supply or exhaust air to the head-end airbag, and the head-end airbag is expanded or contracted in the radial direction by the air supply or exhaust of the two-way air pump; the control The module is used to control the two-way air pump to supply or exhaust air to the tail end airbag, which is expanded or contracted in the radial direction by the air supply or exhaust of the two-way air pump; the control module is used for The two-way air pump is controlled to supply or exhaust air to the telescopic airbag, and the telescopic airbag is extended or shortened in the axial direction by the air supply or exhaust of the two-way air pump.
  • the robot does not need an external air source, and the air supply and exhaust of the two-way air pump flow inside the robot; or the two-way air pump is connected to the external environment to realize the airbag inside the robot and the outside Gas exchange between environments.
  • the robot further includes an additional airbag for storing gas.
  • the robot further includes an installation platform that is arranged at the connection between the head end airbag and the telescopic airbag, or at the connection place between the tail end airbag and the telescopic airbag, or An installation platform is respectively provided at the joint of the head end airbag and the telescopic airbag and the joint of the tail end airbag and the telescopic airbag.
  • the two-way air pump, power supply module, and control module are arranged on the installation platform.
  • the installation platform is two flanges that cooperate with each other and are connected in a sealed manner.
  • One flange is connected with the telescopic airbag, and the other flange is connected with the head end airbag and/or the tail end airbag.
  • the number of the two-way air pump is one; the robot further includes: a channel and an electronic control switch, wherein the head end air bag, the tail end air bag and the telescopic air bag are connected to each other through an independent channel.
  • One air pipe of the one bidirectional air pump is connected with an electric control switch on each independent channel; the other air pipe of the one bidirectional air pump is connected with an additional air bag or an external environment.
  • the two-way air pump includes: a head end air bag two-way air pump, a tail end air bag two-way air pump, and a telescopic air bag two-way air pump, wherein,
  • the two air pipes of the head-end airbag bidirectional air pump are respectively connected to the additional airbag and the head-end airbag; the two air pipes of the tail end airbag bidirectional air pump are respectively connected to the additional airbag and the tail end airbag;
  • the two air pipes of the telescopic airbag bidirectional air pump are respectively connected with the additional airbag and the telescopic airbag; or
  • the two air pipes of the head-end airbag bidirectional air pump are respectively connected to the external environment and the head-end airbag; the two air pipes of the tail-end airbag bidirectional air pump are respectively connected to the external environment and the tail-end airbag; the telescopic airbag The two air pipes of the bidirectional air pump are respectively connected with the external environment and the telescopic airbag.
  • the additional airbag is arranged between the head-end airbag and the tail-end airbag, and the additional airbag is evenly distributed around the telescopic airbag; or the additional airbag is mounted on the tail-end airbag The tail.
  • the robot further includes a pressure sensor, which is arranged on the outer side wall of the head end airbag and the tail end airbag for detecting the pressure value of the outer side wall and the inner wall of the pipe.
  • the built-in two-way air pump self-regulating airflow peristaltic flexible robot provided by the embodiment of the present invention, after the air pump is built into the robot, the external air pipe and external air pump are no longer needed for air supply or exhaust, which solves the problem of the air bag type peristaltic robot.
  • the problem of low flexibility improves the flexibility of the robot.
  • Figure 1 is an overall structure diagram of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to an embodiment of the present invention
  • FIG. 2 is a structural diagram 1 of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to a preferred embodiment of the present invention
  • Fig. 3 is a structural diagram 2 of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to a preferred embodiment of the present invention
  • FIG. 4 is a structural diagram 3 of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to a preferred embodiment of the present invention
  • FIG. 5 is a structure diagram four of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to a preferred embodiment of the present invention
  • Fig. 6 is a schematic diagram of the structure classification of the airflow creeping flexible robot according to an embodiment of the present invention.
  • FIG. 1 is an overall structure diagram of a built-in bidirectional air pump self-regulating airflow peristaltic flexible robot according to an embodiment of the present invention, as shown in FIG.
  • the built-in two-way air pump self-regulating airflow peristaltic flexible robot includes: a head-end airbag 7, a telescopic airbag 9, a tail-end airbag 1, a power module 12, a control module 11 and a two-way air pump 3, 8, 10, wherein the power module 12 is used for Supply power to the two-way air pumps 3, 8, 10 and the control module 11; the head end air bag 7, the telescopic air bag 9 and the tail end air bag 1 are connected in sequence along the axial direction; the control module 11 is used to control the two-way air pump 8 to supply air to the head end air bag 7 or Exhaust, the head end airbag 7 is expanded or contracted in the radial direction by the air supply or exhaust of the two-way air pump 8; the control module 11 is used to control the two-way air pump 10 to supply air or exhaust air to the tail end airbag 1, and the tail end airbag 1 passes through The two-way air pump 10 expands or contracts in the radial direction by supplying or exhausting air; the control module 11 is
  • the above-mentioned head-end airbag and tail-end airbag are elastic, flexible and variable bodies, and adopt redundant design, that is, they can actively adapt to pipes of different pipe diameters and shapes after inflation and expansion.
  • the head-end airbag, the tail-end airbag and the telescopic airbag are supplied and exhausted in a certain order under the action of the bidirectional air pump, which realizes the flexible peristalsis of the robot in the pipeline. Since the two-way air pump is built into the robot in the above structure, there is no need for an external air pipe and an external air pump to supply or exhaust air, which solves the problem of low mobility of the airbag peristaltic robot and improves the flexibility of the robot.
  • Figure 2 is a structural diagram of a self-regulating airflow peristaltic flexible robot with a built-in two-way air pump according to a preferred embodiment of the present invention.
  • Figure 2 shows the tail end airbag and the external vent 15, the head end airbag and the external vent 16, and Telescopic airbag and external vent 17.
  • the aforementioned bidirectional air pump of the robot directly collects gas from the external environment of the robot or directly discharges the gas into the external environment. That is to say, the gas in the tail end airbag, the head end airbag, and the telescopic airbag is directly exchanged with external air through the vent holes 15, 16, 17, without forming a gas circulation inside.
  • This robot that directly exchanges with external air can adapt to most pipeline applications.
  • the robot when the robot is applied to a more severe environment (such as pipelines with gas-liquid mixture or corrosive gas, or various coelenterates), if the gas is directly collected from the external environment of the robot, it may cause corrosion The gas or liquid entering the airbag may eventually cause the robot to lose its ability to move and become scrapped.
  • the robot does not need an external air source, and the air supply and exhaust of the bidirectional air pump flow inside the robot.
  • the robot further includes an additional airbag 4 for storing gas.
  • the two-way air pump includes: a head-end airbag two-way air pump, a tail-end airbag two-way air pump, and a telescopic airbag two-way air pump, wherein the two air pipes of the head-end airbag two-way air pump are respectively connected to the additional airbag and the head-end airbag; the tail end airbag two-way air pump The two air pipes of the air pump are respectively connected with the additional air bag and the tail end air bag; the two air pipes of the telescopic air bag bidirectional air pump are respectively connected with the additional air bag and the telescopic air bag.
  • each airbag has an independent air pump communicating with the additional airbags, and each air pump completes the gas exchange between each airbag and the additional airbags.
  • the location of the additional airbag can be set flexibly, as long as it does not affect the creeping advancement of the robot.
  • the additional airbag is arranged between the head-end airbag and the tail-end airbag, and the additional airbags are evenly distributed around the telescopic airbag.
  • the additional airbag can deform radially and axially as the telescopic airbag expands and contracts.
  • the advantage of such an additional airbag is that the additional airbag can avoid contact with the inner wall of the pipe as much as possible after inhalation and expansion, so as to avoid interference with the robot's creeping advancement.
  • the additional airbag can also be mounted on the tail of the tail end airbag, as long as it is ensured that the additional airbag does not generate greater pressure with the inner wall of the pipe after inhalation and expansion, and will not interfere with the peristaltic progress of the robot.
  • the robot further includes a mounting platform 18, which is arranged at the connection of the head end airbag and the telescopic airbag, or at the connection of the tail airbag and the telescopic airbag, or at the connection of the head end airbag and the telescopic airbag
  • An installation platform is set at the joint of the tail end airbag and the telescopic airbag.
  • the two-way air pump, the power supply module and the control module are all arranged on the installation platform.
  • the installation platform is preferably made of a material with a certain strength and low density, such as plastic or aluminum alloy.
  • the mounting platform 18 is two flanges that cooperate with each other and are connected in a sealed manner.
  • One flange 18-1 is connected to the telescopic airbag, and the other
  • the flange 18-2 is connected to the head end air bag and/or the tail end air bag.
  • the flange 18-1 and the flange 18-2 are preferably connected by threads or locks.
  • the robot further includes pressure sensors 6, 13, which are arranged on the outer sidewalls of the head end airbag and the tail end airbag for detecting the pressure value of the outer sidewall and the inner wall of the pipe.
  • the control module controls the working status of each bidirectional air pump according to the pressure value.
  • the tail end airbag is pre-inflated through the tail end airbag valve 2.
  • the tail end airbag can also be inflated through the tail end airbag valve; the additional airbag is pre-inflated through the additional airbag valve 5 and inflated during use; the telescopic airbag is inflated through the telescopic airbag
  • the air pump replenishes air from the additional airbag; the head-end airbag is pre-inflated through the head-end airbag valve 6-1 and replenishes air during use.
  • each airbag exchanges gas through its own air pump and additional airbags, so that the robot forms an internal air circulation without connecting an external air pipe.
  • the airbag pump is a two-way pump, which can pump air from the additional airbags to each airbag or from each airbag to the additional airbags, and is installed on the installation platform with the control module and the power module.
  • the working process of the robot is as follows: Assume that the head and tail are pre-filled with 0.75 units of gas, the telescopic airbag is pre-filled with 1 unit of gas, and the additional airbags are pre-filled with 0.5 unit of gas, when the head and tail airbags reach 1 unit. , The head and tail airbags are in full contact with the inner wall of the pipe, and the feedback value of the airbag pressure sensor reaches the set value. Closing the respective airbag valves means that the airbag gas does not exchange with external air, forming an independent quantitative internal circulation system. In practical applications, the pre-inflated amount of each airbag is added according to actual needs.
  • the first step the head-end airbag air pump draws air from the additional airbag and fills the head-end airbag with 0.25 units of gas. At this time, the head-end airbag expands radially and is supported on the inner wall of the pipe. The pressure value of the end airbag pressure sensor also reaches the set value. ;
  • Step 2 The retractable air bag pump draws air from the retractable air bag and infuses 0.8 units of air into the additional air bag. At this time, the retractable air bag is axially contracted, driving the tail end air bag to move in the axial direction, and the additional air bag is axially squeezed to Expand in the radial direction, but will not contact the pipe wall;
  • the third step The tail air bag pump draws 0.25 units of gas from the additional air bag and fills it into the tail air bag. At this time, the tail air bag expands radially and is supported on the inner wall of the pipe. The pressure value of the tail air bag pressure sensor also reaches the set value. value;
  • Step 4 The head-end airbag air pump pumps 0.25 units of gas from the head-end airbag to the additional airbag. At this time, the head-end airbag contracts radially and separates from the inner wall of the pipeline;
  • Step 5 The air pump for the telescopic airbag inflates 0.8 units of gas from the additional airbag to the telescopic airbag to extend the airbag in the axial direction, and at the same time the additional airbag is contracted radially and extended in the axial direction, so that the airbag moves the head end airbag in the axial direction.
  • Forward push 0.8 units of gas from the additional airbag to the telescopic airbag to extend the airbag in the axial direction, and at the same time the additional airbag is contracted radially and extended in the axial direction, so that the airbag moves the head end airbag in the axial direction.
  • the robot can move forward in the pipeline by itself.
  • the sizes and inflation unit values of the airbags in the above embodiments are exemplary.
  • the size and inflation of each airbag can be designed according to actual application requirements; the amount of gas used by the robot is also pre-filled according to requirements. Okay, a gas circulation is formed inside the robot, which does not depend on external gas and is safe in a harmful gas environment.
  • an open peristaltic robot can be used, that is, there is no additional airbag. Its working process is similar to that of the above-mentioned robot with additional airbags. The difference is that the airbag pump inflates the airbag from the outside air to inflate the airbag gas. Pump to the outside.
  • the number of the two-way air pump 19 is one; the robot further includes: channels 19-2, 19-4, 19-7, and electric control switches 19-3, 19-5, 19 -6, where the head-end airbag, the tail-end airbag and the telescopic airbag are respectively connected to a trachea of the two-way air pump 19 through an independent channel, and each independent channel is provided with an electric control switch; this two-way air pump The other trachea of 19 is connected to the additional airbag.
  • the working process of the peristaltic robot is as follows: the additional airbag is filled with sufficient air in advance, the head end, the tail end, and the telescopic airbag are all in a contracted state, and all the miniature solenoid valves (ie, electric control switches) are in a closed state.
  • the miniature solenoid valves ie, electric control switches
  • the solenoid valve 19-6 is opened, and the air pump inflates the gas from the additional air bag to the tail air bag.
  • the tail air bag expands radially, fully contacts the inner wall of the pipe, and is supported in the pipe to make the pressure value of the pressure sensor on the outer wall of the tail air bag. Reach the set value, close the solenoid valve 19-6;
  • the second step is to open the solenoid valve 19-4, the air pump inflates the air from the additional airbag into the telescopic airbag, and the telescopic airbag extends axially, so that the head of the robot moves forward.
  • the solenoid valve 19 is closed. -4;
  • the third step is to open the solenoid valve 19-3, and the air pump inflates the gas from the additional air bag to the head end air bag.
  • the head end air bag expands radially, fully contacts the inner wall of the pipe, and is supported in the pipe so that the pressure value of the pressure sensor on the outer wall of the head end air bag reaches Set value, close solenoid valve 19-3;
  • the fourth step is to open the solenoid valve 19-6, and the air pump will inflate the gas from the tail air bag to the additional air bag, so that the tail air bag is separated from the inner wall of the pipeline, and the solenoid valve 19-6 is closed;
  • the fifth step is to open the solenoid valve 19-4, the air pump inflates the gas from the telescopic airbag into the additional airbag, and the telescopic airbag is axially contracted, thereby driving the robot's tail end to move axially.
  • the solenoid valve 19-4 is closed .
  • the peristaltic flexible robot can creep forward in the pipeline.
  • the above-mentioned bidirectional air pump of the robot directly collects gas from the external environment of the robot or directly discharges the gas into the external environment.
  • it is a shared air pump peristaltic flexible robot without additional airbags.
  • the two-way air pump 20 is installed on the bottom of the tail end airbag; the passage 20-1 passes through the tail end airbag to communicate with the outside air, the valve is 20-8; the passage 20-3 communicates with the head end airbag, and the solenoid valve 20-2 controls the passage 20- 2 on and off; channel 20-4 communicates with the telescopic airbag, solenoid valve 20-5 controls the on-off of channel 20-4; channel 20-6 communicates with the tail end airbag, solenoid valve 20-7 controls the communication of channel 20-6 Off.
  • the movement process of the robot is similar to that of a shared air pump robot with additional airbags. The difference is that the robot air pump is not ventilated from the additional airbag, but ventilated with the outside air.
  • Fig. 6 is a schematic diagram of the structure classification of the airflow creeping flexible robot according to an embodiment of the present invention.
  • the built-in two-way air pump self-regulating airflow peristaltic flexible robot provided by the embodiment of the present invention can be divided into open and closed peristaltic flexible robots according to the air circulation mode:
  • the open peristaltic flexible robot has no additional airbags.
  • the head end, tail end, and telescopic airbag exchange gas with the external environment through a two-way air pump to form an external airflow circulation.
  • the main application is when the external environment is sufficient and harmless;
  • the closed peristaltic flexible robot has additional airbags.
  • Each airbag is filled with a certain amount of air according to the demand.
  • the head end, tail end, and telescopic airbag exchange gas with the additional airbag through the bidirectional air pump, and there is no gas exchange with the outside, forming an internal air flow circulation.
  • the main application and the external environment are harmful gas or less gas.
  • the built-in two-way air pump self-regulating airflow peristaltic flexible robot can be divided into single air pump (two-way) type and multiple air pump (two-way) peristaltic flexible robot according to the number of two-way air pumps:
  • the two-way air pump of the single-air pump (two-way) peristaltic flexible robot works in conjunction with multiple electronically controlled switches (such as miniature solenoid valves) to sequentially control the on and off of each solenoid valve, and control each air bag to exchange gas with the external environment or additional air bags, thereby Control the zoom of each airbag to make the robot squirm;
  • electronically controlled switches such as miniature solenoid valves
  • 2Multiple air pump (bidirectional) peristaltic flexible robots have independent bidirectional air pumps for the head, telescoping, and tail airbags.
  • the control system sequentially controls the on-off and direction of each airbag air pump, and controls each airbag to exchange gas with the external environment or additional airbags , So as to control the zooming of each airbag and let the robot crawl.
  • the built-in two-way air pump self-regulating airflow peristaltic flexible robot provided by the embodiment of the present invention can have the following structural forms.
  • a suitable structure can be selected according to the needs: open single air pump (two-way) peristaltic flexible robot, open multiple Air pump (two-way) peristaltic flexible robot, closed single air pump (two-way) peristaltic flexible robot, closed multi-air pump (two-way) peristaltic flexible robot.
  • the peristaltic flexible robot of the present invention can be realized by using materials such as dielectric magnetism, electricity, heat, sound, light, chemistry, biology, etc. as the power source in addition to gas as the power in this example.
  • the peristaltic flexible robot can be used as a carrying work, a carrying platform, which can transport a target object to a target location according to actual needs, and can carry an optical fiber for laser surgery.

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  • Mechanical Engineering (AREA)
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Abstract

一种内置式双向气泵自调控气流蠕动柔性机器人，包括：头端气囊（7）、伸缩气囊（9）、尾端气囊（1）、电源模块（12）、控制模块（11）和双向气泵（3、8、10）。该机器人将气泵内置到机器人内部，不再需要外部气管和外置气泵给气或者排气，解决了气囊式蠕动机器人运动的灵活性低的问题，提高了机器人的灵活性。

Description

内置式双向气泵自调控气流蠕动柔性机器人 技术领域
本发明涉及机器人技术领域，具体而言，涉及一种内置式双向气泵自调控气流蠕动柔性机器人。
背景技术
管道机器人是一种可沿管道内壁行走的机械，它可以携带各种检测仪器或者作业装置，在操作人员的遥控或者自主控制下进入管道内部，完成管道缺陷探伤、管内加工等任务。现有技术中公开的相关技术，如申请号200810106352.X公开了一种柔性蠕动的管道机器人，这种管道机器人对变径管道的适应性较小。
为了解决变径管道适应性问题，本申请的发明人研究了一种气泵外置的气囊式蠕动机器人，该机器人通过外置的气泵向气囊给气膨胀后自适应地贴合变径管道从而提高对变径管道的适应性。但是进一步研究发现，利用外置气泵向气囊给气的机器人存在缺陷：由于外置气泵和气囊式蠕动机器人之间通过气管连接，机器人的活动范围受到气管的限制，而过长的气管影响了机器人运动的灵活性。
发明内容
本发明提供了一种内置式双向气泵自调控气流蠕动柔性机器人，以解决相关技术中气囊式蠕动机器人运动的灵活性低的问题。
本发明实施例提供了一种内置式双向气泵自调控气流蠕动柔性机器人，包括：头端气囊、伸缩气囊、尾端气囊、电源模块、控制模块和双向气泵，其中，
所述电源模块用于为所述双向气泵和所述控制模块供电；
所述头端气囊、所述伸缩气囊和所述尾端气囊沿轴向依次连接；
所述控制模块用于控制所述双向气泵向所述头端气囊给气或排气，所述头端气囊通过所述双向气泵的给气或排气而沿径向膨胀或收缩；所述控制模块用于控制所述双向气泵向所述尾端气囊给气或排气，所述尾端气囊通过所述双向气泵的给气或排气而沿径向膨胀或收缩；所述控制模块用于控制所述双向气泵向所述伸缩气囊给气或排气，所述伸缩气囊通过所述双向气泵的给气或排气而沿轴向伸长或缩短。
可选地，所述机器人无需外接气源，所述双向气泵的给气和排气均在所述机器人内部流动；或者所述双向气泵与外部环境连接，以实现所述机器人内部的气囊与外部环境之间的气体交换。
可选地，所述机器人还包括附加气囊，所述附加气囊用于存储气体。
可选地，所述机器人还包括安装平台，所述安装平台设置在所述头端气囊和所述伸缩气囊的连接处，或者设置在所述尾端气囊和所述伸缩气囊的连接处，或者在所述头端气囊和所述伸缩气囊的连接处合和所述尾端气囊和所述伸缩气囊的连接处各设置一个安装平台。
可选地，所述双向气泵、电源模块和控制模块设置在所述安装平台上。
可选地，所述安装平台为两个相互配合且密封连接的法兰盘，其中一个法兰盘与伸缩气囊连接，另一个法兰盘与头端气囊和/或尾端气囊连接。
可选地，所述双向气泵的数量为一个；所述机器人还包括：通道、电控开关，其中，所述头端气囊、所述尾端气囊和所述伸缩气囊分别通过一个独立的通道与所述一个双向气泵的一个气管连接，在每个独立的通道上都设置有电控开关；所述一个双向气泵的另一个气管与附加气囊或者外部环境连接。
可选地，所述双向气泵包括：头端气囊双向气泵、尾端气囊双向气泵和伸缩气囊双向气泵，其中，
所述头端气囊双向气泵的两个气管分别与所述附加气囊和所述头端气囊连接；所述尾端气囊双向气泵的两个气管分别与所述附加气囊和所述尾端气囊连接；所述伸缩气囊双向气泵的两个气管分别与所述 附加气囊和所述伸缩气囊连接；或者
所述头端气囊双向气泵的两个气管分别与外部环境和所述头端气囊连接；所述尾端气囊双向气泵的两个气管分别与外部环境和所述尾端气囊连接；所述伸缩气囊双向气泵的两个气管分别与外部环境和所述伸缩气囊连接。
可选地，所述附加气囊设置在所述头端气囊和所述尾端气囊之间，且所述附加气囊围绕所述伸缩气囊均匀分布；或者所述附加气囊挂载在所述尾端气囊的尾部。
可选地，所述机器人还包括压力传感器，所述压力传感器设置在所述头端气囊和所述尾端气囊的外侧侧壁上，用于检测该外侧侧壁与管道内壁的压力值。
通过本发明实施例提供的内置式双向气泵自调控气流蠕动柔性机器人，在将气泵内置到机器人内部后，不再需要外部气管和外置气泵给气或者排气，解决了气囊式蠕动机器人运动的灵活性低的问题，提高了机器人的灵活性。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的内置式双向气泵自调控气流蠕动柔性机器人的总体结构图；
图2是根据本发明优选实施例的内置式双向气泵自调控气流蠕动柔性机器人的结构图一；
图3是根据本发明优选实施例的内置式双向气泵自调控气流蠕动柔性机器人的结构图二
图4是根据本发明优选实施例的内置式双向气泵自调控气流蠕动柔性机器人的结构图三；
图5是根据本发明优选实施例的内置式双向气泵自调控气流蠕动柔性机器人的结构图四；
图6是根据本发明实施例的气流蠕动柔性机器人结构分类示意图。
具体实施方式
下面将详细描述本发明的各个方面的特征和示例性实施例，为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细描述。应理解，此处所描述的具体实施例仅用于解释本发明，并不用于限定本发明。对于本领域技术人员来说，本发明可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本发明的示例来提供对本发明更好的理解。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本实施例中提供了一种内置式双向气泵自调控气流蠕动柔性机器人，图1是根据本发明实施例的内置式双向气泵自调控气流蠕动柔性机器人的总体结构图，如图1所示，该内置式双向气泵自调控气流蠕动柔性机器人包括：头端气囊7、伸缩气囊9、尾端气囊1、电源模块12、控制模块11和双向气泵3、8、10，其中，电源模块12用于为双向气泵3、8、10和控制模块11供电；头端气囊7、伸缩气囊9和尾端气囊1沿轴向依次连接；控制模块11用于控制双向气泵8向头端气囊7给气或排气，头端气囊7通过双向气泵8的给气或排气而沿径向膨胀或收缩；控制模块11用于控制双向气泵10向尾端气囊1给气或排气，尾端气囊1通过双向气泵10的给气或排气而沿径向膨胀或收缩；控制模块11用于控制双向气泵3向伸缩气囊9给气或排气，伸缩气囊9通过双向气泵3的给气或排气而沿轴向伸长或缩短。
上述的头端气囊和尾端气囊为弹性柔性可变性体，并采取冗余设计，即充气膨胀后可以主动适应不同管径和形状的管道。
通过上述的结构，头端气囊、尾端气囊和伸缩气囊在双向气泵的作用下按照一定的顺序给气和排气，实现了机器人在管道内的灵活蠕动。由于上述结构中将双向气泵内置于机器人内部，因此不再需要外部气管和外置气泵给气或者排气，解决了气囊式蠕动机器人运动的灵活性低的问题，提高了机器人的灵活性。
图2是根据本发明优选实施例的内置式双向气泵自调控气流蠕动柔性机器人的结构图，在图2中分别示出了尾端气囊与外部通气孔15、头端气囊与外部通气孔16以及伸缩气囊与外部通气孔17。在一个具体的实施例中，上述的机器人的双向气泵直接从机器人的外部环境采气或者将气体直接排出到外部环境中。即尾端气囊、头端气囊、伸缩气囊内的气体通过通气孔15、16、17直接与外部气体进行交换，内部没有形成气体循环。这种直接与外部气体进行交换的机器人能够适应大多数的管道应用。
但是，当将机器人应用到更为恶劣的环境(例如存在气液混合或者具有腐蚀性气体的管道，或者各种腔肠中)中时，如果直接从机器人的外部环境采气，则可能导致腐蚀性气体或者液体进入气囊内部，最终可能导致机器人丧失行动能力而报废。为了解决这个问题，在本发明实施例中采用机器人无需外接气源，双向气泵的给气和排气均在机器人内部流动的方式。参考图3，可选地，机器人还包括附加气囊4，附加气囊4用于存储气体。
可选地，双向气泵包括：头端气囊双向气泵、尾端气囊双向气泵和伸缩气囊双向气泵，其中，头端气囊双向气泵的两个气管分别与附加气囊和头端气囊连接；尾端气囊双向气泵的两个气管分别与附加气囊和尾端气囊连接；伸缩气囊双向气泵的两个气管分别与附加气囊和伸缩气囊连接。通过这样的方式，整个机器人为封闭空间，除附加气囊外，每个气囊均有一个独立气泵与附加气囊相通，各个气泵完成各个气囊与附加气囊间的气体交换。
附加气囊设置的位置可以灵活设置，只要不影响机器人的蠕动前进即可。可选地，附加气囊设置在头端气囊和尾端气囊之间，且附加气囊围绕 伸缩气囊均匀分布。附加气囊可以随着伸缩气囊伸缩时发生径向和轴向变形。这样设置附加气囊的好处在于附加气囊吸气膨胀后能够尽可能不与管道内壁接触，避免干涉机器人的蠕动前进。
可选地，附加气囊还可以挂载在尾端气囊的尾部，只要保证附加气囊吸气膨胀后不与管道内壁产生较大的压力即不会干涉机器人的蠕动前进。
可选地，机器人还包括安装平台18，安装平台18设置在头端气囊和伸缩气囊的连接处，或者设置在尾端气囊和伸缩气囊的连接处，或者在头端气囊和伸缩气囊的连接处和尾端气囊和伸缩气囊的连接处各设置一个安装平台。
可选地，双向气泵、电源模块和控制模块都设置在安装平台上。安装平台优选采用具有一定强度且密度低的材料制成，例如塑料或者铝合金。
为了方便头端气囊、伸缩气囊和尾端气囊的拆卸，可选地，安装平台18为两个相互配合且密封连接的法兰盘，其中一个法兰盘18-1与伸缩气囊连接，另一个法兰盘18-2与头端气囊和/或尾端气囊连接。法兰盘18-1和法兰盘18-2优选采用螺纹或者锁扣连接。
可选地，机器人还包括压力传感器6、13，压力传感器6、13设置在头端气囊和尾端气囊的外侧侧壁上，用于检测该外侧侧壁与管道内壁的压力值。控制模块根据该压力值控制各个双向气泵的工作状态。
下面介绍图3所示的内置式双向气泵自调控气流蠕动柔性机器人的工作过程。
尾端气囊通过尾端气囊气门2预先充气，使用过程中也可以通过尾端气囊气门给尾端气囊补气；附加气囊通过附加气囊气门5预先充气和使用过程中补气；伸缩气囊通过伸缩气囊气泵从附加气囊中补气；头端气囊通过头端气囊气门6-1预先充气和使用过程中补气。工作时，各个气囊通过各自的气泵和附加气囊交换气体，从而使该机器人形成内部气体循环，不需要连接外部气管。气囊泵是双向泵，既能从附加气囊向各个气囊抽气，也能从各个气囊向附加气囊抽气，并和控制模块和电源模块安装于安装平台上。
该机器人工作过程如下：假设头端、尾端预先充有0.75个单位气体，伸缩气囊预先充有1个单位气体，附加气囊预先充有0.5个单位气体，当头尾端气囊气体达到1个单位时，头尾端气囊与管道内壁充分接触，并且气囊压力传感器反馈值达到设定值。关闭各自气囊气门，是气囊气体不与外部气体发生交换，形成一个独立的定量内循环系统。在实际应用中，各个气囊预先充气量根据实际需求添加。
第一步：头端气囊气泵从附加气囊抽气，向头端气囊充0.25个单位气体，此时头端气囊径向膨胀，支撑在管道内壁，尾端气囊压力传感器压力值也达到设定值；
第二步：伸缩气囊气泵从伸缩气囊抽气，向附加气囊充0.8个单位气体，此时伸缩气囊轴向收缩，带动尾端气囊沿轴向方向移动，同时附加气囊轴向被挤压，向径向方向膨胀，但不会与管壁发生接触；
第三步：尾端气囊气泵从附加气囊抽0.25个单位气体，并充到尾端气囊中，此时尾端气囊径向膨胀，支撑在管道内壁，尾端气囊压力传感器压力值也达到设定值；
第四步：头端气囊气泵从头端气囊向附加气囊抽0.25个单位气体，此时头端气囊径向收缩，与管道内壁脱离；
第五步：伸缩气囊气泵从附加气囊向伸缩气囊充0.8个单位气体，使伸缩气囊轴向伸长，同时附加气囊径向收缩轴向伸长，从而伸缩气囊将头端气囊沿轴向方向向前推动；
重复以上步骤，机器人便可自行在管道内蠕动前进。
需要说明的是，上述实施例中气囊的大小及充气单位值都是示例性的，各个气囊大小和充气多少可以根据实际应用需求进行设计；机器人在使用中的气体量也都是根据需求预先充好的，机器人内部形成气体循环，不依赖于外部气体，在有害气体环境中也是安全的。
如果在正常环境中，可以采用开放式蠕动机器人，即没有附加气囊，其工作过程与上述有附加气囊的机器人的工作过程类似，不同之处在于气囊气泵是从外部气体向气囊充气，将气囊气体抽到外部。
如图4所示，在另一个实施例中，双向气泵19的数量为一个；机器人还包括：通道19-2、19-4、19-7、电控开关19-3、19-5、19-6，其中，头端气囊、尾端气囊和伸缩气囊分别通过一个独立的通道与这一个双向气泵19的一个气管连接，在每个独立的通道上都设置有电控开关；这一个双向气泵19的另一个气管与附加气囊连接。
此时，蠕动机器人的工作过程如下：预先在附加气囊充有足够的气体，头端、尾端、伸缩气囊均处于收缩状态，所有微型电磁阀(即电控开关)均处于关闭状态。
第一步，电磁阀19-6打开，气泵将气体从附加气囊充到尾端气囊，尾端气囊径向膨胀，与管道内壁充分接触，支撑在管道内，使尾端气囊外壁压力传感器压力值达到设定值，关闭电磁阀19-6；
第二步，打开电磁阀19-4，气泵将气体从附加气囊充到伸缩气囊，伸缩气囊轴向伸长，从而让机器人头端向前移动，当到达预定伸长值后，关闭电磁阀19-4；
第三步，打开电磁阀19-3，气泵将气体从附加气囊充到头端气囊，头端气囊径向膨胀，与管道内壁充分接触，支撑在管道内，使头端气囊外壁压力传感器压力值达到设定值，关闭电磁阀19-3；
第四步，打开电磁阀19-6，气泵将气体从尾端气囊充到附加气囊，使尾端气囊脱离管道内壁，关闭电磁阀19-6；
第五步，打开电磁阀19-4，气泵将气体从伸缩气囊充到附加气囊，伸缩气囊轴向收缩，从而带动机器人尾端轴向移动，当收缩到预定值后，关闭电磁阀19-4。
重复以上步骤，蠕动柔性机器人就可以在管道内蠕动前进。
类似的，在一个具体的实施例中，上述的机器人的双向气泵直接从机器人的外部环境采气或者将气体直接排出到外部环境中。如图5所示，为无附加气囊的共用气泵式蠕动柔性机器人。双向气泵20安装在尾端气囊底板上；通道20-1穿过尾端气囊与外部气体相通，气门为20-8；通道20-3与头端气囊相通，电磁阀20-2控制通道20-2的通断；通道20-4与伸缩 气囊相通，电磁阀20-5控制通道20-4的通断；通道20-6与尾端气囊相通，电磁阀20-7控制通道20-6的通断。
该机器人运动过程与具有附加气囊的共用气泵式机器人运动过程类似，不同之处是，该机器人气泵不是从附加气囊通气，而是与外界气体通气。
图6是本发明实施例的气流蠕动柔性机器人结构分类示意图。如图6所示，本发明实施例提供的内置式双向气泵自调控气流蠕动柔性机器人按气流循环方式可以分成开放式和封闭式蠕动柔性机器人：
①开放式蠕动柔性机器人无附加气囊，头端、尾端、伸缩气囊通过双向气泵与外界环境交换气体，形成气流外循环，主要应用与外界环境气体充足且为无害气体情况下；
②封闭式蠕动柔性机器人具有附加气囊，各个气囊预先根据需求充一定量气体，使用过程中头端、尾端、伸缩气囊通过双向气泵与附加气囊交换气体，与外界没有气体交换，形成气流内循环，主要应用与外界环境为有害气体或气体较少情况下。
内置式双向气泵自调控气流蠕动柔性机器人按双向气泵数量可以分成单气泵(双向)式和多气泵(双向)式蠕动柔性机器人：
①单气泵(双向)式蠕动柔性机器人的双向气泵与多个电控开关(例如微型电磁阀)协同工作，顺序控制各个电磁阀的通断，控制各个气囊与外界环境或附加气囊交换气体，从而控制各个气囊的缩放，让机器人蠕动；
②多气泵(双向)式蠕动柔性机器人的头端、伸缩、尾端气囊均具有独立的双向气泵，控制系统顺序控制各自气囊气泵的通断和方向，控制各个气囊与外界环境或附加气囊交换气体，从而控制各个气囊的缩放，让机器人蠕动。
因此，本发明实施例提供的内置式双向气泵自调控气流蠕动柔性机器人可以有以下几种结构形式，实际使用时根据需求选择合适的结构：开放式单气泵(双向)蠕动柔性机器人、开放式多气泵(双向)蠕动柔性机器人、封闭式单气泵(双向)蠕动柔性机器人、封闭式多气泵(双向)蠕动 柔性机器人。
本发明的蠕动柔性机器人除了本实例中通过气体作为动力外，还可以使用介磁、电、热、声、光、化学、生物等材料作为动力源来实现。蠕动柔性机器人在实际应用中可以作为搬运工作，运载平台，可以根据实际需求将目标物体运送到目标位置，可以搭载光纤进行激光手术等。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种内置式双向气泵自调控气流蠕动柔性机器人，其特征在于，包括：头端气囊、伸缩气囊、尾端气囊、电源模块、控制模块和双向气泵，其中，
    所述电源模块用于为所述双向气泵和所述控制模块供电；
    所述头端气囊、所述伸缩气囊和所述尾端气囊沿轴向依次连接；
    所述控制模块用于控制所述双向气泵向所述头端气囊给气或排气，所述头端气囊通过所述双向气泵的给气或排气而沿径向膨胀或收缩；所述控制模块用于控制所述双向气泵向所述尾端气囊给气或排气，所述尾端气囊通过所述双向气泵的给气或排气而沿径向膨胀或收缩；所述控制模块用于控制所述双向气泵向所述伸缩气囊给气或排气，所述伸缩气囊通过所述双向气泵的给气或排气而沿轴向伸长或缩短。
  2. 根据权利要求1所述的机器人，其特征在于，所述机器人无需外接气源，所述双向气泵的给气和排气均在所述机器人内部流动；或者所述双向气泵与外部环境连接，以实现所述机器人内部的气囊与外部环境之间的气体交换。
  3. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括附加气囊，所述附加气囊用于存储气体。
  4. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括安装平台，所述安装平台设置在所述头端气囊和所述伸缩气囊的连接处，或者设置在所述尾端气囊和所述伸缩气囊的连接处，或者在所述头端气囊和所述伸缩气囊的连接处和所述尾端气囊和所述伸缩气囊的连接处各设置一个安装平台。
  5. 根据权利要求4所述的机器人，其特征在于，所述双向气泵、电源模块和控制模块设置在所述安装平台上。
  6. 根据权利要求4所述的机器人，其特征在于，所述安装平台为两个相互配合且密封连接的法兰盘，其中一个法兰盘与伸缩气囊连接，另一 个法兰盘与头端气囊和/或尾端气囊连接。
  7. 根据权利要求1或3所述的机器人，其特征在于，所述双向气泵的数量为一个；所述机器人还包括：通道、电控开关，其中，所述头端气囊、所述尾端气囊和所述伸缩气囊分别通过一个独立的通道与所述一个双向气泵的一个气管连接，在每个独立的通道上都设置有电控开关；所述一个双向气泵的另一个气管与附加气囊或者外部环境连接。
  8. 根据权利要求1或3所述的机器人，其特征在于，所述双向气泵包括：头端气囊双向气泵、尾端气囊双向气泵和伸缩气囊双向气泵，其中，
    所述头端气囊双向气泵的两个气管分别与所述附加气囊和所述头端气囊连接；所述尾端气囊双向气泵的两个气管分别与所述附加气囊和所述尾端气囊连接；所述伸缩气囊双向气泵的两个气管分别与所述附加气囊和所述伸缩气囊连接；或者
    所述头端气囊双向气泵的两个气管分别与外部环境和所述头端气囊连接；所述尾端气囊双向气泵的两个气管分别与外部环境和所述尾端气囊连接；所述伸缩气囊双向气泵的两个气管分别与外部环境和所述伸缩气囊连接。
  9. 根据权利要求3所述的机器人，其特征在于，所述附加气囊设置在所述头端气囊和所述尾端气囊之间，且所述附加气囊围绕所述伸缩气囊均匀分布；或者所述附加气囊挂载在所述尾端气囊的尾部。
  10. 根据权利要求1至9中任一项所述的机器人，其特征在于，所述机器人还包括压力传感器，所述压力传感器设置在所述头端气囊和所述尾端气囊的外侧侧壁上，用于检测该外侧侧壁与管道内壁的压力值。
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