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Flexible movable tiny robot system inside pipeline

A robot system and mobile mechanism technology, applied in the direction of micro-manipulators, manipulators, manufacturing tools, etc., can solve problems such as damage to the inner wall of the pipeline, poor mobile adaptability, etc., and achieve the effect of fewer relative moving parts and simple structure

Inactive Publication Date: 2009-07-15
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention discloses a flexible mobile micro-robot system in a pipeline controlled by a computer electric-pneumatic system. Disadvantages such as poor mobile adaptability at bends

Method used

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  • Flexible movable tiny robot system inside pipeline

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] The flexible mobile micro robot system in the pipeline includes a pneumatic moving mechanism and an air pressure transmission system; the rubber driver has three air chambers; the pneumatic moving mechanism such as figure 1 As shown: it is composed of the front support unit 1, the rear support unit 3, and the middle rubber driver 2; Ring 4, such as figure 2 shown. Two rings with suspenders on the end faces of the front support unit 1 and the rear support unit 3 are respectively connected to the two ends of the rubber driver 2, and the surface of the entire hollow cylinder 8 is covered with an airtight plastic film airbag 7. The front support unit and the rear support unit Each is connected with a trachea 6, and the trachea is communicated with the ventilation circuit; the electric-pneumatic control system, such as Figure 4 As shown, the sy...

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Abstract

The invention relates to an inside-pipe flexible mobile micro robot system. A pneumatic moving mechanism of the robot system is formed by the connection of a front supporting unit, a rear supporting unit and a rubber driver; the front supporting unit and the rear supporting unit are hollow cylinders, the end surface of one end of each supporting unit is internally connected with a round ring with a strap; two round rings with straps are respectively connected with two ends of the rubber driver; the cylinders are completely and externally covered with airtight plastic film airbags; the front supporting unit and the rear supporting unit are respectively connected with an air pipe which is communicated with a ventilation circuit; an air pressure transfer system is formed by the serial connection of a high-pressure pump, a pressure storage tank, a ball valve, a flow control valve, a pressure regulating valve and the pneumatic moving system; three ventilation pipelines are connected in parallel between the flow control valve and the pneumatic moving mechanism; two ventilation pipelines are connected in parallel between the pressure regulating valve and the pneumatic moving mechanism; and each ventilation pipeline is connected in series with a normal-closed two-position two-way electromagnetic valve and a two-position three-way electromagnetic valve, and is respectively communicated with three air chambers of the driver and the film airbags of the front supporting unit and the rear supporting unit. The invention can achieve driving in three directions, is safe and flexible, and has accurate control without damaging the inner walls of the pipelines.

Description

technical field [0001] The invention relates to a flexible moving micro-robot system in a pipeline, belonging to the technical field of micro-robots. Background technique [0002] At present, most of the robots used to move in the pipeline are leg-type, wheel-type or a combination of the two rigid moving mechanisms. The driving methods of the robot mainly include electromagnetic drive, piezoelectric drive, pneumatic drive, and special functional materials such as shape memory. Alloy, giant magnetic material drive, etc. The rigid moving mechanism will cause damage to the inner wall of the pipeline, and has poor adaptability to the movement of different inner diameters or bends in the pipeline. It is difficult for the robot to move flexibly and reliably. Pneumatic drive, simple structure, less relative moving parts, safety, flexibility, etc., so pneumatically driven rubber drives have been widely used in the production of artificial joints, robot arms, etc., but due to the co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B25J13/00
Inventor 于莲芝张世雷吴洁朱小飞许伟明
Owner UNIV OF SHANGHAI FOR SCI & TECH
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