Pneumatic soft robot for pipeline

Abstract

The invention relates to a pneumatic soft robot for a pipeline. The pneumatic soft robot comprises a functional module, an air pump, a direction adjusting air bag set, a walking driving part and two fixed air bags, wherein the two ends of the walking driving part are connected with one end of each of the two fixed air bags, and the air pump is mounted at the other end of one fixed air bag; one end of the direction adjusting air bag set is connected with the other end of the other fixed air bag, and the functional module is mounted at the other end of the direction adjusting air bag set; the walking driving part can be extended and shortened along with inflation and deflation; the direction adjusting air bag set comprises at least three ellipsoidal air bags, each ellipsoidal air bag is tightly connected with the adjacent ellipsoidal air bag together, expansion and contraction movements of the ellipsoidal air bags is independent of each other, and steering of the robot is achieved through coordinated movement of all the ellipsoidal air bags. The robot can flexibly adapt to pipelines with different calibers, flexible contact between the robot and the inner walls of the pipelines can be achieved, and multifunctional operation is achieved.

Description

technical field [0001] The invention belongs to the technical field of pipeline robots, in particular to a pneumatic soft robot used for pipelines. Background technique [0002] As an effective means of material transportation, pipelines are widely used in many fields such as urban infrastructure and industrial transportation systems. At present, the pipeline operation method is mainly traditional manual operation. It is not only difficult and inefficient to carry out maintenance inspection and cleaning operations in the pipeline by manual methods, but also has certain risks. With the continuous improvement of science and technology and the level of manufacturing, improving the intelligence level of pipeline operations has become a powerful guarantee for daily life and social production under the background of industrialization. [0003] Existing pipeline robots mainly adopt a wheeled structure, which not only leads to a large volume of the robot, but also cannot better ada...

AI Technical Summary

Problems solved by technology

[0003] Existing pipeline robots mainly adopt a wheeled structure, which not only leads to a large volume of the robot, but also cannot well adapt to the complex and changeable conditions in the pipeline, and the movement flexibility is poor

For the problems encountered in the practical application of wheeled pipeline robots, such as motion interference in pipe bends and irregular pipelines, insufficient driving force due to internal friction, deformation of the wall surface, and errors of the robot itself, the robot is in the pipeline. Deviating from the correct posture, even rollover and stuck

Among the common pipeline robots, wheeled robots and crawler robots cannot move in straight up and down pipelines, and it is difficult to turn and move at multi-branch forks in pipelines

[0004] The Chinese patent with the publication number CN101625062B discloses a flexible peristaltic pipeline robot with a guide head, which realizes turning through a front guide head and a magnetic push-pull wheel mechanism, but the robot contains two rigid hemispherical shells, left and right, so it Movement in a T-shaped pipe with a large bending radius, unable to adapt to the pipe structure with changing pipe diameter

[0005] The Chinese patent with the publication number CN209663924U discloses a pipeline cleaning robot. The dust removal device of the cleaning robot is connected to the control mechanism through a motor to clean the pipeline, but the structure is too complicated to adapt to the internal complex structure of various curved pipelines.

[0006] To sum up, the existing pipeline robot has initially solved the problem of pipeline operation, but the pipeline robot has poor adaptability, low motion performance when facing pipelines with different diameters, cannot move in all directions in curved pipelines, and has poor versatility and cannot meet the requirements for pipelines. Multiple Functional Requirements for Robotic Operations

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