Inchworm type magnetic control soft robot for small pipeline detection and use method

Abstract

The invention discloses an inchworm type magnetic control soft robot for small pipeline detection and a use method. According to the inchworm type magnetic control soft robot for small pipeline detection, the structure and the motion principle of inchworms in the nature are imitated, structural optimization is conducted in a finite element simulation mode, transverse and longitudinal zigzag structures are determined, large bending deformation can be achieved, and the inchworm-type magnetic control soft robot is used in cooperation with a controllable magnetic field operation table. Various movement modes such as straight movement and bending movement around the x-axis and the z-axis can be achieved. A miniature camera and a miniature illuminating lamp are further arranged on the soft robot, and free movement and detection in a small dark space can be achieved. Meanwhile, a multi-material 3D printing technology is adopted, the whole robot is manufactured in a one-time printing mode, precision is accurate, and due to the full-soft structure, the inchworm type magnetic control soft robot can pass through narrow spaces such as narrow slits through flexible deformation.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to an inchworm-type magnetically controlled soft robot for detecting small pipelines and a use method thereof. Background technique [0002] There are many ways to drive soft robots, including pneumatic hydraulic transmission, based on shape memory alloy (SMA), thermoelectric active polymer and magnetic drive. Among them, pneumatic-hydraulic transmission is the most widely used, but they usually require complex fluid supply mechanisms, including air source and pressure regulation components, which often limit the flexibility of soft robot movement, and it is difficult to achieve non-bolt system drive. While magnetic actuation is an unconstrained external field-based actuation technology, in a controllable magnetic field environment, soft robots can even work in different media, such as vacuum, air, and liquid. And because there is no tie constraint, the volume is sm...

AI Technical Summary

Problems solved by technology

[0003] In engineering, a large number of small pipelines require non-destructive testing, internal inspection, sandblasting, grinding wheel and chemical derusting. The inner diameter is too small, usually less than 100mm, and there is no pipe mechanism of suitable size to enter, which seriously affects the work efficiency

After research on the existing detection devices for processing pipelines, most of the existing pipeline inner wall robots or detection devices are super-large cantilever structures. This structure is huge and the manufacturing cost is high, and basically cannot handle pipelines with small inner diameters.

In addition, some mobile pipeline inner wall robots use telescopic support mechanisms to adapt to pipelines with different inner diameters. In small pipelines, when encountering curved pipeline parts, there will be a phenomenon that they cannot pass through, so the scope of application is limited.

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