A magnetically driven soft robot for pipeline cleaning and its working method

Abstract

The invention discloses a magnetically driven soft robot for pipeline cleaning and a working method thereof. The soft robot includes a magnetic soft robot main body and a claw. The main body of the magnetic soft robot includes a front leg structure, a rear leg structure, a twisting telescopic structure and a cleaning ring. The front leg structure and the rear leg structure are respectively arranged at the two ends of the torsion telescopic structure. The cleaning ring is sleeved on the outside of the torsion telescopic structure. A plurality of claws are arranged on the inner side of the front leg structure. The claws can be flipped along with the structure of the front legs. The front leg structure, the rear leg structure and the torsional telescopic structure are all elastic permanent magnets; when the front leg structure and the rear leg structure are subjected to the same radial magnetic field, one of them is turned inward and the other is turned outward. When the torsionally stretchable structure is subjected to an axial magnetic field, it can twist and stretch under the control of the magnetic field. The invention controls the movement of the robot in a non-contact manner, without additional signal transmission such as wires, and increases the flexibility of the soft robot in bending pipelines.

Description

technical field [0001] The invention designs a magnetically driven soft robot for dredging and cleaning in complexly curved flexible non-metallic pipes, and specifically relates to a soft robot structure integrated with silica gel and magnetic powder and its drive control method using magnetic moments, which can realize complex flexible The work of pulling in the pipe, unclogging blockages and releasing cleaning fluid prevents the flexible pipe from being damaged by rigid objects in the traditional cleaning process. Background technique [0002] Rubber tubes or flexible tubes made of polymer materials have flexibility and convenience due to their good flexibility and extremely low Young's modulus. They are used in some mobile and flexible industrial, medical or domestic sewage middle. These flexible pipes have accumulated a lot of dirt and even blocked them under long-term work. Traditional pipe dredging is difficult to clean or dredge complex and curved flexible pipes with...

AI Technical Summary

Problems solved by technology

These flexible pipes have accumulated a lot of dirt and even blocked them under long-term work. Traditional pipe dredging is difficult to clean or dredge complex curved flexible pipes with rigid structures, and it is easy to damage the inner pipe wall of the flexible pipe.

Therefore, it is proposed to design a soft robot based on magnetic moment drive control to clean or dredge flexible pipes, and solve the cleaning and dredging problems in highly complex curved flexible pipes.

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