Soft robot crawling in fluid pipeline and design method thereof

Abstract

The invention discloses a soft robot crawling in a fluid pipeline and a design method thereof, and belongs to the field of robots. The soft robot can crawl in a pipeline where fluid flows, and comprises a compression expansion structure, a pull expansion structure, a contraction section, a rear annular connecting plate, a front annular connecting plate, an electromagnetic valve and a pressure regulator. The compression-expansion structure and the pull-expansion structure are located on the two sides of the contraction section, the compression-expansion structure is connected with the contraction section through a rear annular connecting plate, the pull-expansion structure is connected with the contraction section through a front annular connecting plate, and the contraction section, the electromagnetic valve and the pressure regulator are communicated through guide pipes. The pipeline climbing device is simple in structure, light in weight and easy to machine and manufacture, pipeline climbing can be achieved only by regulating and controlling the pressure in the contraction section, and fluid circulation is not blocked; when in use, the shape of the pipeline can be changed along with the surrounding environment, so that the pipeline has strong complex environment adaptability and can carry heavier detection, sensing, remote sensing and other equipment to advance.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a soft robot crawling in a fluid flow pipeline and a design method thereof. Background technique [0002] Pipelines that transport gas, liquid, or fluid with solid particles are commonly used in biomedicine, oil and gas development and transportation, water and heat supply, drainage and sewage, and other application scenarios. In practical applications, pipelines require regular inspection and maintenance, or blockage removal. How to clean it without damaging the structure and the function of the fluid pipeline is an urgent problem to be solved. In addition, some pipelines are buried deep in the ground or in the deep seabed, which also brings difficulties to maintenance. The appearance of pipeline crawling robot brings great convenience to pipeline maintenance. [0003] Most existing pipeline crawling robots have complex structures or are difficult to manufacture. During pipeline cleaning...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing pipeline crawling robots have complex structures or are difficult to manufacture

During pipeline cleaning and maintenance, part of the crawling robot will occupy the center of the pipeline cross-section. When fluid or debris passes through the pipeline, the structure of the robot will gradually accumulate debris, causing the pipeline to be blocked again, and the accumulation of debris Also affects the robot's further crawling in the pipeline

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