Soft robot crawling in fluid pipeline and design method thereof

A technology for fluid pipelines and robots, applied in the field of robots, can solve the problems that affect robots crawling, difficult to manufacture, pipeline blockage, etc., and achieve the effects of strong adaptability to complex environments, large contact area, and large frictional force.

Active Publication Date: 2022-03-11
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Soft robot crawling in fluid pipeline and design method thereof
  • Soft robot crawling in fluid pipeline and design method thereof
  • Soft robot crawling in fluid pipeline and design method thereof

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Embodiment Construction

[0045] In order to fully illustrate the present invention, further detailed description will be given below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] The invention provides a soft robot that can crawl in a pipeline with fluid flow. The robot is designed to be simple and compact in structure, easy to control, and can crawl in straight and curved pipelines with fluid flow.

[0047] Specifically, such as figure 1 As shown, for a circular pipe 100 with an inner diameter of 32 mm, the soft robot structure that can crawl in it includes an inflatable structure 1 at the rear end, an auxetic structure 2 at the front end, a contraction section 3 in the middle, and a rear annular connecting plate 4 , Front ring connecting plate 5, conduit A6, solenoid valve 50, conduit B60 and vacuum pump. The auxetic stru...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00F16L55/34F16L55/44F16L101/30F16L101/12
CPCB25J11/00F16L55/34F16L55/44F16L2101/30F16L2101/12
Inventor 王毅强郭迪亢战
Owner DALIAN UNIV OF TECH
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