A modular pipeline crawling soft robot

Abstract

The present invention discloses a modular pipeline crawling soft robot, comprising: a second pneumatic telescopic unit, the second pneumatic telescopic unit is configured to be able to extend only along its own axial direction when inflated; a second connecting piece, respectively connected and arranged at both ends of the second pneumatic telescopic unit; four first pneumatic telescopic units, located in the same plane, and symmetrically connected and arranged on two second connecting pieces in pairs, and configured to be able to extend only along its own axial direction in one direction when inflated, and the extension directions of the two first pneumatic telescopic units symmetrically connected to the same second connecting piece are opposite and orthogonal to the axial direction of the second pneumatic telescopic unit at the same time. The present invention has the advantages of convenient replacement, flexible assembly, powerful functions, simple structure, and easy operation. Through relatively simple selection and series-parallel assembly of modular components, a variety of robot configurations can be combined, so that the robot can better adapt to a variety of working environments and tasks.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a modular pipeline crawling soft robot. Background Art

[0002] With the development of science and technology, robotics has developed rapidly and has been widely used in industrial production, space exploration, cargo transportation, medical surgery, disaster relief, national defense and military industries, etc., achieving a high degree of automation and saving labor costs to a certain extent. However, most traditional robots are composed of rigid mechanisms assembled, which have the disadvantages of complex structure, limited flexibility, poor safety and human interaction, and low environmental adaptability.

[0003] In some special application scenarios, such as grasping and carrying fragile or soft objects, or performing inspections on rugged and irregular roads or narrow pipes, it is difficult for traditional rigid robots to accomplish similar tasks, and soft robots have unique advantages in such working conditions. Compared with rigid robots, soft robots have the advantages of greater flexibility, lighter weight, simpler structure, easier operation, lower manufacturing cost, and easier control.

[0004] In order to make robots more functional and adapt to more application scenarios, modular robots came into being. The concept of modularity was first proposed in the 1980s. The most important component of modular robots is replaceable units with simple structures and unique functions. Different modules can be matched according to different task requirements or work environments, thus giving robots different functional characteristics.

[0005] The modular soft robot has both modular characteristics and the advantages of soft robots, can better protect the operation object and has good interchangeability and environmental adaptability. The present application proposes a modular pipeline crawling soft robot that can realize crawling movement in square pipelines of various sizes. Summary of the invention

[0006] Based on the advantages of the above-mentioned modular pneumatic soft robot, the present invention aims to provide a modular pipe crawling soft robot that can crawl in square pipes of various sizes and realize rapid combination and splicing between different modules.

[0007] The purpose of the present invention is achieved by at least one of the following technical solutions:

[0008] A modular pipeline crawling soft robot, comprising:

[0009] a second pneumatic telescopic unit, wherein the second pneumatic telescopic unit is configured to be able to extend only along its own axial direction when inflated;

[0010] A second connecting member is respectively connected to two ends of the second pneumatic telescopic unit;

[0011] The four first pneumatic telescopic units are located in the same plane and are symmetrically connected in pairs on the left and right sides of the two second connecting members. They are configured to extend only in one direction along their own axis when inflated. The two first pneumatic telescopic units symmetrically connected to the same second connecting member extend in opposite directions and are orthogonal to the axis of the second pneumatic telescopic unit.

[0012] Furthermore, the second pneumatic telescopic unit comprises:

[0013] The second axial telescopic body is cylindrical in shape, made of flexible material and has a closed air cavity inside along the axial direction;

[0014] A plurality of rigid limiting rings are evenly spaced and axially arranged on the outer peripheral wall of the second axially telescopic body, and are used to limit the radial deformation of the second axially telescopic body;

[0015] Two connectors are respectively arranged at two ends of the second axially telescopic body and are used to connect the second connector.

[0016] Furthermore, the connector is connected to the second connector by means of a slot, a thread or a pin.

[0017] Furthermore, the material of the second axially telescopic body includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material.

[0018] Furthermore, the first pneumatic telescopic unit comprises:

[0019] The guide sleeve is configured to be a hollow cylinder with one end sealed and the other end open;

[0020] A first axially telescopic body is coaxially arranged in the guide sleeve with clearance fit, is made of flexible material and has a closed air cavity axially arranged inside;

[0021] A plurality of rigid limiting rings are evenly spaced and axially arranged on the outer peripheral wall of the first axially telescopic body, and are used to limit the radial deformation of the first axially telescopic body;

[0022] The connecting seat is connected between the sealing end of the guide sleeve and the second connecting piece.

[0023] Furthermore, the connecting seat is connected to the second connecting piece by means of a slot, a thread or a pin.

[0024] Furthermore, the first axially telescopic main body material includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material.

[0025] Furthermore, the second connecting member is connected to the second connecting member by means of a slot, a thread or a latch.

[0026] Furthermore, there are more than two second pneumatic telescopic units, and adjacent second pneumatic telescopic units are connected in series via a first connecting piece. The series connection can increase the speed during linear motion.

[0027] Furthermore, the number of the second pneumatic telescopic units is more than two and they are arranged in parallel, the second connecting pieces are respectively arranged at both ends of each second pneumatic telescopic unit, the second connecting pieces at the same end of each second pneumatic telescopic unit are connected as a whole, and the four first pneumatic telescopic units are symmetrically connected in pairs on the left and right sides of the second connecting piece connected as a whole. The parallel structure enables the robot to have better motion accuracy, motion stability and anti-interference ability when performing pipeline crawling motion.

[0028] Compared with the prior art, the outstanding effects of the present invention include:

[0029] The present invention is designed in a modular manner and has the advantages of easy installation, strong replaceability, and strong adaptability to different working scenes.

[0030] The invention adopts a pneumatic driving mode, which is environmentally friendly and efficient, and is simple to operate and easy to control.

[0031] The present invention designs basic modular units constituting the robot, and various robots can be assembled through reasonable matching of the modular units, which are convenient to assemble and disassemble and have strong repeatability.

[0032] For pipes of different sizes, the extension of the drive unit can be controlled by changing the inflation pressure, making the robot more adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the three-dimensional structure of the first pneumatic telescopic unit.

[0035] Figure 3 It is a schematic diagram of the three-dimensional structure of the second pneumatic telescopic unit.

[0036] Figure 4 It is a schematic cross-sectional view of the axial telescopic main body.

[0037] Figure 5 It is a schematic diagram of the dimensions of the axially telescopic body when it is not inflated.

[0038] Figure 6 This is a schematic diagram of the dimensions of the axially telescopic body after inflation.

[0039] Figure 7 It is a schematic diagram of the three-dimensional structure of the second connecting member.

[0040] Figure 8 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention.

[0041] Fig. 9 It is a schematic diagram of the three-dimensional structure of the first connecting member according to the second embodiment of the present invention.

[0042] Fig.10 It is a schematic diagram of the three-dimensional structure of embodiment 3 of the present invention.

[0043] Fig.11 This is a schematic diagram of the robot's periodic motion principle.

[0044] Fig.12 This is a schematic diagram of crawling in different pipelines according to an embodiment of the present invention, wherein: Fig.12 (a) shows the scene of the soft robot of Example 1 crawling in a square tube when the inner diameter of the tube widens. Fig.12 (b) shows a scene in which the soft robot of Example 1 crawls in a square tube with irregular walls; Fig.12 (c) shows the scene of the soft robot of Example 2 crawling in a square tube. Fig.12 (d) shows the scene of the soft robot of Example 3 crawling in a square tube.

[0045] In the figure: 1-first pneumatic telescopic unit; 11-guide sleeve; 12-first axial telescopic body; 13-connecting seat; 14-first slot; 2-second pneumatic telescopic unit; 21-second axial telescopic body; 22-connecting head; 23-first flange; 3-first connecting piece; 31-second slot; 32-first U-shaped hole; 33-third slot; 4-second connecting piece; 41-second flange; 42-second U-shaped hole; 43-third U-shaped hole; 44-fourth slot. DETAILED DESCRIPTION

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] Embodiment 1

[0048] like Figure 1 As shown, a modular pipeline crawling soft robot comprises:

[0049] A second pneumatic telescopic unit 2, wherein the second pneumatic telescopic unit 2 is configured to be able to extend only along its own axial direction when inflated;

[0050] The second connecting members 4 are respectively connected to the two ends of the second pneumatic telescopic unit 2;

[0051] The four first pneumatic telescopic units 1 are located in the same plane and are symmetrically connected in pairs on the left and right sides of the two second connecting members 4. They are configured to extend only in one direction along their own axis when inflated. The extension directions of the two first pneumatic telescopic units 1 symmetrically connected to the same second connecting member 4 are opposite and orthogonal to the axis of the second pneumatic telescopic unit 2.

[0052] like Figure 3 As shown, the second pneumatic telescopic unit 2 includes:

[0053] The second axially telescopic body 21 is cylindrical in shape, made of flexible material and has a closed air cavity axially disposed therein;

[0054] A plurality of rigid limiting rings are evenly spaced and axially arranged on the outer peripheral wall of the second axially telescopic body 21 to limit the radial deformation of the second axially telescopic body 21;

[0055] Two connectors 22 are respectively disposed at two ends of the second axially telescopic body 21 and are used to connect the second connector 4 .

[0056] The material of the second axial telescopic body 21 includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material. This embodiment adopts silicone rubber material, which has good sealing performance, good elasticity and significant deformation effect after inflation.

[0057] like Figure 2 As shown, the first pneumatic telescopic unit 1 includes:

[0058] The guide sleeve 11 is configured to be a hollow cylinder with one end sealed and the other end open;

[0059] A first axially telescopic body 12 is coaxially disposed in the guide sleeve 11 with clearance fit, is made of a flexible material and has a closed air cavity axially disposed therein;

[0060] A plurality of rigid limiting rings are evenly spaced and axially arranged on the outer peripheral wall of the first axially telescopic body 12, and are used to limit the radial deformation of the first axially telescopic body 11;

[0061] The connecting seat 13 is connected between the sealing end of the guide sleeve 11 and the second connecting member 4 .

[0062] Specifically, in this embodiment, the two opposite sides of the connecting head 22 are provided with a first convex edge 23, and the two opposite sides of the connecting seat 13 are provided with a first card groove 14 that is plugged into and cooperates with the first convex edge 23. When connecting, the first convex edge 23 of the connecting head 22 is inserted into the first card groove 14 of the connecting seat 13 to achieve quick connection, which is convenient and quick.

[0063] The material of the first axial telescopic body 12 includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material. This embodiment adopts silicone rubber material, which has good sealing performance, good elasticity and significant deformation effect after inflation.

[0064] The working principle of the first axial telescopic body 12 and the second axial telescopic body 21 deforming after being inflated is as shown in the attached figure. Figure 5 and 6 The inner cavity height of each axial telescopic body is ha , the radius of the air cavity is ra , the cavity wall thickness is ta Since there are several rigid limiting rings on the outer peripheral wall of the axial telescopic body, which can limit the radial deformation of the unit, after inflation, the axial telescopic body does not expand radially, but the wall thickness becomes thinner and the axial elongation occurs. The elongation is Δha According to the relationship between the input air pressure of the drive unit and the deformation size, various complex controls can be performed on the pneumatic unit, such as speed control, force control, etc.

[0065] like Figure 7 As shown, the second connecting member 4 includes a square tubular body, and the two vertical edges of the left and right panels of the square tubular body are extended with second flanges 41, and the inner sides of the left and right panels of the square tubular body are vertically provided with two fourth card grooves 44 respectively located on the inner and outer sides of the front panel of the square tubular body; the front and rear panels of the square tubular body are provided with a second U-shaped hole 42, and the left and right panels of the square tubular body are respectively provided with a third U-shaped hole 43; the two opposite sides of the connecting head 22 are provided with a first flange 23 that is plugged and matched with the fourth card groove 44; the two opposite sides of the connecting seat 13 are provided with a first card groove 14 that is plugged and matched with the second flange 41.

[0066] Embodiment 2

[0067] like Figure 8 As shown, there are more than two second pneumatic telescopic units 2, and adjacent second pneumatic telescopic units 2 are connected in series via a first connecting member 3. Fig. 9As shown, the front and rear ends of the first connecting member 3 are both provided with a first U-shaped hole 32 and a second slot 31 that is plugged and matched with the first flange 23 of the connecting head 22, and the left and right sides of the first connecting member 3 are provided with a third slot 33. In this embodiment, the speed of linear motion can be effectively increased by connecting two second pneumatic telescopic units 2 in series.

[0068] Embodiment 3

[0069] like Fig.10 As shown, there are more than two second pneumatic telescopic units 2 and they are arranged in parallel, the second connecting pieces 4 are respectively arranged at both ends of each second pneumatic telescopic unit 2, the second connecting pieces 4 at the same end of each second pneumatic telescopic unit 2 are connected as a whole, and the four first pneumatic telescopic units 1 are symmetrically connected in pairs on the left and right sides of the second connecting piece 4 connected as a whole. The parallel structure enables the robot to have better motion accuracy, motion stability and anti-interference ability when performing pipeline crawling motion.

[0070] Attached Fig.11 Indicates the process of the robot performing linear crawling motion in a pipeline within one cycle. Inflating the first pneumatic telescopic unit 1 can cause the pneumatic expansion unit to expand and deform radially, thereby clinging to the inner wall of the pipeline. The second pneumatic telescopic unit 2 can achieve linear telescopic motion, allowing the robot to complete the crawling motion in the pipeline. Figure 1 The pipe crawling soft robot configuration shown in the figure is used as an example to introduce the working principle of the robot. The pipe to be climbed is a circular pipe. Because the main driving units of the robot are all soft materials, it can better adapt to the shape of the pipe to move. Fig.11 The 6 steps of robot movement specifically include:

[0071] ① First, a pair of first pneumatic telescopic units 1 at the rear are inflated and extended, contacting the inner side of the pipe and having a locking effect.

[0072] ② Then the second pneumatic telescopic unit 2 in the middle is inflated and stretched until it is no longer deformed, and the stretching amount is Δx .

[0073] ③ A pair of first pneumatic telescopic units 1 at the front are inflated and extended, contacting the inner side of the pipe and having a locking effect.

[0074] ④ The pair of first pneumatic telescopic units 1 at the rear begin to deflate and contract until the rear portion no longer maintains contact with the inner wall of the pipe.

[0075] ⑤ The second pneumatic telescopic unit 2 in the middle is deflated and contracts, pulling the rear part forward.

[0076] ⑥ A pair of first pneumatic telescopic units 1 at the rear are inflated and extended, contacting the inner side of the pipe and locking it, so that the robot is closely attached to the inner wall of the pipe from front to back, maintaining it in a relatively stable state.

[0077] After the above 6 steps, the pipeline crawling soft robot completes the entire cycle of forward motion in the pipeline, and the displacement of the motion is Δx The robot repeats the above-mentioned periodic motion and can crawl over a long distance in the pipeline.

[0078] Fig.12 Schematic diagram of crawling in different pipelines according to various embodiments of the present invention, wherein: Fig.12 (a) shows the scene of the pipeline crawling soft robot of Example 1 crawling in a square tube when the inner diameter of the pipeline widens. When the inner diameter of the pipeline widens, the inflation deformation of the first pneumatic telescopic unit 1 increases accordingly, so that it can better fit the inner wall and continue to crawl forward. Fig.12 (b) shows a scene in which the soft robot of Example 1 crawls in a square tube with irregular walls; Fig.12 (a) and Fig.12 (b) All of them demonstrate that the pipeline crawling soft robot of Example 1 has good adaptability to different motion environments. Fig.12 (c) shows the scene of the pipeline crawling soft robot of Example 2 crawling in a square tube. During crawling, the two second pneumatic telescopic units 2 connected in series are deflated and contracted at the same time, and the crawling speed is fast. Fig.12 (d) shows the scene of the pipeline crawling soft robot of Example 3 crawling in a square tube, and the two parallel second pneumatic telescopic units 2 are deflated and contracted at the same time, so as to obtain better movement accuracy, movement stability and anti-interference ability.

[0079] It can be seen that the pipe crawling software robot provided in the above embodiment can crawl smoothly in pipes of different shapes and sizes, which shows that the robot has good adaptability to different motion environments, and at the same time has the advantages of simple structure, convenient assembly, and easy operation.

[0080] The pipeline crawling soft robot of the present invention adopts pneumatic driving mode. By inflating and deflating the driving unit, the unit can produce telescopic movement or expansion movement. The driving unit and the connecting parts between the units are the basic components of the robot, which have the characteristics of easy disassembly and assembly, strong interchangeability, etc. The main application occasion is pipeline crawling. The main emphasis is on the modular characteristics of the robot. Through the relatively simple selection and serial assembly of modular components, a variety of robot configurations can be combined, so that the robot has different functions and can better adapt to a variety of working environments and tasks. The modular components are easy to replace, flexible to assemble, powerful, simple in structure, easy to assemble, and easy to operate.

[0081] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A modular pipeline crawling soft robot, characterized in that: include: A second pneumatic telescopic unit (2), wherein the second pneumatic telescopic unit (2) is configured to be able to extend only along its own axial direction when inflated; A second connecting member (4) is respectively connected to two ends of the second pneumatic telescopic unit (2); Four first pneumatic telescopic units (1) are located in the same plane and are symmetrically connected to the left and right sides of the two second connecting members (4) in pairs, and are configured to be able to extend only in one direction along their own axis when inflated, and the extension directions of the two first pneumatic telescopic units (1) symmetrically connected to the same second connecting member (4) are opposite and orthogonal to the axis of the second pneumatic telescopic unit (2); The second pneumatic telescopic unit (2) comprises: The second axially telescopic body (21) is cylindrical in shape as a whole, made of flexible material and having a closed air cavity arranged inside along the axial direction; A plurality of rigid limiting rings are evenly spaced and axially arranged on the outer peripheral wall of the second axially telescopic body (21) to limit the radial deformation of the second axially telescopic body (21); Two connectors (22), respectively arranged at two ends of the second axially telescopic body (21), and used for connecting the second connecting member (4); The first pneumatic telescopic unit (1) comprises: The guide sleeve (11) is configured to be in the shape of a hollow cylinder with one end sealed and the other end open; A first axially telescopic body (12) is coaxially arranged in the guide sleeve (11) with clearance fit, made of a flexible material and having a closed air cavity arranged inside along the axial direction; A plurality of rigid limiting rings are evenly spaced and arranged axially on the outer peripheral wall of the first axially telescopic body (12), and are used to limit the radial deformation of the first axially telescopic body (12); A connecting seat (13) connected between the sealing end of the guide sleeve (11) and the second connecting member (4); The number of the second pneumatic telescopic units (2) is more than two and they are arranged in parallel, the second connecting members (4) are respectively arranged at both ends of each second pneumatic telescopic unit (2), the second connecting members (4) located at the same end of each second pneumatic telescopic unit (2) are connected as a whole, and the four first pneumatic telescopic units (1) are symmetrically connected in pairs on the left and right sides of the second connecting members (4) connected as a whole.

2. The modular pipeline crawling soft robot according to claim 1, characterized in that: The connector (22) is connected to the second connector (4) by means of a slot, a thread or a latch.

3. The modular pipeline crawling soft robot according to claim 1, characterized in that: The material of the second axially telescopic body (21) includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material.

4. The modular pipeline crawling soft robot according to claim 1, characterized in that: The connecting seat (13) is connected to the second connecting member (4) by means of a slot, a thread or a latch.

5. The modular pipeline crawling soft robot according to claim 1, characterized in that: The material of the first axially telescopic body (12) includes silicone rubber material, pneumatic artificial muscle, shape memory alloy, dielectric elastomer and ion polymer metal composite material.

6. The modular pipeline crawling soft robot according to claim 1, characterized in that: The second connecting member (4) is connected to the second connecting member (4) by means of a slot, a thread or a latch.

Images