A piezoelectric inertial micro-pipeline robot with retraction suppression based on cooperative control

Abstract

The present invention relates to a piezoelectric inertia micro-pipeline robot with retreat suppression based on cooperative control, comprising a first main body, a second main body, a middle partition plate, a first drive connecting plate, a second drive connecting plate, a leaf spring connecting plate, a first piezoelectric stack, a second piezoelectric stack, a detection module, and an ultrasonic suspension module. The drive connecting plate is fixedly connected to the corresponding main body by bolts, and a friction ball is provided on the driving foot of the drive connecting plate. The middle partition plate is arranged at the center between the first and second main bodies and is fixedly connected to the main body by a leaf spring connecting plate. The detection module is arranged on the first main body, and the ultrasonic suspension module is arranged on the second main body. The pipeline robot of the present invention is compact in size and utilizes a longitudinally arranged dual piezoelectric stack to cooperate with each other for driving, which can effectively suppress the displacement retreat phenomenon of the piezoelectric stick-slip drive. In particular, execution function modules can be installed on both ends of the pipeline robot, which can effectively solve the problem of the lack of execution functions of the micro-pipeline robot.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-in-line robots, and in particular to a cooperatively controlled back-off inhibited piezoelectric inertia micro-in-line robot. Background Art

[0002] As transportation vehicles, pipelines play a vital role in human production and life, but they must undergo regular professional inspection and maintenance to ensure stable working conditions. In addition to traditional large pipelines, many smaller pipes exist in the industrial and medical fields, such as condensers, gas pipes, and intestinal pipes. These pipes are relatively complex and have smaller diameters, making in-pipe work within these tiny pipes a significant challenge.

[0003] Therefore, there is an increasing demand for miniature pipeline robots that can move stably and flexibly in tiny pipelines and can be equipped with execution function modules to perform micro-manipulation tasks in small-diameter pipelines. Piezoelectric inertial drive has a simple structure and is easy to control, and is widely used in the field of pipeline robots. In past studies, inertial impact drive mode was mostly used. However, due to the limitations of the inertial impact drive structure, it is difficult to add actuators to the drive body of the pipeline robot, which also limits the load capacity of the pipeline robot. Inertial stick-slip drive pipeline robots move smoothly and can also meet the requirements of miniaturization, large stroke and high precision of pipeline robots. The structure allows them to add in-pipe function modules. However, the structural size of the existing inertial stick-slip drive piezoelectric pipeline robots cannot meet the needs of working in small-diameter pipelines, and there are common problems such as sliding friction resistance generated in the rapid deformation drive stage causing the driver to produce displacement and retreat. Summary of the Invention

[0004] The present invention aims to provide a piezoelectric inertial micro-pipeline robot with cooperative control and retraction suppression. This system utilizes a piezoelectric inertial stick-slip drive system, employing an axially arranged dual piezoelectric stack to minimize the robot's radial dimensions. The dual piezoelectric stacks drive the robot's motion through cooperative control, effectively suppressing the displacement retraction associated with piezoelectric inertial stick-slip drive. Furthermore, the proposed micro-pipeline robot's driver body can be equipped with an actuator module at both ends, addressing the micro-pipeline robot's lack of in-pipe actuator functionality.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The present invention proposes a retreat-suppressed piezoelectric inertia micro-pipeline robot based on collaborative control, comprising a first body, a second body, a first drive connecting plate, a second drive connecting plate, a middle partition plate, a first piezoelectric stack, a second piezoelectric stack, a leaf spring connecting plate, a detection module connecting plate, a detection module, an ultrasonic suspension module connecting plate and an ultrasonic suspension module; the first body, the middle partition plate and the second body are coaxially arranged in sequence and evenly spaced, and the first body and the second body have the same structure and are mirror-imaged with a 90° difference in the circumferential direction; the leaf spring connecting plates are circumferentially uniformly fixedly connected between the outer circumferential end faces of the first body, the middle partition plate and the second body; the first drive connecting plate is a concave structure, which is fixedly connected between the upper and lower ends of the front side of the first body; The second drive connecting plate has the same structure as the first drive connecting plate, and is fixedly connected between the left and right ends of the rear side of the second main body; the first piezoelectric stack is coaxially arranged between the first main body and the middle partition plate, and its front end is in contact with the middle of the first drive connecting plate; the second piezoelectric stack is coaxially arranged between the second main body and the middle partition plate, and its rear end is in contact with the middle of the second drive connecting plate; the detection module connecting plate is arranged on the front side of the first drive connecting plate and is coaxially fixed to the first main body; the detection module is coaxially arranged on the front end face of the detection module connecting plate; the ultrasonic suspension module connecting plate is arranged on the rear side of the second drive connecting plate and is coaxially fixed to the second main body; the ultrasonic suspension module is installed on the rear end face of the ultrasonic suspension module connecting plate.

[0007] Furthermore, friction balls are respectively installed on the outer end surfaces at the upper and lower ends of the first driving connecting plate and the outer end surfaces at the left and right ends of the second driving connecting plate for direct contact with the pipe wall.

[0008] Furthermore, the detection module connecting plate, the ultrasonic suspension module connecting plate and the middle partition plate are all provided with weight-reducing holes to reduce the overall mass.

[0009] Furthermore, the detection module includes a detection body, a detection lens and a lighting lamp; the detection body is coaxially fixed to the front end face of the detection module connecting plate; the detection lens is coaxially fixed to the front end face of the detection body; and the lighting lamp is circumferentially distributed on the circumferential outside of the detection lens.

[0010] Furthermore, pre-tightening holes are provided in the middle of the first drive connecting plate and the second drive connecting plate; the pre-tightening bolts are passed through the pre-tightening holes in the middle of the first drive connecting plate and the second drive connecting plate from the outside to the inside, and the bottom ends of the pre-tightening bolts on both sides respectively press against the first piezoelectric stack and the second piezoelectric stack, thereby achieving pre-tightening of the first piezoelectric stack and the second piezoelectric stack.

[0011] Furthermore, the ultrasonic levitation module is composed of two piezoelectric ultrasonic buzzers; the two piezoelectric ultrasonic buzzers are respectively arranged on the upper and lower sides of the rear end surface of the ultrasonic levitation module connection plate.

[0012] Furthermore, the piezoelectric ultrasonic buzzer includes a buzzer body, pins and a signal transmitting hole; the buzzer body is correspondingly installed on the rear end surface of the ultrasonic suspension module connection plate; the pins are installed on the outer end surface of the buzzer body; and the signal transmitting hole is arranged inside the buzzer body.

[0013] Furthermore, the first main body, the second main body, the middle partition plate, the detection module connecting plate and the ultrasonic suspension module connecting plate are all circular structures, and their outer diameters are equal; the central axes of the first main body, the second main body, the middle partition plate, the detection module connecting plate and the ultrasonic suspension module connecting plate all coincide.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention adopts piezoelectric drive technology, which has the advantages of easy implementation and simple control. The specific form adopts piezoelectric stick-slip inertial drive technology. Compared with pipeline robots with other drive modes, it has the advantages of high resolution, simple structure, low energy loss, etc., and is easy to perform small and precise positioning.

[0016] 2. The present invention adopts a longitudinal arrangement of dual piezoelectric stacks for coordinated driving, which can effectively suppress the displacement and retreat problem of piezoelectric stick-slip driving and improve the motion accuracy and control accuracy of the pipeline robot.

[0017] 3. The present invention provides a pre-tightening hole in the middle of the driving connecting plate. The pre-tightening bolt directly contacts the end face of the piezoelectric stack, thereby pre-tightening the piezoelectric stack and fine-tuning the working diameter of the pipeline robot to meet the diameter change requirements.

[0018] 4. The present invention is compact in size and can achieve smooth bidirectional movement and climbing movement at a certain angle in a 16mm diameter pipe, and has a large load-bearing capacity.

[0019] 5. The present invention adopts four driving feet to directly contact the pipe wall, without separately designed supporting feet, and the movement is more stable.

[0020] 6. This invention addresses the lack of in-pipe execution capabilities in pipeline robots by enabling the installation of execution modules on both sides of the drive body. The in-pipe robot incorporates a detection module and an ultrasonic levitation module, enabling in-pipe inspection and contactless transport of microparticles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic structural diagram of the first body and the second body in the present invention;

[0023] Figure 3 A schematic structural diagram of the first driving connecting plate and the second driving connecting plate in the present invention;

[0024] Figure 4 This is a schematic structural diagram of the middle partition board in the present invention;

[0025] Figure 5 Schematic diagram of the structure of the leaf spring connecting plate in the present invention;

[0026] Figure 6 This is a schematic structural diagram of the detection module connection plate in the present invention;

[0027] Figure 7 Schematic diagram of the structure of the detection module in the present invention;

[0028] Figure 8 This is a schematic structural diagram of the ultrasonic suspension module connecting plate of the present invention;

[0029] Figure 9 Schematic diagram of the structure of the piezoelectric ultrasonic buzzer in the present invention;

[0030] Figure 10 This is a front view of the present invention installed in a pipeline;

[0031] Figure 11 This is a left side view of the present invention installed in a pipeline;

[0032] Figure 12 It is a working principle diagram of the present invention;

[0033] Figure 13 This is a signal diagram of the working principle of the ultrasonic suspension module in the present invention. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] It should be noted that, in the description of the present invention, the terms "up", "down", "top", "bottom", "one side", "the other side", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not mean that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0036] See attached Figures 1 to 13The detailed structure of an embodiment of a cooperatively controlled piezoelectric inertial micro-in-pipe robot with retraction suppression is presented. The robot comprises a first body 1, a second body 2, a first drive connection plate 3, a second drive connection plate 4, a central partition plate 5, a first piezoelectric stack 6, a second piezoelectric stack 7, a leaf spring connection plate 8, a detection module connection plate 9, a detection module 10, an ultrasonic levitation module connection plate 11, and an ultrasonic levitation module.

[0037] The first main body 1, the middle partition plate 5 and the second main body 2 are coaxially arranged in sequence and are evenly spaced, and the first main body 1 and the second main body 2 have the same structure and are arranged in a mirror image with a 90° difference in the circumference; the leaf spring connecting plate 8 is a concave structure, which is evenly distributed and fixed between the outer circumferential end faces of the first main body 1, the middle partition plate 5 and the second main body 2; the first drive connecting plate 3 is a concave structure, which spans between the upper and lower ends of the front side of the first main body 1 and is fixedly connected to the first main body 1; the second drive connecting plate 4 spans between the left and right ends of the rear side of the second main body 2 and is fixedly connected to the second main body 2; the first piezoelectric stack 6 is coaxially arranged on the first main body The first driving connecting plate 3 is provided between the second main body 1 and the middle partition plate 5, and its front end is in contact with the middle of the first driving connecting plate 3; the second piezoelectric stack 7 is coaxially arranged between the second main body 2 and the middle partition plate 5, and its rear end is in contact with the middle of the second driving connecting plate 4; the detection module connecting plate 9 is arranged on the front side of the first driving connecting plate 3 and is coaxially fixed to the first main body 1; the detection module 10 is coaxially arranged on the front end surface of the detection module connecting plate 9; the ultrasonic suspension module connecting plate 11 is arranged on the rear side of the second driving connecting plate 4 and is coaxially fixed to the second main body 2; the ultrasonic suspension module is installed on the rear end surface of the ultrasonic suspension module connecting plate 11.

[0038] The first main body 1, the second main body 2, the middle partition plate 5, the detection module connecting plate 9 and the ultrasonic suspension module connecting plate 11 are all circular structures and have equal outer diameters; the central axes of the first main body 1, the second main body 2, the middle partition plate 5, the detection module connecting plate 9 and the ultrasonic suspension module connecting plate 11 all coincide.

[0039] In this embodiment, the first main body 1 and the second main body 2 have the same structure and are arranged in a mirror image with a 90° difference in the circumference; symmetrical grooves 12 are provided on both sides of the outer circumference of the main body, and four connecting holes 13 are evenly distributed on the outer circumference of the main body for fixing the leaf spring connecting plate 8. Correspondingly, the number of the leaf spring connecting plates 8 is also set to four; a through hole 14 for passing the first piezoelectric stack 6 is provided at the axis center of the main body; rectangular connecting mounting grooves 15 are provided on the left and right sides of the through hole 14, and circular mounting grooves 16 are provided on the upper and lower sides.

[0040] The structure of the first driving connecting plate 3 and the second driving connecting plate 4 is the same, specifically including a concave main body 17, the two free ends of the concave main body 17 are driving feet 18, a piezoelectric stack mounting groove 19 is provided in the middle of the inner end surface of the concave main body 17, and a pre-tightening hole 20 is axially provided in the piezoelectric stack mounting groove 19 and passes through the middle of the concave main body 17; mounting feet 21 are symmetrically provided on the left and right sides of the piezoelectric stack mounting groove 19.

[0041] Friction balls 22 are respectively installed on the outer end surfaces of the driving feet 18 at both ends of the first driving connecting plate 3 and the second driving connecting plate 4 for direct contact with the pipe wall.

[0042] The detection module connecting plate 9 includes a detection module connecting plate body 23, and a detection module connecting hole 24 is provided at the axis center of the detection module connecting plate body 23; protruding ends are symmetrically provided on both sides of the rear end surface of the detection module connecting plate body 23, and a module weight reduction hole 25 is provided in the middle of the protruding ends to reduce the overall mass; and detection module connecting buckles 26 are respectively provided at the rear ends of the protruding ends.

[0043] The detection module 10 includes a detection body 27, a detection lens 28 and an illumination lamp 29; the detection body 27 is coaxially fixed in the detection module connection hole 24; the detection lens 28 is coaxially fixed to the front end surface of the detection body 27; and the illumination lamp 29 is evenly distributed circumferentially outside the circumference of the detection lens 28.

[0044] The middle partition plate 5 includes a partition body 30, and piezoelectric stack fixing grooves 31 are symmetrically arranged in the middle of the front and rear end faces of the partition body 30, and a radial middle weight-reducing hole 43 is arranged on the end face of the partition body 30; four middle connection holes 32 are evenly distributed on the outer circumference of the partition body 30, which are used to fix the leaf spring connecting plate 8, and correspondingly, three leaf spring connection holes 36 are evenly distributed on the surface of the leaf spring connecting plate 8.

[0045] The ultrasonic suspension module connecting plate 11 includes an ultrasonic suspension module connecting plate body 33, and ultrasonic suspension module connecting grooves 34 are respectively provided on the upper and lower sides of the rear end surface of the ultrasonic suspension module connecting plate body 33; protruding ends are symmetrically provided on both sides of the front end surface of the ultrasonic suspension module connecting plate body 33, and the middle part of the protruding ends is also provided with a module weight reduction hole 25; and ultrasonic suspension module connecting buckles 35 are respectively provided at the front ends of the protruding ends.

[0046] The outer circumferences of the first body 1, the middle partition plate 5, and the second body 2 are fixedly connected to the leaf spring connection holes 36 on the four circumferentially evenly distributed leaf spring connection plates 8 through the connection holes 13 and the middle connection hole 32, respectively. The front and rear ends of the leaf spring connection plates 8 respectively embrace the outer end faces of the first body 1 and the second body 2. The driving feet 18 at both ends of the opening of the concave body 17 of the first drive connection plate 3 respectively pass through the grooves 12 on both sides of the outer circumference of the first body 1, and the mounting feet 21 on the concave body 17 respectively connect to the rectangular connecting and mounting grooves 15 on both sides of the end face of the first body 1; the driving feet 18 at both ends of the opening of the concave body 17 of the second drive connection plate 4 respectively pass through the grooves 12 on both sides of the outer circumference of the second body 1, and the mounting feet 21 on the concave body 17 respectively connect to the rectangular connecting and mounting grooves 15 on both sides of the end face of the second body 2. One end of the first piezoelectric stack 6 is connected to the piezoelectric stack mounting groove 19 on the first drive connecting plate 3, and the other end is fixed in the piezoelectric stack fixing groove 31 in the middle of the front end face of the partition body 30 after passing through the through hole 14 at the axis of the first main body 1; a first pre-tightening bolt 37 is screwed into the pre-tightening hole 20 in the middle of the concave main body 17 of the first drive connecting plate 3 from the outside to the inside, and the inner end of the first pre-tightening bolt 37 is against the front end face of the first piezoelectric stack 6 to realize the pre-tightening of the first piezoelectric stack 6; one end of the second piezoelectric stack 7 is connected to the piezoelectric stack mounting groove 19 on the second drive connecting plate 4, and the other end is fixed in the piezoelectric stack fixing groove 31 in the middle of the front end face of the partition body 30 after passing through the through hole 14 at the axis of the second main body 2 It is fixed in the piezoelectric stack fixing groove 31 in the middle of the rear end face of the partition body 30; a second pre-tightening bolt 38 is screwed into the pre-tightening hole 20 in the middle of the concave main body 17 of the second drive connecting plate 4 from the outside to the inside, and the inner end of the second pre-tightening bolt 38 rests on the rear end face of the second piezoelectric stack 7 to achieve pre-tightening of the second piezoelectric stack 7; the detection module connecting buckles 26 at the rear ends of the two protruding ends of the rear end face of the detection module connecting plate main body 23 are respectively fixedly connected to the circular mounting grooves 16 on both sides of the end face of the first main body 1; the ultrasonic suspension module connecting buckles 35 at the front ends of the two protruding ends of the front end face of the ultrasonic suspension module connecting plate main body 33 are respectively fixedly connected to the circular mounting grooves 16 on both sides of the end face of the second main body 2.

[0047] The ultrasonic suspension module is composed of two piezoelectric ultrasonic buzzers 39 ; the two piezoelectric ultrasonic buzzers 39 are respectively installed in the ultrasonic suspension module connection grooves 34 on the upper and lower sides of the rear end surface of the ultrasonic suspension module connection plate body 33 .

[0048] The piezoelectric ultrasonic buzzer 39 includes a buzzer body 40, pins 41 and a signal transmitting hole 42; the buzzer body 40 is correspondingly installed in the ultrasonic suspension module connection slot 34; the pins 41 are installed on both sides of the outer end surface of the buzzer body 40; and the signal transmitting hole 42 is set inside the buzzer body 40.

[0049] The working principle of the present invention is as follows:

[0050] The present invention is placed in a pipeline, and the friction balls 22 on the driving feet 18 of the first driving connecting plate 3 and the second driving connecting plate 4 are respectively pressed into contact with the inner wall of the pipeline, and there is an initial pre-tightening force F0.

[0051] When the pipeline robot moves in the pipeline 44, taking a period T as an example, during the period 0-t1, the first piezoelectric stack 6 is applied Figure 12 As shown in the excitation signal at time 0-t1, the first piezoelectric stack 6 slowly extends, driving the driving foot 18 on the first driving connecting plate 3 to bend. The bending of the driving foot 18 produces a downward tilt, and the friction ball 22 on the first driving connecting plate 3 separates from the pipe wall. The extension of the first piezoelectric stack 6 drives the left part of the pipeline robot to move left by Δx1. Due to the preload force F0 between the friction ball 22 on the second driving connecting plate 4 and the pipe wall, the right part of the pipeline robot remains stationary. During the t1-t2 period, the first piezoelectric stack 6 is kept in the V1 signal excitation state. At this time, the friction ball 22 on the first driving connecting plate 3 has no contact with the pipe wall, while the friction ball 22 on the second driving connecting plate 4 is in squeeze contact with the pipe wall, with a preload force F0. The second piezoelectric stack 7 is applied Figure 12 As shown, the excitation signal rises at time t1-t2, and the second piezoelectric stack 7 extends rapidly. Under the action of the friction ball 22 on the second driving connecting plate 4 and the pre-tightening force F0 of the pipe wall, the pipeline robot moves to the left as a whole by Δx2. At this time, the friction ball 22 on the second driving connecting plate 4 contacts the pipe wall but does not squeeze it. During the t2-t3 stage, the second piezoelectric stack 7 is kept in the V2 signal excitation state, and the first piezoelectric stack 6 is applied Figure 12 As shown, at the time t2-t3, the excitation signal decreases, the first piezoelectric stack 6 contracts rapidly, the driving foot 18 on the first driving connecting plate 3 quickly resets from the bent state, and the friction ball 22 on the first driving connecting plate 3 changes from no contact with the pipe wall to squeeze contact with the pipe wall and generates a preload force F0. Under the action of the friction force between the friction ball 22 on the first driving connecting plate 3 and the pipe wall, the pipeline robot as a whole retreats to the right by Δs; at the stage t3-t4, the second piezoelectric stack 7 is applied Figure 12 As shown, the excitation signal at time t3-t4 causes the second piezoelectric stack 7 to slowly contract, and the second drive connecting plate 4 to slowly return to its original position. The friction balls 22 on the second drive connecting plate 4 then transition from non-extrusion contact with the pipe wall to extrusion contact, generating a preload force F0. During this process, a preload force F0 is applied between the friction balls 22 on the first drive connecting plate 3 and the pipe wall. The left side of the pipeline robot remains stationary, while the right side returns to its initial state. At the end of one cycle, the pipeline robot advances to the left by a distance Δx. Repeating this process will cause the robot to move leftward.

[0052] During the 0-t1 phase, the second piezoelectric stack 7 is applied Figure 12As shown in the excitation signal at time 0-t1, the second piezoelectric stack 7 slowly extends, driving the driving foot 18 of the second driving connecting plate 4 to bend. The bending of the driving foot 18 produces a downward tilt, and the friction ball 22 on the second driving connecting plate 4 separates from the pipe wall. The extension of the second piezoelectric stack 7 drives the right part of the pipeline robot to move rightward by Δx1. Due to the pre-tightening force F0 between the friction ball 22 on the first driving connecting plate 3 and the pipe wall, the position of the left part of the pipeline robot remains stationary. In the t1-t2 stage, the second piezoelectric stack 7 is kept in the V1 signal excitation state. At this time, the friction ball 22 on the second driving connecting plate 4 has no contact with the pipe wall, and the friction ball 22 on the first driving connecting plate 3 is in squeeze contact with the pipe wall, with a pre-tightening force F0, which is applied to the first piezoelectric stack 6. Figure 12 As shown, at the time t1-t2, the excitation signal rises, the first piezoelectric stack 6 extends rapidly, and under the action of the friction ball 22 on the first driving connecting plate 3 and the pre-tightening force F0 of the pipe wall, the pipeline robot moves rightward by Δx2. At this time, the friction ball 22 on the first driving connecting plate 3 contacts the pipe wall but does not squeeze it. During the period t2-t3, the first piezoelectric stack is kept in the V2 signal excitation state, and the second piezoelectric stack 7 is applied with the V2 signal. Figure 12 As shown, at the time t2-t3, the excitation signal decreases, the second piezoelectric stack 7 contracts rapidly, and the driving foot 18 of the second driving connecting plate 4 quickly returns from the bent state. The friction ball 22 on the second driving connecting plate 4 changes from no contact with the pipe wall to squeeze contact with the pipe wall and generates a preload force F0. Under the action of the friction force between the friction ball 22 on the second driving connecting plate 4 and the pipe wall, the pipeline robot as a whole retreats to the left by Δs. During the period t3-t4, the first piezoelectric stack 6 is applied Figure 12 As shown, the excitation signal at time t3-t4 causes the first piezoelectric stack 6 to slowly contract, and the first drive connecting plate 3 to slowly return to its original position. The friction balls 22 on the first drive connecting plate 3 then change from non-extrusion contact with the pipe wall to extrusion contact, generating a preload force F0. During this process, a preload force F0 is applied between the friction balls 22 on the second drive connecting plate 4 and the pipe wall. The right side of the pipeline robot remains stationary, while the left side returns to its initial state. At the end of one cycle, the pipeline robot advances rightward by a distance Δx. Repeating this process will cause the robot to move rightward.

[0053] The present invention can also be used to perform inspection and detection work in pipelines and contactless transportation of tiny particles. When performing inspection and detection work in pipelines, the detection module on the pipeline robot is started, and the external display is connected through an external transmission line or wireless signal. The pipeline inspection task can be performed through the movement of the pipeline robot in the pipe. In particular, the outer ring of the detection lens 28 of the selected detection module 10 is provided with a lighting lamp 29, which can adapt to the detection work in a dark environment. When performing contactless transportation of tiny particles, the ultrasonic suspension module on the pipeline robot is applied. The external signal input source is connected by pin 14, so that the piezoelectric buzzer 39 generates ultrasonic frequency vibrations, and ultrasonic waves are emitted through the signal emission hole 42. After forming a standing wave, sound pressure in the upward direction and sound pressure in the downward direction are generated, and they are sinusoidally distributed. When the mass of the transported particles is extremely small, they will only be affected by sound pressures in two different directions, and will stop at the point where the upper and lower sound pressures are balanced with each other, that is, the sound pressure node, such as Figure 13 As shown. In this way, the particles can be transported to the designated position in the pipe along with the movement of the pipeline robot. According to the distance between the two piezoelectric buzzers 39 and the emission wavelength λ, as shown Figure 13 As shown in the figure, at the sound pressure node at half wavelength λ / 2, a large amount of tiny particles can be transported in a single time.

[0054] Matters not fully described in the present invention are known in the art.

[0055] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A piezoelectric inertial micro-pipeline robot with retreat suppression based on cooperative control, characterized by: The ultrasonic levitation module comprises a first main body, a second main body, a first drive connecting plate, a second drive connecting plate, a middle partition plate, a first piezoelectric stack, a second piezoelectric stack, a leaf spring connecting plate, a detection module connecting plate, a detection module, an ultrasonic levitation module connecting plate and an ultrasonic levitation module; the first main body, the middle partition plate and the second main body are coaxially arranged in a uniformly spaced order, and the first main body and the second main body have the same structure and are mirror-imaged with a 90° difference in the circumferential direction; the leaf spring connecting plate is circumferentially uniformly fixedly connected between the outer circumferential end faces of the first main body, the middle partition plate and the second main body; the first drive connecting plate is a concave structure, which is fixedly connected between the upper and lower ends of the front side of the first main body; the second drive connecting plate and the first drive connecting plate The structure is the same, and it is fixedly connected between the left and right ends of the rear side of the second main body; the first piezoelectric stack is coaxially arranged between the first main body and the middle partition plate, and its front end is in contact with the middle of the first drive connecting plate; the second piezoelectric stack is coaxially arranged between the second main body and the middle partition plate, and its rear end is in contact with the middle of the second drive connecting plate; the detection module connecting plate is arranged on the front side of the first drive connecting plate and is coaxially fixed to the first main body; the detection module is coaxially arranged on the front end surface of the detection module connecting plate; the ultrasonic levitation module connecting plate is arranged on the rear side of the second drive connecting plate and is coaxially fixed to the second main body; the ultrasonic levitation module is installed on the rear end surface of the ultrasonic levitation module connecting plate; Pre-tightening holes are provided in the middle of the first drive connecting plate and the second drive connecting plate; pre-tightening bolts are passed through the pre-tightening holes in the middle of the first drive connecting plate and the second drive connecting plate from the outside to the inside, and the bottom ends of the pre-tightening bolts on both sides respectively press against the first piezoelectric stack and the second piezoelectric stack, thereby achieving pre-tightening of the first piezoelectric stack and the second piezoelectric stack.

2. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 1, characterized in that: Friction balls are respectively installed on the outer end surfaces at the upper and lower ends of the first driving connecting plate and the outer end surfaces at the left and right ends of the second driving connecting plate for direct contact with the pipe wall.

3. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 1, characterized in that: The detection module connecting plate, the ultrasonic suspension module connecting plate and the middle partition plate are all provided with weight-reducing holes to reduce the overall mass.

4. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 1, characterized in that: The detection module includes a detection body, a detection lens and an illumination lamp; the detection body is coaxially fixed to the front end surface of the detection module connection plate; the detection lens is coaxially fixed to the front end surface of the detection body; and the illumination lamp is circumferentially evenly distributed outside the circumference of the detection lens.

5. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 1, characterized in that: The ultrasonic suspension module is composed of two piezoelectric ultrasonic buzzers; the two piezoelectric ultrasonic buzzers are respectively arranged on the upper and lower sides of the rear end surface of the ultrasonic suspension module connection plate.

6. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 5, characterized in that: The piezoelectric ultrasonic buzzer includes a buzzer body, pins and a signal transmission hole; the buzzer body is correspondingly mounted on the rear end surface of the ultrasonic suspension module connection plate; the pins are mounted on the outer end surface of the buzzer body; and the signal transmission hole is arranged inside the buzzer body.

7. The cooperative control-based piezoelectric inertial micro-pipeline robot according to claim 1, characterized in that: The first main body, the second main body, the middle partition plate, the detection module connecting plate and the ultrasonic suspension module connecting plate are all circular structures and have the same outer diameter; the central axes of the first main body, the second main body, the middle partition plate, the detection module connecting plate and the ultrasonic suspension module connecting plate all coincide.

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