A Magnetically Actuated Soft Inspection Robot for Creeping Over Obstacles on High-Voltage DC Transmission Lines

Abstract

The present application discloses a magnetically actuated soft inspection robot for creeping over obstacles on a high-voltage DC transmission line. In this solution, by the action of the Ampere force on the energized coil in the annular enhanced magnetic field generated around the high-voltage DC transmission wire, the linear drive magnetic core energized coil generates a forward driving force and the adsorption magnetic core energized coil generates an adsorption force perpendicular to the forward direction. Based on this, by operating the current direction of the adsorption magnetic core energized coil, the two magnetic force adsorbers located at both ends of the creeping soft body alternately generate magnetic suction force or release the magnetic suction force, and by operating the current direction of the linear drive magnetic core energized wire, the two magnetic force linear drivers located at both ends of the creeping soft body alternately generate driving force or release the driving force, thereby generating an obstacle-crossing action. This inspection robot operates flexibly, has few steps and high efficiency in creeping over obstacles, runs smoothly when crossing obstacles, and has high safety, and is especially suitable for crossing two types of fittings such as spacer dampers and vibration dampers.

Description

Technical Field

[0001] The present application relates to a magnetically actuated soft inspection robot for creeping over obstacles of high-voltage direct current transmission lines. Background Art

[0002] The power system is one of the cornerstones of the normal operation of modern human society. Overhead high-voltage transmission lines are mostly erected in the wild. High-voltage transmission lines are exposed to harsh environments for a long time. The surface strands are prone to wear, rust, breakage and other damages due to their own mechanical tension and weather. These damages will affect power transmission and even cause accidents. In order to ensure a stable and continuous supply of electricity, it is required to regularly inspect and maintain the transmission lines. At present, the inspection of transmission lines is mainly carried out manually. The erection of high-voltage transmission lines needs to cross various complex terrains and the environment is harsh. Manual inspection is difficult and inefficient. With the development of the economy, there is now a method of using drones or helicopters to cooperate with workers to conduct inspections through cameras, but this method is costly and has inspection blind spots, and is also easily affected by weather and wind loads. With the development of the intelligent robot industry, the use of robots to inspect high-voltage transmission lines has become a new trend in order to improve the efficiency and accuracy of high-voltage line inspections.

[0003] At present, most of the inspection robots developed at home and abroad are multi-cantilever rigid robots. This type of robot is bulky and oversized. At the same time, because it uses multiple mechanical arms to stagger forward to complete obstacles and other actions, it has the disadvantages of complex obstacle-crossing actions, low efficiency, limited load and unstable operation. Since soft robots have the characteristics of redundant degrees of freedom and flexible deformation, it is a new trend to combine soft robot technology with the field of high-voltage line inspection. At present, the development of pneumatic soft-driven robots is relatively mature, but it requires a complex auxiliary system, and it is difficult to realize soft inspection robots driven by air pressure on overhead transmission lines. Soft robots using SMA actuators (shape memory alloy actuators) have the disadvantages of long response time and low efficiency. In addition, there are also soft robots that use remotely applied magnetic fields to apply force or torque on magnetic robots embedded in magnets or made of magnetizable materials to achieve magnetic control drive.

[0004] In summary, the above methods are not suitable for soft inspection robots working at high altitudes in the field. Summary of the invention

[0005] In view of this, the present application provides a magnetically actuated soft inspection robot for high-voltage direct current transmission line creeping over obstacles, which can solve the problems of excessive size and complex structure caused by multi-motor drive of the inspection robot in the prior art, eliminate the obstacle crossing difficulty caused by the excessively large size of the overhead high-voltage transmission line inspection robot, and reduce the load on the high-voltage line.

[0006] The present application provides a magnetically actuated soft inspection robot for high-voltage DC transmission lines, which includes a peristaltic soft body, a pair of magnetic adsorption devices fixedly connected to both ends of the peristaltic soft body, and a pair of magnetic linear drivers fixedly connected to both ends of the peristaltic soft body; the magnetic adsorption device includes an adsorption core weak magnetic material body, an adsorption core strong magnetic material body stacked along a first direction, and an adsorption core energized coil disposed in a posture perpendicular to the first direction and passing through the adsorption core weak magnetic material body and the adsorption core strong magnetic material body; the magnetic linear driver includes a linear drive core weak magnetic material body, a linear drive core strong magnetic material body stacked along a second direction, and a linear drive core energized coil disposed in a posture perpendicular to the second direction and passing through the linear drive core weak magnetic material body and the linear drive core strong magnetic material body;

[0007] Wherein, when a current is passed through the adsorption core energized coil, the magnetic adsorption device can generate an adsorption force that adsorbs on the high-voltage DC transmission wire along the first direction; when a current is passed through the linear drive core energized coil, the magnetic linear driver can generate a driving force that drives on the high-voltage DC transmission wire along the second direction, and the first direction and the second direction are substantially perpendicular.

[0008] Optionally, both the adsorption core weak magnetic material body and the adsorption core strong magnetic material body are semi-cylindrical in shape.

[0009] Optionally, the adsorption core energized coil is rectangular.

[0010] Optionally, there are multiple adsorption core energized coils, which are arranged in a circular ring.

[0011] Optionally, both the linear drive core weak magnetic material body and the linear drive core strong magnetic material body are semi-cylindrical in shape.

[0012] Optionally, the linear drive core energized coil is rectangular.

[0013] Optionally, there are multiple linear drive core energized coils, which are arranged in a circular ring.

[0014] Optionally, the peristaltic soft body is made of polyurethane soft material.

[0015] Optionally, the materials of both the adsorption core strong magnetic material body and the linear drive core strong magnetic material body are magnetic powder core polyurethane.

[0016] Optionally, the magnetic permeability of the magnetic powder core polyurethane is 500 - 6000 H / m.

[0017] The present application has the following beneficial effects:

[0018] 1. Based on the magneto-induced mechanism, for the design of hardware such as vibration dampers and spacer dampers, this soft-body inspection robot has fewer obstacle-crossing steps and is compliant and stable when crossing obstacles.

[0019] 2. Using the magneto-induced mechanism can effectively solve the slipping problem existing in current domestic and foreign wheel-arm inspection robots that use the friction generated by rollers clamping the line to move forward, and the safety is relatively high.

[0020] 3. Since the tensile force provided by the adsorption magnetic core formed by the weakly magnetic material body and the strongly magnetic material body of the stacked adsorption magnetic cores can reduce the wear on the wire.

[0021] 3. This soft-body robot has advantages such as being lightweight compared to traditional rigid robots.

[0022] 4. Different from most current pole-type drives, this design directly uses the circular magnetic field generated by the high-voltage line itself to generate Ampere force on the energized coil for driving, providing a new solution and idea for the high-voltage line soft-body inspection robot. Brief Description of the Drawings

[0023] The following will, in conjunction with the drawings, make the technical solutions and other beneficial effects of this application obvious through a detailed description of the specific embodiments of this application.

[0024] Figure 1 It is a schematic structural diagram of the magneto-induced soft-body inspection robot of this application.

[0025] Figure 2 It is a schematic structural diagram of the magnetic adsorber of this application.

[0026] Figure 3 It is a schematic functional diagram of the magnetic adsorber of this application.

[0027] Figure 4 It is a schematic structural diagram of the magnetic linear actuator of this application.

[0028] Figure 5 It is a schematic functional diagram of the magnetic linear actuator of this application.

[0029] Figure 6 It is a schematic diagram of the soft-body robot of this application crossing a vibration damper.

[0030] Figure 7 It is a schematic diagram of the soft-body robot of this application crossing a spacer damper.

[0031] Figure 8 It is a schematic diagram of the obstacle-crossing action (taking crossing a vibration damper as an example) of the soft-body robot of this application.

[0032] Among them, the component labels in the figure are as follows:

[0033] 1 - Magnetic adsorber, 2 - Magnetic linear driver, 3 - Peristaltic soft body, 4 - High - voltage DC transmission wire, 5 - Anti - vibration hammer, 6 - Spacer, 101 - Adsorption core weak magnetic material body, 102 - Adsorption core strong magnetic material body, 103 - Adsorption core energized coil, 201 - Linear drive core strong magnetic material body, 202 - Linear drive core weak magnetic material body, 203 - Linear drive core energized coil. Detailed implementation manners

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0035] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0036] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a communication with each other; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0037] The following disclosure provides many different implementation manners or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various implementation manners and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0038] Before introducing the technical solution of the present application, it is necessary to elaborate on the creation background of the invention of the present application.

[0039] It is common that in the related art, most inspection robots are multi-cantilever rigid robots. Such robots are bulky and large in size. At the same time, since they use multiple robotic arms to stagger forward to complete actions such as obstacle crossing, they have disadvantages such as complex obstacle-crossing actions, low efficiency, limited load, and unstable operation. Due to the characteristics of redundant degrees of freedom and compliant deformation of soft robots, combining soft robot technology into the field of high-voltage line inspection is a new trend. Currently, the development of pneumatic soft-driven robots is relatively mature, but they require complex auxiliary systems, and it is difficult to implement soft inspection robots that operate using pneumatic drive on overhead transmission lines. Soft robots using SMA actuators (shape memory alloy actuators) have disadvantages such as long response time and low efficiency. In addition, there are also soft robots that use remotely applied magnetic fields to apply forces or torques on magnetic robots embedded with magnets or made of magnetizable materials to achieve magneto-controlled driving.

[0040] Based on the inventor's awareness of the inherent problems of high-voltage line inspection robots driven by motors, such as complex obstacle-crossing actions and bulky body shapes, the inventor has conducted explorations on the basis of the currently adopted magneto-controlled soft drive at home and abroad. There are two known magneto-controlled soft drive methods. One is to embed multiple electromagnets in the soft tissue, pass current to generate a magnetic field, change the direction and magnitude of the current, and achieve changes in the magnetic poles and the magnitude of the magnetic field to drive the soft deformation. The other is to embed permanent magnets or magnetizable units in the soft tissue, and achieve the deformation of the soft body through the magnetic field force of the magnets in the soft tissue by remotely applying an external magnetic field. Neither of these two magneto-actuation methods is applicable to the soft robot in this project. There is a strong magnetic field around high-voltage DC transmission lines, which poses serious magnetic field interference to the magneto-controlled drive unit, and its usability is questionable. In addition, the inspection robot works far from the ground, and it is difficult to achieve through remotely applied magnetic field drive.

[0041] The inventor creatively found that by utilizing the characteristics of redundant degrees of freedom of the soft robot, it can easily cross obstacles by adopting a peristaltic method. At the same time, in order to achieve lightweight and avoid using existing motor technology, the circular magnetic field generated by the high-voltage line is used to make the energized coil be affected by the Ampere force as the driving mechanism to move along the line; the present patent technology is developed under such a background. Thus, the present invention is created.

[0042] As Figure 1 shown, the magneto-actuated soft inspection robot for peristaltic obstacle crossing on high-voltage DC transmission lines of the present application includes a peristaltic soft body 3, a pair of magnetic adsorption devices 1 fixedly connected to both ends of the peristaltic soft body 3, and a pair of magnetic linear drivers 2 fixedly connected to both ends of the peristaltic soft body 3.

[0043] It is easy to understand that the number of a pair of magnetic adsorbers 1 and a pair of magnetic linear drivers 2 is two each.

[0044] Please refer to Figure 2 , Figure 3 , Figure 4 , Figure 5 , the magnetic adsorber 1 includes an adsorption core weak magnetic material body 101, an adsorption core strong magnetic material body 102 stacked along a first direction, and an adsorption core energized coil 103 penetrating through the adsorption core weak magnetic material body 101 and the adsorption core strong magnetic material body 102 in a posture perpendicular to the first direction. The magnetic linear driver 2 includes a linear drive core weak magnetic material body 202, a linear drive core strong magnetic material body 201 stacked along a second direction, and a linear drive core energized coil 203 penetrating through the linear drive core weak magnetic material body 202 and the linear drive core strong magnetic material body 201 in a posture perpendicular to the second direction.

[0045] Among them, when a current is passed through the adsorption core energized coil 103, the magnetic adsorber 1 can generate an adsorption force that adsorbs on the high-voltage DC transmission wire 4 along the first direction; when a current is passed through the linear drive core energized coil 203, the magnetic linear driver 2 can generate a driving force that drives on the high-voltage DC transmission wire 4 along the second direction, and the first direction and the second direction are substantially perpendicular.

[0046] Thus, for the magnetically actuated soft inspection robot of the present application, in a barrier-free line segment, the linear driving forces F1 (rear end) and F2 (front end) generated by the magnetic linear drivers 2 located at both ends of the peristaltic soft body 3 keep the peristaltic soft body 3 in a straightened state and generate forward movement, and the adsorption forces F3 and F5 generated by the magnetic adsorbers 1 at both ends make the peristaltic soft body 3 fit on the high-voltage DC transmission wire 4. Since the adsorption force is in the reverse direction and the driving force is substantially perpendicular, the peristaltic soft body 3 can stably move linearly along the high-voltage DC transmission wire 4.

[0047] When it is necessary to cross an obstacle line segment, the driving force F2 at the front end of the peristaltic soft body 3 disappears. Under the action of the driving force F1, the peristaltic soft body 3 bulges to prepare for the crossing action. When reaching the obstacle, the F5 at the front end of the peristaltic soft body 3 disappears or changes direction (i.e., changes from magnetic attraction to magnetic repulsion). Under the action of the driving force F1 at the rear end of the peristaltic soft body 3, the crossing is formed.

[0048] After the crossing is completed, the magnetic adsorption force F5 at the front end of the peristaltic soft body 3 remains in the disappearing state. Under its own weight, it falls on the high-voltage DC transmission wire 4. When it completely lands and fully contacts the high-voltage DC transmission wire 4, the F5 resumes the magnetic adsorption force. At this time, the front end of the peristaltic soft body 3 has completed the crossing action.

[0049] Similarly, a similar over - climbing process is also realized at the rear end of the peristaltic soft body 3.

[0050] Refer again to Figure 2 , Figure 3 , the above - mentioned strong - magnetic - material body 102 of the adsorption magnetic core and the weak - magnetic - material body 101 of the adsorption magnetic core are both semi - circular rings. The strong - magnetic - material body 102 of the adsorption magnetic core and the weak - magnetic - material body 101 of the adsorption magnetic core are stacked to form a magnetic core. The inner surface of the magnetic core of the magnetic force adsorber 1 is a semi - cylindrical surface with a radius of 0.024 m, and the radius of the semi - cylindrical surface of the outer surface is 0.040 m. The two long sides of the energized coil 103 of the adsorption magnetic core are respectively implanted into different materials on the upper and lower sides.

[0051] As used herein, the words "strong" and "weak" in the above - mentioned terms "weak - magnetic - material body of the adsorption magnetic core", "strong - magnetic - material body of the adsorption magnetic core", "strong - magnetic - material body of the linear - drive magnetic core", and "weak - magnetic - material body of the linear - drive magnetic core" do not represent absolute concepts, but rather the relative magnitude relationship of magnetic permeability in the "weak - magnetic - material body of the adsorption magnetic core" and "strong - magnetic - material body of the adsorption magnetic core" that form a contrast relationship, and in the "strong - magnetic - material body of the linear - drive magnetic core" and "weak - magnetic - material body of the linear - drive magnetic core" that form a contrast relationship.

[0052] Precisely due to the above - mentioned magnetic permeability magnitude relationship, since the circular magnetic field generated by the direct - current in the high - voltage direct - current transmission wire 4 is very weak in itself and is not sufficient to generate the required Ampere force in the coil of the magnetic core, the magnetic field generated around the wire is strengthened by the magnetic - field - concentrating effect of the strong - magnetic - material body 102 of the adsorption magnetic core. The direction of the high - voltage wire current is perpendicular to the paper and into the paper, generating a circular magnetic field B around it. The long side L1 of the energized coil 103 of the adsorption magnetic core is implanted in the strong - magnetic - material body 102 of the adsorption magnetic core, and the other long side L2 is implanted in the weak - magnetic - material body 101 of the adsorption magnetic core. Ampere forces F a and F b in opposite directions and of different magnitudes are generated on the two long sides of the coil. The Ampere force F a generated by the magnetic field strengthened by the strong - magnetic - conducting material on the long side is much greater than F b . The Ampere forces generated by the short sides of the coil placed in the air are very small and in opposite directions, so the adsorption force F 吸 received by the entire coil is approximately equal to F a .

[0053] The entire body of the robot is made of polyurethane soft material. The strong - magnetic - conducting material in each of the above - mentioned actuators is magnetic - powder - core polyurethane, and the magnetic powder core is used to strengthen the high - voltage direct - current magnetic field so as to increase the magneto - motive force of the actuator (the magnetic permeability of the magnetic powder core can reach 500 - 6000 H / m). The density of the polyurethane material is 1.005 g / cm3. According to the size of the robot, the weight of the magneto - actuated soft - body robot in this project is less than 2 kg.

[0054] In this embodiment, the adsorption force (tensile force) that the magnetic adsorber 1 can provide is calculated as follows.

[0055] The intensity of the magnetic field at a point in the enhanced magnetic field at any distance from the center of the wire is:

[0056] (1);

[0057] I 0 - High-voltage wire current; u 0 - Vacuum permeability; u r - Relative permeability of the high-permeability soft body.

[0058] Assume the length of the coil is L, and the long side of the coil is always perpendicular to the direction of the magnetic field. The magnitude of the Ampere force on the long side of the coil in the high-permeability material is:

[0059] (2);

[0060] Take , , , , , and the number of turns of the coil in the adsorption core energized coil 103 is determined to be 30 turns. Then the total adsorption force of the 30-turn coil is 250 N.

[0061] When the magnetically actuated soft body inspection robot uses peristaltic obstacle crossing, at least one magnetic adsorber 1 should be retained to wrap around the high-voltage DC transmission wire 4. Even in this extreme case, the 250 N adsorption force is sufficient to ensure that the robot is adsorbed on the high-voltage DC transmission wire 4 and ensure the safety of the robot. In addition, the magnetic adsorber 1 can also provide tensile force. If the current direction in the adsorption core energized coil 103 is changed, the 250 N tensile force is sufficient to make the head, tail or peristaltic soft body 3 of the robot expand and separate from the wire.

[0062] As Figure 4 and Figure 5 shown, the magnetic core of the magnetic linear actuator 2 is composed of the linear drive magnetic core high-permeability material body 201 and the linear drive magnetic core low-permeability material body 202 combined on the front and back sides. The inner surface of the combined magnetic core of the magnetic linear actuator 2 is a semi-cylindrical surface with a radius of 0.024 m, and the radius of the semi-cylindrical surface on the outer surface is 0.046 m. The two long sides of the linear drive magnetic core energized coil 203 are respectively implanted into different materials on both sides, and the two long sides of the coil generate Ampere forces F c and F d , and the Ampere force F c generated by the magnetic field enhanced by the high-permeability material on the long side is much greater than F dThe Ampere forces generated by the short sides of the coil placed in the air are very small and in opposite directions, so the driving force F 驱 is approximately equal to F c .

[0063] Set the current in the coil to I 1, then the Ampere force F 驱 is:

[0064] (3)

[0065] , , , , It is intended to take u r = 1000, the number of turns in the energized coil is taken as 30 turns, and the Ampere force of a single magnetic linear actuator containing 30 turns of the coil is 39 N.

[0066] Since there is a magnetic linear actuator at each end of the magnetically actuated soft inspection robot, the entire robot can obtain a linear driving force of 78 N .

[0067] This ensures the requirements for various forces in peristaltic obstacle crossing.

[0068] Working method:

[0069] As Figures 5 to 7 shown, during operation, on the obstacle-free line segment, the magnetically actuated soft inspection robot relies on the linear traction forces F1, F2 generated by the magnetic linear actuators 2 at both ends and the adsorption forces F3, F5 generated by the magnetic adsorbers 1 at both ends to make the robot travel stably along the high-voltage DC transmission wire 4 in a straight line. When encountering an obstacle (taking the shock absorber 5 as an example), the current in the energized coil 203 of the linear actuator 2 at the front end is disconnected, causing F2 to disappear. At the same time, F3 and F5 are increased, and the robot squeezes the middle peristaltic soft body 3 under the action of F1 to make it arch. Then, by changing the current directions in the energized coils 103, 203 of the magnetic adsorber 1 and the magnetic linear actuator 2 at the front end of the peristaltic soft body 3, F5 and F2 are changed to the opposite directions, and at the same time, the front half of the peristaltic soft body 3 slowly suspends. As it continues to move forward under the action of F1, F2 and F5 are successively removed, so that the peristaltic soft body 3 crosses the obstacle shock absorber 5 in the air at the front end under its own reaction force. Then, the current in the energized coil 103 of the magnetic adsorber 1 is restored to normal, and the adsorption force F5 in the vertically downward direction is re-generated. Adding the gravity of the robot itself makes the front end of the robot return to the high-voltage DC transmission wire 4 again, and the rear half repeats the operation of the front end to complete the peristaltic obstacle crossing action, and the robot continues to perform straight-line inspection.

[0070] The present invention is designed based on the magnetic drive principle for obstacles such as dampers 5 and spacer dampers 6 spanning the four - split high - voltage DC transmission conductor 4.

[0071] The above - mentioned is only the preferred specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A magnetically actuated soft inspection robot for creeping over obstacles on a high-voltage DC transmission line, characterized in that, It includes a peristaltic soft body, a pair of magnetic adsorption devices fixedly connected to both ends of the peristaltic soft body, and a pair of magnetic linear drivers fixedly connected to both ends of the peristaltic soft body; the magnetic adsorption device includes an adsorption core weak magnetic material body, an adsorption core strong magnetic material body stacked along a first direction, and an adsorption core energized coil disposed in a posture perpendicular to the first direction and passing through the adsorption core weak magnetic material body and the adsorption core strong magnetic material body; the magnetic linear driver includes a linear drive core weak magnetic material body, a linear drive core strong magnetic material body stacked along a second direction, and a linear drive core energized coil disposed in a posture perpendicular to the second direction and passing through the linear drive core weak magnetic material body and the linear drive core strong magnetic material body; Wherein, when an electric current is passed through the adsorption core energized coil, the magnetic adsorption device can generate an adsorption force that adsorbs on the high-voltage DC transmission wire along the first direction; when an electric current is passed through the linear drive core energized coil, the magnetic linear driver can generate a driving force that drives on the high-voltage DC transmission wire along the second direction, and the first direction and the second direction are substantially perpendicular.

2. The magnetically actuated soft inspection robot according to claim 1, wherein Both the adsorption core weak magnetic material body and the adsorption core strong magnetic material body are in a semi-cylindrical shape.

3. The magnetically actuated soft inspection robot according to claim 1, wherein, The adsorption core energized coil is rectangular.

4. The magnetically actuated soft inspection robot according to claim 2, wherein There are multiple adsorption core energized coils, which are arranged in a circular ring.

5. The magnetically actuated soft inspection robot according to claim 1, characterized in that Both the linear drive core weak magnetic material body and the linear drive core strong magnetic material body are semi-cylindrical.

6. The magnetically actuated soft inspection robot according to claim 1, wherein The linear drive core energized coil is rectangular.

7. The magnetically actuated soft inspection robot according to claim 5, characterized in that, There are multiple linear drive core energized coils, which are arranged in a circular ring.

8. The magnetically actuated soft inspection robot according to claim 1, wherein, The peristaltic soft body is made of polyurethane soft material.

9. The magnetically actuated soft inspection robot according to claim 1, wherein, The materials of both the adsorption core strong magnetic material body and the linear drive core strong magnetic material body are magnetic powder core polyurethane.

10. The magnetically actuated soft inspection robot according to claim 9, characterized in that, The magnetic permeability of the magnetic powder core polyurethane is 500 - 6000 H / m.

Images