A software device for narrow duct exploration

Abstract

The application discloses a soft device for narrow pipe exploration, which comprises a twisting assembly and an extension assembly. The twisting assembly comprises a twisting part, a twisting interval disc, a twisting bottom plate, a twisting top plate, a bending cable, a twisting cable, a bending motor and a twisting motor. The extension assembly comprises a driving cable, an extension part, an extension interval disc, an extension top plate, an extension bottom plate and a driving motor. The driving cable is sequentially threaded from the extension bottom plate, the extension interval disc, the extension top plate and connected with the driving motor. The first driving assembly comprises a first center rod, a first bidirectional extension rod and a first spindle-shaped rod. The first bidirectional extension rod is sleeved outside the first center rod. The second driving assembly is arranged on the side of the extension assembly away from the first driving assembly. The second driving assembly comprises a second center rod, a second bidirectional extension rod and a second spindle-shaped rod. The soft device has simple and compact structure, is convenient to operate and has strong adaptability in the pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline exploration, and more particularly to a soft body device for narrow pipeline exploration. BACKGROUND

[0002] Pipeline transportation has the advantages of high efficiency, safety, and large savings in financial and material resources, so the laying of pipelines is increasing, such as gas pipelines, oil pipelines, sewer pipelines, and the like. However, as the use time is continuously extended, some pipeline structure diagrams are damaged or lost, and therefore need to be re-surveyed and recorded. For some narrow pipelines, manual surveying is extremely inconvenient, and therefore some exploration equipment needs to be used to assist workers. Existing pipeline exploration robots are mostly rigid structures, have a large volume, and are heavy. The adaptability to unknown environment structures of the pipelines is poor. Therefore, the conventional rigid pipeline exploration robots are affected during the advancing process, especially when advancing in a curve, which is not conducive to the completion of the pipeline exploration task.

[0003] Therefore, it is an urgent problem for those skilled in the art to research and develop a soft body device for narrow pipeline exploration, which has a simple and compact structure, is easy to operate, and has strong adaptability in the pipeline. SUMMARY

[0004] Therefore, the present application provides a soft body device for narrow pipeline exploration, which has a simple and compact structure, is easy to operate, and has strong adaptability in the pipeline.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A soft body device for narrow pipeline exploration comprises:

[0007] A twisting assembly comprises a twisting member, a plurality of twisting interval discs, a twisting bottom plate, a twisting top plate, a bending cable, a twisting cable, a bending motor, and a twisting motor. The twisting interval discs are stacked and arranged in parallel between the twisting bottom plate and the twisting top plate. The twisting member is fixed between two adjacent twisting interval discs, the twisting top plate and the twisting interval disc, and the twisting bottom plate and the twisting interval disc. The bending motor and the twisting motor are both fixed to one side of the twisting bottom plate away from the twisting member. The bending cable is sequentially threaded through the twisting interval discs, the twisting bottom plate, and connected with the bending motor from the twisting top plate. The twisting cable is sequentially threaded through the twisting interval discs, the twisting bottom plate, and connected with the twisting motor from the twisting top plate.

[0008] The telescopic assembly comprises a driving cable, a telescopic part, telescopic interval discs, a telescopic top plate, a telescopic bottom plate and a driving motor; the telescopic interval discs are arranged in parallel and stacked between the telescopic bottom plate and the telescopic top plate; the telescopic part is fixed between two adjacent telescopic interval discs, the telescopic top plate and a telescopic interval disc, and the telescopic bottom plate and a telescopic interval disc; the driving motor is fixed to one side of the telescopic top plate away from the torsion part; the driving cable is sequentially threaded through the telescopic interval discs, the telescopic top plate and connected with the driving motor from the telescopic bottom plate.

[0009] The first driving assembly is arranged between the torsion assembly and the telescopic assembly; the first driving assembly comprises a first central rod, a first bidirectional telescopic rod and first spindle-shaped rods; the first bidirectional telescopic rod is sleeved outside the first central rod; the first spindle-shaped rods are arranged uniformly along the outer circumferential surface of the first bidirectional telescopic rod, and two ends of the first spindle-shaped rods are fixed with two ends of the first bidirectional telescopic rod respectively; two ends of the first central rod are connected with the torsion bottom plate and the telescopic top plate respectively.

[0010] The second driving assembly is arranged on one side of the telescopic assembly away from the first driving assembly; the second driving assembly comprises a second central rod, a second bidirectional telescopic rod and second spindle-shaped rods; the second bidirectional telescopic rod is sleeved outside the second central rod; the second spindle-shaped rods are arranged uniformly along the outer circumferential surface of the second bidirectional telescopic rod, and two ends of the second spindle-shaped rods are fixed with two ends of the second bidirectional telescopic rod respectively; an end of the second central rod is connected with the telescopic bottom plate.

[0011] The beneficial effects of the above technical scheme are that the first driving assembly and the second driving assembly can drive the device to move forward in cooperation, the device can bend correspondingly through the tensioning and elongation of the multiple driving cables and the torsion cable, better adapt to pipes of different sizes, and the device has a compact structure and a small size, and is more likely to enter the pipe to explore.

[0012] Preferably, the torsion top plate is provided with a detection mechanism on the side away from the torsion interval disc, and a shell is arranged on the outer side of the detection mechanism. The detection mechanism can explore the situation in the pipe.

[0013] Preferably, the torsion assembly, the telescopic assembly, the first driving assembly and the second driving assembly are sleeved with a protective sleeve.

[0014] Preferably, the torsion cable is double helix-shaped and arranged outside the torsion member; the bending cable is provided with a plurality of cables and is uniformly distributed outside the torsion member, and the torsion cable is located between the torsion member and the bending cable. The torsion cable is double helix-shaped, and by stretching or shortening the corresponding torsion cable, the detection mechanism can rotate by a corresponding angle, and the inside of the pipeline can be more accurately detected.

[0015] Preferably, the driving cable is provided with a plurality of cables and is uniformly distributed outside the telescopic member.

[0016] Preferably, the telescopic member is a spring sheet origami, the telescopic top plate, the telescopic bottom plate and the telescopic spacer disc surface connected with the spring sheet origami are all provided with clamping grooves, and the two ends of the spring sheet origami are clamped in the clamping grooves. The spring sheet origami can be stretched, and the volume is small when compressed. The spring sheet origami is light in quality, has good telescopic performance, and has fast response speed.

[0017] Preferably, the torsion member is a flexible central trunk. The central trunk can be twisted and bent.

[0018] Preferably, the telescopic member is a tower spring, the telescopic top plate, the telescopic bottom plate and the telescopic spacer disc surface connected with the tower spring are all provided with bosses, and the two ends of the tower spring are clamped outside the bosses.

[0019] Preferably, the torsion member is a torsion spring, the torsion top plate, the torsion bottom plate and the torsion spacer disc surface connected with the torsion spring are all provided with circular protrusions, and the two ends of the torsion spring are clamped outside the circular protrusions.

[0020] Preferably, the torsion top plate, the torsion bottom plate and the torsion spacer disc surface connected with the torsion spring are all provided with grooves, and the extension feet at the two ends of the torsion spring are clamped in the grooves. The setting of the grooves can limit the position of the torsion spring, so that it is fixed more stably.

[0021] According to the above technical solution, compared with the prior art, the present application provides a soft device for exploring narrow pipelines, which has the following advantages:

[0022] (1) In the present application, the contraction and elongation of the first and second bidirectional telescopic rods drive the deformation of the first and second spindle-shaped rods, which can realize good adhesion and separation of the spindle-shaped rods and the inner wall of the pipeline, and can be applied to pipelines with different diameters.

[0023] (2) The telescopic member adopts a spring sheet origami or a tower spring structure, which is simple and flexible, easy to compress and recover, and can realize fast telescopic response well.

[0024] (3) The twisting assembly can realize rotation of the end position and control of the direction, realize change of the pose of the detection mechanism connected with the end position according to requirements, and timely adjust the bending direction at a bend, so that the device smoothly advances;

[0025] (4) The use of the soft body device makes the overall structure have good compliance and flexibility during pipeline detection, and can better adapt to changes in the pipeline and more easily advance in the pipeline compared with rigid devices;

[0026] (5) The overall device structure is simple and compact, light in quality, small in occupied volume, more easily enters the pipeline to explore, and can also adapt to pipelines of different sizes. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0028] Figure 1 The structure diagram of the soft body device in embodiment 1 provided by the present application is shown.

[0029] Figure 2 The structure diagram of the second bidirectional telescopic rod in the second driving assembly provided by the present application in the extended state is shown.

[0030] Figure 3 The structure diagram of the second bidirectional telescopic rod in the second driving assembly provided by the present application in the retracted state is shown.

[0031] Figure 4 The structure diagram of the telescopic assembly in embodiment 1 provided by the present application is shown.

[0032] Figure 5 The structure diagram of the driving motor in embodiment 1 provided by the present application is shown. Figure 4

[0033] The structure diagram of the elastic sheet folding in embodiment 1 provided by the present application is shown. Figure 6 Figure 4 The structure diagram of the twisting assembly in embodiment 1 provided by the present application is shown.

[0034] Figure 7 The state diagram of the soft body device in embodiment 1 provided by the present application moving in a straight pipeline is shown.

[0035] Figure 8

[0036] Figure 9 ​​The state diagram of the soft device in embodiment 1 provided by the present application moving in a curved channel;

[0037] Figure 10 The structural schematic diagram of the soft device in embodiment 2 provided by the present application;

[0038] Figure 11 The structural schematic diagram of the telescopic assembly in embodiment 2 provided by the present application;

[0039] Figure 12 The structural schematic diagram of the torsion assembly in embodiment 2 provided by the present application;

[0040] Figure 13 The structural schematic diagram of the torsion assembly in embodiment 2 provided by the present application; Figure 12 The enlarged structural diagram of the torsion spring connecting with the torsion top plate and the torsion interval disc;

[0041] Figure 14 The structural schematic diagram of the torsion assembly in embodiment 2 provided by the present application; Figure 12 The enlarged structural diagram of the torsion spring;

[0042] Figure 15 The state diagram of the soft device in embodiment 2 provided by the present application moving in a straight channel;

[0043] Figure 16 The state diagram of the soft device in embodiment 2 provided by the present application moving in a curved channel.

[0044] In the figure,

[0045] 1-torsion assembly;

[0046] 11-torsion interval disc; 12-torsion bottom plate; 13-torsion top plate; 14-bending cable; 15-torsion cable; 16-bending motor; 17-torsion motor; 18-central trunk; 19-torsion spring;

[0047] 2-telescopic assembly;

[0048] 21-driving cable; 22-telescopic interval disc; 23-telescopic top plate; 24-telescopic bottom plate; 25-driving motor; 26-spring sheet paper; 27-tower spring;

[0049] 3-first driving assembly;

[0050] 31-first central rod; 32-first bidirectional telescopic rod; 33-first spindle-shaped rod;

[0051] 4-second driving assembly;

[0052] 41-second central rod; 42-second bidirectional telescopic rod; 43-second spindle-shaped rod;

[0053] 5 - detection mechanism; 6 - protective sleeve; 7 - boss; 8 - circular protrusion; 9 - groove; 10 - circular ring sleeve; 011 - first connecting plate; 012 - second connecting plate; 013 - inflation pipeline; 014 - corrugated pipe. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0055] Embodiment 1

[0056] The embodiments of the present application disclose a soft device for exploring narrow pipes, comprising:

[0057] The torsion assembly 1 comprises a torsion piece, a plurality of torsion interval discs 11, a torsion bottom plate 12, a torsion top plate 13, a curved wire cable 14, a torsion wire cable 15, a bending motor 16 and a torsion motor 17. The plurality of torsion interval discs 11 are arranged in parallel and stacked between the torsion bottom plate 12 and the torsion top plate 13. The torsion piece is fixed between two adjacent torsion interval discs 11, the torsion top plate 13 and the torsion interval disc 11, and the torsion bottom plate 12 and the torsion interval disc 11. The bending motor 16 and the torsion motor 17 are both fixed to the side of the torsion bottom plate 12 away from the torsion piece. The curved wire cable 14 is connected with the bending motor 16 by sequentially penetrating the torsion interval disc 11, the torsion bottom plate 12 and the torsion top plate 13 from the torsion top plate 13. The torsion wire cable 15 is connected with the torsion motor 17 by sequentially penetrating the torsion interval disc 11, the torsion bottom plate 12 and the torsion top plate 13 from the torsion top plate 13.

[0058] The telescopic assembly 2 comprises a driving wire cable 21, a telescopic piece, a plurality of telescopic interval discs 22, a telescopic top plate 23, a telescopic bottom plate 24 and a driving motor 25. The plurality of telescopic interval discs 22 are arranged in parallel and stacked between the telescopic bottom plate 24 and the telescopic top plate 23. The telescopic piece is fixed between two adjacent telescopic interval discs 22, the telescopic top plate 23 and the telescopic interval disc 22, and the telescopic bottom plate 24 and the telescopic interval disc 22. The driving motor 25 is fixed to the side of the telescopic top plate 23 away from the torsion piece. The driving wire cable 21 is connected with the driving motor 25 by sequentially penetrating the telescopic interval disc 22, the telescopic top plate 23 and the telescopic bottom plate 24 from the telescopic bottom plate 24.

[0059] The first driving assembly 3 is arranged between the torsion assembly 1 and the telescopic assembly 2, and comprises a first central rod 31, a first bidirectional telescopic rod 32 and a plurality of first spindle-shaped rods 33; the first bidirectional telescopic rod 32 is sleeved outside the first central rod 31; the first spindle-shaped rods 33 are arranged along the outer circumferential surface of the first bidirectional telescopic rod 32, and the two ends of the first spindle-shaped rods 33 are fixed to the two ends of the first bidirectional telescopic rod 32 respectively; the two ends of the first central rod 31 are connected to the torsion bottom plate 12 and the telescopic top plate 23 respectively.

[0060] The second driving assembly 4 is arranged on the side of the telescopic assembly 2 away from the first driving assembly 3, and comprises a second central rod 41, a second bidirectional telescopic rod 42 and a plurality of second spindle-shaped rods 43; the second bidirectional telescopic rod 42 is sleeved outside the second central rod 41; the second spindle-shaped rods 43 are arranged along the outer circumferential surface of the second bidirectional telescopic rod 42, and the two ends of the second spindle-shaped rods 43 are fixed to the two ends of the second bidirectional telescopic rod 42 respectively; the end of the second central rod 41 is connected to the telescopic bottom plate. In the present application, the telescopic movement of the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42 can realize the contraction and expansion of the first spindle-shaped rods 33 and the second spindle-shaped rods 43, and the pipes with different diameters can be adapted. The two ends of the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42 are fixed with a circular ring sleeve 10, and the first spindle-shaped rods 33 and the second spindle-shaped rods 43 are connected to the circular ring sleeves 10 at the two ends of the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42 respectively.

[0061] In order to further optimize the above technical solutions, the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42 each comprise an inflation pipe 013 and a corrugated pipe 014, the inflation pipe 013 and the corrugated pipe 014 are sleeved outside the first central rod 31 or the second central rod 41, the corrugated pipe 014 is provided with two ends arranged at the two ends of the inflation pipe 013, the inflation pipe 013 and the corrugated pipe 014 are in communication with each other, the first spindle-shaped rods 33 or the second spindle-shaped rods 43 are arranged at the ends of the two corrugated pipes 014 away from the inflation pipe 013, the inflation pipe 013 is connected with an inflation pump, and the inflation or exhaust process can realize the telescopic or extension of the corrugated pipe 014, thereby realizing the contraction and expansion of the first spindle-shaped rods 33 and the second spindle-shaped rods 43. Of course, the above structure is only one of the feasible structures of the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42, and any structure that can realize the telescopic process of the first bidirectional telescopic rod 32 and the second bidirectional telescopic rod 42 can be used.

[0062] In order to further optimize the above technical scheme, the first connecting plate 011 is threadedly connected to the two ends of the first bidirectional telescopic rod 32, the driving motor 25 is fixed between the telescopic top plate 23 and the first connecting plate 011, and the bending motor 16 and the torsion motor 17 are fixed between the torsion bottom plate 12 and the first connecting plate 011.

[0063] In order to further optimize the above technical scheme, the second connecting plate 012 is threadedly connected to one end of the second bidirectional telescopic rod 42 connected with the telescopic assembly 2, and the second connecting plate 012 is connected with the telescopic bottom plate 24.

[0064] In order to further optimize the above technical scheme, the two ends of the first central rod 31 and the second central rod 41 are provided with threads, which are convenient for being connected with the torsion bottom plate 12, the telescopic top plate 23 or the telescopic bottom plate 24; and according to actual use conditions, the corresponding size or length of the torsion assembly 1 and the telescopic assembly 2 can be matched to meet the detection needs; the two ends of the first central rod 31 and the second central rod 41 are provided with threads, which are convenient for disassembly and connection.

[0065] In order to further optimize the above technical scheme, the torsion top plate 13 is provided with the detection mechanism 5 on the side away from the torsion interval disc 11, and the outer side of the detection mechanism 5 is covered with a shell. The shell is transparent and in the shape of a bullet, which is convenient for shooting and moving inside the pipeline.

[0066] In order to further optimize the above technical scheme, the torsion assembly 1, the telescopic assembly 2, the first driving assembly 3 and the second driving assembly 4 are externally covered with the protective sleeve 6. The protective sleeve 6 has elasticity and flexibility, and can adapt to the bending change of the structure to protect the overall structure when moving in the pipeline.

[0067] In order to further optimize the above technical scheme, the torsion cable 15 is in a double helix shape and is wound on the outer side of the torsion piece; the bending cable 14 is provided with a plurality of cables and is uniformly distributed on the outer side of the torsion piece, and the torsion cable 15 is located between the torsion piece and the bending cable 14. The torsion cable 15 is provided with two cables, the torsion motor 17 is provided with two, and tensioning one of the torsion cables 15 can realize the rotation of the detection mechanism 5.

[0068] In order to further optimize the above technical scheme, the bending cable 14 at the bending direction is tensioned by the bending motor 16, and the bending cable 14 on the opposite side is simultaneously relaxed, so as to realize the bending of the torsion assembly 1; similarly, the bending of the telescopic assembly 2 can be realized. The torsion motor 17, the bending motor 16 and the driving motor 25 are all selected to be step motors.

[0069] In order to further optimize the above technical scheme, the driving cable 21 is provided in plurality and uniformly distributed on the outside of the telescopic member. The winding disc is arranged at the torsion motor 17, the bending motor 16 and the driving motor 25, and the rotation of the torsion motor 17, the bending motor 16 and the driving motor 25 in forward or reverse direction can drive the winding disc to rotate, thereby tightening or loosening the corresponding cable.

[0070] In order to further optimize the above technical scheme, the telescopic member is a flexible sheet origami 26, the telescopic top plate 23, the telescopic bottom plate 24 and the telescopic spacer disc 22 connected with the flexible sheet origami 26 are all provided with clamping grooves, and the two ends of the flexible sheet origami 26 are clamped in the clamping grooves. The structure of the flexible sheet origami 26 is the same as the origami structure in the existing patent 202011518224.3, a constant torque output device based on a bistable triangular cylindrical origami structure.

[0071] In order to further optimize the above technical scheme, the torsion member is a flexible central trunk 18. The central trunk 18 can be bent by a certain angle, but cannot be compressed in the axial direction.

[0072] The process of the soft device advancing in the pipeline is as follows:

[0073] Straight-line advancing: the first bidirectional telescopic rod 32 is driven to make its two ends simultaneously shrink to the middle, and since the first bidirectional telescopic rod 32 and the first spindle-shaped rod 33 are kept relatively fixed through the circular ring sleeve 10, the first bidirectional telescopic rod 32 will drive the first spindle-shaped rod 33 to move until it contacts the inner wall of the pipeline while shrinking, and at this time, the first spindle-shaped rod 33 is kept relatively fixed with the inner wall of the pipeline.

[0074] The three driving motors 25 of the telescopic assembly 2 are driven again to make the driving motor 25 drive the three driving cables 21 to shrink, thereby compressing the flexible sheet origami 26 structure, and at this time, the direction of the shrinkage is the direction of the overall structure advancing, and since the second driving assembly 4 is fixed with the telescopic assembly 2, the second driving assembly 4 will also advance together; the second bidirectional telescopic rod 42 is driven again to make its two ends simultaneously shrink to the middle until the second spindle-shaped rod 43 contacts the inner wall of the pipeline and is kept relatively fixed.

[0075] At this time, the first bidirectional telescopic rod 32 is driven to reset its two ends to the initial state; the three driving motors 25 of the telescopic assembly 2 are driven to loosen the tightened driving cable 21 to reset it to the original state; since the second driving assembly 4 is fixed with the inner wall of the pipeline at this time, when the driving cable 21 of the telescopic assembly 2 is reset to the original state, since the flexible sheet origami 26 stores a certain elastic potential energy when compressed, it will push the first driving assembly 3, the torsion assembly 1 and the detection mechanism 5 to move in the advancing direction; repeating the above operation sequence can realize the advancement of the overall structure.

[0076] The first bidirectional telescopic rod 32 of the first driving assembly 3 is driven to contract its two ends to the middle, and since the first bidirectional telescopic rod 32 and the first spindle-shaped rod 33 are kept relatively fixed by the circular ring 10, the first bidirectional telescopic rod 32 will drive the first spindle-shaped rod 33 to move until it contacts the inner wall of the pipeline, and the first spindle-shaped rod 33 is kept relatively fixed to the inner wall of the pipeline;

[0077] The three driving motors 25 of the telescopic assembly 2 are driven to contract the three driving cables 21, thereby compressing the elastic sheet origami 26 structure, and the second driving assembly 4 also advances since it is fixed to the telescopic assembly 2; the second bidirectional telescopic rod 42 of the second driving assembly 4 is driven to contract its two ends to the middle until the second spindle-shaped rod 43 contacts the inner wall of the pipeline and is kept relatively fixed;

[0078] The first bidirectional telescopic rod 32 of the first driving assembly 3 is driven to return its two ends to the initial state; the three driving motors 25 of the telescopic assembly 2 are driven to relax the driving cables 21 to return them to the original state. The bending motor 16 of the bending cable 14 of the torsion assembly 1 is driven to control the bending of the bending cable 14, and the tension of the bending cable 14 can make the torsion assembly 1 bend to a certain angle to adapt to the bending of the pipeline. The driving motor 25 of the telescopic assembly 2 releases the driving cable 21 to the original state, and the release of the elastic potential energy of the elastic sheet origami 26 will push the first driving assembly 3, the torsion assembly 1, and the detection mechanism 5 to move in the forward direction; and the telescopic assembly 2 and the torsion assembly 1 will adapt to the bending of the pipeline during the forward displacement by relying on their flexibility; repeating the above operation sequence can realize the advancement of the overall structure in the curved channel.

[0079] When the soft device explores the pipeline, it is inevitable that the angle will cause the image to be unclear. At this time, the torsion motor 17 of the torsion cable 15 can be driven to pull the torsion cable 15, thereby driving the detection mechanism 5 to rotate and making the internal detection equipment rotate to a certain angle, which is convenient for the detection task.

[0080] Embodiment 2:

[0081] The telescopic part is a tower spring 27, the telescopic top plate 23, the telescopic bottom plate 24, and the telescopic interval disc 22 are all provided with protrusions 7, and the two ends of the tower spring 27 are respectively clamped to the outer sides of the protrusions 7. Since the diameters of the two ends of the tower spring 27 are different, the protrusions 7 at the two ends of the tower spring 27 correspond to the diameters of the tower spring 27, so as to ensure that the structure of the tower spring 27 is fixed more stably.

[0082] In order to further optimize the above technical scheme, the torsion member is a torsion spring 19, and the torsion top plate 13, the torsion bottom plate 12 and the surface of the torsion spacing disc 11 connected with the torsion spring 19 are all provided with a circular protrusion 8, and the two ends of the torsion spring 19 are clamped on the outer side of the circular protrusion 8.

[0083] In order to further optimize the above technical scheme, the surface of the torsion top plate 13, the torsion bottom plate 12 and the torsion spacing disc 11 connected with the torsion spring 19 are all provided with a groove 9, and the extension feet at the two ends of the torsion spring 19 are clamped in the groove 9.

[0084] The process of the software device advancing in the pipeline is as follows:

[0085] Straight-line advancing: the first bidirectional telescopic rod 32 is driven to contract the two ends thereof to the middle, and since the first bidirectional telescopic rod 32 and the first spindle-shaped rod 33 are kept relatively fixed through the circular ring sleeve 10, the first bidirectional telescopic rod 32 will drive the first spindle-shaped rod 33 to move until the first spindle-shaped rod 33 contacts the inner wall of the pipeline, and at this time, the first spindle-shaped rod 33 is kept relatively fixed to the inner wall of the pipeline;

[0086] The three driving motors 25 of the telescopic assembly 2 are driven again to drive the three driving cables 21 to contract, so as to drive the coil spring 27 to compress, and at this time, the direction of contraction is the direction of the overall structure advancing, and since the second driving assembly 4 is fixed to the telescopic assembly 2, the second driving assembly 4 will also advance; the second bidirectional telescopic rod 42 is driven to contract the two ends thereof to the middle until the second spindle-shaped rod 43 contacts the inner wall of the pipeline and is kept relatively fixed;

[0087] At this time, the first bidirectional telescopic rod 32 is driven to reset the two ends thereof to the initial state; the three driving motors 25 of the telescopic assembly 2 are driven to relax the tightened driving cables 21 so as to reset the driving cables 21 to the original state; since the second driving assembly 4 is fixed to the inner wall of the pipeline at this time, when the driving cables 21 of the telescopic assembly 2 are reset to the original state, since the coil spring 27 stores a certain elastic potential energy when compressed, the first driving assembly 3, the torsion assembly 1 and the detection mechanism 5 will be pushed to move in the direction of advancing; the above operation sequence is repeated to realize the advancing of the overall structure.

[0088] In the pipeline, the first bidirectional telescopic rod 32 of the first driving assembly 3 is driven to contract the two ends thereof to the middle, and since the first bidirectional telescopic rod 32 and the first spindle-shaped rod 33 are kept relatively fixed through the circular ring sleeve 10, the first bidirectional telescopic rod 32 will drive the first spindle-shaped rod 33 to move until the first spindle-shaped rod 33 contacts the inner wall of the pipeline, and at this time, the first spindle-shaped rod 33 is kept relatively fixed to the inner wall of the pipeline;

[0089] Drive the 3 drive motors 25 of the telescopic assembly 2 again, so that the drive motors 25 drive the 3 drive cables 21 to contract, thus driving the tower spring 27 to compress, at this time, the direction of contraction is the direction of the overall structure advancing, since the second drive assembly 4 is fixedly connected with the telescopic assembly 2, so the second drive assembly 4 will also advance together; drive the second bidirectional telescopic rod 42 of the second drive assembly 4 again, so that the two ends of the second bidirectional telescopic rod 42 contract to the middle at the same time until the second spindle-shaped rod 43 contacts with the inner wall of the pipeline and keeps relatively fixed;

[0090] At this time, drive the first bidirectional telescopic rod 32 of the first drive assembly 3, so that the two ends of the first bidirectional telescopic rod 32 reset to the initial state; drive the 3 drive motors 25 of the telescopic assembly 2, release the tightened drive cables 21 so that they reset to the original state. Drive the bending motor 16 of the bending cable 14 of the torsion assembly 1, through the tension degree of the bending cable 14, the torsion assembly 1 can be bent to a certain angle to adapt to the bending change of the pipeline. Drive the drive motor 25 of the telescopic assembly 2, release the drive cable 21 to the original state, the release of the elastic potential of the tower spring 27 will push the first drive assembly 3, the torsion assembly 1 and the detection mechanism 5 to move in the direction of advancing; and the telescopic assembly 2 and the torsion assembly 1 will adapt to the bending of the pipeline by relying on their own flexibility during the forward displacement; repeating the above operation sequence can realize the advancement of the overall structure in the curved channel.

[0091] When the soft device explores the pipeline, it is inevitable that the shooting image will be unclear due to the angle problem. At this time, the torsion motor 17 of the torsion cable 15 can be driven and controlled to pull the torsion cable 15, thus driving the rotation of the detection mechanism 5, so that the detection equipment inside it rotates to a certain angle, facilitating the detection task.

[0092] The other technical solutions in the embodiment are the same as those in the embodiment 1, which will not be described here.

[0093] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts of each embodiment can be referred to each other.

[0094] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A soft body device for exploration of a narrow tube, characterized in that, The utility model relates to a kind of twist and stretch device, including: Twist component (1), the twist component (1) includes: twist piece, twist interval disc (11), twist bottom plate (12), twist top plate (13), curved cable (14), twist cable (15), bending motor (16) and twist motor (17);The twist interval disc (11) is provided with multiple, and is stacked parallel arrangement between the twist bottom plate (12) and twist top plate (13);The twist piece is fixed between two adjacent twist interval disc (11), twist top plate (13) and twist interval disc (11), twist bottom plate (12) and twist interval disc (11);The bending motor (16) and twist motor (17) are all fixed on the side of the twist bottom plate (12) away from twist piece;The curved cable (14) is sequentially penetrated twist interval disc (11), twist bottom plate (12) and is connected with bending motor (16) from twist top plate (13);The twist cable (15) is sequentially penetrated twist interval disc (11), twist bottom plate (12) and is connected with twist motor (17) from twist top plate (13);The twist cable (15) is double helix, and is arranged on the outside of the twist piece;The curved cable (14) is provided with multiple, and evenly distributed on the outside of the twist piece, and the twist cable (15) is located between the twist piece and curved cable (14); Telescopic component (2), the telescopic component (2) includes: drive cable (21), telescopic piece, telescopic interval disc (22), telescopic top plate (23), telescopic bottom plate (24) and drive motor (25);The telescopic interval disc (22) is provided with multiple, and is stacked parallel arrangement between the telescopic bottom plate (24) and telescopic top plate (23);The telescopic piece is fixed between two adjacent telescopic interval disc (22), telescopic top plate (23) and telescopic interval disc (22), telescopic bottom plate (24) and telescopic interval disc (22);The drive motor (25) is fixed on the side of the telescopic top plate (23) away from twist piece;The drive cable (21) is sequentially penetrated telescopic interval disc (22), telescopic top plate (23) and is connected with drive motor (25) from telescopic bottom plate (24); First drive component (3), the first drive component (3) is arranged between the twist component (1) and telescopic component (2);The first drive component (3) includes: first center rod (31), first bidirectional telescopic rod (32) and first spindle-shaped rod (33);The first bidirectional telescopic rod (32) is sleeved on the outside of the first center rod (31);The first spindle-shaped rod (33) is provided with multiple, and evenly along the outer circumferential surface of the first bidirectional telescopic rod (32) arrangement, and the both ends of the first spindle-shaped rod (33) are fixed with the both ends of the first bidirectional telescopic rod (32) respectively;The both ends of first center rod (31) are connected with the twist bottom plate (12), telescopic top plate (23) respectively; A second driving assembly (4) is arranged on the side of the telescopic assembly (2) away from the first driving assembly (3); the second driving assembly (4) comprises a second central rod (41), a second bidirectional telescopic rod (42) and a plurality of second spindle-shaped rods (43); the second bidirectional telescopic rod (42) is sleeved on the outside of the second central rod (41); the second spindle-shaped rods (43) are arranged on the outer circumferential surface of the second bidirectional telescopic rod (42) uniformly, and the two ends of each second spindle-shaped rod (43) are fixed to the two ends of the second bidirectional telescopic rod (42) respectively; the end of the second central rod (41) is connected to the telescopic bottom plate.

2. A soft body device for exploring a narrow tube according to claim 1, wherein, A detection mechanism (5) is arranged on the side of the torsion top plate (13) away from the torsion interval disc (11), and a shell is arranged on the outer side of the detection mechanism (5).

3. A soft body device for exploring a narrow tube according to claim 1 or 2, characterized in that, The torsion assembly (1), the telescopic assembly (2), the first driving assembly (3) and the second driving assembly (4) are sleeved with a protective sleeve (6) on the outside.

4. A soft body device for exploring a narrow tube according to claim 1, wherein, A plurality of driving cables (21) are arranged on the outer side of the telescopic member uniformly.

5. A soft body device for exploring a narrow tube according to claim 4, wherein, The telescopic member is a flexible sheet origami (26), the telescopic top plate (23), the telescopic bottom plate (24) and the telescopic interval disc (22) connected to the flexible sheet origami (26) are all provided with clamping grooves on the surfaces, and the two ends of the flexible sheet origami (26) are clamped in the clamping grooves respectively.

6. A soft body device for exploring a narrow tube according to claim 5, wherein, The torsion member is a central trunk (18) with flexibility.

7. A soft body device for exploring a narrow tube according to claim 4, wherein, The telescopic member is a tower spring (27), the telescopic top plate (23), the telescopic bottom plate (24) and the telescopic interval disc (22) connected to the tower spring (27) are all provided with bosses (7) on the surfaces, and the two ends of the tower spring (27) are clamped on the outer sides of the bosses (7) respectively.

8. A soft body device for exploring a narrow tube according to claim 7, wherein, The torsion member is a torsion spring (19), the torsion top plate (13), the torsion bottom plate (12) and the torsion interval disc (11) connected to the torsion spring (19) are all provided with circular protrusions (8) on the surfaces, and the two ends of the torsion spring (19) are clamped on the outer sides of the circular protrusions (8) respectively.

9. A soft body device for exploring a narrow tube according to claim 8, wherein, The torsion top plate (13), the torsion bottom plate (12) and the torsion interval disc (11) connected to the torsion spring (19) are all provided with grooves (9) on the surfaces, and the extension feet at the two ends of the torsion spring (19) are clamped in the grooves (9).

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