A cleanable magnetic soft robot for intelligent inspection of variable-diameter pipes

Abstract

This invention provides a cleanable, intelligent magnetic soft robot for inspecting variable-diameter pipes. The invention includes a head variable-diameter module, a tail variable-diameter module, a shape control module, and a cleaning module. The shape control module and the cleaning module are fixedly mounted at both ends of the head variable-diameter module, and the shape control module is also connected to the tail variable-diameter module. The head and tail variable-diameter modules control the friction between the robot and the pipe, the shape control module controls the movement of the soft robot within the pipe, and the cleaning module cleans debris from the pipe. This invention uses a highly flexible corrugated airbag to adapt to pipes of different inner diameters. It employs electromagnetic drive, resulting in fast response and high crawling efficiency. The robot as a whole has advantages such as fast crawling, wide detection range, variable diameter, small size, simple structure, and low energy consumption, making it suitable for inspecting small pipes inside and outside buildings.

Description

Technical Field

[0001] This invention relates to a soft robot, specifically a magnetic soft robot for intelligent inspection of cleanable variable-diameter pipes. Background Technology

[0002] As human society develops towards industrialization and urbanization, pipelines of various specifications are widely used to transport media such as water, oil, gas, and particles. After long-term use, pipelines often fail due to rust, corrosion, aging, and debris accumulation. Therefore, there is an urgent need to develop new robotic technologies for regular and efficient pipeline inspection. Wheeled robots face limitations in pipeline turning and vertical pipe inspection, restricting their application scenarios. For example, Chinese patent CN113739000A discloses a pipeline inspection robot that, through variable wheel track and support size, can effectively adapt to pipelines of different diameters. Robots with variable wheel height have better obstacle-crossing capabilities and a wider field of view, enabling them to better explore pipelines. However, for thinner or more curved pipelines, these rigid robots cannot pass smoothly and are prone to damage to themselves or external pipelines upon collision. Soft pipeline robots, on the other hand, possess a flexible and adaptable body structure, enabling them to move autonomously in narrow pipes, pipelines, and other confined spaces to perform tasks such as inspection, cleaning, and maintenance. Therefore, the development of stable and reliable soft pipeline inspection robots is of great significance.

[0003] Existing technologies employ soft robots for pipeline exploration. Common actuation methods for soft robots include gas-driven, hydraulic-driven, magnetic-driven, and shape-memory material-driven. For example, Chinese patent CN115465377A discloses a multi-gait earthworm-inspired soft robot that uses gas-driven actuation. It inflates and deflates two cavities in a power bellows, but this process takes a long time to complete one cycle and results in a slow crawling speed. In contrast, magnetic actuation offers advantages such as rapid response, no need for cable connections, and wide applicability, which can greatly expand the scope of application for soft robots. Summary of the Invention

[0004] To address the problems and needs existing in the background technology, this invention provides a smart magnetic soft robot for inspecting variable-diameter pipes, characterized by fast crawling, wide detection range, variable diameter, small size, simple structure, and low energy consumption. It is suitable for inspecting and cleaning small pipes inside and outside buildings. This invention primarily considers achieving the robot's inspection, cleaning, and flexible capabilities while ensuring a lightweight design. Combining practical conditions, this invention employs magnetic drive. Based on existing data, the total weight of the soft robot is calculated to determine the number of coil turns, the current supply magnitude of the alternating current source, and the material of the permanent magnet. This ensures that the interaction force between the energized coil and the permanent magnet is sufficient to drive the soft robot to complete the inspection and cleaning tasks. Furthermore, the soft robot possesses a cleaning structure, preventing the inspection process from stopping due to pipe blockage.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention includes a head variable diameter module, a tail variable diameter module, a shape control module, and a cleaning module; the shape control module and the cleaning module are fixedly installed at both ends of the head variable diameter module, and the shape control module is also connected to the tail variable diameter module; the head variable diameter module and the tail variable diameter module are used to control the friction between the robot and the pipe, the shape control module is used to control the movement state of the soft robot in the pipe, and the cleaning module is used to clean debris in the pipe.

[0007] The variable diameter head module includes a head airbag, a head actuator, a main actuator, a head camera, and a first air vent.

[0008] A head actuator is fixedly installed in the middle of the head airbag. Both ends of the head airbag are in contact with the inner wall of the tube. The head actuator is provided with a first air hole. A cleaning module, a main actuator and a head camera are fixedly installed on one side of the head actuator. The main actuator is connected to the head camera, the head actuator, the tail variable diameter module, the shape control module and the cleaning module. The other side of the head actuator is fixedly connected to one end of the shape control module.

[0009] The tail variable diameter module includes a tail camera, a tail airbag, a tail actuator, and a second air vent; the tail actuator is fixedly installed in the middle of the tail airbag, and both ends of the tail airbag are in contact with the inner wall of the pipe. The tail actuator is provided with a second air vent; the tail camera is fixedly installed on one side of the tail actuator, and the other side of the tail actuator is fixedly connected to the other end of the shape control module.

[0010] The head airbag and tail airbag have the same structure, both including a corrugated pneumatic flexible airbag and two support blocks. The two support blocks are fixedly installed at both ends of the corrugated pneumatic flexible airbag. The contact points between the two support blocks and the inner wall of the pipe are set in an arc shape, and multiple protrusions are also provided at the contact points between the two support blocks and the inner wall of the pipe.

[0011] The expansion ratio of the corrugated pneumatic flexible airbag is 0.5-2 times.

[0012] The shape control module includes a main airbag, an alternating current source, a coil, a permanent magnet, a connecting rod, and an auxiliary airbag;

[0013] The main airbag contains a deformation cavity and a drive cavity, which are arranged sequentially along the axial direction, with the drive cavity located near the head-mounted variable diameter module. Multiple shape memory alloy springs are fixedly installed on the inner wall of the deformation cavity, and these springs are arranged at circumferential intervals.

[0014] A coil is fixedly installed in the inner wall of the tail end of the deformation cavity. The coil is connected to an alternating current source. A permanent magnet is installed in the inner wall of the head end of the deformation cavity. A cross groove is opened in the inner wall of the head end of the deformation cavity. The permanent magnet is fixedly connected to one end of the connecting rod. An auxiliary airbag is set in the drive cavity. One end of the auxiliary airbag is fixedly installed in the side wall of the drive cavity. The other end of the connecting rod passes through the cross groove in the inner wall of the head end of the deformation cavity and is fixedly connected to the other end of the auxiliary airbag in the drive cavity. The deformation of the auxiliary airbag causes the connecting rod to move in the cross groove, which in turn drives the permanent magnet to move in the cross groove. The combination of the attraction and repulsion forces of the permanent magnet and the coil ultimately realizes the bending motion of the main airbag.

[0015] The auxiliary airbag includes an upper air chamber, a lower air chamber, a fifth shape memory alloy spring, a sixth shape memory alloy spring, a partition, a third air hole, and a fourth air hole. The upper air chamber and the lower air chamber are separated by a partition. The fifth shape memory alloy spring is fixedly installed in the upper air chamber, and the sixth shape memory alloy spring is fixedly installed in the lower air chamber. A third air hole is opened at one end of the upper air chamber, and a fourth air hole is opened at one end of the lower air chamber.

[0016] The cleaning module includes a first bionic arm, a motor, a drill bit, a second bionic arm, a controller, and a mechanical gripper; the first bionic arm is connected to the drill bit via the motor, and the second bionic arm is connected to the mechanical gripper via the controller.

[0017] The first and second bionic arms are made of electrostrictive materials.

[0018] Compared with existing technologies, this invention is designed with the head, tail, and connected main air bladder all made of soft materials. Combined with a bristle-like design, it mimics the movement of a worm, giving it a soft and flexible body structure that allows it to move autonomously in narrow pipes, pipelines, and other restricted spaces to complete tasks such as inspection, cleaning, and maintenance.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The present invention uses magnetic drive, which, compared with pneumatic drive, liquid drive and other drive modes, has the advantages of fast response, no need for rope or wire connection, and strong applicability. In the same amount of time, the soft robot can crawl further, has a wider detection range, and has high work efficiency.

[0021] 2. The present invention also includes a cleaning mechanism, which is a bionic arm made of electrostrictive material. It can control the drill bit and mechanical claw with flexibility to reach the designated cleaning position, resulting in high cleaning efficiency. The cleaning mechanism ensures that the inspection process will not be interrupted due to blockage.

[0022] 3. The head and tail airbags of this invention have good elasticity, which can adapt to different pipe diameters and variable diameter pipe interfaces, and play a great role in crawling vertical pipes.

[0023] 4. This invention collects data through a head-mounted camera, utilizes the precise positioning and environmental recognition capabilities of machine vision, and feeds the data back to the central processing unit. The central processing unit then issues the next command, thereby achieving more precise motion control of the soft robot and ensuring work efficiency. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a cleanable variable-diameter pipe intelligent detection magnetic soft robot according to the present invention.

[0025] Figure 2 This is a front sectional view of the shape control module structure;

[0026] Figure 3 This is a top sectional view of the shape control module structure;

[0027] Figure 4 This is a schematic diagram of the variable diameter module;

[0028] Figure 5 This is a cross-sectional view of the variable diameter module structure;

[0029] Figure 6 This is a cross-sectional view of the auxiliary airbag;

[0030] Figure 7 This is a structural diagram of the cleanup module;

[0031] Figure 8 This is a cross-sectional view of the main drive;

[0032] Figure 9 This is a flowchart of the soft robot detection process of the present invention;

[0033] Figure 10 This is a schematic diagram of the linear motion of the soft robot of the present invention;

[0034] Figure 11 This is a schematic diagram of the soft robot of the present invention moving in a vertical pipe;

[0035] Figure 12 This is a schematic diagram of the leftward turning and upward crawling movements of the soft robot of the present invention;

[0036] Figure 13 This is a schematic diagram of the right-turning and downward-crawling movements of the soft robot of the present invention.

[0037] In the diagram: 1. Tail camera; 2. Tail airbag; 3. Tail actuator; 4. Main airbag; 5. Head airbag; 6. Synapse; 7. Head actuator; 8. Main actuator; 9. Head camera; 10. Alternating current source; 11. Coil; 12. Permanent magnet; 13. Linkage rod; 14. Auxiliary airbag; 15. First shape memory alloy spring; 16. Second shape memory alloy spring; 17. Third shape memory alloy spring; 18. Fourth shape memory alloy spring; 19. Second air vent; 20. First air vent; 21. Upper air chamber; 22. Lower air chamber; 23. Fifth shape memory alloy spring; 24. Sixth shape memory alloy spring; 25. Partition; 26. Third air vent; 27. Fourth air vent; 28. First bionic arm; 29. ​​Motor; 30. Drill bit; 31. Second bionic arm; 32. Controller; 33. Mechanical claw; 34. First fixture; 35. Second fixture; 36. Central processing unit; 37. Control module. Detailed Implementation

[0038] The invention will now be further described with reference to the accompanying drawings. These descriptions are intended to explain, not limit, the invention.

[0039] like Figure 1 As shown, it includes a head variable diameter module, a tail variable diameter module, a shape control module, and a cleaning module; the head variable diameter module has the shape control module and the cleaning module fixedly installed at both ends, and the shape control module is also connected to the tail variable diameter module; the head variable diameter module and the tail variable diameter module are used to control the friction between the robot and the pipe, the shape control module is used to control the movement state of the soft robot in the pipe, and the cleaning module is used to clean the debris in the pipe.

[0040] like Figure 5As shown, the variable diameter head module includes a head airbag 5, a head actuator 7, a main actuator 8, a head camera 9, and a first air vent 20. The head actuator 7 is fixedly installed in the middle of the head airbag 5. Both ends of the head airbag 5 contact the inner wall of the pipe. The head actuator 7 has a first air vent 20 connected to the head airbag 5. The head actuator 7 controls the airflow into and out of the head airbag 5 through the first air vent 20, thereby inflating and deflating the head airbag 5, causing it to stretch or expand radially in the pipe. A cleaning module, the main actuator 8, and the head camera 9 are fixedly installed on one side of the head actuator 7. The main actuator 8 is connected to the head camera 9, the head actuator 7, the tail camera 1 and tail actuator 3 of the variable diameter tail module, the alternating current source 10 and auxiliary airbag 14 of the shape control module, and the first bionic arm 28, motor 29, second bionic arm 31, and controller 32 of the cleaning module. The head camera 9 is fixedly installed on the head actuator 7 via a first fixture 34. The other side of the head actuator 7 is fixedly connected to one end of the shape control module.

[0041] The tail variable diameter module includes a tail camera 1, a tail airbag 2, a tail actuator 3, and a second air port 19. The tail actuator 3 is fixedly installed in the middle of the tail airbag 2. Both ends of the tail airbag 2 are in contact with the inner wall of the pipe. The tail actuator 3 is provided with a second air port 19, which is connected to the tail airbag 2. The tail actuator 3 is used to control the air intake and exhaust of the head airbag 5 through the second air port 19, thereby inflating and deflating the tail airbag 2, so that the tail airbag 2 can stretch or expand in the radial direction of the pipe. The tail camera 1 is fixedly installed on one side of the tail actuator 3 through a second retainer 35, and the other side of the tail actuator 3 is fixedly connected to the other end of the shape control module.

[0042] like Figure 4 As shown, the head airbag 5 and tail airbag 2 have the same structure, both including a corrugated pneumatic flexible airbag and two support blocks. The two support blocks are fixedly installed at both ends of the corrugated pneumatic flexible airbag, and the expansion ratio of the corrugated pneumatic flexible airbag is 0.5-2 times. The contact points between the two support blocks and the inner wall of the pipe are designed in an arc shape to increase the contact area with the inner wall of the pipe. Multiple protrusions 6 are also provided at the contact points between the two support blocks and the inner wall of the pipe to increase the friction with the inner wall of the pipe. These protrusions can assist the soft robot in movement and provide fixation for the cleaning module to start working. The corrugated shape of the head and tail airbags allows for better expansion and contraction when inflated, enabling them to adapt to pipes of different inner diameters within a certain range. The head airbag has bristle-like protrusions on top. When the head airbag is inflated to a certain state, the protrusions contact the inner wall of the pipe, thereby generating friction to fix the soft robot and assist its movement. This soft robot crawls based on the principle of differential friction.

[0043] like Figure 2, Figure 3 and Figure 6 The shape control module includes a main airbag 4, an alternating current source 10, a coil 11, a permanent magnet 12, a connecting rod 13, and an auxiliary airbag 14. The main airbag 4 contains a deformation cavity and a driving cavity, arranged sequentially along the axial direction, with the driving cavity closer to the head-mounted variable diameter module. The axial length of the deformation cavity is significantly greater than the length of the driving cavity. Multiple shape memory alloy springs are fixedly installed in the inner wall of the deformation cavity, arranged at equal intervals along the circumference. Multiple shape memory alloy springs can be installed along the axial direction of the main airbag 4 to improve its stability. Specifically, the main airbag 4 contains a first shape memory alloy spring 15, a second shape memory alloy spring 16, a third shape memory alloy spring 17, and a fourth shape memory alloy spring 18. The first and second shape memory alloy springs 15 and 16 are connected by a partition block, as are the third and fourth shape memory alloy springs 17 and 18. The first and third shape memory alloy springs 15 and 17 are arranged opposite each other, as are the second and fourth shape memory alloy springs 16 and 18. The function of all the shape memory alloy springs in its drive module is to assist the cavity in driving and turning, while preventing the cavity from expanding and contracting too much, which would cause excessive internal air pressure and thus damage the shape of the coil.

[0044] A coil 11 is fixedly installed in the inner wall of the tail end of the deformation cavity. The coil 11 is connected to the alternating current source 10. A permanent magnet 12 is installed in the inner wall of the head end of the deformation cavity. A cross groove is opened in the inner wall of the head end of the deformation cavity. The permanent magnet 12 is fixedly connected to one end of the connecting rod 13. An auxiliary airbag 14 is provided in the drive cavity. One end of the auxiliary airbag 14 is fixedly installed in the side wall of the drive cavity. The other end of the connecting rod 13 passes through the cross groove in the inner wall of the head end of the deformation cavity and is fixedly connected to the other end of the auxiliary airbag 14 in the drive cavity. The deformation of the auxiliary airbag 14 causes the connecting rod 13 to move in the cross groove, which in turn drives the permanent magnet 12 to move in the cross groove. The combination of the attraction and repulsion forces of the permanent magnet 12 and the coil 11 ultimately realizes the bending movement of the main airbag 4. In specific implementation, the end facing the head actuator is the S pole, and the end away is the N pole. When current is applied to the coil in different directions, the energized coil interacts with the permanent magnet, causing it to contract and stretch, thus enabling the soft robot to crawl. The auxiliary airbag is connected to the S pole of the permanent magnet by a connecting rod. By inflating the upper and lower air chambers of the auxiliary airbag, the position of the permanent magnet is moved, thereby changing the direction of the interaction force between the energized coil and the permanent magnet, assisting the soft robot in turning, thus enabling the soft robot to change direction, and also changing the head orientation, allowing for a larger detection range. This invention utilizes electromagnetic drive to achieve higher crawling efficiency, has a simple structure, and the auxiliary air chamber provides the head with flexibility, enabling a larger detection range within pipes.

[0045] like Figure 6 As shown, the auxiliary airbag 14 includes an upper air chamber 21, a lower air chamber 22, a fifth shape memory alloy spring 23, a sixth shape memory alloy spring 24, a partition 25, a third air hole 26, and a fourth air hole 27. The upper air chamber 21 and the lower air chamber 22 are separated by the partition 25. The fifth shape memory alloy spring 23 is fixedly installed in the upper air chamber 21, and the sixth shape memory alloy spring 24 is fixedly installed in the lower air chamber 22. The third air hole 26 is opened at one end of the upper air chamber 21 for air intake and exhaust. The fourth air hole 27 is opened at one end of the lower air chamber 22 for air intake and exhaust. In specific implementation, the auxiliary airbag actuator controls the air intake and exhaust of the upper air chamber 21 and the lower air chamber 22 respectively. By adjusting the gas content in the upper air chamber 21 and the lower air chamber 22, the length or bending direction of the auxiliary airbag 14 is changed.

[0046] like Figure 7 As shown, the cleaning module includes a first bionic arm 28, a micro motor 29, a drill bit 30, a second bionic arm 31, a controller 32, and a robotic gripper 33. The first bionic arm 28 is connected to the drill bit 30 via the micro motor 29, which provides power to the drill bit. The second bionic arm 31 is connected to the robotic gripper 33 via the controller 32, which controls the movement of the robotic arm. The first bionic arm 28 and the second bionic arm 31 are made of electrostrictive material. In this invention, except for the drill bit and the robotic gripper which are made of rigid material, the remaining components are made of soft material. Soft material has good sealing properties and strong waterproof and anti-fouling capabilities. Visual detection feedback from the head camera is sent to the central processing unit of the main driver. The central processing unit applies voltage to make the electrostrictive material move flexibly, allowing the drill bit and robotic gripper to reach the designated position to clean the pipe blockage. After cleaning is completed, the first and second bionic arms retract the cleaning mechanism and place it vertically, so as not to affect the normal detection of the soft robot. The cleaning mechanism ensures that the soft robot will not terminate the detection process due to pipe blockage.

[0047] like Figure 8 As shown, the main driver 8 includes a central processing unit 36 ​​and a control module 37. The central processing unit 36 ​​and the control module 37 are connected together, and the control module 37 is connected to the drivers, controllers and actuators of other modules.

[0048] like Figure 8 and Figure 9 As shown in the flowchart of the pipeline soft robot inspection, a magnetic soft robot for intelligent inspection of variable diameter pipelines that can clean first directly collects image information through the head camera 9, and then feeds it back to the central processor 36, thereby controlling the soft robot to execute commands for straight movement, turning and cleaning through the control module 37;

[0049] Its linear motion working steps are as follows Figure 10 As shown: The soft robot performs linear motion in cooperation with the drive module and the variable diameter module as follows:

[0050] In the first step, before the movement begins, both the head airbag 5 and the tail airbag 2 are in a relaxed state;

[0051] The second step involves inflating the head airbag 5 at the start of movement, controlled by the head actuator 7. This inflation causes the corrugated structure to expand and contract, bringing the synapses 6 into contact with the inner wall of the tube. The synapses 6 exert pressure on the inner wall of the tube, generating friction. Then, a current source 10 applies a current to the coil 11, causing it to interact with the permanent magnet 12 to create an attractive force. Finally, when the movement stops, the attractive force is balanced by the combined force of the first memory alloy spring 15, the second memory alloy spring 16, the third memory alloy spring 17, and the fourth memory alloy spring 18.

[0052] The third step is to control the inflation of the tail airbag 2 by the tail actuator 3, so that the inner wall of its tube generates a greater frictional force on the synapse 6 than the interaction force generated by the energized coil 11 and the permanent magnet 12.

[0053] The fourth step involves deflating the head airbag 5 by controlling the head actuator 7, so that there is no friction between its synapses and the inner wall of the tube. Then, the current is gradually reduced by the alternating current source 10, so that the net external force of the memory alloy spring is greater than the attraction force, thereby causing the head airbag 5 to move forward. Then, the tail actuator 3 is used to deflate the tail airbag 2, so that the soft robot is in a state where movement has not started.

[0054] This constitutes one cycle of the soft robot's forward motion. The soft robot primarily crawls using the principle of differential friction.

[0055] Its vertical movement working steps are as follows Figure 11 As shown: The soft robot performs vertical motion in cooperation with the drive module and the variable diameter module as follows:

[0056] In the first step, before the movement begins, both the head airbag 5 and the tail airbag 2 are slightly inflated, so that their synapses 6 generate a small frictional force against the inner wall of the tube to prevent the soft robot from falling.

[0057] The second step is to control the inflation of the head airbag 5 by the head driver 7 at the beginning of the movement. The inflation causes the corrugated structure to stretch and contract further, so that the synapse 6 has a certain pressure on the inner wall of its channel, thereby generating a large frictional force.

[0058] The third step is to apply a certain current to the coil 11 through the alternating current source 10, so that it generates an attractive force with the permanent magnet 12; finally, when it stops, the attractive force is balanced by the total force of the first memory alloy spring 15, the second memory alloy spring 16, the third memory alloy spring 17, and the fourth memory alloy spring 18.

[0059] The fourth step involves inflating the tail airbag 2 using the tail actuator 3, causing the inner wall of its tube to generate a greater frictional force against the synapse 6 than the interaction force generated by the energized coil 11 and the permanent magnet 12. Then, the head airbag 5 is deflated using the head actuator 7, causing only a small frictional force between the synapse and the inner wall of its tube. Next, the current is gradually reduced using the alternating current source 10, causing the net external force of the shape memory alloy spring to exceed the attractive force, thus moving the head airbag 5 forward. Finally, the tail airbag 2 is deflated again using the tail actuator 3, bringing the soft robot to a state where movement has not yet begun.

[0060] The above represents one cycle of the soft robot's vertical pipe motion detection. Unlike horizontal pipe motion, the synapses on the variable diameter module do not disengage from the inner wall, generating a small amount of frictional force to provide some fixation and prevent the soft robot from swaying inside the pipe due to gravity, which would lead to inaccurate detection.

[0061] Its turning motion working steps are as follows Figure 12 and Figure 13 As shown: The soft robot performs turning motion through the cooperation of the drive module and the variable diameter module. Its turning motion is as follows:

[0062] The first step is to move the head airbag 5 to the corner by moving straight. Initially, both the head airbag 5 and the tail airbag 2 are in a relaxed state.

[0063] The second step involves inflating the head airbag 5 at the start of movement, controlled by the head actuator 7. This inflation causes the corrugated structure to expand and contract, bringing the synapses 6 into contact with the inner wall of the tube. This creates pressure on the inner wall, generating friction. Then, an alternating current source 10 applies current to the coil 11, causing it to interact with the permanent magnet 12. Finally, when movement stops, the attractive forces of these forces are balanced by the combined forces of the first memory alloy spring 15, the second memory alloy spring 16, the third memory alloy spring 17, and the fourth memory alloy spring 18.

[0064] The third step involves inflating the tail airbag 2 under the control of the tail actuator 7, causing the inner wall of its tube to generate a greater frictional force against the synapse 6 than the interaction force generated by the energized coil 11 and the permanent magnet 12. The direction of the turn is then determined by the feedback from the central processing unit 36.

[0065] Turning left: Step 4, by reducing the airflow of the upper air chamber 21 and the lower air chamber 22 through the auxiliary airbag 14, the fifth memory alloy spring 23 and the sixth memory alloy spring 24 are contracted to the same length. Then, the permanent magnet 12 is pulled to the left by the connecting rod 13, which causes the interaction force between the energized coil 11 and the permanent magnet 12 to deviate to the left. Then, the head driver 7 controls the deflation of the head airbag 5 so that there is no friction between the synapse 6 and the inner wall of the pipe. Then, the alternating current source 10 is slowly reduced to 0 so that the net external force of the memory alloy spring is greater than the attractive force. Then, the reverse current is applied so that the repulsive force is greater than the net external force of the memory alloy spring, so that the head airbag 5 turns to the left. When the head has completely turned and the tensile force is at its maximum, the head driver 7 is used to control the inflation of the head airbag 5 to generate a fixed friction force.

[0066] Fifth, the tail actuator 3 controls the deflation of the tail airbag 2, reducing the current when there is no friction between the tail synapse 6 and the inner wall of the pipe, causing the main airbag 4 to contract. After the tail has completely turned the corner, the tail actuator 3 is controlled to inflate the tail airbag 2. This is the entire process of making a left turn.

[0067] The following describes the operation of the soft robot to turn right, turn up, and turn down. The first three steps are exactly the same as those for turning left, with only the last two steps being slightly different, as shown below:

[0068] Turning right: The principle and steps are the same as turning left, except that the airflow of the upper air chamber 21 and the lower air chamber 22 is increased by the auxiliary airbag 14, so that the fifth memory alloy spring 23 and the sixth memory alloy spring 24 extend to the same length, and then the permanent magnet 12 is pulled to the right by the connecting rod 13.

[0069] Turning upwards: The principle and steps are the same as turning left, except that the auxiliary airbag 14 makes the lower air chamber 22 more inflated than the upper air chamber 21, so that the sixth memory alloy spring 24 extends longer than the fifth memory alloy spring 23, and then pulls the permanent magnet 12 upwards through the connecting rod 13.

[0070] Turning downwards: The principle and steps are the same as turning left, except that the upper air chamber 21 is inflated more than the lower air chamber 22 by the auxiliary airbag 14, so that the fifth memory alloy spring 23 extends longer than the sixth memory alloy spring 24, and then the permanent magnet 12 is pulled downwards by the connecting rod 13.

[0071] Cleaning module operation: When the image information captured by the head camera 9 is fed back to the central processing unit 36, the central processing unit 36 ​​will issue a command to control the inflation of the head airbag 5 through the head driver 7, so that the head synapses 6 generate greater friction with the inner wall of the pipe, thereby ensuring the stability of the soft robot during cleaning. The central processing unit 36 ​​then sends a command to the control module 37 in the main driver 8, so that the drill 30 and mechanical claw 33 controlled by the bionic arm can reach the designated cleaning position, and then start the pipe cleaning work.

[0072] Return: After the soft robot has completed the inspection and cleaning, it starts image recognition through the tail camera 1 and begins to return. The straight and turning directions are the same as above, except that when returning, the tail is the head that was moving forward, and the head is the tail that was moving forward.

[0073] Finally, it should be noted that the above embodiments and descriptions are only used to illustrate the technical solutions of the present invention and not to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the disclosure of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the protection scope of the claims of the present invention.

Claims

1. A cleanable intelligent magnetic soft robot for inspecting variable-diameter pipes, characterized in that, It includes a head variable diameter module, a tail variable diameter module, a shape control module, and a cleaning module; the head variable diameter module has a shape control module and a cleaning module fixedly installed at both ends, and the shape control module is also connected to the tail variable diameter module; the head variable diameter module and the tail variable diameter module are used to control the friction between the robot and the pipe, the shape control module is used to control the movement state of the soft robot in the pipe, and the cleaning module is used to clean up debris in the pipe. The shape control module includes a main airbag (4), an alternating current source (10), a coil (11), a permanent magnet (12), a connecting rod (13), and an auxiliary airbag (14). The main airbag (4) is provided with a deformation cavity and a driving cavity. The deformation cavity and the driving cavity are arranged sequentially along the axial direction, and the driving cavity is close to the head variable diameter module. Multiple memory alloy springs are fixedly installed in the inner wall of the deformation cavity. The multiple memory alloy springs are arranged at intervals along the circumference. A coil (11) is fixedly installed in the inner wall of the tail of the deformation cavity. The coil (11) is connected to the alternating current source (10). A permanent magnet (12) is installed in the inner wall of the head of the deformation cavity. A cross groove is provided in the inner wall of the head of the deformation cavity. The permanent magnet (12) is fixedly connected to one end of the connecting rod (13). An auxiliary airbag (14) is provided in the driving cavity. One end of the auxiliary airbag (14) is fixedly installed in the side wall of the driving cavity. The other end of the connecting rod (13) passes through the cross groove in the inner wall of the head of the deformation cavity and is fixedly connected to the other end of the auxiliary airbag (14) in the driving cavity. The deformation of the auxiliary airbag (14) causes the connecting rod (13) to move in the cross groove, which drives the permanent magnet (12) to move in the cross groove. The combination of the attraction and repulsion forces with the coil (11) realizes the bending movement of the main airbag (4). The auxiliary airbag (14) includes an upper air chamber (21), a lower air chamber (22), a fifth shape memory alloy spring (23), a sixth shape memory alloy spring (24), a partition (25), a third air hole (26), and a fourth air hole (27). The upper air chamber (21) and the lower air chamber (22) are separated by a partition (25). The fifth shape memory alloy spring (23) is fixedly installed in the upper air chamber (21), and the sixth shape memory alloy spring (24) is fixedly installed in the lower air chamber (22). A third air hole (26) is opened at one end of the upper air chamber (21), and a fourth air hole (27) is opened at one end of the lower air chamber (22). The length or bending direction of the auxiliary airbag (14) can be changed by adjusting the gas content in the upper air chamber (21) and the lower air chamber (22).

2. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 1, characterized in that, The variable diameter head module includes a head airbag (5), a head driver (7), a main driver (8), a head camera (9), and a first air hole (20). The head driver (7) is fixedly installed in the middle of the head airbag (5). Both ends of the head airbag (5) are in contact with the inner wall of the pipe. The head driver (7) is provided with a first air hole (20). The cleaning module, the main driver (8), and the head camera (9) are fixedly installed on one side of the head driver (7). The main driver (8) is connected to the head camera (9), the head driver (7), the tail variable diameter module, the shape control module, and the cleaning module. The other side of the head driver (7) is fixedly connected to one end of the shape control module.

3. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 1, characterized in that, The tail variable diameter module includes a tail camera (1), a tail airbag (2), a tail actuator (3), and a second air hole (19); the tail actuator (3) is fixedly installed in the middle of the tail airbag (2), and both ends of the tail airbag (2) are in contact with the inner wall of the pipe. The tail actuator (3) is provided with a second air hole (19); the tail camera (1) is fixedly installed on one side of the tail actuator (3), and the other side of the tail actuator (3) is fixedly connected to the other end of the shape control module.

4. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 2, characterized in that, The head airbag (5) includes a corrugated pneumatic flexible airbag and two support blocks. The two support blocks are fixedly installed at both ends of the corrugated pneumatic flexible airbag. The contact points between the two support blocks and the inner wall of the pipe are set in an arc shape, and multiple protrusions are also provided at the contact points between the two support blocks and the inner wall of the pipe.

5. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 4, characterized in that, The expansion ratio of the corrugated pneumatic flexible airbag is 0.5-2 times.

6. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 1, characterized in that, The cleaning module includes a first bionic arm (28), a motor (29), a drill bit (30), a second bionic arm (31), a controller (32), and a mechanical claw (33); the first bionic arm (28) is connected to the drill bit (30) via the motor (29), and the second bionic arm (31) is connected to the mechanical claw (33) via the controller (32).

7. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 6, characterized in that, The first bionic arm (28) and the second bionic arm (31) are made of electrostrictive material.

8. The intelligent magnetic soft robot for cleaning variable-diameter pipes according to claim 3, characterized in that, The tail airbag (2) includes a corrugated pneumatic flexible airbag and two support blocks. The two support blocks are fixedly installed at both ends of the corrugated pneumatic flexible airbag. The contact points between the two support blocks and the inner wall of the pipe are set in an arc shape, and multiple protrusions are also provided at the contact points between the two support blocks and the inner wall of the pipe.

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