Pipeline dredging and blockage imitating bionic snake-shaped robot

Abstract

The application discloses a pipeline dredging and blockage imitating bionic snake-shaped robot and relates to the technical field of pipeline dredging management. The robot is driven by a peristalsis power assembly to swing back and forth to realize peristalsis walking, can move in the pipeline, and reaches a blocked position in the pipeline by simulating the form of foot movement. The first connecting block of the meandering power device is rotationally connected with the intermediate transition block and is driven to rotate by a meandering driver. The intermediate transition block is rotationally connected with the second connecting block and is driven to rotate by a meandering driver. The first connecting block and the second connecting block produce rotation in at least two vertical dimensions, thereby adapting to the curved part inside the pipeline and being better in passability. When reaching the blocked position, the working power assembly of the working device drives the working drill claw to rotate, thereby realizing rotary dredging. The combination of the peristalsis power device and the meandering power device realizes peristalsis walking and meandering turning, can adapt to the complex and winding route inside the pipeline, and has more extensive applicability.

Description

Technical Field

[0001] This invention relates to the field of pipeline dredging technology, and more particularly to a biomimetic snake-like robot for clearing blockages in pipelines. Background Technology

[0002] There are three main methods for dredging pipelines: box culvert dredging robots, high-pressure water jets, and vacuum trucks. However, all three methods have certain drawbacks: box culvert dredging robots move inside the pipeline using tracks and can only be applied to large pipelines, rivers, and other similar areas, requiring a large operating range; high-pressure water jets and vacuum trucks are less effective for dredging complex pipelines such as U-shaped or S-shaped pipelines, and may even lead to failure to clean the pipeline or cause it to break.

[0003] Traditional dredging methods are inefficient at clearing blockages in complex pipelines and cannot meet the requirements of large-scale applications. For those skilled in the art, the key technical problem to be solved is how to move within complex pipelines and efficiently clear blockages. Summary of the Invention

[0004] This invention provides a biomimetic snake-like robot for clearing blockages in pipelines, capable of creeping and zigzagging, better adapting to the complex and winding routes inside pipelines, and having wider applicability. The specific solution is as follows:

[0005] A biomimetic snake-like robot for clearing blockages in pipelines includes:

[0006] A peristaltic power device includes a peristaltic base shell, a peristaltic power assembly, and peristaltic legs. The peristaltic power assembly is installed on the peristaltic base shell and is used to drive the peristaltic legs to swing back and forth to achieve peristaltic walking.

[0007] A meandering power device includes a first connecting block, an intermediate transition block, a second connecting block, and a meandering actuator. The first connecting block is rotatably connected to the intermediate transition block and is driven to rotate by one of the meandering actuators. The intermediate transition block is rotatably connected to the second connecting block and is driven to rotate by one of the meandering actuators, so that the first connecting block and the second connecting block rotate in at least two vertical dimensions. Two adjacent peristaltic power devices are respectively installed on the first connecting block and the second connecting block.

[0008] The working device is installed on the peristaltic power device or the meandering power device; it includes a working base shell, a working power component, and a working drill bit. The working power component is installed on the working base shell and is used to drive the working drill bit to rotate, so as to realize rotary dredging.

[0009] Optionally, the peristaltic power assembly includes a peristaltic power motor, a first link, a second link, and a third link. The first link, the second link, and the third link are hinged end to end in sequence. The peristaltic power motor is used to drive the first link to rotate. The first link rotates around one end, and the other end drives the third link to swing through the second link.

[0010] The third link drives the peristaltic foot to swing.

[0011] Optionally, the peristaltic power device includes a reversing component disposed between the peristaltic power assembly and the peristaltic leg, the reversing component being used to reverse the direction of the peristaltic leg;

[0012] The reversing assembly includes a load bearing, a rotating seat, and a reversing motor. The peristaltic power assembly is mounted on the inner ring of the load bearing, and the rotating seat is mounted on the outer ring of the load bearing. The reversing motor is mounted on the inner ring of the load bearing and is used to drive the rotating seat to rotate via gears.

[0013] Optionally, it also includes a follow-up device, which includes a base plate connecting rod and a base plate buffer, wherein the two ends of the base plate connecting rod and the two ends of the base plate buffer are respectively hinged to the reversing assembly and the creeping foot;

[0014] The base plate connecting rod is a rigid component, and the base plate buffer can elastically extend and retract.

[0015] Optionally, the peristaltic foot includes a wrist body, a telescopic actuator, and a wrist base plate, wherein the telescopic actuator is mounted on the wrist body;

[0016] The wrist base plate is provided with meshing teeth, and the telescopic actuator meshes with the meshing teeth via gears to allow the wrist base plate to slide and extend relative to the wrist body.

[0017] Optionally, the peristaltic power device further includes a side support device, which includes a sliding extension device and a support frame. The extension device is installed on the peristaltic base shell and is used to drive the support frame to move radially. The support frame can support the inner wall of the pipe.

[0018] Optionally, the support frame includes a support base, a telescopic support rod, and hinge blocks, with a plurality of hinge blocks hinged together to form an array, and the hinge blocks being connected to the support base via the telescopic support rod;

[0019] The bracket is mounted on the sliding extension device.

[0020] Optionally, the sliding extension device includes an extension driver, a rack and pinion, and an extension buffer. The extension driver is installed on the peristaltic base shell, the rack and pinion is slidably inserted into the peristaltic base shell, and the extension driver is driven by gear meshing with the rack and pinion.

[0021] The extended buffer is fitted onto the rack and pinion and is used to provide cushioning for the support frame.

[0022] Optionally, limiting rotating disks are respectively provided between the first connecting block and the intermediate transition block, and between the intermediate transition block and the second connecting block.

[0023] Optionally, the working device further includes an opening and closing drive component, which includes an opening and closing support, an opening and closing slide, an opening and closing pull rod, and a telescopic shaft; the opening and closing support can be driven to rotate by the working power component.

[0024] The telescopic shaft is installed on the opening and closing support and is used to drive the opening and closing slide to move. One end of the opening and closing pull rod is hinged to the opening and closing slide.

[0025] The working drill bit includes at least two, each of which is hinged to the opening and closing support, and the other end of the opening and closing lever is hinged to the working drill bit; when the opening and closing slide moves, the working drill bit is driven to close and open through the opening and closing lever;

[0026] When the working drill claw is closed, it can be spliced ​​to form a conical drill bit; when the working drill claw is open, it can expand and clear blockages.

[0027] The working drill bit is equipped with an axial pressure sensor and a radial pressure sensor respectively.

[0028] Optionally, the working power assembly includes a working motor and a working gear disposed in the working base housing, the working gear being used to mesh and drive the opening and closing support to rotate.

[0029] Optionally, it also includes a vector connection device disposed between the working device and the peristaltic power device. The vector connection device includes a vector connector, a vector neck, and a vector driver. The vector neck is provided with at least two segments. The vector connector and the vector neck are rotatably connected relative to each other. The vector neck is provided with external teeth. Each vector driver corresponds to one vector neck and meshes with the external teeth on the vector neck to drive the vector neck to rotate.

[0030] The pivot between the two vector necks and the pivot between the vector connector and the vector neck are at an angle, which is used to adjust the orientation of the working device.

[0031] Optionally, it also includes a tail device installed on the meandering power unit, wherein the tail device and the working device are located at opposite ends;

[0032] The cross-section of the tail device tapers towards the end.

[0033] Optionally, the working device and the tail device are respectively equipped with identification devices, the identification devices including distance sensors and / or camera probes.

[0034] Optionally, the outer cover of the meandering power device is fitted with a threaded pipe, which is located between the working device and the peristaltic power device, between the two peristaltic power devices, and between the peristaltic power device and the tail device.

[0035] This invention provides a biomimetic snake-like robot for clearing blockages in pipelines. By incorporating a peristaltic power device, the robot uses a peristaltic power component to drive the peristaltic legs to swing back and forth, achieving peristaltic walking. This allows the robot to move within pipelines, mimicking foot movements to reach the blockage location. The meandering power device features a first connecting block rotatably connected to an intermediate transition block and driven to rotate by a meandering actuator. The intermediate transition block is also rotatably connected to a second connecting block and driven to rotate by a meandering actuator. The first and second connecting blocks generate rotation in at least two vertical dimensions, thus adapting to the curved sections of the pipeline and improving maneuverability. Upon reaching the blockage location, the working power component of the working device drives the working drill bit to rotate and clear the blockage. This invention, through the combination of the peristaltic and meandering power devices, achieves both peristaltic walking and meandering turning, adapting to the complex and winding routes within pipelines and possessing broader applicability. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of the biomimetic snake-shaped robot for clearing blockages in pipelines provided by the present invention, in a straight-line unfolded state.

[0038] Figure 2 An isometric view of a perspective of the biomimetic snake robot for pipe dredging provided by the present invention, which removes threaded pipes in a U-shaped bend.

[0039] Figure 3 Another isometric view of the biomimetic snake robot for pipe dredging provided by the present invention, which removes threaded pipes in a U-shaped bend.

[0040] Figure 4 A top view of the biomimetic snake robot for pipe dredging provided by the present invention removing threaded pipes in a U-shaped bend.

[0041] Figure 5 A bottom view of the biomimetic snake robot for pipe dredging provided by the present invention removing threaded pipes in a U-shaped bend.

[0042] Figure 6 Axonometric view of the S-shaped bend of a biomimetic snake robot for pipe dredging provided by the present invention;

[0043] Figure 7 A top view of the biomimetic snake robot for pipe dredging provided by the present invention removing threaded pipes in an S-shaped bend.

[0044] Figure 8 An isometric view of the working device from one perspective;

[0045] Figure 9 An isometric view of the working device from another perspective;

[0046] Figure 10 This is an isometric view of the working drill bit and the opening / closing drive component;

[0047] Figure 11 An exploded view of the working drill bit and the opening / closing drive component;

[0048] Figure 12 Axonometric views of the working base shell and the working power assembly;

[0049] Figure 13 This is an isometric view of the vector connection device;

[0050] Figure 14 Axonometric drawing of the peristaltic power unit;

[0051] Figure 15 An exploded view of a peristaltic power unit;

[0052] Figure 16 This is a partial structural diagram of the peristaltic power device;

[0053] Figure 17 This is a schematic diagram of the relevant structure of the commutation component;

[0054] Figure 18 Exploded view of the commutation assembly and servo mechanism;

[0055] Figure 19 This is a schematic diagram showing the fit between the peristaltic base shell and the side support device;

[0056] Figure 20 This is an isometric view of the creeping power assembly.

[0057] Figure 21 Axonometric view of the peristaltic foot;

[0058] Figure 22 This is an isometric view of the side support device;

[0059] Figure 23 This is a partial schematic diagram of the support bracket portion of the side support device;

[0060] Figure 24 Axonometric drawing of a meandering power unit;

[0061] Figure 25 An exploded view of a meandering power unit;

[0062] Figure 26 Axonometric drawing of the tail assembly;

[0063] Figure 27 A flowchart illustrating the overall workflow of a biomimetic snake-like robot for clearing blockages in pipelines;

[0064] Figure 28 This is a flowchart of the working device's operation.

[0065] The image includes:

[0066] The components include: a peristaltic power device 1, a peristaltic base shell 11, a peristaltic power assembly 12, a peristaltic power motor 121, a first connecting rod 122, a second connecting rod 123, a third connecting rod 124, a fixed connecting rod 125, a peristaltic foot 13, a wrist body 131, a telescopic actuator 132, a wrist base plate 133, meshing teeth 1331, a reversing assembly 14, a load bearing 141, a rotating seat 142, a reversing motor 143, a follower device 15, a base plate connecting rod 151, a base plate buffer 152, a side support device 16, a sliding extension device 161, an extension actuator 1611, a rack 1612, an extension buffer 1613, a support frame 162, a bracket seat 1621, a telescopic support rod 1622, and a hinge block 1623.

[0067] 2. Winding power unit, 21. First connecting block, 22. Intermediate transition block, 23. Second connecting block, 24. Winding driver, 25. Limiting rotating disk;

[0068] Working device 3, working base shell 31, working power component 32, working motor 321, working gear 322, working drill claw 33, opening and closing drive component 34, opening and closing support 341, opening and closing slide 342, opening and closing pull rod 343, telescopic shaft 344;

[0069] 4. Vector connector 41. Vector neck 42. Vector driver 43. Tail assembly 5. Identification device 6. Distance sensor 61. Camera probe 62. Threaded tube 7. Detailed Implementation

[0070] The core of this invention is to provide a biomimetic snake-like robot for clearing blockages in pipelines, which can achieve peristaltic walking and meandering turning, better adapting to the complex and tortuous routes inside pipelines, and has a wider range of applicability.

[0071] To enable those skilled in the art to better understand the technical solution of the present invention, the following will provide a detailed description of the biomimetic snake robot for pipeline dredging and blockage removal, in conjunction with the accompanying drawings and specific embodiments.

[0072] Combination Figures 1 to 7 As shown, the present invention provides a biomimetic snake-shaped robot for clearing blockages in pipelines, including a peristaltic power device 1, a meandering power device 2, and a working device 3, wherein at least two sets of peristaltic power devices 1 and meandering power devices 2 are provided.

[0073] like Figure 14 , Figure 15 As shown, the peristaltic power device 1 includes a peristaltic base shell 11, a peristaltic power assembly 12, and peristaltic legs 13. The peristaltic base shell 11 is the external support structure of the peristaltic power device 1. Other related structures are installed on the peristaltic base shell 11, and the peristaltic base shell 11 is used to connect with external structures such as the meandering power device 2. Figure 15 As shown in the figure, in this embodiment, the peristaltic base shell 11 comprises two separate structures, which are spliced ​​and fixed together by bolts or other means to form a whole. Besides the form shown in the figures, the peristaltic base shell 11 can also adopt other configurations, and these specific embodiments should all be included within the protection scope of this invention.

[0074] The peristaltic power assembly 12 is installed on the peristaltic base shell 11 and is used to drive the peristaltic foot 13 to swing back and forth, thereby realizing peristaltic walking. The peristaltic power assembly 12 provides driving force to the peristaltic foot 13, causing the peristaltic foot 13 to swing. The peristaltic foot 13 is used to contact the inner wall of the pipe. Each peristaltic power device 1 should be equipped with at least one peristaltic foot 13. Through the cooperation of the peristaltic feet 13 set in different peristaltic power devices 1, several peristaltic feet 13 cooperate to form a group, swinging alternately, thereby simulating foot walking, so that the entire pipe cleaning bionic snake robot moves along the pipe. Figure 14 In this embodiment, the peristaltic foot 13 extends from below the peristaltic base shell 11, and the bottom of the peristaltic foot 13 contacts the inside of the pipe, providing support for the peristaltic power assembly 12, the peristaltic base shell 11, and other structures above. If necessary, a peristaltic power device 1 may also be provided with two or more peristaltic feet 13, and the peristaltic feet 13 of the same peristaltic power device 1 may swing simultaneously or alternately.

[0075] The position of the peristaltic foot 13 in contact with the pipe wall can adopt the biological structure of the scales on the bottom of a snake, so that the forward friction is less than the reverse friction, thereby increasing the friction during the peristaltic process and preventing slippage.

[0076] Combination Figure 24 , Figure 25 As shown, the meandering power unit 2 includes a first connecting block 21, an intermediate transition block 22, a second connecting block 23, and a meandering driver 24. The first connecting block 21 is rotatably connected to the intermediate transition block 22 and is driven to rotate by a meandering driver 24. The intermediate transition block 22 is rotatably connected to the second connecting block 23 and is driven to rotate by a meandering driver 24. One meandering driver 24 is disposed on the first connecting block 21 or the intermediate transition block 22, and the other meandering driver 24 is disposed on the intermediate transition block 22 or the second connecting block 23, thereby realizing the rotation between the first connecting block 21 and the intermediate transition block 22, and the rotation between the intermediate transition block 22 and the second connecting block 23.

[0077] exist Figure 24 In the illustrated embodiment, the first connecting block 21, the intermediate transition block 22, and the second connecting block 23 are arranged sequentially and assembled by hinge. The rotation axes of the first connecting block 21 and the intermediate transition block 22 are perpendicular to the rotation axes of the intermediate transition block 22 and the second connecting block 23. The first connecting block 21 and the second connecting block 23 rotate in at least two vertical dimensions. Through the vertical rotation of the two rotation axes, different spatial angle states of the first connecting block 21 and the second connecting block 23 can be achieved, and the extension state can be adjusted at the turning point of the curve.

[0078] Two adjacent peristaltic power devices 1 are respectively installed on the first connecting block 21 and the second connecting block 23, that is, the peristaltic power device 1 and the meandering power device 2 are arranged alternately in sequence. The meandering power device 2 causes the angle between each peristaltic power device 1 to change, which can realize U-shaped and S-shaped state changes, that is, meandering deformation, such as... Figures 2 to 7 The various states shown apply to the curved sections of pipes. Regardless of the overall pipe dredging and blockage situation, the biomimetic snake robot is in... Figure 1 The straight line shown, or Figures 2 to 7 The bending states shown can all move forward in the pipe through the cooperation of each peristaltic power device 1.

[0079] The working device 3 is installed on the peristaltic power device 1 or the meandering power device 2. The working device 3 is located at the end of the entire pipeline dredging and blockage-inspired snake robot. Generally, it is only necessary to set the working device 3 at one end. The working device 3 can be set directly or indirectly on the peristaltic power device 1 or on the meandering power device 2.

[0080] Combination Figure 8 , Figure 9 As shown, the working device 3 includes a working base shell 31, a working power assembly 32, and a working drill bit 33. The working base shell 31 is the outer shell structure of the working device 3. The working power assembly 32 is installed on the working base shell 31 and is used to drive the working drill bit 33 to rotate, thereby enabling the working drill bit 33 to rotate and clear silt. The working drill bit 33 clears blockages by placing and agitating the blockages in the pipe.

[0081] This invention relates to a biomimetic snake-like robot for clearing blockages in pipelines. Utilizing the combined action of a peristaltic power unit 1 and a meandering power unit 2, the robot moves along the straight and winding sections of the pipeline, achieving both peristaltic movement and meandering turns. This allows it to adapt to complex and winding routes within pipelines, resulting in wider applicability. When it reaches a blockage location, the working power component 32 of the working device 3 drives the working drill 33 to rotate. The peristaltic power unit 1 and the meandering power unit 2 work together to move the working device 3 forward or backward, achieving rotary clearing.

[0082] Based on the above scheme, the peristaltic power assembly 12 of the present invention includes a peristaltic power motor 121, a first connecting rod 122, a second connecting rod 123, and a third connecting rod 124. The first connecting rod 122, the second connecting rod 123, and the third connecting rod 124 are sequentially hinged end to end, and combined with... Figure 16 , Figure 20 As shown, the first link 122, the second link 123, and the third link 124 are connected end to end. A fixed link 125 is installed on the peristaltic base shell 11. One end of the third link 124 is hinged to the fixed link 125, or the third link 124 can be directly hinged to the peristaltic base shell 11. The first link 122, the second link 123, and the third link 124 form a four-bar linkage. The first link 122 is installed on the output shaft of the peristaltic power motor 121. The peristaltic power motor 121 can drive the first link 122 to rotate. The first link 122 rotates around one end, and the other end drives the third link 124 to swing through the second link 123. The third link 124 drives the peristaltic foot 13 to swing.

[0083] exist Figure 20 In the illustrated embodiment, the lengths of the first link 122, the second link 123, and the third link 124 increase sequentially. The first link 122 rotates in a circular motion driven by the peristaltic motor 121. The left end of the second link 123 moves in a circular motion with the first link 122, while the right end drives the third link 124 to swing. The swing axis of the third link 124 is located at its top.

[0084] In one embodiment, the peristaltic power device 1 includes a reversing component 14 disposed between the peristaltic power assembly 12 and the peristaltic foot 13. The reversing component 14 is used to reverse the direction of the peristaltic foot 13. Since the peristaltic foot 13 has a snake-scale structure at the point where it contacts the inside of the pipe, it has the characteristic of having a large unidirectional friction force. When it needs to retract after cleaning, if the peristaltic foot 13 is directly swung in the opposite direction, it is easy to slip. Therefore, by reversing the direction of the peristaltic foot 13 by the reversing component 14, the peristaltic foot 13 is rotated 180 degrees. When the peristaltic foot 13 moves back during the peristaltic movement, it still maintains a large friction force, reducing the possibility of slippage.

[0085] Combination Figure 16 , Figure 17 As shown, the reversing assembly 14 includes a load bearing 141, a rotating seat 142, and a reversing motor 143. The load bearing 141 can withstand axial forces, and its inner and outer rings can rotate relative to each other. A peristaltic power assembly 12 is mounted on the inner ring of the load bearing 141, and can drive the reversing assembly 14 and the peristaltic foot 13 to swing synchronously. The rotating seat 142 is mounted on the outer ring of the load bearing 141, and rotates synchronously with the outer ring of the load bearing 141. The reversing motor 143 is mounted on the inner ring of the load bearing 141 and is used to drive the rotating seat 142 to rotate via gears.

[0086] The rotating seat 142 can be a single structure or formed by splicing several structures. The gear installed on the output shaft of the commutator motor 143 meshes with the rotating seat 142. When the output shaft of the commutator motor 143 rotates, it can drive the rotating seat 142 to rotate, thereby changing the orientation of the peristaltic foot 13. This is used for the entire pipeline dredging and blockage removal biomimetic snake robot to move forward or backward.

[0087] In one embodiment, the peristaltic power device 1 further includes a follower device 15, which includes a base plate connecting rod 151 and a base plate buffer 152. The two ends of the base plate connecting rod 151 and the two ends of the base plate buffer 152 are respectively hinged to the reversing assembly 14 and the peristaltic foot 13. The base plate connecting rod 151 is a rigid component, and the base plate buffer 152 is capable of elastic extension and retraction. Figure 16 , Figure 17The distance between the base plate connecting rod 151 and the base plate buffer 152 is wider at the top and narrower at the bottom. The base plate connecting rod 151 is non-deformable, while the base plate buffer 152 can elastically extend and retract. When the wriggling foot 13 swings and contacts the ground, the elastic extension and retraction of the base plate buffer 152 provides a cushioning effect, simulating the human ankle. When the bottom of the wriggling foot 13 touches the ground, its reaction force acts on the base plate buffer 152, providing a counterforce. This improves both the stability and speed of the movement. Under the unified control of the control system, multiple wriggling power devices 1 move sequentially in a sinusoidal wave pattern, exhibiting stability, high efficiency, continuity, and controllability.

[0088] Knot Figure 15 ,combine Figure 16 , Figure 21 As shown, the peristaltic foot 13 includes a wrist body 131, a telescopic actuator 132, and a wrist base plate 133. The wrist body 131 is the main structure of the peristaltic foot 13. The telescopic actuator 132 is mounted on the wrist body 131, and the wrist base plate 133 is slidably mounted on the wrist body 131 and can move up and down relative to the wrist body 131. By extending and retracting the wrist base plate 133 relative to the wrist body 131, it can be adapted to pipes of different diameters and the step length of the peristaltic process of the peristaltic foot 13 can be adjusted.

[0089] like Figure 21 The wrist base plate 133 is provided with meshing teeth 1331, and the telescopic actuator 132 meshes with the meshing teeth 1331 through gears, so that the wrist base plate 133 slides and extends relative to the wrist body 131. The above driving method is a specific form, and extension and retraction can also be achieved by means of electric telescopic cylinders, etc.

[0090] Combination Figure 14 , Figure 15 , Figure 19 , Figure 22 As shown, the peristaltic power device 1 also includes a side support device 16, which is installed on the peristaltic base shell 11 and can move radially relative to the peristaltic base shell 11 to achieve extension and retraction. The side support device 16 includes a sliding extension device 161 and a support frame 162. The extension device 161 is installed on the peristaltic base shell 11 and is used to drive the support frame 162 to move radially. When the extension device 161 drives the support frame 162 to move outward, the support frame 162 can press against the inner wall of the pipe to achieve support, thereby improving the stability of the entire pipe dredging and blockage-removing biomimetic snake robot during the dredging process.

[0091] like Figure 14 , Figure 15As shown, a peristaltic power device 1 can be equipped with two side support devices 16. The two side support devices 16 are axially symmetrically distributed and extend obliquely upwards to press against the inner wall of the pipe. The two side support devices 16 and a peristaltic foot 13 form three support positions, which can ensure the stability of the entire pipe cleaning bionic snake robot when the working device 3 is working, and realize the support function for pipes of different radii.

[0092] In one specific embodiment, such as Figure 22 , Figure 23 As shown, the support frame 162 includes a support base 1621, telescopic support rods 1622, and hinge blocks 1623. The support base 1621 provides support for the telescopic support rods 1622. At least two telescopic support rods 1622 are provided, and the two telescopic support rods 1622 are distributed at an included angle. Several hinge blocks 1623 are hinged to each other to form an array. The outer surface of each hinge block 1623 is curved, and they are connected in an array by hinges, which can match and fit the inner wall of pipes with different diameters.

[0093] The hinge block 1623 is connected to the support base 1621 via a telescopic support rod 1622. The telescopic support rod 1622 can elastically extend and retract, providing a certain buffering effect. The support base 1621 is installed on the sliding extension device 161 and can move radially relative to the sliding extension device 161.

[0094] Specifically, in combination Figure 22 , Figure 23 The sliding extension device 161 includes an extension driver 1611, a rack 1612, and an extension buffer 1613. The extension driver 1611 is installed on the peristaltic base shell 11, and the rack 1612 is slidably inserted into the peristaltic base shell 11. The extension driver 1611 is driven by gear meshing with the rack 1612, thereby realizing the radial extension and retraction of the entire side support device 16 along the peristaltic base shell 11.

[0095] The extended buffer 1613 is fitted over the rack 1612 and is used to cushion the support frame 162. Figure 22 As shown, the upper end of the extended buffer 1613 contacts the support base 1621, and the lower end is limited by the rack 1612. The upper end of the rack 1612 is a smooth rod that passes through the support base 1621. When the support base 1621 moves along the smooth rod, it can be buffered by the extended buffer 1613. The extended buffer 1613 and the telescopic support rod 1622 work together to form a better buffering effect.

[0096] Combination Figure 24 , Figure 25As shown, limiting rotating disks 25 are respectively provided between the first connecting block 21 and the intermediate transition block 22, and between the intermediate transition block 22 and the second connecting block 23. The limiting rotating disks 25 are used to limit the maximum angle between the first connecting block 21 and the intermediate transition block 22, and the maximum angle between the intermediate transition block 22 and the second connecting block 23.

[0097] Combination Figure 8 , Figure 9 , Figure 10 As shown, the working device 3 also includes an opening and closing drive component 34, which includes an opening and closing support 341, an opening and closing slide 342, an opening and closing pull rod 343, and a telescopic shaft 344. The opening and closing support 341 can be driven to rotate by the working power component 32, thereby driving the working drill bit 33 to rotate and clear silt.

[0098] like Figure 10 As shown, the telescopic shaft 344 is installed on the opening and closing support 341. One end of the telescopic shaft 344 is connected to the opening and closing support 341, and the other end is connected to the opening and closing slide 342. When the telescopic shaft 344 extends or retracts, it drives the opening and closing slide 342 to move, causing the opening and closing slide 342 to slide relative to the opening and closing support 341. The number of opening and closing pull rods 343 is equal to the number of working drill bits 33. One end of the opening and closing pull rod 343 is hinged to the opening and closing slide 342, and the other end is hinged to the working drill bit 33.

[0099] The working drill bit 33 includes at least two parts, each hinged to the opening and closing support 341, and the other end of the opening and closing lever 343 is hinged to the working drill bit 33. When the opening and closing slide 342 moves, the force is transmitted through the opening and closing lever 343, which drives the working drill bit 33 to close and open. When the working drill bit 33 is closed, it can be spliced ​​to form a conical drill bit, and when the working drill bit 33 is open, it can expand and clear blockages.

[0100] The working drill bit 33 is equipped with an axial pressure sensor and a radial pressure sensor to sense axial pressure and radial pressure respectively, which helps to determine the blockage situation.

[0101] like Figure 10 As shown, the three working drill claws 33 are displayed in their open state. The three working drill claws 33, when closed together, form a cone-shaped structure, smaller at the front and larger at the back, facilitating rotation for unblocking. If rotation alone is insufficient for unblocking, the working drill claws 33 can be repeatedly opened and closed to stretch and compress the blocked area, providing various unblocking operations.

[0102] Combination Figure 10As shown, each working drill bit 33 can be equipped with a hook-like structure at its front, providing a better gripping and hooking effect for obstructions that need to be pulled back and removed. The inner front side of the working drill bit 33 protrudes to form a hook-like step, ensuring a clamping effect when closed. The outer surface of the working drill bit 33 can be textured to enhance drilling capability.

[0103] Combination Figure 12 The working power assembly 32 includes a working motor 321 and a working gear 322 disposed in the working base housing 31. The working gear 322 is mounted on the output shaft of the working motor 321. The outer circumference of the opening and closing support 341 is provided with external teeth. The working gear 322 is used to mesh and drive the opening and closing support 341 to rotate. The center of the opening and closing support 341 is mounted on the working base housing 31 through a bearing and can rotate around the axis. The working gear 322 is smaller than the outer gear ring on the outer circumference of the opening and closing support 341. When the working gear 322 rotates, the opening and closing support 341 rotates accordingly, thereby realizing the rotation of the working drill bit 33.

[0104] Combination Figure 13 As shown, the biomimetic snake-like robot for pipe dredging of the present invention also includes a vector connection device 4 disposed between the working device 3 and the peristaltic power device 1. The vector connection device 4 includes a vector connector 41, a vector neck 42, and a vector driver 43. The vector connector 41 is used for fixed connection, and the vector neck 42 can also be used for direct connection. The vector neck 42 is provided with at least two segments, and the vector connector 41 and the vector neck 42 are rotatably connected relative to each other, and two adjacent vector necks 42 are rotatably connected. External teeth are provided on the vector neck 42, and each vector driver 43 corresponds to one vector neck 42. The vector driver 43 installed on the vector connector 41 or the vector neck 42 meshes with the external teeth provided on another vector neck 42. The meshing and transmission between the vector driver 43 and the external teeth on the vector neck 42 causes the vector neck 42 to rotate.

[0105] The pivots between the two vector necks 42 and between the vector connector 41 and the vector necks 42 are at an angle, which is used to adjust the orientation of the working device 3. Since the pivots are not on the same straight line, the orientation of the working device 3 can be changed and the working angle of the working device 3 can be adjusted when the vector necks 42 are rotated to different angles, so as to adapt to complex working environments.

[0106] The biomimetic snake-like robot for clearing blockages provided by this invention also includes a tail device 5 installed on the meandering power unit 2, with the tail device 5 and the working device 3 located at opposite ends; combined with Figure 2 , Figure 3As shown, the working device 3 has one head end and the tail device 5 has one tail end. The working device 3 is installed on the peristaltic power device 1 via the vector connection device 4, and the tail device 5 is installed on the meandering power device 2. The cross-section of the tail device 5 gradually tapers towards the end, adopting a shrinking shape structure. When the entire pipeline dredging bionic snake robot reverses and retracts, it avoids obstruction at the tail device 5, making the overall retraction process of the pipeline dredging bionic snake robot smoother.

[0107] Both the working device 3 and the tail device 5 are equipped with identification devices 6, each including a distance sensor 61 and / or a camera probe 62. The camera probe 62 uses a lightweight infrared camera, suitable for confined and dark pipe spaces. While in motion, the camera probe 62 identifies the interior of the pipe, determining whether it is blocked and whether the blockage has been cleared. The distance sensor 61 is fixed between the camera probes 62, detecting the relative distance between the working device 3 and the location of the blockage.

[0108] Because the working device 3 needs to complete the unblocking and cleaning action, a distance sensor 61 and a camera probe 62 can be installed on the working device 3 simultaneously to better detect and perceive the blocked area. The distance sensor 61 and the camera probe 62 identify and transmit distance and radius information to the control system, thereby controlling the change of movement posture. The tail device 5 is mainly used when reversing. Since the direction of travel has been cleared, only the camera probe 62 needs to be installed. The purpose of the tail device 5 is to provide visual information for the peristaltic power device 1 to turn in place and return to the entrance along the original route after the operation is completed, thereby performing dynamic control.

[0109] Combination Figure 1 As shown, the external cover of the meandering power unit 2 is fitted with a threaded pipe 7. The threaded pipe 7 is located between the working device 3 and the peristaltic power unit 1, between the two peristaltic power units 1, and between the peristaltic power unit 1 and the tail device 5. The threaded pipe 7 serves as a sealed shield, protecting the internal devices from interference from harsh environments. It achieves waterproof protection and also ensures that the device can withstand expansion, bending, and torsional deformation.

[0110] Combination Figure 27 This diagram illustrates the overall workflow of the biomimetic snake robot for clearing blockages in a pipeline. After startup, the robot's working device 3 is in front. Multiple sensors, including the recognition device 6 in the device's "eyes," identify the pipeline environment. Once the environment is determined, the robot adjusts its posture to enter the pipeline.

[0111] After adjustment, the bionic snake activates its peristaltic power unit 1, moving forward along the pipe, thus propelling the bionic pipe clearing snake robot towards the target work area. During movement, it monitors in real time whether the curvature of the pipe ahead exceeds a predetermined value (i.e., whether the pipe is bent). If not, it continues to move along the pipe; if so, it activates its meandering power unit to adjust its posture to adapt to pipes with varying degrees of curvature.

[0112] After adjusting its posture, the sensor monitors in real time during movement to determine whether the distance between the working device 3 and the working area exceeds a predetermined value. If not, it continues to move along the pipeline; if so, it adjusts its posture to the working posture. After adjusting to the working posture, the working device 3 on the head is activated, and the head recognition device 6 monitors in real time whether the blocked area is cleared, i.e., whether the work is completed. If not, it continues to move along the pipeline under the action of the peristaltic power device 1; if so, the peristaltic power device 1 rotates in place and reverses, thereby returning along the original path of the pipeline and ending the process.

[0113] See Figure 28 The flowchart illustrates the operation of the working device 3. After the identification device 6 scans and determines the information of the blocked working area, it monitors the distance between the working device 3 and the working area in real time. It determines whether the difference in distance meets a predetermined value. If not, the peristaltic power device 1 starts and continues to advance along the pipe. If yes, it monitors and determines whether the axial pressure sensor meets a preset value. If yes, the bionic snake continues to advance along the pipe. If not, the working drill bit 33 starts to rotate. It then determines whether the radial pressure sensor meets a preset value. If not, the working drill bit 33 expands to clear a larger area of ​​silt. If yes, the identification device 6 determines whether there is still silt accumulation. If not, it continues to advance or reverses the peristaltic power system to return along the original path, ending the process. If yes, it repeats the process from start to end as shown in the flowchart.

[0114] The robot also includes a control system, which mainly consists of multiple intelligent control modules and a power supply. The intelligent control modules collect and integrate information from the intelligent recognition modules and issue commands to control the operation of the peristaltic power unit 1, the meandering power unit 2, and the working device 3. The control system can be integrated into one peristaltic power unit 1 or distributed across multiple peristaltic power units 1.

[0115] This invention features a biomimetic mechanical structure that allows it to operate under various environmental conditions. It is suitable for complex pipelines, has a small turning radius, and offers greater versatility.

[0116] The peristaltic power device 1 and the meandering power device 2 designed in this invention respectively adopt the human wrist structure to move in the form of a sine wave and adopt the biological power mode of a snake. The various parts are connected in segments. The combination of these two power systems realizes various movement modes, which is beneficial for traversing complex terrain.

[0117] The peristaltic power device 1 designed in this invention adopts a novel connection method, dividing the entire power structure into two parts, and the bottom plate can be turned in place through the reversing component 14.

[0118] This invention can be modularized and multi-machine linked as needed. By increasing the number of intermediate peristaltic power devices 1 and meandering power devices 2, and by adding various functional modules, it can be equipped with various dredging and blockage removal tools, such as water spray devices, scrapers, and vacuum cleaners. It can be configured and modified according to the needs of specific tasks to achieve multiple functions, expand its application field, and solve more complex problems.

[0119] The peristaltic foot 13 and the side support device 16 designed in this invention adopt the biological structure of the scales on the bottom of a snake, which realizes that the positive friction force is less than the negative friction force. This not only has stability, but also increases the activity space. The combination of the two makes the operation of the power system more stable.

[0120] The working device 3 designed in this invention integrates the three functions of drilling, digging, and grabbing, achieving lightweight structure, high efficiency, reduced production costs, and avoidance of more complex dynamic structures.

[0121] The combination of the working device 3 and the identification device 6 in this invention refines the working position and enables timely detection of the working effect.

[0122] The present invention provides a vector connection device 4 for the identification device 6, which can adjust the working position of the working device 3 under the control of the control system, making the working position more flexible and precise.

[0123] The control system configured in this invention enables robots to work unmanned, automatically identify distance and radius to adjust their movement posture, and automatically identify blockages to perform operations.

[0124] This invention can be equipped with various sensors, such as cameras, lidar, and ultrasonic sensors, to monitor the internal conditions of pipelines in real time. The robot can detect and identify blockages, pipeline damage, abnormal objects or liquids, and provide early warnings or timely feedback to operators.

[0125] The present invention is equipped with a threaded tube 7, which can store and protect the internal structure of the robot from the influence of harsh environment, and at the same time has a certain degree of deformability to adapt to the deformation caused by the body when turning.

[0126] The invention has a compact overall structure and is relatively lightweight, making it suitable for travel and operation in a variety of complex working environments.

[0127] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A biomimetic snake-like robot for clearing blockages in pipelines, characterized in that, include: The peristaltic power device (1) includes a peristaltic base shell (11), a peristaltic power assembly (12), and a peristaltic foot (13). The peristaltic power assembly (12) is installed on the peristaltic base shell (11) and is used to drive the peristaltic foot (13) to swing back and forth to achieve peristaltic walking. The meandering power device (2) includes a first connecting block (21), an intermediate transition block (22), a second connecting block (23), and a meandering actuator (24). The first connecting block (21) is rotatably connected to the intermediate transition block (22) and driven to rotate by one of the meandering actuators (24). The intermediate transition block (22) is rotatably connected to the second connecting block (23) and driven to rotate by one of the meandering actuators (24), so that the first connecting block (21) and the second connecting block (23) generate rotation in at least two vertical dimensions. Two adjacent peristaltic power devices (1) are respectively installed on the first connecting block (21) and the second connecting block (23). The working device (3) is installed on the peristaltic power device (1) or the meandering power device (2); it includes a working base shell (31), a working power component (32), and a working drill bit (33). The working power component (32) is installed on the working base shell (31) and is used to drive the working drill bit (33) to rotate, so as to realize rotary dredging. The peristaltic power assembly (12) includes a peristaltic power motor (121), a first connecting rod (122), a second connecting rod (123), and a third connecting rod (124). The first connecting rod (122), the second connecting rod (123), and the third connecting rod (124) are connected end to end in sequence. The peristaltic power motor (121) is used to drive the first connecting rod (122) to rotate. The first connecting rod (122) rotates around one end, and the other end drives the third connecting rod (124) to swing through the second connecting rod (123). The third link (124) drives the peristaltic foot (13) to swing; The peristaltic foot (13) has a forward friction force that is less than the reverse friction force at the position where it contacts the pipe wall; the peristaltic power device (1) includes a reversing component (14) disposed between the peristaltic power assembly (12) and the peristaltic foot (13), the reversing component (14) being used to reverse the direction of the peristaltic foot (13); The reversing assembly (14) includes a load bearing (141), a rotating seat (142), and a reversing motor (143). The peristaltic power assembly (12) is installed on the inner ring of the load bearing (141), and the rotating seat (142) is installed on the outer ring of the load bearing (141). The reversing motor (143) is installed on the inner ring of the load bearing (141) and is used to drive the rotating seat (142) to rotate via gears.

2. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, It also includes a follower device (15), which includes a base plate connecting rod (151) and a base plate buffer (152). The two ends of the base plate connecting rod (151) and the two ends of the base plate buffer (152) are respectively hinged to the reversing assembly (14) and the creeping foot (13). The base plate connecting rod (151) is a rigid component, and the base plate buffer (152) is elastically extendable and retractable.

3. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, The wiggling foot (13) includes a wrist body (131), a telescopic actuator (132), and a wrist base plate (133), wherein the telescopic actuator (132) is mounted on the wrist body (131). The wrist base plate (133) is provided with meshing teeth (1331), and the telescopic actuator (132) meshes with the meshing teeth (1331) through gears, so that the wrist base plate (133) slides and extends relative to the wrist body (131).

4. The biomimetic snake-like robot for pipeline dredging and unblocking according to claim 1, characterized in that, The peristaltic power device (1) further includes a side support device (16), which includes a sliding extension device (161) and a support frame (162). The extension device (161) is installed on the peristaltic base shell (11) and is used to drive the support frame (162) to move radially. The support frame (162) can support the inner wall of the pipe.

5. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 4, characterized in that, The support frame (162) includes a support base (1621), a telescopic support rod (1622), and a hinge block (1623). A plurality of the hinge blocks (1623) are hinged to each other to form an array. The hinge blocks (1623) are connected to the support base (1621) through the telescopic support rod (1622). The bracket (1621) is mounted on the sliding extension device (161).

6. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 5, characterized in that, The sliding extension device (161) includes an extension driver (1611), a rack (1612), and an extension buffer (1613). The extension driver (1611) is installed on the peristaltic base shell (11), and the rack (1612) is slidably inserted into the peristaltic base shell (11). The extension driver (1611) is driven by gear meshing with the rack (1612). The extended buffer (1613) is fitted onto the rack (1612) to provide cushioning for the support frame (162).

7. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, Limiting rotating disks (25) are respectively provided between the first connecting block (21) and the intermediate transition block (22), and between the intermediate transition block (22) and the second connecting block (23).

8. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, The working device (3) further includes an opening and closing drive component (34), which includes an opening and closing support (341), an opening and closing slide (342), an opening and closing pull rod (343), and a telescopic shaft (344); the opening and closing support (341) can be driven to rotate by the working power component (32); The telescopic shaft (344) is installed on the opening and closing support (341) and is used to drive the opening and closing slide (342) to move. One end of the opening and closing pull rod (343) is hinged to the opening and closing slide (342). The working drill bit (33) includes at least two, each of which is hinged to the opening and closing support (341), and the other end of the opening and closing lever (343) is hinged to the working drill bit (33); when the opening and closing slide (342) moves, the working drill bit (33) is driven to close and open through the opening and closing lever (343); When the working drill claw (33) is closed, it can be spliced ​​to form a conical drill bit; when the working drill claw (33) is open, it can expand and clear blockages. The working drill bit (33) is equipped with an axial pressure sensor and a radial pressure sensor respectively.

9. The biomimetic snake-like robot for clearing blockages in pipelines according to claim 8, characterized in that, The working power assembly (32) includes a working motor (321) and a working gear (322) disposed in the working base (31), the working gear (322) being used to mesh and drive the opening and closing support (341) to rotate.

10. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, It also includes a vector connection device (4) disposed between the working device (3) and the peristaltic power device (1). The vector connection device (4) includes a vector connector (41), a vector neck (42) and a vector driver (43). The vector neck (42) is provided with at least two sections. The vector connector (41) and the vector neck (42) are rotatably connected relative to each other. External teeth are provided on the vector neck (42). Each vector driver (43) corresponds to one vector neck (42) and meshes with the external teeth on the vector neck (42) to drive the vector neck (42) to rotate. The pivot between the two vector necks (42) and the pivot between the vector connector (41) and the vector neck (42) have an angle, which is used to adjust the orientation of the working device (3).

11. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 1, characterized in that, It also includes a tail device (5) installed on the meandering power device (2), the tail device (5) and the working device (3) being located at opposite ends; The cross-section of the tail device (5) tapers towards the end.

12. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 11, characterized in that, The working device (3) and the tail device (5) are respectively equipped with identification devices (6), and the identification devices (6) include a distance sensor (61) and / or a camera probe (62).

13. The biomimetic snake-like robot for pipe dredging and unblocking according to claim 11, characterized in that, The outer cover of the meandering power device (2) is fitted with a threaded pipe (7), which is located between the working device (3) and the peristaltic power device (1), between the two peristaltic power devices (1), and between the peristaltic power device (1) and the tail device (5).

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