An adaptive soft robot for a pipe and a driving method thereof

Abstract

The application discloses an adaptive soft robot for a pipeline and a driving method thereof. The adaptive soft robot for the pipeline comprises a robot body, the robot body comprises a cooperative unit, the cooperative unit comprises a gas conveying pipe and an anchoring structure and an extension structure which are in communication with each other, the gas conveying pipe is used for simultaneously inflating or deflating the anchoring structure and the extension structure, the anchoring structure can be circumferentially expanded when being inflated, and the anchoring structure stops expanding and is anchored in the pipeline when being inflated to a first air pressure, and the extension structure can be axially elongated when being inflated to more than a second air pressure, wherein the second air pressure is greater than the first air pressure, so that after the anchoring structure is inflated and anchored and stops expanding when the cooperative unit is inflated, the extension structure is elongated to drive the center of gravity of the cooperative unit to move along the elongation direction of the extension structure. By arranging a first cooperative unit and a second cooperative unit and respectively controlling the two same units to be inflated or deflated, the movement of the robot body is realized, and the reliability of the robot body is improved.

Description

Technical Field

[0001] This application relates to the field of soft robot technology, and in particular to an adaptive soft robot for pipelines and its driving method. Background Technology

[0002] Soft robots have advantages such as simple structure, strong adaptability, light weight, large degree of freedom, and high load-to-weight ratio. Compared with traditional rigid robots with limited degrees of freedom, soft robots have greater application advantages in the field of pipeline inspection. They can be used for inspection in complex pipeline environments, such as geological drilling, industrial equipment maintenance, urban infrastructure pipeline maintenance, medical examination (such as proctoscopy), and clinical surgery (such as transoral endoscopic surgery).

[0003] In related technologies, soft robots used in pipeline inspection often employ worm-like robots whose motion mechanisms are inspired by inchworms. These robots typically consist of three modules from head to tail: a front anchoring module, an extension module, and a rear anchoring module. In one motion cycle, the robot first anchors to the rear anchoring module, securing its tail in the pipeline using friction clamps or suction cups. It then deploys the extension module, propelling its center of gravity forward. Next, it anchors to the front anchoring module, releases the rear anchoring module, and secures its head in the pipeline. Finally, it shortens the extension module, propelling its center of gravity forward again, and releases the front anchoring module, completing the motion cycle. By executing the steps of this motion cycle in either forward or reverse order, the robot can move forward and backward within the pipeline.

[0004] However, soft robots in related technologies have the following problems: First, the front anchoring module, extension module, and rear anchoring module need to be driven separately, resulting in a large number of air pipes and cables that need to be extended, reducing the reliability of the soft robot in complex pipeline environments. Second, the inner walls of complex pipeline environments usually have rough surfaces, and the pipelines may be filled with liquid or unable to withstand the negative pressure of the suction cups, making suction cup anchoring unsuitable. If friction clamping is used for anchoring, the airbags used to provide clamping force are easily damaged by sharp objects on the inner wall, and overpressure rupture of the airbags may also damage the inner wall of the pipeline. Third, the inner diameter of pipelines in complex pipeline environments is usually variable, requiring the use of sensors and algorithms to detect whether the anchoring module has successfully anchored. Only when anchoring is successful can the extension module be deployed; otherwise, the robot cannot move normally. Introducing sensors and algorithms will increase the cost of soft robots, and traditional sensors are often difficult to adapt to soft robots. Summary of the Invention

[0005] To solve at least one of the above-mentioned technical problems, this application provides an adaptive soft robot for pipelines and its driving method, which can realize anchoring and telescopic actions by supplying air to the cooperative unit, thereby improving the reliability of the robot body. The technical solution adopted is as follows.

[0006] Firstly, the adaptive soft robot for pipelines provided in this application includes a robot body, the robot body including a collaborative unit; the collaborative unit includes an air supply pipe and an interconnected anchoring structure and a telescopic structure, the air supply pipe being used to simultaneously inflate or de-inflate the anchoring structure and the telescopic structure, the anchoring structure being able to expand circumferentially during inflation, and stopping expansion and anchoring in the pipeline when inflated to a first air pressure, the telescopic structure being able to extend axially when inflated to a pressure exceeding a second air pressure, wherein the second air pressure is greater than the first air pressure, so that after the anchoring structure is inflated and anchored and stops expanding during inflation, the telescopic structure... The structure extends to move the center of gravity of the collaborative unit along the extension direction of the telescopic structure; the collaborative unit includes a first collaborative unit and a second collaborative unit. Along the axial direction of the telescopic structure, the telescopic structures of the first collaborative unit and the second collaborative unit are arranged adjacent to each other, and the axial directions of the two telescopic structures are consistent. One of the first collaborative unit and the second collaborative unit is used for inflation and anchoring. After the telescopic structure of one of them is inflated and extended, the other is used for inflation and anchoring. Then, one of them is used for deflating to release the anchoring, and the telescopic structure of one of them contracts to allow the robot body to move in the pipe.

[0007] In some embodiments of the first aspect of this application, the anchoring structure includes an elastic inflatable member and a flexible restraint member, the air supply pipe is connected to the elastic inflatable member to inflate or deflate the elastic inflatable member, and the flexible restraint member is sleeved on the outer periphery of the elastic inflatable member to restrain the elastic inflatable member when the elastic inflatable member inflates to the maximum volume of the flexible restraint member.

[0008] In some embodiments of the first aspect of this application, the elastic inflatable member includes a latex film tube, and the flexible restraint member includes a fabric structure.

[0009] In some embodiments of the first aspect of this application, the outer surface of the flexible constraint member is further provided with an anti-slip coating, the anti-slip coating being dotted on the outer surface of the flexible constraint member.

[0010] In some embodiments of the first aspect of this application, an auxiliary gas supply pipe is provided through the telescopic structure. The auxiliary gas supply pipe is not connected to the inner cavity of the telescopic structure. One end of the auxiliary gas supply pipe is used to connect to the telescopic structure of another cooperative unit. The length of the auxiliary gas supply pipe in the telescopic structure is greater than or equal to the maximum length of the telescopic structure when it is extended.

[0011] In some embodiments of the first aspect of this application, the telescopic structure includes a bellows, a first fixing plug, and a second fixing plug. The bellows can extend axially when inflated and contract axially when deflated. The first fixing plug is closed at the end of the bellows facing the anchoring structure, and the second fixing plug is closed at the end of the bellows away from the anchoring structure.

[0012] Both the first fixing plug and the second fixing plug are provided with a first mounting hole, and the two ends of the gas delivery auxiliary pipe are respectively inserted through the two first mounting holes.

[0013] In some embodiments of the first aspect of this application, both the first fixing plug and the second fixing plug are further provided with a second mounting hole, the second mounting hole being connected to the bellows, and the second mounting hole being not connected to the first mounting hole.

[0014] The second mounting hole of the first fixing plug is connected to the anchoring structure, and the second mounting hole of the second fixing plug is connected to the second mounting hole of the second fixing plug of another cooperating unit;

[0015] The second mounting hole of the second fixed plug of the second cooperative unit is used to supply air to the second cooperative unit. The first cooperative unit supplies air through the end of the anchoring structure away from the telescopic structure. The first mounting hole of the first fixed plug of the second cooperative unit is also provided with a plug for sealing the air supply auxiliary pipe located in the telescopic structure of the second cooperative unit.

[0016] In some embodiments of the first aspect of this application, the bellows can be extended axially when inflated, and the bellows can maintain the extended length.

[0017] In some embodiments of the first aspect of this application, the robot body further includes a flexible sleeve and a unit connecting tube, the unit connecting tube being used to connect the second mounting hole of the second fixing plug of the first collaborative unit to the second mounting hole of the second fixing plug of the second collaborative unit.

[0018] The two ends of the flexible sleeve are respectively sleeved around the outer periphery of the second fixing plug of the first coordinating unit and the outer periphery of the second fixing plug of the second coordinating unit, so as to enclose the unit connecting tube inside the flexible sleeve.

[0019] In some embodiments of the first aspect of this application, the second coordinating unit further includes a gas bypass pipe, one end of which is connected to the first mounting hole of the first fixed plug of the first coordinating unit for supplying gas to the second coordinating unit.

[0020] The gas bypass pipe is fixed to the outer periphery of the anchoring structure of the first coordinating unit.

[0021] In some embodiments of the first aspect of this application, the second coordinating unit further includes a fixing member, the fixing member being fixed to the outer periphery of the anchoring structure of the first coordinating unit, the gas bypass pipe being snapped into the fixing member, or the gas bypass pipe being inserted through the fixing member.

[0022] In some embodiments of the first aspect of this application, the adaptive soft robot for the pipeline further includes a payload assembly disposed at one end of the anchoring structure of the second cooperative unit away from the telescopic structure, the payload assembly being used to mount sensors or task payloads.

[0023] In some embodiments of the first aspect of this application, the adaptive soft robot for pipelines further includes an air source and an air valve, the air source being connected to the air valve, the air valve being connected to the first collaborative unit and the second collaborative unit respectively, and the air source being selected by the air valve to supply air to the first collaborative unit or the second collaborative unit.

[0024] In some embodiments of the first aspect of this application, the adaptive soft robot for pipelines further includes a controller electrically connected to the gas source to control the gas source to supply gas to the first coordinating unit and the second coordinating unit.

[0025] Secondly, this application also provides a driving method for an adaptive soft robot for a pipeline, the driving method being implemented using the adaptive soft robot for a pipeline as described in the first aspect above, to drive the robot body forward or backward, wherein the forward movement of the robot body includes at least one motion cycle, and the backward movement of the robot body includes at least one motion cycle, the motion cycle driving the robot body forward includes:

[0026] The first coordinating unit is inflated so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first pressure.

[0027] Continue to inflate the first collaborative unit so that its telescopic structure extends when inflated to a pressure exceeding the second pressure, thereby shifting the center of gravity of the robot body toward the second collaborative unit.

[0028] Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit;

[0029] The second coordinating unit is inflated so that its anchoring structure expands and anchors in the pipe when inflated to the first pressure.

[0030] Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit;

[0031] Air is evacuated from the first coordinating unit to release the anchoring structure of the first coordinating unit from the pipe;

[0032] Continue to evacuate the first collaborative unit to cause its telescopic structure to contract, thereby moving the center of gravity of the robot body toward the second collaborative unit.

[0033] Air is evacuated from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe;

[0034] or

[0035] The motion cycle that drives the robot body to move backward includes:

[0036] The second coordinating unit is inflated so that its anchoring structure expands and anchors in the pipe when inflated to the first pressure.

[0037] Continue to inflate the second collaborative unit so that its telescopic structure extends when inflated to a pressure exceeding the second air pressure, thereby shifting the center of gravity of the robot body toward the first collaborative unit.

[0038] Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit;

[0039] The first coordinating unit is inflated so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first pressure.

[0040] Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit;

[0041] Air is evacuated from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe;

[0042] Continue to evacuate the second collaborative unit to cause its telescopic structure to contract, thereby shifting the robot's center of gravity toward the first collaborative unit.

[0043] Air is evacuated from the first coordinating unit to release its anchoring structure from the pipe.

[0044] In some embodiments of the second aspect of this application, before the step of driving the robot body forward, namely stopping the inflation of the first coordinating unit and maintaining the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit, the driving method further includes...

[0045] The first coordinating unit is inflated until the maximum pressure resistance of the anchoring structure of the first coordinating unit is greater than the second air pressure.

[0046] or

[0047] In the step of driving the robot body to move backward, before stopping the inflation of the second collaborative unit and maintaining the air pressure in the second collaborative unit to maintain the current state of the second collaborative unit, the driving method further includes...

[0048] The second coordinating unit is inflated until it does not exceed the maximum pressure resistance of the anchoring structure of the second coordinating unit, and the maximum pressure resistance of the anchoring structure is greater than the second air pressure.

[0049] In some embodiments of the second aspect of this application, during the motion cycle of driving the robot body forward, the steps of evacuating the first coordinating unit to release its anchoring structure from the pipe, and continuing to evacuate the first coordinating unit to retract its telescopic structure, thereby moving the robot body's center of gravity toward the second coordinating unit, include:

[0050] The first coordinating unit is evacuated and a timer is started. The evacuation is stopped at t0 so that the anchoring structure of the first coordinating unit is first released from the pipe, and then the telescopic structure of the first coordinating unit contracts.

[0051] or

[0052] During the backward movement cycle of the robot body, the steps of evacuating the second coordinating unit to release its anchoring structure from the pipe, and continuing to evacuate the second coordinating unit to retract its telescopic structure, thereby moving the robot body's center of gravity towards the first coordinating unit, include:

[0053] The second coordinating unit is evacuated and a timer is started. The evacuation is stopped at t0 so that the anchoring structure of the second coordinating unit is first released from the pipe, and then the telescopic structure of the second coordinating unit contracts.

[0054] In some embodiments of the second aspect of this application, during the motion cycle of the robot body moving forward, the step of evacuating the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe includes:

[0055] Evacuate the second coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the second coordinating unit is released from the pipe, where t X <t0;

[0056] or

[0057] During the backward movement cycle of the driven robot body, the step of evacuating the first coordinating unit to release its anchoring structure from the pipe includes:

[0058] Evacuate the first coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the first coordinating unit is released from the pipe, where t X <t0.

[0059] The embodiments of this application have at least the following beneficial effects: Utilizing the characteristic that the minimum pressure required for the telescopic structure to extend is greater than the pressure required for the anchoring structure to expand to anchor, when the cooperative unit is inflated, it exhibits the behavior of the anchoring structure first expanding and anchoring, followed by the telescopic structure extending. On one hand, it enables the use of only one air supply pipe to supply air to the cooperative unit to achieve both anchoring and telescopic functions, thus avoiding the need for separate air supply pipes or control cables for the anchoring and telescopic structures. This simplifies the design of the cooperative unit and improves the reliability of the robot body in complex pipeline environments. On the other hand, there is no need to set up additional sensors to determine whether the anchoring structure has successfully anchored in the pipeline. The soft robot has an adaptive effect, adapting to pipeline environments of different diameters through the expansion of the anchoring structure. This simplifies the design of the cooperative unit, improves the adaptability of the soft robot, reduces the cost of the soft robot, simplifies the control steps of the soft robot, and improves the efficiency and convenience of the soft robot's drive operation. Attached Figure Description

[0060] The aspects and advantages described and / or added to the embodiments of this application will become apparent and readily understood in conjunction with the following drawings. It should be noted that the embodiments illustrated in the following drawings are exemplary and are used only to explain this application, and should not be construed as limiting this application.

[0061] Figure 1 A schematic diagram of the structure of an adaptive soft robot for pipelines provided in an embodiment of this application;

[0062] Figure 2 A schematic diagram of the second cooperative unit structure of an adaptive soft robot for pipelines provided in an embodiment of this application;

[0063] Figure 3 A schematic diagram of the first cooperative unit structure of an adaptive soft robot for pipelines provided in an embodiment of this application;

[0064] Figure 4 A schematic diagram of the structure when the first cooperative unit and the second cooperative unit of the adaptive soft robot for pipeline provided in the embodiments of this application are connected;

[0065] Figure 5 A schematic diagram of another example of an adaptive soft robot for pipelines provided in the embodiments of this application;

[0066] Figure 6A schematic diagram illustrating another example of the structure of the adaptive soft robot for pipelines provided in this application when the first cooperative unit and the second cooperative unit are connected.

[0067] Figure 7 A schematic diagram of the air source and air valve for an adaptive soft robot for pipelines provided in an embodiment of this application;

[0068] Figure 8 A flowchart illustrating the driving of an adaptive soft robot for a pipeline, provided in an embodiment of this application.

[0069] Figure label:

[0070] 1. Adaptive soft robots for pipelines;

[0071] 100. Robot body; 200. Load cell assembly; 300. Air source; 400. Air valve; 500. Controller;

[0072] 102. Flexible sleeve; 103. Unit connecting pipe;

[0073] 10. First coordinating unit; 20. Second coordinating unit; 21. Gas bypass pipe; 22. Fixing component;

[0074] 30. Anchoring structure; 31. Elastic inflatable component; 32. Flexible restraint component; 321. Anti-slip coating; 33. Reducing joint;

[0075] 40. Telescopic structure; 41. Gas supply auxiliary pipe; 42. Corrugated pipe; 43. First fixing plug; 44. Second fixing plug; 431. First mounting hole of the first fixing plug; 432. Second mounting hole of the first fixing plug; 441. First mounting hole of the second fixing plug; 442. Second mounting hole of the second fixing plug;

[0076] 50. Gas pipeline. Detailed Implementation

[0077] The following is combined Figures 1 to 8 The embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0078] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0079] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0080] Please see Figures 1 to 4 In a first aspect, this application provides an adaptive soft robot 1 (hereinafter referred to as soft robot 1) for pipelines, including a robot body 100, the robot body 100 including a collaborative unit. The collaborative unit includes an air supply pipe 50 and an anchoring structure 30 and a telescopic structure 40 that are interconnected. The air supply pipe 50 is used to simultaneously inflate or de-inflate the anchoring structure 30 and the telescopic structure 40. The anchoring structure 30 can expand circumferentially when inflated, and stops expanding and anchoring in the pipeline when inflated to a first air pressure. The telescopic structure 40 can extend axially when inflated to a pressure exceeding a second air pressure, wherein the second air pressure is greater than the first air pressure, so that after the anchoring structure 30 is inflated and anchored and stops expanding when the collaborative unit is inflated, the telescopic structure 40 extends, thereby driving the center of gravity of the collaborative unit to move along the extension direction of the telescopic structure 40. The collaborative unit includes a first collaborative unit 10 and a second collaborative unit 20. Along the axial direction of the telescopic structure 40, the telescopic structure 40 of the first collaborative unit 10 and the telescopic structure 40 of the second collaborative unit 20 are arranged adjacent to each other, and the axial directions of the two telescopic structures 40 are consistent. One of the first collaborative unit 10 and the second collaborative unit 20 is used for inflation and anchoring. After one of the telescopic structures 40 is inflated and extended, the other is used for inflation and anchoring. After that, one of the telescopic structures 40 is used for deflating to release the anchoring. The telescopic structure 40 of one of the telescopic structures 40 is also contracted to allow the robot body 100 to move in the pipe.

[0081] By utilizing the characteristic that the second air pressure is greater than the first air pressure, that is, the minimum pressure required for the telescopic structure 40 to extend is greater than the pressure required for the anchoring structure 30 to expand to anchor, when the cooperative unit is inflated, the cooperative unit can exhibit the behavior of the anchoring structure 30 expanding and anchoring first, and then the telescopic structure 40 extending. Utilizing this property of the cooperative unit, on the one hand, it is possible to achieve both anchoring and telescopic functions by supplying air to the cooperative unit using only one air supply pipe 50. That is, the anchoring structure 30 and the telescopic structure 40 are interconnected and share a single air supply pipe 50, which can avoid setting separate air supply pipes 50 or control cables for the anchoring structure 30 and the telescopic structure 40, thereby simplifying the design of the cooperative unit. This not only helps to reduce the size of the robot body 100, but also improves the reliability of the robot body 100 in complex pipeline environments. On the other hand, during the continuous inflation of the collaborative unit, the collaborative unit will inevitably cause the anchoring structure 30 and the telescopic structure 40 to expand and anchor and extend sequentially. Even in complex pipes with varying inner diameters, there is no need to set up additional sensors to determine whether the anchoring structure 30 has been successfully anchored in the pipe. Therefore, the soft robot 1 has an adaptive effect, adapting to pipe environments of different diameters through the expansion of the anchoring structure 30. This simplifies the design of the collaborative unit, improves the adaptability of the soft robot 1, reduces the cost of the soft robot 1, simplifies the control steps of the soft robot 1, and improves the driving operation efficiency and convenience of the soft robot 1.

[0082] For example, the telescopic structure 40 of the first collaborative unit 10 and the telescopic structure 40 of the second collaborative unit 20 are coaxially or substantially coaxially arranged. The telescopic structure 40 and the anchoring structure 30 in the collaborative unit are also coaxially arranged. In this way, the robot body 100 has a roughly elongated structure, which is convenient for installation in the pipe and movement in the pipe.

[0083] In some embodiments, the anchoring structure 30 includes an elastic inflatable member 31 and a flexible restraint member 32. An air supply pipe 50 is connected to the elastic inflatable member 31 to allow it to inflate or deflate. The flexible restraint member 32 is fitted around the outer periphery of the elastic inflatable member 31 to constrain its expansion when it inflates to the maximum volume of the flexible restraint member 32. Utilizing the elastic properties of the elastic inflatable member 31, anchoring can be achieved through inflation or de-anchoring, thus ensuring that when the robot body 100 crawls in the pipe, one end of the robot body 100 is fixed in the pipe, allowing the telescopic structure 40 to extend or retract, thus moving the center of gravity of the robot body 100 within the pipe and enabling the robot body 100 to move within the pipe. The flexible constraint 32 can prevent the elastic inflatable part 31 from expanding indefinitely and avoid the risk of bursting. On the other hand, when the elastic inflatable part 31 is not inflated, the flexible constraint 32 can reduce the volume of the robot body 100 by utilizing its flexible and foldable characteristics, making it easier to put the robot body 100 into the pipe or to adapt to complex pipe environments with smaller inner diameters.

[0084] In some embodiments, the smaller diameter end of one reducing connector 33 is connected to one end of the air supply pipe 50, and the larger diameter end is connected to one end of the elastic inflator 31. The larger diameter end of the other reducing connector 33 is connected to the other end of the elastic inflator 31. The two ends of the flexible restraint sleeve are respectively fixed to the outer periphery of the two reducing connectors 33. The reducing connector 33 has two interface ends with different diameters. By connecting the larger diameter ends of the two reducing connectors 33 to the two ends of the elastic inflator 31 and the smaller diameter ends to the air supply pipe 50, it can accommodate the difference in diameter between the opening of the elastic inflator 31 and the opening of the air supply pipe 50, ensuring that the air supply pipe 50 has good airtightness during the inflation or deflation of the elastic inflator 31. The two ends of the flexible restraint sleeve are fixed to the outer periphery of the reducing connector 33, so that the anchoring structure 30 can form a two-layer structure to realize the restraining effect of the flexible restraint sleeve 32 on the elastic inflator 31.

[0085] Exemplarily, the elastic inflatable component 31 includes a latex film tube, and the flexible restraint component 32 includes a fabric structure. It is understood that the fabric structure can be made of a fabric with low extensibility, thus providing restraint for the elastic inflatable component 31. Optionally, the fabric can be secured to the outer periphery of the reducing joint 33 using cable ties. Of course, in other embodiments, adhesive bonding can also be used to secure the fabric structure to the reducing joint 33. The elastic inflatable component 31 can be sealed to the reducing joint 33 using adhesive. For example, when the elastic inflatable component 31 is made of a latex film tube and the reducing joint 33 is made of PE (polyethylene), a special PE-latex adhesive can be used to bond the inner wall of the latex film tube to the outer periphery of the large-diameter end of the reducing joint 33.

[0086] Optionally, in order to make the flexible constraint 32 easier to unfold when the anchoring structure 30 expands and to have a good shape after the anchoring structure 30 contracts, the flexible constraint 32 can be pleated, or a fabric structure with regular pleats can be selected as the flexible constraint 32. In this way, after the anchoring structure 30 contracts, the flexible constraint 32 can fold itself along the pleats to form a regular shape, and when the anchoring structure 30 expands, the flexible constraint 32 can unfold along the pleats.

[0087] In some embodiments, the outer surface of the flexible constraint member 32 is further provided with an anti-slip coating 321, which is dotted on the outer surface of the flexible constraint member 32. The anti-slip coating 321 further improves the coefficient of friction of the anchoring structure 30 surface. When the robot body is placed in a pipe, it increases the friction between the anchoring structure 30 and the inner wall of the pipe, thereby meeting the needs of the soft robot 1 in complex pipe environments. By dotting the anti-slip coating 321 onto the outer surface of the flexible constraint member 32, the deformation of the anti-slip coating 321 is reduced when the flexible constraint member 32 is folded or wrinkled. Alternatively, the anti-slip coating 321 can be provided in strips on the outer surface of the flexible constraint member 32, which helps increase the anti-slip area and improve the anti-slip effect. In other examples, a fabric material with a rough surface can also be used, giving the flexible constraint member 32 itself a certain anti-slip effect.

[0088] The anchoring structure 30, which forms a double-layer structure with the flexible constraint member 32 and the elastic inflatable member 31 provided in this embodiment, utilizes the characteristic that the flexible constraint member 32 has little or no extensibility. This ensures that the anchoring structure 30 can both inflate and expand to achieve anchoring, and that the surface area of ​​the flexible constraint member 32 remains unchanged regardless of expansion or contraction. With these two characteristics, the anchoring structure 30, while fulfilling the functions of anchoring and de-anchoring, also facilitates the placement of sensors or other devices or anti-slip structures (such as anti-slip coating 321) on the surface of the flexible constraint member 32. This prevents the sensors or anti-slip structures on the surface from being stretched or squeezed due to the expansion or contraction of the anchoring structure 30, thus ensuring the reliability of the sensors and anti-slip structures. On the other hand, compared to the soft robot 1 that uses suction cups for anchoring, the soft robot 1 provided in this embodiment can adapt to more complex pipe environments. For example, in pipes with rough or wet inner walls, or even in pipes filled with liquid, suction cups will have difficulty achieving anchoring. The anchoring structure 30 provided in this embodiment, however, expands by inflating the elastic inflatable component 31, allowing the outer periphery of the anchoring structure 30 to abut against the inner wall of the pipe, creating friction between the two to achieve anchoring, thus meeting the usage requirements of complex pipe environments. At the same time, the flexible constraint component 32, with its certain toughness, can protect the elastic inflatable component 31, preventing it from being punctured by sharp objects in the pipe, or from damaging the inner wall of the pipe if the elastic inflatable component 31 breaks, thereby improving the reliability of the soft robot 1.

[0089] The following will provide a further explanation of the telescopic structure 40 of the collaborative unit.

[0090] Since the first collaborative unit 10 and the second collaborative unit 20 need to be spliced ​​together and driven independently according to the driving sequence in order to realize the movement of the robot body 100 in the pipeline, this means that the first collaborative unit 10 and the second collaborative unit 20 need to independently supply air (including inflation and deflation). When setting the air supply pipe 50 for the first collaborative unit 10 and the second collaborative unit 20, if the pipe is set outside the telescopic structure 40, it is difficult to set the air supply pipe 50 on the outer periphery of the telescopic structure 40 because the length of the telescopic structure 40 is changing during the telescopic process. Moreover, the robot body 100 usually works in a complex pipeline environment. Setting the air supply pipe 50 on the outer periphery of the telescopic structure 40 is not conducive to improving the reliability of the robot body 100.

[0091] Therefore, in some embodiments, an air supply auxiliary pipe 41 is provided through the telescopic structure 40. The air supply auxiliary pipe 41 is not connected to the inner cavity of the telescopic structure 40. One end of the air supply auxiliary pipe 41 is used to connect to the telescopic structure 40 of another cooperating unit. The length of the air supply auxiliary pipe 41 in the telescopic structure 40 is greater than or equal to the maximum length of the telescopic structure 40 when it is extended. By providing the air supply auxiliary pipe 41, the first cooperating unit 10 and the second cooperating unit 20 can be spliced ​​together. Under the premise of meeting the motion requirements of the soft robot 1, the air supply auxiliary pipe 41 can supply air to the first cooperating unit 10 and the second cooperating unit 20 independently, ensuring that the air supply process between the two cooperating units does not affect each other and is independent of each other. Moreover, by placing the air supply auxiliary pipe 41 inside the telescopic structure 40, the complex pipeline environment can be avoided from affecting the air supply auxiliary pipe 41, and problems such as squeezing or puncture of the air supply auxiliary pipe 41 can be avoided. By making the length of the gas delivery auxiliary pipe 41 in the telescopic structure 40 greater than or equal to the maximum length of the telescopic structure 40 when it is extended, the gas delivery auxiliary pipe 41 can be deployed when the telescopic structure 40 is extended to its maximum length, and the gas delivery auxiliary pipe 41 can be freely coiled inside the telescopic structure 40 when the telescopic structure 40 is contracted, thus avoiding the gas delivery auxiliary pipe 41 affecting the telescopic structure 40 during the extension and contraction process.

[0092] In some embodiments, the telescopic structure 40 includes a bellows 42, a first fixing plug 43, and a second fixing plug 44. The bellows 42 can extend axially when inflated and contract axially when deflated. The first fixing plug 43 is closed at the end of the bellows 42 facing the anchoring structure 30; the second fixing plug 44 is closed at the end of the bellows 42 away from the anchoring structure 30. Both the first fixing plug 43 and the second fixing plug 44 are provided with first mounting holes (the first fixing plug 43 is provided with a first mounting hole 431, and the second fixing plug 44 is provided with a second mounting hole 441). The two ends of the air supply auxiliary pipe 41 pass through the two first mounting holes respectively. In this way, the two ends of the air supply auxiliary pipe 41 can be fixed by the first mounting holes of the first fixing plug 43 and the second fixing plug 44, which facilitates the connection of the air supply auxiliary pipe 41 with the telescopic structure 40 of another cooperating unit. Optionally, the outer periphery of the air supply auxiliary pipe 41 can be bonded to the inner wall of the first mounting hole with adhesive to further improve the airtightness of the telescopic structure 40. Alternatively, the gas supply auxiliary pipe 41 can be connected to the first mounting hole by an interference fit, which can also achieve a good airtight effect.

[0093] When assembling the robot body 100, the two co-axial units are typically arranged coaxially. However, an air source 300 needs to be connected to the robot body 100 to drive its movement within a pipe via inflation or deflation. This means that one co-axial unit within the robot body 100 is located near the air source 300, and the other co-axial unit is located away from the air source 300. The co-axial unit located away from the air source 300 (e.g., the one near the air source 300) is... Figure 1 The second coordinating unit 20 shown can supply gas to the unit closer to the gas source 300 by directly connecting the anchoring structure 30 to the gas source 300, while the coordinating unit farther from the gas source 300 needs to have its gas supply problem solved. Therefore, after the two coordinating units are assembled, the gas supply auxiliary pipe 41 in the telescopic structure 40 of the first coordinating unit 10 can be used to supply gas to the second coordinating unit 20.

[0094] Specifically, in some embodiments, both the first fixing plug 43 and the second fixing plug 44 are provided with a second mounting hole (the first fixing plug 43 is provided with a second mounting hole 432, and the second fixing plug 44 is provided with a second mounting hole 442). The second mounting hole is connected to the bellows 42, and the second mounting hole is not connected to the first mounting hole. The second mounting hole 432 of the first fixing plug 43 is connected to the anchoring structure 30, and the second mounting hole 442 of the second fixing plug 44 of the second coordinating unit is connected to the second mounting hole 442 of the second fixing plug 44 of the second coordinating unit 20. The second mounting hole 442 of the second fixing plug 44 of the second coordinating unit 20 is used to supply air to the second coordinating unit 20. The first coordinating unit 10 supplies air through the end of the anchoring structure 30 away from the telescopic structure 40. The first mounting hole 431 of the first fixing plug 43 of the second coordinating unit 20 is also provided with a plug for sealing the air supply auxiliary pipe 41 located in the telescopic structure 40 of the second coordinating unit 20.

[0095] The above setup achieves the following effects: First, it enables interconnection between the anchoring structure 30 and the telescopic structure 40 within the same collaborative unit. The air source 300 can supply air to either the anchoring structure 30 or the telescopic structure 40 within the same unit, thus supplying air to the entire collaborative unit. For example, if the first collaborative unit 10 is located at the end of the robot body 100 closest to the air source 300, the air source 300 can directly supply air to the end of the anchoring structure 30 furthest from the telescopic structure 40. Second, it enables communication between the telescopic structure 40 of the second collaborative unit 20 and the air supply auxiliary pipe 41 in the telescopic structure 40 of the first collaborative unit 10. The opening of the air supply auxiliary pipe 41 located at the first fixed plug 43 can be used to connect the air supply pipe 50, thereby enabling air supply to the second collaborative unit 20. Finally, to prevent air leakage in the first coordinating unit 10, a plug is installed in the first mounting hole 431 of the first fixing plug 43 of the second coordinating unit 20 for sealing. This prevents gas in the first coordinating unit 10 from leaking through the gas supply auxiliary pipe 41 in the second coordinating unit 20, thus ensuring the airtightness of the first coordinating unit 10 during operation. Alternatively, in other examples, the plug can also be placed in the second mounting hole 442 of the second fixing plug 44 of the first coordinating unit 10, achieving the same gas sealing effect.

[0096] For example, the bellows 42 can extend axially when inflated, and the bellows 42 can maintain its extended length. By selecting a bellows 42 with the above-mentioned properties, it is possible to avoid insufficient air pressure in the telescopic structure 40 causing retraction while waiting for another cooperating unit to inflate and anchor after the telescopic structure 40 has extended. In this way, even if the telescopic structure 40 is damaged and leaks air, causing a drop in air pressure, the telescopic structure 40 can still maintain its length, thereby improving the operational reliability of the cooperating unit.

[0097] In some embodiments, please refer to Figure 5 and Figure 6To improve the connection reliability between the two collaborative units in the robot body 100, the robot body 100 also includes a flexible sleeve 102 and a unit connecting pipe 103. The unit connecting pipe 103 is used to connect the second mounting hole 442 of the second fixing plug 44 of the first collaborative unit 10 with the second mounting hole 442 of the second fixing plug 44 of the second collaborative unit 20. The two ends of the flexible sleeve 102 are respectively sleeved around the outer periphery of the second fixing plug 44 of the first collaborative unit 10 and the outer periphery of the second fixing plug 44 of the second collaborative unit 20, thereby enclosing the unit connecting pipe 103 within the flexible sleeve 102. This improves the connection strength between the two collaborative units, reduces the amplitude of relative movement or twisting between them, and also protects the unit connecting pipe 103 from damage in complex pipe environments, thus improving the reliability of the robot body 100.

[0098] In some embodiments, the second cooperative unit 20 further includes a gas bypass pipe 21, one end of which is connected to the first mounting hole of the first fixing plug 43 of the first cooperative unit 10 for supplying gas to the second cooperative unit 20; the gas bypass pipe 21 is fixed to the outer periphery of the anchoring structure 30 of the first cooperative unit 10. Using the gas bypass pipe 21, it can be connected to the gas supply auxiliary pipe 41 in the first cooperative unit 10 to supply gas to the second cooperative unit 20. The gas bypass pipe 21 being fixed to the outer periphery of the anchoring structure 30 of the first cooperative unit 10 prevents the gas bypass pipe 21 from sliding or displacing, improving the stability of the gas bypass pipe 21 during the operation of the robot body 100. At the same time, thanks to the low extensibility of the flexible constraint layer in the anchoring structure 30, the surface area of ​​the anchoring structure 30 can be prevented from changing during expansion or contraction, thereby preventing the gas bypass pipe 21 fixed to the surface of the anchoring structure 30 from being squeezed or stretched, thus ensuring the reliability of the gas bypass pipe 21's operation.

[0099] Optionally, the other end of the gas bypass pipe 21 can be connected to the gas supply pipe 50 of the second coordinating unit 20 to supply gas to the second coordinating unit 20. The gas supply pipe 50 of the second coordinating unit 20 and the gas supply pipe 50 of the first coordinating unit 10 can be bundled together at the end of the anchoring structure 30 of the first coordinating unit 10 near the gas source to avoid the two gas supply pipes 50 from tangling or interfering with each other. The two ends of the gas bypass pipe 21 located on the surface of the anchoring structure 30 can be bundled around the outer periphery of the reducing joints 33 at both ends of the anchoring structure 30, which can also prevent the gas bypass pipe 21 from becoming loose.

[0100] Furthermore, the second coordinating unit 20 also includes a fixing member 22, which is fixed to the outer periphery of the anchoring structure 30 of the first coordinating unit 10. The gas bypass pipe 21 is snapped into the fixing member 22, or the gas bypass pipe 21 passes through the fixing member 22. The fixing member 22, due to its rigidity, can protect the gas bypass pipe 21. For example, when the anchoring structure 30 is inflated and anchored in the pipe, the outer surface of the anchoring structure 30 and the inner wall of the pipe will exert mutual pressure. The fixing member 22 prevents the gas bypass pipe 21 from being squeezed, thereby ensuring the reliability of gas supply to the second coordinating unit 20. For example, the fixing member 22 can be a retaining ring with an opening to allow the gas bypass pipe 21 to be snapped into the retaining ring, or the fixing member 22 can be a hexagonal nut, through which the gas bypass pipe 21 passes.

[0101] The solution adopted in this embodiment also enables the collaborative units to have modularity, ease of splicing and integration. For example, the first collaborative unit 10 and the second collaborative unit 20 can be symmetrically arranged, which means that the two collaborative units use the same structure. When assembling the robot body 100, it is only necessary to connect the telescopic structures 40 of the two collaborative units to each other. At the same time, with the help of the air supply auxiliary pipe 41, air supply bypass pipe 21, fixing parts 22 and other components provided in the above embodiment, independent air supply from the air source to the first collaborative unit 10 and the second collaborative unit 20 can be achieved. In this way, the modular design of the collaborative units is realized, simplifying the design, manufacturing and assembly process of the collaborative units, improving the manufacturing efficiency of the pipeline robot and reducing the manufacturing cost.

[0102] In some embodiments, the soft robot 1 further includes a payload assembly 200, which is disposed at one end of the anchoring structure 30 of the second cooperative unit 20 away from the telescopic structure 40. The payload assembly 200 is used to mount sensors. The payload assembly 200 can carry sensors to detect the environment in the pipeline, meeting the user's detection needs when using the soft robot 1. Exemplarily, the sensors mounted in the payload assembly 200 may include temperature and humidity sensors, TVOC sensors, CO2 sensors, etc. As an example, the payload assembly 200 may include a payload housing, which includes a conical cover and a base plate. The bottom of the conical cover has an opening, and the base plate can be used to cover the conical cover. The aforementioned sensors can be mounted in the payload housing. To ensure that the robot body 100 can pass smoothly through the pipeline, the radius of the conical cover does not exceed the maximum radius of the anchoring structure 30.

[0103] In some embodiments, the payload assembly 200 can also be used to set a task payload, such as a vision component, including but not limited to a lidar, camera, or thermal imaging module, to enable the user to perform corresponding tasks using the soft robot 1 in the pipeline. When the payload assembly 200 sets a task payload, and the task payload includes a vision component, the top of the conical cover can also be set as a transparent window to facilitate the vision component's detection or task execution.

[0104] In some embodiments, please refer to Figure 7 The soft robot 1 also includes an air source 300 and an air valve 400. The air source 300 is connected to the air valve 400, which is connected to the first collaborative unit 10 and the second collaborative unit 20. The air source 300 selects to supply air to either the first collaborative unit 10 or the second collaborative unit 20 through the air valve 400. By setting the air source 300 and the air valve 400, the first collaborative unit 10 and the second collaborative unit 20 can be inflated or deflated, meeting the needs of the robot body 100 moving in the pipeline. For example, the air source 300 can be a pump that can provide both positive and negative pressure to the robot body 100, thus meeting the needs of inflating and deflating the robot body 100 with a single device. The air valve 400 can selectively connect to either the first collaborative unit 10 or the second collaborative unit 20, thereby meeting the need to supply air to each of the two collaborative units separately. For example, the gas valve 400 can be a two-position three-way solenoid valve. The normally closed end and normally open end of the solenoid valve are respectively connected to the gas supply pipe 50 of the first coordinating unit 10 and the gas supply pipe 50 of the second coordinating unit 20. The first coordinating unit 10 or the second coordinating unit 20 can be selectively connected by controlling the potential of the solenoid valve.

[0105] In some embodiments, the adaptive soft robot 1 for pipelines further includes a controller 500, which is electrically connected to an air source 300 to control the air source 300 to supply air to the first cooperative unit 10 and the second cooperative unit 20. By controlling the air source 300 to be connected using the controller 500, the controller can control the selection of air supply to the first cooperative unit 10 or the second cooperative unit 20, and control the inflation or deflation actions and duration of the cooperative units, thereby achieving control of the robot body. Exemplarily, the controller 500 can adopt a microcontroller, single-chip microcomputer, or similar structure.

[0106] Secondly, please refer to Figure 8 This application also provides a driving method for an adaptive robot for pipelines (hereinafter referred to as the driving method). This driving method can be implemented by the soft robot provided in the first aspect above, so as to drive the robot body to move forward or backward. The forward movement of the robot body includes at least one motion cycle, and the backward movement of the robot body includes at least one motion cycle. The motion cycle that drives the robot body to move forward includes the following steps:

[0107] S10. Inflate the first coordinating unit so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first air pressure;

[0108] S20. Continue to inflate the first collaborative unit so that the telescopic structure of the first collaborative unit extends when inflated to a pressure exceeding the second pressure, thereby driving the center of gravity of the robot body to move towards the second collaborative unit;

[0109] S30. Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit;

[0110] S40. Inflate the second coordinating unit so that the anchoring structure of the second coordinating unit expands and anchors in the pipe when inflated to the first pressure;

[0111] S50. Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit;

[0112] S60. Eject air from the first coordinating unit to release the anchoring structure of the first coordinating unit from the pipe;

[0113] S70. Continue to evacuate the first collaborative unit to cause the telescopic structure of the first collaborative unit to contract, thereby moving the center of gravity of the robot body toward the second collaborative unit.

[0114] S80. Eject air from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe.

[0115] The aforementioned method of forward movement allows the soft robot to inflate or deflate only one of the first or second coordinating units at a time, simplifying the design of the air supply lines and control process. This simplifies both the robot's structure and control logic, improving operational reliability. By utilizing the coordinating unit's anchoring and extension functions during inflation, and its de-anchoring and retraction characteristics, a single air supply line can be shared between the anchoring and extension structures, further simplifying the unit's piping design. Simultaneously, each inflation and extension operation eliminates the need to pre-determine anchoring success, improving the driving efficiency and accuracy of the coordinating units.

[0116] It is understandable that the aforementioned first and second air pressures can be experimentally measured before the soft robot is officially put into use to determine the specific first and second air pressure parameters of the collaborative unit. These first and second air pressures are related to factors such as the specific material, construction, and dimensions of the anchoring and telescopic structures; therefore, in some examples, they can also be calculated or extrapolated based on these factors. For example, corresponding sensors can also be installed in the robot body or air source to obtain real-time information on the air pressure status in the collaborative unit.

[0117] The motion cycle that drives the robot body to move backward includes the following steps:

[0118] S11. Inflate the second coordinating unit so that the anchoring structure of the second coordinating unit expands and anchors in the pipe when inflated to the first pressure;

[0119] S21. Continue to inflate the second collaborative unit so that the telescopic structure of the second collaborative unit extends when inflated to a pressure exceeding the second air pressure, thereby driving the center of gravity of the robot body to move towards the first collaborative unit.

[0120] S31. Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit;

[0121] S41. Inflate the first coordinating unit so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first pressure;

[0122] S51. Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the second coordinating unit;

[0123] S61. Eject air from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe;

[0124] S71. Continue to evacuate the second collaborative unit to cause the telescopic structure of the second collaborative unit to contract, thereby moving the center of gravity of the robot body toward the first collaborative unit.

[0125] S81. Eject air from the first coordinating unit to release the anchoring structure of the first coordinating unit from the pipe.

[0126] The principle and beneficial effects of driving the robot body backward are the same as those of driving it forward. The only difference is the air supply sequence to the first and second coordinating units, which is the reverse of the air supply sequence when driving forward. The beneficial effects of driving the robot backward will not be repeated here or below; the following text will further explain driving the robot body forward.

[0127] In some embodiments, before step S30 above, in the step of driving the robot body forward, the driving method further includes the following steps:

[0128] S301. Continue to inflate the first coordinating unit until the maximum pressure resistance value of the anchoring structure of the first coordinating unit is greater than the second air pressure.

[0129] By inflating the first coordinating unit to the maximum pressure resistance value of the anchoring structure and then immediately stopping the inflation, damage caused by excessive air pressure in the anchoring structure can be avoided, ensuring the reliability of the anchoring structure (especially the latex film tube in the anchoring structure) and extending its service life.

[0130] Accordingly, in the step of driving the robot body backward, before step S31 above, the driving method further includes the following steps:

[0131] S311. Continue to inflate the second coordinating unit until it does not exceed the maximum pressure resistance of the anchoring structure of the second coordinating unit, and the maximum pressure resistance of the anchoring structure is greater than the second air pressure.

[0132] In some embodiments, in the step of driving the robot body forward, steps S60 and S70 above include the following steps:

[0133] S601. Evacuate the first coordinating unit and start timing until t0, then stop evacuating, so that the anchoring structure of the first coordinating unit is first released from the pipe, and then the telescopic structure of the first coordinating unit contracts.

[0134] By using the aforementioned timing method to control the air extraction process of the first collaborative unit, it is possible to ensure that the first collaborative unit sequentially performs the processes of air extraction to release the anchoring structure and air extraction to shorten the telescopic structure, and to ensure that the above processes can be carried out continuously. That is to say, after step S60 is completed, step S70 is executed immediately without interruption, thereby achieving continuous air extraction of the first collaborative unit and improving the accuracy and efficiency of air extraction process control. This ensures that air extraction stops in time after the telescopic structure of the first collaborative unit has shortened, reducing time waste and improving the efficiency of robot body motion control.

[0135] Accordingly, in the step of driving the robot body backward, the above steps S61 and S71 include the following steps:

[0136] The second coordinating unit is evacuated and a timer is started. The evacuation is stopped at t0 so that the anchoring structure of the second coordinating unit is first released from the pipe, and then the telescopic structure of the second coordinating unit contracts.

[0137] In some embodiments, step S80 above includes the following steps:

[0138] S801. Evacuate the second coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the second coordinating unit is released from the pipe, where t X <t0. The above timing method is used to control the air extraction process of the second cooperative unit, ensuring that air extraction stops promptly after the anchoring structure of the second cooperative unit successfully releases its anchorage. This improves the accuracy and efficiency of air extraction process control, reduces wasted time, and increases the efficiency of robot motion control. Optionally, the above t0, t... X Tests can be conducted before the soft robot is officially put into use to determine the parameters required for the cooperative unit to completely release its anchor and for the telescopic structure to shorten to its minimum length, or for only the anchoring structure to release its anchor. It is understood that, since the second cooperative unit only undergoes the action of expanding its anchoring structure or deflating and contracting to release its anchor during the robot's forward movement, and does not involve the extension or shortening of its telescopic structure, the inflation pressure of the second cooperative unit only needs to reach the first pressure. Therefore, the time required for the second cooperative unit to deflat and release its anchor is shorter than the deflating time of the first cooperative unit.

[0139] Accordingly, in the step of driving the robot body to move backward, step S81 includes the following steps:

[0140] S811. Evacuate the first coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the first coordinating unit is released from the pipe, where t X <t0.

[0141] In the description of this specification, the use of terms such as "an embodiment," "some examples," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0142] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

[0143] In the description of this application, the presence of a comma ("、") in the patent title indicates an "and" relationship, not an "or" relationship. For example, if the patent title is "A and B", it means that the content claimed in this application is: a technical solution with the subject matter title A and a technical solution with the subject matter title B.

Claims

1. An adaptive soft robot for pipelines, characterized in that: include The robot body includes a collaborative unit; The coordinating unit includes an air supply pipe and an interconnected anchoring structure and telescopic structure. The air supply pipe is used to simultaneously inflate or de-inflate the anchoring structure and the telescopic structure. The anchoring structure can expand circumferentially during inflation and stops expanding and anchoring in the pipe when it reaches a first air pressure. The telescopic structure can extend axially when it is inflated to a pressure exceeding a second air pressure, wherein the second air pressure is greater than the first air pressure. This allows the telescopic structure to extend after the anchoring structure is inflated and anchored and stops expanding during inflation, thereby causing the center of gravity of the coordinating unit to move along the extension direction of the telescopic structure. The collaborative unit includes a first collaborative unit and a second collaborative unit. Along the axial direction of the telescopic structure, the telescopic structure of the first collaborative unit and the telescopic structure of the second collaborative unit are arranged adjacent to each other, and the axial directions of the two telescopic structures are consistent. One of the first collaborative unit and the second collaborative unit is used for inflatable anchoring. After the telescopic structure of one of them is inflated and extended, it is pressurized and then the other is inflated to a first air pressure to achieve its anchoring. Then, one of them is deflated to release the anchoring, and the telescopic structure of one of them is contracted to allow the robot body to move in the pipe.

2. The adaptive soft robot for pipelines according to claim 1, characterized in that: The anchoring structure includes an elastic inflatable component and a flexible restraint component. The air supply pipe is connected to the elastic inflatable component to allow the elastic inflatable component to inflate or deflate. The flexible restraint component is sleeved on the outer periphery of the elastic inflatable component to restrain the elastic inflatable component when it inflates to the maximum volume of the flexible restraint component.

3. The adaptive soft robot for pipelines according to claim 2, characterized in that: The elastic inflatable component includes a latex film tube, and the flexible restraint component includes a fabric structure.

4. The adaptive soft robot for pipelines according to claim 2, characterized in that: The outer surface of the flexible constraint member is also provided with an anti-slip coating, which is applied in dots on the outer surface of the flexible constraint member.

5. The adaptive soft robot for pipelines according to any one of claims 1 to 4, characterized in that: An auxiliary gas supply pipe is inserted through the telescopic structure. The auxiliary gas supply pipe is not connected to the inner cavity of the telescopic structure. One end of the auxiliary gas supply pipe is used to connect to the telescopic structure of another cooperative unit. The length of the auxiliary gas supply pipe in the telescopic structure is greater than or equal to the maximum length of the telescopic structure when it is extended.

6. The adaptive soft robot for pipelines according to claim 5, characterized in that: The telescopic structure includes a bellows, a first fixing plug, and a second fixing plug. The bellows can extend axially when inflated and contract axially when deflated. The first fixing plug is closed at the end of the bellows facing the anchoring structure, and the second fixing plug is closed at the end of the bellows away from the anchoring structure. Both the first fixing plug and the second fixing plug are provided with a first mounting hole, and the two ends of the gas delivery auxiliary pipe are respectively inserted through the two first mounting holes.

7. The adaptive soft robot for pipelines according to claim 6, characterized in that: The first fixing plug and the second fixing plug are also provided with a second mounting hole, the second mounting hole is connected to the bellows, and the second mounting hole is not connected to the first mounting hole; The second mounting hole of the first fixing plug is connected to the anchoring structure, and the second mounting hole of the second fixing plug is connected to the second mounting hole of the second fixing plug of another cooperating unit; The second mounting hole of the second fixed plug of the second cooperative unit is used to supply air to the second cooperative unit. The first cooperative unit supplies air through the end of the anchoring structure away from the telescopic structure. The first mounting hole of the first fixed plug of the second cooperative unit is also provided with a plug for sealing the air supply auxiliary pipe located in the telescopic structure of the second cooperative unit.

8. The adaptive soft robot for pipelines according to claim 6, characterized in that: The corrugated tube can extend axially when inflated, and the corrugated tube can maintain the extended length.

9. The adaptive soft robot for pipelines according to claim 7, characterized in that: The robot body also includes a flexible sleeve and a unit connecting tube, the unit connecting tube being used to connect the second mounting hole of the second fixing plug of the first collaborative unit to the second mounting hole of the second fixing plug of the second collaborative unit. The two ends of the flexible sleeve are respectively sleeved around the outer periphery of the second fixing plug of the first coordinating unit and the outer periphery of the second fixing plug of the second coordinating unit, so as to enclose the unit connecting tube inside the flexible sleeve.

10. The adaptive soft robot for pipelines according to claim 6, characterized in that: The second coordinating unit further includes a gas bypass pipe, one end of which is connected to the first mounting hole of the first fixed plug of the first coordinating unit for supplying gas to the second coordinating unit. The gas bypass pipe is fixed to the outer periphery of the anchoring structure of the first coordinating unit.

11. The adaptive soft robot for pipelines according to claim 10, characterized in that: The second coordinating unit further includes a fixing member, which is fixed to the outer periphery of the anchoring structure of the first coordinating unit. The gas bypass pipe is snapped into the fixing member, or the gas bypass pipe passes through the fixing member.

12. The adaptive soft robot for pipelines according to any one of claims 1 to 4, characterized in that: The adaptive soft robot for pipelines also includes a payload assembly disposed at the end of the anchoring structure of the second cooperative unit opposite to the telescopic structure, and the payload assembly is used to set the task payload.

13. The adaptive soft robot for pipelines according to any one of claims 1 to 4, characterized in that: The adaptive soft robot for pipelines also includes an air source and an air valve. The air source is connected to the air valve, and the air valve is connected to the first collaborative unit and the second collaborative unit respectively. The air source is selected to supply air to the first collaborative unit or the second collaborative unit through the air valve.

14. The adaptive soft robot for pipelines according to claim 13, characterized in that: The adaptive soft robot for pipelines also includes a controller electrically connected to the gas source to control the gas source to supply gas to the first coordinating unit and the second coordinating unit.

15. A driving method for an adaptive soft robot for pipelines, characterized in that: The driving method is implemented using an adaptive soft robot for a pipeline as described in any one of claims 1 to 14, to drive the robot body forward or backward, wherein the forward movement of the robot body includes at least one motion cycle, and the backward movement of the robot body includes at least one motion cycle, the motion cycle driving the robot body forward including: The first coordinating unit is inflated so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first pressure. Continue to inflate the first collaborative unit so that its telescopic structure extends when inflated to a pressure exceeding the second pressure, thereby shifting the center of gravity of the robot body toward the second collaborative unit. Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit; The second coordinating unit is inflated so that its anchoring structure expands and anchors in the pipe when inflated to the first pressure. Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit; Air is evacuated from the first coordinating unit to release the anchoring structure of the first coordinating unit from the pipe; Continue to evacuate the first collaborative unit to cause its telescopic structure to contract, thereby moving the center of gravity of the robot body toward the second collaborative unit. Air is evacuated from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe; or The motion cycle that drives the robot body to move backward includes: The second coordinating unit is inflated so that its anchoring structure expands and anchors in the pipe when inflated to the first pressure. Continue to inflate the second collaborative unit so that its telescopic structure extends when inflated to a pressure exceeding the second air pressure, thereby shifting the center of gravity of the robot body toward the first collaborative unit. Stop inflating the second coordinating unit and maintain the air pressure in the second coordinating unit to maintain the current state of the second coordinating unit; The first coordinating unit is inflated so that the anchoring structure of the first coordinating unit expands and anchors in the pipe when inflated to a first pressure. Stop inflating the first coordinating unit and maintain the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit; Air is evacuated from the second coordinating unit to release the anchoring structure of the second coordinating unit from the pipe; Continue to evacuate the second collaborative unit to cause its telescopic structure to contract, thereby shifting the robot's center of gravity toward the first collaborative unit. Air is evacuated from the first coordinating unit to release its anchoring structure from the pipe.

16. A driving method for an adaptive soft robot for a pipeline according to claim 15, characterized in that: During the motion cycle of the robot body moving forward, before stopping the inflation of the first coordinating unit and maintaining the air pressure in the first coordinating unit to maintain the current state of the first coordinating unit, the driving method further includes... The first coordinating unit is inflated until the maximum pressure resistance of the anchoring structure of the first coordinating unit is greater than the second pressure. or During the backward movement cycle of the driven robot body, before stopping the inflation of the second collaborative unit and maintaining the air pressure in the second collaborative unit to maintain the current state of the second collaborative unit, the driving method further includes... The second coordinating unit is inflated until it does not exceed the maximum pressure resistance of the anchoring structure of the second coordinating unit, and the maximum pressure resistance of the anchoring structure is greater than the second air pressure.

17. A driving method for an adaptive soft robot for a pipeline according to claim 15, characterized in that: During the motion cycle that drives the robot body forward, the steps of evacuating the first coordinating unit to release its anchoring structure from the pipe, and continuing to evacuate the first coordinating unit to retract its telescopic structure, thereby moving the robot body's center of gravity toward the second coordinating unit, include: The first coordinating unit is evacuated and a timer is started. The evacuation is stopped at t0 so that the anchoring structure of the first coordinating unit is first released from the pipe, and then the telescopic structure of the first coordinating unit contracts. or During the backward movement cycle of the robot body, the steps of evacuating the second coordinating unit to release its anchoring structure from the pipe, and continuing to evacuate the second coordinating unit to retract its telescopic structure, thereby moving the robot body's center of gravity towards the first coordinating unit, include: The second coordinating unit is evacuated and a timer is started. The evacuation is stopped at t0 so that the anchoring structure of the second coordinating unit is first released from the pipe, and then the telescopic structure of the second coordinating unit contracts.

18. The driving method for an adaptive soft robot for a pipeline according to claim 17, characterized in that: During the motion cycle of the robot body moving forward, the step of evacuating the second coordinating unit to release its anchoring structure from the pipe includes: Evacuate the second coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the second coordinating unit is released from the pipe, where t X <t0; or During the backward movement cycle of the driven robot body, the step of evacuating the first coordinating unit to release its anchoring structure from the pipe includes: Evacuate the first coordinating unit and start timing until t X When the pumping stops, the anchoring structure of the first coordinating unit is released from the pipe, where t X <t0.

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