An adaptive in-pipe inchworm robot

Abstract

The application discloses a self-adaptive in-pipe peristaltic robot, which comprises a telescopic actuating unit and two air bag deformation devices connected to two ends of the telescopic actuating unit, wherein the air bag deformation device comprises a wheel-shaped air bag, a guide groove rotating shaft and an air bag pressing plate, one side through hole of the air bag is rotationally connected with the guide groove rotating shaft, and the other side through hole is fixedly connected with the air bag pressing plate; the air bag pressing plate is telescopically matched with the guide groove rotating shaft; and the telescopic actuating unit is used for linkage of the two air bag deformation devices for alternating peristalsis. The air bag deformation device of the application does not need external air source adjustment and is suitable for different pipe diameters; the self-adaptive passing of small-curvature bending pipelines is realized through air bag deformation and overall bending; the bionic rhythm movement can be realized through independent control of the air bag deformation device; the application requirements under different sizes can be met through simple flexible assembly. The modular assembly can realize the series connection of several robots and further adapt to different working conditions.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and more particularly to an adaptive tube-borne peristaltic robot. Background Technology

[0002] There is significant industrial demand for mobile robots used on the inner walls of pipelines. Whether it's the maintenance of large pipelines such as natural gas pipelines, oil tanks, and chimneys, or the dredging and clearing of smaller ones like water pipes and sewage pipes, there is a substantial need for the design and development of mobile robots for pipeline inner walls. Flexible mobile robots for pipeline inner walls also have applications in bioengineering, such as esophageal and anal tract examinations and vascular thrombectomy. Therefore, highly adaptive mobile robots for pipeline inner walls have broad demand and market value. In addition, for some narrow and vertical pipelines, some solutions utilizing external energy or air sources are not well-suited. This is because these solutions require dragging external devices such as cables and air pipes, which are quite heavy, increasing the robot's load and potentially causing tangles or blockages during the robot's exit from the pipeline due to lack of control. Therefore, in addition to high adaptability, the ability to operate without external devices is also necessary for widespread application. Chinese patent publication CN110142783A discloses a hollow airbag peristaltic robot for use in cavities, tubes, or for climbing walls. This is essentially a purely pneumatic solution, primarily targeting small, flexible objects such as biological tubes. However, the accompanying specification does not include a diagram illustrating the air supply. In reality, this solution requires dragging at least three gas delivery tubes and controlling their actuation via a pump-valve-cylinder at the end, thus failing to address the lack of external peripherals. Furthermore, the robot itself is likely to twist during operation due to poor rigidity, leading to blockages, and the air tubes may become tangled upon retraction. In addition, this solution requires independent customization for different working conditions and cannot be modularly assembled. Moreover, for tubes with large diameter variations, its inflation and deflation times are lengthy and inefficient. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide an adaptive tube-in-tube peristaltic robot that can achieve highly adaptive peristaltic movement within a tube.

[0004] To address the aforementioned technical problems, this invention provides an adaptive tube-borne peristaltic robot, comprising a telescopic actuation unit and two airbag deformation devices. The two airbag deformation devices are connected to both ends of the telescopic actuation unit. Each airbag deformation device includes a wheel-shaped airbag, a guide groove shaft, and an airbag pressure plate. One through hole of the airbag is rotatably connected to the guide groove shaft, and the other through hole is fixedly connected to the airbag pressure plate. The airbag pressure plate and the guide groove shaft are telescopically engaged. The telescopic actuation unit is used to coordinate the alternating peristaltic movement of the two airbag deformation devices.

[0005] Furthermore, the guide shaft sidewall has a spiral groove, and the airbag pressure plate has a transverse guide post, which passes through the spiral groove.

[0006] Furthermore, the airbag deformation device also includes a pressure sensor, which is attached to the surface of the guide groove shaft and is used to measure the pressure in the airbag.

[0007] Furthermore, the airbag deformation device also includes a servo motor, which is fixedly mounted on the end face of the telescopic actuation unit and drives the guide groove shaft to rotate relative to the airbag pressure plate.

[0008] Furthermore, the telescopic actuation unit includes a servo mounting bracket, a flexible transmission joint, an electromagnet actuator, and an electromagnet housing frame. The electromagnet actuator is mounted in the electromagnet housing frame. There are two flexible transmission joints, which are respectively arranged back-to-back on the push rod end of the electromagnet actuator and the end of the electromagnet housing frame. The flexible transmission joint is provided with the servo mounting bracket, and the servo is mounted on the servo mounting bracket.

[0009] Furthermore, the telescopic actuation unit includes two pairs of guide rods, which are respectively disposed between the electromagnet housing frame and the airbag pressure plates of the two airbag deformation devices on both sides.

[0010] Furthermore, the airbag pressure plate is fixedly connected to one end of the pair of guide rods.

[0011] Furthermore, the other end of the guide rod is connected to the electromagnet housing frame via an end face bearing.

[0012] Furthermore, the two pairs of guide rods are arranged orthogonally on the four sides of the electromagnet housing frame.

[0013] Furthermore, the telescopic actuation unit also includes a guide rod seat, the bottom of which is connected to the end face bearing, and the guide rod slidably passes through the sliding hole of the guide rod seat. Implementing the embodiments of this invention has the following beneficial effects: This invention enables highly adaptive intra-pipe peristalsis without external devices. It allows for modular assembly to adapt to different working conditions. The robot as a whole possesses a certain degree of rigidity, thereby reducing the occurrence of overall torsion. The airbags can be deformed rapidly through a mechanical structure; it enables controllable movement of the robot in pipes with different cross-sectional shapes and sizes; it enables the robot to pass through pipes with small curvatures; it enables the robot to climb non-horizontal pipes; it enables controllable movement of the robot in both rigid and flexible pipes; it allows for monitoring of airbag failure; and it has high engineering application flexibility, making it easily applicable to different engineering needs. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the explosion of the airbag deformation device structure; Figure 3 This is a schematic diagram of the telescopic actuator unit; Figure 4 This is an exploded view of the telescopic actuator unit. Figure 5 This is a schematic diagram of the guide groove shaft. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0016] like Figure 1 As shown, an adaptive tube-mounted peristaltic robot according to an embodiment of the present invention includes a telescopic actuation unit 2, two airbag deformation devices 1, a battery pack, and a control board 3. The two airbag deformation devices 1 are connected to both ends of the telescopic actuation unit 2. The telescopic actuation unit 2, the battery pack, and the control board 3 form the center of the present invention. Thus, the present invention completes the peristaltic movement by means of the airbag deformation devices 1 at both ends, realizes matching of different pipe diameters, and achieves the ability to pass through flexible bends.

[0017] The following is a further detailed description of the various structures of the present invention.

[0018] like Figure 2 As shown, the airbag deformation device 1 includes an airbag 11, a pressure sensor 13, a guide groove shaft 12, an airbag pressure plate 14, a guide groove shaft coupling 15, and a servo motor 16. The airbag 11 of the airbag deformation device 1 has a larger overall diameter than the telescopic actuation unit 2, therefore only the airbag 11 of the airbag deformation device 1 is in working contact with the tube wall.

[0019] One end of the airbag 11 is concentrically connected to the guide groove shaft 12, forming a rotatable connection and constrained by the end face of the guide groove shaft. The other end is glued to the airbag pressure plate 14. Therefore, when the airbag pressure plate approaches the left end of the guide groove shaft, the airbag 11 is compressed, its axial dimension decreases, and its radial dimension increases. Utilizing the flexibility of the airbag 11, it can fit close to the inner wall of pipes of different shapes and not too large in size. The airbag 11 is made of soft material, thus allowing it to pass through soft and fragile pipes without damaging the inner wall. The airbag 11 is deformable; there are two airbag deformation devices 1, allowing the airbag 11 to deform independently, thus providing a certain degree of adaptability to small-curvature curved pipes.

[0020] The pressure sensor 13 has its measuring unit attached to the surface of the guide groove shaft 12 and is electrically connected to the battery pack and control board 3. Therefore, it can detect the real-time air pressure of the airbag 11 and estimate whether the deformation is sufficient or whether the air pressure is too high.

[0021] like Figure 2 As shown, the guide shaft 12 has a mounting hole at its right end, which is used to cooperate with the guide groove shaft coupling 15 and is fixed by bolts.

[0022] The output end of the servo motor 16 is fixed to the guide groove shaft coupling 15. The servo motor is fixedly mounted on the end face of the telescopic actuation unit to transmit torque.

[0023] The guide shaft 12 has a spiral groove on its side wall, and the airbag pressure plate has a transverse guide post. The guide post passes through the spiral groove and can slide relative to the guide groove 12a of the guide shaft 12.

[0024] like Figure 3 As shown, the telescopic actuation unit 2 includes a pair of guide rods a21, a servo mounting bracket 22, a flexible transmission junction 23, an electromagnet actuator 24, an electromagnet housing 25, and a pair of guide rods b26.

[0025] On one side, one end of the flexible drive joint 23 is fixedly connected to the servo mounting bracket 22. The flexible drive joint 23 can absorb a certain amount of axial vibration. The other end is fixedly connected to the push rod of the electromagnet actuator 24. On the other side, one end of another flexible drive joint 23 is connected to the electromagnet housing bracket 25, and the other end is connected to another servo mounting bracket 22.

[0026] The electromagnet actuator 24 is controlled by electrical signals and relays, and can output the relative linear motion between its push rod and the outer shell. Through the flexible transmission joint 23 and the servo mounting bracket 22, it can then drive the airbag deformation device 1.

[0027] A pair of guide rods a21 and a pair of guide rods b26 are arranged orthogonally on the four sides of the electromagnet housing frame.

[0028] There are two guide rods a21, each including a guide rod 21a, a guide rod seat 21b, and an end face bearing 21c. 21a engages with the end face bearing 21c via the guide seat 21b. The outer surface of the end face bearing 21c is fixedly connected to the electromagnet housing frame 25. There are two such rods, located on the upper and lower sides of the electromagnet housing frame 25. One end of the guide rod 21a serves as a limit, and the other end is fixedly connected to the airbag pressure plate 14. The guide rods a26 engage with the end face bearing 26c via the guide seat 26b. The outer surface of the end face bearing 26c is fixedly connected to the electromagnet housing frame 25. There are two such rods, located on the left and right sides of the electromagnet housing frame 25. One end of the guide rod 26a serves as a limit, and the other end is fixedly connected to the airbag pressure plate 14. The guide rod 26a slides through the sliding hole of the guide rod seat. Other guide rods are installed in the same manner. The servo mounting bracket 22 is fixedly connected to the servo 16, and the servo mounting bracket 22 is fixedly connected to the flexible transmission joint 23. The flexible transmission joint 23 is fixedly connected to the push rod of the electromagnet actuator 24, and the electromagnet housing 25 is fixedly connected to the flexible transmission joint 23. Therefore, one of the airbag deformation devices 1 is connected to the push rod of the electromagnet actuator 24 and is guided by the guide deflection rod a21. The other airbag deformation device 1 is connected to the electromagnet housing 25 of the electromagnet actuator 24 and is guided by the guide deflection rod b26. Because of the action of the guide deflection rod a21, the adaptive intra-tube rhythmic peristaltic robot can bend and deform in the Z-axis rotation direction. Because of the action of the guide deflection rod b26, the adaptive intra-tube rhythmic peristaltic robot can bend and deform in the Y-axis rotation direction.

[0029] like Figure 1-4As shown, when the peristaltic robot of the present invention moves forward (in the +X direction), the servo motor 16 of the airbag deformation device 1 located behind the travel direction rotates, pushing the airbag pressure plate 14 to compress the airbag behind it. The radial dimension of the airbag behind it increases, thereby pressing against the inner wall of the tube. At this time, the guide anti-rotation rod b26 of the airbag deformation device 1 located behind the travel direction bears radial force, thereby achieving anti-rotation of the airbag pressure plate 14 of the airbag deformation device 1 located behind the travel direction. Therefore, the guide groove shaft 12 of the airbag deformation device 1 located behind the travel direction can push the airbag pressure plate 14 to move linearly relative to the guide groove shaft 12, thereby pressing against the airbag 11 of the airbag deformation device 1 located behind the travel direction. The main control board analyzes the feedback signal of the pressure sensor 13 to determine whether the airbag deformation device 1 located behind the travel direction can provide sufficient friction. Next, the pressure sensor 13 of the airbag deformation device 1 located in front of the travel direction feeds a signal to the main control board to determine whether the pressure of the airbag 11 in front is too high, and then to determine whether it can be pushed. If not, the servo motor 16 located in front of the travel direction is driven to rotate, pushing the airbag pressure plate 14 to expand the airbag 11. When it is determined that the airbag in front of the travel direction can be pushed, the main control board drives the electromagnet actuator 24 to be energized or de-energized, so that it outputs a relative linear motion between the electromagnet 24 push rod and the electromagnet housing frame 25, pushing the airbag deformation device 1 and its airbag 11 in front of the travel direction to slide a certain distance. At this time, the guide de-rotation rod a21, its guide rod 21a and guide seat 21b have relative linear motion. Similarly, the airbag deformation device 1 and its airbag located behind the travel direction also slide forward in a similar manner. If the pipe is a small-curvature bend, the difference compared to a straight pipe is that the airbag 11 will deform, and there will be relative rotation between the guide rod seats 21b, 26b and the end bearings 21c, 26c. The flexible transmission joint 23 will exhibit bending deformation and a tendency to recover. If the pipe is not horizontal, the difference compared to a straight pipe is that the airbag 11 needs to provide greater friction, thus its internal pressure will be greater. The aforementioned adaptive intra-pipe rhythmic peristaltic robot has an intermittent, alternating movement pattern similar to the movement of a worm.

[0030] like Figure 5 As shown, the guide groove shaft 12 has a guide groove 12a. The pressure angle of the airbag pressure plate 14 on the guide groove 12a is designed to be smaller than its friction angle, so a phenomenon similar to thread self-locking can be achieved, which is the key to realizing the present invention.

[0031] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. An adaptive tube-borne peristaltic robot, characterized in that, The device includes a telescopic actuation unit and two airbag deformation devices connected to both ends of the telescopic actuation unit. Each airbag deformation device includes a wheel-shaped airbag, a guide groove shaft, and an airbag pressure plate. One through hole of the airbag is rotatably connected to the guide groove shaft, and the other through hole is fixedly connected to the airbag pressure plate. The airbag pressure plate and the guide groove shaft are telescopically engaged. The telescopic actuation unit is used to drive the two airbag deformation devices to alternately creep. The airbag deformation device also includes a servo motor, which is fixedly installed. On the end face of the telescopic actuation unit, the guide groove shaft is driven to rotate relative to the airbag pressure plate; the telescopic actuation unit includes a servo mounting bracket, a flexible transmission joint, an electromagnet actuator, and an electromagnet housing frame. The electromagnet actuator is installed in the electromagnet housing frame. There are two flexible transmission joints, which are respectively arranged back-to-back on the push rod end of the electromagnet actuator and the end of the electromagnet housing frame. The flexible transmission joint is provided with the servo mounting bracket, and the servo is installed on the servo mounting bracket.

2. The adaptive tube-borne peristaltic robot according to claim 1, characterized in that, The guide shaft has a spiral groove on its side wall, and the airbag pressure plate has a transverse guide post, which passes through the spiral groove.

3. The adaptive tube-borne peristaltic robot according to claim 1, characterized in that, The airbag deformation device also includes a pressure sensor, which is attached to the surface of the guide groove shaft and is used to measure the pressure in the airbag.

4. The adaptive tube-borne peristaltic robot according to claim 1, characterized in that, The telescopic actuation unit includes two pairs of guide rods, which are respectively disposed between the electromagnet housing frame and the airbag pressure plates of the two airbag deformation devices on both sides.

5. The adaptive tube-borne peristaltic robot according to claim 4, characterized in that, The airbag pressure plate is fixedly connected to one end of the pair of guide rods.

6. The adaptive tube-borne peristaltic robot according to claim 5, characterized in that, The other end of the guide rod is connected to the electromagnet housing frame via an end face bearing.

7. The adaptive tube-borne peristaltic robot according to claim 6, characterized in that, The two pairs of guide rods are arranged orthogonally on the four sides of the electromagnet housing frame.

8. The adaptive tube-borne peristaltic robot according to claim 6, characterized in that, The telescopic actuation unit also includes a guide rod seat, the bottom of which is connected to the end face bearing, and the guide rod is slidably inserted through the sliding hole of the guide rod seat.

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