A soft robot with nuclear equipment pipeline detection function

Abstract

The present invention discloses a soft robot with nuclear equipment pipeline detection function, which relates to the field of pipeline detection technology, including an intermediate frame, two gas source barrels fixedly mounted on the intermediate frame, and an inflation module installed inside the gas source barrels, wherein both gas source barrels are installed with an inflation drive source. The advantages are: when the present invention performs internal pipeline detection, the gas source is used as the driving power, which can reduce the structure and improve safety, and can effectively reduce the friction between the soft robot and the inner wall of the pipeline, so that the soft robot can move more smoothly in the pipeline. At the same time, the alternating telescopic crawling claws are used to make the soft robot move more smoothly in the pipeline. In addition, each telescopic crawling claw is connected by a universal coupling, which has the advantage of a smaller turning radius and is suitable for more pipeline detection.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a soft robot with a nuclear equipment pipeline detection function. Background Art

[0002] Nuclear equipment pipelines usually refer to pipeline systems used to transport liquids or gases in nuclear power plants and other nuclear facilities. Since nuclear equipment pipelines are high-performance pipelines and have nuclear radiation inside, they cannot be inspected manually, so pipeline inspection robots are needed to complete the inspection. There are bends inside the pipelines, so soft robots are needed to complete the inspection.

[0003] When in use, existing soft robots perform detection by wriggling inside a pipe. For example, announcement number CN112828870B discloses a pneumatic soft robot for a pipe, which includes a functional module, an air pump, a direction-adjusting airbag group, a walking drive and two fixed airbags; both ends of the walking drive are connected to one end of the two fixed airbags, and the air pump is installed at the other end of one fixed airbag; one end of the direction-adjusting airbag group is connected to the other end of the other fixed airbag, and the functional module is installed at the other end of the direction-adjusting airbag group; the walking drive can extend and shorten with inflation and deflation; the direction-adjusting airbag group includes at least three ellipsoidal airbags, each of which is tightly connected to the adjacent ellipsoidal airbags, and the expansion and contraction movements of each ellipsoidal airbag are independent of each other, and the robot's steering is achieved through the coordinated movement of all the ellipsoidal airbags.

[0004] The robot adjusts the movement direction of the robot by expanding one part of the ellipsoidal airbag and squeezing the other part of the ellipsoidal airbag. The robot can realize omnidirectional flexible feeding movement facing various pipelines through the telescopic cooperation of the fixed airbag and the walking drive part, which solves the problem that the existing pipeline robot cannot adapt to the complex structure inside the pipeline due to its mechanical structure limitation, and realizes omnidirectional flexible feeding movement. The walking drive part is composed of a bellows, which is a tubular elastic sensitive element with strong stretching ability and easy driving. When the bending amount of the pipeline is large, the robot actively adjusts the direction through the direction adjustment airbag group and can enter the curved pipeline. For ordinary pipelines with small bending amount, since the main constituent materials of the present invention are rubber and bellows, it has the characteristics of easy driving and strong self-adaptation ability, and relies on flexible inertia to achieve passive bending. This method is easy to drive and reduces the waste of energy during the driving process.

[0005] However, when the robot moves in the pipeline, it is first necessary to inflate the fixed airbag and press it against the pipe wall, and then drive the front half of the robot to move through the walking drive component. The walking drive component uses an electric push rod or a pneumatic push rod to achieve movement. In order to ensure that the robot moves stably in the pipeline, when the front half of the robot moves, the ellipsoidal airbag needs to be against the inner wall of the pipe. In this way, a large friction force is generated between the ellipsoidal airbag and the inner wall of the pipe when the robot moves. At the same time, when the back half of the robot moves, the fixed airbag will also move against the inner wall of the pipe, and the excessive friction will cause the airbag to wear, thereby affecting the movement of the robot. In addition, an electric push rod or a starting rod is used to achieve walking. Due to the length of the electric push rod or the pneumatic rod, some smaller pipe bends cannot be passed through, and the diameter requirements of the pipe are limited, so there are certain limitations in use.

[0006] Therefore, a new type of soft robot with nuclear equipment pipeline detection function can be used to solve the shortcomings of the existing technology. Summary of the invention

[0007] The purpose of the present invention is to solve the problems existing in the prior art and to propose a soft robot with nuclear equipment pipeline detection function.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A soft robot with nuclear equipment pipeline detection function, comprising an intermediate frame, two gas source barrels fixedly mounted on the intermediate frame, and an inflation module installed inside the gas source barrels, wherein both gas source barrels are equipped with an inflation drive source;

[0010] The support part is installed on both sides of the middle frame, is the body part of the soft robot, contacts the inner wall of the pipeline, and is used to keep the robot moving stably in the pipeline. The support part includes a support component and a steering component. The support component is used to support against the inner wall of the pipeline, and the steering part is used for the robot to move and turn in the pipeline;

[0011] The driving part is installed at both ends of the two supporting parts, and is used to drive the soft robot to move in the pipeline, and the movement mode is creeping. The driving part includes a driving component and a crawling component. The driving component is used to drive the crawling component to operate. The crawling component is against the inner wall of the pipeline and crawls by friction. A probe is fixedly installed at the end of the crawling component.

[0012] Preferably, the support assembly includes a plurality of support plates, and a correction spring is fixedly installed between two adjacent support plates and between a support plate close to the intermediate frame and the intermediate frame.

[0013] Preferably, the steering assembly includes a plurality of telescopic tubes fixedly installed between a support plate farthest from the intermediate frame and the intermediate frame, each of the telescopic tubes passes through the support plate and is fixedly connected to the support plate; one end of each telescopic tube close to the intermediate frame is fixedly connected to a gas distributor, each of the gas distributors is fixedly connected to a corresponding air source barrel, and the inflation module controls the opening and closing of the gas distributor to inflate.

[0014] Preferably, the crawling assembly includes a plurality of walking rings, each of the walking rings is rotatably mounted with a plurality of rotating sleeves, each of the rotating sleeves is rotatably mounted with a telescopic crawling claw, two adjacent telescopic crawling claws are vertically arranged, and an inflation mechanism and a rotating mechanism are installed between each telescopic crawling claw and the corresponding walking ring.

[0015] Preferably, the inflation mechanism includes an injection sleeve rotatably connected to the end of the telescopic crawling claw, an annular injection box is fixedly installed on the walking ring, each of the injection sleeves is connected to the annular injection box, two adjacent annular injection boxes are connected by two injection pipes, and an air distribution box is fixedly installed between the two injection pipes close to one side of the middle frame, and an air guide hose is fixedly connected to the air distribution box, and the air guide hose is connected to the corresponding air source barrel.

[0016] Preferably, the rotating mechanism comprises a fixed bracket fixedly mounted on the annular gas injection box, a sleeve fixedly mounted on the fixed bracket, a rotating shaft rotatably mounted inside the sleeve, the rotating shaft extending out of the sleeve, an incomplete gear ring 2 rotatably mounted on the sleeve, an outer steering gear ring fixedly mounted on the incomplete gear ring 2, a steering gear meshing with the outer steering gear ring rotatably mounted on the fixed bracket, and two adjacent rotating shafts are connected via a universal coupling;

[0017] A rotating bracket is fixedly installed on the rotating shaft, an incomplete gear ring 1 is fixedly installed on the rotating bracket, an inner steering gear ring meshing with the steering gear is fixedly installed on the incomplete gear ring 1, a rotating rod is fixedly installed on one end of each telescopic crawling claw close to the corresponding air injection sleeve, each rotating rod is fixedly installed with a toothed disk that matches the incomplete gear ring 1 and the incomplete gear ring 2, and the rotating rod extends into the interior of the air injection sleeve.

[0018] Preferably, the telescopic crawling claw is divided into an air injection section and a telescopic section, the air injection section and the telescopic section are slidably connected, the air injection section is hollow in design, and a spring coil is fixedly installed between the air injection section and the corresponding rotating sleeve.

[0019] Preferably, the end of the telescopic section of each telescopic crawling claw adopts a hemispherical design, and the telescopic section is rotatably mounted with a plurality of rubber rollers.

[0020] Preferably, the driving assembly includes a rotating cylinder fixedly mounted on a support plate closest to the intermediate frame, the rotating cylinder is fixedly connected to a universal coupling closest to the intermediate frame, and the rotating cylinder is connected to an inflation driving source inside a corresponding air source barrel.

[0021] Preferably, a telescopic cover 1 is fixedly installed between two adjacent support plates, a telescopic cover 2 is fixedly installed between two adjacent walking rings, a fixed plate is fixedly installed on the walking ring on the side farthest from the intermediate frame, the fixed plate is fixedly connected to the probe, and a transparent cover body matching the probe is fixedly installed on the fixed plate.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. When the pipeline inspection soft robot is moving in the pipeline for inspection, the air source barrel, the inflation module and the inflation drive source are set to provide driving force for the soft robot. There is no need to use electric drive, which can effectively reduce the structure of the soft robot and make the operation smoother. At the same time, the air source drive can avoid the influence of static electricity on the liquid or gas inside the pipeline, which has higher safety.

[0024] 2. When the pipeline inspection soft robot is conducting mobile inspection in the pipeline, a vertically arranged telescopic crawling claw is set up, and the colloid between the vertical telescopic crawling claws is used to drive the overall movement in the pipeline. The two adjacent telescopic crawling claws are connected by a universal coupling. This allows the soft robot to turn within a smaller turning radius and is suitable for pipelines with more radii. The alternating reciprocating rotation crawling can effectively improve the stability of the soft robot's movement in the pipeline.

[0025] 3. When the pipeline inspection software robot is performing mobile inspection in the pipeline, a rotatable rubber wheel is set on the telescopic section of the telescopic crawling claw. As the telescopic crawling claw moves, the rubber wheel will roll on the inner wall of the pipeline. This not only maintains the stability of the telescopic crawling claw during movement, but also effectively reduces the friction between the telescopic crawling claw and the inner wall of the pipeline during movement, so that the soft robot moves more smoothly in the pipeline.

[0026] To sum up, the present invention uses an air source as a driving force when conducting internal inspection of a pipeline, which can reduce the structure, improve safety, and effectively reduce the friction between the soft robot and the inner wall of the pipeline, so that the soft robot can move more smoothly in the pipeline. At the same time, the alternating operation of the telescopic crawling claws makes the soft robot move more smoothly in the pipeline. In addition, each telescopic crawling claw is connected by a universal coupling, which has the advantage of a smaller turning radius and is suitable for more pipeline inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is a schematic diagram of the structure of a soft robot with nuclear equipment pipeline detection function proposed by the present invention;

[0029] Figure 2 for Figure 1 A detailed schematic diagram of the structure after removing the telescopic cover 1, telescopic cover 2 and transparent cover;

[0030] Figure 3 for Figure 2 A detailed diagram of the structure after removing the back half of the soft robot;

[0031] Figure 4 for Figure 3 The enlarged structural schematic detail diagram after removing the crawling part;

[0032] Figure 5 for Figure 4 Detailed schematic diagram of the structure after being rotated to a certain angle;

[0033] Figure 6 for Figure 3 An enlarged schematic diagram of the structure of the middle crawling part;

[0034] Figure 7 for Figure 6 Detailed schematic diagram of the structure after being rotated to a certain angle;

[0035] Figure 8 for Figure 6 Detailed schematic diagram of the enlarged structure of the mid-travel ring, fixed plate and probe;

[0036] Fig. 9 for Figure 8 Detailed schematic diagram of the structure after being rotated to a certain angle;

[0037] Fig.10 for Figure 8 Detailed schematic diagram of the structure after removing the fixing plate and the probe;

[0038] Fig.11 for Fig.10 A schematic detailed view of the plan structure along one of the angles;

[0039] Fig.12 for Fig.10 A schematic detailed diagram of the structure in which the walking ring and the air injection sleeve are removed and one of the telescopic crawling claws is retained;

[0040] Fig.13 for Fig.10 Detailed schematic diagram of the exploded structure;

[0041] Fig.14 for Fig.13 A detailed diagram of the enlarged structure of the middle and outer steering gear rings and the inner steering gear ring;

[0042] Fig.15 for Fig.12 Detailed schematic diagram of the enlarged structure of the telescopic crawling claw and the rotating sleeve.

[0043] In the figure: 1. intermediate frame; 2. gas source barrel; 3. support plate; 4. walking ring; 5. probe; 6. transparent cover; 7. telescopic crawling claw; 8. telescopic cover 1; 9. telescopic cover 2; 10. telescopic tube; 11. gas distributor; 12. gas guide hose; 13. correction spring; 14. rotating cylinder; 15. gas injection pipe; 16. annular gas injection box; 17. gas distributor box; 18. fixed plate; 19. universal coupling; 20. fixed bracket; 21. rotating bracket; 22. gas injection sleeve; 23. rotating sleeve; 24. incomplete gear ring 1; 25. incomplete gear ring 2; 26. outer steering gear ring; 27. inner steering gear ring; 28. steering gear; 29. ​​sleeve; 30. rotating shaft; 31. spring roll; 32. rotating rod; 33. gear disc. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example 1: Reference Figure 1-Figure 2 A soft robot with nuclear equipment pipeline detection function includes an intermediate frame 1, two gas source barrels 2 fixedly installed on the intermediate frame 1, and an inflation module installed inside the gas source barrels 2, and both gas source barrels 2 are equipped with inflation drive sources.

[0046] The inflation module is an existing intelligent control device that can be remotely controlled to perform inflation and deflation operations. It will not be elaborated here. The inflation drive source is the power source for inflation and can be regarded as a device such as an air pump. It is electrically connected to the inflation module, and the inflation drive source can be controlled by the inflation module.

[0047] Embodiment 2: This embodiment is different from the embodiment 1 in that: Figure 1-Figure 5 The support part is installed on both sides of the middle frame 1. It is the body part of the soft robot and contacts the inner wall of the pipeline. It is used to keep the robot moving stably in the pipeline. The support part includes a support component and a steering component. The support component is used to support against the inner wall of the pipeline, and the steering part is used for the robot to move and turn in the pipeline.

[0048] The soft robot consists of two identical parts, one part controls forward movement and the other part controls backward movement. In order to facilitate the distinction and description, the two sections are named the forward section and the return section respectively. The two air source barrels 2 are used to supply air to the corresponding forward section and the return section respectively.

[0049] The support assembly includes a plurality of support plates 3 , and a correction spring 13 is fixedly installed between two adjacent support plates 3 and between a support plate 3 close to the intermediate frame 1 and the intermediate frame 1 .

[0050] The size of the support plate 3 can be adjusted according to the diameter of the pipe, and it is made of rubber material. When the soft robot moves, the support plate 3 will abut against the inner wall of the pipe, which can keep the soft robot moving stably in the pipe without bumps.

[0051] The function of the correction spring 13 is to keep the two support plates 3 parallel without force. The elastic force of the correction spring 13 is relatively small. At the bend of the pipeline, the pressure generated between the support plate 3 and the inner wall of the pipeline during inflation can cause the correction spring 13 to deform (bending deformation, non-elongation and shortening deformation). In this way, the soft robot can be quickly straightened in the straight pipeline after the turn.

[0052] The steering assembly includes a plurality of telescopic tubes 10 fixedly installed between a support plate 3 farthest from the intermediate frame 1 and the intermediate frame 1. Each telescopic tube 10 passes through the support plate 3 and is fixedly connected to the support plate 3. One end of each telescopic tube 10 close to the intermediate frame 1 is fixedly connected to a gas distributor 11. Each gas distributor 11 is fixedly connected to the corresponding gas source barrel 2, and the inflation module controls the opening and closing of the gas distributor 11 for inflation.

[0053] The inflation drive source is controlled by the inflation module to inject gas into part of the gas distributor 11, and the gas distributor 11 will fill the gas into the telescopic tube 10. As the gas in the telescopic tube 10 increases, the pressure in the telescopic tube 10 increases, and the length of the telescopic tube 10 increases. However, there is no gas injected into another part of the telescopic tube 10, and its length remains unchanged, which will cause a length difference, thereby driving the support plate 3 to deviate, thereby realizing the steering operation.

[0054] A plurality of control valves matching the corresponding gas distributors 11 are installed inside the gas source barrel 2, and the opening and closing of the control valves are controlled by the control module.

[0055] Embodiment 3: This embodiment is different from the technical solution of Embodiment 2 in that: Figure 1-Figure 3 , Figure 6-Figure 15 The driving part is installed at both ends of the two supporting parts, and is used to drive the soft robot to move in the pipeline, and the moving mode is creeping. The driving part includes a driving component and a crawling component. The driving component is used to drive the crawling component to operate. The crawling component is against the inner wall of the pipeline and crawls by friction. A probe 5 is fixedly installed at the end of the crawling component.

[0056] The probe 5 is not only used to detect the internal conditions of the pipeline, but also provides a pipeline path for the soft robot to guide the soft robot to crawl in the pipeline. The probe 5 is connected to the control module to transmit the internal conditions of the pipeline to the control module in real time for information collection and conversion.

[0057] The crawling assembly includes multiple walking rings 4, each walking ring 4 is rotatably mounted with multiple rotating sleeves 23, each rotating sleeve 23 is rotatably mounted with a telescopic crawling claw 7, two adjacent telescopic crawling claws 7 are vertically arranged, and an inflation mechanism and a rotating mechanism are installed between each telescopic crawling claw 7 and the corresponding walking ring 4.

[0058] The inflation mechanism includes an injection sleeve 22 which is rotatably connected to the end of the telescopic crawling claw 7, and an annular injection box 16 is fixedly installed on the walking ring 4. Each injection sleeve 22 is connected to the annular injection box 16, and two adjacent annular injection boxes 16 are connected through two injection pipes 15. An air distribution box 17 is fixedly installed between the two air injection pipes 15 on one side of the intermediate frame 1, and an air guide hose 12 is fixedly connected to the air distribution box 17, and the air guide hose 12 is connected to the corresponding air source barrel 2.

[0059] The gas in the gas source barrel 2 is injected into the gas distribution box 17, and then the gas is injected into the annular gas injection box 16 through the gas injection pipe 15 through the gas distribution box 17. The annular gas injection box 16 will inject the gas into the gas injection sleeve 22, and then inject it into the telescopic crawling claw 7 through the gas injection sleeve 22. The more gas is injected, the greater the extension of the telescopic crawling claw 7. It can not only provide more stable support in a constant pipeline, but also be applicable to pipelines of different diameters, and has a wider range of applications.

[0060] At the same time, by setting up a vertically arranged telescopic crawling claw 7, the colloid between the vertical telescopic crawling claws 7 is used to drive the overall movement in the pipeline. This allows the soft robot to turn within a smaller turning radius and is suitable for pipelines of more different radii. The alternating reciprocating rotation crawling can effectively improve the stability of the soft robot's movement in the pipeline.

[0061] The rotating mechanism includes a fixed bracket 20 fixedly mounted on the annular gas injection box 16, a sleeve 29 fixedly mounted on the fixed bracket 20, a rotating shaft 30 rotatably mounted inside the sleeve 29, the rotating shaft 30 extends out of the sleeve 29, an incomplete gear ring 25 rotatably mounted on the sleeve 29, an outer steering gear ring 26 fixedly mounted on the incomplete gear ring 25, a steering gear 28 meshing with the outer steering gear ring 26 rotatably mounted on the fixed bracket 20, and two adjacent rotating shafts 30 are connected by a universal coupling 19;

[0062] A rotating bracket 21 is fixedly installed on the rotating shaft 30, an incomplete gear ring 24 is fixedly installed on the rotating bracket 21, an inner steering gear ring 27 meshing with the steering gear 28 is fixedly installed on the incomplete gear ring 24, and a rotating rod 32 is fixedly installed on one end of each telescopic crawling claw 7 close to the corresponding air injection sleeve 22, and each rotating rod 32 is fixedly installed with a toothed disk 33 that matches the incomplete gear ring 1 24 and the incomplete gear ring 2 25, and the rotating rod 32 extends into the interior of the air injection sleeve 22.

[0063] The rotation of the universal coupling 19 will drive the rotating shaft 30 to rotate, and the rotation of the rotating shaft 30 will drive the incomplete gear ring 24 to rotate, and the rotation of the incomplete gear ring 24 will drive the gear plate 33 to rotate, thereby driving the multiple telescopic crawling claws 7 to rotate (such as Fig.12 As shown, the incomplete tooth ring 1 24 and the incomplete tooth ring 2 25 are both intermittent tooth designs, and the spacing is the spacing between two adjacent telescopic crawling claws 7), and the toothed disc 33 on the other part of the telescopic crawling claw 7 does not mesh with the incomplete tooth ring 1 24, so it will not rotate, thus achieving indirect operation;

[0064] The rotation of the incomplete gear ring 24 will drive the inner steering gear ring 27 fixedly connected to it to rotate. The rotation of the inner steering gear ring 27 drives the steering gear 28 meshing with it to rotate, thereby driving the outer steering gear ring 26 to rotate. The rotation of the outer steering gear ring 26 drives the incomplete gear ring 25 to rotate in the opposite direction to the rotation direction of the incomplete gear ring 1 24. The incomplete gear ring 1 24 and the incomplete gear ring 2 25 are arranged alternately, so the incomplete gear ring 2 25 will mesh with another part of the gear disc 33, driving the other part of the gear disc 33 to rotate in the opposite direction for reset. The alternating reciprocating rotation crawling can effectively improve the stability of the soft robot moving in the pipeline (because the telescopic crawling claw 7 is against the inner wall of the pipeline, the walking ring 4, the fixed bracket 20 and the sleeve 29 will not rotate and can be regarded as fixed).

[0065] The telescopic crawling claw 7 is divided into an injection section and a telescopic section. The injection section and the telescopic section are connected by sliding. The injection section is hollow in design. A spring roll 31 is fixedly installed between the injection section and the corresponding rotating sleeve 23. The injection section and the telescopic section are connected by a sliding seal, which is an existing sealing technology and will not be elaborated here. The purpose of designing the spring roll 31 is to assist the telescopic crawling claw 7 in resetting, so that the telescopic crawling claw 7 can be reset more quickly during gas recovery.

[0066] The end of the telescopic section of each telescopic crawling claw 7 adopts a hemispherical design, and the telescopic section is rotatably installed with multiple rubber rollers; the purpose of the hemispherical design is to reduce wear. The entire telescopic crawling claw 7 is made of rubber material, and the function of the rubber wheel is to reduce the friction between the telescopic crawling claw 7 and the inner wall of the pipe when it moves, thereby protecting the telescopic crawling claw 7.

[0067] The driving assembly includes a rotating cylinder 14 fixedly mounted on the support plate 3 closest to the intermediate frame 1 , the rotating cylinder 14 is fixedly connected to the universal coupling 19 closest to the intermediate frame 1 , and the rotating cylinder 14 is connected to the inflation drive source inside the corresponding air source barrel 2 .

[0068] The inflation drive source in the gas source barrel 2 will fill the gas in the gas source barrel 2 into the rotating cylinder 14, and the universal joint 19 will be driven to rotate by the rotating cylinder 14. The purpose of using the rotating cylinder 14 is to avoid the use of electrical equipment, and it has the advantage of protecting the liquid and gas inside the pipeline.

[0069] A telescopic cover 8 is fixedly installed between two adjacent support plates 3, a telescopic cover 2 9 is fixedly installed between two adjacent walking rings 4, a fixed plate 18 is fixedly installed on the walking ring 4 on the side farthest from the intermediate frame 1, the fixed plate 18 is fixedly connected to the probe 5, and a transparent cover body 6 that matches the probe 5 is fixedly installed on the fixed plate 18.

[0070] The telescopic cover 1 8 and the telescopic cover 2 9 are both made of rubber material, which not only protects the soft robot, but also provides a buffer for the crawling of the soft robot and improves the stability of the soft robot when moving.

[0071] The specific operation steps of this device are as follows:

[0072] First, a suitable support plate 3 is selected according to the diameter of the pipeline, then the soft robot is placed inside the pipeline, and then the probe 5 is turned on and the inflation module is operated by remote control.

[0073] Movement of the soft robot: the gas in the gas source barrel 2 is injected into the gas distribution box 17, and then the gas is injected into the annular gas injection box 16 through the gas injection pipe 15 through the gas distribution box 17. The annular gas injection box 16 will inject the gas into the gas injection sleeve 22, and then inject it into the telescopic crawling claw 7 through the gas injection sleeve 22. The more gas is injected, the greater the extension of the telescopic crawling claw 7 is, so that the telescopic section of the telescopic crawling claw 7 is against the inner wall of the pipeline;

[0074] Then, the gas driving source in the gas source barrel 2 will charge the gas in the gas source barrel 2 into the rotating cylinder 14, and the rotating cylinder 14 will drive the universal coupling 19 to rotate, and the rotation of the universal coupling 19 will drive the rotating shaft 30 to rotate, and the rotation of the rotating shaft 30 will drive the incomplete gear ring 24 to rotate, and the rotation of the incomplete gear ring 24 will drive the gear disc 33 to rotate, thereby driving the multiple telescopic crawling claws 7 to rotate;

[0075] The rotation of the incomplete gear ring 1 24 will drive the inner steering gear ring 27 fixedly connected thereto to rotate. The rotation of the inner steering gear ring 27 drives the steering gear 28 meshing therewith to rotate, thereby driving the outer steering gear ring 26 to rotate. The rotation of the outer steering gear ring 26 drives the incomplete gear ring 2 25 to rotate in the opposite direction to the rotation direction of the incomplete gear ring 1 24. The incomplete gear ring 1 24 and the incomplete gear ring 2 25 are arranged alternately, so the incomplete gear ring 2 25 will mesh with another part of the gear disc 33, driving the other part of the gear disc 33 to rotate in the opposite direction for resetting, adopting alternating reciprocating rotation creeping.

[0076] Steering of the soft robot: The inflation drive source is controlled by the inflation module to inject gas into part of the gas distributor 11. The gas distributor 11 will fill the gas into the telescopic tube 10. As the gas in the telescopic tube 10 increases, the pressure in the telescopic tube 10 will increase, and the length of the telescopic tube 10 will increase. However, there is no gas injected into another part of the telescopic tube 10, and its length remains unchanged, which will cause a length difference, thereby driving the support plate 3 to deviate, thereby realizing the steering operation.

[0077] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A soft robot with nuclear equipment pipeline detection function, comprising an intermediate frame (1), characterized in that: It also comprises two gas source barrels (2) fixedly mounted on the intermediate frame (1) and an inflation module mounted inside the gas source barrels (2), wherein both gas source barrels (2) are equipped with an inflation drive source; The support part is installed on both sides of the intermediate frame (1), is the body part of the soft robot, contacts the inner wall of the pipeline, and is used to keep the robot moving stably in the pipeline. The support part includes a support component and a steering component. The support component is used to support against the inner wall of the pipeline, and the steering part is used for the robot to move and turn in the pipeline. A driving part, installed at both ends of the two supporting parts, used to drive the soft robot to move in the pipeline, and the movement mode is creeping, the driving part includes a driving component and a crawling component, the driving component is used to drive the crawling component to operate, the crawling component abuts against the inner wall of the pipeline, and crawls by friction, and a probe (5) is fixedly installed at the end of the crawling component; The crawling assembly comprises a plurality of walking rings (4), each of the walking rings (4) being rotatably mounted with a plurality of rotating sleeves (23), each of the rotating sleeves (23) being rotatably mounted with a telescopic crawling claw (7), two adjacent telescopic crawling claws (7) being arranged vertically, and an inflation mechanism and a rotating mechanism being mounted between each telescopic crawling claw (7) and the corresponding walking ring (4); The inflation mechanism comprises an air injection sleeve (22) rotatably connected to the end of the telescopic crawling claw (7); an annular air injection box (16) is fixedly installed on the walking ring (4); each of the air injection sleeves (22) is connected to the annular air injection box (16); two adjacent annular air injection boxes (16) are connected via two air injection pipes (15); a gas distribution box (17) is fixedly installed between the two air injection pipes (15) on one side of the intermediate frame (1); an air guide hose (12) is fixedly connected to the air distribution box (17); and the air guide hose (12) is connected to the corresponding air source barrel (2); The rotating mechanism comprises a fixed bracket (20) fixedly mounted on the annular gas injection box (16), a sleeve (29) fixedly mounted on the fixed bracket (20), a rotating shaft (30) rotatably mounted inside the sleeve (29), the rotating shaft (30) extending out of the sleeve (29), an incomplete gear ring 2 (25) rotatably mounted on the sleeve (29), an outer steering gear ring (26) fixedly mounted on the incomplete gear ring 2 (25), a steering gear (28) meshing with the outer steering gear ring (26) rotatably mounted on the fixed bracket (20), and two adjacent rotating shafts (30) are connected via a universal coupling (19); A rotating bracket (21) is fixedly mounted on the rotating shaft (30), an incomplete gear ring 1 (24) is fixedly mounted on the rotating bracket (21), an inner steering gear ring (27) meshing with a steering gear (28) is fixedly mounted on the incomplete gear ring 1 (24), a rotating rod (32) is fixedly mounted on one end of each telescopic crawling claw (7) close to the corresponding air injection sleeve (22), each rotating rod (32) is fixedly mounted with a toothed disc (33) matching with the incomplete gear ring 1 (24) and the incomplete gear ring 2 (25), and the rotating rod (32) extends into the interior of the air injection sleeve (22).

2. The soft robot with nuclear equipment pipeline detection function according to claim 1 is characterized in that: The support assembly comprises a plurality of support plates (3), and a correction spring (13) is fixedly installed between two adjacent support plates (3) and between a support plate (3) close to the intermediate frame (1) and the intermediate frame (1).

3. The soft robot with nuclear equipment pipeline detection function according to claim 1 is characterized in that: The steering assembly comprises a plurality of telescopic tubes (10) fixedly mounted between a support plate (3) farthest from the intermediate frame (1) and the intermediate frame (1); each of the telescopic tubes (10) penetrates the support plate (3) and is fixedly connected to the support plate (3); one end of each of the telescopic tubes (10) close to the intermediate frame (1) is fixedly connected to a gas distributor (11); each of the gas distributors (11) is fixedly connected to a corresponding gas source barrel (2); and the inflation module controls the gas distributor (11) to open and close inflation.

4. The soft robot with nuclear equipment pipeline detection function according to claim 1, characterized in that: The telescopic crawling claw (7) is divided into an air injection section and a telescopic section. The air injection section and the telescopic section are slidably connected. The air injection section is hollow in design. A spring coil (31) is fixedly installed between the air injection section and the corresponding rotating sleeve (23).

5. The soft robot with nuclear equipment pipeline detection function according to claim 4 is characterized in that: The end of the telescopic section of each telescopic crawling claw (7) is of hemispherical design, and a plurality of rubber rollers are rotatably mounted on the telescopic section.

6. The soft robot with nuclear equipment pipeline detection function according to claim 1, characterized in that: The drive assembly comprises a rotary cylinder (14) fixedly mounted on a support plate (3) on a side closest to the intermediate frame (1), the rotary cylinder (14) being fixedly connected to a universal coupling (19) closest to the intermediate frame (1), and the rotary cylinder (14) being connected to an inflation drive source inside a corresponding air source barrel (2).

7. The soft robot with nuclear equipment pipeline detection function according to claim 6 is characterized in that: A telescopic cover (8) is fixedly installed between two adjacent support plates (3), a telescopic cover (9) is fixedly installed between two adjacent walking rings (4), a fixed plate (18) is fixedly installed on the walking ring (4) on the side farthest from the intermediate frame (1), the fixed plate (18) is fixedly connected to the probe (5), and a transparent cover body (6) matching the probe (5) is fixedly installed on the fixed plate (18).

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