Soft robot for narrow space detection

Abstract

The invention discloses a flexible detection robot suitable for narrow space detection, which adopts a three-section structural design and comprises a guide section, a support section and an extension section which are connected in sequence, each section is of a multi-cavity pneumatic structure and is internally provided with a plurality of pneumatic devices, and the number of the pneumatic devices of the support section is greater than that of the guide section and the extension section. The guide section and the extension section are connected with an inflating device for controlling the pneumatic device to stretch, and electromagnets are arranged at the outer ends of the guide section and the extension section. According to the invention, stretching and bending of the chamber are realized by adjusting the air pressure introduced into the hose. Electromagnets are installed at the two ends of the robot and can be attracted to the metal surface, and the wriggling walking capacity is achieved. A wired camera is arranged at the front end of the guide section, so that signal stability in a closed environment is ensured, and real-time image acquisition is realized. Through pneumatic driving and flexible structure design, the flexibility and load capacity of the robot in a narrow space are remarkably improved, and the robot is suitable for multiple fields such as industrial manufacturing and rescue detection.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a soft robot used for narrow space detection. Background Art

[0002] To ensure the normal operation of industrial equipment, regular inspection and maintenance are necessary. Robot inspection technology has become an important means to meet the inspection needs of complex industrial environments due to its high efficiency and adaptability. There are various types of existing inspection robots, and their respective designs are optimized for specific application scenarios. However, in small and irregular spaces, these robots are difficult to balance flexibility and stability, and some robots are large in size, which limits their use in narrow spaces. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a soft robot for narrow space detection, which solves the technical problem that the existing detection equipment cannot work efficiently in a narrow space by improving the flexibility, load capacity and reliability of detection.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a soft robot for narrow space detection, adopting a three-section structural design, including a guide section, a support section and an extension section connected in sequence, each section is a multi-chamber pneumatic structure and is provided with a plurality of pneumatic devices inside, the number of pneumatic devices in the support section is more than that in the guide section and the extension section, the guide section and the extension section are connected with an inflation device for controlling the extension and retraction of the pneumatic device, and the outer ends of the guide section and the extension section are provided with electromagnets.

[0005] The guide section, support section, and extension section have the functions of direction control, structural support, and propulsion movement. The multi-chamber pneumatic structure is a cylindrical pneumatic chamber. Different air pressures are introduced into the pneumatic chamber to achieve the expansion and contraction of the pneumatic device. The electromagnet helps the robot to be adsorbed in the working metal environment and provides the ability to creep forward. There are two electromagnets, which are installed at both ends of the robot. The robot creeps forward by controlling the electromagnet.

[0006] Furthermore, the pneumatic device comprises a pneumatic hose, on which a woven mesh of a gourd-shaped structure is wound, which can effectively constrain the shape of the pneumatic hose so that the pneumatic hose can stretch axially when inflated.

[0007] Furthermore, both outer ends of the extension section and the guide section are provided with end connection plates for mounting the starting hose.

[0008] Furthermore, the supporting section includes a connecting plate 1 and a connecting plate 3 which are respectively connected to the extension section and the guide section, and an inflation hole is provided on the connecting plate 1 and the connecting plate 3, and an inflation hose connected to the inflation device is provided at the inflation hole, and a sealing column for connecting a pneumatic hose is provided on the end connecting plate, the connecting plate 1 and the connecting plate 3.

[0009] Furthermore, the sealing columns on both sides of the connecting disk 1 and the connecting disk 3 are respectively a sealing column with holes and a sealing column without holes. Airways are arranged inside the connecting disk 1 and the connecting disk 3, and ventilation of the inflation holes and the sealing columns with holes is achieved through the airways, so that multiple pneumatic hoses can be connected in parallel.

[0010] Furthermore, the non-porous sealing column and the inflation hole of the connecting disk one are located on the side connected to the extension section, and the porous sealing column is located on the side connected to the support section; the non-porous sealing column and the inflation hole of the connecting disk three are located on the side connected to the support section, and the porous sealing column is located on the side connected to the guide section.

[0011] Furthermore, the support section adopts a multi-section design structure, including a plurality of connection discs 2 arranged between connection discs 1 and 3, and corresponding perforated sealing columns are arranged on both sides of the connection discs 2 for connecting with pneumatic hoses. The support section adopts a three-section design and each section is composed of four pneumatic hoses, and there are four perforated sealing columns on both sides of the connection disc 2 to facilitate mutual ventilation of the pneumatic hoses. This multi-section design prevents the robot from twisting during inflation and improves the supporting force.

[0012] Furthermore, a plurality of grooves are provided on the sealing column to facilitate fixed connection with the pneumatic hose. There are two grooves on the sealing column on each receiving plate, and the pneumatic hose is fixed to the sealing column along the grooves using a cable tie to ensure the air tightness of the pneumatic hose, and then the inflation and deflation of the inflation hole are controlled by controlling the proportional valve switch to achieve axial extension of the pneumatic hose.

[0013] Furthermore, the guide section is provided with a wired camera, which is located in the guide section and is used to take pictures of the desired position and return the pictures to the host computer in real time. The guide section adopts a one-section design and is composed of three pneumatic hoses. The camera is moved to the specified position by inflating and deflating the pneumatic hoses.

[0014] In summary, the present invention adopts a multi-chamber pneumatic structure, and realizes the expansion and contraction and bending movement of the chamber by adjusting the air pressure introduced into the hose, thereby realizing the creeping movement of the robot. Electromagnets are installed at both ends of the robot, which can be adsorbed on the metal surface to realize creeping walking ability. The front end of the guide section is equipped with a wired camera to ensure signal stability in a closed environment and realize real-time image acquisition. The control system adopts a single-chip microcomputer, combined with a vector control mode, to improve the robot's motion accuracy in a complex environment. Through pneumatic drive and flexible structure design, the present invention can enable the robot to flexibly move and detect in a small space, significantly improving the flexibility and load capacity of the robot in a narrow space, and is suitable for industrial manufacturing, aerospace, rescue detection and other fields. The use of an air-driven design reduces mechanical complexity and improves the energy utilization of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a soft robot according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of the extension section of an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the support section structure of an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of the guide section of an embodiment of the present invention;

[0019] Figure 5 It is a schematic diagram of the structure of a pneumatic hose;

[0020] Figure 6 It is a schematic diagram of the structure of each connection plate (end connection plate, connection plate 1, connection plate 2, connection plate 3);

[0021] Figure 7 It is a schematic diagram of the woven net of the uninflated gourd cover structure;

[0022] Figure 8 A schematic diagram of a woven net for an inflatable gourd cover structure;

[0023] Fig. 9 Schematic diagram of the process principle for controlling soft robots.

[0024] Labeling instructions: 1. Extension section; 2. Support section; 3. Guide section; 4. End connecting plate; 5. Woven mesh of gourd cover structure; 6. Connecting plate one; 7. Electromagnet; 8. Air supply hose; 9. Connecting plate two; 10. Connecting plate three; 11. Pneumatic hose. DETAILED DESCRIPTION

[0025] Reference Figures 1 to 9A specific implementation of a soft robot for narrow space detection according to the present invention is further described.

[0026] A soft robot for narrow space detection adopts a three-section structural design, including a guide section, a support section and an extension section connected in sequence, each section is a multi-chamber pneumatic structure and is provided with a plurality of pneumatic devices inside, the support section has more pneumatic devices than the guide section and the extension section, the guide section and the extension section are connected with an inflation device for controlling the extension and retraction of the pneumatic device, and the outer ends of the guide section and the extension section are provided with electromagnets.

[0027] The guide section, support section, and extension section have the functions of direction control, structural support, and propulsion movement. The multi-chamber pneumatic structure is a cylindrical pneumatic chamber. Different air pressures are introduced into the pneumatic chamber to achieve the expansion and contraction of the pneumatic device. The electromagnet helps the robot to be adsorbed in the working metal environment and provides the ability to creep forward. There are two electromagnets, which are installed at both ends of the robot. The robot creeps forward by controlling the electromagnet.

[0028] Preferably, in this embodiment, the pneumatic device comprises a pneumatic hose, on which a woven mesh of a gourd-shaped structure is wound, which can effectively constrain the shape of the pneumatic hose so that the pneumatic hose can stretch axially when inflated.

[0029] Furthermore, both outer ends of the extension section and the guide section are provided with end connection plates for mounting the starting hose.

[0030] Preferably, in this embodiment, the supporting section includes a connecting plate 1 and a connecting plate 3 respectively connected to the extension section and the guide section, and an inflation hole is provided on the connecting plate 1 and the connecting plate 3, and an inflation hose connected to the inflation device is provided at the inflation hole, and a sealing column for connecting a pneumatic hose is provided on the end connecting plate, the connecting plate 1 and the connecting plate 3.

[0031] Preferably in this embodiment, the sealing columns on both sides of the connecting disk 1 and the connecting disk 3 are respectively a sealing column with holes and a sealing column without holes, and air passages are arranged inside the connecting disk 1 and the connecting disk 3, and ventilation of the inflation holes and the sealing columns with holes is achieved through the air passages, and multiple pneumatic hoses can be connected in parallel.

[0032] Furthermore, the non-porous sealing column and the inflation hole of the connecting disk one are located on the side connected to the extension section, and the porous sealing column is located on the side connected to the support section; the non-porous sealing column and the inflation hole of the connecting disk three are located on the side connected to the support section, and the porous sealing column is located on the side connected to the guide section.

[0033] In this embodiment, the support section preferably adopts a multi-stage design structure, including a plurality of connection disks 2 arranged between connection disks 1 and 3, and corresponding perforated sealing columns are arranged on both sides of the connection disks 2 for connecting with pneumatic hoses. The support section adopts a three-stage design and each section is composed of four pneumatic hoses, and there are four perforated sealing columns on both sides of the connection disk 2 to facilitate mutual ventilation of the pneumatic hoses. The multi-stage design prevents the robot from twisting during inflation and improves the supporting force.

[0034] In this embodiment, the sealing column is preferably provided with a plurality of grooves to facilitate fixed connection with the pneumatic hose. Each receiving plate has two grooves on the sealing column, and the pneumatic hose is fixed to the sealing column along the grooves using a cable tie to ensure the air tightness of the pneumatic hose, and then the inflation and deflation of the inflation hole are controlled by controlling the proportional valve switch to achieve axial extension of the pneumatic hose.

[0035] In this embodiment, the guide section is preferably provided with a wired camera, which is located in the guide section and is used to take pictures of the desired position and return the pictures to the host computer in real time. The wired camera is used to stabilize the signal in a closed environment and take the desired pictures. The guide section adopts a one-section design and is composed of three pneumatic hoses. The camera is moved to the specified position by inflating and deflating the pneumatic hose.

[0036] The pneumatic hoses of the multi-chamber pneumatic structure are connected and installed through 3D printed connection plates. There are three types of connection plates, namely, connection plate 1 between the extension section and the support section, connection plate 2 between the support sections, and connection plate 3 between the support section and the guide section. There are airways inside the connection plates to connect multiple pneumatic hoses in parallel to achieve synchronous and asynchronous stretching of the pneumatic hoses.

[0037] The extension section is controlled by three pneumatic hoses in parallel, and the robot is extended by controlling the inflation and deflation of the pneumatic hoses. The inflation device is connected to the control system, and the control system uses vector control mode to increase the robot's motion accuracy in complex environments.

[0038] like Figure 1 As shown, the soft robot in the example of the present application comprises an extension section 1, a support section 2, and a guide section 3, wherein the extension section comprises an end connection disk 4, an electromagnet is arranged on the end connection disk, and a pneumatic hose 11 and a woven net 5 of a gourd-shaped structure are installed on the inner side of the end connection disk; the support section 2 comprises a connection disk 1 6 and a connection disk 3 10 for respectively connecting the extension section 1 and the guide section 3, a pneumatic hose and a woven net 5 of a gourd-shaped structure are arranged between the connection disk 1 6 and the connection disk 3 10, the connection disk 1 6 is connected to the inflation hose, and a plurality of connection disks 2 are arranged in the support section for connecting the pneumatic hose; the guide section 3 comprises a pneumatic hose connected to the connection disk 3 10, a woven net 5 of a gourd-shaped structure on the pneumatic hose, and the end connection disk 4, an electromagnet 7, and an inflation hose 8 is connected to the connection disk 10.

[0039] like Figure 5 As shown, the inner diameter of the pneumatic hose 11 is 50 mm, the hardness of the pneumatic hose 11 is 40, and the material of the pneumatic hose 11 is silicone rubber. The homemade gourd-shaped braided mesh 5 outside the pneumatic hose 11 is made of natural fiber, and the braiding angle is 57.3°. Both ends of the pneumatic hose 11 are connected to the sealing column of the connecting plate, which is connected to the inflation hole, and the diameter of the air hole is 3 mm, and the diameter of the hole on the sealing column is 3 mm.

[0040] like Figure 7 The figure shows the state of the woven net 5 of the gourd cover structure when the pneumatic hose 11 is not inflated. The woven net 5 is in a folded state and presents a gourd shape. Figure 8 The woven net 5 of the gourd-shaped structure is in a state after the pneumatic hose 11 is inflated. The woven net 5 is stretched along with the axial extension of the pneumatic hose 11, and the folded part of the woven net 5 is straightened.

[0041] like Figure 6 As shown, there are two grooves on the sealing column on the connection plate, and the pneumatic hose 11 is fixed to the sealing column along the grooves using a cable tie to ensure the air tightness of the pneumatic hose. Then, the proportional valve switch is controlled to control the inflation and deflation of the inflation hole to achieve the axial extension of the pneumatic hose 11.

[0042] The connection plate 1 6 has three non-porous sealing columns, four inflation holes and four perforated sealing columns, and three and four pneumatic hoses are connected on both sides respectively. The connection plate 2 9 has four perforated sealing columns on both sides, and four pneumatic hoses are connected on both sides respectively. The connection plate 3 10 has four non-porous sealing columns, three inflation holes and three perforated sealing columns, and four and three pneumatic hoses are connected on both sides respectively. The terminal connection plate 1 4 has three non-porous sealing columns, no inflation holes, and three pneumatic hoses 11 on one side of the sealing column.

[0043] Air passages are designed inside the connection disk 1 6 , the connection disk 2 9 , and the connection disk 3 10 , and the gas supply hose is connected to the inflation hole on the connection disk. When the gas supply hose 8 delivers gas, the gas will flow along the internal air passage of the connection disk to achieve inflation of the corresponding air passage hose 11 .

[0044] Both end connection plates 4 contain electromagnets 7. The function of the electromagnets 7 is, on the one hand, to adsorb the robot to the metal working environment. On the other hand, by controlling the adsorption of the two electromagnets 7 and the axial expansion and contraction of the pneumatic hose 11, the robot can move in the metal environment.

[0045] like Fig. 9As shown in the figure, the working principle of the control of the present invention is as follows: Initialize the output air pressure of the proportional valve. The handle sends a signal, and the signal sent is detected. The ADC of the controller samples the signal of the handle, and then converts the sampled signal into a corresponding air pressure value. The controller sends a signal through the DAC to control the on / off of the proportional valve. When air is introduced into the pneumatic hose to generate air pressure, the pneumatic hose expands and contracts, and the robot moves. After the robot moves to the specified position, it waits for the next signal sent by the handle.

[0046] In summary, the present invention has a simple structure, can work flexibly and move in a narrow environment, and has a strong load capacity. It has great advantages in the inspection of narrow pipelines and mechanical equipment, and has a wide range of applications in many fields such as the industrial manufacturing field, the aerospace field, the rescue and detection field, etc.

[0047] The above are only the preferred embodiments of the present invention. The protection scope of the invention is not limited to the above embodiments. All technical solutions falling within the inventive concept belong to the protection scope of the invention. It should be noted that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the invention should also be regarded as within the protection scope of the invention.

Claims

1. A soft robot for narrow space detection, characterized in that: A three-section structural design is adopted, including a guide section, a support section and an extension section which are connected in sequence. Each section is a multi-chamber pneumatic structure and is provided with a plurality of pneumatic devices inside. The number of pneumatic devices in the support section is more than that in the guide section and the extension section. The guide section and the extension section are connected with an inflation device for controlling the extension and retraction of the pneumatic device. Electromagnets are provided at the outer ends of the guide section and the extension section.

2. A soft robot for narrow space detection according to claim 1, characterized in that: The pneumatic device comprises a pneumatic hose, on which a woven net of a gourd-shaped structure is wound, which can effectively constrain the shape of the pneumatic hose so that the pneumatic hose can be stretched axially when inflated.

3. A soft robot for narrow space detection according to claim 2, characterized in that: The outer ends of both sides of the extension section and the guide section are provided with end connection plates for installing the starting hose.

4. The soft robot for narrow space detection according to claim 3, characterized in that: The supporting section includes a connecting plate 1 and a connecting plate 3 which are respectively connected to the extension section and the guide section. The connecting plate 1 and the connecting plate 3 are provided with inflation holes. An inflation hose connected to the inflation device is provided at the inflation hole. The end connecting plate, the connecting plate 1 and the connecting plate 3 are all provided with sealing columns for connecting pneumatic hoses.

5. The soft robot for narrow space detection according to claim 4, characterized in that: The sealing columns on both sides of the connecting disk 1 and the connecting disk 3 are respectively a sealing column with holes and a sealing column without holes. Air passages are arranged inside the connecting disk 1 and the connecting disk 3. Ventilation of the inflation holes and the sealing columns with holes is achieved through the air passages, and multiple pneumatic hoses can be connected in parallel.

6. The soft robot for narrow space detection according to claim 5, characterized in that: The non-porous sealing column and the inflation hole of the connecting disk one are located on the side connected to the extension section, and the porous sealing column is located on the side connected to the support section; the non-porous sealing column and the inflation hole of the connecting disk three are located on the side connected to the support section, and the porous sealing column is located on the side connected to the guide section.

7. The soft robot for narrow space detection according to claim 3, characterized in that: The support section adopts a multi-section design structure, including a plurality of connection disks 2 arranged between connection disks 1 and 3, and corresponding perforated sealing columns are arranged on both sides of the connection disks 2 for connecting with pneumatic hoses.

8. The soft robot for narrow space detection according to claim 4, characterized in that: A plurality of grooves are arranged on the sealing column to facilitate fixed connection with the pneumatic hose.

9. The soft robot for narrow space detection according to claim 1, characterized in that: The guide section is provided with a wired camera.

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