Peristaltic pneumatically-driven high-level pipeline unblocking and wall surface cleaning robot and gait planning method

Abstract

The invention belongs to the technical field of high-radioactivity pipeline cleaning, and particularly relates to a peristaltic pneumatically-driven high-radioactivity pipeline unblocking and wall surface cleaning robot and a gait planning method. Comprising a robot body, a pneumatic percussion drill and a pipeline endoscope, and the pipeline endoscope and the pneumatic percussion drill are arranged at the head of the robot body. The robot has the beneficial effects that through modular design and a three-supporting-foot structure, the adaptability of the robot to pipelines with different diameters and curvatures is achieved, and the stability of the robot in a complex environment is enhanced; through pneumatic driving and peristaltic advancing modes, stable operation of the robot in a high-radioactivity environment is ensured, and the fault problem of motor driving is avoided; through the design of the replaceable drill bit and the wall surface scraper, the efficient blockage clearing and wall surface cleaning functions are achieved, and the wall surface scraper is specially designed; and through an air pressure remote monitoring feedback mechanism, the state of the robot is monitored in real time, and the safety and reliability of operation are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of high - radioactive pipeline cleaning, and particularly relates to a high - radiation pipeline clog - clearing and wall - cleaning robot driven by peristaltic pneumatic and a gait planning method. Background Art

[0002] At present, the cleaning of high - radioactive pipelines mainly relies on manual operation or simple mechanical devices. Domestically, a representative of pipeline robots in a radioactive environment is the medium - sized pipeline foreign object exploration robot jointly developed by Tianjin University and China National Nuclear Corporation Research Institute. Its mechanical structure adopts a modular design and has four modules: camera, scanner, drive, and dredging. Abroad, a representative is a pipeline sampling robot designed by the Technical University of Liberec in the Czech Republic for decommissioned nuclear facilities. The robot uses an eight - wheel mobile platform, and the structure is an inclined wheel with self - stabilizing ability.

[0003] At present, the radiation - resistant pipeline robots developed at home and abroad mainly focus on low - radiation environments and cannot be used in high - radiation environments. Motor drives are vulnerable to radiation in high - radioactive environments, resulting in a high failure rate of equipment; the mechanical structure is complex and difficult to adapt to pipelines with different diameters and curvatures; there is a lack of an efficient clog - clearing function and cannot handle serious pipeline blockage problems; at the same time, there are many gaps on the surface of the robot, and during pipeline maintenance operations, pollutants are easily adhered to the surface of the robot, causing secondary pollution problems and making it difficult to meet the requirements of on - site operations. Summary of the Invention

[0004] The purpose of the present invention is to provide a high - radiation pipeline clog - clearing and wall - cleaning robot driven by peristaltic pneumatic and a gait planning method, which solves the following problems existing in the prior art: poor stability of mechanical equipment in high - radioactive environments, electrical components cannot withstand high radiation doses, it is difficult to adapt to complex pipelines with different diameters and curvatures, lack of efficient clog - clearing and wall - cleaning functions, and many pores on the surface are not convenient for cleaning and decontamination.

[0005] The technical solution of the present invention is as follows: A high - radiation pipeline clog - clearing and wall - cleaning robot driven by peristaltic pneumatic includes a robot main body, a pneumatic impact drill, and a pipeline endoscope. The pipeline endoscope and the pneumatic impact drill are arranged at the head of the robot main body.

[0006] The robot main body includes three radial expansion drivers and two axial telescopic drivers. The three radial expansion drivers are respectively connected to each other through an axial telescopic driver to form the robot main body, and the three - section radial expansion drivers are arranged staggeredly.

[0007] The described radial expansion driver adopts a three-leg structure, including three support legs. The outer sides of the support legs are equipped with wall scrapers for cleaning the attachments on the inner wall of the pipeline. Each single support leg is internally provided with two pneumatic units. The two pneumatic units are connected and fixed by a radial expansion cage to prevent torsion during telescoping. Outside the two pneumatic units, there is a radial telescopic housing connected to the radial expansion main body. The radial expansion main body is an equilateral triangle structure, and one support leg is installed on each side. The radial telescopic framework cooperates with the radial expansion main body to improve the anti-bending performance of the radial support legs.

[0008] The described wall scraper is installed on the support leg. The wall scraper has a spiral drainage groove structure, and the material of the wall scraper is copper.

[0009] The described axial telescopic driver includes three pneumatic units with an included angle of 120°. The three pneumatic units can be controlled independently. By filling different air pressures, the axial telescopic driver can be controlled to bend a certain angle to enable the robot to complete a turning action. The three pneumatic units are connected and fixed by three axial telescopic cages to maintain the relative positions of the three pneumatic units and prevent torsion during telescoping.

[0010] The described pneumatic impact drill is used for cleaning hard blockages and includes a pneumatic impact drill bit, an impact drill housing, a piston, and a piston cover. The impact drill housing is a cylindrical structure with a piston sleeved in the middle. One end of the piston is connected to the pneumatic impact drill bit, and the pneumatic impact drill bit extends out of the end face of the impact drill housing. The piston cover is connected to the impact drill housing to limit the piston within the impact drill housing.

[0011] A gait planning method for a high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatics includes:

[0012] Straight-line walking gait: After the robot enters the pipeline, it will crawl in the vertical pipeline. At this time, the three radial expansion drivers are responsible for providing sufficient anchoring force for the support of the robot on the inner wall of the pipeline, and the two axial telescopic drivers enable the robot to obtain displacement in the front and back directions;

[0013] Cornering gait: When the robot performs a turning gait, with the help of the first and second telescopic drives, a total of six independently controlled pneumatic telescopic units, the combined control of the robot's cornering angle is achieved by introducing gases of different pressures into each pneumatic unit, thereby realizing a full-angle steering function. That is, when cornering, the head radial drive contracts, and the first telescopic drive deviates from the appropriate angle through the air pressure combination of each unit, while pushing the head radial drive forward to extend. After reaching the appropriate position of the bottom bend, the head radial drive expands and supports, and the middle radial drive contracts. The first and second telescopic drives use the combined air pressure of the units to adjust the bending angle of the middle drive. After the middle drive moves to the appropriate position, it starts to inflate and support. Finally, after the tail radial drive contracts, it is driven by the second telescopic drive to the specified position and then expand and support. At this time, the robot has completed the cornering gait process. To pass through bends of different angles and curvatures, it only needs to adjust the air pressure and then adjust the deviation angle of the telescopic drive. Repeat the cornering gait to pass through the bend.

[0014] Step hole gait: The robot's gait when passing through a stepped hole is similar to the gait planning for straight-line travel. The head radial expansion drive shrinks to the smallest size, the middle and tail radial drives expand and support in the pipe, and the first telescopic drive stretches to the longest and pushes the contracted head radial drive to expand and support in the pipe; after the support is completed, the middle radial drive shrinks, the first telescopic drive is evacuated and contracted, and the second telescopic drive is synchronously inflated and extended to the maximum stroke, pushing the middle radial drive into the stepped hole, and then the radial expansion drive expands and supports, and the entire robot completes the first leg-changing travel process. Continue this process until the tail radial expansion drive enters the stepped hole and completes the step hole movement.

[0015] Dredging operation gait: After the robot moves to the blocked part of the pipeline, it starts the dredging operation gait. In this state, the robot is supported inside the vertical pipeline by the anchoring force generated by the middle and tail radial drives. The head radial drive shrinks to the minimum state, and the robot realizes reciprocating motion by adjusting the gas pressure of the first telescopic drive, driving the pneumatic impact drill installed on the head to complete the dredging task of the blockage.

[0016] The beneficial effects of the present invention are as follows: Through modular design and the three-support foot structure, the present invention realizes the adaptability of the robot to pipelines with different diameters and curvatures, enhancing its stability in complex environments; through pneumatic drive and peristaltic forward movement, it ensures the stable operation of the robot in a highly radioactive environment, avoiding the failure problems of motor drive; through the design of replaceable drill bits and wall scrapers, it realizes the functions of efficient blockage clearing and wall cleaning, with a specially designed wall scraper; through the pneumatic pressure remote monitoring and feedback mechanism, it monitors the robot's state in real time, ensuring the safety and reliability of the operation; at the same time, the unique pneumatic drive design reduces the use of electronic components and the impact of the high-radiation environment on the equipment. The present invention effectively solves the problems of poor equipment stability, insufficient adaptability, and low cleaning efficiency in the existing high-radiation pipeline cleaning technology, and realizes efficient, safe, and reliable high-radioactive pipeline blockage clearing and wall cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of a peristaltic pneumatic-driven high-radiation pipeline blockage clearing and wall cleaning robot provided by the present invention;

[0018] Figure 2 Structural diagram of a peristaltic pneumatic-driven high-radiation pipeline blockage clearing and wall cleaning robot provided by the present invention;

[0019] Figure 3 Schematic diagram of the robot's movement gait;

[0020] Figure 4 Schematic diagram of the expansion driver structure;

[0021] Figure 5 Schematic diagram of the telescopic driver structure;

[0022] Figure 6 Schematic diagram of the wall scraper structure;

[0023] Figure 7 Schematic diagram of the pneumatic impact drill structure.

[0024] In the figure: 1 pipeline endoscope, 2 outer wrapping layer, 3 pneumatic impact drill, 4 radial expansion driver, 5 axial telescopic driver, 6 wall scraper, 7 radial telescopic housing, 8 radial expansion main body, 9 radial expansion cage, 10 axial telescopic cage, 11 radial support foot, 12 pneumatic unit, 13 pneumatic impact drill bit, 14 impact drill housing, 15 piston, 16 piston cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The present invention provides a high-level radioactive pipeline clogging removal and wall cleaning robot with peristaltic pneumatic drive, combining the advantages of pneumatic drive, as Figure 1 and 2 shown. A high-level radioactive pipeline clogging removal and wall cleaning robot with peristaltic pneumatic drive includes a robot main body, a pneumatic impact drill 3, and a pipeline endoscope 1. The pipeline endoscope 1 and the pneumatic impact drill 3 are arranged at the head of the robot main body. Both the pipeline endoscope 1 and the pneumatic impact drill 3 adopt a replaceable design to meet the service life requirements in a high-radiation environment.

[0027] Among them, the robot main body includes three radial expansion drivers 4 and two axial telescopic drivers 5. The three radial expansion drivers 4 are respectively connected to each other through an axial telescopic driver 5 to form the robot main body. The three sections of radial expansion drivers 4 are staggered to ensure the cleaning of the entire annular wall surface. Figure 1 The supporting feet of the middle radial expansion driver 4 are smooth, Figure 2 while in Figure 1 there are two holes and grooves. This inconsistency between the two figures, Figure 2 is the internal structure after removing the outer coating layer.

[0028] As Figure 4 shown, the radial expansion driver 4 adopts a three-foot structure, including three supporting feet 11 that expand by air pressure to closely adhere to the inner wall of the pipeline, effectively increasing the anchoring force of the robot on the inner wall of the pipeline. A wall scraper 6 is provided on the outer side of the supporting feet 11 for cleaning the attachments on the inner wall of the pipeline. Two pneumatic units 12 are built in each single supporting foot 11. The two pneumatic units 12 are connected and fixed through a radial expansion retainer 9 to prevent torsion during telescoping. There is a radial telescopic outer shell 7 outside the two pneumatic units 12, which is connected to a radial expansion main body 8. The radial expansion main body 8 is an equilateral triangle structure, with a supporting foot 11 installed on each side. The radial telescopic framework 9 and the radial expansion main body 8 cooperate to form a function similar to a slide rail, improving the anti-bending performance of the radial supporting feet. The supporting feet 11 expand by air pressure to make the outer high-friction rubber feet close to the wall surface, effectively increasing the anchoring force of the robot on the inner wall of the pipeline. At the same time, it can better adapt to the pipeline environment, provide more powerful power for the movement of the robot in the pipeline, including obstacle crossing and bending, and facilitate the work of the wall cleaning scraper at the head.

[0029] A wall scraper 6 is provided on the outer side of each supporting foot 11 of the radial expansion driver, as Figure 6As shown in the figure, three wall scrapers 6 are arranged at an angle of 60°. The wall scrapers 6 are installed on the radial support feet 11. The wall scrapers 6 are provided with spiral drainage grooves, which can play a role in guiding the discharge of dirt, avoiding a large amount of dirt accumulation on the surface of the radial expansion driver and hindering the normal operation of the robot. At the same time, the material of the wall scraper 6 is copper (with a hardness lower than that of the pipeline material), which can avoid damaging the inner wall of the pipeline when the scraper rubs, and the copper material can corrode itself during the subsequent pollutant treatment process without generating new blockages. The three-section radial expansion drivers are staggered to achieve the purpose of cleaning the entire annular wall.

[0030] As Figure 5 shown in the figure, the axial telescopic driver 5 includes three pneumatic units 12 with an included angle of 120°. The three pneumatic units 12 can be controlled separately. By filling different air pressures, the axial telescopic driver can be controlled to bend at a certain angle to enable the robot to complete the turning action. The three pneumatic units are connected and fixed by three axial telescopic cages to maintain the relative positions of the three pneumatic units and prevent torsion during telescoping at the same time.

[0031] As Figure 7 shown in the figure, the pneumatic impact drill 3 is used to clean hard blockages, including a pneumatic impact drill bit 13, an impact drill housing 14, a piston 15 and a piston cover 16. The impact drill housing 14 is a cylindrical structure with a piston 15 sleeved in the middle. One end of the piston 15 is connected to the pneumatic impact drill bit 13, and the pneumatic impact drill bit 13 extends out of the end face of the impact drill housing 14. The piston cover 16 is connected to the impact drill housing 14, and the piston cover 16 restricts the piston 15 within the impact drill housing 14.

[0032] The radial expansion driver 4 expands through air pressure to make the support feet 11 close to the inner wall of the pipeline, providing a stable anchoring force; the axial telescopic driver 5 controls the forward, backward and turning of the robot through pneumatic units.

[0033] The radial expansion driver 4 and the axial telescopic driver 5 are connected through the radial expansion main body 8. The axial telescopic cage 10 is a rigid structure used to fix the positions of the three pneumatic units, ensuring that the axial telescopic driver 5 can extend, contract and bend without torsion at the same time.

[0034] Connection between the head structure and the driver:

[0035] The pipeline endoscope 1 and the pneumatic impact drill 3 equipped on the robot head are connected through the end of the axial telescopic driver 5. The end of the axial telescopic driver 9 is designed with an interface for fixing the pipeline endoscope 1 and the pneumatic impact drill 3 and ensuring their stability during the movement of the robot.

[0036] The air pressure sensor is connected to each pneumatic unit through the pneumatic pipeline to monitor the air pressure changes of each air path in real time. The air pressure sensor is connected to the remote control terminal through the wired communication module to feed back the air pressure data and robot status to the remote control terminal in real time.

[0037] A gait planning method for a peristaltic pneumatically driven high-level radioactive pipeline clearing and wall cleaning robot, comprising:

[0038] Straight line movement: After entering the pipeline, the pneumatic soft robot will crawl in the vertical pipeline. At this time, the three radial expansion drives are responsible for providing sufficient anchoring force for the robot to support the inner wall of the pipeline, and the two axial telescopic drives enable the robot to obtain forward and backward displacement. There are three types of straight line movement.

[0039] Normal movement dynamics: The specific movement process is that the head radial expansion drive contracts, the middle and tail radial drives expand and support in the pipeline, and after the first telescopic drive is extended to the longest, the head radial drive expands and supports in the pipeline; after the support is completed, the middle radial drive contracts, the first telescopic drive is evacuated and contracted, and the second telescopic drive is synchronously inflated and extended to the maximum stroke, and then the middle radial drive expands and supports, and the entire robot completes the first leg-changing movement process; finally, the tail radial drive contracts and breaks away from the contact with the pipe wall, and the robot is supported in the pipeline by the anchoring force provided by the head and middle radial drives, and the second telescopic drive is evacuated and contracted, driving the tail radial drive to retract, and finally the tail is shut down and expanded to support, so that the robot completes a whole straight line movement process, and the subsequent movement repeats the above-mentioned leg-changing movement process to realize the robot's creeping movement.

[0040] Fast walking posture: First, the head and middle radial drive contract, and after a period of time, the first axial drive and the second axial drive take in air and extend, after a period of time, the head and middle radial drive expand, after a period of time, the middle and tail radial drives contract, after a period of time, the first axial drive and the second axial drive exhaust, after a period of time, the middle and tail radial drives expand, after the above steps, the robot body completes a fast gait. This cycle is a fast walking posture.

[0041] The pulse walking gait is exactly the same as the normal gait, except that the delay time of each joint is different. The pulse duration control is that when the pneumatic unit starts to ventilate, the inflation time is reduced. At this time, the pneumatic unit has been filled with high-pressure air slightly lower than the given air pressure, and the radial support foot has contacted the inner wall of the pipe, generating a support force that can meet the travel needs, but has not reached the maximum support force. In this way, the time required for inflation is greatly reduced and the travel speed is greatly accelerated.

[0042] Cornering gait: When the robot performs a turning gait, with the help of the first and second telescopic drives, a total of six independently controlled pneumatic telescopic units, the robot's cornering angle is combined and controlled by passing gas of different pressures into each pneumatic unit, thus realizing the full-angle steering function. That is, when turning, the head radial drive contracts, and the first telescopic drive deviates from the appropriate angle through the air pressure combination of each unit, while pushing the head radial drive forward to extend. After reaching the appropriate position of the bottom bend, the head radial drive expands and supports, and the middle radial drive contracts. The first and second telescopic drives use the combined air pressure of the units to adjust the bending angle of the middle drive. After the middle drive moves to the appropriate position, it starts to inflate and support. Finally, after the tail radial drive is contracted, it is contracted and driven to the specified position by the second telescopic drive and then expanded and supported. At this time, the robot has completed the cornering gait process. To pass through bends of different angles and curvatures, it only needs to adjust the air pressure and then adjust the deviation angle of the telescopic drive. Repeat the cornering gait to pass through the bend.

[0043] Step hole gait: The robot's gait when passing through a stepped hole is similar to the gait planning for straight-line travel. The head radial expansion drive shrinks to the smallest size, the middle and tail radial drives expand and support in the pipe, and the first telescopic drive stretches to the longest and pushes the contracted head radial drive to expand and support in the pipe; after the support is completed, the middle radial drive shrinks, the first telescopic drive is evacuated and contracted, and the second telescopic drive is synchronously inflated and extended to the maximum stroke, pushing the middle radial drive into the stepped hole, and then the radial expansion drive expands and supports, and the entire robot completes the first leg-changing travel process. Continue this process until the tail radial expansion drive enters the stepped hole and completes the step hole movement.

[0044] Dredging operation gait: After the robot moves to the blocked part of the pipeline, it starts the dredging operation gait. In this state, the robot is supported inside the vertical pipeline by the anchoring force generated by the middle and tail radial drives. The head radial drive shrinks to the minimum state, and the robot realizes reciprocating motion by adjusting the gas pressure of the first telescopic drive, driving the pneumatic impact drill installed on the head to complete the dredging task of the blockage.

[0045] The scraper cleaning gait includes the following:

[0046] Head drive swing cleaning state: For the residues and attachments inside the pipeline, it is necessary to scrape and remove them using the wall cleaning scraper set on the supporting foot wall. When the robot is dredging the pipeline, it enters the dredging operation gait. After completing the main part of the blockage cleaning task, it enters the head drive swing cleaning mode, that is, by regulating the air pressure in the three independently controlled pneumatic telescopic units of the first telescopic drive, the radial drive of the robot's head realizes swing deflection, and then drives the pneumatic impact drill at the head to clean the blocked part in a radially divergent manner with the center of the blockage as the center, expanding the through-hole conducted by the dredging operation gait until only the attachments close to the pipeline wall remain (at this time, if the pneumatic impact drill continues to be used for cleaning, it may cause damage to the inside of the pipeline), and the cleaning gait ends.

[0047] Swing scraping cleaning state: After the robot executes the dredging operation gait, the serious blockage at the center of the pipeline blockage has been dredged, and the pneumatic impact drill bit has completely conducted the center of the blockage. However, there are still some blockages and adhesions remaining near the pipe wall and around the center. At this time, the robot enters the swing scraping cleaning state. By regulating the air pressure in the three independently controlled pneumatic telescopic units of the first telescopic drive, the radial drive of the robot's head realizes swing deflection, driving the wall cleaning scraper installed at the supporting foot part to scrape and clean the wall attachments, completing the cleaning of the pipe wall attachments that the pneumatic impact drill did not clean, and at the same time preventing the drill bit from damaging the inside of the pipeline.

[0048] Reciprocating scraping cleaning state: For the more stubborn residues and attachments inside the pipe wall, a reciprocating scraping cleaning gait is also designed. That is, after the robot finishes cleaning the blockage, it moves forward a certain distance to align the stubborn attachment part of the pipeline with the middle radial drive of the robot. Then, regulate the air pressure of the middle radial drive to make it in a state of contacting the inner wall of the pipeline but generating a not very large positive pressure. Subsequently, change the air pressure of the first and second telescopic drives, that is, the first telescopic drive extends and the second telescopic drive contracts, the first telescopic drive contracts and the second drive extends, driving the middle radial drive to move back and forth. At this time, the supporting feet of the middle drive and the scrapers installed on them scrape against the inner wall of the pipeline, realizing the scraping and cleaning task of the stubborn residues and attachments inside the pipe wall, and at the same time reducing the damage to the pipeline.

[0049] The head carries a camera and a pneumatic cleaning drill bit. The camera and the drill bit are fixed by spring clips and inserted. The communication and power interfaces are connected by slides for easy replacement after damage. The scraper is fixed by a nested structure and integrally formed with the supporting foot. The structure of the pneumatic cleaning drill bit is as Figure 6 shown, which is used to clean hard blockages and is installed by a standard pneumatic joint and a card slot type. Considering the service life of the camera and the drill bit in a radiation environment, both adopt a replaceable design.

[0050] Considering the harsh working conditions of the robot, a pneumatic remote monitoring and feedback system is designed and developed in the present invention. The relevant pneumatic sensors are placed at the rear, away from the high-radiation area. By detecting the air pressure in each air circuit, the purpose of remotely monitoring the robot's state is achieved.

[0051] The scraper is fixed by a nested structure and integrally formed with the support feet. The scraper is designed with grooves, which can discharge the blockage along the spiral grooves when scraping the pipe wall, avoiding accumulation on the radial expansion driver and affecting the robot's progress. A special replacement device is designed to quickly replace the working tool, realizing the high integration of the functions of blockage cleaning and wall cleaning;

[0052] A cleaning method combining wall scraping and impact drilling is proposed, which greatly improves the efficiency of blockage cleaning.

[0053] A pneumatic remote feedback system is constructed. The air pressure in the air circuit is monitored in real time by the rear-mounted sensor and the operation state is autonomously regulated. At the same time, radiation-resistant materials such as alloy scrapers and silicon carbide-lead composite shielding shells are used to ensure the long-term stability of the equipment under extreme radiation conditions.

[0054] Example 1: Robot gait planning

[0055] Peristaltic forward and backward

[0056] As Figure 2 shown, the robot realizes peristaltic forward and backward by alternately inflating and inhaling. The radial expansion driver 4 and the axial telescopic driver 5 work together to make the robot move forward, backward and turn in the pipeline.

[0057] Obstacle crossing and cornering

[0058] When the robot encounters an obstacle, the radial expansion driver 4 pumps air and contracts to the smallest size, and the axial telescopic driver inflates and extends to cross the obstacle. This action is repeated in subsequent cycles until the robot completely crosses the obstacle.

[0059] When the robot performs a turning gait, with the help of the first and second telescopic drives, a total of six independently controlled pneumatic telescopic units, the robot's turning angle is combined and controlled by passing gas of different pressures into each pneumatic unit, thereby realizing a full-angle turning function. That is, when turning, the head radial drive contracts, and the first telescopic drive deviates from the appropriate angle through the air pressure combination of each unit, while pushing the head radial drive forward to extend. After reaching the appropriate position of the bottom bend, the head radial drive expands and supports, and the middle radial drive contracts. The first and second telescopic drives use the combined air pressure of the units to adjust the bending angle of the middle drive. After the middle drive moves to the appropriate position, it starts to inflate and support. Finally, after the tail radial drive is contracted, it is contracted and driven to the specified position by the second telescopic drive and then expanded and supported. At this time, the robot has completed the turning gait process. To pass through bends of different angles and curvatures, it only needs to adjust the air pressure and then adjust the deviation angle of the telescopic drive. Repeat the turning gait to pass through the bend.

[0060] Example 2: Blockage removal and wall cleaning

[0061] Blockage clearing operation

[0062] When the robot detects that the pipeline is blocked, the pneumatic impact drill 3 is activated, and the reciprocating motion of the piston 15 generates impact force to clear the hard blockage. After the robot moves to the blocked part of the pipeline, it starts the unblocking operation gait. In this state, the robot is supported inside the vertical pipeline by the anchoring force generated by the middle and tail radial drives. The head radial drive shrinks to the minimum state, and the gas pressure of the first telescopic drive is adjusted to achieve reciprocating motion, driving the pneumatic impact drill installed on the head to achieve the unblocking task of the blockage.

[0063] Wall cleaning

[0064] The wall scraper 6 on the outside of the radial support foot 11 scrapes the inner wall of the pipe during the robot's movement to clean up the attachments. The wall cleaning process is divided into two forms:

[0065] Head drive swing cleanup status:

[0066] The residues and attachments inside the pipe need to be scraped and removed with a cleaning scraper installed on the wall of the support foot. When unclogging the pipe, the robot enters the unclogging operation gait. After completing the main part of the blockage cleaning task, it enters the head drive swing cleaning mode, that is, by adjusting the air pressure in the three independently controlled pneumatic telescopic units of the first telescopic drive, the robot's head radial drive is swung and deflected, and then the head pneumatic impact drill is driven to clean the blockage part in a radially divergent shape with the center of the blockage as the center of the circle, and the through hole opened by the unclogging operation gait is enlarged until only the attachments close to the pipe wall are left (if the pneumatic impact drill is continued to be used for cleaning at this time, it may cause damage to the inside of the pipe), and the cleaning gait ends.

[0067] Oscillating scraping and cleaning state:

[0068] After the robot has completed the gait for dredging operation, the severe blockage at the center of the pipeline blockage has been cleared. The pneumatic impact drill bit has completely penetrated the center of the blockage, but there are still some blockages and adhesions remaining near the pipe wall and around the center. At this time, the robot enters the oscillating scraping and cleaning state. By regulating the air pressure in the three independently controlled pneumatic telescopic units of the first telescopic driver, the radial driver at the head of the robot can achieve oscillating deflection, driving the wall cleaning scraper installed at the support foot position to scrape and clean the wall attachments, completing the cleaning of the pipe wall attachments that were not cleared by the pneumatic impact drill, and at the same time preventing the drill bit from damaging the pipeline interior.

[0069] Reciprocating scraping and cleaning state:

[0070] For stubborn residues and attachments inside the pipe wall, a reciprocating scraping and cleaning gait is also designed. That is, after the robot has cleared the blockage, it moves forward a certain distance to align the stubborn pipe wall attachments with the radial driver in the middle of the robot. Then, regulate the air pressure of the radial driver in the middle to make it in a state of contacting the inner wall of the pipeline but not generating a very large positive pressure. Subsequently, change the air pressure of the first and second telescopic drivers, that is, the first telescopic driver extends and the second telescopic driver contracts, and the first telescopic driver contracts and the second driver extends, driving the radial driver in the middle to move back and forth. At this time, the support feet of the middle driver and the scrapers installed on them scrape against the inner wall of the pipeline, achieving the task of scraping and cleaning stubborn residues and attachments inside the pipe wall, while reducing damage to the pipeline.

[0071] Embodiment 3: Air pressure monitoring and feedback

[0072] Air pressure monitoring

[0073] The rear air pressure sensor monitors the air pressure changes in each air circuit in real time through a long air pipe to ensure the stability of pneumatic drive. When the air pressure is abnormal, the system automatically adjusts or stops the operation to avoid equipment damage.

[0074] Embodiment 4: Radiation resistance

[0075] Replaceable components

[0076] The pipeline endoscope 1 and the pneumatic impact drill 3 adopt a replaceable design to reduce the impact of the high-radiation environment on the equipment and extend the service life of key components.

[0077] The air pressure sensor is placed at the rear

[0078] The air pressure sensor is placed at the rear and is remotely connected to each unit through a long air pipe, away from the high-radiation area, ensuring its stable operation in a harsh environment.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: modifications made to the technical solutions recorded in the foregoing embodiments, or equivalent replacements of some or all of the technical features therein, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic, characterized in that: The robot comprises a robot body, a pneumatic impact drill and a pipeline endoscope. The head of the robot body is provided with the pipeline endoscope and the pneumatic impact drill.

2. The peristaltic pneumatically-driven high-level radioactive pipeline blockage removal and wall cleaning robot according to claim 1, characterized in that: The robot body comprises three radial expansion drivers and two axial telescopic drivers. The three radial expansion drivers are connected to each other through an axial telescopic driver to form the robot body. The three radial expansion drivers are arranged in an alternating manner.

3. The high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic drive according to claim 2, characterized in that: The radial expansion driver adopts a three-legged structure, including three supporting feet. The outer side of the supporting foot is provided with a wall scraper for cleaning attachments on the inner wall of the pipe. A single supporting foot has two pneumatic units built in. The two pneumatic units are connected and fixed by a radial expansion retainer to prevent twisting during expansion and contraction. The two pneumatic units are provided with a radial telescopic shell connected to a radial expansion body. The radial expansion body is an equilateral triangle structure, in which a supporting foot is installed on each side. The radial telescopic skeleton cooperates with the radial expansion body to improve the bending resistance of the radial supporting foot.

4. The high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic drive according to claim 3, characterized in that: The wall scraper is installed on the supporting foot, a spiral discharge groove structure is arranged on the wall scraper, and the material of the wall scraper is copper.

5. The high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic drive according to claim 2, wherein: The axial telescopic actuator includes three pneumatic units with an angle of 120°. The three pneumatic units can be controlled individually. By filling with different air pressures, the axial telescopic actuator can be controlled to bend at a certain angle to enable the robot to complete the turning action. The three pneumatic units are connected and fixed by three axial telescopic retaining frames to maintain the relative positions of the three pneumatic units and prevent twisting during telescoping.

6. The high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic drive according to claim 1, characterized in that: The pneumatic impact drill is used to clear hard blockages, and comprises a pneumatic impact drill bit, an impact drill housing, a piston and a piston cover. The impact drill housing is a cylindrical structure with a piston mounted in the middle. One end of the piston is connected to the pneumatic impact drill bit, and the pneumatic impact drill bit extends out of the end surface of the impact drill housing. The impact drill housing is connected to a piston cover, and the piston cover restricts the piston in the impact drill housing.

7. A gait planning method for a high-level radioactive pipeline blockage removal and wall cleaning robot driven by peristaltic pneumatic drive, characterized in that, include: Straight line movement: After entering the pipeline, the robot will crawl in the vertical pipeline. At this time, the three radial expansion drives are responsible for providing sufficient anchoring force for the robot to support the inner wall of the pipeline, and the two axial telescopic drives enable the robot to achieve forward and backward displacement; Cornering gait: When the robot performs a turning gait, with the help of the first and second telescopic drives, a total of six independently controlled pneumatic telescopic units, the combined control of the robot's cornering angle is achieved by introducing gases of different pressures into each pneumatic unit, thereby realizing a full-angle steering function. That is, when cornering, the head radial drive contracts, and the first telescopic drive deviates from the appropriate angle through the air pressure combination of each unit, while pushing the head radial drive forward to extend. After reaching the appropriate position of the bottom bend, the head radial drive expands and supports, and the middle radial drive contracts. The first and second telescopic drives use the combined air pressure of the units to adjust the bending angle of the middle drive. After the middle drive moves to the appropriate position, it starts to inflate and support. Finally, after the tail radial drive contracts, it is driven by the second telescopic drive to the specified position and then expand and support. At this time, the robot has completed the cornering gait process. To pass through bends of different angles and curvatures, it only needs to adjust the air pressure and then adjust the deviation angle of the telescopic drive. Repeat the cornering gait to pass through the bend. Gait for passing through a stepped hole: The gait of the robot when passing through a stepped hole is similar to the gait planning for straight-line movement. The radial expansion driver at the head contracts to the minimum size, the radial drivers in the middle and at the tail expand and support inside the pipeline, and the first telescopic driver extends to the longest to push the contracted radial driver at the head to expand and support inside the pipeline; after being well supported, the radial driver in the middle contracts, the first telescopic driver evacuates and contracts, and the second telescopic driver synchronously inflates and extends to the maximum stroke, pushing the radial driver in the middle into the stepped hole, and then the radial expansion driver expands and supports, and the whole robot completes the first leg-changing movement process. Continue this process until the radial expansion driver at the tail enters the stepped hole to complete the action of passing through the stepped hole. Gait for dredging operation: After the robot travels to the blocked part of the pipeline, it starts the gait for dredging operation. In this state, the robot is supported inside the vertical pipeline by the anchoring force generated by the radial drivers in the middle and at the tail, the radial driver at the head contracts to the minimum state, and the reciprocating movement back and forth is realized by regulating the gas pressure of the first telescopic driver, driving the pneumatic impact drill installed at the head to complete the dredging task for the blocked part.

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