A kind of inchworm walking mechanism and slit detection cleaning robot
By utilizing the airbag inflation and deflation mechanism of the inchworm-like walking mechanism and the extension and retraction of the linear actuator, the problem of limited movement of traditional robots in narrow and complex spaces is solved, achieving highly flexible and precise positioning detection and cleaning capabilities.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUN YAT SEN UNIV
- Filing Date
- 2025-10-10
- Publication Date
- 2026-08-04
AI Technical Summary
Traditional rigid walking mechanisms restrict the movement of inspection and cleaning robots in narrow and complex spaces, making it difficult to effectively complete inspection and cleaning tasks.
It adopts an inchworm-like walking mechanism, which achieves flexible creeping forward movement through the inflation and deflation of airbags and the extension and retraction of linear actuators. Combined with an anti-detachment device, it ensures stable movement of the mechanism in narrow and complex spaces.
It enables flexible movement and precise positioning in narrow and complex spaces, making it suitable for efficient inspection and cleaning in spaces such as pipelines and box culverts, and possesses high flexibility and environmental adaptability.
Smart Images
Figure CN224589263U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and in particular to an inchworm-like walking mechanism and a slit detection and cleaning robot. Background Technology
[0002] Inspection and cleaning robots are automated devices specifically designed for environmental inspection and foreign object removal in spaces that are difficult for humans to access or that pose a danger to humans (such as pipes, crevices, and box culverts). They have a wide range of applications in municipal maintenance, industrial inspection, and household cleaning. These robots typically have high flexibility, environmental adaptability, and autonomous operation capabilities.
[0003] Inspection and cleaning robots are equipped with a walking mechanism, an inspection mechanism, and a cleaning mechanism. When inspection and cleaning robots need to operate in narrow and complex spaces (such as pipes, gaps, box culverts, etc.), traditional rigid walking mechanisms usually restrict the robot's movement in narrow and complex work spaces, making it difficult to effectively complete inspection and cleaning tasks. Utility Model Content
[0004] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide an inchworm-like walking mechanism and a slit detection and cleaning robot, which can move flexibly in narrow and complex workspaces and effectively complete detection and cleaning tasks in such spaces.
[0005] An inchworm-like walking mechanism includes: airbags, a first linear actuator, and a second linear actuator. At least four airbags are provided, and the airbags are arranged in an array. Two adjacent airbags along a first direction are connected by the first linear actuator, and two adjacent airbags along a second direction are connected by the second linear actuator. The first direction and the second direction intersect.
[0006] In an optional or preferred embodiment, four airbags are provided, and the four airbags are arranged in a rectangular pattern, with the first direction perpendicular to the second direction.
[0007] In an optional or preferred embodiment, the two ends of the first linear actuator are hinged to the airbag.
[0008] In an optional or preferred embodiment, the two ends of the second linear actuator are hinged to the airbag.
[0009] In optional or preferred embodiments, an anti-detachment device is further included, which is connected to the first linear actuator or the second linear actuator.
[0010] A slit detection and cleaning robot, including
[0011] Any of the inchworm-like walking mechanisms described above;
[0012] A cleaning device includes a housing and a suction nozzle. The housing is connected to a first linear actuator or a second linear actuator of the inchworm-like walking mechanism. The suction nozzle is connected to the housing. A controller and a power unit are installed inside the housing. The controller is connected to the power unit.
[0013] An environmental testing facility is connected to the chassis.
[0014] In an optional or preferred embodiment, the chassis is rotatably connected to the first or second linear actuator of the inchworm-like walking mechanism.
[0015] In an optional or preferred embodiment, the cleaning mechanism further includes a filter tube, through which the suction nozzle is connected to the chassis.
[0016] In an optional or preferred embodiment, the chassis is provided with a drain outlet.
[0017] In an optional or preferred embodiment, the environmental monitoring mechanism includes a light source and an industrial camera mounted on the chassis, the industrial camera being connected to the controller, and the light source being connected to the controller.
[0018] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: In the initial state, all four airbags are partially inflated, and the first and second linear actuators are in a contracted state. When the inchworm-like walking mechanism begins to move forward, the two rear airbags inflate and expand, generating significant friction with the environmental surface to form support points. The two front airbags deflate and contract, reducing frictional resistance. The second linear actuator extends, driving the front end to move forward, thus achieving body extension. Then, the two front airbags inflate to form new support points, the two rear airbags deflate to reduce friction, and the second linear actuator contracts, pulling the rear end forward, thus achieving body contraction. This cyclical process is repeated to achieve continuous peristaltic forward movement. When the inchworm-like walking mechanism begins to move to the left, the two airbags on the right inflate, generating significant friction with the surrounding surface to form a support point. The two airbags on the left deflate, reducing frictional resistance. The first linear actuator extends, moving the left end to the left, thus extending the body. Then, the two airbags on the left inflate to form a new support point, the two airbags on the right deflate to reduce friction, and the first linear actuator retracts, pulling the right end to the left, thus retracting the body. This cycle is repeated, achieving continuous, peristaltic leftward movement. This inchworm-like walking mechanism allows the device to work stably in various postures, including horizontal, vertical, and inclined, making it particularly suitable for operations in dangerous or inaccessible spaces such as pipes, culverts, and building gaps. By independently controlling the inflation and deflation of each airbag and the extension and retraction of the linear actuators, precise control of the mechanism's direction, speed, and posture can be achieved. This control precision enables the robot to perform precise positioning and delicate operations in confined spaces. Attached Figure Description
[0019] The present application will be further described below with reference to the accompanying drawings and embodiments;
[0020] Figure 1 This is a schematic diagram of the inchworm-like walking mechanism provided in one embodiment of this application;
[0021] Figure 2 yes Figure 1 A schematic diagram illustrating the backward movement process of the inchworm-like walking mechanism in the illustrated embodiment;
[0022] Figure 3 yes Figure 1 A schematic diagram illustrating the process of the inchworm-like walking mechanism traveling through a curved slit in the embodiment shown.
[0023] Figure 4 This is a schematic diagram of the structure of a slit detection and cleaning robot provided in one embodiment of this application;
[0024] Figure 5 yes Figure 4 A schematic diagram of the cleaning device in the illustrated embodiment;
[0025] Figure 6 yes Figure 5 A partial structural diagram.
[0026] Figure label:
[0027] 100-Airbag; 200-First linear actuator; 300-Second linear actuator; 400-Anti-detachment device; 500-Cleaning device; 510-Chassis; 511-Drain outlet; 512-Through hole; 520-Suction nozzle; 530-Filter tube; 531-Filter screen; 540-Light source; 550-Industrial camera. Detailed Implementation
[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0029] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0031] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0033] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0034] Inspection and cleaning robots are automated devices specifically designed for environmental inspection and foreign object removal in spaces that are difficult for humans to access or that pose a danger to humans (such as pipes, crevices, and box culverts). They have a wide range of applications in municipal maintenance, industrial inspection, and household cleaning. These robots typically have high flexibility, environmental adaptability, and autonomous operation capabilities.
[0035] Inspection and cleaning robots are equipped with a walking mechanism, an inspection mechanism, and a cleaning mechanism. When inspection and cleaning robots need to operate in narrow and complex spaces (such as pipes, gaps, box culverts, etc.), traditional rigid walking mechanisms usually restrict the robot's movement in narrow and complex work spaces, making it difficult to effectively complete inspection and cleaning tasks.
[0036] Example 1
[0037] like Figure 1As shown, this embodiment provides an inchworm-like walking mechanism, including an airbag 100, a first linear actuator 200, and a second linear actuator 300. This walking mechanism adopts the biomimetic inchworm movement principle, achieving flexible movement in narrow and complex spaces through the inflation and deflation of the airbag 100 in conjunction with the extension and retraction of the first linear actuator 200 and the second linear actuator 300.
[0038] Specifically, at least four airbags 100 are provided, and the airbags 100 are arranged in an array. In this embodiment, it is preferable to provide four airbags 100, which are arranged in a rectangular distribution and located at the four vertices of the rectangle. This rectangular distribution gives the entire walking mechanism good structural stability and motion coordination. Two adjacent airbags 100 along the first direction are connected by a first linear actuator 200, and two adjacent airbags 100 along the second direction are connected by a second linear actuator 300. The first direction and the second direction intersect, and specifically, the first direction and the second direction are preferably arranged perpendicularly to form a rectangular frame structure. Wherein the first direction is... Figure 1 The left and right directions are shown, and the second direction is... Figure 1 The front and back directions are shown.
[0039] The first linear actuator 200 and the second linear actuator 300 can be pneumatically driven, electrically driven, or hydraulically driven. In this embodiment, the first linear actuator 200 and the second linear actuator 300 are preferably pneumatically driven telescopic linear actuators, which have the characteristics of compact structure, fast response speed, and high control accuracy. The two ends of the first linear actuator 200 are hinged to the corresponding air bladder 100, and the two ends of the second linear actuator 300 are also hinged to the corresponding air bladder 100, thereby ensuring the reliability and flexibility of the connection.
[0040] The airbags 100 are made of high-strength, wear-resistant elastic material. Each airbag 100 has an inflation / deflation port and is connected to an air tube. During movement, the walking mechanism inflates and deflates the airbags 100 through these air tubes. When an airbag 100 inflates, its volume expands, generating friction with the tube wall; when it deflates, its volume contracts, reducing friction with the tube wall. By coordinating the inflation and deflation of different airbags 100 with the extension and retraction of the linear actuator, a inchworm-like creeping motion is achieved.
[0041] Reference Figure 2 , Figure 3The working principle of the inchworm-like walking mechanism is described below: Initially, all four air bladders 100 are partially inflated, while the first linear actuator 200 and the second linear actuator 300 are in a contracted state. When forward movement begins, the two rear air bladders 100 inflate, generating significant friction with the surrounding surface to form support points. The two front air bladders 100 deflate and contract, reducing frictional resistance. The second linear actuator 300 extends, propelling the front end forward, achieving the body's extension phase. Then, the two front air bladders 100 inflate to form new support points, while the two rear air bladders 100 deflate to reduce friction. The second linear actuator 300 contracts, pushing the rear end forward, achieving the body's contraction phase. This cycle repeats, achieving continuous peristaltic forward movement. Reverse movement is the opposite.
[0042] Of course, in the initial state, the first linear actuator 200 and the second linear actuator 300 can also be in an extended state. The motion in this state is as follows: the two front airbags 100 inflate, generating significant friction with the environmental surface to form a support point; the two rear airbags 100 deflate and contract, reducing frictional resistance; the second linear actuator 300 contracts, driving the rear end towards the front, achieving the body's contraction phase. Then, the two rear airbags 100 inflate to form new support points; the two front airbags 100 deflate to reduce friction; the second linear actuator 300 extends, propelling the front end forward, achieving the body's extension. This cycle is repeated to achieve continuous peristaltic forward movement. Reverse movement is the opposite.
[0043] Initially, all four airbags 100 are partially inflated, and the first linear actuator 200 and the second linear actuator 300 are in a contracted state. When moving to the left, the two right-hand airbags 100 inflate, generating significant friction with the surrounding surface to form a support point. The two left-hand airbags 100 deflate, reducing frictional resistance. The first linear actuator 200 extends, propelling the left end to the left, achieving the body's extension phase. Then, the two left-hand airbags 100 inflate again, forming a new support point, while the two right-hand airbags deflate to reduce friction. The first linear actuator 200 contracts, pushing the right end to the left, achieving the body's contraction. This cycle repeats, achieving continuous peristaltic forward movement to the left. Movement to the right is the opposite.
[0044] Of course, in the initial state, the first linear actuator 200 and the second linear actuator 300 can also be in an extended state. The motion in this state is as follows: the two airbags 100 on the left inflate, generating significant friction with the surrounding surface to form a support point; the two airbags 100 on the right deflate and contract, reducing frictional resistance; the first linear actuator 200 contracts, driving the right end to move to the left, achieving body contraction. Then, the two airbags 100 on the right inflate to form a new support point; the two airbags 100 on the left deflate to reduce friction; the first linear actuator 200 extends, pushing the left end further to the left, achieving body extension. This cycle is repeated to achieve continuous peristaltic forward movement to the left. Movement to the right is the opposite.
[0045] The flexible characteristics of the airbag 100 enable the entire mechanism to operate normally in irregular, curved or variable cross-section slits. Through the flexible deformation of the airbag 100 and the precise control of the linear actuator, the walking mechanism can adapt to various complex slit geometries, solving the technical problem of limited movement of traditional rigid walking mechanisms in narrow spaces.
[0046] The inchworm-like walking mechanism of this application enables the robot to work stably in various postures, including horizontal, vertical, and inclined, making it particularly suitable for operation in dangerous or hard-to-reach spaces such as pipes, box culverts, and building gaps. By independently controlling the inflation and deflation of each airbag 100 and the extension and retraction of the linear actuators, precise control of the mechanism's movement direction, speed, and posture can be achieved. This control precision allows the robot to perform accurate positioning and delicate operations in confined spaces.
[0047] Example 2
[0048] Reference Figure 4 Based on Embodiment 1, this embodiment further includes an anti-detachment device 400. The anti-detachment device 400 is connected to either the first linear actuator 200 or the second linear actuator 300, and is used to prevent the walking mechanism from accidentally detaching from the environment during movement. Specifically, the anti-detachment device 400 is a traction rope. In the embodiment shown in this application, one end of the anti-detachment device 400 is connected to one of the first linear actuators 200.
[0049] Example 3
[0050] like Figure 4 As shown, this embodiment provides a slit detection and cleaning robot, including the inchworm-like walking mechanism, cleaning device 500, and environmental detection mechanism described in the above embodiment.
[0051] Reference Figure 4The cleaning device 500 includes a housing 510 and a suction nozzle 520. The housing 510 is connected to either the first linear actuator 200 or the second linear actuator 300 of the inchworm-like walking mechanism, achieving integrated cleaning of the cleaning device and the walking mechanism. This connection method allows the cleaning device to move within the slit along with the walking mechanism without affecting the motion performance of the walking mechanism.
[0052] The suction nozzle 520 is connected to the housing 510, which houses a controller and a power unit. The controller is connected to the power unit, which is a vacuum pump or a fan, providing sufficient suction to the suction nozzle 520. The housing 510 uses the power unit to draw in foreign objects, dust, water, and other impurities from the slit through the suction nozzle 520. The suction nozzle 520 has a flat shape.
[0053] During operation, the inchworm-like walking mechanism, through the inflation and deflation cycle of the airbag 100 in conjunction with the extension and retraction of the first linear actuator 200 and the second linear actuator 300, achieves a peristaltic forward movement within the slit. The cleaning device 500 cleans the slit segment by segment as the walking mechanism moves. This application integrates the cleaning device 500 with the inchworm-like walking mechanism into a single design, achieving slit cleaning and enabling the cleaning of slits.
[0054] To improve the flexibility of the cleaning device 500, the housing 510 is rotatably connected to either the first linear actuator 200 or the second linear actuator 300 of the inchworm-like walking mechanism. Specifically, the housing 510 is provided with a through hole 512, through which the housing 510 engages with one of the first linear actuators 200. This allows the cleaning device 500 to rotate relative to the first linear actuator 200, resulting in greater flexibility during operation.
[0055] Example 4
[0056] Based on Example 3, such as Figure 5 , 6 As shown, the cleaning device 500 also includes a filter tube 530, and a filter screen 531 is disposed inside the filter tube 530.
[0057] Furthermore, the chassis 510 is provided with a drain outlet 511. The drain outlet 511 is located at the bottom or side of the chassis 510 and is used to drain the water collected during the cleaning process.
[0058] The suction nozzle 520 is connected to the housing 510 through the filter tube 530. During operation, the power unit creates a local negative pressure at the inlet of the suction nozzle 510. The airflow (water flow) carrying foreign objects is sucked into the filter tube 530. The foreign objects are trapped inside the filter screen 531 of the filter tube 530, while the gas (water) is discharged through the drain port 511.
[0059] Example 5
[0060] The environmental monitoring system includes a light source 540 and an industrial camera 550 mounted on a chassis. The industrial camera 550 is connected to a controller, and the light source 540 is also connected to a controller. After the industrial camera 550 acquires images of the working environment, it uses computer vision and image recognition algorithms to process and analyze them in real time, thereby achieving accurate perception and identification of target objects and environmental conditions in the slit. The light source 540 provides stable and uniform illumination to enhance the image signal-to-noise ratio.
[0061] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.
Claims
1. A inchworm walking mechanism characterized by, include: The system includes an airbag, a first linear actuator, and a second linear actuator. At least four airbags are provided, and each airbag is arranged in an array. Two adjacent airbags along a first direction are connected by the first linear actuator, and two adjacent airbags along a second direction are connected by the second linear actuator. The first direction and the second direction intersect.
2. The inch-worm walking mechanism of claim 1, wherein: The airbags are arranged in a rectangular pattern, with the first direction perpendicular to the second direction.
3. The inch-worm walking mechanism of claim 1, wherein: The two ends of the first linear actuator are hinged to the airbag.
4. The inch-worm walking mechanism of claim 3, wherein: The two ends of the second linear actuator are hinged to the airbag.
5. The inch-worm walking mechanism of claim 1, wherein: It also includes an anti-detachment device, which is connected to the first linear actuator or the second linear actuator.
6. A slit detection and cleaning robot characterized by: include The inchworm-like walking mechanism according to any one of claims 1 to 5; A cleaning device includes a housing and a suction nozzle. The housing is connected to a first linear actuator or a second linear actuator of the inchworm-like walking mechanism. The suction nozzle is connected to the housing. A controller and a power unit are installed inside the housing. The controller is connected to the power unit. An environmental testing facility is connected to the chassis.
7. The slit detection and cleaning robot of claim 6, wherein: The chassis is rotatably connected to either the first or second linear actuator of the inchworm-like walking mechanism.
8. The slit detection and cleaning robot of claim 6, wherein: The cleaning device also includes a filter tube, and the suction nozzle is connected to the chassis through the filter tube.
9. The slit detection and cleaning robot of claim 6, wherein: The chassis is equipped with a drain outlet.
10. The slit detection and cleaning robot of claim 6, wherein: The environmental monitoring device includes a light source and an industrial camera mounted on the chassis. The industrial camera is connected to the controller, and the light source is connected to the controller.