CN113236905B - Inchworm type magnetic control soft robot for small-sized pipeline detection and using method - Google Patents

Inchworm type magnetic control soft robot for small-sized pipeline detection and using method Download PDF

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CN113236905B
CN113236905B CN202110711692.0A CN202110711692A CN113236905B CN 113236905 B CN113236905 B CN 113236905B CN 202110711692 A CN202110711692 A CN 202110711692A CN 113236905 B CN113236905 B CN 113236905B
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soft robot
end actuator
magnet
small
screw rod
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CN113236905A (en
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刘海强
许依海
杨晨
吕明
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an inchworm type magnetic control soft robot for small-sized pipeline detection and a using method thereof. The inchworm type magnetic control soft robot for small-sized pipeline detection is provided, the structure optimization is carried out by a finite element simulation mode according to the structure and the motion principle of natural inchworms, the transverse and longitudinal sawtooth structures are determined, the large bending deformation can be realized, the robot is matched with a controllable magnetic field operating platform for use, and various motion modes such as straight motion, bending motion around two dimensions of an x axis and a z axis and the like can be realized. Still be equipped with miniature camera and miniature light on soft robot, can realize freely removing and surveying in small-size dark space, adopt many materials 3D printing technique simultaneously, the whole once only prints the preparation and forms, and the precision is accurate, and full soft structure accessible flexible deformation passes through narrow and small spaces such as slots.

Description

Inchworm type magnetic control soft robot for small-sized pipeline detection and using method
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to an inchworm type magnetic control soft robot for small-sized pipeline detection and a using method thereof.
Background
There are many types of soft robot drives, including pneumatic hydraulic drives, shape Memory Alloy (SMA) based, thermoelectric active polymers, and magnetic drives. Pneumatic hydraulic drive is the most widely used, but they usually require complex fluid supply mechanisms, including air supply and pressure regulation components, which often limit the flexibility of soft robotic motion and make it difficult to achieve a hitless system actuation. Magnetic actuation is an unconstrained external field-based actuation technique, and in a controlled magnetic field environment, soft robots can work even in different media, such as vacuum, air, and liquid. And because no bolt constraint exists, the volume is small, and the device can easily enter narrow space positions such as pipelines.
In engineering, the interiors of a large number of small pipelines need to be subjected to treatment work such as nondestructive inspection, internal detection, sand blasting and rust removal, grinding wheel rust removal, chemical rust removal and the like, but in the processing and construction sites of the small pipelines, the problems that the inner diameter of the pipeline is too small, usually smaller than 100mm, no pipeline mechanical device with proper size can enter the small pipelines and the working efficiency is seriously influenced are often encountered. Through the research on the existing detection device for processing the pipeline, the existing robot or detection device for the inner wall of the pipeline is mostly an ultra-large cantilever type structure, the structure is huge in form and high in manufacturing cost, and the pipeline with the smaller inner diameter cannot be processed basically. In addition, some mobile pipeline inner wall robots adapt to pipelines with different inner diameters by adopting a telescopic supporting mechanism and other modes, and in small pipelines, when encountering a bent pipeline part, the robots cannot pass through the pipeline part, so that the application range is limited.
Soft robots are mainly made of soft, elastic polymers, theoretically with infinite degrees of freedom and continuous deformation capabilities, so that they can obtain infinite robot shapes, and thus can reach every point of a complex pipe structure. Compared with the traditional rigid robot, the soft robot can conform to the obstacle through self deformation, and soft effective load is applied without causing damage. Has wide application prospect in a plurality of high-precision fields such as medical detection, rescue and relief work and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an inchworm type magnetic control soft robot for small-sized pipeline detection and a using method thereof, adopts a multi-material 3D printing technology, provides the inchworm type magnetic control soft robot for small-sized pipeline detection, can realize various motion modes, and enables the robot to better move in a complex environment. And the head of the designed soft robot is provided with a miniature camera and a miniature illuminating lamp, so that the robot can freely move in a small dark pipeline and shoot pictures in the pipeline.
An inchworm type magnetically controlled soft robot for small pipe exploration comprises a front end actuator, a middle actuator and a rear end actuator.
The rear end actuator and the front end actuator are of block structures and are formed by mixing and printing elastic polymers and magnetic nano particles. The miniature camera and the illuminating light source are arranged in the front-end actuator, and the actual working condition in the small pipeline is fed back to the PC terminal through the cable.
The middle actuator is printed by elastic polymers and comprises a rear end connecting support platform, a front end connecting support platform and a middle deformation beam, wherein the rear end connecting support platform and the front end connecting support platform are respectively used for connecting the rear end actuator, the front end actuator and the middle deformation beam. The both sides of middle deformation roof beam all are provided with a plurality of horizontal recesses, and the both ends of bottom all are provided with two bosss, and as soft robot lower part supporting legs, the position and each horizontal recess of boss are all underlaid.
Preferably, the elastic polymer and the magnetic nanoparticles are a Spot a light-cured resin and magnetic nanoparticles EMG 1200, respectively.
Preferably, the number of the transverse grooves on the same side of the middle deformation beam is 10; the width of each transverse groove is 0.8mm; the distance between two adjacent transverse grooves is 0.8mm.
A use method of an inchworm type magnetic control soft robot for small-sized pipeline detection specifically comprises the following steps:
step one, a controllable magnetic field control console for controlling the soft robot to move is built.
The controllable magnetic field control console comprises a two-axis moving unit, an aluminum profile, an optical axis, a platform and an upright post;
the two-axis moving unit comprises a transverse moving platform, a longitudinal screw rod, a magnet and a transverse screw rod; wherein the transverse screw rod is fixed on the aluminum profile and forms a screw pair with a nut at the bottom of the transverse moving platform; the longitudinal screw rod is fixed on the transverse moving platform and forms a screw pair with a nut at the bottom of the longitudinal moving platform; the magnet is fixed on the longitudinal moving platform and is divided into a front magnet and a rear magnet which are respectively used for controlling the front end actuator and the rear end actuator; the optical axis passes through the lower part of the transverse moving platform of the two-axis moving units and is in sliding connection with the transverse moving platform, and two ends of the optical axis are fixed on the aluminum profile; the platform is fixed on the aluminum section through the upright post; the transverse moving platform is driven to move in the X-axis direction by controlling the transverse screw rod to rotate; the longitudinal moving platform is driven to move in the Y-axis direction by controlling the rotation of the longitudinal screw rod. The transverse moving platform is driven to move back and forth in the X-axis direction by controlling the transverse screw rod to rotate. The longitudinal moving platform is driven to move back and forth in the Y-axis direction by controlling the rotation of the longitudinal screw rod. The two magnets are a front magnet and a rear magnet for controlling the front end actuator and the rear end actuator, respectively.
Step two, controlling the rear end actuator of the soft robot to move along the Y-axis direction, and then driving the front end actuator to move forwards by friction force to realize the linear motion of the soft robot, wherein the specific steps are as follows:
step 2.1, the controllable magnetic field operating platform controls the rear magnet to move along the Y-axis direction, the front magnet is kept still, and the rear end actuator of the soft robot is influenced by the rear magnet to push forwards; the front end actuator has a large contact area with the outside, and a large frictional force is generated, and is influenced by the front magnet and remains stationary.
2.2, as the rear end actuator of the soft robot is pushed forwards, the elastic potential energy and the gravitational potential energy of the middle deformation beam are increased, the friction force between the front end actuator and the ground is increased to a critical value, and the included angle between the front end actuator and the X-axis direction is theta max And the rear magnet stops moving, and the front magnet drives the front end actuator to move forwards along the Y-axis direction until the soft robot returns to the initial horizontal state.
And 2.3, when the soft robot returns to the horizontal state, the lower supporting leg of the soft robot is contacted with the ground, the front end actuator stops moving at the moment, and the step 2.1 is returned to realize the linear motion of the soft robot.
Step three, controlling the rear end actuator of the soft robot to deflect along the X-axis direction, then driving the front end actuator to deflect along the Z-axis direction by friction force, and realizing deflection motion of the soft robot, wherein the method comprises the following specific steps:
3.1, the controllable magnetic field control console controls the rear magnet to deflect and move towards the X-axis direction, the front magnet is kept still, and the actuator at the rear end of the soft robot is also deflected under the influence of the rear magnet; the front end actuator has a large contact area with the outside, and therefore, the friction force is large, and the front end actuator is kept still by the influence of the attraction force of the front magnet.
3.2, along with the movement of the rear end actuator, the whole soft robot deflects around the Z-axis direction, and the elastic potential energy of the middle deformation beam is increasedSo that the friction force between the front end actuator and the ground is increased to a critical value, and the maximum rotation angle of the soft robot around the Z-axis direction is sigma max And the rear magnet stops moving, and the front magnet drives the front end actuator to perform deflection motion around the Z-axis direction until the body recovers to the initial straight state, so that the deflection motion of the soft robot is realized.
And step four, controlling the soft robot to move in the small pipeline through the step two and the step three, wherein an illumination light source on the front-end actuator is used for illumination, the miniature camera is used for shooting the internal environment of the pipeline, and the actual working condition inside the small pipeline is fed back to the PC terminal through a cable, so that the detection and inspection inside the small pipeline are realized.
The invention has the following beneficial effects:
1. the micro camera and the illuminating light source are arranged on the actuator at the front end of the soft robot, the micro camera and the illuminating light source can be controlled to submerge into the small pipeline to detect whether the pipeline is damaged or blocked, and detected information feeds back the internal actual working condition to the PC terminal through a cable.
2. According to the structure and motion principle of natural inchworms, the structure is optimized by a finite element simulation method, large bending deformation can be realized, the bending with two dimensions of an x axis and a z axis is realized, the motion is more variable, and the method is suitable for various complex environments.
3. The soft robot adopts the multi-material 3D printing technology, the whole body is formed by printing and manufacturing at one time, the precision is accurate, and errors caused by multiple printing and casting of a casting mold are avoided. And the structure is soft, and narrow pipelines such as narrow slits can be passed through flexible deformation.
Drawings
FIG. 1 is a schematic structural view of a soft robot in an embodiment;
FIG. 2 is a schematic structural diagram of an intermediate deformable beam of the soft robot in the embodiment;
FIG. 3 is a schematic structural diagram of a controllable magnetic field console in an embodiment;
FIG. 4 is a schematic diagram of the straight movement of the magnetically controlled soft robot;
fig. 5 is a schematic diagram of the turning motion of the magnetically controlled soft robot.
Detailed Description
The invention is further explained below with reference to the drawings;
as shown in fig. 1, an inchworm-type magnetically controlled soft robot for small-sized pipeline detection is integrally printed by adopting a multi-material 3D printing technology, has a total length and width of 40mm × 5mm × 2mm, is in a single-sheet inchworm-type structure, and comprises a front-end actuator 15, a middle actuator 17 and a rear-end actuator 18.
The rear end actuator 18 and the front end actuator 15 are of block structures and are formed by mixing and printing Spot A light-cured resin and magnetic nanoparticles EMG 1200. The miniature camera 13 and the illumination light source 14 are arranged in the front end actuator 15, and the actual working condition in the small-sized pipeline is fed back to the PC terminal through a cable led out from the pipeline hole 16.
As shown in fig. 2, the intermediate actuator 17 is formed by printing Spot a light-curable resin, and includes a rear end connection support 21, a front end connection support 19, and an intermediate deformation beam 20, where the rear end connection support 21 and the front end connection support 19 are respectively used to connect the rear end actuator 18, the front end actuator 15, and the intermediate deformation beam 20. The middle deformation beam 20 is a main deformation movement part of the soft robot 6 and is designed according to the length of naturally observed inchworm and the length ratio of a bending part of the inchworm, and 4-10 transverse grooves are arranged on the lower plane and the side plane of the middle deformation beam 20. In order to improve the motion performance of the actuator, finite element simulation software Abaqus is used for simulating the mechanical motion process of the intermediate actuator 17, and a series of simulations find that when the grooves of the side planes are 10 sections, the bending deformation angle of the intermediate actuator 17 around the x axis and the z axis is the largest, and the motion performance is the best. Therefore, the side wall is divided into 9 sections, the width of each section is 0.8mm, and the distance between each section is 0.8mm; two ends of the bottom of the middle deformation beam are provided with 2 bosses which are used as lower supporting feet of the soft robot 6.
A use method of an inchworm type magnetic control soft robot for small-sized pipeline detection specifically comprises the following steps:
step one, a controllable magnetic field control console for controlling the movement of the soft robot is built as shown in figure 3.
Controllable magnetic field control cabinet includes aluminium alloy 1, optical axis supporting seat 2, optical axis 3, diaxon moving platform, platform 8, magnet 9 and stand 12, and four aluminium alloy 1 are connected through 40 angle yards, and the both ends of stand 12 pass through screw fixed connection with aluminium alloy 1 and platform 8 respectively, form hexahedron frame.
The two-axis moving platform comprises a transverse moving platform 4, a longitudinal moving platform 5, a longitudinal screw 7, a longitudinal screw supporting seat 10, a transverse screw 11 and a transverse screw supporting seat. Two ends of a transverse screw rod 11 are inserted into the transverse screw rod supporting seat and then connected with the transverse moving platform 4 through a screw rod nut seat and a screw rod nut, and the transverse screw rod supporting seat is fixed on the aluminum profile 1. Two ends of a longitudinal screw 7 are inserted into a longitudinal screw supporting seat 10 and then connected with a longitudinal moving platform 5 through a screw nut seat and a screw nut, and the longitudinal screw supporting seat 10 is fixed on a transverse moving platform 4. The magnet 9 is fixed on the longitudinal moving platform. The optical axis 3 passes through a linear slide block below the transverse moving platform 4 and is connected with the transverse moving platform 4 in a sliding mode, so that the transverse moving platform 4 can move freely in the transverse direction. The both ends of optical axis 3 insert in optical axis supporting seat 2 fixed, and optical axis supporting seat 2 is fixed on aluminium alloy 1. By controlling the transverse screw rod 11 to rotate, the transverse screw rod 11 rotates to drive the transverse moving platform 4 to move back and forth in the X-axis direction. By controlling the longitudinal screw rod 7 to rotate, the longitudinal screw rod 7 rotates to drive the longitudinal moving platform 5 to move back and forth in the Y-axis direction. The magnets 9 are front and rear magnets for controlling the front and rear actuators 15 and 18, respectively.
Step two, controlling the rear end actuator 18 of the soft robot 6 to move along the Y-axis direction, and then driving the front end actuator 15 to move forward by friction force to realize the linear motion of the soft robot, the specific steps are as follows:
step 2.1, the controllable magnetic field operation table controls the rear magnet to move along the Y-axis direction, the front magnet is kept still, and the rear end actuator 18 of the soft robot 6 is influenced by the rear magnet to push forwards; the front end actuator 15 has a large frictional force due to a large contact area with the outside, and is influenced by the front magnet to remain stationary.
Step 2.2, as the soft robot rear end actuator 18 pushes forward, the elastic potential energy of the intermediate deformation beam 20 andand the gravitational potential energy is increased, the friction force between the front end actuator 15 and the ground is increased to a critical value, and the included angle between the front end actuator 15 and the X-axis direction is theta max As shown in fig. 4, the rear magnet stops moving, and the front magnet moves the front end actuator 15 forward in the Y-axis direction until the soft robot 6 returns to the initial horizontal state.
And 2.3, when the soft robot 6 returns to the horizontal state, the lower supporting leg of the soft robot is contacted with the ground, the front end actuator 15 stops moving at the moment, and the step 2.1 is returned to realize the linear motion of the soft robot.
Step three, controlling the rear end actuator 18 of the soft robot to deflect along the X-axis direction, and then driving the front end actuator 15 to deflect along the Z-axis direction by friction force to realize deflection motion of the soft robot, wherein the method comprises the following specific steps:
3.1, the controllable magnetic field control console controls the rear magnet to deflect and move towards the X-axis direction, the front magnet keeps still, and the rear end actuator 18 of the soft robot is also deflected under the influence of the rear magnet; the front end actuator 15 has a large frictional force due to a large contact area with the outside, and is kept stationary by the attraction force of the front magnet.
3.2, along with the movement of the rear end actuator 18, the whole soft robot deflects around the Z-axis direction, the elastic potential energy of the middle deformation beam 20 is increased, so that the friction force between the front end actuator 15 and the ground is increased to a critical value, and the maximum rotation angle of the soft robot around the Z-axis direction is sigma max As shown in fig. 5, the rear magnet stops moving, and the front magnet drives the front end actuator 15 to perform deflecting movement around the Z-axis direction until the body returns to the initial straight state, so as to implement deflecting movement of the soft robot 6.
And step four, controlling the soft robot 6 to move in the small pipeline through the step two and the step three, enabling an illumination light source 14 on a front end actuator 15 to be used for illumination, enabling a miniature camera 13 to shoot the internal environment of the pipeline, and feeding back the actual working conditions inside the small pipeline to a PC terminal through a cable so as to realize detection and inspection inside the small pipeline.

Claims (7)

1. The utility model provides an inchworm type magnetic control soft robot for small-size pipeline is surveyed which characterized in that: comprises a front end actuator, a middle actuator and a rear end actuator;
the rear end actuator and the front end actuator are of block structures and are formed by mixing and printing elastic polymers and magnetic nano particles; a miniature camera and an illuminating light source are arranged in the front-end actuator, and the actual working condition in the small pipeline collected by the miniature camera is fed back through a cable;
the middle actuator is formed by printing elastic polymers and comprises a rear end connecting support platform, a front end connecting support platform and a middle deformation beam, wherein the rear end connecting support platform and the front end connecting support platform are respectively used for connecting the rear end actuator, the front end actuator and the middle deformation beam; 4-10 transverse grooves are formed in the lower plane and the side plane of the middle deformation beam; two ends of the side groove wall of the groove form four bosses which are used as supporting legs of the lower part of the soft robot.
2. The inchworm-type magnetically controlled soft robot for small pipe exploration according to claim 1, wherein: the elastic polymer and the magnetic nanoparticles are respectively Spot A light-cured resin and magnetic nanoparticles EMG 1200.
3. The inchworm-type magnetically controlled soft robot for small pipe exploration, according to claim 1, characterized in that: the total length, width and height of the soft robot are 40mm, 5mm, 2mm, and the soft robot is of a single-sheet inchworm type structure.
4. The inchworm-type magnetically controlled soft robot for small pipe exploration according to claim 1, wherein: the side wall of the middle deformation beam is divided into 9 sections, the width of each section is 0.8mm, and the distance between each section is 0.8mm.
5. The use method of the inchworm-type magnetically controlled soft robot for small-sized pipeline detection as claimed in claim 1, wherein: the method specifically comprises the following steps:
step one, building a controllable magnetic field control console for controlling the soft robot to move;
the controllable magnetic field control console comprises an aluminum profile (1), an optical axis supporting seat (2), an optical axis (3), a transverse moving platform (4), a longitudinal moving platform (5), a longitudinal screw rod (7), a platform (8), a magnet (9), a screw rod supporting seat (10), a transverse screw rod (11) and an upright post (12), wherein two ends of the upright post (12) are fixedly connected with the aluminum profile (1) and the platform (8) respectively, the optical axis (3) penetrates through the lower part of the transverse moving platform (4) and is in sliding connection with the transverse moving platform (4), two ends of the optical axis supporting seat are inserted into the optical axis supporting seat (2) for fixation, and the optical axis supporting seat (2) is fixed on the aluminum profile (1); two ends of a transverse screw rod (11) are inserted into a transverse screw rod supporting seat and then connected with a transverse moving platform (4) through a screw rod nut seat and a screw rod nut, and the transverse screw rod supporting seat is fixed on an aluminum profile (1); two ends of a longitudinal screw rod (7) are inserted into a longitudinal screw rod supporting seat (10) and then are connected with a longitudinal moving platform (5) through a screw rod nut seat and a screw rod nut, and the longitudinal screw rod supporting seat (10) is fixed on a transverse moving platform (4); the magnet (9) is fixed on the longitudinal moving platform; the transverse moving platform (4) is driven to move back and forth in the X-axis direction by controlling the rotation of the transverse screw rod (11); the longitudinal moving platform (5) is driven to move back and forth in the Y-axis direction by controlling the rotation of the longitudinal screw rod (7); the magnet (9) is divided into a front magnet and a rear magnet for controlling the front end actuator (15) and the rear end actuator (18), respectively;
step two, placing the soft robot into the small pipeline, and then placing the controllable magnetic field control console built in the step one below the small pipeline; firstly, a rear end actuator (18) of the soft robot is controlled to move along the Y-axis direction, a front end actuator (15) is kept still, and along with the continuous forward movement of the rear end actuator (18), the included angle between the front end actuator (15) and the X-axis direction reaches the maximum included angle theta max The front end actuator (15) moves forwards under the control of the console and the action of friction force to realize the linear motion of the soft robot;
step three, firstly, the rear end actuator (18) of the soft robot is controlled to deflect along the X-axis direction, the front end actuator (15) is kept still, and the soft robot reaches the maximum rotation angle sigma around the Z-axis direction along with the continuous deflection of the rear end actuator (18) max The front end actuator (15) deflects around the Z-axis direction under the control of the console and the action of friction force, so as to realize the soft robotA yaw motion;
and step four, controlling the soft robot to move in the small pipeline through the step two and the step three, wherein an illumination light source (14) on a front end actuator (15) is used for illumination, a micro camera (13) shoots the internal environment of the pipeline, and the actual working condition in the small pipeline is fed back to a PC terminal through a cable, so that the detection and inspection in the small pipeline are realized.
6. The use method of the inchworm-type magnetically controlled soft robot for small-sized pipeline exploration according to claim 5, characterized in that: the method for controlling the soft robot to perform linear motion comprises the following specific steps:
step 2.1, the controllable magnetic field operating platform controls the rear magnet to move along the Y-axis direction, the front magnet is kept still, and the actuator at the rear end of the soft robot is influenced by the rear magnet to push forwards; the front end actuator has larger contact area with the outside, has larger friction force and is influenced by the front magnet to keep still;
step 2.2, as the rear end actuator of the soft robot pushes forwards, the elastic potential energy and the gravitational potential energy of the middle deformation beam are increased, the friction force between the front end actuator and the ground is increased to a critical value, and the included angle between the front end actuator and the X-axis direction is theta max The rear magnet stops moving, and the front magnet drives the front end actuator to move forwards along the Y-axis direction until the soft robot returns to the initial horizontal state;
and 2.3, when the soft robot returns to the horizontal state, the lower supporting leg of the soft robot is contacted with the ground, the front end actuator stops moving at the moment, and the step 2.1 is returned to realize the linear motion of the soft robot.
7. The use method of the inchworm-type magnetically controlled soft robot for small-sized pipeline detection as claimed in claim 5, wherein: the specific steps for controlling the soft robot to perform deflection motion are as follows:
3.1, the controllable magnetic field control console controls the rear magnet to deflect and move towards the X-axis direction, the front magnet is kept still, and the actuator at the rear end of the soft robot is also deflected under the influence of the rear magnet; the front end actuator has larger contact area with the outside, has larger friction force and is influenced by the attraction force of the front magnet to keep still;
3.2, along with the movement of the rear end actuator, the whole soft robot deflects around the Z-axis direction, the elastic potential energy of the middle deformation beam is increased, so that the friction force between the front end actuator and the ground is increased to a critical value, and the maximum rotation angle of the soft robot around the Z-axis direction is sigma max And the rear magnet stops moving, and the front magnet drives the front end actuator to deflect and move around the Z-axis direction until the body returns to the initial straight state, so that the deflection motion of the soft robot is realized.
CN202110711692.0A 2021-06-25 2021-06-25 Inchworm type magnetic control soft robot for small-sized pipeline detection and using method Active CN113236905B (en)

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