阅读说明：本技术 一种用于管道清理的磁驱动软体机器人及其工作方法 (Magnetic drive soft robot for cleaning pipeline and working method thereof ) 是由 许明 孙启民 于 2021-07-12 设计创作，主要内容包括：本发明公开了一种用于管道清理的磁驱动软体机器人及其工作方法。该软体机器人,包括磁性软机器人主体和钩爪。所述的磁性软机器人主体包括前腿结构、后腿结构、扭转伸缩结构和清理环。前腿结构、后腿结构分别设置在扭转伸缩结构的两端。清理环套置在扭转伸缩结构的外侧。多个钩爪均设置在前腿结构的内侧。钩爪能够跟随前腿结构一同翻转。前腿结构、后腿结构和扭转伸缩结构均为具有弹性的永磁体；前腿结构与后腿结构受到相同的径向磁场作用时,其中一个向内翻折,另一个向外翻折。扭转伸缩结构受到轴向磁场时,能够在磁场控制下扭转和伸缩。本发明以非接触式控制该机器人运动,无需外加导线等信号的传输,增加了软体机器人在弯曲管道的灵活性。(The invention discloses a magnetic drive soft robot for cleaning a pipeline and a working method thereof. The soft robot comprises a magnetic soft robot body and a claw. The magnetic soft robot main body comprises a front leg structure, a rear leg structure, a torsion telescopic structure and a cleaning ring. The front leg structure and the rear leg structure are respectively arranged at two ends of the torsion telescopic structure. The cleaning ring is sleeved outside the torsion telescopic structure. A plurality of fingers are all disposed on the inside of the front leg structure. The claw can turn over along with the front leg structure. The front leg structure, the rear leg structure and the torsion telescopic structure are all permanent magnets with elasticity; when the front leg structure and the rear leg structure are subjected to the same radial magnetic field, one of the front leg structure and the rear leg structure is turned inwards, and the other one of the front leg structure and the rear leg structure is turned outwards. When the torsion telescopic structure is subjected to an axial magnetic field, the torsion and the extension can be controlled by the magnetic field. The invention controls the robot to move in a non-contact way without the transmission of signals such as additional wires and the like, thereby increasing the flexibility of the soft robot in bending the pipeline.)

1. A magnetic drive soft robot for cleaning pipelines comprises a magnetic soft robot main body (1) and a claw (2); the method is characterized in that: the magnetic soft robot main body (1) comprises a front leg structure (1-1), a rear leg structure (1-2), a torsion telescopic structure (1-3) and a cleaning ring (1-5); the front leg structure (1-1) and the rear leg structure (1-2) are respectively arranged at two ends of the torsion telescopic structure (1-3); the cleaning ring (1-5) is sleeved outside the torsional telescopic structure (1-3); the plurality of claws (2) are arranged on the inner side of the front leg structure (1-1); the claw (2) can turn over along with the front leg structure (1-1);

the torsion telescopic structure (1-3) comprises two connecting rings (1-4) and a plurality of magnetic deformation strips; two ends of the magnetic deformation strip are respectively connected with the two connecting rings (1-4); the magnetic deformation strips are sequentially arranged along the circumferential direction of the axis of the torsional telescopic structure (1-3); the two connecting rings (1-4) are respectively connected with the front leg structure (1-1) and the rear leg structure (1-2); the front leg structure (1-1) comprises a plurality of front leg units which are sequentially arranged along the circumferential direction of the axis of the torsion telescopic structure (1-3); the rear leg structure (1-2) comprises a plurality of rear leg units which are sequentially arranged along the axis of the torsion telescopic structure (1-3); the front leg structure (1-1), the rear leg structure (1-2) and the torsion telescopic structure (1-3) are all permanent magnets with elasticity; when the front leg structure (1-1) and the rear leg structure (1-2) are under the action of the same radial magnetic field, one of the front leg structure and the rear leg structure is turned inwards, and the other one of the front leg structure and the rear leg structure is turned outwards; when the torsional telescopic structure (1-3) is subjected to an axial magnetic field, the torsional telescopic structure can be twisted and stretched under the control of the magnetic field.

2. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the front leg structure (1-1), the rear leg structure (1-2) and the torsion telescopic structure (1-3) move under the driving of the electromagnetic driving coil group (3-3); the electromagnetic drive coil group (3-3) comprises a Helmholtz coil (3-3-1) and a plurality of rectangular coils (3-3-2); each rectangular coil (3-3-2) is arranged between two circular coils in the Helmholtz coil (3-3-1) and is uniformly distributed along the circumferential direction of the axis of the Helmholtz coil (3-3-1); in the working process, the magnetic soft robot body (1) enters the cleaned pipeline, and the electromagnetic driving coil group (3-3) is sleeved outside the cleaned pipeline to provide an axial magnetic field and a radial magnetic field for the magnetic soft robot body (1).

3. A magnetically driven soft robot for pipe cleaning according to claim 2, wherein: one or more micro infrared sources (4) are arranged at two ends of the outer side of the magnetic soft robot main body (1); the electromagnetic drive coil group (3-3) is arranged on the electromagnetic control frame (3); the electromagnetic control frame (3) comprises a frame (3-5), a belt conveyor (3-1) and an infrared detector (3-2); the belt conveyor (3-1), the infrared detector (3-2) and the electromagnetic driving coil group (3-3) are all arranged on the rack (3-5); the conveying direction of the belt conveyor (3-1) is parallel to the axial direction of the Helmholtz coil (3-3-1); the electromagnetic driving coil group (3-3) is positioned right above the belt conveyor (3-1); the infrared detector (3-2) is arranged at the side part of the electromagnetic driving coil group (3-3) and is used for receiving the signal emitted by the micro infrared source (4) so as to detect the position of the magnetic soft robot main body (1).

4. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the front leg structure (1-1), the rear leg structure (1-2) and the torsion telescopic structure (1-3) form a magnetic field by doping magnetic powder.

5. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the opposite ends of the front leg structure (1-1) and the rear leg structure (1-2) are opposite in polarity; the magnetic pole direction of each magnetic deformation strip in the torsion telescopic structure (1-3) is arranged along the length direction of the torsion telescopic structure or along the axial direction of the magnetic soft robot body (1).

6. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the magnetic soft robot main body (1) is formed by casting; the casting material is obtained by mixing magnetic particles and silica gel according to the mass ratio of 1: 1.

7. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the cleaning ring (1-5) is arranged on the outer side of the joint of the rear leg structure (1-2) and the torsion telescopic structure (1-3).

8. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the magnetic deformation strip is obliquely arranged relative to the axis of the torsional telescopic structure (1-3); the front leg unit and the back unit are both in an isosceles trapezoid shape with a large inside and a small outside; the outer end of the hook claw (2) is a claw body (2-2) which extends outwards and is bent and forked.

9. A magnetically driven soft robot for pipe cleaning according to claim 1, wherein: the outer side of the connecting ring (1-4) is provided with an annular groove; the annular groove reduces the folding resistance of the front leg structure (1-1) and the rear leg structure (1-2) relative to the torsion telescopic structure (1-3).

10. The working method of the magnetic drive soft robot for cleaning the pipeline as claimed in claim 3, wherein: step one, putting a magnetic soft robot main body (1) into a pipe orifice of a cleaned flexible pipe (5) in a forward posture of a front leg structure (1-2); the inner diameter of the flexible pipe (5) is larger than the diameter of the torsion telescopic structure (1-3) and smaller than the outer diameter of the front leg structure (1-1) and the rear leg structure (1-2) after expansion; the pipe orifice of the flexible pipe (5) passes through a Helmholtz coil (3-3-1) in the electromagnetic driving coils (3-3) and is placed on the belt conveyor (3-1), so that the magnetic soft robot body (1) is positioned between two circular coils in the Helmholtz coil (3-3-1); the belt conveyor (3-1) drives the flexible pipe (5) to convey along the axial direction; the conveying speed of the belt conveyor (3-1) is dynamically adjusted according to the position of the magnetically-driven soft robot detected by the infrared detector, so that the main body (1) of the magnetically-driven soft robot is always kept in the detection range of the infrared detector;

step two, positively electrifying each rectangular coil in the electromagnetic drive coils (3-3) to generate a radial magnetic field, controlling the rear leg structure (1-2) to expand, and controlling the front leg structure (1-1) to contract; a Helmholtz coil (3-3-1) in the electromagnetic driving coil (3-3) is electrified in the positive direction to generate an axial magnetic field, and the torsion telescopic structure (1-3) is controlled to twist in the positive direction and stretch; because the expanded rear leg structure (1-2) props against the inner wall of the flexible pipe (5), the front leg structure (1-1) is pushed to advance spirally by twisting the telescopic structure (1-3);

step three, reversely electrifying each rectangular coil and each Helmholtz coil (3-3-1), controlling the rear leg structure (1-2) to contract, expanding the front leg structure (1-1), and reversely twisting and shortening the twisting telescopic structure (1-3); because the expanded front leg structure (1-1) props against the inner wall of the flexible pipe (5), the back leg structure (1-2) and the cleaning ring (1-5) are pulled to advance spirally by twisting the telescopic structure (1-3); the spiral advancing cleaning ring (1-5) cleans dirt on the inner wall of the flexible pipe (5);

step four, repeatedly executing the step two and the step three to enable the magnetic soft robot main body (1) to advance in the flexible pipe (5), wherein the advancing direction is opposite to the conveying direction of the flexible pipe (5), and the advancing speed is equal to the conveying speed of the flexible pipe (5); so that the position of the magnetic soft robot body (1) relative to the electromagnetic driving coils (3-3) is kept unchanged;

when the magnetic soft robot body (1) meets a blockage, dredging operation is carried out, and the specific process is as follows:

stopping conveying or reducing conveying speed of the belt conveyor;

controlling the front leg structure (1-1) to expand, the rear leg structure (1-2) to contract and the torsion telescopic structure (1-3) to shorten by the electromagnetic driving coil (3-3), wherein the front leg structure (1-1) abuts against the inner wall of the flexible pipe (5) and is in contact with a blockage;

controlling the expansion of the rear leg structure (1-2) by the electromagnetic driving coil (3-3), contracting the front leg structure (1-1), and extending the torsion telescopic structure (1-3) to enable the rear leg structure (1-2) to abut against the inner wall of the flexible pipe (5); the front leg structure (1-1) applies pressure to the blockage and drives the hook claw (2) to overturn to grab the blockage;

repeatedly executing the processes II and III to continuously grab and dredge the blockage and advance the magnetic soft robot main body (1); after the blockage is removed, the belt conveyor resumes the initial conveying speed.

Technical Field

The invention designs a magnetic driving soft robot for realizing dredging and cleaning work in a bent complex flexible non-metallic pipe, and particularly relates to a soft robot structure integrating silica gel and magnetic powder and a driving control method utilizing magnetic moment thereof, which can realize the work of drawing, dredging blockage, releasing cleaning liquid and the like in the complex flexible pipe and prevent the flexible pipe from being damaged by a rigid object in the traditional cleaning process.

Background

The flexible pipe made of the rubber pipe or the high polymer material has flexibility and convenience due to good flexibility and extremely low Young modulus, and is applied to mobile and flexible industrial, medical or domestic sewage discharge. The flexible pipes have a large amount of dirt deposited inside the flexible pipes and even cause blockage in long-term work, and the traditional pipeline dredging method is that the rigid structure is difficult to clean or dredge the flexible pipes which are bent in a complex way, and the inner pipe walls of the flexible pipes are easy to damage. Therefore, the soft robot based on magnetic moment drive control is proposed to be used for cleaning or dredging the flexible pipe, and the problem of cleaning and dredging in the highly complex bent flexible pipe is solved.

Disclosure of Invention

The invention aims to design a soft robot which realizes magnetic moment driving and controlling of flexible dredging and cleaning in the interior of a highly-bent flexible pipe and a working method thereof.

The invention relates to a magnetic drive soft robot for cleaning a pipeline, which comprises a magnetic soft robot main body and a claw. The magnetic soft robot main body comprises a front leg structure, a rear leg structure, a torsion telescopic structure and a cleaning ring. The front leg structure and the rear leg structure are respectively arranged at two ends of the torsion telescopic structure. The cleaning ring is sleeved outside the torsion telescopic structure. A plurality of fingers are all disposed on the inside of the front leg structure. The claw can turn over along with the front leg structure.

The torsion telescopic structure comprises two connecting rings and a plurality of magnetic deformation strips. The two ends of the magnetic deformation strip are respectively connected with the two connecting rings. The magnetic deformation strips are sequentially arranged along the circumferential direction of the axis of the torsional telescopic structure. The two connecting rings are respectively connected with the front leg structure and the rear leg structure. The front leg structure comprises a plurality of front leg units which are sequentially arranged along the circumferential direction of the axis of the torsion telescopic structure. The rear leg structure comprises a plurality of rear leg units which are sequentially arranged along the axis of the torsional telescopic structure. The front leg structure, the rear leg structure and the torsion telescopic structure are all permanent magnets with elasticity; when the front leg structure and the rear leg structure are subjected to the same radial magnetic field, one of the front leg structure and the rear leg structure is turned inwards, and the other one of the front leg structure and the rear leg structure is turned outwards. When the torsion telescopic structure is subjected to an axial magnetic field, the torsion and the extension can be controlled by the magnetic field.

Preferably, the front leg structure, the rear leg structure and the torsion stretching structure are driven by the electromagnetic driving coil group to move. The electromagnetic drive coil assembly includes a Helmholtz coil and a plurality of rectangular coils. Each rectangular coil is arranged between two circular coils in the Helmholtz coil, and is uniformly distributed along the circumferential direction of the axis of the Helmholtz coil. In the working process, the magnetic soft robot body 1 enters the cleaned pipeline, and the electromagnetic driving coil group is sleeved outside the cleaned pipeline to provide an axial magnetic field and a radial magnetic field for the magnetic soft robot body 1.

Preferably, one or more micro infrared sources are arranged at two ends of the outer side of the magnetic soft robot main body. The electromagnetic driving coil group is arranged on the electromagnetic control frame. The electromagnetic control frame comprises a frame, a belt conveyor and an infrared detector. The belt conveyor, the infrared detector and the electromagnetic driving coil group are all arranged on the frame. The conveying direction of the belt conveyor is parallel to the axial direction of the Helmholtz coil. The electromagnetic driving coil group is positioned right above the belt conveyor. The infrared detector is arranged at the side part of the electromagnetic driving coil group and is used for receiving the signal emitted by the micro infrared source so as to detect the position of the magnetic soft robot main body.

Preferably, the front leg structure, the rear leg structure and the torsion stretching structure form a magnetic field by doping magnetic powder.

Preferably, the opposite ends of the front leg structure and the rear leg structure are opposite in polarity. The magnetic pole direction of each magnetic deformation strip in the torsion telescopic structure is arranged along the length direction of the torsion telescopic structure or along the axial direction of the magnetic soft robot main body.

Preferably, the magnetic soft robot body is molded by casting. The casting material is prepared by mixing magnetic particles and silica gel according to the mass ratio of 1:1 are mixed to obtain the product.

Preferably, the cleaning ring is arranged at the outer side of the joint of the rear leg structure and the torsion stretching structure.

Preferably, the magnetically deformable strip is arranged obliquely to the axis of the torsionally telescopic structure. The front leg unit and the rear leg unit are both in an isosceles trapezoid shape with a large inside and a small outside; the outer end of the claw is a claw body which extends outwards and is bent and forked.

Preferably, the outer side of the connecting ring is provided with an annular groove; the annular groove reduces the resistance of the front leg structure and the rear leg structure to folding relative to the torsional telescopic structure.

The pipeline cleaning method of the magnetic drive soft robot for cleaning the pipeline comprises the following specific steps:

step one, placing the main body of the magnetic soft robot into a pipe orifice of the cleaned flexible pipe in a posture that the front leg structure faces forwards. The inner diameter of the flexible pipe is larger than the diameter of the torsion telescopic structure and smaller than the outer diameter of the front leg structure and the rear leg structure after expansion. The orifice of the flexible tube is passed through a helmholtz coil in an electromagnetic drive coil and placed on a belt conveyor so that the magnetic soft robot body is between two circular coils within the helmholtz coil. The belt conveyor drives the flexible pipe to convey along the axial direction. The conveying speed of the belt conveyor is dynamically adjusted according to the position of the magnetically-driven soft robot detected by the infrared detector, so that the main body of the magnetically-driven soft robot is always kept in the detection range of the infrared detector.

Step two, each rectangular coil in the electromagnetic drive coils is electrified in the positive direction to generate a radial magnetic field, so that the rear leg structure is controlled to expand, and the front leg structure is controlled to contract; a Helmholtz coil in the electromagnetic driving coils is electrified in the positive direction to generate an axial magnetic field, and the torsion and expansion structure is controlled to be twisted in the positive direction and stretched; because the expanded rear leg structure props against the inner wall of the flexible pipe, the front leg structure is pushed to advance spirally by twisting the telescopic structure.

Step three, reversely electrifying each rectangular coil and each Helmholtz coil, controlling the rear leg structure to contract, the front leg structure to expand, and reversely twisting and shortening the twisting telescopic structure; because the expanded front leg structure butts against the inner wall of the flexible pipe, the torsion telescopic structure pulls the rear leg structure and the cleaning ring to advance spirally. The spiral advancing cleaning ring cleans dirt on the inner wall of the flexible pipe.

Step four, repeatedly executing the step two and the step three to enable the main body of the magnetic soft robot to advance in the flexible tube, wherein the advancing direction is opposite to the conveying direction of the flexible tube, and the advancing speed is equal to the conveying speed of the flexible tube; so that the position of the magnetic soft robot main body relative to the electromagnetic driving coil is kept unchanged.

When the magnetic soft robot body encounters a blockage, dredging operation is carried out, and the specific process is as follows:

the belt conveyor stops conveying or the conveying speed is reduced.

And secondly, controlling the front leg structure to expand, the rear leg structure to contract and the torsion telescopic structure to shorten by the electromagnetic driving coil, wherein the front leg structure props against the inner wall of the flexible pipe and is contacted with a blockage.

Controlling the expansion of the rear leg structure, the contraction of the front leg structure and the extension of the torsional telescopic structure by the electromagnetic driving coil so that the rear leg structure is propped against the inner wall of the flexible pipe; the front leg structure applies pressure to the blockage and drives the claw to overturn to grab the blockage.

And fourthly, repeatedly executing the processes II and III to continuously grab and dredge the blockage and advance the magnetic soft robot main body. After the blockage is removed, the belt conveyor resumes the initial conveying speed.

The invention has the beneficial effects that:

1. the invention can drive the main body of the magnetic soft robot in the pipeline by applying a variable magnetic field on the outer side of the pipeline, can be applied to cleaning and dredging in the flexible pipe, and greatly reduces the damage to the inner wall of the flexible pipeline due to the material flexibility of the main body of the magnetic soft robot.

2. The invention takes magnetism as a driving mode, controls the robot to move in a non-contact way, does not need to be additionally provided with signal transmission such as a lead wire and the like, and increases the flexibility of the magnetically-driven soft robot in bending a pipeline.

3. The invention is manufactured by casting a mixed material of silica gel and magnetic particles into an integral structure and magnetizing the integral structure, thereby realizing the magnetic drive and control of the small pure soft robot.

4. The magnetically-driven soft robot has four miniature infrared sources separately fixed to its surface and the infrared detector is used in imaging, so that the form change of the robot inside opaque pipeline is observed and the magnetically-driven soft robot forms closed loop control.

Drawings

FIG. 1 is a schematic diagram of the overall structure and operation of the system of the present invention;

FIG. 2 is a schematic structural diagram of the main body of the magnetic soft robot in the present invention;

FIG. 3 is a schematic view of the structure of the finger of the present invention;

FIG. 4 is a schematic diagram showing the magnetic pole direction and the force-receiving direction of the main body of the magnetic soft robot in the present invention

FIG. 5 is a schematic diagram of the elongation process of the magnetic soft robot body in the present invention;

FIG. 6 is a schematic diagram of the shortening process of the magnetic soft robot body in the present invention;

FIG. 7 is a schematic view of the structure of the electromagnetic coil assembly of the present invention

FIG. 8 is a working principle diagram of the magnetic soft robot main body in the invention crawling in the flexible pipe;

fig. 9 is a working principle diagram of the magnetic soft robot body in the invention for dredging the blockage in the flexible pipe.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 and 2, a magnetically-driven soft robot for cleaning a pipeline comprises a magnetic soft robot body 1, a claw 2, an electromagnetic control frame 3 and a micro infrared source 4. The electromagnetic control frame 3 can convey the flexible pipe 5 and control the magnetic soft robot body 1 to move in the flexible pipe 5. The outside of the magnetic soft robot body 1 is provided with a plurality of micro infrared sources 4. The manufacturing method of the magnetic soft robot main body 1 is that a mould is cast into a whole, and the casting materials are magnetic particles and silica gel 1:1 and mixing.

As shown in fig. 1, 2 and 3, the magnetic soft robot body 1 is cylindrical and comprises a front leg structure 1-1, a rear leg structure 1-2, a torsion telescopic structure 1-3 and a cleaning ring 1-5. The front leg structure 1-1 and the rear leg structure 1-2 are respectively arranged at two ends of the torsion telescopic structure 1-3. The cleaning ring 1-5 is arranged at the outer side of the joint of the rear leg structure 1-2 and the torsion telescopic structure 1-3. The inner side of the front leg structure 1-1 is provided with a plurality of fingers 2. The torsion telescopic structure 1-3 can be telescopic under the control of a magnetic field; the front leg structure 1-1 and the rear leg structure 1-2 can be folded outwards to realize the fixation with the inner wall of the pipeline. The peristaltic advancing of the magnetically-driven soft robot for cleaning the pipeline in the pipeline can be realized by circularly executing the processes of 'turning out the front leg structure 1-1, turning in the back leg structure 1-2, resetting → shortening the torsion telescopic structure 1-3 → turning in the front leg structure 1-1, turning out and fixing the back leg structure 1-2 → extending the torsion telescopic structure 1-3'. The cleaning ring 1-5 is used for scraping dirt on the inner wall of the pipeline in the process of advancing the magnetic drive soft robot for cleaning the pipeline. The hook claw 2 is made of silica gel and is used for repeatedly turning inside and outside along with the front leg structure 1-1 when the blockage occurs, so that the blockage part is excavated and dredged.

The torsion telescopic structure 1-3 comprises two connecting rings 1-4 and a plurality of magnetic deformation strips which are integrally formed. Two ends of the magnetic deformation strip are respectively connected with the two connecting rings 1-4. All the magnetic deformation strips are uniformly distributed along the circumferential direction of the axis of the torsion telescopic structure 1-3. The magnetic deformation strips are obliquely arranged relative to the axis of the torsional telescopic structure 1-3 and are in a parallelogram shape. In this embodiment, the number of the magnetic deformation strips is four. The two connecting rings 1-4 are respectively connected with the front leg structure 1-1 and the rear leg structure 1-2. The outer side of the connecting ring 1-4 is provided with an annular groove so that the front leg structure 1-1 and the rear leg structure 1-2 can be turned outwards conveniently.

The front leg structure 1-1 comprises eight front leg units which are uniformly distributed along the circumferential direction of the axis of the torsion telescopic structure 1-3. The front leg unit is in an isosceles trapezoid with a large inner part and a small outer part; claw holes are formed in the inner sides of the front leg units. The claw holes are all fixed with claws 2. The hook claw 2 is a cast integral structure, one end of the hook claw is provided with an installation disc 2-1, and the other end of the hook claw is provided with a claw body 2-2 which extends outwards and is bent and forked. The mounting disc 2-1 is fixed with the claw hole of the front leg unit. The rear leg structure 1-2 comprises eight rear leg units which are uniformly distributed along the circumferential direction of the axis of the torsion telescopic structure 1-3. The rear leg unit is in an isosceles trapezoid with a large inner part and a small outer part.

As shown in fig. 4, magnetic powder with consistent magnetic pole direction is arranged in the front leg structure 1-1, the rear leg structure 1-2 and the torsion telescopic structure 1-3. The magnetic poles of the front leg structure 1-1 and the rear leg structure 1-2 are in the same direction and are arranged along the axial direction of the magnetic soft robot body 1, i.e. the opposite ends of the front leg structure 1-1 and the rear leg structure 1-2 are opposite in polarity. The magnetic pole direction of each magnetic deformation strip in the torsion telescopic structure 1-3 is arranged along the length direction of the torsion telescopic structure or along the axial direction of the magnetic soft robot body 1. The opposite ends of the torsional telescopic structure 1-3 and the rear leg structure 1-2 are opposite in polarity. In the embodiment, the outer end of the front leg structure 1-1 is an N pole, and the outer end of the rear leg structure 1-2 is an S pole; the end part of the torsion telescopic structure 1-3 facing the front leg structure 1-1 is an N pole, and the end part facing the rear leg structure 1-2 is an S pole.

As shown in fig. 5 and 6, when the front leg structure 1-1 and the rear leg structure 1-2 are subjected to opposite radial magnetic fields, one is folded outward to expand, and the other is folded inward to contract. When the torsionally-telescopic structure 1-3 is subjected to an axial magnetic field, it will elongate or contract. In the working process, when the rear leg structure 1-2 is expanded, the front leg structure 1-1 is contracted, and the torsion telescopic structure 1-3 is synchronously extended; when the front leg structure 1-1 is expanded, the rear leg structure 1-2 is contracted, and the torsion telescopic structure 1-3 is synchronously shortened, so that the continuous advance of the magnetic soft robot main body 1 in the pipeline can be realized.

The micro infrared source 4 is a component capable of spontaneously generating an infrared signal. Four micro infrared sources 4 are fixed on the outer side surface of the magnetic soft robot main body 1. Wherein, the two micro infrared sources 4 are respectively fixed at the outer sides of the front leg structure 1-1 and the back leg structure 1-2 and are positioned at the opposite sides of the magnetic soft robot main body 1. The other two micro infrared sources 4 are respectively fixed at two ends of the outer side surface of the torsion telescopic structure 1-3 and are positioned at the opposite side of the magnetic soft robot main body 1.

As shown in figure 1, the electromagnetic control frame 3 comprises a frame 3-5, a belt conveyor 3-1, an infrared detector 3-2, an electromagnetic drive coil group 3-3 and a control panel 3-4. The belt conveyor 3-1, the infrared detector 3-2 and the electromagnetic driving coil group 3-3 are all arranged on the frame 3-5. The belt conveyor 3-1 is driven by a motor for axially conveying the flexible tube. The electromagnetic driving coil group 3-3 is positioned right above the belt conveyor 3-1 and is used for driving the magnetic soft robot main body 1 to move in the flexible pipe; the infrared detector 3-2 is arranged at the side part of the electromagnetic drive coil group 3-3 and is used for receiving signals transmitted by the micro infrared source 4, so that the motion form of the magnetic soft robot main body 1 is imaged, and closed-loop control of the magnetic drive soft robot for cleaning the pipeline is realized. Since the flexible tube moves under the drive of the belt conveyor 3-1, the magnetic soft robot body 1 can keep a position substantially unchanged with respect to the electromagnetic drive coil group 3-3 during the movement. The magnetic soft robot main body 1 is always kept in the control range of the electromagnetic driving coil group 3-3 and the detection range of the infrared detector 3-2. The control board 3-4 is used for receiving detection signals of the infrared detector 3-2 and controlling the belt conveyor 3-1 and the electromagnetic driving coil group 3-3 to work.

As shown in fig. 1 and 7, the electromagnetic driving coil group 3-3 includes a helmholtz coil 3-3-1 and four rectangular coils 3-3-2, and is independently controlled by six adjustable power supplies to form an electromagnetic driving system for controlling the movement of the magnetic soft robot main body 1 in the pipeline. The two circular coils forming the Helmholtz coil 3-3-1 are coaxial and arranged at intervals. The axial direction of the Helmholtz coil 3-3-1 is parallel to the conveying direction of the belt conveyor 3-1. The four rectangular coils 3-3-2 are all arranged between two circular coils in the Helmholtz coil 3-3-1 and are uniformly distributed along the circumferential direction of the axis of the Helmholtz coil 3-3-1. The Helmholtz coil 3-3-1 is used for providing an axial magnetic field and controlling the expansion and contraction of the magnetic soft robot main body 1; the rectangular coil 3-3-2 is used for providing a radial magnetic field and controlling the expansion and contraction of the front end and the rear end of the magnetic soft robot body 1.

The pipeline cleaning method of the magnetic drive soft robot for cleaning the pipeline comprises the following specific steps:

step one, as shown in fig. 1, the magnetic soft robot main body 1 is put into the orifice of the cleaned flexible pipe 5 in a posture that the front leg structure 1-2 faces forward. The inner diameter of the flexible pipe 5 is larger than the diameter of the torsion telescopic structure 1-3 and smaller than the outer diameter of the front leg structure 1-1 and the rear leg structure 1-2 after expansion. The orifice of the flexible tube 5 is passed through the helmholtz coil 3-3-1 among the electromagnetic drive coils 3-3 and placed on the belt conveyor 3-1 so that the magnetic soft robot body 1 is between two circular coils within the helmholtz coil 3-3-1. The control board 3-4 controls the electromagnetic drive coil group 3-3 to generate a magnetic field, namely an electromagnetic drive system is formed to control the magnetic drive soft robot for cleaning the pipeline to perform displacement change in the flexible pipe 5. The belt conveyor 3-1 drives the flexible pipe 5 to convey along the axial direction. The conveying speed of the belt conveyor 3-1 is dynamically adjusted according to the position of the magnetic driving soft robot detected by the infrared detector, so that the main body 1 of the magnetic soft robot is always kept in the control range of the electromagnetic driving coil group and the detection range of the infrared detector.

Step two, as shown in fig. 8, each rectangular coil in the electromagnetic driving coils 3-3 is electrified in the positive direction to generate a radial magnetic field, so that the rear leg structure 1-2 is controlled to expand, and the front leg structure 1-1 is controlled to contract; a Helmholtz coil 3-3-1 in the electromagnetic driving coil 3-3 is electrified in the positive direction to generate an axial magnetic field, and the torsion telescopic structure 1-3 is controlled to twist in the positive direction and stretch; as the expanded rear leg structure 1-2 props against the inner wall of the flexible pipe 5, the front leg structure 1-1 is pushed to advance spirally by twisting the telescopic structure 1-3.

Step three, as shown in fig. 8, each rectangular coil and each helmholtz coil 3-3-1 are reversely electrified, so that the rear leg structure 1-2 is controlled to contract, the front leg structure 1-1 is expanded, and the torsion telescopic structure 1-3 is reversely twisted and shortened; as the expanded front leg structure 1-1 props against the inner wall of the flexible pipe 5, the back leg structure 1-2 and the cleaning ring 1-5 are pulled to advance spirally by twisting the telescopic structure 1-3. The spiral advancing cleaning rings 1-5 clean up dirt on the inner wall of the flexible pipe 5.

Step four, repeatedly executing the step two and the step three to enable the magnetic soft robot main body 1 to advance in the flexible tube 5, wherein the advancing direction is opposite to the conveying direction of the flexible tube 5, and the advancing speed is equal to the conveying speed of the flexible tube 5; so that the position of the magnetic soft robot body 1 with respect to the electromagnetic driving coils 3-3 is kept constant.

In this process, the micro infrared source 4 mounted on the magnetic soft robot body 1 releases an infrared signal, as shown in fig. 9. The infrared detector 3-2 detects the infrared signal to determine the position of the magnetic soft robot body 1 and determine whether the magnetic soft robot body 1 encounters a blockage. When the magnetic soft robot body 1 meets the blockage, the dredging operation is carried out, and the specific process is as follows:

the belt conveyor stops conveying or the conveying speed is reduced.

Secondly, the electromagnetic driving coil 3-3 controls the expansion of the front leg structure 1-1, the contraction of the rear leg structure 1-2 and the shortening of the torsion telescopic structure 1-3. At the moment, the geometric center position of the magnetic drive soft robot for cleaning the pipeline advances or does not change, and the front leg structure 1-1 props against the inner wall of the flexible pipe 5 and is contacted with the blockage.

Thirdly, as shown in fig. 9, the electromagnetic driving coil 3-3 controls the expansion of the rear leg structure 1-2, the contraction of the front leg structure 1-1 and the extension of the torsion telescopic structure 1-3, so that the rear leg structure 1-2 is propped against the inner wall of the flexible pipe 5; the front leg structure 1-1 applies pressure to the blockage and drives the claw 2 to overturn to grab and release the blockage.

And fourthly, repeatedly executing the processes II and III to continuously grab and dredge the blockage and advance the magnetic soft robot main body 1 until the blockage is removed, and recovering the initial conveying speed of the belt conveyor.