Modularized pipeline defect detection soft robot

Abstract

The invention discloses a modularized pipeline defect detection soft robot which comprises a head module and a tail module, and a pipeline defect detection device is arranged in the head module; the middle modules are sequentially connected through rotating assemblies, and the two middle modules at the outermost end are connected with the head module and the tail module correspondingly; wherein the middle module can be bent and expanded outwards and contracted inwards. The middle modules can bend and expand outwards, so that the inner wall of the pipeline can be extruded, the middle modules are fixed in the pipeline, the middle modules contract inwards, the length of the middle modules is increased, the middle modules can stretch out forwards in the pipeline, and the positions of the two adjacent middle modules can be adjusted through rotation of the rotating assemblies. By controlling the middle modules and the rotating assemblies, the soft robot moves in the pipeline. In the moving process, the pipeline defect detection device can detect defects of different positions of the pipeline. 本发明公开了一种模块化的管道缺陷检测软体机器人，包括：头部模块和尾部模块，头部模块内设置有管道缺陷检测装置；至少两个中部模块，各所述中部模块依次通过转动组件连接，最外端的两个所述中部模块分别与所述头部模块和所述尾部模块连接；其中，所述中部模块可向外弯曲膨胀和向内收缩。中部模块可向外弯曲膨胀，则可以挤压管道的内壁从而将该中部模块固定在管道中，中部模块向内收缩，中部模块的长度增加，则可以在管道内向前伸出，通过转动组件转动可以调整相邻两个中部模块的位置。通过控制各中部模块和转动组件，使软体机器人在管道中移动。在移动过程中，管道缺陷检测装置可以检测管道不同位置的缺陷。