CN-116398037-B - Soft robot system for polar ice layer sampling and working method thereof

CN116398037BCN 116398037 BCN116398037 BCN 116398037BCN-116398037-B

Abstract

The invention discloses a soft robot system for sampling an ice layer of a polar region and a working method thereof, which are applied to the technical field of polar region drilling and comprise a soft robot and an ice working platform; the soft robot comprises an under-ice drilling soft body and an ice sealing soft body, the under-ice drilling soft body comprises a soft body I and a hot melting module arranged at the front end of the soft body I, the ice sealing soft body comprises a soft body II, the soft body I and the soft body II are both provided with hollow channels, a plurality of air cavities are arranged in the soft body I on two sides of each hollow channel, an ice working platform comprises an air pressure system, a pipeline system, a water storage system and a main controller, the main controller is electrically connected with the air pressure system, a pipeline of the air pressure system is connected with the pipeline system, the pipeline of the pipeline system is connected with the water storage system and the air cavities, and the pipeline system passes through the hollow channels to be connected with the soft body I and the soft body II in series. The invention meets the existing requirements of unmanned drilling, flexible selection of sampling positions, no complex mechanical structure and small propulsion resistance of ultra-deep drilling.

Inventors

JIN JINGFU
JIA ZHICHENG
DONG XINJIE
CHEN YIYING
WANG JIAXU
DAI YU
HE LIANBIN
CHEN TINGKUN

Assignees

吉林大学

Dates

Publication Date: 20260505
Application Date: 20230403

Claims (10)

1. A soft robot system for polar ice layer sampling, which is characterized by comprising a soft robot and an ice working platform; The soft robot comprises an under-ice drilling soft body and an ice sealing soft body, wherein the under-ice drilling soft body comprises a soft body I and a hot melting module arranged at the front end of the soft body I, the ice sealing soft body comprises a soft body II, hollow channels are formed in the soft body I and the soft body II, and a plurality of air cavities are formed in the soft body I on two sides of the hollow channels; The ice working platform comprises a pneumatic system, a pipeline system, a water storage system and a main controller, wherein the main controller is electrically connected with the pneumatic system, a pipeline of the pneumatic system is connected with the pipeline system, the pipeline of the pipeline system is connected with the water storage system and the air cavity, and the pipeline system penetrates through the hollow channel to be connected with the first soft body and the second soft body in series.
2. The soft robot system for polar ice layer sampling according to claim 1, wherein the air pressure system comprises an air pressure controller and a high-pressure air bottle, wherein the air pressure controller is connected with the high-pressure air bottle through a pipeline and is connected with the main controller through a circuit; The pipeline system comprises a water melting pipe, an air pressure pipe and a power supply rope, wherein the water melting pipe sequentially penetrates through the ice surface sealing software and the hollow channel of the under-ice drilling software, a pipe head is in sealing connection with the front end of the first soft body, the pipe tail is connected with the water storage system, the air pressure pipe sequentially penetrates through the ice surface sealing software and the hollow channel of the under-ice drilling software, the air inlet end is connected with an air pressure controller, the air outlet end is fixed in the hollow channel of the under-ice drilling software, an electric air pressure valve is arranged on the air pressure pipe at the tail end of the soft body, the air cavity of the under-ice drilling software is communicated with the air pressure pipe through the electric air pressure valve, the power transmission end of the power supply rope is connected with the main controller, and the power supply end sequentially penetrates through the ice surface sealing software and the hollow channel of the under-ice drilling software to be connected with the hot melting module and the electric air pressure valve.
3. The soft robot system for polar ice layer sampling according to claim 2, wherein the two sides of the hollow channel of the soft main body II are provided with air cavities, the air cavities are communicated with the air pressure pipe through the electric air pressure valve, and the electric air pressure valve is electrically connected with the main controller; the air cavities are uniformly distributed in the first soft body or the second soft body, the air cavities of the under-ice drilling soft body are cylinders or approximate cylinders, and the air cavities of the ice sealing soft body are ellipsoids or approximate ellipsoids; The sealing soft body fins are equidistantly distributed, are annular protruding soft bodies, are r-shaped in cross section, and comprise a tip and a round end at two sides of the top, the tip of each sealing soft body fin of the under-ice drilling soft body faces one tail end of the soft body, the round end faces one front end of the soft body, the tip of each sealing soft body fin of the ice surface sealing soft body faces the front part of the soft body II, and the round end faces the tail end of the soft body II.
4. The soft robot system for polar ice layer sampling, as set forth in claim 2, wherein the water storage system comprises an ice drilling and melting tank, a sampling water storage tank and a water pump, wherein two branch pipes are arranged on tail pipes of the water melting pipe, the water melting pipe is respectively connected with the ice drilling and melting tank and the sampling water storage tank through the water pump through the two branch pipes, an electric control valve is arranged on each branch pipe, and the water pump and the electric control valve are electrically connected with the main controller.
5. The soft robot system for polar ice layer sampling according to claim 2, wherein the ice working platform further comprises an insulation outer frame, the air pressure system, the pipeline system, the water storage system and the main controller are all fixed on the upper surface of a bottom plate of the insulation outer frame, a through hole is formed in the bottom plate, and the water melting pipe, the air pressure pipe and the power supply line penetrate through the through hole.
6. The soft robot system for polar ice layer sampling according to claim 5, wherein a platform push rod system is arranged on the lower surface of a bottom plate of the heat-insulating outer frame, the platform push rod system comprises a main push rod and three or more support leg push rods, one end of the main push rod is fixed on the lower surface of the bottom plate, the other end of the main push rod is connected with the soft body II in a sealing mode, the support leg push rods are uniformly distributed on the edge of the lower surface of the bottom plate, and the main push rod is of a telescopic structure.
7. The soft robotic system for polar ice layer sampling of claim 5, wherein the upper surface of the base plate is further provided with an ice drilling soft storage bin and a power source, the power source being electrically connected to the master controller.
8. The soft robotic system for polar ice layer sampling as recited in claim 5, further comprising a line winder disposed on an upper surface of said base plate, said water melt tube, said air pressure tube and said power cord being secured to said line winder, respectively.
9. The soft robotic system for polar ice layer sampling according to claim 2, wherein the first end of the soft body is further provided with a motor and a rotary ice crushing blade, the motor is connected with the power supply cord, and the output shaft is connected with the rotary ice crushing blade.
10. A method of operation, characterized by being applied to a soft robotic system for polar ice sampling according to any one of claims 1-9, comprising the steps of: step 1, preheating a hot melting module and continuously working, releasing a pipeline system, enabling the underice drilling soft body to vertically descend to contact ice on the ice surface for ice melting drilling, and forming a drilling channel; step 2, the ice surface sealing software descends to seal the opening of the drilling channel; Step3, the air pressure system charges air and pressurizes the drilling channel through the pipeline system to push the under-ice drilling software; Step 4, the air pressure system charges air and pressurizes the air cavity of the under-ice drilling software through the pipeline system, and the propelling direction is adjusted; step 5, after stopping pushing, the hot melting module continuously works, and the pipeline system pumps water and samples; Step 6, after sampling is finished, decompressing the drilling channel through a pipeline system, evacuating the ice surface sealing software, and releasing the sealing of the drilling channel; and 7, decompressing the air cavity of the under-ice drilling software through a pipeline system, rolling the pipeline system, and recovering the under-ice drilling software.

Description

Soft robot system for polar ice layer sampling and working method thereof Technical Field The invention relates to the technical field of polar region drilling, in particular to a soft robot system for polar region ice layer sampling and a working method thereof. Background The polar ice layer has very important scientific research value because the special geographic environment of the polar ice layer stores a great amount of paleoclimates, paleogeographies and paleobiological natural data. However, the existing polar ice layer drilling equipment is huge and heavy, adopts a complex mechanical structure for drilling and pushing, needs professional personnel to operate in real time, and is very inconvenient to use in polar environments with severe topography and air temperature. Meanwhile, the existing ice layer drilling equipment is limited by a mechanical transmission structure, and can only realize vertical drilling, and in a drilling task requiring multipoint sampling, the equipment position needs to be moved repeatedly, the drilling process is repeated for a plurality of times, so that a large amount of manpower and energy consumption is caused, and the drilling sampling work efficiency is low. In addition, the existing ice layer drilling equipment must have a continuous mechanical propulsion structure to propel the drill bit to drill down, when drilling with larger depth is performed, friction resistance between the ice wall and the propulsion mechanism is extremely large, and propulsion force requirements and working difficulty of drilling sampling work are increased. Therefore, how to reduce the difficulty of sampling the polar ice layer and improve the sampling efficiency is a problem that needs to be solved by those skilled in the art. Disclosure of Invention In view of the above, the invention provides a soft robot system for polar ice layer sampling and a working method thereof, which solve the problems that the existing polar ice layer sampling equipment needs real-time manual operation, can only vertically drill, has a complex mechanical structure and has overlarge ultra-deep drilling propulsion resistance, and meet the existing requirements of unmanned drilling, flexible selection of sampling positions, no complex mechanical structure and small ultra-deep drilling propulsion resistance. In order to achieve the above purpose, the present invention adopts the following technical scheme: a soft robot system for polar ice layer sampling comprises a soft robot and an ice working platform; the soft robot comprises an under-ice drilling soft body and an ice sealing soft body, wherein the under-ice drilling soft body comprises a soft body I and a hot melting module arranged at the front end of the soft body I, the ice sealing soft body comprises a soft body II, hollow channels are formed in the soft body I and the soft body II, and a plurality of air cavities are formed in the soft body I at two sides of the hollow channels; The ice working platform comprises a pneumatic system, a pipeline system, a water storage system and a main controller, wherein the main controller is electrically connected with the pneumatic system, a pipeline of the pneumatic system is connected with the pipeline system, the pipeline of the pipeline system is connected with the water storage system and the air cavity, and the pipeline system penetrates through the hollow channel to be connected with the first soft body and the second soft body in series. Preferably, the air pressure system comprises an air pressure controller and a high-pressure air bottle, wherein the air pressure controller is connected with the high-pressure air bottle through a pipeline and is connected with the main controller through a circuit; The pipeline system comprises a water melting pipe, an air pressure pipe and a power supply rope, wherein the water melting pipe sequentially penetrates through the ice sealing software and the hollow channel of the under-ice drilling software, a pipe head is in sealing connection with the front end of the first soft body, the pipe head can be embedded into the front end of the first soft body, one end of the hollow channel of the first soft body is sealed, the tail of the pipe is connected with the water storage system, the air pressure pipe sequentially penetrates through the ice sealing software and the hollow channel of the under-ice drilling software, the air inlet end of the air pressure pipe is connected with an air pressure controller, the air outlet end of the air pressure pipe is fixed in the hollow channel of the under-ice drilling software, an electric air pressure valve is arranged on the air pressure pipe at the tail end of the soft body, the air cavity of the under-ice drilling software is communicated with the air pressure pipe through the electric air pressure valve, the power transmission end of the power supply rope is connected with the main controller, and the power supply end sequentially pene