A worm-like variable-length continuum robot

Abstract

The application provides an earthworm-like variable-length continuum robot, and relates to the technical field of bionic robots, which comprises a main bone, a transmission mechanism and a control system. The main bone comprises multiple variable deformation sections and elastic rods. Each variable deformation section comprises multiple magnetic separation discs and a bendable connecting pipe. The magnetic separation disc at the foremost end of each variable deformation section is fixedly connected to the front end of the connecting pipe, and the other magnetic separation discs are sequentially and slidably sleeved on the connecting pipe. The magnetic separation discs are arranged in repulsion without contact, and the connecting pipes are sequentially and slidably connected. The transmission mechanism comprises multiple rope groups and multiple transmission pipes. The beneficial effects of the application are as follows: by pulling each transmission pipe, the length of the robot can be changed; by separately controlling and pulling each rope, the length of each rope can be changed, and each variable deformation section can be bent; thus, the length and bending amplitude of each variable deformation section can be accurately controlled, the robot can be continuously bent at a specified position, and the robot can adapt to unknown complex environments.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a variable-length continuous robot that mimics an earthworm. Background Technology

[0002] The appearance, characteristics, and movement patterns of creatures such as snakes, elephant trunks, and octopus tentacles have inspired robot design, leading to the creation of many biomimetic robots. Common biomimetic robots are mostly articulated multi-joint robots, using motors to drive joint rotation to achieve bending and movement, adapting to their working environments and performing various tasks. However, these biomimetic robots are mostly designed for specific, known environments. The length of the deformable region during bending and movement is fixed, preventing precise and continuous bending. When encountering unknown and complex environments requiring gradual exploration, they cannot adapt to reach designated positions, thus limiting their applications. Summary of the Invention

[0003] In view of this, in order to solve the problem that the length of the deformable region of current bionic robots is fixed and cannot achieve precise continuous bending, the embodiments of the present invention provide a worm-like variable-length continuous robot.

[0004] Embodiments of the present invention provide a worm-like variable-length continuous robot, comprising:

[0005] The main frame includes multiple deformable segments and elastic rods. Each deformable segment includes multiple magnetic partition discs and a flexible connecting tube. The magnetic partition disc at the foremost end of each deformable segment is fixedly connected to the front end of the connecting tube. The other magnetic partition discs are slidably sleeved on the connecting tube in sequence. All the magnetic partition discs in each deformable segment are arranged in a mutually exclusive, non-contact manner. The connecting tubes of each deformable segment are nested and slidably connected in sequence. The elastic rod passes through the connecting tubes of all deformable segments and its front end is connected to the foremost connecting tube.

[0006] The transmission mechanism includes multiple rope groups and multiple transmission tubes, wherein each rope group includes multiple ropes, the front ends of all ropes in each rope group are connected to the frontmost magnetic partition disk of the deformable segment and pass through all the rear magnetic partition disks, all transmission tubes are sequentially and slidably nested together, and each transmission tube is connected to a connecting tube of the deformable segment.

[0007] Furthermore, the magnetic separator has a tube hole in the center and multiple rope holes evenly spaced along its edge. The connecting tube passes through the tube hole, and each rope in each rope group passes through each rope hole.

[0008] Furthermore, the magnetic separator disk includes a base disk and two magnet plates disposed on both sides of the base disk.

[0009] Furthermore, the base plate is made of iron sheet.

[0010] Furthermore, the rope hole is a fan-shaped hole, which is provided on the magnet plate on the front side of the magnetic separator disk. The base disk and the magnet plate on the rear side of the magnetic separator disk are provided with a constraint groove, which is located behind the rope hole.

[0011] Furthermore, the number of the deformable section, the rope assembly, and the transmission tube are all three.

[0012] Furthermore, each of the rope sets comprises three ropes.

[0013] Furthermore, each of the connecting tubes has a transmission tube inserted at its rear end and a connecting ring on its outer wall, the connecting ring being connected to the inner wall of the transmission tube.

[0014] Furthermore, the connecting tube is made of polyimide.

[0015] Furthermore, the elastic rod is made of nickel-titanium alloy, and the transmission tube is made of stainless steel.

[0016] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: The earthworm-like variable-length continuous robot of the present invention can drive the extension and retraction of each connecting pipe by pulling each transmission pipe, thereby changing the distance between each magnetic separator disk in each deformable segment and thus changing the length of the robot; at the same time, by individually controlling the pulling of each rope, the length of each rope in each deformable segment can be changed, causing each deformable segment to bend; in this way, the length and bending amplitude of each deformable segment can be accurately controlled, thereby allowing the robot to bend continuously at a specified position, adapting to unknown and complex environments that need to be explored step by step, and meeting the robot deformation requirements under different working conditions. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a worm-like variable-length continuous robot according to the present invention;

[0018] Figure 2 This is a schematic diagram of the bending state of a worm-like variable-length continuous robot according to the present invention;

[0019] Figure 3 This is a schematic diagram of the planar structure of a worm-like variable-length continuous robot according to the present invention;

[0020] Figure 4 This is a schematic diagram of the deformed segment;

[0021] Figure 5 This is a schematic diagram of a magnetic separator.

[0022] Figure 6 This is a schematic diagram of the transmission mechanism;

[0023] Figure 7 This is a schematic diagram of the connection between the connecting pipe and the transmission pipe;

[0024] Figure 8 This is a schematic diagram of the bending motion of a worm-like variable-length continuous robot according to the present invention;

[0025] Figure 9 This is a schematic diagram illustrating the length change of the deformable segment of a worm-like variable-length continuous robot according to the present invention.

[0026] In the diagram: 1. Main bone; 2. Transmission mechanism; 3 / 4 / 5. Deformation section; 6. Elastic rod; 7. Rope; 8 / 9 / 10. Transmission tube; 11. Magnetic separator plate; 12 / 13 / 14. Connecting tube; 15. Magnet plate; 16. Base plate; 17. Rope hole; 18. Constraint groove; 19. Tube hole. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of the various possible embodiments of the present invention, intended to provide a basic understanding of the invention, but not intended to identify key or decisive elements of the invention or to limit the scope of protection sought.

[0028] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0030] It should be further noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Please refer to Figure 1 , 2 According to embodiments 3, the present invention provides a worm-like variable-length continuous robot, which mainly includes a main skeleton 1 and a transmission mechanism 2.

[0032] The main skeleton 1 is the bending motion part of the earthworm-like variable-length continuous robot. The main skeleton 1 mainly includes multiple deformable segments 3, 4, and 5 and an elastic rod 6. The number of deformable segments can be flexibly set to multiple lengths according to the working needs of the earthworm-like variable-length continuous robot. For example, in this embodiment, the number of deformable segments is set to three.

[0033] like Figure 4 and 5 As shown, each of the deformable segments 3 / 4 / 5 includes multiple magnetic partition discs 11 and flexible connecting tubes 14 / 13 / 12. The number of magnetic partition discs 11 can be flexibly set to multiple according to actual application needs. The foremost magnetic partition disc 11 in each deformable segment 3 / 4 / 5 is fixedly connected to the front end of the connecting tube 14 / 13 / 12, and the other magnetic partition discs 11 are slidably sleeved on the connecting tubes 12 / 13 / 14 in sequence. Each magnetic partition disc 11 has a tube hole 19 in the middle, and the tube hole 19 is coaxially arranged with the magnetic partition disc 11. The connecting tubes 12 / 13 / 14 pass through the tube holes 19 of each magnetic partition disc 11.

[0034] Furthermore, all the magnetic partition disks 11 in each of the deformed segments 3 / 4 / 5 are arranged in a non-contact, mutually exclusive manner. That is, for any two adjacent magnetic partition disks 11 in each of the deformed segments 3 / 4 / 5, the magnetic properties of their opposite sides are opposite. Thus, all the magnetic partition disks 11 are movably spaced on the connecting tubes 12 / 13 / 14.

[0035] Under external force, the connecting tubes 12 / 13 / 14 are bendable, and automatically return to their original shape when the external force disappears. The material of the connecting tubes 12 / 13 / 14 is generally polyimide. The inner diameters of the connecting tubes 14 / 13 / 12 in each of the deformed segments 3 / 4 / 5 increase sequentially and are nested and slidably connected. That is, the inner wall of the larger inner diameter connecting tube 12 / 13 / 14 slidably nests within the outer wall of the smaller inner diameter connecting tube 12 / 13 / 14, and so on, with the three connecting tubes 14 / 13 / 12 in the three deformed segments 3 / 4 / 5 being nested and connected sequentially.

[0036] The elastic rod 6 passes through the connecting pipes 14, 13, and 12 of all deformable sections 3, 4, and 5, and its front end is connected to the foremost connecting pipe 14. The front end of the elastic rod 6 is inserted into the foremost connecting pipe 14 and fits tightly against the inner wall of the connecting pipe 14. The elastic rod 6 is coaxially arranged with the connecting pipes 14, 13, and 12 of all deformable sections 3, 4, and 5. The elastic rod 6 can adapt to the bending of the connecting pipes 14, 13, and 12, which are generally made of polyimide.

[0037] like Figure 6 and7 As shown, the transmission mechanism 2 is used to control the bending of each of the deformable segments 3, 4, and 5 of the main bone 1. The transmission mechanism 2 mainly includes multiple rope groups and multiple transmission tubes 8, 9, and 10. Each rope group is used to pull one of the deformable segments 3, 4, and 5 to bend, so the number of rope groups is the same as the number of deformable segments 3, 4, and 5. In this embodiment, the number of rope groups is three. Each transmission tube 8 / 9 / 10 is used to pull one of the deformable segments 3 / 4 / 5 to extend or retract, so the number of transmission tubes is the same as the number of deformable segments. In this embodiment, the number of transmission tubes is three.

[0038] Each rope group includes multiple ropes 7, and the number of ropes 7 in each rope group can be flexibly set according to the needs of pulling the magnetic dividing disc. Generally, each rope group includes at least three ropes 7. As in this embodiment, each rope group includes three ropes 7.

[0039] The three rope groups correspond one-to-one with the three deformable segments 3, 4, and 5. The front ends of all ropes 7 in each rope group are connected to the foremost magnetic separator 11 of the corresponding deformable segment 3 / 4 / 5 and pass through all subsequent magnetic separators 11. Each magnetic separator 11 has a plurality of evenly spaced rope holes 17 on its edge. Each rope 7 in each rope group passes through each rope hole 17, ensuring that all ropes 7 in each rope group are evenly spaced around the axis of the connecting tubes 14, 13, and 12 of the deformable segments 3 / 4 / 5.

[0040] All transmission tubes 8, 9, and 10 are sequentially and slidably nested together, and each transmission tube 8 / 9 / 10 is connected to a connecting tube 14, 13, or 12 of the deformable segment 3 / 4 / 5. The rear end of each connecting tube 14 / 13 / 12 is inserted into a transmission tube 8 / 9 / 10, and a connecting ring is provided on its outer wall. The connecting ring is connected to the inner wall of the transmission tube 8 / 9 / 10. The transmission tubes 8 / 9 / 10 enhance the buckling resistance of the non-deformable region of the worm-like variable-length continuous robot. The material of the transmission tubes 8 / 9 / 10 is generally stainless steel.

[0041] The shape of the magnetic separator 11 can be flexibly set according to the actual application scenario. Generally, the magnetic separator 11 includes a base plate 16 and two magnet pieces 15 disposed on both sides of the base plate 16. The two magnet pieces 15 are respectively attached to and fixed to the two sides of the base plate 16, and the magnetism of the outer sides of the two magnet pieces 15 is opposite. Preferably, the base plate 16 is preferably an iron sheet, and the two magnet pieces 15 and the base plate 16 are circles with the same diameter, so that the two magnet pieces 15 are exactly attached to the two sides of the base plate 16.

[0042] In some embodiments, to ensure that the rope 7 moves in a predetermined direction, the rope hole 17 is a fan-shaped hole, disposed on the magnet plate 15 on the front side of the magnetic separator 11, and the three rope holes 17 are evenly distributed on the same circumference. A constraint groove 18 is provided on the magnet plate 15 on the rear side of the base plate 16 and the magnetic separator 11. The constraint groove 18 is located behind the rope hole 17. The rope 7 passes through the rope hole 17 and extends along the constraint groove 18, and is constrained by the constraint groove 18 to move in a predetermined direction.

[0043] like Figure 8 and 9 As shown, this earthworm-like variable-length continuum robot can individually control the length and bending amplitude of each of the aforementioned deformable segments 3 / 4 / 5, thereby achieving variable-length bending motion:

[0044] For each of the deformable segments 3 / 4 / 5, by pulling the transmission tube 10 / 9 / 8 connected to the deformable segment 3 / 4 / 5, the magnetic separators 11 within the deformable segment 3 / 4 / 5 overcome repulsion and move closer together under the drive of the transmission tube 10 / 9 / 8, changing the distance between the magnetic separators 11, thereby adjusting the length of the deformable segment 3 / 4 / 5; by pulling the ropes 7 of the rope group corresponding to the deformable segment 3 / 4 / 5, changing the length of each rope 7 within the deformable segment 3 / 4 / 5, so that the lengths of each rope 7 within the deformable segment 3 / 4 / 5 are different, a bend can be produced, and the shortest rope 7 within the deformable segment 3 / 4 / 5 determines the bend direction, and the length of each rope 7 within the deformable segment 3 / 4 / 5 determines the bend amplitude.

[0045] Thus, by controlling the length, bending direction, and bending amplitude of each of the deformable segments 3, 4, and 5 respectively, variable-length bending motion can be achieved to reach the designated position, adapt to the unknown and complex environment that needs to be explored step by step, and meet the robot's deformation requirements under different working conditions.

[0046] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0047] Where there is no conflict, the embodiments and features described above can be combined with each other. The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A worm-like variable-length continuous robot, characterized in that, include: The main frame includes multiple deformable segments and elastic rods. Each deformable segment includes multiple magnetic partition discs and a flexible connecting tube. The magnetic partition disc at the foremost end of each deformable segment is fixedly connected to the front end of the connecting tube. The other magnetic partition discs are slidably sleeved on the connecting tube in sequence. All magnetic partition discs in each deformable segment are arranged in a mutually exclusive, non-contact manner. The connecting tubes of each deformable segment are nested and slidably connected in sequence. The elastic rod passes through the connecting tubes of all deformable segments and its front end is connected to the foremost connecting tube. And a transmission mechanism, which includes multiple rope groups and multiple transmission tubes, wherein each rope group includes multiple ropes, the front ends of all ropes in each rope group are connected to the frontmost magnetic partition disk of the deformable segment and pass through all the rear magnetic partition disks, all transmission tubes are sequentially and slidably nested and connected, and each transmission tube is connected to a connecting tube of the deformable segment. The magnetic separator is provided with a tube hole in the middle and a plurality of rope holes evenly spaced along the edge. The connecting tube passes through the tube hole, and each rope of each rope group passes through each rope hole. The magnetic separator disk includes a base disk and two magnet plates disposed on both sides of the base disk; The rope hole is a fan-shaped hole and is provided on the magnet plate on the front side of the magnetic separator. The base plate and the magnet plate on the rear side of the magnetic separator are provided with a constraint groove, which is located behind the rope hole. Each of the connecting tubes has a transmission tube inserted at its rear end and a connecting ring on its outer wall, the connecting ring being connected to the inner wall of the transmission tube.

2. The earthworm-like variable-length continuous robot as described in claim 1, characterized in that: The base plate is made of iron sheet.

3. The earthworm-like variable-length continuous robot as described in claim 1, characterized in that: The number of the deformable section, the rope assembly, and the transmission tube are all three.

4. The earthworm-like variable-length continuous robot as described in claim 1, characterized in that: Each of the rope sets comprises three ropes.

5. The earthworm-like variable-length continuous robot as described in claim 1, characterized in that: The connecting tube is made of polyimide.

6. The earthworm-like variable-length continuous robot as described in claim 1, characterized in that: The elastic rod is made of nickel-titanium alloy, and the transmission tube is made of stainless steel.

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