A restricted space robot imitating DNA double helix structure and control method thereof

Abstract

This invention discloses a confined space robot with a DNA double helix structure and its control method. The robot includes a control unit and a flexible double helix. The flexible double helix consists of a first helix, a second helix, and a connecting body between them. The connecting body is divided into several alternately arranged first and second connecting bodies. The first helix and the first connecting body are internally connected to form a first pneumatic channel; the second helix and the second connecting body are internally connected to form a second pneumatic channel. The control unit is equipped with a pneumatic drive mechanism connected to the first and second pneumatic channels, which can drive the first and second pneumatic channels to extend and retract. This invention utilizes gas drive to achieve structural deformations such as bending and extension of the robot, and can also achieve motion control on different contact surfaces and in unstructured environments, showing promising prospects and technological advantages.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a confined space robot with a DNA double helix structure and its control method. Background Technology

[0002] The double helix structure of DNA consists of two intertwined strands arranged in a helical shape to form a flat ladder structure. The central axis of this structure is the junction between the two strands, which rotate in opposite directions to form a tight connection.

[0003] If robots are designed based on the DNA double helix structure, they can perform specific tasks. For example, micro-nanorobots designed with DNA can treat cancerous cells in vivo. When these nanorobots come into contact with target cells, they can automatically open their DNA barrel structure to deliver the drugs they carry. When used on a mixture of healthy and cancerous human blood cells, these nanorobots can target and kill half of the cancer cells while leaving the healthy cells unaffected. Furthermore, if a coiled robot body is designed using the DNA double helix structure, it can perform actions such as grasping objects. Therefore, robots based on the DNA double helix structure have shown researchers their application prospects in various industries such as medicine, industry, and services, possessing significant practical value and research potential.

[0004] Prior art document CN114681007A discloses a double-helix magnetically controlled microrobot, its processing method, and its application. The robot includes a central section and two helical sections. The two helical sections are spirally coiled around the outer periphery of the central section and are centrally symmetrical along the central axis. A conical structure is provided at the end of the central section on the action side, and guide surfaces are provided at the ends of both helical sections on the action side. The helical design increases the contact area between the robot body and the liquid environment, resulting in greater rotational torque and movement speed, enabling it to effectively drill open blood clots. However, the patent does not specify the degree of magnetization or the resulting effects when magnetizing the robot.

[0005] Therefore, there is an urgent need for a confined space robot with a DNA-like double helix structure that can be widely used in crawling and exploration environments. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a confined space robot with a DNA double helix structure and its control method. The robot is flexible in operation, gas-driven, and can achieve different functions through various movement modes.

[0007] Therefore, the technical solution of the present invention is: a confined space robot with a DNA double helix structure, comprising a control end and a flexible double helix, the flexible double helix being composed of a first helix, a second helix, and a connector between the two, wherein the connector is divided into several alternately arranged first connectors and second connectors, the first helix being internally connected to the first connector to form a first pneumatic channel; the second helix being internally connected to the second connector to form a second pneumatic channel; the control end is provided with a pneumatic drive mechanism connected to the first and second pneumatic channels, which can drive the first and second pneumatic channels to extend and retract.

[0008] Based on the above scheme and as a preferred embodiment of the above scheme: the first helix, the second helix, and the connector are all made of flexible materials, such as silicone, silicone rubber, hydrogel, or PDMS.

[0009] Based on the above scheme and as a preferred embodiment of the above scheme: both the first spiral and the second spiral are composed of several spherical structures, and the connecting body is an alternating first crossbeam structure and a second crossbeam structure.

[0010] Based on the above scheme and as a preferred embodiment of the above scheme: the first crossbeam structure and the second crossbeam structure are both externally connected to the corresponding spherical structures on the first spiral and the second spiral, respectively. The first crossbeam structure is internally connected to the spherical structure on the first spiral, and the second crossbeam structure is internally connected to the spherical structure on the second spiral.

[0011] Based on the above scheme and as a preferred embodiment of the above scheme: the flexible double helix is ​​a paper-folding structure, the first helix and the second helix are hollow and flat structures, and the connecting body is an internally independent stepped surface structure.

[0012] Based on the above scheme and as a preferred embodiment of the above scheme: the control end is located at the head of the flexible double helix, and the control end is further provided with a first helix control system, a second helix control system and a control circuit system. The first helix control system is used to control the internal passage of the first helix and the first connector, and the second helix control system is used to control the internal passage of the second helix and the second connector.

[0013] The second technical solution of the present invention is: the control method of the confined space robot with the above-mentioned DNA double helix structure, wherein the air drive mechanism in the control end controls the air pressure in the first pneumatic channel and the second pneumatic channel, so that the first pneumatic channel and / or the second pneumatic channel switch different air pressure states, including positive pressure state, normal state and negative pressure state.

[0014] Based on the above scheme and as a preferred option: the robot retracts and moves forward: the same negative pressure is applied to the first pneumatic channel and the second pneumatic channel simultaneously, and the system periodically switches between the negative pressure state and the normal state.

[0015] The robot extends forward: the same positive pressure is applied to the first pneumatic channel and the second pneumatic channel simultaneously, and the positive pressure state and normal state are switched periodically.

[0016] Based on the above scheme and as a preferred scheme: the robot performs a unilateral tumbling motion: negative pressure is applied to the pneumatic channel on the tumbling side, and the system periodically switches between negative pressure and normal state; positive pressure is applied to the pneumatic channel on the other side, and the system periodically switches between positive pressure and normal state.

[0017] Based on the above scheme and as a preferred option, the robot performs a curling grasping motion: the robot is vertically suspended, negative pressure is applied to any one of the pneumatic channels, and the system periodically switches between negative pressure and normal conditions, while the other pneumatic channel is in a positive pressure or normal condition.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] Using gas to drive the robot to achieve structural deformations such as bending and stretching, it can also achieve motion control on different contact surfaces and in unstructured environments, including but not limited to single-sided rolling control, contraction forward control, extension forward control, and grasping motion control. In confined spaces, it can achieve obstacle passage and crawling forward by combining various motion modes. Moreover, the double helix structure has a certain degree of control stability, showing good prospects and technological advantages. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure under normal conditions in Example 1;

[0021] Figure 2 This is a front view of the structure in the elongated state of Example 1;

[0022] Figure 3 This is a schematic diagram of the structure in the elongated state of Example 1;

[0023] Figure 4 This is a schematic diagram of the structure in the contracted state of Example 1;

[0024] Figure 5 This is a front view of the structure in the contracted state of Example 1;

[0025] Figure 6 This is a schematic diagram of the control terminal in Example 1;

[0026] Figure 7 This is a schematic diagram of the structure of Example 2.

[0027] The components in the diagram are labeled as follows: control end 1, pneumatic drive mechanism 11, first spiral control system 12, second spiral control system 13, control circuit system 14, first spiral 2, first spherical structure 21, second spiral 3, second spherical structure 31, connecting body 4, first crossbeam structure 41, second crossbeam structure 42, third spiral 5, fourth spiral 6, first stepped surface structure 71, and second stepped surface structure 72. Detailed Implementation

[0028] In the description of this invention, it should be noted that the directional terms such as "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0030] Example 1

[0031] The confined space robot with a DNA-like double helix structure described in this embodiment includes a control terminal 1 and a flexible double helix. The flexible double helix is ​​composed of a first helix 2, a second helix 3, and a connector 4 between them. The first helix 2 and the second helix 3 are symmetrically designed. The first helix 2 is composed of several first spherical structures 21, and the first spherical structures 21 are internally connected. The second helix 3 is composed of several second spherical structures 31, and the second spherical structures 31 are internally connected.

[0032] A connecting body 4 is provided between the first spherical structure 21 and the second spherical structure 31, which are positioned relative to each other. The connecting body 4 can be an alternately arranged first crossbeam structure 41 and second crossbeam structure 42. The first crossbeam structure 41 and the second crossbeam structure 42 are externally connected to the corresponding spherical structures on the first spiral body 2 and the second spiral body 3. The first crossbeam structure 41 is internally connected to the first spherical structure 21 on the first spiral body 2 to form a first pneumatic channel, and the second crossbeam structure 42 is internally connected to the second spherical structure 31 on the second spiral body 3 to form a second pneumatic channel.

[0033] The control end 1 is located at the head of the flexible double helix. The control end is equipped with a pneumatic drive mechanism 11, a first helix control system 12, a second helix control system 13, and a control circuit system 14. The pneumatic drive mechanism 11 can be an air pump. The two air pumps are respectively connected to the first pneumatic channel and the second pneumatic channel inside the first helix 2 and the second helix 3. They can draw in or fill gas, thereby controlling the air pressure in the first pneumatic channel and the second pneumatic channel to realize the extension and retraction of the first helix 2 and the second helix 3.

[0034] The first spherical structure 21, the second spherical structure 31, the first crossbeam structure 41, and the second crossbeam structure 42 are all made of flexible materials, such as silicone, silicone rubber, hydrogel, PDMS, etc.

[0035] The control method of the confined space robot is as follows: the air drive mechanism 11 in the control terminal 1 is used to control the air pressure in the first pneumatic channel and the second pneumatic channel, so that the first pneumatic channel and / or the second pneumatic channel switch different air pressure states, including positive pressure state, normal state and negative pressure state.

[0036] Specifically as follows:

[0037] Robot retracting forward: By simultaneously applying the same negative pressure to the first and second pneumatic channels and periodically switching between the negative pressure state and the normal state, a similar retracting forward motion effect can be achieved.

[0038] Robot extension and forward movement: By simultaneously applying the same positive pressure to the first and second pneumatic channels and periodically switching between the positive pressure state and the normal state, a similar extension and forward movement effect can be achieved.

[0039] The robot performs unilateral rolling motion by applying negative pressure to the pneumatic channel on the rolling side and periodically switching between negative and normal states; and applying positive pressure to the pneumatic channel on the other side and periodically switching between positive and normal states. For example, to achieve leftward rolling, negative pressure is applied to the first pneumatic channel on the left side to cause it to contract, while a certain amount of positive pressure is applied to the second pneumatic channel on the right side to cause it to extend. This periodic switching of the airflow between negative and normal states in the first pneumatic channel on the left side and between extended and normal states in the second pneumatic channel on the right side achieves unilateral rolling motion.

[0040] The robot performs a curling grasping motion: The double-helix structure robot is vertically suspended, and then the changes in a single pneumatic channel are controlled. For example, negative pressure is applied to the first pneumatic channel, and the system periodically switches between negative pressure and normal conditions, causing the first helix to be in a contracted state. Then, the second pneumatic channel is in a positive pressure or normal state, which enables the curling grasping of objects.

[0041] Alternatively, negative pressure can be applied to the second pneumatic channel, and the system can periodically switch between negative and normal states to make the second helix contract; then the first pneumatic channel can be in a positive or normal state, which can also achieve the curling gripping of objects.

[0042] At the same time, multiple double-helix structure robots can be hoisted together, such as three or four robot systems, to cooperate with each other to grasp objects.

[0043] Example 2

[0044] The structure of Embodiment 1 is similar to that of Embodiment 2, except that the flexible double helix in this embodiment is a paper-folding structure, including a hollow and flat third helix 5 and a fourth helix 6. The third helix 5 and the fourth helix 6 are connected by a stepped surface structure through paper folding. Therefore, the connecting body in this embodiment consists of alternating first stepped surface structures 71 and second stepped surface structures 72. The first stepped surface structures 71 and the second stepped surface structures 72 are hollow inside. All first stepped surface structures 71 are connected to the interior of the third helix 5 to form a third pneumatic channel, and all second stepped surface structures 72 are connected to the interior of the fourth helix 6 to form a fourth pneumatic channel.

[0045] The flexible double helix can be made entirely of flexible materials, such as silicone, silicone rubber, hydrogel, PDMS, etc.

[0046] The control end is located at the end of the third and fourth helical bodies. It can use an air pump to draw air pressure from inside the third and fourth pneumatic channels, thereby enabling the third and fourth helical bodies to extend, contract, and curl.

[0047] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A confined space robot mimicking the double helix structure of DNA, characterized in that: The device includes a control unit and a flexible double helix. The flexible double helix consists of a first helix, a second helix, and a connecting body between them. The connecting body is divided into several alternately arranged first and second connecting bodies. The first helix and the first connecting body are internally connected to form a first pneumatic channel. The second helix and the second connecting body are internally connected to form a second pneumatic channel. The control unit is equipped with a pneumatic drive mechanism that is connected to the first and second pneumatic channels, which can drive the first and second pneumatic channels to extend and retract. Both the first and second helical bodies are composed of several spherical structures, and the connecting body is an alternately arranged first and second crossbeam structure; the first and second crossbeam structures are externally connected to the corresponding spherical structures on the first and second helical bodies, and the first crossbeam structure is internally connected to the spherical structure on the first helical body, and the second crossbeam structure is internally connected to the spherical structure on the second helical body. or, The flexible double helix has an origami structure, with the first and second helices being hollow and flat structures, and the connecting body having an internally independent stepped surface structure.

2. The confined space robot with a DNA-like double helix structure as described in claim 1, characterized in that: The first helix, the second helix, and the connector are all made of flexible materials, such as silicone, silicone rubber, hydrogel, or PDMS.

3. The confined space robot with a DNA-like double helix structure as described in claim 1, characterized in that: The control end is located at the head of the flexible double helix. The control end is also equipped with a first helix control system, a second helix control system and a control circuit system. The first helix control system is used to control the internal passage of the first helix and the first connector, and the second helix control system is used to control the internal passage of the second helix and the second connector.

4. A method of controlling a confined space robot of the DNA double helix structure according to any one of claims 1 to 3, characterized in that: The pneumatic drive mechanism in the control terminal controls the air pressure in the first pneumatic channel and the second pneumatic channel, so that the first pneumatic channel and / or the second pneumatic channel switch between different air pressure states, including positive pressure state, normal state and negative pressure state.

5. The control method according to claim 4, characterized by: The robot retracts and moves forward: the same negative pressure is applied to the first pneumatic channel and the second pneumatic channel simultaneously, and the system periodically switches between the negative pressure state and the normal state; The robot extends forward: the same positive pressure is applied to the first pneumatic channel and the second pneumatic channel simultaneously, and the positive pressure state and normal state are switched periodically.

6. The control method according to claim 4, characterized by: The robot performs a unilateral tumbling motion: negative pressure is applied to the pneumatic channel on the tumbling side, and the system periodically switches between negative pressure and normal pressure states; positive pressure is applied to the pneumatic channel on the other side, and the system periodically switches between positive pressure and normal pressure states.

7. The control method according to claim 4, characterized by: The robot performs a curling grasping motion: The robot is vertically suspended, negative pressure is applied to any one of the pneumatic channels, and the system periodically switches between negative pressure and normal pressure states, while the other pneumatic channel is in a positive pressure state or a normal state.

Images