Bionic intestinal robot

Abstract

The invention relates to the technical field of robots, in particular to a bionic intestinal robot which comprises a plurality of first deformation parts, a plurality of second deformation parts, a plurality of blade valves and a driving part, and by arranging the first deformation parts and the second deformation parts which are arranged in a staggered mode, when the bionic intestinal robot is used, the driving part has a clockwise rotation state and an anticlockwise rotation state. In the clockwise rotating state, the driving part drives the deformation part to rotate clockwise and forces the inner wall of the through cavity in the first deformation part to contract, and then the inner wall of the through cavity in the first deformation part is contracted to extrude the driving structure located in the first deformation part till the driving structure pushes the part to be conveyed into the second deformation part. And in the anticlockwise rotation state, the driving piece drives the deformation piece to rotate anticlockwise and forces the inner wall of the through cavity in the second deformation piece to contract, then the driving structure in the second deformation piece is pushed to move again, the reciprocating operation is carried out, the bionic intestinal tract of peristaltic waves can be simulated, and the control is simple, stable and reliable.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bionic intestinal robot. Background Art

[0002] Bionic intestinal structure is a high-tech research tool that simulates the real intestinal environment. It has a wide range of applications in drug screening, disease mechanism research, food science and other fields. At present, there are few bionic studies on intestinal peristaltic waves at home and abroad. The bionic study of peristaltic waves is of great significance for in-depth understanding of the physiological mechanism of intestinal digestion, optimization of infant formula and construction of biochemical reactors.

[0003] However, although these bionic intestinal mechanisms promote the mixing of materials to a certain extent, the current bionic intestinal devices have the following problems:

[0004] 1. The intestinal-like structure is not complex enough, and there is only deformation caused by simple extrusion of the wall. The mixing effect is not good enough and there are many dead zones.

[0005] 2. There is no research on simulating the peristaltic wave movement;

[0006] 3. Complex control;

[0007] 4. Insufficient reliability and stability;

[0008] 5. The manufacturing process is difficult and the driving method is complicated;

[0009] 6. High cost;

[0010] 7. Large size.

[0011] Therefore, it is particularly important to develop a bionic intestine that can be easily controlled, stable and reliable, and can simulate peristaltic waves. Summary of the invention

[0012] In view of this, the present invention provides a bionic intestine which is simple to control, stable and reliable and can simulate peristaltic waves.

[0013] In a first aspect, the present invention provides a bionic intestinal robot, comprising:

[0014] A plurality of first deformable members and a plurality of second deformable members, each of the first deformable members and the second deformable members has a through cavity inside, and the through cavity is used for conveying the object to be conveyed;

[0015] The first deformable member and the second deformable member are arranged alternately;

[0016] A plurality of leaf valves are connected between the first deformable member and the second deformable member; a driving structure is provided in any of the leaf valves, and the driving structure is provided in the through cavity of the deformable member;

[0017] A driving member connected to the first deformable member or the second deformable member at the head end, wherein the driving member has a clockwise rotation state and a counterclockwise rotation state;

[0018] In the clockwise rotating state, the driving member drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member to contract;

[0019] In the counterclockwise rotating state, the driving member drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member to contract;

[0020] The driving structure is configured to be pressed by the inner wall to drive the transported object to move.

[0021] By setting the first deformable member and the second deformable member in an interlaced manner, when in use, the driving member has a clockwise rotation state and a counterclockwise rotation state. In the clockwise rotation state, the driving member drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member to contract, and then squeezes the driving structure inside the through cavity of the first deformable member through the contraction of the inner wall, until the driving structure pushes the transported member to reach the second deformable member. Then the driving member rotates counterclockwise, and in the counterclockwise rotation state, the driving member drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member to contract, and then pushes the driving structure in the second deformable member to move again, and repeats this process, which can simulate the bionic intestine of peristaltic waves, and is simple to control, stable and reliable.

[0022] In an optional implementation, the driving structure includes:

[0023] A side plate connected to the leaf valve body;

[0024] A plurality of long blades are hinged to the leaf valve body, and the end of any of the long blades is arranged in the inner cavity of the deformable member;

[0025] A plurality of short blades are hinged to the leaf valve body, and any of the short blades is arranged in the internal passage of the leaf valve body.

[0026] In an optional embodiment, any of the long blades is configured to be pushed by the inner wall of the cavity of the deformable member to converge toward the short blade.

[0027] In an optional embodiment, all the short blades are enclosed in the internal channel of the leaf valve body to form a limiting channel, and the limiting channel is suitable for limiting the position of the object to be transported.

[0028] In an optional embodiment, the driving structure further includes a plurality of elastic members, some of which are connected between the side plates and the long blades, and some of which are connected between the side plates and the short blades;

[0029] The elastic member has an elastic force for forcing the long blade and the short blade to return to their original positions.

[0030] In an optional embodiment, the side plate, the long blade and the short blade are all provided with grooves, and the elastic member is connected to the grooves on the three.

[0031] In an optional embodiment, the bionic intestinal robot further includes:

[0032] Slide rails;

[0033] A slider, slidably disposed on the slide rail;

[0034] The hollow valve is connected to the first deformable member or the second deformable member at the end, and one side of the hollow valve is connected to the slider.

[0035] In an optional embodiment, the bionic intestinal robot further includes a fixing member, wherein the fixing member is fixed to the slide rail, and the driving member is fixed to the fixing member.

[0036] In an optional embodiment, the bionic intestinal robot further includes a cylinder, which is connected between the driving member and the first deformable member or the second deformable member at the head end.

[0037] In an optional embodiment, the deformable member includes a plurality of interconnected unit elements, and the plurality of unit elements are configured to be bent at the connection points to form a cylindrical shape.

[0038] The bionic intestinal robot provided by the present invention has the following advantages:

[0039] 1. The present invention provides a bionic intestinal robot, comprising a plurality of first deformable members and a plurality of second deformable members, a plurality of leaf valves and a driving member, wherein a through cavity is provided inside any of the first deformable members and the second deformable members, and the through cavity is provided for conveying the member to be conveyed; the first deformable member and the second deformable member are arranged alternately; the leaf valve is connected between the first deformable member and the second deformable member; a driving structure is provided inside any of the leaf valves, and the driving structure is provided in the through cavity of the deformable member; the driving member is connected to the first deformable member or the second deformable member at the head end, and the driving member has a clockwise rotation state and a counterclockwise rotation state; in the clockwise rotation state, the driving member drives the deformable member to rotate clockwise and forces the inner wall of the through cavity in the first deformable member to contract; in the counterclockwise rotation state, the driving member drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity in the second deformable member to contract; the driving structure is configured to be squeezed by the inner wall to drive the member to be conveyed to move.

[0040] By setting the first deformable member and the second deformable member in an interlaced manner, when in use, the driving member has a clockwise rotation state and a counterclockwise rotation state. In the clockwise rotation state, the driving member drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member to contract, and then squeezes the driving structure inside the through cavity of the first deformable member through the contraction of the inner wall, until the driving structure pushes the transported member to reach the second deformable member. Then the driving member rotates counterclockwise, and in the counterclockwise rotation state, the driving member drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member to contract, and then pushes the driving structure in the second deformable member to move again, and repeats this process, which can simulate the bionic intestine of peristaltic waves, and is simple to control, stable and reliable.

[0041] 2. The present invention provides a bionic intestinal robot, the driving structure includes a side plate, a plurality of long blades and a plurality of short blades, the side plate is connected to the leaf valve body, the plurality of long blades are hinged to the leaf valve body, and the end of any of the long blades is arranged in the inner cavity of the deformable part; the plurality of short blades are hinged to the leaf valve body, and any of the short blades is arranged in the internal channel of the leaf valve body. Any of the long blades is configured to be pushed by the inner wall of the deformable part cavity and gather toward the short blade, and all the short blades are enclosed in the internal channel of the leaf valve body to form a limiting channel, and the limiting channel is suitable for limiting the part to be transported.

[0042] The bionic intestinal robot of this structure can cooperate with the deformable member to transport the object to be transported in the deformable member when the inner wall of the cavity in the deformable member contracts by setting long blades, and can prevent the object to be transported from retreating by setting a number of short blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic structural view of a deformable member in a bionic intestinal robot provided in an embodiment of the present invention;

[0045] Figure 2 A front view of a bionic intestinal robot provided in an embodiment of the present invention;

[0046] Figure 3 A top view of a bionic intestinal robot provided in an embodiment of the present invention;

[0047] Figure 4It is a right view of the bionic intestinal robot provided in an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of a state in which a single deformable member is connected to a single leaf valve in a bionic intestinal robot provided in an embodiment of the present invention and no external force is applied;

[0049] Figure 6 It is a schematic diagram of the transportation process of the parts to be transported in the bionic intestinal robot provided in an embodiment of the present invention.

[0050] Description of reference numerals:

[0051] 101-horizontal line;

[0052] 102-hypotenuses;

[0053] 103 - diagonal;

[0054] 104-connecting part;

[0055] 201-slide rail;

[0056] 202-driving member;

[0057] 203-fixing parts;

[0058] 204- second deformation member;

[0059] 205-first deformation member;

[0060] 206-leaf valve;

[0061] 207-Intestinal peristalsis continuum device;

[0062] 208-slider;

[0063] 209-cylinder;

[0064] 210-Hollow valve;

[0065] 501-side panel;

[0066] 502-long blade;

[0067] 503-short blade;

[0068] 504-first groove;

[0069] 505-second groove;

[0070] 506-round hole. DETAILED DESCRIPTION

[0071] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0073] Example

[0074] This embodiment provides a bionic intestinal robot, such as Figures 1 to 6 As shown, it includes a first deformable member 205 , a second deformable member 204 , a leaf valve 206 , a driving member 202 , a slide rail 201 , a slider 208 , a hollow valve 210 , a fixing member 203 and a cylinder 209 .

[0075] For the convenience of explanation, the first deformable member 205 and the plurality of second deformable members 204 are collectively referred to as deformable members.

[0076] In this embodiment, the number of the first deformable members 205 and the second deformable members 204 are both three. A through cavity is provided inside each first deformable member 205 and each second deformable member 204 for conveying the object to be conveyed. The first deformable members 205 and the second deformable members 204 are arranged alternately. There are five leaf valves 206, and the leaf valves 206 are connected between the first deformable member 205 and the second deformable member 204; a driving structure is provided in any leaf valve 206, and the driving structure is provided in the through cavity of the deformable member; the driving member 202 is connected to the second deformable member 204 at the head end, and the driving member 202 has a clockwise rotation state and a counterclockwise rotation state; in the clockwise rotation state, the driving member 202 drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member 205 to contract; in the counterclockwise rotation state, the driving member 202 drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member 204 to contract; the driving structure is configured to be squeezed by the inner wall to drive the transported member to move.

[0077] By setting the staggered first deformable member 205 and the second deformable member 204, when in use, the driving member 202 has a clockwise rotation state and a counterclockwise rotation state. In the clockwise rotation state, the driving member 202 drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member 205 to shrink, and then squeezes the driving structure inside the through cavity of the first deformable member 205 through the shrinkage of the inner wall, until the driving structure pushes the transported member to reach the second deformable member 204. Then the driving member 202 rotates counterclockwise. In the counterclockwise rotation state, the driving member 202 drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member 204 to shrink, and then pushes the driving structure in the second deformable member 204 to move again, and repeats this process, which can simulate the bionic intestine of peristaltic waves, and is simple to control, stable and reliable.

[0078] Specifically, the deformable member is a kresling origami unit, and the kresling origami unit is divided into a clockwise kresling unit and a counterclockwise kresling origami unit, the clockwise kresling unit is the first deformable member 205, and the counterclockwise kresling origami unit is the second deformable member 204. The kresling origami unit is an existing structure, so its principle will not be described in detail here.

[0079] It should be noted that the materials of the Kresling origami units and components used in this embodiment include but are not limited to the polypropylene plates and ABS materials described below. The materials in this embodiment should include materials that can be replaced with them to ensure the normal operation of the robot.

[0080] Reference Figure 1 , in this embodiment, a folding pattern of a counterclockwise kresling origami unit (second deformable member 204) is provided:

[0081] like Figure 1 The figure shows a counterclockwise kresling origami unit, which is mainly composed of 6 small units with parallelogram bodies; the upper and lower horizontal lines 101 of each small unit are valley lines, the hypotenuse 102 is a mountain line, and the diagonal line 103 obliquely intersecting the upper and lower horizontal lines 101 is a valley line; the connecting part 104 is an origami setting for connecting the kresling origami unit and the leaf valve 206. After the small units with parallelogram bodies are arrayed 6 times, the crease pattern is folded to form the main body of the counterclockwise kresling origami unit (second deformable member 204) of the bionic intestinal robot.

[0082] Similarly, after exchanging the mountain line and the valley line, the origami unit is converted into a clockwise rotating kresling unit (first deformable member 205) body.

[0083] In this embodiment, if Figure 6 As shown, the leaf valve 206 connects the clockwise kresling unit and the counterclockwise kresling unit to form a continuous kresling unit of opposite chirality. The kresling units of opposite chirality are interconnected and repeated multiple times to form a bionic intestinal robot.

[0084] like Figure 2 As shown, in this embodiment, the slide rail 201 is arranged on the bottom side, the slider 208 is slidably arranged on the slide rail 201, the hollow valve 210 is connected to the first deformable member 205 at the end, one side of the hollow valve 210 is connected to the slider 208, the fixing member 203 is fixed to the slide rail 201, the driving member 202 is fixed to the fixing member 203, and the cylinder 209 is connected to the driving member 202 and the second deformable member 204 at the head end.

[0085] By setting the slide rail 201, when the first deformable member 205 and the second deformable member 204 are driven by the driving member 202 to shrink, the slider 208 will slide on the slide rail 201 accordingly, thereby being able to limit the shrinking direction and the reset direction of the first deformable member 205 and the second deformable member 204. The cylinder 209 is connected to the driving member 202 and the second deformable member 204 at the head end. The cylinder 209 is provided with a notch, through which the transported member can be placed inside the cylinder 209 and enter the second deformable member 204 connected to the cylinder 209. Among them, the fixing member 203, the leaf valve 206, the cylinder 209 and the hollow valve 210 are all made of ABS material by 3D printing.

[0086] In this embodiment, the second deformable member 204 , the first deformable member 205 and the leaf valve 206 together constitute an intestinal peristalsis continuum device 207 .

[0087] The intestinal peristalsis continuum device 207 is described in detail below.

[0088] Figure 5 This is a state where a single Kresling origami unit (deformable member) is connected to a single leaf valve 206 and no external force is applied.

[0089] like Figure 5As shown, the internal driving structure of the leaf valve 206 includes a side plate 501, a long blade 502, a short blade 503 and an elastic member (not shown in the figure). The side plate 501 is connected to the leaf valve body; the long blade 502 is hinged to the leaf valve body, and the end of any long blade 502 is arranged in the inner cavity of the deformation member; the short blade 503 is hinged to the leaf valve body, and any short blade 503 is arranged in the inner channel of the leaf valve body. Part of the elastic member is connected between the side plate 501 and the long blade 502, and part of the elastic member is connected between the side plate 501 and the short blade 503; the elastic member has an elastic force that forces the long blade 502 and the short blade 503 to reset. Grooves are provided on the side plate 501, the long blade 502 and the short blade 503, and the elastic member is connected to the grooves on the three.

[0090] The following takes the leaf valve 206 disposed between the first deformation member 205 and the second deformation member 204 as an example to illustrate the working principle of the leaf valve 206 .

[0091] The long blade 502 is hinged to the leaf valve body, and the end of any long blade 502 is arranged in the through cavity of the first deformable member 205. A first groove 504 is arranged on the side plate 501, and a second groove 505 is arranged on the long blade 502. The elastic member is connected to the first groove 504 and the second groove 505, and the end of the long blade 502 is abutted against the through cavity of the first deformable member 205 by the elastic force of the elastic member. When the driving member 202 rotates clockwise, the driving member 202 drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member 205 to contract. The contraction of the inner wall squeezes the long blade 502 to rotate relative to the leaf valve body, that is, multiple long blades 502 gather toward the second deformable member 204 to push the object to be transported toward the second deformable member 204.

[0092] Similarly, the elastic member uses its own elastic force to make the short blade 503 tend to be on the plane of the side plate 501. When the object to be transported is pushed to the short blade 503 by the long blade 502, the short blade 503 is squeezed by the object to be transported and rotates relative to the leaf valve body in the direction of the second deformable member 204 until the object to be transported passes over the short blade 503. The short blade 503 is reset under the action of the elastic member. This structure can prevent the object to be transported from retreating into the first deformable member 205.

[0093] It can be understood that the other end of the second deformable member 204 is also connected to a leaf valve 206 , so the interior of the second deformable member 204 is the same as the interior of the first deformable member 205 , and the object to be transported inside the second deformable member 204 can be transported only by rotating the driving member 202 counterclockwise.

[0094] like Figure 5As shown, two circular holes 506 are provided on the side plate 501 . The two circular holes 506 are coaxial with the holes in the connecting portion 104 and are connected by bolts to maintain the relative position between the deformable member and the leaf valve 206 .

[0095] In this embodiment, the long blades 502 and the short blades 503 are arranged alternately, and the number of both is set to three.

[0096] like Figure 6 As shown, Figure 6 The middle circle is the part to be transported, and the working process of the bionic intestinal robot is described in detail:

[0097] The long blade 502 is elastically acted upon by the elastic member, and fits against the inner cavity wall of the kresling unit (deformable member), maintaining an open and closed state. The object to be transported is now located inside the counterclockwise kresling unit (second deformable member 204). When the second deformable member 204 contracts as the driving member 202 rotates counterclockwise, the long blade 502 is squeezed and closed by the inner wall of the second deformable member 204, and moves toward the plane where the side plate 501 is located, causing the object to be transported to move upward. The object to be transported squeezes the short blade 503 upward, causing the short blade 503 to fold upward, as shown in FIG. Figure 6 A. As the counterclockwise kresling unit (second deforming member 204) further contracts, the height of the transported object exceeds the critical point that blocks the short blade 503, and the short blade 503 returns to the plane where the side plate 501 is located, and the transported object is transported to the plane where the side plate 501 is located. When the driving member 202 rotates clockwise, the counterclockwise kresling unit (second deforming member 204) opens with the counterclockwise rotation of the driving member 202, and the long blade 502 loses the squeezing of the inner wall of the second deforming member 204, and the long blade 502 is reset to maintain the open and closed state, as shown in FIG. Figure 6 B. When the driving member 202 continues to rotate clockwise, the clockwise kresling unit (first deforming member 205) contracts, and the relative height between the long blades 502 and the object to be transported decreases. At the same time, the three long blades 502 that were originally opened are squeezed by the contraction of the clockwise kresling unit (first deforming member 205) and begin to close, so that the object to be transported moves upward. Figure 6 C. As the clockwise kresling unit (first deformable member 205) further contracts, the height of the object to be transported exceeds the critical point of obstruction, and the short blade 503 returns to the plane where the side plate 501 is located. When the driving member 202 rotates counterclockwise, the clockwise kresling unit (first deformable member 205) opens with the counterclockwise rotation of the driving member 202, and the long blade 502 loses the squeezing of the inner wall of the first deformable member 205, and the long blade 502 returns to fit with the inner wall of the first deformable member 205, maintaining the open and closed state. The upward transportation process of one layer of the object to be transported is completed.

[0098] The transport mechanism for other layers is similar.

[0099] like Figure 6 A, when the driving member 202 rotates counterclockwise, the three counterclockwise kresling units (the second deforming member 204) rotate and contract, and the three clockwise kresling units (the first deforming member 205) remain unfolded, and the originally opened long blades 502 are squeezed by the contraction of the second deforming member 204 and begin to close, transporting the object to be transported to the next layer of clockwise kresling units (the first deforming member 205) that are gradually unfolded; Figure 6 B is the middle state of the driving member 202 rotating clockwise, and the three counterclockwise kresling units (second deformation members 204) are restored to the stretched state. Figure 6 C is the final state of clockwise rotation, the three clockwise kresling units (first deforming member 205) rotate and shrink, the long blades 502 that were originally open are squeezed by the clockwise kresling unit (first deforming member 205), and begin to close, transporting the transported objects to the counterclockwise kresling unit (second deforming member 204) of the next layer. The clockwise and counterclockwise kresling units cooperate to achieve a continuous transport effect.

[0100] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A bionic intestinal robot, characterized in that: include: A plurality of first deformable members (205) and a plurality of second deformable members (204), wherein each of the first deformable members (205) and the second deformable members (204) is provided with a through cavity inside, and the through cavity is used for conveying the object to be conveyed; The first deformable member (205) and the second deformable member (204) are arranged alternately; A plurality of leaf valves (206) are connected between the first deformable member (205) and the second deformable member (204); a driving structure is provided in any leaf valve (206), and the driving structure is provided in the through cavity of the deformable member; A driving member (202) connected to the first deformable member (205) or the second deformable member (204) at the head end, wherein the driving member (202) has a clockwise rotation state and a counterclockwise rotation state; In the clockwise rotating state, the driving member (202) drives the deformable member to rotate clockwise and forces the inner wall of the through cavity of the first deformable member (205) to contract; In the counterclockwise rotating state, the driving member (202) drives the deformable member to rotate counterclockwise and forces the inner wall of the through cavity of the second deformable member (204) to contract; The driving structure is configured to be squeezed by the inner wall of the cavity of the deformable member to drive the transported member to move.

2. The bionic intestinal robot according to claim 1, characterized in that: The driving structure comprises: A side plate (501) connected to the leaf valve body; A plurality of long blades (502) are hinged to the leaf valve body, and the end of any of the long blades (502) is arranged in the inner cavity of the deformable member; A plurality of short blades (503) are hinged to the leaf valve body, and any of the short blades (503) is arranged in the internal passage of the leaf valve body.

3. The bionic intestinal robot according to claim 2, characterized in that: Any of the long blades (502) is configured to be pushed by the inner wall of the cavity of the deformable member and gather toward the short blades (503).

4. The bionic intestinal robot according to claim 3, characterized in that: All the short blades (503) are enclosed in the internal channel of the leaf valve body to form a limiting channel, and the limiting channel is suitable for limiting the position of the object to be transported.

5. The bionic intestinal robot according to any one of claims 2 to 4, characterized in that: The driving structure further comprises a plurality of elastic members, some of which are connected between the side plate (501) and the long blade (502), and some of which are connected between the side plate (501) and the short blade (503); The elastic member has an elastic force forcing the long blade (502) and the short blade (503) to return to their original positions.

6. The bionic intestinal robot according to claim 5, characterized in that: The side plate (501), the long blade (502) and the short blade (503) are all provided with grooves, and the elastic member is connected to the grooves on the three.

7. The bionic intestinal robot according to any one of claims 1 to 4, characterized in that: Also includes: Slide rail (201); A slider (208) slidably disposed on the slide rail (201); The hollow valve (210) is connected to the first deformable member (205) or the second deformable member (204) at the end, and one side of the hollow valve (210) is connected to the slider (208).

8. The bionic intestinal robot according to claim 7, characterized in that: It also includes a fixing member (203), wherein the fixing member (203) is fixed to the slide rail (201), and the driving member (202) is fixed to the fixing member (203).

9. The bionic intestinal robot according to claim 7, characterized in that: It also includes a cylinder (209), which is connected between the driving member (202) and the first deformable member (205) or the second deformable member (204) at the head end.

10. The bionic intestinal robot according to claim 1, characterized in that: The deformable element includes a plurality of unit elements connected to each other, and the plurality of unit elements are configured to be bent at the connection positions to form a cylindrical shape.

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