Electromagnetically-controlled continuous steering device and method for self-growing soft-bodied robot

Abstract

The invention discloses an electromagnetically-controlled continuous steering device and method for a self-growing soft robot, the electromagnetically-controlled continuous steering device comprises a soft robot main body, the tail part of the soft robot main body is hermetically connected to an air inlet, when air pressure is input, the soft robot main body is integrally expanded under the action of internal pressure, and the free end of the head part is continuously turned outwards and grows forwards under the pushing of the air pressure; the head of the soft robot body is connected between the inner end cover and the outer end cover, and the inner end cover and the outer end cover are combined into a whole through magnetic attraction. Electromagnets are arranged on the two sides of the inner end cover and are used for realizing accurate steering of the soft robot by controlling magnetic force; a plurality of inflation bags are evenly distributed on the outer side surface of the soft robot body in the axial direction, each inflation bag is connected with an air guide bag through an electromagnetic valve, and air flow between the inflation bags and the air guide bag is achieved by controlling opening and closing of the electromagnetic valves, so that the steering angle of the soft robot is adjusted. According to the invention, continuous steering and steering angle control of the self-growing soft robot are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to an electromagnetically controlled self-growing soft robot continuous steering device and method. Background Art

[0002] Traditional rigid robots have made remarkable achievements in industrial manufacturing, medical surgery, service industry and other fields due to their sturdy structure and precise operation. However, with the diversification and complexity of application scenarios, the limitations of rigid robots in certain specific occasions have gradually emerged. For example, in narrow or complex environments, the hard structure of rigid robots makes it difficult for them to flexibly adapt to the shape of the environment and may cause damage to surrounding objects; in addition, rigid robots also have certain risks in safe interaction with humans and the environment, especially in tasks that require flexible operation or fine movements, where their rigid structure may be difficult to meet the requirements. To meet these challenges, soft robots came into being. Unlike rigid robots, soft robots are highly flexible and adaptable, can deform freely in narrow spaces, and reduce the impact on the environment through their soft shells. Soft robots can not only better adapt to complex environments, but also interact safely with humans, and are widely used in medical, rescue, exploration and other fields.

[0003] Although soft robots have shown unique advantages in adapting to complex environments, the literature ([1] Coad MM, Blumenschein LH, Cutler S, et al. Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration [J]) discloses a structure that achieves robot steering by sticking multiple airbags on the main body of a self-growing soft robot. However, the problems of continuous steering and steering angle control of this structure have not been effectively solved. This deficiency limits its potential in specific applications such as narrow space navigation and complex path exploration. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an electromagnetically controlled self-growing soft robot continuous steering device and method, which can realize the continuous steering and steering angle control of the self-growing soft robot.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A self-growing soft robot continuous steering device controlled by an electromagnetic, comprises a soft robot body 1, the tail of the soft robot body 1 is sealed and connected to the air inlet, when air pressure is input, the soft robot body 1 expands as a whole under the action of internal pressure, and the free end of the head is continuously turned outward and grows forward under the push of air pressure; the head of the soft robot body 1 is connected between an internal end cover 3 and an external end cover 2, and the internal end cover 3 and the external end cover 2 are combined into one by magnetic attraction; electromagnets 7 are installed on both sides of the internal end cover 3, which are used to achieve precise steering of the soft robot by controlling magnetic force; a plurality of air bags 4 are evenly distributed along the axial direction on the outer surface of the soft robot body 1, each air bag 4 is connected to an air guide bag 6 by an electromagnetic valve 5, and the gas flow between the air bag 4 and the air guide bag 6 is achieved by controlling the opening and closing of the electromagnetic valve 5, thereby adjusting the steering angle of the soft robot.

[0007] The soft robot body 1, the air-filled bag 4 and the air-guide bag 6 are made of nylon-TPU composite material.

[0008] The external end cover 2 includes an external end cover body 2-1, and two freely rolling annular magnets Ⅰ2-2 are connected to the bottom of the external end cover body 2-1; the internal end cover 3 includes an internal end cover body 3-1, and four freely rolling guide wheels 3-2 are connected to the front end of the internal end cover body 3-1, and two annular magnets Ⅱ3-3 are connected to the internal end cover body 3-1; the soft robot body 1 passes through the internal end cover 3, and the internal end cover 3 wraps the soft robot body 1 inside, and the external end cover 2 is placed outside the soft robot body 1 and at the front end of the internal end cover 3, so that the two annular magnets Ⅱ3-3 are respectively attracted to the two annular magnets Ⅰ2-2.

[0009] The solenoid valve 5 comprises a solenoid valve body 5-1, which is divided into three parts: an upper part, a middle part and a lower part. A spring 5-2 and a magnetic ball 5-3 are placed in the middle part of the solenoid valve body 5-1. The lower part and the upper part of the solenoid valve body 5-1 respectively restrict the spring 5-2 and the magnetic ball 5-3 to prevent them from separating from the solenoid valve body 5-1. The three parts are fixedly connected as a whole. Under the pre-pressure of the spring 5-2, the solenoid valve 5 maintains the initial closed state.

[0010] A steering method using an electromagnetically controlled self-growing soft robot continuous steering device comprises the following steps:

[0011] Step 1: When steering is not required, the air pressure inside the air guide bag 6 is adjusted to zero, the two electromagnets 7 are powered off, all the solenoid valves 5 are closed, all the air bags 4 are not inflated, there is no length difference between the two sides of the soft robot body 1, and it only grows forward without steering;

[0012] Step 2: When it is necessary to turn to one side, adjust the air pressure inside the air guide bag 6, and at the same time, energize the electromagnet 7 on that side. The magnetic ball 5-3 inside the solenoid valve 5 near the electromagnet 7 overcomes the pre-pressure of the spring 5-2 under the action of the electromagnetic force, and the solenoid valve 5 is opened. The air bag 4 connected to it expands, and wrinkles are generated on one side of the soft robot body 1. Due to the inconsistent lengths of the two sides, the soft robot body 1 grows forward and turns at the same time. When the electromagnet 7 on the head gradually moves away from the solenoid valve 5, the solenoid valve 5 is closed again under the action of the pre-pressure of the spring 5-2, and the air bag 4 remains expanded. The wrinkles and turning effects on one side of the soft robot body 1 are maintained;

[0013] Step 3: By controlling the air pressure of the airbag 6 and the power-on time of the electromagnet 7, the number and degree of expansion of the airbag 4 are changed, thereby controlling the steering effect.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] Since the electromagnetically controlled self-growing soft robot continuous steering device of the present invention can control the internal air pressure of the air guide bag and the on / off power and power-on time of the electromagnet, thereby controlling the number and degree of expansion of the air bag, controlling the formation of wrinkles on one side of the self-growing soft robot, and realizing continuous steering and steering angle control during the growth process, it has the advantage of strong flexibility;

[0016] Since the annular magnet II of the present invention is attracted to the annular magnet I respectively, when the main body of the soft robot turns outward and pushes the outer end cover to move forward, the inner end cover moves forward following the outer end cover, so that the entire end cover is always kept at the head during the movement, so it has the advantage of strong stability;

[0017] Since the inflatable bag of the present invention is in close contact with the outer surface of the main body of the soft robot, the expansion of the inflatable bag causes wrinkles to form on the main body of the soft robot; when it is necessary to turn to one side, the air pressure inside the air guide bag is adjusted, and the electromagnet on that side is energized at the same time, and the magnetic ball inside the electromagnetic valve near the electromagnet overcomes the spring preload under the action of the electromagnetic force, the electromagnetic valve is opened, and the inflatable bag connected to it expands, and wrinkles are generated on one side of the main body of the soft robot. Due to the inconsistency of the lengths of the two sides, the main body of the soft robot turns, and when the electromagnetic valve is closed, the inflatable bag remains expanded, and the soft robot remains turned, so it has the advantage of fast response speed;

[0018] Since the present invention can change the expansion degree of the airbag by controlling the air pressure of the airbag, and can change the expansion number of the airbag by controlling the power-on time of the electromagnet, the steering effect can be controlled by controlling the two, so the steering angle can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the linear motion of the present invention.

[0020] Figure 2 It is a schematic diagram of the turning motion of the present invention.

[0021] Figure 3 It is a schematic diagram of the continuous turning motion of the present invention.

[0022] Figure 4 yes Figure 2 AA section view in.

[0023] Figure 5 It is a schematic diagram of the connection between the internal end cover and the electromagnet of the present invention.

[0024] Figure 6 It is a schematic diagram of the external end cover structure of the present invention.

[0025] Figure 7 It is a schematic diagram of the internal end cover structure of the present invention.

[0026] Figure 8 yes Figure 4 A partial enlarged view of B.

[0027] In the figure: 1 is the main body of the soft robot; 2 is the external end cover; 2-1 is the external end cover body; 2-2 is the ring-shaped magnet I; 3 is the internal end cover; 3-1 is the internal end cover body; 3-2 is the guide wheel; 3-3 is the ring-shaped magnet II; 4 is the air bag; 5 is the solenoid valve; 5-1 is the solenoid valve body; 5-2 is the spring; 5-3 is the magnetic ball; 6 is the air bag; 7 is the electromagnet. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0029] Refer to the attached Figure 1-Figure 5, an electromagnetically controlled self-growing soft robot continuous steering device, comprising a soft robot body 1, an external end cover 2, an internal end cover 3, an air bag 4, an electromagnetic valve 5, an air guide bag 6 and an electromagnet 7; the tail of the soft robot body 1 is sealed and connected to the air inlet, and when air pressure is input, the soft robot body 1 expands as a whole under the action of the internal pressure, and the free end of the head continuously turns outward and grows forward under the push of the air pressure; the head of the soft robot body 1 is connected between the internal end cover 3 and the external end cover 2, and the internal end cover 3 and the external end cover 2 are attracted by magnetic force. The two sides of the inner end cover 3 are provided with electromagnets 7 for realizing precise steering of the soft robot by controlling magnetic force; a plurality of air bags 4 are evenly distributed along the axial direction on the outer surface of the main body 1 of the soft robot, and each air bag 4 is connected to an air guide bag 6 through an electromagnetic valve 5, and the gas flow between the air bag 4 and the air guide bag 6 is realized by controlling the opening and closing of the electromagnetic valve 5, so as to adjust the steering angle of the soft robot; the diameter of the electromagnet 7 is 20 mm, and the thickness is 15 mm, and two positive and negative wires extend from the inside, and are controlled by connecting a 12V voltage.

[0030] Reference Figure 6 The external end cover 2 comprises an external end cover body 2-1, and the bottom end of the external end cover body 2-1 is connected with two freely rolling annular magnets Ⅰ2-2; Figure 7 The internal end cover 3 includes an internal end cover body 3-1, and four freely rolling guide wheels 3-2 are connected to the front end of the internal end cover body 3-1, and two annular magnets Ⅱ3-3 are connected to the internal end cover body 3-1; the soft robot body 1 passes through the internal end cover 3, and the internal end cover 3 wraps the soft robot body 1 inside, and the external end cover 2 is placed outside the soft robot body 1 and located at the front end of the internal end cover 3, so that the two annular magnets Ⅱ3-3 are respectively attracted to the two annular magnets Ⅰ2-2; when the soft robot body 1 is inflated and turned outward and pushes the external end cover 2 to move forward, due to the adsorption effect of the magnet, the internal end cover 3 follows the external end cover 2 to move forward, and the entire end cover is always kept at the head during the movement, ensuring that the electromagnet 7 installed on the internal end cover 3 is also always located at the head.

[0031] Reference Figure 8The solenoid valve 5 comprises a solenoid valve body 5-1, which is divided into three parts: upper, middle and lower. A spring 5-2 and a magnetic ball 5-3 are placed in the middle of the solenoid valve body 5-1. The lower and upper parts of the solenoid valve body 5-1 respectively restrict the spring 5-2 and the magnetic ball 5-3 to prevent them from being separated from the solenoid valve body 5-1. The three parts are fixedly connected as a whole. Under the pre-pressure of the spring 5-2, the solenoid valve 5 maintains an initial closed state. When the airflow needs to be adjusted, the position of the magnetic ball 5-3 is controlled by the electromagnet 7 to change the opening and closing state of the solenoid valve 5 to control the flow of gas between the inflatable bag 4 and the air guide bag 6. The three parts of the solenoid valve body 5-1 are all formed by 3D printing.

[0032] The soft robot body 1, the air-filled bag 4 and the air-guide bag 6 are made of nylon-TPU composite material.

[0033] The working principle of the electromagnetically controlled self-growing soft robot continuous steering device of the present invention is:

[0034] The main body 1 of the soft robot is made of nylon-TPU composite material, with the tail sealed and connected to the air inlet, and the head can be extended freely. By controlling the air pressure of the air pump, the main body 1 of the soft robot turns outward and grows forward under the action of the internal pressure; the external end cover 2 and the internal end cover 3 are attracted to each other. When the main body 1 of the soft robot is inflated and turns outward and pushes the external end cover 2 to move forward, the internal end cover 3 moves forward with the external end cover 2 under the action of magnetic force, and always stays at the head, ensuring that the electromagnet 7 is always located at the head position during the entire movement process; the electromagnet 7 can accurately control the steering angle after being energized;

[0035] In the initial state, the solenoid valve 5 remains closed under the action of the pre-pressure of the spring 5-2; when the movement direction of the soft robot needs to be adjusted, the internal air pressure of the air bag 6 on one side is adjusted, and the electromagnet 7 on this side is energized at the same time. The magnetic ball 5-3 located near the electromagnet 7 overcomes the pre-pressure of the spring 5-2 under the action of the electromagnetic force, opens the solenoid valve 5, and causes the connected air bag 4 to expand and produce wrinkles. Since the lengths of the two sides of the soft robot body 1 are inconsistent, the body turns while growing forward; when the electromagnet 7 on the head gradually moves away from the solenoid valve 5, the solenoid valve 5 is closed again under the action of the pre-pressure of the spring 5-2, and the air bag 4 remains expanded, and the wrinkles and steering effects on one side of the soft robot body 1 are maintained; by controlling the air pressure of the air bag 6 and the power-on time of the electromagnet 7, the number and degree of expansion of the air bag 4 can be accurately controlled, thereby controlling the steering effect of the soft robot.

[0036] A steering method using an electromagnetically controlled self-growing soft robot continuous steering device comprises the following steps:

[0037] Step 1: When steering is not required, the air pressure inside the air guide bag 6 is adjusted to zero, the two electromagnets 7 are powered off, all the solenoid valves 5 are closed, all the air bags 4 are not inflated, there is no length difference between the two sides of the soft robot body 1, and it only grows forward without steering;

[0038] Step 2: When it is necessary to turn to one side, adjust the air pressure inside the air guide bag 6, and at the same time, energize the electromagnet 7 on that side. The magnetic ball 5-3 inside the solenoid valve 5 near the electromagnet 7 overcomes the pre-pressure of the spring 5-2 under the action of the electromagnetic force, and the solenoid valve 5 is opened. The air bag 4 connected to it expands, and wrinkles are generated on one side of the soft robot body 1. Due to the inconsistent lengths of the two sides, the soft robot body 1 grows forward and turns at the same time. When the electromagnet 7 on the head gradually moves away from the solenoid valve 5, the solenoid valve 5 is closed again under the action of the pre-pressure of the spring 5-2, and the air bag 4 remains expanded. The wrinkles and turning effects on one side of the soft robot body 1 are maintained;

[0039] Step 3: By controlling the air pressure of the airbag 6 and the power-on time of the electromagnet 7, the number and degree of expansion of the airbag 4 are changed, thereby controlling the steering effect.

[0040] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. An electromagnetically controlled self-growing soft robot continuous steering device, comprising a soft robot body (1), characterized in that: The tail of the soft robot body (1) is sealed and connected to the air inlet. When air pressure is input, the soft robot body (1) expands as a whole under the action of the internal pressure, and the free end of the head is continuously turned outward and grows forward under the push of the air pressure. The head of the soft robot body (1) is connected between the internal end cover (3) and the external end cover (2), and the internal end cover (3) and the external end cover (2) are combined into one by magnetic attraction. Electromagnets (7) are installed on both sides of the internal end cover (3) for realizing precise steering of the soft robot by controlling the magnetic force. A plurality of inflatable bags (4) are evenly distributed along the axial direction on the outer surface of the soft robot body (1), and each inflatable bag (4) is connected to an air guide bag (6) through an electromagnetic valve (5). By controlling the opening and closing of the electromagnetic valve (5), the gas flow between the inflatable bag (4) and the air guide bag (6) is realized, thereby adjusting the steering angle of the soft robot.

2. The electromagnetically controlled self-growing soft robot continuous steering device according to claim 1, characterized in that: The soft robot body (1), the air-filled bag (4) and the air-guide bag (6) are made of a nylon-TPU composite material.

3. The electromagnetically controlled self-growing soft robot continuous steering device according to claim 1, characterized in that: The external end cover (2) comprises an external end cover body (2-1), and two freely rolling annular magnets I (2-2) are connected to the bottom of the external end cover body (2-1); the internal end cover (3) comprises an internal end cover body (3-1), and four freely rolling guide wheels (3-2) are connected to the front end of the internal end cover body (3-1), and two annular magnets II (3-3) are connected to the internal end cover body (3-1); the soft robot body (1) passes through the internal end cover (3), and the internal end cover (3) wraps the soft robot body (1) inside, and the external end cover (2) is placed outside the soft robot body (1) and at the front end of the internal end cover (3), so that the two annular magnets II (3-3) are attracted to each other with the two annular magnets I (2-2) respectively.

4. The electromagnetically controlled self-growing soft robot continuous steering device according to claim 1, characterized in that: The solenoid valve (5) comprises a solenoid valve body (5-1), which is divided into three parts: an upper part, a middle part and a lower part. A spring (5-2) and a magnetic ball (5-3) are placed in the middle part of the solenoid valve body (5-1). The lower part and the upper part of the solenoid valve body (5-1) respectively restrict the spring (5-2) and the magnetic ball (5-3) to prevent the two from separating from the solenoid valve body (5-1). The three parts are fixedly connected as a whole; under the pre-pressure of the spring (5-2), the solenoid valve (5) maintains an initial closed state.

5. A steering method using an electromagnetically controlled self-growing soft robot continuous steering device according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: When steering is not required, the air pressure inside the air guide bag (6) is adjusted to zero, the two electromagnets (7) are powered off, all the solenoid valves (5) are closed, all the air bags (4) are not inflated, there is no length difference between the two sides of the soft robot body (1), and the robot only grows forward without steering; Step 2: When it is necessary to turn to one side, the air pressure inside the air guide bag (6) is adjusted, and the electromagnet (7) on that side is energized. The magnetic ball (5-3) inside the electromagnetic valve (5) near the electromagnet (7) overcomes the pre-pressure of the spring (5-2) under the action of the electromagnetic force, the electromagnetic valve (5) is opened, and the air bag (4) connected to it expands, and wrinkles are generated on one side of the soft robot body (1). Due to the inconsistency of the lengths of the two sides, the soft robot body (1) grows forward and turns at the same time. When the electromagnet (7) on the head gradually moves away from the electromagnetic valve (5), the electromagnetic valve (5) is closed again under the action of the pre-pressure of the spring (5-2), and the air bag (4) remains expanded. The wrinkles and turning effect on one side of the soft robot body (1) are maintained; Step 3: By controlling the air pressure of the air guide bag (6) and the energizing time of the electromagnet (7), the number and degree of expansion of the air bag (4) are changed, thereby controlling the steering effect.

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