Self-growing robot based on vacuum layer blocking and rigidity changing method thereof

Abstract

The invention relates to the field of soft robots, in particular to a self-growing robot based on vacuum layer blocking and a variable stiffness method thereof, and the self-growing robot comprises a main body, a base, a blocking layer, an electromagnetic valve and an end cover; the end cover is fixed at the tip of the main body and consists of an outer end cover, an inner end cover and an electromagnet; the blocking layer is composed of skin flaps and a sealing bag, the skin flaps are formed by overlapping multiple layers of polyester films and packaged in the sealing bag, and the blocking layer is vacuumized to enable the layer interference skin flaps to be overlapped to increase the rigidity of the blocking layer; the base is divided into an inflation layer and an exhaust layer, the main body is stored in the inflation layer of the base after being turned inwards, the main body is fixedly connected to the base, and after the base is inflated, the tip end of the main body is driven by air pressure to be turned outwards for growth; furthermore, the blocking layer is fixed on the main body and is connected with the base air exhaust layer through an electromagnetic valve; the problem that the rigidity of a main body becomes poor after long-span extension of the self-growing robot can be solved.

Description

Technical Field

[0001] The invention relates to the field of self-growing robots, and more specifically to a self-growing robot variable stiffness method based on vacuum layer blocking. Background Art

[0002] The development of robotics stems from the pursuit of automation and intelligence, and its background can be traced back to the progress of mechanical automation and computer science during the Industrial Revolution. Rigid robots are usually made of metal or plastic and have fixed structures and motion patterns. Therefore, rigid robots perform well in performing high-precision, repetitive tasks, such as being widely used in manufacturing. However, due to structural limitations, rigid robots are difficult to adapt to complex and dynamically changing environments. In contrast, soft robots use flexible materials and adaptive structures to break through the limitations of rigid robots. They can imitate the flexibility and adaptability of organisms and can adapt to different working environments. Self-growing robots are soft robots that use the eversion of a thin film driven by internal air pressure to achieve the forward process. Their flexible properties can enable them to detect and inspect in complex spaces.

[0003] However, when the self-growing robot performs large-span movements, due to the flexible characteristics of its main body material, it will become unstable and fall due to the poor stiffness of the main body when it moves away from the surface support, and its tip position cannot be controlled. The existing self-growing robot variable stiffness method corresponds to complex self-growing robot control, so a new variable stiffness scheme is needed to ensure the hardening of the self-growing robot during the growth process, so as to achieve the effect of hardening while growing. Summary of the invention

[0004] The purpose of the present invention is to provide a self-growing robot based on vacuum layer blocking and a method for changing its stiffness, which can solve the problem of the self-growing robot becoming unstable and sagging due to poor stiffness when performing large-span movement.

[0005] The object of the present invention is achieved by the following technical solution: A self-growing robot based on vacuum layer blocking, characterized in that it includes a cylindrical base with a hollow interior, a main body, a blocking layer, a solenoid valve, and an end cover; The base is divided into a base inflation layer and a base exhaust layer, the base inflation layer is connected to the main body, and the base exhaust layer is connected to the solenoid valve and the blocking layer; One end of the main body head is connected to the base, and the main body head can be folded inwards, and after being folded inwards, it is stored in the air-filled layer of the base, and the tail of the main body is sealed and connected to the roller in the air-filled layer of the base. After the air-filled layer of the base is inflated, the air pressure drives the main body to grow outwards; The blocking layer and one end of the solenoid valve are connected through an air pipe and attached to the main body, and the rigidity of the main body is adjusted by the blocking layer; the other end of the solenoid valve is connected to the base air pumping layer through the air pipe; The end cap is fixed at the tip of the main body head.

[0006] Furthermore, the blocking layer is composed of a flap and a sealing bag, the flap is formed by overlapping multiple layers of polyester film and is packaged in a barrel-shaped sealing bag, and the circumference of the sealing bag is attached to the outer surface of the main body.

[0007] Furthermore, the base inflation layer and the base air extraction layer are isolated from each other by a partition.

[0008] Furthermore, the base is provided with two air pressure input ports and a main body growth outlet.

[0009] Furthermore, the end cover comprises an outer end cover and an inner end cover, the outer end cover and the inner end cover are locked with each other through a pulley, and the inner end cover carries an electromagnet.

[0010] Furthermore, the air-inflating layer of the base is connected to an air pump with adjustable air pressure to provide positive pressure; and the air-exhausting layer of the base is connected to a vacuum pump with adjustable air pressure to provide negative pressure.

[0011] A method for changing the stiffness of a self-growing robot based on vacuum layer blocking, the method comprising the following steps: Step 1: After the air-filled layer of the base is inflated, the air pressure drives the main body to grow outward, the blocking layer and the solenoid valve are attached to the main body and grow outward from the base to the outside of the main body as the main body turns outward, and the end cover moves forward with the tip of the main body; Step 2: When the electromagnet passes through the solenoid valve, it exerts force on the solenoid valve, and the solenoid controls the solenoid valve to open, so that the blocking layer and the base exhaust layer are connected; Step 3: The vacuum pump of the base exhaust layer works to extract the gas in the blocking layer, so that the flaps overlap and squeeze each other to increase the rigidity of the blocking layer, thereby supporting and improving the rigidity of the main body, solving the problem of the deterioration of the main body rigidity of the self-growing robot after a large span is extended.

[0012] Furthermore, the hardening degree of the blocking layer is controlled by the internal vacuum degree thereof.

[0013] Furthermore, when the main body grows forward, a section of flexible main body will be left between the end cap and the blocking layer to facilitate the main body to turn.

[0014] The beneficial effects of the present invention are: The main body grown by the self-growing robot can be hardened to improve its rigidity so that it will not fall down and become unstable due to poor rigidity of the main body in large-span working scenarios, and it can achieve hardening while growing; The tip of the head of the self-growing robot body always has a part with unchanged stiffness, which prevents the overall stiffness of the self-growing robot body from increasing and causing the tip to be unable to turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of an end cap of the present invention; Figure 3 is a schematic diagram of the blocking layer of the present invention; Figure 4 It is a schematic diagram of the vacuum layer blocking stiffness variation principle of the present invention; Figure 5 It is a schematic diagram of the overall variable stiffness of the main body of the present invention; Description of the accompanying drawings: main body 1, base 2, base inflation layer 21, base inflation layer 22, blocking layer 3, flap 31, sealing bag 32, solenoid valve 4, end cover 5, outer end cover 51, inner end cover 51, electromagnet 53, air pipe 6, pulley 7, power supply 8. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] In order to solve the problem of the deterioration of the main body stiffness of the self-growing robot after its growth, Figure 1 As shown, an embodiment of the present invention discloses a self-growing robot based on vacuum layer blocking, including a main body 1, an internally hollow cylindrical base 2, a base inflation layer 21, a base exhaust layer 22, a blocking layer 3, a solenoid valve 4, and an end cover 5.

[0018] One end of the head of the main body 1 is connected to the base 2. The head of the main body 1 can be folded inward and stored in the base inflation layer 21 after being folded inward. The tail of the main body 1 is sealed and connected to the roller in the base inflation layer 21. After the base inflation layer 21 is inflated, the air pressure drives the main body to grow outward.

[0019] The blocking layer 3 and the solenoid valve 4 are connected through an air pipe and attached to the main body 1. The solenoid valve 4 is connected to the base air pumping layer 22 through the air pipe 6. The base 2 has two air pressure input ports and a growth outlet of the main body 1. The base inflation layer 21 and the base air pumping layer 22 are isolated from each other by a partition. The base inflation layer 21 is connected to the inflation pump to provide positive pressure, and the base air pumping layer 22 is connected to the vacuum pump to provide negative pressure.

[0020] like Figure 2 As shown, the end cover 5 is composed of three parts and is installed at the tip of the main body, namely an outer end cover 51, an inner end cover 52, and an electromagnet 53. The outer end cover 51 and the inner end cover 52 are locked to each other through a pulley 7. The electromagnet 53 is fixed on the inner end cover 52, and the wire of the electromagnet 53 is connected to the power supply 8.

[0021] like Figure 3As shown, the blocking layer 3 is composed of a flap 31 and a sealing bag 32. The sealing bag 32 contains two flaps 31. The flap 31 is made of multiple layers of overlapping polyester films and is encapsulated in the sealing bag 32. The sealing bag 32 is circumferentially attached to the outer surface of the main body. In the non-vacuumed state, there are gaps between the flap 31 and the sealing bag 32 and between the two flaps 31, resulting in the blocking layer 3 being in a flexible state.

[0022] When in use, gas is introduced into the main body 1 through the air pressure input port of the base inflation layer 21. Driven by the internal air pressure, the tip of the head of the main body 1 turns outward and grows forward, the blocking layer 3 and the solenoid valve 4 are attached to the main body 1 and grow outward from the base 2 to the outside of the main body 1 as the main body turns outward, and the end cover 5 grows forward along with the tip of the main body 1.

[0023] The function of the blocking layer 3 is described in detail below. Figure 4 As shown, the blocking layer 3 is controlled by the solenoid valve 4 and the electromagnet 53. The solenoid valve 4 is connected to the base exhaust layer 22 through the air pipe 6, and the electromagnet 53 is connected to the power supply 8. The electromagnet 53 moves forward with the end cover 5. When it is close to the solenoid valve 4, the electromagnet 53 is energized to apply a force to the solenoid valve 4 to open it, and the vacuum pump is started to extract the gas in the blocking layer 3. The flaps 31 in the blocking layer 3 are squeezed against each other to provide great friction, thereby fixing the flaps 31 so that they cannot slide relatively. The multiple layers of flaps are pressed together, thereby greatly increasing the stiffness of the blocking layer 3, so that it will not be easily crushed and drooped. Based on this principle, the stiffness of the self-growing robot body 1 is increased.

[0024] The main body 1 continues to grow outward, and the end cover 5 continues to move forward along with the tip of the main body. When the electromagnet 53 is away from the solenoid valve 4, the solenoid valve 4 is closed, and the blocking layer 3 remains in a hardened state.

[0025] like Figure 5 As shown, in order to achieve the change of the overall stiffness of the main body, multiple blocking layers 3 and solenoid valves 4 need to be arranged on the main body. Multiple solenoid valves 4 are connected to the same air pipe 6. When the electromagnet 53 is close to the solenoid valve 4, the solenoid valve 4 opens to harden the blocking layer 3, so as to realize the self-growing robot body 1 while hardening.

[0026] The head of the blocking layer 3 is at a certain distance from the tip of the head of the main body 1 , so there is always a part of the head of the main body 1 that has not changed in rigidity, which prevents the main body 1 from becoming too rigid and failing to complete a turn.

[0027] A method for changing the stiffness of a self-growing robot based on vacuum layer blocking, the method comprising the following steps: Step 1: After the air-filled layer 21 of the base is inflated, the air pressure drives the main body to grow outward, the blocking layer 3 and the electromagnetic valve 4 are attached to the main body 1 and grow outward from the base 2 to the outside of the main body 1 as the main body turns outward, and the end cover 5 moves forward with the tip of the head of the main body 1; Step 2: When the electromagnet 53 passes through the solenoid valve 4, it applies force to the solenoid valve 4, and the solenoid valve 4 is opened by electromagnetic control, so that the blocking layer 3 and the base air extraction layer 22 are connected; Step 3: The vacuum pump of the base exhaust layer 22 works to extract the gas in the blocking layer 3, so that the flaps 31 overlap and squeeze each other to increase the rigidity of the blocking layer, thereby supporting and improving the rigidity of the main body 1, solving the problem of the deterioration of the main body rigidity after the self-growing robot is extended with a large span.

[0028] The base inflation layer 21 is connected to an air pump with adjustable air pressure, and the base exhaust layer 22 is connected to a vacuum pump with adjustable air pressure; the hardening degree of the blocking layer is controlled by the vacuum degree inside the blocking layer to achieve stiffness regulation.

Claims

1. A self-growing robot based on vacuum layer blocking, characterized in that: It comprises a hollow cylindrical base (2), a main body (1), a blocking layer (3), a solenoid valve (4), and an end cover (5); The base (2) is divided into a base inflation layer (21) and a base air extraction layer (22), the base inflation layer (21) is connected to the main body (1), and the base air extraction layer (22) is connected to the solenoid valve (4) and the blocking layer (3); One end of the head of the main body (1) is connected to the base (2); the head of the main body (1) can be folded inwards and stored in the air-filled layer (21) of the base after being folded inwards; the tail of the main body (1) is sealed and connected to a roller in the air-filled layer (21) of the base; and after the air-filled layer (21) of the base is inflated, the air pressure drives the main body to grow outwards; The blocking layer (3) and one end of the electromagnetic valve (4) are connected via an air pipe (6) and attached to the main body (1), and the rigidity of the main body is adjusted by the blocking layer (3); the other end of the electromagnetic valve (4) is connected to the base air pumping layer (22) via the air pipe (6); The end cap (5) is fixed at the tip of the head of the main body (1).

2. The self-growing robot based on vacuum layer blocking according to claim 1, characterized in that: The blocking layer (3) is composed of a flap (31) and a sealing bag (32); the flap (31) is formed by overlapping multiple layers of polyester film and is encapsulated in a barrel-shaped sealing bag (32); and the sealing bag (32) is circumferentially attached to the outer surface of the main body (1).

3. The self-growing robot based on vacuum layer blocking according to claim 2, characterized in that: The base inflation layer (21) and the base exhaust layer (22) are isolated from each other by a partition.

4. The self-growing robot based on vacuum layer blocking according to claim 3, characterized in that: The base (2) is provided with two air pressure input ports and a growth outlet of the main body (1).

5. The self-growing robot based on vacuum layer blocking according to claim 4, characterized in that: The end cover comprises an outer end cover (51) and an inner end cover (52), the outer end cover (51) and the inner end cover (52) are locked with each other via a pulley (7), and the inner end cover (52) carries an electromagnet (53).

6. The self-growing robot based on vacuum layer blocking according to claim 5, characterized in that: The base inflation layer (21) is connected to an air pump with adjustable air pressure to provide positive pressure; the base exhaust layer (22) is connected to a vacuum pump with adjustable air pressure to provide negative pressure.

7. A self-growing robot variable stiffness method based on vacuum layer blocking, characterized by: Using any one of claims 1 to 6 of the self-growing robot based on vacuum layer blocking, the method comprises the following steps: Step 1: After the air-filled layer (21) of the base is inflated, the air pressure drives the main body to grow outward, the blocking layer (3) and the electromagnetic valve (4) are attached to the main body (1) and grow outward from the base (2) to the outside of the main body (1) as the main body turns outward, and the end cover (5) moves forward along with the tip of the head of the main body (1); Step 2: When the electromagnet (53) passes through the solenoid valve (4), it exerts a force on the solenoid valve (4), so that the solenoid valve (4) is opened by electromagnetic control, so that the blocking layer (3) and the base air extraction layer (22) are connected; Step 3: The vacuum pump of the base exhaust layer (22) operates to extract the gas in the blocking layer (3), so that the flaps (31) are superimposed and squeezed to increase the rigidity of the blocking layer, thereby supporting and improving the rigidity of the main body (1), solving the problem of the main body rigidity deteriorating after the self-growing robot is extended over a large span.

8. The method for changing the stiffness of a self-growing robot based on vacuum layer blocking according to claim 7 is characterized in that: The degree of hardening of the blocking layer (3) is controlled by the degree of vacuum inside it.

9. The method for changing the stiffness of a self-growing robot based on vacuum layer blocking according to claim 8 is characterized in that: When the main body (1) grows forward, a section of flexible main body will be left between the end cap (5) and the blocking layer (3) to facilitate the main body (1) to turn.

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