A recycling mechanism and a control method thereof, and a self-growing robot

Abstract

The application discloses a recycling mechanism and a control method thereof, and a self-growing robot. The self-growing robot comprises an air compression structure and an everted air bag. The air compression structure is used for inflating or exhausting air towards the everted air bag, so as to drive the telescopic end of the everted air bag to be elongated or contracted. The recycling mechanism comprises a base, a guide component and a traction component. The base is arranged in the everted air bag and located at the telescopic end of the everted air bag. The base is annular in shape and has an axial recycling channel formed in the middle. The recycling channel is used for passing through the inner film of the everted air bag. The guide component is arranged on the base and located at the side of the telescopic end of the everted air bag and the port of the recycling channel, and is used for guiding the inner film of the everted air bag to be retracted or everted. The traction component is arranged on the base and is used for recycling the inner film of the everted air bag in the direction away from the telescopic end of the everted air bag. The traction component maintains the pulling force, reduces the accumulation or buckling of the end material, and improves the recycling efficiency and reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a recovery mechanism and a control method thereof, and a self-growing robot. BACKGROUND

[0002] With the continuous development and progress of robot technology, new robot concepts emerge in an endless stream. A type of flexible robot adopts a film as the main body, and a soft film material is made into a double-layer folded tube. By pumping compressed air, the tube body maintains a certain shape. When the air pressure is increased, the inner layer material at the front end of the tube body is turned outward, extending the length of the outer layer material, and realizing forward growth. When the gas is extracted, the inner layer material is wound up, and the outer layer material is inwardly retracted, realizing retraction.

[0003] However, the soft robot that can realize self-growth currently has the problem that when the tube body recovers the material, the air pressure in the tube body decreases, the support force of the tube body weakens, and therefore the side wall of the tube body is prone to buckling, resulting in problems such as loss of control of the direction of the robot and accumulation of materials at the front end, which affects the efficiency and reliability of the recovery of the robot.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] In view of the deficiencies of the prior art described above, the purpose of the present application is to provide a recovery mechanism and a control method thereof, and a self-growing robot, which aims to solve the problems of low efficiency, easy buckling, and material accumulation in the recovery process of the existing self-growing soft robot, which affects the reliability of recovery.

[0006] The technical scheme of the present application is as follows:

[0007] A recovery mechanism for a self-growing robot, the self-growing robot comprising an air compression structure and an everted air bag, the air compression structure being used for inflating or extracting air towards the everted air bag to drive the telescopic end of the everted air bag to elongate or contract; wherein the recovery mechanism comprises a base, a guide component and a traction component, the base being arranged in the everted air bag and located at the telescopic end of the everted air bag; the base is annular in shape and has an axial recovery channel formed in the middle; the recovery channel is used for passing through the inner film of the everted air bag; the guide component is arranged on the base towards one side of the telescopic end of the everted air bag and located at the port of the recovery channel, and is used for guiding the inner film of the everted air bag to retract or evert; the traction component is arranged on the base and is used for recovering the inner film of the everted air bag towards the direction away from the telescopic end of the everted air bag.

[0008] The recycling mechanism, wherein the guide component comprises an annular base, a plurality of support frames and a plurality of rollers, the annular base is detachably arranged on the base; the plurality of support frames are arranged in a circumferential direction on the annular base; the rollers are arranged on the support frames; the rolling direction of the rollers is towards or away from the center point of the annular base.

[0009] The recycling mechanism, wherein an assembly groove is arranged on the outer side wall of the annular base, the assembly groove is located between two adjacent support frames; the recycling mechanism comprises a magnetic member and a sensing structure, the magnetic member is arranged in the assembly groove; the sensing structure is magnetically connected with the magnetic member and is arranged on the outer side of the everted air bag.

[0010] The recycling mechanism, wherein the sensing structure comprises a main body, a rolling member and an environment sensor, the main body is magnetically connected with the magnetic member and is located on the outer side of the everted air bag; the rolling member is arranged on one side of the main body towards the everted air bag and is used for carrying the main body and rolling on the everted air bag; the environment sensor is arranged on the main body and is used for sensing environmental information towards the front of the everted air bag.

[0011] The recycling mechanism, wherein two traction components are arranged side by side along the radial direction of the base; the traction component comprises a driving member, a rotating member and a guide wheel, the driving member is arranged on the base; the output end of the driving member is provided with a first transmission gear; the rotating rod is connected with the base and extends along the radial direction of the base; the second transmission gear is arranged on the rotating rod; the second transmission gear is engaged with the first transmission gear; the guide wheel is coaxially arranged with the rotating rod; the guide wheels in the two traction components are respectively located on the two sides of the recycling channel and are used for clamping and pulling the inner film of the everted air bag.

[0012] The recycling mechanism, wherein the driving member is arranged along the axial direction of the base; the first transmission gear and the second transmission gear are bevel gears.

[0013] The recycling mechanism, wherein the guide wheel comprises a cylindrical body and a flexible friction layer attached to the surface of the cylindrical body, the inner side of the flexible friction layer is bonded with the cylindrical body, and the outer side forms a wedge-shaped protrusion.

[0014] The recycling mechanism, wherein the traction component comprises a clamping base arranged on the base; two clamping sites are formed on the clamping base, the clamping sites are used for clamping the driving member; a pose sensor is arranged on the clamping base, the pose sensor is arranged along the axial direction of the base.

[0015] The application also discloses a control method of the recycling mechanism, which is used in any one of the recycling mechanisms; wherein the base of the recycling mechanism is provided with a pose sensor in an axial direction, and the control method comprises:

[0016] collecting a recycling signal from the growing robot;

[0017] determining target position data and target pose data based on the recycling signal;

[0018] starting a traction component in response to the recycling signal, and starting the pose sensor to record real-time position data and real-time pose data;

[0019] if the real-time position data is equal to the target position data, and the real-time pose data is equal to the target pose data, then the traction component is turned off.

[0020] The application also discloses a growing robot, which comprises the recycling mechanism.

[0021] Compared with the prior art, the application has the following advantages:

[0022] The recycling mechanism disclosed by the application is arranged inside the everted air bag of the growing robot, the everted air bag is kept in a certain shape by pumping air through the air compression structure, and is hollow inside. When the growing robot starts the recycling action, the air compression structure pumps out air to reduce the pressure inside the everted air bag; at the same time, the traction component is started to pull the inner film of the everted air bag back, that is, to pull the inner film away from the telescopic end, and the outer film of the everted air bag is gradually retracted around the guide component, thereby achieving the effect of robot contraction.

[0023] It can be seen that, through the cooperation of the traction component and the guide component, the inner film and the outer film of the everted air bag are kept in a taut state during the recycling process of the robot, thereby solving the problem of flexion and being conducive to efficient recycling of the material of the telescopic end of the everted air bag. Moreover, due to the support of the guide component and the traction component on the base, the shape of the telescopic end of the everted air bag is stable and is not easy to deform, further reducing the problem of material accumulation caused by twisting and deformation, and improving the reliability of the recycling operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1Assembly view of the recycling mechanism and the everted airbag in the present application;

[0026] Figure 2 Structure schematic view of the recycling mechanism in the present application;

[0027] Figure 3 Structure exploded view of the recycling mechanism in the present application;

[0028] Figure 4 Cross-sectional view of the guide wheel in the axial direction in the present application;

[0029] Figure 5 Flow chart of the control method of the recycling mechanism in the present application.

[0030] Among them, 100, recycling mechanism; 110, base; 111, recycling channel; 120, guide component; 121, annular base; 1211, assembly groove; 122, support frame; 123, roller; 130, traction component; 131, driving piece; 132, first transmission gear; 133, rotating rod; 134, second transmission gear; 135, guide wheel; 1351, cylindrical body; 1352, flexible friction layer; 1352a, wedge-shaped protrusion; 136, clamping base; 1361, clamping position; 137, pose sensor; 140, magnetic piece; 150, sensing structure; 151, main body; 152, rolling piece; 153, environment sensor; 200, everted airbag. DETAILED DESCRIPTION

[0031] In order to make the personnel in the art better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely below in combination with the drawings in the embodiment of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor are within the scope of protection of the present application.

[0032] Referring to Figure 1 and Figure 2 In an embodiment of the present application, a recycling mechanism 100 is disclosed for a self-growing robot, which comprises an air compression structure and an everted airbag 200. The air compression structure is used to inflate or exhaust air towards the everted airbag 200, so as to drive the telescopic end of the everted airbag 200 to elongate or contract.

[0033] The self-growing robot disclosed in the embodiment is one kind of soft robot, which mainly adopts inflation into plastic film to form the main structure. The shape of the everted air bag 200 is generally cylindrical, the tail end is fixed, and the material at the head end is bent inward and folded, thereby forming two layers of film layers inside and outside, forming a sealed cavity between the inner and outer film layers, and the cavity is inflated by an air compressor, air pump or other air compression structure, thereby supporting the everted air bag 200, so that the everted air bag 200 has a certain shape and structural strength. In addition, a winding component can be provided on the fixed main body of the robot, and the inner film is wound by a motor-driven winding drum, so that the inner film can be fixed and the tension of the inner film can be maintained, thereby maintaining the shape of the everted air bag 200.

[0034] Since the inner and outer two layers of film of the everted air bag 200 in the embodiment are connected, the extension and contraction amount can be controlled by adjusting the air pressure and winding and unwinding the inner layer film. Specifically, when the air pressure decreases, the inner layer film pulls the outer layer film inward, the length of the everted air bag 200 decreases, and contraction is achieved; when the air pressure increases, the inner layer film turns outward, and elongation is achieved.

[0035] The recycling mechanism 100 disclosed in the embodiment is arranged inside the everted air bag 200 of the self-growing robot, controls the tension when the everted air bag 200 is elongated or shortened, thereby reducing the buckling problem, avoiding deformation of the stretching end of the everted air bag 200, and making the recycling operation more reliable.

[0036] Specifically, as shown in Figure 2 and Figure 3 , the recycling mechanism 100 includes a base 110, a guide component 120 and a traction component 130, the base 110 is arranged in the everted air bag 200 and located at the stretching end of the everted air bag 200; the shape of the base 110 is annular, and an axial recycling channel 111 is formed in the middle; the recycling channel 111 is used to pass through the inner film of the everted air bag 200; the guide component 120 is arranged on the base 110 and located at the side of the stretching end of the everted air bag 200, and located at the port of the recycling channel 111, which is used to guide the inward folding or outward turning of the film of the everted air bag 200; the traction component 130 is arranged on the base 110 and used to recycle the inner film of the everted air bag 200 in the direction away from the stretching end of the everted air bag 200.

[0037] The base 110 disclosed in the embodiment can be made of hard plastic by 3D printing or injection molding, etc. By taking advantage of the structural stability and light weight of plastic, the base 110 can play a role in stabilizing the support of the telescopic end of the everted air bag 200, so as to reduce the shaking of the recycling mechanism 100 during the working process. Since the internal space of the everted air bag 200 is annular, the base 110 is preferably annular and is adapted to the internal space of the everted air bag 200. The outer side wall of the base 110 is attached to the inner wall of the everted air bag 200, so that the telescopic end of the everted air bag 200 will not collapse or distort, thereby avoiding the problem of material accumulation.

[0038] Specifically, the guide component 120 is provided in the embodiment to increase the smoothness of the movement of the film of the everted air bag 200 outward or inward, so as to avoid damage to the everted air bag 200 at the end of the base 110 due to excessive local tension. When the self-growing robot starts the recycling action, the air compression structure is air-extracted to reduce the pressure inside the everted air bag 200. At the same time, the traction component 130 pulls the inner film of the everted air bag 200 back, that is, pulls it away from the telescopic end. Under the pull of the inner film, the outer film of the everted air bag 200 gradually retracts around the guide component 120, thereby achieving the effect of robot contraction.

[0039] In actual operation, the pulling operation of the traction component 130 and the air-extraction operation of the air compression structure are performed synchronously. The volume of the everted air bag 200 decreases as the traction component 130 pulls. The air-extraction operation extracts part of the gas to maintain the air pressure inside the everted air bag 200 in a suitable state, so as to avoid the problem of excessive pressure due to the decrease in volume. That is, the air pressure inside the everted air bag 200 is large enough to maintain its own shape during the recycling process, and the problem of buckling does not occur.

[0040] As can be seen, in the embodiment, the inner film and the outer film of the everted air bag 200 are kept in a taut state during the recycling process of the robot by the cooperation of the traction component 130 and the guide component 120, thereby solving the problem of buckling and facilitating efficient recycling of the material at the telescopic end of the everted air bag 200. Moreover, due to the support of the guide component 120 and the traction component 130 on the base 110, the shape of the telescopic end of the everted air bag 200 is stable and is not easy to deform, further reducing the problem of material accumulation caused by twisting and deforming, and improving the reliability of the recycling operation.

[0041] It should be noted that the type of base 110 is only exemplified in the embodiment, but the protection scope of the present application is not limited thereto. Other types of base 110, such as a metal base 110, as long as they can achieve the technical effects disclosed in the present application, should also be within the scope of protection of the present application as equivalent alternatives of the inventive concept.

[0042] It should be noted that the air compression structure and the type of the everted air bag 200 are only exemplified in the embodiment, but the protection scope of the present application is not limited thereto, and other types of air compression structure or everted air bag 200, as long as the technical effects disclosed in the present application can be achieved, as equivalent alternatives of the present application concept, should also be within the protection scope of the present application.

[0043] As shown in Figure 2 As an embodiment of the present application, the guiding component 120 is disclosed to include an annular base 121, a plurality of support frames 122 and a plurality of rollers 123, the annular base 121 is detachably arranged on the base 110; the plurality of support frames 122 are annularly arranged on the annular base 121 in the circumferential direction; the rollers 123 are arranged on the support frames 122; and the rolling direction of the rollers 123 is towards or away from the center point of the annular base 121.

[0044] In the embodiment, the annular base 121 is detachably combined with the base 110, which is convenient for disassembly and assembly, so as to facilitate the replacement of the guiding component 120. According to the different sizes of the self-growing robot, the diameter and the inner diameter of the everted air bag 200 are different, in order to flexibly adapt to various use scenarios, different models of guiding components 120 can be reserved in advance, so as to select the appropriate size of the guiding component 120 to match the self-growing robot.

[0045] Specifically, the main difference between different models of guiding components 120 is the diameter of the annular base 121 and the diameter of the rollers 123, and the appropriate size of the guiding component 120 is selected according to the size of the self-growing robot, which can increase the fit of the everted air bag 200 and the guiding component 120, and provide more stable support and guidance for the everted air bag 200.

[0046] Specifically, the annular base 121 and the base 110 can be provided with assembly holes, and the connection can be realized by inserting bolts in the assembly holes and fixing them with nuts. The stability and detachable characteristics of the screw connection can be used to flexibly assemble the guiding component 120. For example, as shown in Figure 3 three assembly holes can be sequentially arranged on the side wall of the annular base 121 at intervals of 120°, and three assembly holes can also be sequentially arranged on the side wall of the base 110 at intervals of 120°, and the annular base 121 and the base 110 are nested during assembly, and the assembly holes are aligned, so as to form an assembly passage through which the bolts pass.

[0047] Of course, the embodiment only exemplifies the assembly mode of the annular base 121 and the base 110, and in actual production and manufacturing, it is not limited thereto, and connection can also be achieved by clamping, magnetic attraction and other modes, as equivalent alternatives of the present application concept, these implementation modes should also be within the protection scope of the present application.

[0048] In this embodiment, a plurality of support frames 122 are formed on the annular base 121. The support frames 122 can be integrally formed with the annular base 121, or can be fixed to the annular base 121 by welding, bonding, clamping, etc. Two vertically protruding rods are arranged side by side on the support frame 122. Holes are punched in the rods to facilitate the transverse passage of the central shaft and the fixing by screws and bolts. The roller 123 is sleeved on the central shaft. The center portion of the roller 123 can be embedded in a bearing to reduce rotational friction. The outer side of the roller 123 can be made of hard plastic, rubber, silicone, etc., and the surface has a certain degree of flexibility, which can fit the inner wall of the everted airbag 200 and play a role in stabilizing and guiding.

[0049] Specifically, rollers 123 contact the inner wall of the eversion airbag 200, causing the film to rub against them as it moves inward or outward, thereby reducing frictional resistance and making the film's contraction and extension smoother. Several rollers 123 are evenly arranged in a circular pattern on the annular base 121, ensuring support at all locations on the film and further improving stability during expansion and contraction.

[0050] For example, five rollers 123 are arranged along the circumference of the annular base 121, and the interval between two adjacent rollers 123 is 72°, and the rolling direction of each roller 123 is toward or away from the center point of the annular base 121. During the expansion and contraction of the outward-facing airbag 200, there are five point supports, thereby supporting the expansion and contraction end of the entire outward-facing airbag 200, forming an arc-shaped transition, and avoiding deformation, material accumulation and other problems caused by excessive bending angle of the film.

[0051] like Figure 3 As shown, as another implementation of this embodiment, it is disclosed that an assembly groove 1211 is provided on the outer wall of the annular base 121, and the assembly groove 1211 is located between the two adjacent support frames 122; the recovery mechanism 100 includes a magnetic part 140 and a sensing structure 150, and the magnetic part 140 is arranged in the assembly groove 1211; the sensing structure 150 is magnetically connected to the magnetic part 140 and is fitted on the outside of the outward-turning airbag 200.

[0052] In this embodiment, a mounting groove 1211 is provided to stabilize the mounting of the magnetic member 140, ensuring a stable connection between the magnetic member 140 and the annular base 121 and preventing it from falling off. For example, the magnetic member 140 and the annular base 121 may be fixed together by bonding or welding. Specifically, the magnetic member 140 includes, but is not limited to, a permanent magnet, an electromagnet, etc., and can generate a magnetic field, thereby magnetically engaging with the sensing structure 150.

[0053] The perception structure 150 disclosed in the embodiment is arranged outside the everted air bag 200, and acquires information of the surrounding environment in real time. The perception structure 150 includes, but is not limited to, any one of an infrared perception unit, a camera unit, and a scanning unit. In order to cooperate with the magnetic member 140, the perception structure 150 can be attached with a magnet, an iron sheet, or the like.

[0054] Specifically, since the membrane at the front end of the everted air bag 200 is always moving during the expansion and contraction of the everted air bag 200, it is inconvenient to directly fix the perception structure 150 on the everted air bag 200. In the embodiment, the magnetic member 140 is arranged in the assembly groove 1211. When the everted air bag 200 is expanded, the recycling mechanism 100 moves forward as a whole; when the everted air bag 200 is contracted, the recycling mechanism 100 moves backward as a whole. Therefore, the magnetic member 140 is always kept at the expansion and contraction end of the everted air bag 200. In this way, the perception structure 150 which is magnetically attracted to the magnetic member 140 can move on the outer surface of the everted air bag 200 and is always kept at the expansion and contraction end of the everted air bag 200, so as to observe the environment in front of the robot in real time and accurately collect live data.

[0055] As can be seen, in the embodiment, the position of the perception structure 150 is controlled by magnetic attraction, without direct contact. The perception structure 150 can be permanently arranged at the expansion and contraction end of the everted air bag 200. The cooperation mode is simple, and no additional parts are needed for assembly, and it is long-lasting and effective.

[0056] Preferably, in the embodiment, the magnetic member 140 is an electromagnet, so as to control the magnetic force, thereby adjusting the pressure between the perception structure 150 and the everted air bag 200, adjusting the friction coefficient, and avoiding the influence of the perception structure 150 on the movement of the membrane of the everted air bag 200.

[0057] For example Figure 1 As another embodiment of the embodiment, as shown in FIG. 13, the perception structure 150 includes a main body 151, a rolling member 152, and an environment sensor 153. The main body 151 is magnetically attracted to the magnetic member 140 and is arranged outside the everted air bag 200. The rolling member 152 is arranged on the main body 151 and faces the everted air bag 200, and is used to carry the main body 151 and roll on the everted air bag 200. The environment sensor 153 is arranged on the main body 151 and is used to perceive environmental information in front of the everted air bag 200.

[0058] The sensing structure 150 disclosed in the embodiment is in rolling contact with the everted air bag 200 through the rolling member 152, and the contact area is small, which is conducive to reducing the friction and avoiding the influence of the sensing structure 150 on the stretching and contracting process of the everted air bag 200. Specifically, the main body 151 serves as a support, and a shaft is arranged on the main body 151 to facilitate the sleeving of the rolling member 152. The environmental sensor 153 is arranged on the main body 151 and is separated from the rolling member 152, so as to keep stable and have a sufficient distance from the everted air bag 200 to prevent being blocked by the everted air bag 200, thereby facilitating the complete and clear collection of the environmental information in front of the everted air bag 200.

[0059] Specifically, the rolling member 152 disclosed in the embodiment includes but is not limited to a tire, a ball, a track and the like. In particular, when the tire or the ball is used, at least two rolling members 152 are arranged to increase the contact points between the sensing structure 150 and the everted air bag 200, improve the stability of the main body 151, avoid tilting and prevent the influence on the information collection of the environmental sensor 153.

[0060] Specifically, the environmental sensor 153 disclosed in the embodiment includes but is not limited to any one of an infrared sensor, a miniature camera, a distance measuring sensor, a temperature sensor, a scanning probe and an ultrasonic probe. The environmental sensor 153 is used to collect information towards the front of the everted air bag 200, so as to obtain the live information in front of the robot and assist the robot in judging the next action.

[0061] Specifically, the environmental sensor 153 disclosed in the embodiment can send signals to the control center of the robot through a wireless signal transmission unit such as Bluetooth or WiFi, so as to realize the real-time transmission of the collected information.

[0062] For example Figure 3 As another embodiment of the present embodiment, it is shown that the traction component 130 is provided with two traction components 130 arranged side by side along the radial direction of the base 110. The traction component 130 includes a driving member 131, a rotating member and a guide wheel 135. The driving member 131 is arranged on the base 110. The output end of the driving member 131 is provided with a first transmission gear 132. The rotating rod 133 is connected with the base 110 and extends along the radial direction of the base 110. The rotating rod 133 is provided with a second transmission gear 134. The second transmission gear 134 is engaged with the first transmission gear 132. The guide wheel 135 is coaxially arranged with the rotating rod 133. Two guide wheels 135 in the two traction components 130 are respectively arranged on the two sides of the recycling channel 111 to clamp and pull the inner film of the everted air bag 200.

[0063] The traction component 130 disclosed in the embodiment is used to pull the film, so a driving component 131 is arranged to provide power. Specifically, the driving component 131 can adopt any one of a high-torque motor, a high-speed motor, and a stepping motor, and drives a first transmission gear 132 to rotate through an output shaft. The first transmission gear 132 cooperates with a second transmission gear 134 to transmit power to a guide wheel 135, and the guide wheel 135 is used to pull the film to move by the friction between the surface of the guide wheel 135 and the everted air bag 200.

[0064] It should be noted that the two guide wheels 135 are arranged on the two sides of the recovery channel 111 in the embodiment, so the directions of the power output by the two driving components 131 are opposite, one rotates forward and the other rotates reversely, so that the rotating directions of the two guide wheels 135 are both towards the recovery channel 111, and the film in the recovery channel 111 is pulled away from the guide component 120. The film is pulled by the clamping mode on the two sides, so that the inner film of the everted air bag 200 is pulled at a uniform speed as a whole, avoiding the situation that the recovery is not smooth due to the uneven pulling force on the two sides of the film, or the situation that the material is accumulated on one side during the recovery process.

[0065] Specifically, the guide wheel 135 disclosed in the embodiment can be a solid cylindrical structure. One end of the guide wheel 135 can extend from the center to connect with a protrusion and a base 110. A hole is opened in the base 110, and after the protrusion is inserted, the guide wheel 135 can rotate around the central axis in the hole. In order to facilitate rotation, a bearing can be arranged in the hole of the base 110 to reduce the friction. The other end of the guide wheel 135 can be provided with a threaded groove or a threaded protrusion from the center to connect with a threaded rod. The second transmission gear 134 is sleeved on the threaded rod, and when the threaded rod is screwed and fixed with the guide wheel 135, the power is transmitted through the second transmission gear 134 to drive the guide wheel 135 to rotate.

[0066] For example Figure 3 As another embodiment of the embodiment, as shown in the figure, the driving component 131 is arranged along the axial direction of the base 110; and the first transmission gear 132 and the second transmission gear 134 are bevel gears.

[0067] The bevel gears can be engaged from the side in the embodiment, and the directions of power transmission can be changed when the two bevel gears cooperate with each other. The power output by the driving component 131 in the axial direction of the base 110 is adjusted to the power in the radial direction of the base 110. Therefore, the two driving components 131 are arranged along the axial direction of the base 110 in the embodiment, which is perpendicular to the arrangement direction of the guide wheel 135 and the second transmission gear 134, so as to reduce the radial space occupied by the recovery mechanism 100, to adapt to more everted air bags 200 of different sizes, and to increase the flexibility of use.

[0068] For exampleFigure 4 As another embodiment of the present embodiment, as shown, it is disclosed that the guide wheel 135 comprises a cylindrical body 1351 and a flexible friction layer 1352 attached to the surface of the cylindrical body 1351, the inner side of the flexible friction layer 1352 is bonded to the cylindrical body 1351, and the outer side is formed with a wedge-shaped protrusion 1352a.

[0069] The cylindrical body 1351 disclosed in the present embodiment can adopt a high-strength rigid column, such as a polylactic acid resin column, to increase the strength and load-bearing capacity of the structure.

[0070] The flexible friction layer 1352 disclosed in the present embodiment can adopt rubber, latex, silicone and the like, and the wedge-shaped protrusion 1352a is formed by one-time molding of a mold, and the flexible friction layer 1352 is attached to the cylindrical body 1351 to increase the friction when the guide wheel 135 contacts the everted air bag 200, thereby avoiding the problems of slipping and mispositioning. Specifically, the wedge-shaped protrusions 1352a can be arranged in an array and laid on the entire surface of the flexible friction layer 1352. The flexible friction layer 1352 in the present embodiment can be directly bonded to the cylindrical body 1351 by double-sided adhesive tape or glue, and the connection is stable and firm.

[0071] Specifically, as another embodiment of the present embodiment, it is disclosed that the end of the guide wheel 135 connected to the rotating rod 133 is recessed to form an avoidance slot for avoiding the second transmission gear 134. By setting the avoidance slot to avoid the second transmission gear 134, the arrangement of the traction component 130 in space is further optimized, the structure of the traction component 130 is more compact, the occupied volume is reduced, and the miniaturization of the recycling mechanism 100 is facilitated to adapt to more use environments.

[0072] Further Figure 3 As another embodiment of the present embodiment, as shown, it is disclosed that the traction component 130 comprises a clamping base 136 arranged on the base 110; the clamping base 136 is formed with two clamping positions 1361 for clamping the driving member 131; and the clamping base 136 is provided with a pose sensor 137 arranged along the axial direction of the base 110.

[0073] The inner wall of the base 110 in the embodiment is in contact with the clamping base 136, which can be connected by bonding or welding, or interference fit, etc. Two driving members 131 can be arranged on the clamping base 136 at the same time, so as to facilitate fixing and assembling, and improve the stability of the driving member 131. Specifically, the output end of the driving member 131 is provided with a first transmission gear 132, so that a baffle can be arranged in front of the driving member 131 along the axial direction of the base 110. The shape of the baffle can be a sector, so as to shield the driving member 131 and the first transmission gear 132, reduce the probability of contact between the inner film and the baffle, and avoid winding.

[0074] In the embodiment, the pose sensor 137 arranged on the clamping base 136 can be used to sense the position and direction of the base 110. Since the base 110 is arranged at the telescopic end of the evert air bag 200 and is arranged along the axial direction of the evert air bag 200, the position and direction of the base 110 are the same as those of the evert air bag 200. Thus, the position information and pose information of the telescopic end of the evert air bag 200 can be measured by the pose sensor 137, so as to judge the telescopic state of the self-growing robot and ensure that the robot telescopes according to the preset path and direction.

[0075] As shown in Figure 5 As another embodiment of the present application, a control method of a recycling mechanism 100 is disclosed, which is used for the recycling mechanism 100 as described above. The base 110 of the recycling mechanism 100 is provided with a pose sensor 137 along the axial direction. The control method comprises the following steps:

[0076] S100, collecting a recycling signal of the self-growing robot.

[0077] During the use of the robot, whether the recycling process needs to be started is judged by collecting the task data of the robot. For example, when the task includes tasks such as recovering from the growing state to the initial state, grabbing objects, and adjusting the direction, it is judged that the self-growing robot needs to be recycled. When the collected data includes unexpected events such as obstacles in front, too small passage in front, and path error needing to return to the initial position, it is judged that the self-growing robot needs to be recycled. Of course, only the recycling scenarios of the robot are exemplified in the embodiment, and as long as the telescopic action of the robot is involved, the scenarios for completing the recycling operation all belong to the equivalent replacement of the application scenarios, and the technical solutions disclosed in the present application can also be applied.

[0078] The recycling mechanism 100 disclosed in the embodiment is in communication connection with the control center of the self-growing robot. When the robot enters the recycling process, the recycling mechanism 100 can collect the recycling signal.

[0079] S200, determining target position data and target pose data based on the recycling signal.

[0080] If it is determined that the recycling is needed, the target position and the final attitude of the recycling are calculated first, and the completion condition of the final recycling state is determined.

[0081] S300, in response to the recycling signal, the traction component 130 is started, and the real-time position data and real-time attitude data recorded by the pose sensor 137 are started.

[0082] Then, when receiving the recycling signal, the recycling mechanism 100 is powered on, the traction component 130 and the air compression structure are started, and the air inside the everted air bag 200 is sucked while being pulled in. At the same time, the heading angle and the pitch angle information of the self-growing robot are obtained according to the pose sensor 137 on the base 110, so as to judge the position and attitude of the end.

[0083] S400, if the real-time position data is equal to the target position data, and the real-time attitude data is equal to the target attitude data, the traction component 130 is closed.

[0084] After the data is collected, the data is sent to the host computer synchronously, and whether the self-growing robot has been recycled to the specified position is judged after the host computer is processed. If yes, the recycling is stopped, if not, the recycling is continued, and the subsequent task is continued to be completed.

[0085] In this embodiment, the recycling mechanism 100 is controlled to participate in the recycling process of the self-growing robot, which helps the self-growing robot to recycle efficiently and smoothly, and improves the reusability of the everted air bag 200 of the self-growing robot.

[0086] As another embodiment of the present application, a self-growing robot is disclosed, which comprises the recycling mechanism 100 as any one of the above.

[0087] In summary, the application discloses a recycling mechanism 100 for a self-growing robot, the self-growing robot comprising an air compression structure and an everted air bag 200, the air compression structure being used for air charging or air extraction towards the everted air bag 200 to drive the telescopic end of the everted air bag 200 to elongate or contract; wherein the recycling mechanism 100 comprises a base 110, a guide component 120 and a traction component 130, the base 110 being arranged in the everted air bag 200 and located at the telescopic end of the everted air bag 200; the base 110 is annular in shape and has an axial recycling channel 111 formed in the middle; the recycling channel 111 is used for passing through the inner film of the everted air bag 200; the guide component 120 is arranged on the base 110 and located at the port of the recycling channel 111 towards the telescopic end of the everted air bag 200, and is used for guiding the inner film of the everted air bag 200 to retract or evert; and the traction component 130 is arranged on the base 110 and is used for recycling the inner film of the everted air bag 200 towards the direction away from the telescopic end of the everted air bag 200.

[0088] The recycling mechanism 100 disclosed in the embodiment can make the inner film and the outer film of the everted air bag 200 keep in a taut state during the recycling process of the robot, so that the problem of buckling is solved, and the material of the telescopic end of the everted air bag 200 can be recycled efficiently. Moreover, the telescopic end of the everted air bag 200 is stable in shape and is not easy to deform due to the support of the guide component 120 and the traction component 130 on the base 110, so that the problem of material accumulation caused by twisting and deforming is further reduced, and the reliability of the recycling operation is improved.

[0089] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0090] It should be noted that the application takes the recycling mechanism as an example to introduce the specific structure and working principle of the application, but the application is not limited to the recycling mechanism, and can also be applied to the production and use of other similar workpieces.

[0091] It should be understood that the application is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the application is only limited by the appended claims.

[0092] The above description is only the preferred embodiment of the application, and is not used to limit the application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A recovery mechanism for a self-growing robot, the self-growing robot comprising an air compression structure and an eversion airbag, the air compression structure being used to inflate or evacuate the eversion airbag to drive the telescopic end of the eversion airbag to extend or contract; characterized in that: The recycling mechanism includes: The base is arranged in the eversion airbag and is located at the telescopic end of the eversion airbag; the base is annular in shape and has an axial recovery channel formed in the middle; the recovery channel is used to pass through the inner film of the eversion airbag; A guide component is provided on the side of the base facing the telescopic end of the eversion airbag and is located at the end of the recovery channel, and is used to guide the film of the eversion airbag to be retracted or everted; a traction component, provided on the base, for retracting the inner film of the everted airbag in a direction away from the telescopic end of the everted airbag; Wherein, the guide component includes: an annular base, detachably arranged on the base; A plurality of support frames are arranged in an annular manner on the annular base along a circumferential direction; A plurality of rollers, wherein the rollers are arranged on the support frame; The rolling direction of the roller is toward or away from the center point of the annular base; an assembly groove is provided on the outer side wall of the annular base, and the assembly groove is located between two adjacent support frames; The recovery mechanism further includes a magnetic part and a sensing structure, wherein the magnetic part is arranged in the assembly groove; the sensing structure is magnetically connected to the magnetic part and is fitted on the outer side of the everted airbag.

2. The recovery mechanism according to claim 1, characterized in that: The perception structure includes: A main body, magnetically engaged with the magnetic member, and located outside the everted airbag; a rolling element, provided on a side of the main body facing the outward-turning airbag, for carrying the main body and rolling on the outward-turning airbag; The environmental sensor is arranged on the main body and is used to sense environmental information in front of the everted airbag.

3. The recovery mechanism according to claim 1, characterized in that: There are two traction components, which are arranged side by side along the radial direction of the base; the traction components include: A driving member is provided on the base; an output end of the driving member is provided with a first transmission gear; A rotating rod is connected to the base and extends in a radial direction of the base; a second transmission gear is provided on the rotating rod; the second transmission gear is meshed with the first transmission gear; a guide wheel connected to the rotating rod and coaxially arranged; Wherein, the two guide wheels in the two traction components are respectively located on both sides of the recovery channel, and are used for clamping and traction of the inner film of the everted airbag.

4. The recovery mechanism according to claim 3, characterized in that: The driving member is arranged along the axial direction of the base; the first transmission gear and the second transmission gear are both bevel gears.

5. The recovery mechanism according to claim 3, characterized in that: The guide wheel includes a cylindrical body and a flexible friction layer attached to the surface of the cylindrical body. The inner side of the flexible friction layer is bonded to the cylindrical body, and a wedge-shaped protrusion is formed on the outer side.

6. The recovery mechanism according to claim 3, characterized in that: The traction component includes a clamping base provided on the base; the clamping base is formed with two clamping positions, and the clamping positions are used to clamp the driving member; Wherein, a posture sensor is provided on the clamping base, and the posture sensor is arranged along the axial direction of the base.

7. A control method for a recycling mechanism, used for the recycling mechanism according to any one of claims 1 to 6; characterized in that: A posture sensor is provided on the base of the recovery mechanism along the axial direction, and the control method includes: Collecting recycling signals from the growth robot; Determining target position data and target posture data based on the recovered signal; In response to the recovery signal, the traction component is activated, and the posture sensor is activated to record real-time position data and real-time posture data; If the real-time position data is equal to the target position data, and the real-time posture data is equal to the target posture data, the traction component is turned off.

8. A self-growing robot, characterized in that: Comprising the recovery mechanism according to any one of claims 1 to 6.

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