Self-growing robot variable stiffness device and method

Abstract

A self-growing robot variable stiffness device and method comprises a self-growing robot body, the tail end of the self-growing robot body is connected to a growing outlet of a base, an inflation inlet is formed in the base, an end cover is installed at the head of the tip end of the self-growing robot body and connected with a guide buckle, and a hook-and-loop fastener hook face is connected to the guide buckle. The hook-and-loop fastener rough surface connected with the hook-and-loop fastener hook surface in a matched mode is adhered to the surface of the self-growing robot body, and the self-growing robot body is turned outwards and stored in the base. After the base is inflated, air pressure drives the tip end of the self-growing robot body to turn outwards to grow, the loop face of the hook-and-loop fastener extends forwards along with turning outwards of the tip end of the self-growing robot body, the end cover drives the hook face of the hook-and-loop fastener to move forwards through the guide buckle, and the hook face of the hook-and-loop fastener is attached to the loop face of the hook-and-loop fastener to support hardening of the self-growing robot body. The variable stiffness of the self-growing robot is realized; hardening of the self-growing robot in the growing process is guaranteed, and the self-growing robot grows and is hardened at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of self-growing robots, and in particular to a self-growing robot variable stiffness device and method. Background Art

[0002] Rigid robots are usually made of metal or plastic, with fixed structures and motion patterns. Therefore, rigid robots perform well in performing high-precision, repetitive tasks, such as being widely used in the manufacturing industry. 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.

[0003] A self-growing robot ([1] Hawkes, EW, Blumenschein, LH, Greer, JD, & Okamura, AM, A soft robot that navigates its environment through growth, *Science Robotics*, 2(8), eaan3028, 2017.) is a soft robot that uses the eversion of a thin film driven by internal air pressure to move forward. Its flexible properties enable it to detect and inspect in complex spaces. However, when the self-growing robot moves over a large span, due to the flexible characteristics of its main body material, it will become unstable and fall when it moves away from the surface support due to the poor stiffness of the main body, and its tip position cannot be controlled. Existing variable stiffness methods for self-growing robots, such as the patent application entitled “A self-growing soft robot and hardening method thereof” (publication number: CN114872082A) and the literature ((Adexterous tip-extending robot with variable-length shape-locking, IEEE Robotics and Automation Society, 2020.), correspond to complex control of self-growing robots. Therefore, 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] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a self-growing robot variable stiffness device and method to ensure the hardening of the self-growing robot during the growth process, achieve the effect of growing and hardening at the same time, and enable steering.

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

[0006] A self-growing soft robot variable stiffness device comprises a self-growing robot body 1, the tail end of the self-growing robot body 1 is connected to the growth outlet of a base 6, an inflation inlet is provided on the base 6, an end cover 2 is installed on the tip of the self-growing robot body 1, the end cover 2 is connected to a guide buckle 3, a Velcro hook surface 4 is connected to the guide buckle 3, a Velcro fur surface 5 matched with the Velcro hook surface 4 is adhered to the surface of the self-growing robot body 1, and the self-growing robot body 1 is turned inside out and stored in the base 6.

[0007] The guide buckle 3 includes a torsion spring 31 and a pressure plate 32 , and the end cover 2 is fixed by the torsion spring 31 , and the torsion spring 31 presses the pressure plate 32 onto the self-growing robot body 1 .

[0008] The end cover 2 is connected to a plurality of guide buckles 3, each of which is connected to a Velcro hook surface 4, and a plurality of Velcro fur surfaces 5 connected to the plurality of Velcro hook surfaces 4 are adhered to the surface of the self-growing robot body 1.

[0009] The diameter of the end cap 2 is larger than the diameter of the self-growing robot body 1 .

[0010] The self-growing robot body 1 is made of tubular TPU.

[0011] The Velcro hook surface 4 and the Velcro fleece surface 5 are made of nylon.

[0012] A method for changing stiffness using a self-growing soft robot changing stiffness device comprises the following steps:

[0013] Step 1: After the base 6 is inflated, the air pressure drives the tip of the self-growing robot body 1 to turn outward and grow;

[0014] Step 2: Multiple Velcro fur surfaces 5 grow forward along with the tip of the self-growing robot body 1, and the end cover 2 drives the multiple Velcro hook surfaces 4 to move forward through the guide buckle 3;

[0015] Step 3: The Velcro hook surface 4 is fitted with the Velcro fleece surface 5 to support the hardening of the self-growing robot body 1 and achieve variable stiffness of the self-growing robot.

[0016] Compared with the prior art, the beneficial effects of the present invention are: since the present invention adopts the connection method of Velcro hook surface and fleece surface, it can achieve controllable change of stiffness, provide greater flexibility and adaptability, ensure the hardening of the self-growing robot during the growth process, achieve the effect of growing and hardening at the same time, and have the advantage of dynamic adaptability. This design enables the robot to move flexibly in a complex environment while maintaining a stable structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic diagram of a self-growing robot variable stiffness device according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of an embodiment of the present invention in which an end cover and a guide buckle of a self-growing robot variable stiffness device are connected through a torsion spring.

[0019] Figure 3 It is a schematic diagram of a method for changing the stiffness of a self-growing robot according to an embodiment of the present invention.

[0020] In the figure: 1 is the main body of the self-growing robot; 2 is the end cover; 3 is the guide buckle; 31 is the torsion spring; 4 is the Velcro hook surface; 5 is the Velcro fleece surface; 6 is the base. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the embodiments and drawings.

[0022] like Figure 1 and Figure 2 As shown, a self-growing soft robot variable stiffness device includes a self-growing robot body 1, the tail end of the self-growing robot body 1 is connected to the growth outlet of the base 6, and the base 6 is provided with an inflation inlet, and the function of the base 6 is to store the self-growing robot body 1 and the input air pressure; the tip of the self-growing robot body 1 is installed with an end cover 2, and the end cover 2 is connected to three guide buckles 3; one guide buckle 3 includes a torsion spring 31 and a pressure plate 32, the end cover 2 is fixed by the torsion spring 31, and the torsion spring 31 presses the pressure plate 32 on the self-growing robot body 1; one guide buckle 3 is connected with a Velcro hook surface 4, and three Velcro fur surfaces 5 matched with the three Velcro hook surfaces 4 are adhered to the surface of the self-growing robot body 1, and the self-growing robot body 1 is turned inside out and stored in the base 6.

[0023] The diameter of the end cap 2 is larger than the diameter of the self-growing robot body 1 .

[0024] The self-growing robot body 1 is made of TPU tubular material.

[0025] The Velcro hook surface 4 and the Velcro fleece surface 5 are made of nylon.

[0026] The working principle of the self-growing soft robot variable stiffness device of this embodiment is:

[0027] When in use, the base 6 is connected to an air pump to introduce gas, and the self-growing robot body 1 is driven by the internal air pressure to turn outward, and the self-growing robot body 1 grows forward; Figure 3As shown, as the self-growing robot body 1 is driven by the internal air pressure to turn outward and grow forward, the end cover 2 moves forward under the action of the tip of the self-growing robot body 1, and the end cover 2 drives the Velcro hook surface 4 to move in the growth direction of the self-growing robot body 1 through the guide buckle 3; as the self-growing robot body 1 extends forward, the guide buckle 3 sticks the Velcro hook surface 4 to the Velcro fur surface 5 under the action of the torsion spring 31; the stiffness of the Velcro hook surface 4 and the Velcro fur surface 5 after sticking is greater than the stiffness of the self-growing robot body 1, so as to complete the variable stiffness of the self-growing robot.

[0028] There is always a portion of unchanged stiffness at the connection between the tip of the self-growing robot body 1 and the end cover 2, which prevents the overall stiffness of the self-growing robot body from increasing and causing the tip to be unable to turn.

[0029] A method for changing stiffness using a self-growing soft robot changing stiffness device comprises the following steps:

[0030] Step 1: After the base 6 is inflated, the air pressure drives the tip of the double-layer self-growing robot body 1 to grow outward;

[0031] Step 2: The three Velcro fur surfaces 5 grow forward as the tip of the self-growing robot body 1 turns outward, and the end cover 2 drives the three Velcro hook surfaces 4 to move forward through the guide buckle 3;

[0032] Step three: the Velcro hook surface 4 is fitted with the Velcro fleece surface 5 by the guide buckle 3, and the superimposed layers are under pressure to support the double-layer self-growing robot body 1 to harden, thereby achieving variable stiffness of the self-growing robot.

Claims

1. A self-growing soft robot variable stiffness device, comprising a self-growing robot body (1), characterized in that: The tail end of the self-growing robot body (1) is connected to the growth outlet of the base (6), and an inflation inlet is provided on the base (6). The tip of the self-growing robot body (1) is equipped with an end cover (2), and the end cover (2) is connected to a guide buckle (3). The guide buckle (3) is connected to a Velcro hook surface (4), and a Velcro fur surface (5) connected to the Velcro hook surface (4) is adhered to the surface of the self-growing robot body (1). The self-growing robot body (1) is turned outward and stored in the base (6).

2. The self-growing soft robot variable stiffness device according to claim 1, characterized in that: The guide buckle (3) comprises a torsion spring (31) and a pressure plate (32), the end cover (2) is fixed by the torsion spring (31), and the torsion spring (31) presses the pressure plate (32) onto the self-growing robot body (1).

3. The self-growing soft robot stiffness varying device according to claim 1, characterized in that: The end cover (2) is connected to a plurality of guide buckles (3), each guide buckle (3) is connected to a Velcro hook surface (4), and a plurality of Velcro fur surfaces (5) connected in coordination with the plurality of Velcro hook surfaces (4) are adhered to the surface of the self-growing robot body (1).

4. The self-growing soft robot variable stiffness device according to claim 1, characterized in that: The diameter of the end cover (2) is greater than the diameter of the self-growing robot body (1).

5. The self-growing soft robot stiffness varying device according to claim 1, characterized in that: The self-growing robot body (1) is made of tubular TPU.

6. The self-growing soft robot variable stiffness device according to claim 1, characterized in that: The Velcro hook surface (4) and the Velcro fleece surface (5) are made of nylon.

7. A method for changing stiffness using a self-growing soft robot changing stiffness device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: After the base (6) is inflated, the air pressure drives the tip of the self-growing robot body (1) to turn outward and grow; Step 2: The plurality of Velcro loops (5) grow outwardly along with the tip of the self-growing robot body (1), and the end cover (2) drives the plurality of Velcro hooks (4) to move forward through the guide buckle (3); Step 3: The Velcro hook surface (4) is fitted with the Velcro fleece surface (5) to support the hardening of the self-growing robot body (1) and achieve variable rigidity of the self-growing robot.

Images