Four-body self-growing soft robot for circuit coating

Abstract

The invention relates to a soft robot, in particular to a four-main-body self-growing soft robot for circuit coating, which comprises a base with a sealing cavity, main bodies, stay wire steering joints and magnet sheets, the sealing cavity is divided into an upper layer and a lower layer, and each layer is provided with a reel driving motor and two reels; the two reel driving motors respectively drive the four reels to rotate, main body materials wound on the reels are gradually released along with rotation of the reels and continuously grow forwards under pushing of air pressure, and finally the effect that the four main bodies simultaneously grow forwards is achieved. Two rows of magnet sheets are arranged on the outer surface of each main body at equal intervals and are respectively adhered to the contact positions of the main body and the adjacent main body, so that the four main bodies are adhered into a whole in the growth process, and a closed space formed among the four main bodies can be used for coating a circuit; and the outer surface of the main body is provided with a stay wire steering joint, so that the robot can flexibly adjust the direction in the growth process so as to adapt to complex circuit layout and realize comprehensive coating of a circuit.

Description

Technical Field

[0001] The invention relates to the technical field of soft robots, and in particular to a four-body self-growing soft robot for circuit wrapping. Background Art

[0002] The problem of line icing is widely present in power systems such as high-voltage overhead lines and high-speed rail contact networks, but the current deicing technologies all have their own shortcomings. Anti-icing technology reduces water adhesion by coating the surface of the conductor with a super-hydrophobic coating, thereby inhibiting the formation and accumulation of ice layers, but this technology requires special preparation of the line, resulting in high promotion costs; mechanical deicing technology relies on destroying the mechanical balance of the ice-covered conductor to make the ice layer fall off, but long-term operation may damage the equipment and shorten the service life of the line; electrothermal deicing technology uses the thermal effect of electric current to quickly melt the ice layer. It is easy to operate and avoids damage to the line by mechanical impact, but its high energy loss limits the feasibility of this technology in large-scale applications.

[0003] In contrast, as an emerging soft robot technology, self-growing soft robots have shown significant advantages in the field of line deicing due to their low cost, high compliance, controllable growth direction and diversified structural design. This type of robot is expected to optimize the existing deicing scheme and promote the development of more economical, safe and efficient deicing methods. The stable coverage of the line by the robot is a key condition for achieving efficient deicing. However, although a variety of self-growing soft robot structures are mentioned in the literature (Kübler AM, Du Pasquier C, Low A, et al. A Comparison of Pneumatic Actuators for Soft Growing VineRobots[J]. Soft Robotics, 2024: soro.2023.0169.), these structures all adopt a single body design, which makes it difficult to achieve full coverage of the line, thus limiting their application potential in the field of line deicing. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a four-body self-growing soft robot for line covering, which can achieve comprehensive covering of the line, laying the foundation for further improving de-icing efficiency and expanding application scenarios.

[0005] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a four-body self-growing soft robot for line coating, characterized by comprising a base with a sealed cavity, a main body, a magnet sheet and a wire-pulling steering joint; The sealed chamber is divided into two layers, each layer is equipped with a reel drive motor and two reels; four cylinders are arranged at the front end of the sealed chamber, the main body is led out from the four cylinders, and is rotated and wound and stored on the reels, baffles are arranged on both sides of the reels to ensure that the main body can be wound regularly, the reels are fixed on the shaft, the reel drive motor is connected to the shaft through a coupling, and the reel drive motor drives the reels to rotate synchronously; Two rows of magnet sheets are arranged at equal intervals on the surface of the main body, and are respectively attached to the contact position between the main body and the adjacent main body. Due to the adsorption force of the magnet sheets, the four main bodies are adsorbed into a whole during the growth process. The quarter arc parts on the inner sides of the four main bodies are connected to each other through the magnet sheets to form a sealed room isolated from the outside. When the robot grows along the line, this closed space will complete the coating of the line. A pull-wire steering joint is installed on one side of the main body surface; the pull-wire steering joint includes a pull-wire drive motor, a motor housing, a pull wire and a fixed terminal. The pull-wire drive motor is installed inside the motor housing, and the motor housing and the fixed terminal are connected by a pull wire and fixed on the main body surface. When steering is required, the pull-wire drive motor is powered on. As the motor rotates, the pull wire is continuously wound around the motor shaft, causing the pull wire distance between the motor housing and the fixed terminal to shorten, thereby causing wrinkles on one side of the main body. Due to the length difference between the two sides of the main body, the robot achieves steering, and the steering angle of the robot can be accurately controlled by controlling the length of the pull wire contraction.

[0006] Furthermore, a hole is opened at the rear end and the side end of the sealed cavity respectively. The rear end hole is connected to the air pump to provide air pressure for the inside of the robot, and the side end hole leads out the power supply wires of the two reel drive motors. The two reel drive motors drive a total of four reels to rotate. The main body wrapped on the reel is gradually released as it rotates, and continues to grow forward under the push of air pressure, ultimately achieving the simultaneous forward growth of the four main bodies.

[0007] Furthermore, the main body is made of a cylindrical PE plastic film.

[0008] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a four-body self-growing soft robot for line coating. Through the synchronous growth of the four bodies and the mutual adsorption of the surface magnet sheets, the four bodies are tightly fitted during the growth process to form a closed space isolated from the external air, ensuring that the robot can stably coat the line during movement, so it has highly stable coating performance.

[0009] 2. The wire steering joint of the present invention is controlled by the wire driving motor, so that the robot can flexibly adjust the growth direction. The contraction of the wire causes the main body to form folds, shortening the length of that side, thereby achieving precise steering, so that the robot can adapt to complex line layouts, move flexibly in narrow spaces and maintain a wrapping effect, and has the advantages of flexible steering and precise adaptation to various complex lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the growth, steering and coating of the four-body self-growing soft robot for circuit coating of the present invention; Figure 2 It is a schematic diagram of the overall structure of the four-body self-growing soft robot for line coating of the present invention; Figure 3 It is a top view schematic diagram of a four-body self-growing soft robot for circuit coating of the present invention; Figure 4 It is a side view schematic diagram of a four-body self-growing soft robot for circuit coating of the present invention; Figure 5 It is a schematic diagram of the base structure of the present invention; Figure 6 It is a schematic diagram of the four-body adsorption of the present invention; Figure 7 It is a schematic diagram of the structure of the cable steering joint of the present invention; In the figure: base 1; sealed chamber 1-1; reel drive motor 1-2; coupling 1-3; reel 1-4; 1-5 baffle 1-5; shaft 1-6; main body 2; magnet sheet 3; wire steering joint 4; wire drive motor 4-1; motor housing 4-2; wire 4-3; fixed terminal 4-4. DETAILED DESCRIPTION

[0011] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0012] Refer to the attached Figure 1-Figure 5, a four-body self-growing soft robot for line coating, including a base 1 and a body 2 with a sealed cavity; the sealed cavity 1-1 is divided into two layers, each layer is equipped with a reel drive motor 1-2 and two reels 1-4, the body 2 is stored on the reel 1-4 by rotational winding, and baffles 1-5 are provided on both sides of the reel 1-4 to ensure that the body 2 can be wound regularly, and there are four cylinders at the front end of the sealed cavity 1-1, and the body 2 is led out from the four cylinders; the reel drive motor 1-2 is fixed to the right positioning plate of the sealed cavity 1-1 by screws, and a bearing is installed on the left positioning plate of the sealed cavity 1-1, one end of the shaft 1-6 is fixed to the left positioning plate through the bearing, and the other end is connected to the reel drive motor 1-2 using a coupling 1-3, and the reel 1-4 and the baffle 1-5 are fixed on the shaft 1-6; the reel drive motor 1-2 uses a 12V powered DC motor, and when it rotates, it will drive the coupling 1-3, the reel 1-4, the baffle 1-5 and the shaft 1-6 to rotate synchronously.

[0013] A hole is opened at the rear end and the side end of the sealed cavity 1-1. The rear end hole is connected to the air pump to provide air pressure inside the robot. The side end hole leads to the power supply wires of the two reel drive motors 1-2. The two reel drive motors 1-2 drive a total of four reels 1-4 to rotate. The main body 2 stored on the four reels 1-4 is gradually released as it rotates, and continues to grow forward under the push of air pressure, eventually achieving the simultaneous forward growth of the four main bodies 2.

[0014] The sealed cavity 1-1 is formed by splicing acrylic plates, and the outside of the cavity is sealed with electrical tape to ensure airtightness.

[0015] The main body 2 is made of a cylindrical PE plastic film.

[0016] Refer to the attached Figure 6 A four-body self-growing soft robot for line coating also includes magnet sheets 3; two rows of magnet sheets 3 are arranged at equal intervals on the surface of the main body 2, and are respectively pasted to the positions where the main body 2 contacts the adjacent main body 2. Due to the adsorption force between the magnet sheets 3, the four main bodies 2 are tightly combined into a whole during the growth process, and the quarter arc parts on the inner sides of the four main bodies 2 are connected to each other through the magnet sheets 3 to form a closed space isolated from the outside. When the robot grows along the line, this closed space will complete the coating of the line.

[0017] Refer to the attached Figure 1-Figure 5 and Figure 7, a four-body self-growing soft robot for line coating, also includes a wire steering joint 4; a wire steering joint 4 is pasted on one side of the surface of the main body 2, and the wire steering joint 4 includes a wire driving motor 4-1, a motor housing 4-2, a wire 4-3 and a fixed terminal 4-4. The wire driving motor 4-1 uses a 3V powered micro DC motor, which is installed inside the motor housing 4-2, and the wire driving motor 4-1 and the motor housing 4-2 are fixed as a whole with hot melt adhesive. The motor housing 4-2 is made of 3D printing; the wire 4-3 uses a 0.2mm fishing line, one end of which is One end is fixed on the rotating shaft of the wire driving motor 4-1, and the other end is fixed on the fixed terminal 4-4. The motor housing 4-2 and the fixed terminal 4-4 are pasted on the surface of the main body 2. When turning is required, the wire driving motor 4-1 is powered on. As the motor rotates, the wire 4-3 is continuously wound around the rotating shaft of the wire driving motor 4-1, causing the wire distance between the motor housing 4-2 and the fixed terminal 4-4 to shorten, thereby causing wrinkles on one side of the main body 2. Due to the length difference between the two sides of the main body 2, the robot realizes turning. By controlling the contraction length of the wire 4-3, the steering angle of the robot can be accurately controlled.

[0018] A four-body self-growing soft robot for line coating, the growth, steering and coating process of which is as follows: First, add appropriate air pressure into the sealed chamber 1-1, then power on the two reel drive motors 1-2, which drive the four reels 1-4 to rotate. The four bodies 2 wound on the reels 1-4 are gradually released as they rotate, and continue to grow forward under the push of air pressure. Since the magnet sheets 3 are attached to the surfaces of the four main bodies 2, the four main bodies 2 will grow and fit together, and form a closed space between them; When turning is required, the pull wire 4-3 is retracted by controlling the pull wire drive motor 4-1 to drive the main body 2 to achieve turning. By accurately controlling the growth distance, turning position and turning angle of the robot, the robot finally grows along the direction of the line, ensuring that the closed space formed between the four main bodies 2 completely wraps the line.

[0019] 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. A four-body self-growing soft robot for circuit coating, characterized in that: It comprises a base (1) with a sealed cavity (1-1), a main body (2), a magnet sheet (3) and a cable steering joint (4); The sealed chamber (1-1) is divided into two layers, an upper layer and an lower layer, each layer is equipped with a reel drive motor (1-2) and two reels (1-4); four cylinders are arranged at the front end of the sealed chamber (1-1); the main body (2) is led out from the four cylinders, rotated and wound and stored on the reels (1-4); baffles (1-5) are arranged on both sides of the reels (1-4) to ensure that the main body (2) can be wound regularly; the reels (1-4) are fixed on the shaft (1-6); the reel drive motor (1-2) is connected to the shaft (1-6) via a coupling (1-3); the reel drive motor (1-2) drives the reels (1-4) to rotate synchronously; Two rows of magnet sheets (3) are arranged at equal intervals on the surface of the main body (2), and are respectively attached to the contact position between the main body (2) and the adjacent main body (2). Due to the adsorption force of the magnet sheets (3), the four main bodies (2) are adsorbed into a whole during the growth process. The quarter arc parts on the inner sides of the four main bodies (2) are connected to each other through the magnet sheets (3), forming a closed space isolated from the outside. When the robot grows along the line, this closed space will complete the coating of the line. A wire-pull steering joint (4) is installed on one side of the surface of the main body (2); the wire-pull steering joint (4) comprises a wire-pull driving motor (4-1), a motor housing (4-2), a wire (4-3) and a fixed terminal (4-4); the wire-pull driving motor (4-1) is installed inside the motor housing (4-2); the motor housing (4-2) and the fixed terminal (4-4) are connected via a wire (4-3) and fixed on the surface of the main body (2); when steering is required, the wire-pull driving motor (4-1) is powered on; as the motor rotates, the wire (4-3) is continuously wound around the motor shaft, causing the wire distance between the motor housing (4-2) and the fixed terminal (4-4) to shorten, thereby causing wrinkles on one side of the main body (2); due to the length difference between the two sides of the main body (2), the robot achieves steering; and by controlling the length of the wire (4-3) contraction, the steering angle of the robot can be accurately controlled.

2. The four-body self-growing soft robot for circuit coating according to claim 1, characterized in that: The sealed cavity (1-1) has a hole at the rear end and the side end, the rear end hole is connected to an air pump to provide air pressure inside the robot, and the side end hole leads out power supply wires of two reel drive motors (1-2). The two reel drive motors (1-2) drive a total of four reels (1-4) to rotate, and the main body (2) wound on the reel (1-4) is gradually released as it rotates and continuously grows forward under the impetus of air pressure, ultimately achieving the simultaneous forward growth of the four main bodies (2).

3. The four-body self-growing soft robot for circuit coating according to claim 1, characterized in that: The main body (2) is made of a cylindrical PE plastic film.

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