Plant-inspired photocuring principle tip self-growing obstacle avoidance robot

Abstract

The invention relates to a photocuring principle tip self-growing obstacle avoidance robot which comprises a main body, a curing unit and a stay wire unit. The curing unit is arranged on the main body, the liquid curing material is cured by the curing unit to obtain a solid growth substance, the curing unit comprises a first pipeline and a second pipeline, the second pipeline surrounds the outer side of the first pipeline, an inflow channel is formed in the first pipeline, and an extrusion channel is formed between the second pipeline and the first pipeline; the stay wire unit is provided with a first stay wire and a second stay wire, the first stay wire is connected with the first pipeline, the second stay wire is connected with the second pipeline, and the stay wire unit drives the first pipeline and the second pipeline to bend; the extrusion channel between the first pipeline and the second pipeline is bent, so that the solid growth substance extruded from the extrusion channel is bent, the growth bending direction of the growth substance can be flexibly controlled, and the flexibility is improved.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a tip self-growing obstacle-avoiding robot based on the principle of photocuring. Background Art

[0002] The growth robot uses a principle similar to the growth of plant tips. It uses construction materials to build growth objects from the tip part, and the tip moves in the environment through the extension of the growth object. The growth objects built by this growth mechanism do not move with the environment, which greatly reduces the resistance caused by friction between the robot and the environment during movement. In addition, the size of the growth object built by the growth robot is not restricted by the size of the growth robot itself; the growth object can continue to grow by simply transporting construction materials to the tip through the constructed growth pipe. Current growth robots mainly use additive manufacturing principles such as PLA materials and photocurable resins to construct growth objects, but there is still a problem that the growth objects cannot be bent flexibly, resulting in insufficient flexibility and difficulty in carrying out growth movements in rugged environments. Summary of the invention

[0003] Aiming to solve at least one of the technical problems existing in the prior art, the present invention provides a plant-inspired photocuring principle cutting-edge self-growing obstacle-avoiding robot, which can flexibly control the growth bending direction of the growing object.

[0004] In an embodiment of the present application, a tip self-growing obstacle avoidance robot based on the principle of photocuring comprises: main body; a curing unit, the curing unit being arranged on the main body, the curing unit comprising a curing device, a first pipe and a second pipe, the second pipe surrounding the outside of the first pipe, an inflow channel being formed in the first pipe, an extrusion channel being formed between the second pipe and the first pipe, the curing device being used for curing the liquid curing material in the extrusion channel to obtain a solid growth; A wire pulling unit is provided with a first wire pulling wire and a second wire pulling wire, wherein the first wire pulling wire is connected to the first pipe, and the second wire pulling wire is connected to the second pipe, and the wire pulling unit is used for driving the first pipe and the second pipe to perform bending movement.

[0005] According to certain embodiments of the present application, the wire pulling unit also includes a first drive, a first screw rod, a first screw rod slider and a first optical axis, the first screw rod is connected to the output shaft of the first drive, one end of the first screw rod slider is connected to the first screw rod, the other end of the first screw rod slider is slidably connected to the first optical axis, and the first wire pulling unit is connected to the first screw rod slider.

[0006] According to certain embodiments of the present application, the wire pulling unit also includes a second drive, a second screw rod, a second screw rod slider and a second optical axis, the second screw rod is connected to the output shaft of the second drive, one end of the second screw rod slider is connected to the second screw rod, the other end of the second screw rod slider is slidably connected to the second optical axis, and the second wire pulling is connected to the second screw rod slider.

[0007] According to some embodiments of the present application, the curing device is a light source, and the light source is arranged on the outside of the second pipe, and the light outlet of the light source faces the extrusion channel.

[0008] According to some embodiments of the present application, the first pipe is made of an opaque material.

[0009] According to some embodiments of the present application, the second pipe is made of a light-transmitting material.

[0010] According to some embodiments of the present application, the main body is provided with an environment sensor and a posture sensor, the environment sensor and the posture sensor are connected to a controller, and the controller is connected to the wire pulling unit.

[0011] According to some embodiments of the present application, a light-transmitting cover is disposed at the front end of the main body.

[0012] According to some embodiments of the present application, the environmental sensor includes a camera, and the camera is disposed in the light-transmitting cover.

[0013] According to some embodiments of the present application, the environmental sensor includes a light sensor, and a plurality of the light sensors are arranged along a circumferential direction of the light-transmitting cover.

[0014] The beneficial effects of the present invention include: liquid solidifying material is transported into the inflow channel through a transport pipe connected to the inflow channel, and a solidifying unit solidifies the liquid solidifying material to obtain a solid growth; while the solid growth is formed, the first pipe and the second pipe are driven to perform bending movement through a wire pulling unit, so that the extrusion channel between the first pipe and the second pipe is bent, and then the solid growth extruded from the extrusion channel is bent, so that the growth bending direction of the growth can be flexibly controlled, thereby improving flexibility.

[0015] In addition, additional aspects and advantages of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of a cutting-edge self-growing obstacle-avoiding robot; Figure 2 This is a cross-sectional diagram of the cutting-edge self-growing obstacle-avoiding robot; Figure 3 It is a structural diagram of the curing unit; Figure 4 It is the structural diagram of the wire drawing unit; Figure 5 This is a bottom view of the cutting-edge self-growing obstacle-avoiding robot; Figure 6 It is a schematic diagram of the tip self-growing obstacle avoidance robot growing on a base; Figure 7 It is a schematic diagram of a cutting-edge self-growing obstacle-avoiding robot bending, growing and inspecting the internal blades of an aero-engine.

[0017] Figure numerals: main body 100, camera 101, head shell 102, second screw slider 103, base 104, lampshade 105, light source 106, second pull wire 107, growth 108, second optical axis 109, second screw nut 110, second screw 111, second pipeline 112, first pipeline 113, transparent cover 130, curing unit 200, controller 201, light sensor 202, posture sensor 203, second driver 204, opening 205, extrusion channel 206, flow in channel 207, wire drawing unit 300, liquid curing material 302, base 401, first driver 501, first screw 502, first screw slider 503, first optical axis 504, first pull wire 505. DETAILED DESCRIPTION

[0018] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0019] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0020] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0021] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0022] An embodiment of the present application provides a plant-inspired photocuring principle cutting-edge self-growing obstacle-avoiding robot.

[0023] Reference Figure 1 and Figure 2 The photocuring principle-based cutting-edge self-growing obstacle-avoiding robot includes: a main body 100 , a curing unit 200 and a wire pulling unit 300 .

[0024] The solidification unit 200 is disposed in the main body 100, and includes a solidifier, a first pipe 113 and a second pipe 112. The second pipe 112 surrounds the outside of the first pipe 113, and an inflow channel 207 is formed in the first pipe 113. An extrusion channel 206 is formed between the second pipe 112 and the first pipe 113. The solidifier is used to solidify the liquid solidified material 302 in the extrusion channel 206 to obtain a solid growth 108. The wire drawing unit 300 is provided with a first wire 505 and a second wire 107. The first wire 505 is connected to the first pipe 113, and the second wire 107 is connected to the second pipe 112. The wire drawing unit 300 is used to drive the first pipe 113 and the second pipe 112 to perform bending motion.

[0025] In this embodiment, the liquid solidifying material 302 is transported to the inflow channel 207 through the transport pipe connected to the inflow channel 207, and the solidifying unit 200 solidifies the liquid solidifying material 302 to obtain the solid growth 108; while the solid growth 108 is formed, the first pipe 113 and the second pipe 112 are driven by the wire drawing unit 300 to perform bending movement, so that the extrusion channel 206 between the first pipe 113 and the second pipe 112 is bent, and then the solid growth 108 extruded from the extrusion channel 206 is bent, so that the growth bending direction of the growth 108 can be flexibly controlled, thereby improving flexibility.

[0026] The main body 100 includes a head housing 102 and a base 104 .

[0027] Reference Figure 4 and Figure 5The wire pulling unit 300 includes a first screw rod linear moving module, which is provided with a first driver 501, a first screw rod 502, a first screw rod slider 503, a first optical axis 504 and a first wire pulling 505. The first screw rod 502 is connected to the output shaft of the first driver 501, one end of the first screw rod slider 503 is connected to the first screw rod 502, the other end of the first screw rod slider 503 is slidably connected to the first optical axis 504, and the first wire pulling 505 is connected to the first screw rod slider 503.

[0028] The first driver 501 is a stepping motor, which is powered by a rechargeable battery in the main body 100 .

[0029] The first optical axis 504 is connected between the head housing 102 and the base 104. One end of the first pull wire 505 is connected to the first screw slider 503, and the first pull wire 505 is bonded to the first pipe 113 along the radial direction of the first pipe 113, and the other end of the first pull wire 505 extends to the end of the first pipe 113.

[0030] The first screw nut is fixed on the first screw slider 503, and the first screw slider 503 can move linearly along the first optical axis 504. The first screw nut and the first screw slider 503 connected thereto are driven to move linearly along the first optical axis 504 by the thread action of the first screw 502. The first screw slider 503 drives the first pull wire 505 to move, and the first pull wire 505 pulls the first pipe 113 to move, so that the first pipe 113 bends.

[0031] Exemplarily, the first pipe 113 is pulled to move by three first screw linear moving modules; of course, in other embodiments, the number of first screw linear moving modules can be set according to actual needs to ensure that the first screw linear moving modules can pull the first pipe 113 to bend.

[0032] The wire pulling unit 300 includes a second screw rod linear motion module. The second screw rod linear motion module has the same structure as the first screw rod linear motion module. The second screw rod linear motion module is provided with a second driver 204, a second screw rod 111, a second screw rod slider 103, a second optical axis 109 and a second wire pulling 107. The second screw rod 111 is connected to the output shaft of the second driver 204, one end of the second screw rod slider 103 is connected to the second screw rod 111, the other end of the second screw rod slider 103 is slidably connected to the second optical axis 109, and the second wire pulling 107 is connected to the second screw rod slider 103.

[0033] The second driver 204 is a stepper motor, which is powered by a rechargeable battery in the main body 100 .

[0034] The second optical axis 109 is connected between the head housing 102 and the base 104. One end of the second pull wire 107 is connected to the second screw slider 103, and the second pull wire 107 is bonded to the second pipe 112 along the radial direction of the second pipe 112, and the other end of the second pull wire 107 extends to the end of the second pipe 112.

[0035] The second screw nut 110 is fixed on the second screw slider 103, and the second screw slider 103 can move linearly along the second optical axis 109. The second screw nut 110 and the second screw slider 103 connected thereto are driven to move linearly along the second optical axis 109 by the thread action of the second screw 111. The second screw slider 103 drives the second pull wire 107 to move, and the second pull wire 107 pulls the second pipe 112 to move, so that the second pipe 112 is bent.

[0036] Exemplarily, the second pipe 112 is pulled to move by three second screw linear moving modules; of course, in other embodiments, the number of second screw linear moving modules can be set according to actual needs to ensure that the second screw linear moving modules can pull the second pipe 112 to bend.

[0037] An extrusion channel 206 is formed between the second pipe 112 and the first pipe 113. When the first pipe 113 is bent by the first pull wire 505 and the second pipe 112 is bent by the second pull wire 107, the extrusion channel 206 between the first pipe 113 and the second pipe 112 is bent, thereby bending the solid growth 108 extruded from the extrusion channel 206. The growth bending direction of the growth 108 can be flexibly controlled, thereby improving flexibility.

[0038] The container storing the liquid solidifying material 302 is connected to the inflow channel 207 via a delivery pipe, and the delivery pipe is provided with a pump body, through which the liquid solidifying material 302 stored in the container is pumped into the inflow channel 207 .

[0039] Exemplarily, the liquid curable material 302 is a photocurable resin for 3D printing. It is understood that the photocurable resin is a photosensitive resin having groups that can undergo photocuring reactions, such as various unsaturated double bonds or epoxy groups. Under the irradiation of ultraviolet light or visible light, physical and chemical changes can occur rapidly, and then cross-linking and curing can be performed. The photocurable resin can be epoxy acrylate, polyurethane acrylate resin, polyester acrylate resin or amino acrylate resin.

[0040] The delivery pipe between the container and the pump body and the pipe between the pump body and the inflow channel 207 are both black Teflon tubes. The black color is opaque and can prevent the purple LED and ambient light from irradiating the liquid resin in the pipe and causing the resin to solidify prematurely.

[0041] Reference Figure 3The curing unit 200 includes a first pipe 113, a second pipe 112 and a light source 106. The second pipe 112 surrounds the outside of the first pipe 113. An inflow channel 207 is formed in the first pipe 113. An extrusion channel 206 is formed between the second pipe 112 and the first pipe 113. The light source 106 is arranged on the outside of the second pipe 112, and the light outlet of the light source 106 faces the extrusion channel 206.

[0042] The flow channel is connected to the extrusion channel 206 via the opening 205 .

[0043] The first pipe 113 is made of an opaque material. The second pipe 112 is made of a translucent material. The first pipe 113 is a black Teflon pipe, and the second pipe 112 is a transparent Teflon pipe. The transparent Teflon pipe is located outside the black Teflon pipe, and an extrusion channel 206 is formed between the black Teflon pipe and the transparent Teflon pipe. The light source 106 is located outside the transparent Teflon pipe, and the light outlet of the light source 106 faces the extrusion channel 206.

[0044] The lamp source 106 is located outside the transparent Teflon tube, and the light outlet of the lamp source 106 faces the extrusion channel 206, so that the light of the lamp source 106 can shine into the extrusion channel 206 to cure the light-curable resin in the extrusion channel 206. The inflow channel 207 is separated from the extrusion channel 206 by a light-proof black Teflon tube, so that the light of the lamp source 106 cannot shine into the inflow channel 207, so that the light-curable resin in the inflow channel 207 will not be cured.

[0045] A lampshade 105 is arranged outside the lamp source 106, and the light emitted by the lamp source 106 is concentrated by the lampshade 105, and the lampshade 105 also plays a protective role for the lamp source 106. The lamp source 106 is a purple LED, the power of the purple LED is 1w, and the wavelength range of the purple LED is 395nm to 400nm. It can be understood that the type of lamp source 106 can be selected according to the type of resin. Six purple LEDs evenly distributed along the circumference irradiate the liquid resin to make the resin undergo photopolymerization reaction and solidify into a solid. It should be noted that the number of lamp sources 106 needs to be determined according to the illumination range of the lamp source 106 and the size of the growth 108, to ensure that the light energy of the lamp source 106 covers the entire extrusion channel 206, and can completely illuminate the light-curing resin in the extrusion channel 206, so that the light-curing resin in the extrusion channel 206 can be cured into the entire growth 108.

[0046] Exemplarily, the first pipe 113 and the second pipe 112 are arranged in parallel, and the second pipe 112 is located outside the first pipe 113, so that the solid growth 108 formed by the growth robot is tubular. The pipe formed by the growth can be used to transport materials.

[0047] The pump body transports the liquid curing material 302 from the container to the inflow channel 207 of the curing unit 200, and the liquid curing material 302 flows from the inflow channel 207 through the opening 205 into the extrusion channel 206, and the lamp source 106 cures the liquid curing material 302 in the extrusion channel 206. The cured curing resin pipeline is squeezed out of the extrusion channel 206 by the pressure of the liquid light-curing resin in the extrusion channel 206, forming a new growth object resin pipeline. In this way, the cycle of light-curing growth is carried out to construct the growth object 108 resin pipeline.

[0048] The first pipe 113 and the second pipe 112 are both made of Teflon material. The friction resistance and chemical bond strength between Teflon and the cured resin are low, which can reduce the extrusion resistance of the cured resin in the extrusion channel 206.

[0049] In addition, in order to reduce the extrusion resistance between the curing resin pipeline and the extrusion channel 206, 20% by mass of a lubricating solution is added to the liquid resin, and the lubricating solution is composed of 65% polyethylene oxide and 35% dimethyl silicone oil. The lubricating solution is immiscible with the light-curing resin and has different polarity. The lubricating solution will spontaneously form a lubricating oil film at the junction of the resin and the Teflon tube wall, reducing the resin extrusion resistance.

[0050] Reference Figure 6 , the extrusion channel 206 of the main body 100 is connected to the base 401. At the beginning of the growth cycle, the base 401 is inserted into the extrusion channel 206 as the growing extrusion, and the base 401 can provide initial support and direction guidance for the growing robot.

[0051] Reference Figure 2 The main body 100 is provided with an environment sensor and a posture sensor 203 , the environment sensor and the posture sensor 203 are connected to the controller 201 , and the controller 201 is connected to the wire pulling unit 300 .

[0052] A light-transmitting cover 130 is disposed at the front end of the main body 100. The environmental sensor includes a camera 101 and a light sensor 202. The camera 101 is disposed in the light-transmitting cover 130. A plurality of light sensors 202 are disposed along the circumferential direction of the light-transmitting cover 130.

[0053] The camera 101 is an important component of the growth robot for in-depth location environment detection, and can provide environmental image information for the growth robot. The light sensor 202 can sense the intensity of light. Four light sensors 202 are evenly arranged in the circumferential direction of the robot head. The direction with the largest reading in the light sensor 202 can be considered as the direction of light. The posture sensor 203 detects the position posture and impact vibration of the robot tip. The controller 201 is a single-chip microcomputer, and the controller 201 controls the robot to move according to the sensor data.

[0054] The controller 201 is connected to the wire drawing unit 300 . The controller 201 controls the wire drawing unit 300 to bend the first pipe 113 and the second pipe 112 , thereby bending the solid growth 108 extruded from the extrusion channel 206 , and the growth bending direction of the growth 108 can be flexibly controlled.

[0055] When the data analysis based on the light sensor 202 senses that the direction of illumination is directly above the growth robot, the growth robot grows upward in the vertical direction. When the data analysis based on the light sensor 202 senses that the direction of illumination is at a certain angle to the robot axis, the four light sensors 202 arranged along the circumference of the tip of the growth robot sense the direction and intensity of illumination, and the attitude sensor 203 reads the attitude angle of the tip of the growth robot, and uses the above data as the input of the specified growth strategy. The growth robot adopts the same phototropism and anti-topography growth strategy as plant growth, that is, the tip bends and grows in the direction of strong light, and the stem grows in the opposite direction of gravity.

[0056] In some embodiments, the principle of bending growth of the growing robot is as follows. After the controller 201 of the growing robot receives the steering angle instruction, the host computer calculates the length change of the three first pull wires 505 on the side of the first pipe 113 after the first pipe 113 is bent through inverse kinematics, and controls the first driver 501 to drive the first pull wire 505 to pull the first pipe 113. The output shaft of the first driver 501 drives the first screw rod 502 to rotate, and the first screw rod 502 drives the first screw rod nut and the first screw rod slider 503 connected thereto to move in a straight line along the first optical axis 504. The first screw rod slider 503 drives the first pull wire 505 to move, and the first pull wire 505 pulls the first pipe 113 to move, so that the first pipe 113 is bent, and the end of the first pipe 113 is bent to the target bending angle. Similarly, the host computer calculates the length change of the three second pull wires 107 on the side of the second pipe 112 after the second pipe 112 is bent through inverse kinematics, and controls the second driver 204 to drive the second pull wire 107 to pull the second pipe 112. The output shaft of the second driver 204 drives the second screw 111 to rotate, and the second screw 111 drives the second screw nut 110 and the second screw slider 103 connected thereto to move linearly along the second optical axis 109. The second screw slider 103 drives the second pull wire 107 to move, and the second pull wire 107 pulls the second pipe 112 to move, so that the second pipe 112 is bent, and the end of the second pipe 112 is bent to a target bending angle. The first pipe 113 and the second pipe 112 are bent, the extrusion channel 206 is bent, and the growth 108 is extruded toward a certain angle, so as to achieve the purpose of making the growth 108 grow in a bent manner.

[0057] The growth robot is provided with a wireless communication unit. After entering the unknown environment to be detected, the image captured by the camera 101 can be wirelessly transmitted to the operator's upper computer interface through the wireless communication unit. After the operator evaluates the environment, the operator manually sends a steering control instruction to the growth robot, or autonomously decides the growth direction through the perception information of the light sensor 202 and the posture sensor 203 of the growth robot itself. The autonomous growth strategy of the growth robot follows the phototropism and geotropism of plants. When the tip of the growth robot encounters an obstacle during the growth process, the posture sensor 203 senses the impact vibration, and the growth robot turns to grow in the opposite direction of the impact. After the growth is completed, the growth robot will produce a curved tubular solid growth 108, which plays the role of supporting the tip of the robot and transporting the growth raw materials. The growth 108 has a certain elasticity, which plays a certain buffering role when the tip of the growth robot encounters an obstacle, and can also bend passively to adapt to the detection environment. In special cases, the growth robot can rely on the extrusion pressure generated by the liquid resin to forcibly push open the obstacle and pass through the environment.

[0058] After the growth robot completes the construction of the growth 108, the tip of the growth robot can be separated from the growth 108, leaving behind the pipeline formed by the growth 108. The outside world can transport materials into the restricted environment through this pipeline. For example, in a search and rescue operation, the outside world can transport drinking water and nutrient solution to the trapped people under the ruins through this pipeline to prolong the lives of the trapped people.

[0059] In addition, refer to Figure 7 The growth robot can pass through the gaps in the blades of the aircraft engine through micro-motion obstacle avoidance strategies, and use the camera at the end to detect the damage of the blades inside the aircraft engine.

[0060] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A self-growing obstacle-avoiding robot based on the principle of photocuring, characterized in that: include: main body (100); a curing unit (200), the curing unit (200) being arranged on the main body (100), the curing unit (200) comprising a curing device, a first pipe (113) and a second pipe (112), the second pipe (112) surrounding the outside of the first pipe (113), an inflow channel (207) being formed in the first pipe (113), an extrusion channel (206) being formed between the second pipe (112) and the first pipe (113), the curing device being used to cure the liquid curing material (302) in the extrusion channel (206) to obtain a solid growth (108); A wire pulling unit (300) is provided with a first wire pulling unit (505) and a second wire pulling unit (107), wherein the first wire pulling unit (505) is connected to the first pipe (113), and the second wire pulling unit (107) is connected to the second pipe (112), and the wire pulling unit (300) is used to drive the first pipe (113) and the second pipe (112) to perform bending motion.

2. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 1, characterized in that: The wire pulling unit (300) further includes a first driver (501), a first screw rod (502), a first screw rod slider (503) and a first optical axis (504), wherein the first screw rod (502) is connected to the output shaft of the first driver (501), one end of the first screw rod slider (503) is connected to the first screw rod (502), the other end of the first screw rod slider (503) is slidably connected to the first optical axis (504), and the first wire pulling (505) is connected to the first screw rod slider (503).

3. The light-curing principle tip self-growth obstacle avoidance robot according to claim 1, characterized in that: The wire pulling unit (300) further includes a second driver (204), a second screw rod (111), a second screw rod slider (103) and a second optical axis (109), wherein the second screw rod (111) is connected to the output shaft of the second driver (204), one end of the second screw rod slider (103) is connected to the second screw rod (111), the other end of the second screw rod slider (103) is slidably connected to the second optical axis (109), and the second wire pulling (107) is connected to the second screw rod slider (103).

4. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 1, characterized in that: The curing device is a light source (106), which is arranged outside the second pipe (112), and the light outlet of the light source (106) faces the extrusion channel (206).

5. The light-curing principle tip self-growth obstacle avoidance robot according to claim 1, characterized in that: The first pipe (113) is made of light-proof material.

6. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 1, characterized in that: The second pipe (112) is made of light-transmitting material.

7. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 1, characterized in that: The main body (100) is provided with an environmental sensor and a posture sensor (203); the environmental sensor and the posture sensor (203) are connected to a controller (201); and the controller (201) is connected to the wire pulling unit (300).

8. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 7, characterized in that: A light-transmitting cover (130) is provided at the front end of the main body (100).

9. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 8, characterized in that: The environmental sensor comprises a camera (101), and the camera (101) is arranged in the light-transmitting cover (130).

10. The light-curing principle tip self-growing obstacle-avoiding robot according to claim 8, characterized in that: The environmental sensor comprises a light sensor (202), and a plurality of the light sensors (202) are arranged along the circumferential direction of the light-transmitting cover (130).

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