Steering device and steering method of four-body self-growing soft robot

Abstract

The invention relates to the technical field of soft robots, in particular to a steering device and steering method of a four-body self-growing soft robot, comprising a base, bodies and stay wire steering knuckles, materials of the four bodies are pre-stored in the base, and the four bodies are divided into an upper group and a lower group; growth and recovery of the four main bodies are completed by controlling positive and negative rotation of the motor and air pressure; a plurality of stay wire steering joints are arranged on the outer surfaces of the main bodies, one-time steering of the four main bodies is completed through cooperation of air pressure, a motor and the steering joints, and eight steering joints are needed for each-time steering; one turning process is divided into two relatively smooth turning stages, and the material of the main body is not excessively blocked, so that the main body can continuously grow forwards only by slightly increasing the internal air pressure of the base and releasing the main body; cooperative steering of the four-main-body self-growing soft robot is achieved, and continuous growth of the main bodies can be achieved after the robot steers by a large angle.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a steering transposition method of a four-body self-growing soft robot. Background Art

[0002] Soft robots are a type of robot that achieves efficient movement through flexible materials and dynamic control. As a new type of soft robot, self-growing soft robots use air pressure to drive the film to evert and achieve rapid forward growth. With its high compliance, controllable growth direction and diverse structural design, self-growing soft robots can adapt to various complex environments. However, current research on robot steering mainly focuses on a single main body structure, and there is still a lack of a complete solution for the steering design of multi-body systems; in addition, there is no good solution to the problem of difficulty in sustained growth caused by blockage of the main body material after the self-growing soft robot turns at a large angle, which to a certain extent limits its application in complex tasks, collaborative operations and large-scale systems. Summary of the invention

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a steering transposition and steering method of a four-body self-growing soft robot, which can realize the coordinated steering of the four-body self-growing soft robot and realize the continuous growth of the body after the robot turns at a large angle.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: A steering transposition of a four-body self-growing soft robot, comprising a base, a body, and a wire-drawing steering joint, characterized in that: four bodies are pre-stored inside the base, and the four bodies are divided into two groups, an upper group and a lower group, each group contains two bodies and is equipped with a motor, and the growth and recovery of the body are achieved by controlling the forward and reverse rotation of the motor; two wire-drawing steering joints are continuously arranged on the upper part of the outer surface of the body, and the two wire-drawing steering joints work together to complete one steering; the wire-drawing steering joints on each group of bodies are in the same position, and the wire-drawing steering joints between different groups of bodies are installed at a certain distance along the growth direction.

[0005] Furthermore, the tail opening of the base is connected to an air pump to provide air pressure inside the robot. When the motor is controlled to rotate forward, the pre-stored main body is released and the air pressure is appropriately increased, and the motor drives the main body to grow forward under the action of the air pressure; when the motor is controlled to reverse, the grown main body is recovered and the air pressure is appropriately reduced, and the motor drives the main body to recover.

[0006] Furthermore, the wire steering joint is composed of a wire drive motor, a motor housing, a wire and a fixed terminal. The wire drive motor is installed inside the motor housing. The motor housing and the fixed terminal are connected by a wire and pasted on the surface of the main body. One end of the wire is fixed on the rotating shaft of the wire drive motor, and the other end is fixed on the fixed terminal. When steering is required, power is supplied to the wire drive motor. When the motor rotates, the wire will be wrapped around the motor shaft, causing the wire distance between the motor housing and the fixed terminal to shorten, thereby causing wrinkles on one side of the main body, resulting in a difference in length on both sides of the main body, forcing the robot to complete the steering. By adjusting the length of the wire contraction, the steering angle of the robot can be precisely controlled.

[0007] Furthermore, a cable steering joint may be installed at a corresponding position on the lower portion of the outer surface of the main body.

[0008] The present invention provides a steering method for a four-body self-growing soft robot, and the method for completing a 90° steering is as follows: Step 1: Increase the air pressure inside the base, control the upper motor to rotate forward, release the two main bodies of the upper group, and make them grow forward to an appropriate length, exposing the two cable steering joints installed continuously; Step 2: sequentially control the upper group of cable steering joints to retract their respective cables, so that each cable steering joint completes a 45° turn, thereby making the two cable steering joints on each main body of the upper group work together to complete a 90° turn; Step 3: Maintain the air pressure inside the base, control the motor of the lower group to rotate forward, release the two main bodies of the lower group, and make them grow forward to an appropriate length, exposing the two cable steering joints installed continuously; Step 4: sequentially control the lower group of cable steering joints to retract their respective cables, so that each cable steering joint completes a 45° turn, thereby making the two cable steering joints on each main body of the lower group work together to complete a 90° turn; Step 5: By adjusting the growth distance between the two groups of subjects, the four subjects are placed in the same plane, thus completing the 90° turn.

[0009] The four-body self-growing soft robot steering method of the present invention can realize the recovery of the main body by operating in the reverse order of the above steps after completing a large-angle steering.

[0010] According to the steering method for the four-body self-growing soft robot of the present invention, after completing a large-angle steering, since the steering process is divided into two relatively gentle steering stages, the material of the body will not be excessively blocked. Therefore, it is only necessary to slightly increase the internal air pressure of the base and release the body to achieve continuous forward growth of the body.

[0011] Compared with the prior art, the present invention has the following beneficial effects: The present invention discloses a steering transposition system for a self-growing soft robot with four bodies. By installing steering joints on the bodies and cooperating with multiple steering joints, precise steering of the four bodies is achieved, thereby providing an efficient and controllable solution for the steering control of the self-growing soft robot of a multi-body system.

[0012] The invention discloses a four-body self-growing soft robot that turns and transposes, and uses two steering joints to complete a large-angle turn, thereby decomposing the steering process into two relatively gentle stages. The main body material will not be excessively blocked or squeezed during the steering process, thereby ensuring that the growth of the robot after the turn is not disturbed and can continue to grow forward stably.

[0013] The present invention provides a steering transposition of a four-body self-growing soft robot, in which the four bodies can perform steering operations in a coordinated manner, giving the robot higher flexibility and adaptability, enabling the system to adjust the steering angle in real time, flexibly responding to task requirements in different directions and at different angles, while ensuring the stability of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the turning process of the four-body self-growing soft robot of the present invention; Figure 2 It is a schematic diagram of the overall structure of the four-body self-growing soft robot turning and transposing according to the present invention; Figure 3 It is a schematic diagram of the local structure of the four-body self-growing soft robot of the present invention; Figure 4 It is a schematic diagram of the structure of the cable steering joint of the present invention; Figure 5 This is a schematic diagram of continuous steering of the four-body self-growing soft robot of the present invention; In the figure: 1 is the base; 2 is the main body; 3 is the cable steering joint; 3-1 is the cable drive motor; 3-2 is the motor housing; 3-3 is the cable; 3-4 is the fixed terminal. DETAILED DESCRIPTION

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0016] See attached Figure 1 to Figure 4 A steering transposition of a four-body self-growing soft robot includes a base 1, a body 2 and a steering joint 3; materials of four bodies 2 are pre-stored inside the base 1, and the four bodies 2 are divided into two groups, an upper group and a lower group, each group contains two bodies 2 and is equipped with a motor, and the growth and recovery of the body 2 are achieved by controlling the forward and reverse rotation of the motor.

[0017] The tail opening of the base 1 is connected to the air pump to provide air pressure for the inside of the robot. When the motor is controlled to rotate forward, the pre-stored main body 2 material is released and the air pressure is appropriately increased, and the motor drives the main body 2 to grow forward under the action of the air pressure; when the motor is controlled to reverse, the grown main body 2 material is recovered and the air pressure is appropriately reduced, and the motor drives the main body 2 to be recovered under the drive of the motor.

[0018] A wire steering joint 3 is pasted on one side of the surface of the main body 2. The wire steering joint 3 includes a wire drive motor 3-1, a motor housing 3-2, a wire 3-3 and a fixed terminal 3-4. The wire drive motor 3-1 uses a 3V powered micro DC motor, which is installed inside the motor housing 3-2. The wire drive motor 3-1 and the motor housing 3-2 are fixed as a whole with hot melt adhesive. The motor housing 3-2 is made of 3D printing; the wire 3-3 uses a 0.2mm fishing line, one end of which is fixed on the rotating shaft of the wire drive motor 3-1 , and the other section is fixed on the fixed terminal 3-4. The motor housing 3-2 and the fixed terminal 3-4 are pasted on the surface of the main body 2; when turning is required, the wire driving motor 3-1 is powered on. As the motor rotates, the wire 3-3 is continuously wound around the motor shaft, causing the wire distance between the motor housing 3-2 and the fixed terminal 3-4 to shorten, thereby causing wrinkles on one side of the main body 2, resulting in a difference in length on both sides of the main body 2, forcing the robot to turn. By controlling the contraction length of the wire 3-3, the steering angle of the robot can be accurately controlled.

[0019] Two wire steering joints 3 are continuously arranged on the upper part of the outer surface of the main body 2, and the two wire steering joints 3 work together to complete one steering; the wire steering joints 3 on each group of main bodies 2 are in the same position, and the wire steering joints 3 between different groups of main bodies 2 are installed at intervals of 1.5 times the diameter of the main body 2 along the growth direction.

[0020] See attached Figure 1 , a steering method for a four-body self-growing soft robot, wherein the working process of completing a 90° steering is divided into two 45° steering stages, specifically: Step 1: Increase the internal air pressure of the base 1, control the upper motor to rotate forward, release the two main bodies 2 of the upper group, and make them grow forward to an appropriate length, exposing the two cable steering joints 3 installed continuously; Step 2: sequentially control the upper group of cable steering joints 3 to recycle their respective cable 3-3, so that each cable steering joint 3 completes a 45° turn, thereby making the two cable steering joints 3 on each main body 2 of the upper group work together to complete a 90° turn; Step 3: Maintain the internal air pressure of the base 1, control the motor of the lower group to rotate forward, release the two main bodies 2 of the lower group, and make them grow forward to an appropriate length, exposing the two cable steering joints 3 installed continuously; Step 4: sequentially control the lower group of cable steering joints 3 to recycle their respective cable 3-3, so that each cable steering joint 3 completes a 45° turn, so that the two cable steering joints 3 on each main body 2 of the lower group work together to complete a 90° turn; Step 5: By adjusting the growth distance between the two groups of main bodies 2, the four main bodies 2 are placed in the same plane, thereby completing this 90° turn.

[0021] See attached Figure 1 In the steering method of the four-body self-growing soft robot of the present invention, since the steering process is completed by two steering joints, each large steering angle is replaced by two smaller steering angles, and the material of the main body 2 will not be blocked at the corner due to excessive steering. Therefore, it is only necessary to slightly increase the internal air pressure of the base 1 and release the main body 2 to achieve continuous forward growth of the main body 2.

[0022] The steering method of the four-body self-growing soft robot of the present invention requires the use of eight steering joints 3 for each steering.

[0023] The four-body self-growing soft robot steering method of the present invention can realize the recovery of the main body 2 by operating in the reverse order of the above steps after completing a large-angle steering.

[0024] According to the steering method for the four-body self-growing soft robot of the present invention, after completing a large-angle steering, since the steering process is divided into two relatively gentle steering stages, the material of the body 2 will not be excessively blocked. Therefore, it is only necessary to slightly increase the internal air pressure of the base 1 and release the body 2 to achieve continuous forward growth of the body 2.

[0025] See attached Figure 5 A four-body self-growing soft robot steering transposition can also install a wire steering joint 3 at the corresponding position of the lower outer surface of the main body 2 to achieve continuous steering.

[0026] 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 steering transposition of a four-body self-growing soft robot, comprising a base (1), a body (2), and a wire steering joint (3), characterized in that: The base (1) has four main bodies (2) pre-stored therein. The four main bodies (2) are divided into two groups, an upper group and a lower group. Each group includes two main bodies (2) and is equipped with a motor. The growth and recovery of the main body (2) are achieved by controlling the forward and reverse rotation of the motor. Two wire-drawing steering joints (3) are continuously arranged on the upper part of the outer surface of the main body (2). The two wire-drawing steering joints (3) work together to complete one steering. The wire-drawing steering joints (3) on each group of main bodies (2) are in the same position, while the wire-drawing steering joints (3) between different groups of main bodies (2) are installed at a certain distance along the growth direction.

2. The steering transposition of a four-body self-growing soft robot according to claim 1, characterized in that: The tail opening of the base (1) is connected to an air pump to provide air pressure inside the robot. When the motor is controlled to rotate forward, the pre-stored main body (2) is released and the air pressure is appropriately increased, and the motor drives the main body (2) to grow forward under the action of the air pressure; when the motor is controlled to rotate reversely, the grown main body (2) is recovered and the air pressure is appropriately reduced, and the motor drives the main body (2) to be recovered.

3. The four-body self-growing soft robot steering transposition according to claim 1, characterized in that: The wire-pull steering joint (3) is composed of a wire-pull driving motor (3-1), a motor housing (3-2), a wire (3-3) and a fixed terminal (3-4); the wire-pull driving motor (3-1) is installed inside the motor housing (3-2); the motor housing (3-2) and the fixed terminal (3-4) are connected via a wire (3-3) and adhered to the surface of the main body (2); one end of the wire (3-3) is fixed to the rotating shaft of the wire-pull driving motor (3-1), and the other end is fixed to the fixed terminal (3-4); when steering is required, power is supplied to the wire-pull driving motor (3-1); when the motor rotates, the wire (3-3) is wound around the motor rotating shaft, resulting in a shortened wire distance between the motor housing (3-2) and the fixed terminal (3-4), thereby causing wrinkles on one side of the main body (2), resulting in a difference in length between the two sides of the main body (2), forcing the robot to complete steering; and by adjusting the length of the wire (3-3) contraction, the steering angle of the robot is precisely controlled.

4. The four-body self-growing soft robot steering transposition according to claim 1, characterized in that: A cable steering joint (3) is installed at a corresponding position on the lower portion of the outer surface of the main body.

5. A steering method for a four-body self-growing soft robot, characterized in that: Using the steering transposition of a four-body self-growing soft robot as described in any one of claims 1 to 4, the method for the robot to complete a 90° steering is: Step 1: Increase the internal air pressure of the base (1), control the upper motor to rotate forward, release the two main bodies (2) of the upper group, and make them grow forward to an appropriate length, exposing two cable steering joints (3) installed continuously; Step 2: sequentially controlling the upper group of cable steering joints (3) to retract their respective cables (3-3), so that each cable steering joint (3) completes a 45° turn, thereby making the two cable steering joints (3) on each main body (2) of the upper group work together to complete a 90° turn; Step 3: Maintain the internal air pressure of the base (1), control the motor of the lower group to rotate forward, release the two main bodies (2) of the lower group, and make them grow forward to an appropriate length, exposing the two cable steering joints (3) installed continuously; Step 4: sequentially controlling the lower group of cable steering joints (3) to retract their respective cables (3-3), so that each cable steering joint (3) completes a 45° turn, thereby making the two cable steering joints (3) on each main body (2) of the lower group work together to complete a 90° turn; Step 5: By adjusting the growth distance of the two groups of main bodies (2), the four main bodies (2) are placed in the same plane, thereby completing the 90° turn.

6. The steering method of a four-body self-growing soft robot according to claim 5, characterized in that: After completing a large-angle turn, the main body (2) can be recovered by following the reverse order of the above steps.

7. The steering method of a four-body self-growing soft robot according to claim 6, characterized in that: After completing a large-angle turn, since the turn process is divided into two relatively gentle turn stages, the material of the main body (2) will not be excessively blocked. Therefore, it is only necessary to increase the internal air pressure of the base (1) and release the main body (2) to achieve continuous forward growth of the main body (2).

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