Self-growing robot

Abstract

The invention discloses a self-growing robot, and relates to the technical field of flexible robots, the self-growing robot comprises a growing main body, a sensing part and a guide sleeve, and the sensing part is fixedly arranged at the tail end of the growing main body; the growth main body is provided with a wrinkle part, and the wrinkle part can be unfolded; the inner side face of the guide sleeve or the outer side face of the guide sleeve can make contact with the wrinkle part and guide unfolding of the wrinkle part. The self-growing robot is simple in structure, the tail end structure of the growing body is simplified, and the flexibility of the self-growing robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible robots, and particularly to a self-growing robot. Background Art

[0002] A self-growing robot is a new type of flexible robot that can increase the length of the growing body by inverting the material of the growing body. This method reduces the friction between the robot and the environment, improves the compliance of the robot, enables the robot to navigate through environmental interaction, and thus has stronger adaptability to narrow spaces.

[0003] However, the material-inverting growth mode adopted by traditional self-growing robots makes it difficult for sensing components to grow along with the growing body. Usually, a relatively complex end mechanism of the growing body needs to be designed to enable the sensing components to grow with the growing body.

[0004] When a self-growing robot is applied to an application scenario in a small space, the growing body of the self-growing robot is required to have a small size. However, the complex end mechanism of the growing body is difficult to miniaturize, which brings difficulties to the arrangement of sensing components, resulting in difficult realization of effective direction control and limited flexibility in the use of self-growing robots. Summary of the Invention

[0005] The purpose of the present invention is to provide a self-growing robot to solve the problems existing in the above-mentioned prior art, with a simple structure, simplified end structure of the growing body, and improved flexibility of the self-growing robot.

[0006] To achieve the above purpose, the present invention provides the following solution:

[0007] The present invention provides a self-growing robot, including a growing body, a sensing component, and a guiding sleeve. The sensing component is fixedly arranged at the end of the growing body; the growing body has a pleated part that can be unfolded; the inner side or the outer side of the guiding sleeve can contact the pleated part and guide the unfolding of the pleated part.

[0008] Preferably, the growing body has a bent part disposed between the pleated part and the starting end of the growing body.

[0009] Preferably, it further includes a traction device connected to the end of the growing body, and the traction device can traction the end of the growing body to deflect and change direction.

[0010] Preferably, the guiding sleeve is fixedly arranged inside the end of the growth body, the wrinkled part is arranged at the end of the growth body, and the wrinkled part is sleeved outside the guiding sleeve; the outer side surface of the guiding sleeve can contact the wrinkled part and guide the unfolding of the wrinkled part.

[0011] Preferably, the traction device includes a first stepping motor, a first wire winding shaft, a first driving tendon, a first commutation wheel set and a first force sensor. One end of the first driving tendon is fixed on the first wire winding shaft, the first driving tendon is wound around the first wire winding shaft, the other end of the first driving tendon is fixed on the end of the growth body, the first commutation wheel set contacts the first driving tendon and changes the direction of the first driving tendon, the first force sensor is arranged on the first driving tendon, the first stepping motor is in transmission connection with the first wire winding shaft, and the first stepping motor can drive the first wire winding shaft to rotate to release or recycle the first driving tendon; the traction device further includes a second stepping motor, a second wire winding shaft, a second driving tendon, a second commutation wheel set and a second force sensor. One end of the second driving tendon is fixed on the second wire winding shaft, the second driving tendon is wound around the second wire winding shaft, the other end of the second driving tendon is fixed on the end of the growth body, the second commutation wheel set contacts the second driving tendon and changes the direction of the second driving tendon, the second force sensor is arranged on the second driving tendon, the second stepping motor is in transmission connection with the second wire winding shaft, and the second stepping motor can drive the second wire winding shaft to rotate to release or recycle the second driving tendon; the first driving tendon can traction the end of the growth body to deflect in the first direction, the second driving tendon can traction the end of the growth body to deflect in the second direction, and the second direction is opposite to the first direction.

[0012] Preferably, the wrinkled part is arranged at the starting end of the growth body, the guiding sleeve is fixedly arranged at the starting end of the growth body, and the guiding sleeve is sleeved outside the wrinkled part; the inner side surface of the guiding sleeve can contact the wrinkled part and guide the unfolding of the wrinkled part.

[0013] Preferably, the traction device includes a first pneumatic artificial muscle and a second pneumatic artificial muscle. The first pneumatic artificial muscle and the second pneumatic artificial muscle are both fixed on the end of the growth body. The first pneumatic artificial muscle can traction the end of the growth body to deflect in the first direction, the second pneumatic artificial muscle can traction the end of the growth body to deflect in the second direction, and the second direction is opposite to the first direction.

[0014] Preferably, the growth body is made of a flexible cylindrical film. The first end of the flexible cylindrical film is turned outwards to cover the outside of the second end of the flexible cylindrical film. The middle part of the flexible cylindrical film forms the end of the growth body. The part from the first end to the middle part of the flexible cylindrical film forms the outer layer of the growth body. The part from the second end to the middle part of the flexible cylindrical film forms the inner layer of the growth body. The outer layer of the growth body has the pleated part.

[0015] Preferably, it further includes a driving tank body, a reel, an outlet pipe and a pressure sensor. The reel is rotatably arranged inside the driving tank body. An air inlet is opened at the bottom of the driving tank body. One end of the outlet pipe is fixedly connected and communicated with the driving tank body. The other end of the outlet pipe is hermetically and fixedly connected with the first end of the flexible cylindrical film. The second end of the flexible cylindrical film is fixedly arranged on the reel. The inner layer of the growth body can be wound around the reel. The space between the outer layer and the inner layer of the growth body is communicated with the inside of the driving tank body. The pressure sensor is fixedly arranged inside the driving tank body.

[0016] Preferably, it further includes a positive pressure air source, a positive pressure proportional valve, a two-position three-way solenoid valve and a two-position two-way solenoid valve. The positive pressure air source is connected and communicated with the input end of the positive pressure proportional valve. The output end of the positive pressure proportional valve is connected and communicated with the input end of the two-position three-way solenoid valve. The output end of the two-position three-way solenoid valve is connected and communicated with the input end of the two-position two-way solenoid valve. The output end of the two-position two-way solenoid valve is connected and communicated with the air inlet.

[0017] The present invention has achieved the following technical effects compared with the prior art:

[0018] For the self-growing robot provided by the present invention, the sensing component is fixedly arranged at the end of the growth body. A pleated part that can be unfolded is arranged on the growth body. The length of the growth body is increased by the stretching and unfolding of the pleated part, that is, the growth of the growth body is realized. The unfolding of the pleated part is guided by the guiding sleeve, and the guiding sleeve can also store the pleated part before unfolding. Therefore, without any other auxiliary structures, the sensing component can always be located at the end of the growth body following the growth of the growth body. The structure is simple, the end structure of the growth body is simplified, the flexibility of the self-growing robot is improved, and it is beneficial to the miniaturization of the self-growing robot. In addition, due to the growth structure of the pleated stretching of the pleated part, the pressure required for the growth of the self-growing robot can be effectively reduced. In short, the self-growing robot provided by the present invention is convenient for flexible operation in a narrow space. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Schematic diagram of the self-growing robot provided for Embodiment 1;

[0021] Figure 2 Another direction schematic diagram of the self-growing robot provided for Embodiment 1;

[0022] Figure 3 Schematic diagram of the wrinkled part and the guiding sleeve of the self-growing robot provided for Embodiment 1;

[0023] Figure 4 For Figure 3 Schematic diagram during the gradual unfolding process of the wrinkled part of the self-growing robot in

[0024] Figure 5 Schematic diagram when the growth body of the self-growing robot provided for Embodiment 1 adopts a single-layer structure;

[0025] Figure 6 For Figure 3 Schematic diagram of the flexible tube film before manufacturing the growth body in

[0026] Figure 7 For Figure 6 Schematic diagram of installing the guiding sleeve and the sensing component on the flexible tube film in

[0027] Figure 8 For Figure 7 Schematic diagram after the flexible tube film is turned outwards in

[0028] Figure 9 For installing the Figure 8 Schematic diagram of the flexible tube film after being installed on the outlet pipe in

[0029] Figure 10 For Figure 9 Schematic diagram after making the wrinkled part on the flexible tube film in

[0030] Figure 11 Schematic diagram of the growth body used in the self-growing robot provided for Embodiment 1;

[0031] Figure 12 For Figure 11 Schematic diagram of the growth body automatically avoiding the environmental obstacle C in

[0032] Figure 13 For Figure 12Schematic diagram after the growth body in [[]] reaches area A;

[0033] Figure 14 is Figure 11 Schematic diagram of the growth body in [[]] actively avoiding environmental obstacle C and environmental obstacle D under traction;

[0034] Figure 15 is Figure 14 Schematic diagram after the growth body in [[]] reaches area B;

[0035] Figure 16 Schematic diagram of the self-growing robot provided in Embodiment 2;

[0036] Figure 17 Another direction schematic diagram of the self-growing robot provided in Embodiment 2;

[0037] Figure 18 Schematic diagram of the wrinkled part and guiding sleeve of the self-growing robot provided in Embodiment 2;

[0038] Figure 19 is Figure 18 Schematic diagram during the gradual unfolding process of the wrinkled part of the self-growing robot in [[]];

[0039] Figure 20 Schematic diagram when the growth body of the self-growing robot provided in Embodiment 2 adopts a single-layer structure;

[0040] Figure 21 is Figure 18 Schematic diagram of the flexible tube film before manufacturing the growth body in [[]];

[0041] Figure 22 is Figure 21 Schematic diagram after the flexible tube film is turned inside out in [[]];

[0042] Figure 23 is to Figure 22 Schematic diagram after installing the flexible tube film into the outlet pipe in [[]];

[0043] Figure 24 is Figure 23 Schematic diagram after making the wrinkled part on the flexible tube film in [[]];

[0044] Figure 25 is Figure 24 Schematic diagram of installing the sensing component on the flexible tube film in [[]];

[0045] Figure 26 Schematic diagram of the growth body in the self-growing robot provided in Embodiment 2 for use;

[0046] Figure 27 is Figure 26Schematic diagram of the growing body in it actively avoiding environmental obstacles C and D under traction;

[0047] Figure 28 is Figure 27 Schematic diagram after the growing body in it reaches area B;

[0048] Figure 29 Schematic diagram of the traction device in the self-growing robot provided by the first embodiment;

[0049] Figure 30 is Figure 29 Schematic diagram of the first stepping motor driving the first driving tendon in it;

[0050] Figure 31 Schematic diagram of the pneumatic components in the self-growing robot provided by the present invention;

[0051] In the figure: 1 - growing body, 2 - sensing component, 3 - guiding sleeve, 4 - wrinkled part, 5 - bent part, 6 - first stepping motor, 7 - first winding shaft, 8 - first driving tendon, 9 - first commutation wheel set, 10 - first force sensor, 11 - second driving tendon, 12 - first pneumatic artificial muscle, 13 - second pneumatic artificial muscle, 14 - outer body, 15 - inner body, 16 - driving tank body, 17 - reel, 18 - outlet pipe, 19 - pressure sensor, 20 - air inlet, 21 - positive pressure air source, 22 - positive pressure proportional valve, 23 - two-position three-way solenoid valve, 24 - two-position two-way solenoid valve, 25 - mounting base, 26 - first coupling, 27 - first gear reduction box. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] The purpose of the present invention is to provide a self-growing robot to solve the problems existing in the above-mentioned prior art, with a simple structure, which simplifies the end structure of the growing body and improves the flexibility of the self-growing robot.

[0054] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0055] Embodiment 1

[0056] Such as Figures 1 to 15 and Figures 29 to 31As shown in the figure, this embodiment provides a self-growing robot, which includes a growing body 1, a sensing component 2, and a guiding sleeve 3. The sensing component 2 is fixedly arranged at the end of the growing body 1. The growing body 1 has a wrinkled part 4 that can be unfolded. The inner side or the outer side of the guiding sleeve 3 can contact the wrinkled part 4 and guide the unfolding of the wrinkled part 4.

[0057] For the self-growing robot provided in this embodiment, the sensing component 2 is fixedly arranged at the end of the growing body 1. A wrinkled part 4 that can be unfolded is arranged on the growing body 1. The length of the growing body 1 is increased by the stretching and unfolding of the wrinkled part 4, that is, the growth of the growing body 1 is realized. The unfolding of the wrinkled part 4 is guided by the guiding sleeve 3, and the guiding sleeve 3 can also store the wrinkled part 4 before unfolding. As a result, without any other auxiliary structures, the sensing component 2 can always be located at the end of the growing body 1 following the growth of the growing body 1. The structure is simple, the end structure of the growing body 1 is simplified, the flexibility of the self-growing robot is improved, and it is beneficial to the miniaturization of the self-growing robot. In addition, due to the growth structure of the wrinkled part 4 with wrinkling and stretching, the pressure required for the growth of the self-growing robot can be effectively reduced. In short, the self-growing robot provided in this embodiment is convenient for flexible operation in a narrow space.

[0058] As a more preferred implementation manner of this embodiment, the growing body 1 has a bent part 5. The bent part 5 is placed between the wrinkled part 4 and the starting end of the growing body 1, and can realize a length difference at the bent part 5 after the growing body 1 is inflated and expanded, achieving the purpose of direction adjustment to realize passive steering based on the interaction with the environment (obstacles). Specifically, the bent part 5 can be preset on the growing body 1. During the manufacturing process, the growing body 1 is flattened and folded into a "Z" shape, and one side of the crease is fixed with tape, and a length difference can be created on both sides of the growing body 1, so that the growing body 1 bends towards one side.

[0059] As a more preferred implementation manner of this embodiment, the self-growing robot provided in this embodiment further includes a traction device. The traction device is connected to the end of the growing body 1, and the traction device can traction the end of the growing body 1 to deflect and change direction, and can realize the active control of the direction of the end of the growing body 1 through the traction device. As a more preferred implementation manner of this embodiment, the bent part 5 cooperates with the traction device, fully combining passive navigation of environmental interaction and active direction control, and significantly improving the flexibility and adaptability of the growing body 1 in a narrow space.

[0060] As a relatively preferred implementation manner of this embodiment, the guiding sleeve 3 is fixedly arranged inside the end of the growth main body 1, which can effectively reduce the influence on the flexibility of the growth main body 1. The diameter of the guiding sleeve 3 needs to be smaller than the diameter of the growth main body 1 and is used to store the wrinkled part 4 required for the growth of the growth main body 1. Here, it should be noted that the diameter of the guiding sleeve 3 needs to be reasonably selected according to actual requirements. If the diameter of the guiding sleeve 3 is too large, it will reduce the effective storage space of the wrinkled part 4 and increase the friction with the wrinkled part 4, bringing difficulties to growth. If the diameter of the guiding sleeve 3 is too small, it cannot play a reasonable role in guiding the growth direction. The wrinkled part 4 is placed at the end of the growth main body 1, and the wrinkled part 4 is sleeved outside the guiding sleeve 3; the outer side surface of the guiding sleeve 3 can contact the wrinkled part 4 and guide the unfolding of the wrinkled part 4. During the growth process of the growth main body 1, the compressed wrinkled part 4 unfolds sequentially from left to right to realize the increase in the length of the growth main body 1; as a relatively preferred implementation manner of this embodiment, the sensing component 2 is fixedly installed on the guiding sleeve 3 inside the end of the growth main body 1. According to application scenarios and requirements, for example, an endoscope or an attitude sensor can be installed to realize the sensing of the end vision or direction information. The cable of the sensing component 2 can be installed inside the guiding sleeve 3 without affecting the growth of the growth main body 1.

[0061] As a relatively preferred embodiment of this embodiment, the traction device includes a first stepping motor 6, a first wire winding shaft 7, a first driving tendon 8, a first reversing pulley group 9, and a first force sensor 10. One end of the first driving tendon 8 is fixed on the first wire winding shaft 7. The first driving tendon 8 is wound around the first wire winding shaft 7. The other end of the first driving tendon 8 is fixed on the end of the growth main body 1. The first reversing pulley group 9 contacts the first driving tendon 8 and changes the direction of the first driving tendon 8. The first reversing pulley group 9 is mainly used to guide and adjust the direction of the first driving tendon 8. The first force sensor 10 is arranged on the first driving tendon 8. The first force sensor 10 is used to detect the tension of the first driving tendon 8 in real time, so as to judge whether the first driving tendon 8 is taut. The first stepping motor 6 is in transmission connection with the first wire winding shaft 7. The first stepping motor 6 can drive the first wire winding shaft 7 to rotate to release or recover the first driving tendon 8; the traction device further includes a second stepping motor, a second wire winding shaft, a second driving tendon 11, a second reversing pulley group, and a second force sensor. One end of the second driving tendon 11 is fixed on the second wire winding shaft. The second driving tendon 11 is wound around the second wire winding shaft. The other end of the second driving tendon 11 is fixed on the end of the growth main body 1. The second reversing pulley group contacts the second driving tendon 11 and changes the direction of the second driving tendon 11. The second reversing pulley group is mainly used to guide and adjust the direction of the second driving tendon 11. The second force sensor is arranged on the second driving tendon 11. The second force sensor is used to detect the tension of the second driving tendon 11 in real time, so as to judge whether the second driving tendon 11 is taut. The second stepping motor is in transmission connection with the second wire winding shaft. The second stepping motor can drive the second wire winding shaft to rotate to release or recover the second driving tendon 11; the first driving tendon 8 can traction the end of the growth main body 1 to deflect in the first direction, and the second driving tendon 11 can traction the end of the growth main body 1 to deflect in the second direction. The second direction is opposite to the first direction. By pulling the first driving tendon 8 or the second driving tendon 11, the direction of the end of the growth main body 1 can be adjusted, so as to realize active direction control and more accurate direction control; the first stepping motor 6 and the second stepping motor rotate in opposite directions at the same time, so that both the first driving tendon 8 and the second driving tendon 11 are in a taut state; the first stepping motor 6, the first reversing pulley group 9, the second stepping motor, and the second reversing pulley group can all be fixedly connected to the mounting base 25 by means of screw connection; the transmission connection between the first stepping motor 6 and the first wire winding shaft 7 can be realized through a conventional first coupling 26 and a first gear reduction box 27. The transmission connection between the second stepping motor and the second wire winding shaft can be realized through a conventional second coupling and a second gear reduction box.

[0062] As a relatively preferred embodiment of this embodiment, the growth body 1 is made of a flexible cylindrical film. The first end of the flexible cylindrical film is turned outwards to be sleeved outside the second end of the flexible cylindrical film. The middle part of the flexible cylindrical film forms the end of the growth body 1. The part from the first end to the middle part of the flexible cylindrical film forms the outer layer body 14 of the growth body 1. The part from the second end to the middle part of the flexible cylindrical film forms the inner layer body 15 of the growth body 1. The outer layer body 14 of the growth body 1 has a wrinkled part 4. The flexible cylindrical film is preferably but not limited to a polyethylene plastic cylindrical film. As an alternative embodiment of this embodiment, if there is no need to recycle the growth body 1, the growth body 1 can directly adopt a single-layer structure of the flexible cylindrical film without being turned out into an inner and outer double-layer structure, with a simpler structure and a smaller growth pressure.

[0063] Specifically, during preparation, first prepare a flexible cylindrical film with a length twice that of the growth body 1. Then turn the first end of the flexible cylindrical film outwards to be sleeved outside the second end of the flexible cylindrical film, so that the part from the first end to the middle part of the flexible cylindrical film forms the outer layer body 14 of the growth body 1. Subsequently, compress and fold the material on the outer layer body 14 of the growth body 1 to form a wrinkled structure, obtaining the wrinkled part 4.

[0064] As a relatively preferred embodiment of this embodiment, the self-growing robot provided in this embodiment further includes a driving tank 16, a reel 17, an outlet pipe 18, and a pressure sensor 19. The reel 17 is rotatably arranged inside the driving tank 16. An air inlet 20 is opened at the bottom of the driving tank 16. During the growth process, a proportional valve is used to fill compressed gas from the air inlet 20 to drive the growth of the growth body 1. One end of the outlet pipe 18 is fixedly connected and communicated with the driving tank 16. The other end of the outlet pipe 18 is fixedly and sealingly connected to the first end of the flexible cylindrical film. The second end of the flexible cylindrical film is fixedly arranged on the reel 17. The inner layer body 15 of the growth body 1 can be wound around the reel 17. The space between the outer layer body 14 and the inner layer body 15 of the growth body 1 is communicated with the inside of the driving tank 16. The pressure sensor 19 is fixedly arranged inside the driving tank 16. The pressure sensor 19 is used to sense the pressure during the growth of the growth body 1 to achieve more precise growth control.

[0065] As a more preferred implementation mode of this embodiment, the self-growing robot provided in this embodiment further includes a positive pressure air source 21, a positive pressure proportional valve 22, a two-position three-way solenoid valve 23 and a two-position two-way solenoid valve 24. The positive pressure air source 21 is connected and communicated with the input end of the positive pressure proportional valve 22. The output end of the positive pressure proportional valve 22 is connected and communicated with the input end of the two-position three-way solenoid valve 23. The output end of the two-position three-way solenoid valve 23 is connected and communicated with the input end of the two-position two-way solenoid valve 24. The output end of the two-position two-way solenoid valve 24 is connected and communicated with the air inlet 20 to realize the drive control of the growth main body 1. The positive pressure air source 21, the positive pressure proportional valve 22, the two-position three-way solenoid valve 23 and the two-position two-way solenoid valve 24 have three states, namely inflation, holding and deflation. In the inflation state, the output end of the positive pressure proportional valve 22 is conducted with the input end of the two-position three-way solenoid valve 23, and the two-position two-way solenoid valve 24 is conducted. The positive pressure gas output by the positive pressure air source 21 flows to the air inlet 20. In the holding state, the two-position three-way solenoid valve 23 and the two-position two-way solenoid valve 24 are closed, and the gas is restricted inside the drive tank body 16 and the growth main body 1. In the deflation state, the two-position two-way solenoid valve 24 is conducted, and the input end of the two-position three-way solenoid valve 23 is connected to the atmosphere, and the positive pressure gas naturally flows into the air.

[0066] Taking the narrow and complex maze environment as an example, the working process of the self-growing robot provided in this embodiment is specifically described as follows:

[0067] At the beginning, the growth main body 1 has two paths to choose from. It can enter the upper A area or the lower B area. Due to the existence of the environmental obstacle C, a bending part 5 is set at the position of the growth main body 1 before it collides with the environmental obstacle C. Combining with the environmental interaction navigation mode, the growth main body 1 can smoothly enter the A area.

[0068] Before the growth main body 1 approaches the environmental obstacle D, the first driving tendon 8 on the right side of the growth direction is controlled to be dragged to adjust the growth direction of the growth main body 1. In the subsequent movement process, combining with the environmental interaction navigation, the growth main body 1 can smoothly pass through the space between the environmental obstacle C and the environmental obstacle D and enter the B area.

[0069] Embodiment Two

[0070] As Figures 16 to 28As shown, the self-growing robot provided in this embodiment is different from the self-growing robot in Embodiment 1 in terms of the setting position of the wrinkled part 4 and the traction device. In this embodiment, the wrinkled part 4 is placed at the starting end of the growing body 1, the guiding sleeve 3 is fixedly arranged at the starting end of the growing body 1, the guiding sleeve 3 is sleeved outside the wrinkled part 4, and the diameter of the guiding sleeve 3 is slightly larger than the diameter of the growing body 1. Here, it should be noted that the diameter of the guiding sleeve 3 needs to be reasonably selected according to actual requirements. If the diameter of the guiding sleeve 3 is too small, it will reduce the effective storage space of the wrinkled part 4 and increase the friction with the wrinkled part 4, bringing difficulties to growth. If the diameter of the guiding sleeve 3 is too large, it cannot play a reasonable role in guiding the growth direction; the inner side surface of the guiding sleeve 3 can contact the wrinkled part 4 and guide the unfolding of the wrinkled part 4. The wrinkled part 4 unfolds sequentially from right to left to increase the length of the growing body 1; the sensing component 2 is fixedly installed outside the end of the growing body 1 to avoid the cables of the sensing component 2 from causing adverse interference to the wrinkled part 4.

[0071] As a relatively preferred implementation manner of this embodiment, the traction device includes a first pneumatic artificial muscle 12 and a second pneumatic artificial muscle 13. Both the first pneumatic artificial muscle 12 and the second pneumatic artificial muscle 13 are fixed to the end of the growing body 1. The first pneumatic artificial muscle 12 can pull the end of the growing body 1 to deflect in the first direction, and the second pneumatic artificial muscle 13 can pull the end of the growing body 1 to deflect in the second direction, and the second direction is opposite to the first direction. Due to the growth characteristic of the stretching and unfolding of the wrinkled part 4, the first pneumatic artificial muscle 12 and the second pneumatic artificial muscle 13 will grow together with the growing body 1, improving the control accuracy and enhancing the flexibility of the growing body 1. In this embodiment, both the first pneumatic artificial muscle 12 and the second pneumatic artificial muscle 13 are supplied with air from the output end of a two-position two-way solenoid valve 24.

[0072] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A self-growing robot, characterized in that: It includes a growth body, a sensing component and a guiding sleeve. The sensing component is fixedly arranged at the end of the growth body; there are folding parts on the growth body, and the folding parts can be unfolded; the inner side surface or the outer side surface of the guiding sleeve can contact the folding parts and guide the unfolding of the folding parts.

2. The self-growing robot according to claim 1, characterized in that: There is a bending part on the growth body, and the bending part is arranged between the folding part and the starting end of the growth body.

3. The self-growing robot according to claim 1, wherein: It further includes a traction device. The traction device is connected to the end of the growth body, and the traction device can traction the end of the growth body to deflect and change direction.

4. The self-growing robot according to claim 3, wherein: The guiding sleeve is fixedly arranged inside the end of the growth body. The folding part is arranged at the end of the growth body, and the folding part is sleeved outside the guiding sleeve; the outer side surface of the guiding sleeve can contact the folding part and guide the unfolding of the folding part.

5. The self-growing robot according to claim 4, characterized in that: The traction device includes a first stepping motor, a first winding shaft, a first driving tendon, a first reversing pulley group and a first force sensor. One end of the first driving tendon is fixed on the first winding shaft, the first driving tendon is wound around the first winding shaft, the other end of the first driving tendon is fixed on the end of the growth body, the first reversing pulley group contacts the first driving tendon and changes the direction of the first driving tendon, the first force sensor is arranged on the first driving tendon, the first stepping motor is in transmission connection with the first winding shaft, and the first stepping motor can drive the first winding shaft to rotate to release or wind up the first driving tendon; the traction device further includes a second stepping motor, a second winding shaft, a second driving tendon, a second reversing pulley group and a second force sensor. One end of the second driving tendon is fixed on the second winding shaft, the second driving tendon is wound around the second winding shaft, the other end of the second driving tendon is fixed on the end of the growth body, the second reversing pulley group contacts the second driving tendon and changes the direction of the second driving tendon, the second force sensor is arranged on the second driving tendon, the second stepping motor is in transmission connection with the second winding shaft, and the second stepping motor can drive the second winding shaft to rotate to release or wind up the second driving tendon; The first driving tendon can traction the end of the growth body to deflect in a first direction, and the second driving tendon can traction the end of the growth body to deflect in a second direction, and the second direction is opposite to the first direction.

6. The self-growing robot according to claim 3, wherein: The folding part is arranged at the starting end of the growth body, the guiding sleeve is fixedly arranged at the starting end of the growth body, and the guiding sleeve is sleeved outside the folding part; the inner side surface of the guiding sleeve can contact the folding part and guide the unfolding of the folding part.

7. The self-growing robot according to claim 6, characterized in that: The traction device includes a first pneumatic artificial muscle and a second pneumatic artificial muscle. Both the first pneumatic artificial muscle and the second pneumatic artificial muscle are fixed to the end of the growth body. The first pneumatic artificial muscle can traction the end of the growth body to deflect in a first direction, and the second pneumatic artificial muscle can traction the end of the growth body to deflect in a second direction, and the second direction is opposite to the first direction.

8. The self-growing robot according to claim 1, wherein: The growth body is made of a flexible cylindrical film. The first end of the flexible cylindrical film is turned outwards to sleeve outside the second end of the flexible cylindrical film. The middle part of the flexible cylindrical film forms the end of the growth body. The part from the first end to the middle part of the flexible cylindrical film forms the outer layer of the growth body. The part from the second end to the middle part of the flexible cylindrical film forms the inner layer of the growth body. The outer layer of the growth body has the corrugated part.

9. The self-growing robot according to claim 8, wherein: It further includes a driving tank body, a reel, an outlet pipe and a pressure sensor. The reel is rotatably arranged inside the driving tank body. An air inlet is opened at the bottom of the driving tank body. One end of the outlet pipe is fixedly connected and communicated with the driving tank body. The other end of the outlet pipe is hermetically and fixedly connected with the first end of the flexible cylindrical film. The second end of the flexible cylindrical film is fixedly arranged on the reel. The inner layer of the growth body can be wound around the reel. The space between the outer layer and the inner layer of the growth body is communicated with the inside of the driving tank body. The pressure sensor is fixedly arranged inside the driving tank body.

10. The self-growing robot according to claim 9, characterized in that: It further includes a positive pressure air source, a positive pressure proportional valve, a two-position three-way solenoid valve and a two-position two-way solenoid valve. The positive pressure air source is connected and communicated with the input end of the positive pressure proportional valve. The output end of the positive pressure proportional valve is connected and communicated with the input end of the two-position three-way solenoid valve. The output end of the two-position three-way solenoid valve is connected and communicated with the input end of the two-position two-way solenoid valve. The output end of the two-position two-way solenoid valve is connected and communicated with the air inlet.

Images