Self-growing soft robot for narrow space detection

Abstract

A self-growing soft robot for narrow space detection comprises a base, the base is connected with a main body, the main body expands and grows through pressurization of the base, the non-growing part of the main body is stacked in the base, the main body is connected with a camera device, and the camera device passes through the middle of the main body; growth of the wire and the main body is respectively controlled, a nylon wire fixing method is used for ensuring that the camera is always kept at the end part of the main body, and the practicability of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of self-growing soft robots, and in particular to a self-growing soft robot for narrow space detection. Background Art

[0002] Self-growing soft robots, with their multiple degrees of freedom, high flexibility, and excellent environmental adaptability, have shown promising applications in industrial production, healthcare, exploration, search and rescue, and other fields. Self-growing soft robots that can carry other equipment also have a wide range of applications. In string-type self-growing robots, the equipment cable passes through the robot body, allowing the camera to remain at the end of the body, enabling the robot to pass through narrower areas. However, friction between the robot body and the equipment cable causes the camera cable to grow, which can affect the growth of the robot body. Therefore, it is necessary to design a self-growing robot that ensures that the growth speed of the body is consistent with the extension speed of the equipment cable, ensuring that the camera remains at the end of the robot body.

[0003] J.-h.Kim et al. proposed a base that can keep the camera at the tip during the growth of the robot (J.-h.Kim, J.Jang, S.-m.Lee, S.-G.Jeong, Y.-J.Kim and J.-H.Ryu,"Origami-inspired NewMaterial Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing its Path,"in IEEE Robotics and Automation Letters,vol.6,no.3,pp.4592-4599,July 2021,doi:10.1109 / LRA.2021.3068936.), while maintaining the flexibility of the robot. The new material feeding mechanism inspired by origami is designed to ensure the path of the camera from the base to the tip, and can control the growth rate of the camera independently of the robot. It also uses gas lubrication to ensure that the growth of the camera is not affected by the growth of the main body. However, when in a complex environment, the gas lubrication method cannot guarantee the smooth growth of the camera. Summary of the Invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a self-growing soft robot for narrow space detection, which controls the growth of the wire and the main body respectively, and uses a nylon wire fixing method to ensure that the camera always remains at the end of the main body, thereby improving the practicality of the robot.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A self-growing soft robot for narrow space detection includes a base 1, which is connected to a main body 2. The main body 2 expands and grows by applying pressure to the base 1. The ungrown part of the main body 2 accumulates in the base 1, and the nylon line 301 in the camera device 3 passes through the middle of the main body 2.

[0007] The base 1 includes a box body 101, the interior of the box body 101 is divided into a rear chamber and a front chamber by an intermediate plate 104, the rear chamber is connected with a first shaft 103, the first shaft 103 is connected to the output shaft of the first motor 102, and the first motor 102 is fixed to the outside of the box body 101; the central circular hole of the intermediate plate 104 in the front chamber is connected to the root of the round tube 105, the head of the round tube 105 is clamped between the second shaft 107 and the third shaft 108, the second shaft 107 is connected to the first gear 106, and the third shaft 108 is connected to the second gear. Gear 109, the first gear 106 and the second gear 109 are engaged; the second shaft 107 is connected to the output shaft of the second motor 111, and the second motor 111 is fixed on the outside of the box body 101; the guide tube 110 is connected to the front end plate of the box body 101, and the guide tube 110 is connected to one end of the main body 2, and the other end of the main body 2 is fixed to the root of the circular tube 105 and stacked on its outer surface. By controlling the rotation of the first shaft 107, the friction between the main body 2 and the second shaft 107 and the third shaft 108 is used to control the growth and recovery of the main body 2.

[0008] The second shaft 107 and the third shaft 108 are vertically arranged one above the other.

[0009] The camera device includes a nylon wire 301, which is wound around the first shaft 103, passes through the round tube 105 and is connected to the fixed tube 302, and the fixed tube 302 is connected to the wired camera 303. The camera wire of the wired camera 303 is led out from the long groove 3021 of the fixed tube 302 and placed outside the main body 2.

[0010] The box body 101 is formed by splicing and sealing acrylic plates.

[0011] The main body 2 is made of a PE film cylinder.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The wired camera wire of the present invention passes through the inside of the circular tube and is separated from the main body. It is not affected by the friction between the main body and the nylon wire. The nylon wire is wound on the first axis and independently controlled by the first motor, which can accurately control the extension speed of the wired camera 303.

[0014] 2. The wired camera of the present invention is fixed to the head of the main body by a nylon wire passing through the inside of the main body. The diameter of the nylon wire can be as low as 0.1mm, and the friction coefficient is very low, which avoids the problem of mutual interference between the main body and the camera wire due to friction, ensures that the main body can grow a longer distance, and enhances the passability of the self-growing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0016] Figure 2 It is a schematic diagram of the internal structure of an embodiment of the present invention.

[0017] Figure 3 It is an overall front view of an embodiment of the present invention.

[0018] Figure 4 It is a schematic diagram of the internal structure of the base according to an embodiment of the present invention.

[0019] Figure 5 It is a side view of the interior of the base according to an embodiment of the present invention.

[0020] Figure 6 Schematic diagram of the camera structure of an embodiment of the present invention.

[0021] Figure 7 yes Figure 6 Enlarged view of the selected portion.

[0022] Figure 8 3 is a schematic structural diagram of the fixed tube 302 according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings.

[0024] Reference Figure 1 、 Figure 2 、 Figure 3 A self-growing soft robot for narrow space detection includes a base 1, an air inlet of the base 1 is connected to an air compressor, the base 1 is connected to a main body 2, and the main body 2 expands and grows by applying pressure through the base 1. The ungrown part of the main body 2 is accumulated in the base 1, and the nylon line 301 in the camera device 3 passes through the middle of the main body 2.

[0025] Reference Figure 4 、 Figure 5The base 1 includes a box body 101, the interior of the box body 101 is divided into a rear chamber and a front chamber by an intermediate plate 104, the rear chamber is connected with a first shaft 103, the first shaft 103 is connected to the output shaft of the first motor 102, and the first motor 102 is fixed on the outside of the box body 101; the central circular hole of the intermediate plate 104 in the front chamber is connected to the root of the round tube 105, and the head of the round tube 105 is clamped between the second shaft 107 and the third shaft 108, and the second shaft 107 and the third shaft 108 are vertically arranged; the second shaft 107 is connected to the first gear 106, and the third shaft 108 is connected to the second gear 109, and the first gear 106 and the second gear The wheel 109 is engaged; the second shaft 107 is connected to the output shaft of the second motor 111, and the second motor 111 is fixed on the outside of the box body 101 and is powered by the second motor 111 to rotate; the guide tube 110 is connected to the front side panel of the box body 101, and the guide tube 110 is connected to one end of the main body 2, and the other end of the main body 2 is fixed to the root of the circular tube 105 and stacked on its outer surface. By controlling the rotation of the first shaft 107, the friction between the main body 2 and the second shaft 107 and the third shaft 108 is used to control the growth and recovery of the main body 2. When the air pressure in the base 1 is increased, the gas enters the main body 2 from the guide tube 110, and the main body 2 completes its growth by continuously folding.

[0026] Reference Figure 4 、 Figure 6 、 Figure 7 、 Figure 8 The camera device includes a nylon wire 301, which is wound around the first shaft 103. The first motor 102 rotates to drive the first shaft 103 to turn to achieve the contraction and release of the nylon wire 301; the nylon wire 301 passes through the circular tube 105 and is connected to the fixed tube 302, and the fixed tube 302 is connected to the wired camera 303. The camera wire of the wired camera 303 is led out from the long groove 3021 of the fixed tube 302 and placed outside the main body 2.

[0027] The box body 101 is formed by splicing and sealing acrylic plates.

[0028] The main body 2 is made of a PE film cylinder.

[0029] The working principle of the present invention is as follows: the air inlet of the base 1 is connected to the air compressor, and the base 1 is pressurized to cause the main body 2 to expand and grow. The ungrown part of the main body 2 is accumulated in the base 1, and the second motor 111 drives the second shaft 107 to rotate. The second shaft 107 drives the second gear 109 through the first gear 106, and the second gear 109 drives the third shaft 108, using friction to push the main body 2 to complete growth by continuous folding.

[0030] Since the main body 2 grows in a folded manner, every time the main body 2 grows a certain distance, the extended length of its film material is twice the growth distance, and the nylon line 301 is close to the film material, so the growth speed of the nylon line 301 is twice the growth speed of the main body 2; in order to keep the wired camera 303 always on the head of the main body 2, the first motor 102 is required to drive the first shaft 103 to rotate at a speed consistent with the growth speed of the main body 2, and drag the nylon line 301 to force the fixed tube 302 in the camera device 3 to always remain on the head of the main body 2, thereby completing the observation and detection of the target object.

[0031] 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 scope of protection of the present invention.

Claims

1. A self-growing soft robot for narrow space detection, comprising a base (1), characterized in that: The base (1) and the main body (2) are connected, and the main body (2) is expanded and grown by applying pressure to the base (1). The ungrown part of the main body (2) is accumulated in the base (1), and the nylon line (301) in the camera device (3) passes through the middle of the main body (2).

2. The self-growing soft robot according to claim 1, wherein: The base (1) includes a box (101), the interior of the box (101) is divided into a rear chamber and a front chamber by an intermediate plate (104), the rear chamber is connected with a first shaft (103), the first shaft (103) is connected to the output shaft of a first motor (102), and the first motor (102) is fixed on the outside of the box (101); the central circular hole of the intermediate plate (104) in the front chamber is connected to the root of a circular tube (105), the head of the circular tube (105) is clamped between the second shaft (107) and the third shaft (108), the second shaft (107) is connected to the first gear (106), and the third shaft (108) is connected to the second gear (109), the first gear (106) and the second gear (109) are meshed; the second shaft (107) is connected to the output shaft of the second motor (111), and the second motor (111) is fixed on the outside of the box body (101); the guide tube (110) is connected to the front end side plate of the box body (101), and the guide tube (110) is connected to one end of the main body (2), and the other end of the main body (2) is fixed to the root of the circular tube (105) and stacked on its outer surface. By controlling the rotation of the first shaft (107), the friction between the main body (2) and the second shaft (107) and the third shaft (108) is used to control the growth and recovery of the main body (2).

3. The self-growing soft robot according to claim 2, wherein: The second shaft (107) and the third shaft (108) are vertically arranged one above the other.

4. The self-growing soft robot according to claim 2, wherein: The box body (101) is formed by splicing and sealing acrylic plates.

5. The self-growing soft robot according to claim 2, wherein: The camera device (3) comprises a nylon line (301), which is wound around a first shaft (103), passes through a circular tube (105) and is connected to a fixed tube (302), the fixed tube (302) is connected to a wired camera (303), and a camera wire of the wired camera (303) is led out from a long slot (3021) of the fixed tube (302) and placed outside the main body (2).

6. The self-growing soft robot according to claim 1, wherein: The main body (2) is made of a PE film cylinder.

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