Self-growing robot with active motor steering control unit

Abstract

The invention discloses a self-growing robot with a driving motor steering control unit, and relates to the technical field of self-growing robots, the self-growing robot is characterized in that the top end of a main body is fixedly connected with an arc-shaped top plate, the tail end of the main body is fixedly connected with an air inlet pipe through a base, and the side end of the top plate is fixedly connected with a screw rod; the driving motor steering control unit is rotatably connected with a plurality of rollers at equal intervals along the axis, power supply boards are installed at the two ends of the driving motor steering control unit respectively, and the rollers are in rolling connection with the inner wall of the body. Multiple groups of driving shafts are mounted on the inner wall of a channel formed in the control motor in the length direction of the control motor; the upper and lower ends of the control motor are slidably connected with the power supply plate through electrode plates; a battery on the driving motor steering control unit supplies power to a driving motor through a power supply plate and an electrode plate position, the phenomenon that a large number of wires are needed due to the fact that the driving motor needs wires to supply power is avoided, and the space and the weight in the main body are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of self-growing robots, in particular to a self-growing robot with an active motor steering control unit. Background Art

[0002] Self-growing robots are robots that can perform tasks such as movement, attachment, and exploration through self-construction. They mimic the growth of organisms, improving their shape and function through processes such as cell enlargement, division, and differentiation.

[0003] In the existing technology, self-growing robots are often driven by internal air pressure to grow. A control motor is installed inside the self-growing robot. When the self-growing robot turns, the control motor is powered by the corresponding wires. The control motor pulls the self-growing robot through the control wire, thereby realizing the turning operation of the self-growing robot.

[0004] However, as the length of the self-growing robot increases, the number of control motors required by the self-growing robot will also increase, and the number of wires used by the control motors will also increase. As a result, the volume of wires inside the self-growing robot will become very large, which is not conducive to the arrangement of the control motors on the self-growing robot, and may even affect the precise steering operation of the self-growing robot through the steering motor. Summary of the Invention

[0005] The purpose of the present invention is to provide a self-growing robot with an active motor steering control unit to solve the technical problem in the prior art that the length of the self-growing robot increases, the number of wires required increases, and the arrangement of the control motor is affected.

[0006] The technical problem to be solved by the present invention can be achieved through the following technical solutions: A self-growing robot with an active motor steering control unit, comprising: The main body has an arc-shaped top plate fixedly connected to the top of the main body, an air inlet pipe fixedly connected to the end of the main body through the base, and a screw fixedly connected to the side end of the top plate; An active motor steering control unit, wherein the active motor steering control unit is connected to a plurality of rollers rotatably equidistantly along the axis, power supply boards are respectively installed at both ends of the active motor steering control unit, and the rollers are in rolling connection with the inner wall of the main body; The control motor is provided with several groups of control motors at equal distances along the length direction of the main body and is fixedly connected to the inner wall of the main body. The several control motors are symmetrically arranged along the axial cross-section of the active motor steering control unit. The inner wall of the channel opened by the control motor is installed with several groups of drive shafts along the length direction of the control motor. The upper and lower ends of the control motor are slidingly connected to the power supply plate through the electrode plate, and the two ends of the drive shaft are rotationally connected to the inner wall of the channel. Several drive shafts are wound with pull wires, and the side ends of the pull wires are fixedly connected to the top plate.

[0007] As a further solution of the present invention: the side end of the control motor is fixedly connected to a positioning plate, and both ends of the active motor steering control unit are respectively installed with positioners, the axis of the positioner is perpendicular to the positioning plate, and the positioner does not contact the positioning plate.

[0008] As a further solution of the present invention: both ends of the power supply board are in arc shape, and a limiting component is provided between the power supply board and the active motor steering control unit.

[0009] As a further solution of the present invention: the limit assembly is provided with two groups, and is symmetrically arranged along the axial cross-section of the power supply board. The limit assembly includes: a limit spring and a limit column. A limit hole is opened inside the active motor steering control unit. The limit spring is arranged in the inner cavity of the limit hole. The two ends of the limit spring are respectively fixedly connected to the active motor steering control unit and the limit column. The limit column is slidably connected to the inner wall of the limit hole, and the side end of the limit column is fixedly connected to the power supply board.

[0010] As a further solution of the present invention: a plurality of guide rails are fixedly connected to the inner wall of the main body at equal distances along the axis, the roller is provided with a groove along the axis, both sides of the guide rail are fitted with the inner wall of the groove, and the inner cavity of the guide rail is connected with the inner cavity of the base.

[0011] As a further solution of the present invention: the side end of the base is fixedly connected to a detection cylinder through a connecting tube, the inner wall of the base is fixedly connected to a temperature detector, the side end of the detection cylinder is installed with a pressure gauge, the side end of the detection cylinder is fixedly connected to an air outlet valve, and the detection cylinder is connected to the inner cavity of the base through a connecting tube.

[0012] As a further solution of the present invention: the end of the pull wire is fixedly connected to a storage roller, a buffer assembly is installed at one end of the pull wire close to the base, and the side end of the storage roller is fixedly connected to the inner wall of the base through a storage motor.

[0013] As a further solution of the present invention: the buffer assembly includes: a buffer tube, a buffer plate and a buffer spring, a buffer hole is opened inside the buffer tube along the axial center line, the buffer spring is arranged in the buffer hole, both ends of the buffer spring are fixedly connected to the buffer plate respectively, the side end of the buffer plate is fixedly connected to the pull wire, and the buffer plate is slidably connected to the inner wall of the buffer hole.

[0014] As a further solution of the present invention: positioning grooves are respectively provided at the upper and lower ends of the inner wall of the buffer hole, and the upper and lower ends of the buffer plate are respectively connected to the inner wall of the positioning groove in a limiting manner and are slidably connected to the inner wall of the positioning groove.

[0015] As a further solution of the present invention: the channel passes through the interior of the control motor along the length direction of the control motor, the pull wire passes through the inner cavity of the channel, and the pull wire is sequentially output from the top and bottom of several drive shafts along the length direction of the control motor.

[0016] Beneficial effects of the present invention: 1. By setting an active motor steering control unit, a drive motor and a main body, the active motor steering control unit moves on the inner wall of the main body to the position where the main body needs to turn by controlling the roller. The power supply plate and the electrode plate on the active motor steering control unit are fitted together, and the battery on the active motor steering control unit supplies power to the drive motor through the power supply plate and the electrode plate, thereby avoiding the phenomenon that the drive motor needs to be powered by wires, resulting in a large number of wires being required, and saving space and weight inside the main body.

[0017] 2. The control motor drives several drive shafts to rotate synchronously. The rotating drive shaft drives the wound and connected pull wires to move. The pull wires pull the top plate to control the steering of the main body, thereby realizing automatic and precise steering operation of the main body. When the main body has turned to a certain angle, the active motor steering control unit controls the battery to stop powering the control motor, and then the active motor steering control unit moves to the next control motor, thereby realizing the operation of multiple steering of the main body.

[0018] 3. The top plate fixed on the top of the main body has hardness. When the top of the main body collides with a hard object, the top plate collides with the hard object. The top plate can protect the top of the main body to prevent the main body from colliding with the hard object during the turning process. The shape of the top plate can ensure that the top plate can slide along the surface of the hard object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a top view of the overall structure of the present invention; Figure 3 For the present invention Figure 2 AA section view of the overall structure; Figure 4 For the present invention Figure 2 BB section view of the overall structure; Figure 5 For the present invention Figure 4A magnified schematic diagram of the structure at E; Figure 6 It is a schematic diagram of the structure of the storage roller and the pull wire of the present invention; Figure 7 This is a schematic structural diagram of the buffer assembly of the present invention; Figure 8 For the present invention Figure 7 Cross-sectional view of buffer assembly CC; Figure 9 This is a schematic structural diagram of the active motor steering control unit of the present invention; Figure 10 This is a schematic diagram of the control motor structure of the present invention; Figure 11 It is a left view of the control motor structure of the present invention; Figure 12 For the present invention Figure 11 DD cross-sectional view of the control motor structure.

[0021] In the figure: 1. Main body; 2. Top plate; 3. Base; 4. Exhaust valve; 5. Detection cylinder; 6. Pressure gauge; 7. Inlet pipe; 8. Screw; 9. Pull wire; 10. Guide rail; 11. Active motor steering control unit; 12. Control motor; 13. Buffer tube; 14. Storage motor; 15. Storage roller; 16. Temperature detector; 17. Connecting tube; 18. Roller; 19. Limit spring; 20. Limit hole; 21. Limit column; 22. Power supply board; 23. Electrode plate; 24. Buffer hole; 25. Buffer plate; 26. Buffer spring; 27. Positioning groove; 28. Positioner; 29. ​​Positioning plate; 30. Channel; 31. Drive shaft. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] like Figures 1-12As shown, a self-growing robot with an active motor steering control unit includes: a main body 1, an active motor steering control unit 11 and a control motor 12. The top of the main body 1 is fixedly connected to a top plate 2 in an arc shape, the end of the main body 1 is fixedly connected to an air intake pipe 7 through a base 3, and the side end of the top plate 2 is fixedly connected to a screw 8. The active motor steering control unit 11 is equidistantly connected to a number of rollers 18 that rotate equidistantly along the axis. Power supply boards 22 are respectively installed at both ends of the active motor steering control unit 11. The rollers 18 are rollingly connected to the inner wall of the main body 1. The control motors 12 are equidistantly provided in several groups along the length direction of the main body 1 and are fixedly connected to the inner wall of the main body 1. The machine 12 is symmetrically arranged along the axial cross-section of the active motor steering control unit 11. The inner wall of the channel 30 opened by the control motor 12 is equipped with several groups of drive shafts 31 along the length direction of the control motor 12. The upper and lower ends of the control motor 12 are slidingly connected to the power supply board 22 through the electrode plate 23. The two ends of the drive shaft 31 are rotationally connected to the inner wall of the channel 30. Several drive shafts 31 are wound and connected with the pull wire 9. The side end of the pull wire 9 is fixedly connected to the top plate 2. The inflation device and the air intake pipe 7 of the prior art are installed. When the inflation device is running, the inflation device inflates the gas into the inner cavity of the base 3 through the air intake pipe 7. The increase in air pressure will expand the main body 1, and the main body 1 can grow automatically.

[0024] When the main body 1 has finished growing and needs to be turned, the active motor steering control unit 11 drives the roller 18 to rotate, and the roller 18 rolls along the inner wall of the main body 1, so that the active motor steering control unit 11 can move in the inner cavity of the main body 1, and the active motor steering control unit 11 moves to the position where the main body 1 needs to turn. At this time, the power supply plates 22 installed at both ends of the active motor steering control unit 11 slide along the surface of the electrode plate 23. When the active motor steering control unit 11 moves to the position where the main body 1 needs to turn, the active motor steering control unit 11 controls the roller 18 to stop rotating. The active motor steering control unit 11 stores a battery, and the power supply plates 22 fixed at the upper and lower ends of the control motor 12 are respectively positive and negative poles. The battery supplies power, and the electric energy is transmitted to the electrode plate 23 through the power supply plate 22. The electrode plate 23 transmits the electric energy to the control motor 12, thereby achieving the effect of automatically powering the control motor 12, avoiding the phenomenon that the control motor 12 is powered by wires, resulting in a large number of wires required for the control motor 12, saving space and weight inside the main body 1.

[0025] When the control motor 12 is powered by the battery, the control motor 12 drives several drive shafts 31 to rotate synchronously. The rotating drive shafts 31 drive the wound and connected pull wires 9 to move. The pull wires 9 pull the top plate 2 to control the steering of the main body 1, thereby realizing automatic and precise steering operations of the main body 1. The position of the control motor 12 can ensure that the main body 1 can turn in two directions. When the main body 1 has turned a certain angle, the active motor steering control unit 11 controls the battery to stop powering the control motor 12, and then the active motor steering control unit 11 moves to the next control motor 12, thereby realizing that the main body 1 can perform multiple steering operations.

[0026] When the main body 1 turns, the main body 1 drives the top to move. The main body 1 is generally made of rubber material. When the main body 1 is used in exploration and rescue scenarios, the top of the main body 1 is prone to collide with hard objects, which causes the top of the main body 1 to break, thereby causing the main body 1 to leak air, thereby affecting the steering operation of the main body 1. The top plate 2 fixed on the top of the main body 1 has hardness. When the top of the main body 1 collides with a hard object, the top plate 2 collides with the hard object. The top plate 2 can protect the top of the main body 1 to prevent the main body 1 from colliding with the hard object during the turning process. The shape of the top plate 2 can ensure that the top plate 2 can slide along the surface of the hard object.

[0027] The screw 8 fixed on the side end surface of the top plate 2 can be used to fix the detection equipment. The detection equipment is installed on the screw 8 through a bolt connection. When the main body 1 turns, the main body 1 can turn with the detection equipment, so that the detection equipment can be turned and used through the main body 1 in exploration and rescue scenarios.

[0028] In some specific implementation schemes, the side end of the control motor 12 is fixedly connected to a positioning plate 29, and the two ends of the active motor steering control unit 11 are respectively installed with a positioner 28, the axis of the positioner 28 is perpendicular to the positioning plate 29, and the positioner 28 does not contact the positioning plate 29. When the main body 1 turns, in order to further determine that the active motor steering control unit 11 moves to a specific steering position of the main body 1, since the control motors 12 are equidistantly arranged in several groups in the main body 1, each group of control motors 12 is numbered by the positioning plate 29, and each group of control motors 12 is fixed at each specific steering position of the main body 1, when the active motor When the steering control unit 11 moves to the position where the main body 1 needs to turn, the positioner 28 fixed on the active motor steering control unit 11 can detect the corresponding positioning plate 29. At this time, the active motor steering control unit 11 can stay next to the specific control motor 12, and then power the control motor 12. When the length of the main body 1 becomes longer and more control motors 12 are required, the control motors 12 can be classified by the positioning plate 29 to avoid the phenomenon that too many control motors 12 cause the active motor steering control unit 11 to be misplaced during the movement, thereby ensuring the steering accuracy of the main body 1.

[0029] In some specific embodiments, the two ends of the power supply plate 22 are respectively in the shape of an arc, and a limiting component is provided between the power supply plate 22 and the active motor steering control unit 11. When the power supply plate 22 starts to slide along the electrode plate 23, in order to avoid the edge of the power supply plate 22 and the electrode plate 23 from getting stuck, the shape of the two ends of the power supply plate 22 can ensure that the edge of the power supply plate 22 slides from the surface of the electrode plate 23. Since the main body 1 is driven to grow by air pressure, the inner wall of the main body 1 is elastic. When the power supply plate 22 and the electrode plate 23 are fitted together, a gap is easily formed between the power supply plate 22 and the electrode plate 23. When the power supply plate 22 and the electrode plate 23 are fitted together, the limiting component can support the power supply plate 22, so that the power supply plate 22 and the electrode plate 23 are fully fitted together, and the power supply plate 22 can be connected to the battery on the active motor steering control unit 11 through a wire.

[0030] In some specific embodiments, there are two groups of limit assemblies, which are symmetrically arranged along the axial cross-section of the power supply board 22. The limit assemblies include: a limit spring 19 and a limit column 21. A limit hole 20 is opened inside the active motor steering control unit 11. The limit spring 19 is arranged in the inner cavity of the limit hole 20. The two ends of the limit spring 19 are respectively fixedly connected to the active motor steering control unit 11 and the limit column 21. The limit column 21 is slidably connected to the inner wall of the limit hole 20. The side end of the limit column 21 is fixedly connected to the power supply board 22. When the power supply board 22 begins to slide along the electrode plate 23, the two groups of power supply boards 22 begin to open, and the power supply board 22 slides along the inner wall of the limit hole 20 with the limit column 21. The limit column 21 compresses the limit spring 19, and the elastic tension provided by the limit spring 19 is transmitted to the power supply board 22 through the limit column 21, thereby ensuring that the power supply board 22 and the electrode plate 23 are fully fitted, wherein the limit column 21 is not conductive.

[0031] In some specific embodiments, a plurality of guide rails 10 are fixedly connected to the inner wall of the main body 1 at equal intervals along the axis, and a groove is opened on the roller 18 along the axis. The two sides of the guide rail 10 are in contact with the inner wall of the groove. The inner cavity of the guide rail 10 is connected to the inner cavity of the base 3. When the active motor steering control unit 11 controls the roller 18 fixed in the inner cavity of the main body 1 to move, in order to avoid the phenomenon that the active motor steering control unit 11 rotates when moving in the main body 1, which causes the power supply plate 22 to be unable to fit with the electrode plate 23, when the active motor steering control unit 11 controls the roller 18 to rotate, the groove opened on the roller 18 rolls along the guide rail 10, and the guide rail 10 provides a limiting guide for the roller 18 by fitting with the groove, thereby avoiding the phenomenon that the active motor steering control unit 11 rotates. When the main body 1 grows by air pressure, the inner cavity of the guide rail 10 is also inflated by air pressure. When the main body 1 discharges gas for storage, the gas in the inner cavity of the guide rail 10 is also discharged, thereby facilitating the storage of the guide rail 10.

[0032] In some specific embodiments, the side end of the base 3 is fixedly connected to the detection cylinder 5 through a connecting tube 17, the inner wall of the base 3 is fixedly connected to a temperature detector 16, the side end of the detection cylinder 5 is installed with a pressure gauge 6, the side end of the detection cylinder 5 is fixedly connected to the air outlet valve 4, and the detection cylinder 5 is connected to the inner cavity of the base 3 through the connecting tube 17. When the main body 1 turns, the volume of the inner cavity of the main body 1 begins to decrease, the air pressure in the inner cavity of the main body 1 increases, the air pressure in the inner cavity of the detection cylinder 5 and the base 3 remains consistent, and the air pressure value in the inner cavity of the detection cylinder 5 can be displayed by the pressure gauge 6. When the air pressure value in the inner cavity of the detection cylinder 5 increases, in order to ensure that the air pressure in the main body 1 is maintained at a stable value, the air outlet valve 4 operates, and the air outlet valve 4 discharges the gas in the inner cavity of the base 3, thereby ensuring that the air pressure in the inner cavity of the main body 1 is in a stable state.

[0033] When the control motor 12 and the active motor steering control unit 11 generate heat during operation, if the main body 1 cannot discharge the heat in time, the temperature of the inner cavity of the main body 1 and the base 3 will rise. The temperature detector 16 can detect the temperature of the inner cavity of the main body 1 and the base 3 in real time. The temperature increase will also cause the air pressure in the inner cavity of the main body 1 to increase, which can facilitate the staff to detect the steering angle of the main body 1.

[0034] In some specific embodiments, the end of the pull wire 9 is fixedly connected to a storage roller 15, and a buffer assembly is installed at the end of the pull wire 9 close to the base 3. The side end of the storage roller 15 is fixedly connected to the inner wall of the base 3 through the storage motor 14. When the main body 1 turns, the control motor 12 controls the drive shaft 31 to rotate and pull the pull wire 9. The pull wire 9 will have surplus. The surplus pull wire 9 will cause the drive shaft 31 and the pull wire 9 of the previous group of control motors 12 to loosen. The more times the main body 1 turns, the more positions the pull wire 9 has surplus. When the control motor 12 controls the drive shaft 31 to rotate and drive the loose pull wire 9 to move, the loose pull wire 9 will slip or even get stuck. In order to ensure that the pull wire 9 can be used multiple times.

[0035] When the control motor 12 controls the drive shaft 31 to rotate, and the drive shaft 31 drives the pull wire 9 to move, the storage motor 14 runs, and the storage motor 14 controls the storage roller 15 to rotate. The storage roller 15 rotates to pull the pull wire 9 and wraps it around the storage roller 15. For the non-rotating drive shaft 31, the pull wire 9 can drive the drive shaft 31 to rotate automatically, so that the storage roller 15 can store the surplus pull wire 9, thereby ensuring that the pull wire 9 is always in a tensioned state, avoiding the pull wire 9 from loosening on the drive shaft 31.

[0036] In some specific embodiments, the buffer assembly includes: a buffer tube 13, a buffer plate 25 and a buffer spring 26. A buffer hole 24 is opened inside the buffer tube 13 along the axis. The buffer spring 26 is arranged in the buffer hole 24. The two ends of the buffer spring 26 are respectively fixedly connected to the buffer plate 25. The side end of the buffer plate 25 is fixedly connected to the pull wire 9. The buffer plate 25 is slidably connected to the inner wall of the buffer hole 24. Since the driving shaft 31 drives the pull wire 9 to move and the storage roller 15 has an error in storing the pull wire 9, it makes the pull wire 9 prone to surplus or breakage. In order to avoid this from happening to the pull wire 9, This phenomenon can be buffered by the buffer component. When the storage roller 15 stores the wire 9 too quickly, the speed at which the storage roller 15 pulls the wire 9 becomes faster, and the wire 9 pulls the buffer plate 25 to slide along the inner wall of the buffer hole 24. At this time, the buffer spring 26 is in a gradually opening state. A sensor is installed on the buffer plate 25. When the elastic tension of the buffer spring 26 becomes larger, the sensor on the buffer plate 25 can be transmitted to the control end. The control end slows down the rotation speed of the storage roller 15 by controlling the storage motor 14, thereby ensuring that the wire 9 is always in a suitable tensioned state.

[0037] When there is a surplus of the pull wire 9, the buffer plate 25 slides along the inside of the buffer hole 24 to pull the pull wire 9. At this time, the buffer spring 26 begins to shorten. At this time, the pulling force of the buffer spring 26 pulling the buffer plate 25 becomes smaller. The sensor on the buffer plate 25 transmits the pulling force change of the buffer spring 26 to the control end, and the control end accelerates the rotation speed of the storage roller 15 by controlling the storage motor 14.

[0038] In some specific embodiments, positioning grooves 27 are respectively provided at the upper and lower ends of the inner wall of the buffer hole 24, and the upper and lower ends of the buffer plate 25 are respectively connected to the inner wall of the positioning groove 27 in a limiting manner, and are slidably connected to the inner wall of the positioning groove 27. When the buffer plate 25 slides along the inner wall of the buffer hole 24, in order to avoid the buffer plate 25 rotating and causing the buffer spring 26 to be over-compressed or stretched, resulting in the tension of the buffer spring 26 being not precise enough, the upper and lower ends of the buffer plate 25 are fitted with the inner wall of the positioning groove 27 to provide a limiting effect for the buffer plate 25, thereby avoiding the phenomenon of the buffer plate 25 rotating.

[0039] In some specific embodiments, the channel 30 passes through the interior of the control motor 12 along the length direction of the control motor 12, and the pull wire 9 passes through the inner cavity of the channel 30. The pull wire 9 is sequentially output from the top and bottom of several drive shafts 31 along the length direction of the control motor 12. When the drive shaft 31 pulls the pull wire 9, the pull wire 9 passes through the inner cavity of the channel 30. Since the pull wire 9 is sequentially wound on the drive shaft 31, the pull wire 9 is first wound and output from the top of the first group of drive shafts 31, and then the pull wire 9 starts to wind from the bottom of the second group of drive shafts 31, and then outputs from the bottom of the second group of drive shafts 31, and then the pull wire 9 starts to wind from the top of the third group of bases 3, and then outputs from the top of the third group of bases 3. The pull wire 9 is arranged on the drive shaft 31 in sequence. This wiring method can avoid the pull wire 9 from vibrating up and down when moving. A groove can be opened on the drive shaft 31, and the pull wire 9 is wound in the groove on the drive shaft 31. The groove limits the pull wire 9, thereby avoiding the lateral displacement of the pull wire 9.

[0040] The above describes several embodiments of the present invention in detail, but the embodiments of the present invention are not limited to these and should not be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A self-growing robot with an active motor steering control unit, characterized in that: include: A main body (1), wherein the top end of the main body (1) is fixedly connected to a top plate (2) in an arc shape, the end of the main body (1) is fixedly connected to an air inlet pipe (7) via a base (3), and the side end of the top plate (2) is fixedly connected to a screw (8); An active motor steering control unit (11), wherein the active motor steering control unit (11) is rotatably connected to a plurality of rollers (18) at equal intervals along an axis, power supply boards (22) are respectively installed at both ends of the active motor steering control unit (11), and the rollers (18) are rollingly connected to the inner wall of the main body (1); A control motor (12) is provided in a plurality of groups at equal intervals along the length direction of the main body (1) and fixedly connected to the inner wall of the main body (1). The plurality of control motors (12) are symmetrically arranged along the axial cross-section of the active motor steering control unit (11). The inner wall of the channel (30) opened by the control motor (12) is provided with a plurality of drive shafts (31) along the length direction of the control motor (12). The upper and lower ends of the control motor (12) are slidably connected to the power supply plate (22) through the electrode plate (23). The two ends of the drive shaft (31) are rotatably connected to the inner wall of the channel (30). The plurality of drive shafts (31) are wound with a pull wire (9), and the side end of the pull wire (9) is fixedly connected to the top plate (2).

2. A self-growing robot with an active motor steering control unit according to claim 1, characterized in that: The side end of the control motor (12) is fixedly connected to a positioning plate (29), and both ends of the active motor steering control unit (11) are respectively installed with positioners (28), the axis of the positioner (28) is perpendicular to the positioning plate (29), and the positioner (28) and the positioning plate (29) do not contact.

3. A self-growing robot with an active motor steering control unit according to claim 1, characterized in that: Both ends of the power supply board (22) are in an arc shape, and a limit assembly is provided between the power supply board (22) and the active motor steering control unit (11).

4. A self-growing robot with an active motor steering control unit according to claim 3, characterized in that: The limiting components are provided with two groups and are symmetrically arranged along the axial section of the power supply board (22). The limiting components include: a limiting spring (19) and a limiting column (21). A limiting hole (20) is provided inside the active motor steering control unit (11). The limiting spring (19) is arranged in the inner cavity of the limiting hole (20). The two ends of the limiting spring (19) are fixedly connected to the active motor steering control unit (11) and the limiting column (21) respectively. The limiting column (21) is slidably connected to the inner wall of the limiting hole (20), and the side end of the limiting column (21) is fixedly connected to the power supply board (22).

5. The self-growing robot with an active motor steering control unit according to claim 1, characterized in that: The inner wall of the main body (1) is fixedly connected with a plurality of guide rails (10) at equal intervals along the axis. The roller (18) is provided with a groove along the axis. Both sides of the guide rail (10) are in contact with the inner wall of the groove. The inner cavity of the guide rail (10) is connected with the inner cavity of the base (3).

6. A self-growing robot with an active motor steering control unit according to claim 5, characterized in that: The side end of the base (3) is fixedly connected to a detection cylinder (5) via a connecting tube (17), the inner wall of the base (3) is fixedly connected to a temperature detector (16), the side end of the detection cylinder (5) is installed with a pressure gauge (6), the side end of the detection cylinder (5) is fixedly connected to an air outlet valve (4), and the detection cylinder (5) is communicated with the inner cavity of the base (3) via the connecting tube (17).

7. The self-growing robot with an active motor steering control unit according to claim 1, characterized in that: The end of the pull wire (9) is fixedly connected to a receiving roller (15), and a buffer assembly is installed at one end of the pull wire (9) close to the base (3). The side end of the receiving roller (15) is fixedly connected to the inner wall of the base (3) via a receiving motor (14).

8. The self-growing robot with an active motor steering control unit according to claim 7, characterized in that: The buffer assembly includes: a buffer tube (13), a buffer plate (25) and a buffer spring (26); a buffer hole (24) is opened inside the buffer tube (13) along the axis; the buffer spring (26) is arranged in the buffer hole (24); both ends of the buffer spring (26) are fixedly connected to the buffer plate (25); the side end of the buffer plate (25) is fixedly connected to the pull wire (9); and the buffer plate (25) is slidably connected to the inner wall of the buffer hole (24).

9. A self-growing robot with an active motor steering control unit according to claim 8, characterized in that: Positioning grooves (27) are respectively provided at the upper and lower ends of the inner wall of the buffer hole (24), and the upper and lower ends of the buffer plate (25) are respectively connected to the inner wall of the positioning groove (27) in a limiting manner and are slidably connected to the inner wall of the positioning groove (27).

10. The self-growing robot with an active motor steering control unit according to claim 1, characterized in that: The channel (30) passes through the interior of the control motor (12) along the length direction of the control motor (12), the pull wire (9) passes through the inner cavity of the channel (30), and the pull wire (9) is sequentially output from the top and bottom of the plurality of drive shafts (31) along the length direction of the control motor (12).

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