A self-growing robot with active motor steering control unit

Abstract

The application discloses a self-growing robot with a main motor steering control unit and relates to the technical field of self-growing robots.The self-growing robot comprises a top plate in the shape of a circular arc fixedly connected to the top end of a main body, an air inlet pipe fixedly connected to the tail end of the main body through a base, a screw rod fixedly connected to the side end of the top plate, a plurality of rollers equidistantly and rotationally connected to the main motor steering control unit along an axis, power supply plates respectively installed at the two ends of the main motor steering control unit, the rollers being rollingly connected to the inner wall of the main body, a plurality of groups of control motors being equidistantly arranged along the length direction of the main body, a plurality of groups of driving shafts being installed on the inner wall of a channel of the control motor along the length direction of the control motor, and the upper and lower ends of the control motor being slidably connected to the power supply plates through electrode plates.The battery on the main motor steering control unit supplies power to the driving motor through the power supply plates and the electrode plates, the phenomenon that the driving motor needs to be supplied with power through a large number of wires is avoided, and the space and weight inside the main body are saved.

Description

TECHNICAL FIELD

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

[0002] Self-growing robots are a class of robots that can perform tasks such as movement, attachment, exploration, etc. through self-building technology. They mimic the growth phenomenon of living organisms and achieve improvement in body shape and function through cell enlargement, division and differentiation processes.

[0003] In the prior art, self-growing robots often grow through internal air pressure driving. The self-growing robot is internally installed with a control motor. When the self-growing robot turns, the control motor is powered by the corresponding power cord. The control motor pulls the self-growing robot through the control pull line, thereby realizing the steering 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 also increases, and the number of power cords used by the control motor also increases, which results in a very large volume of power cords inside the self-growing robot, which is not conducive to the arrangement of the control motor on the self-growing robot, and even affects the precise steering operation of the self-growing robot through the steering motor. SUMMARY

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

[0006] The technical problem to be solved by the present application can be solved by the following technical scheme:

[0007] A self-growing robot with active motor steering control unit, comprising:

[0008] A main body, the top end of the main body is fixedly connected with a top plate in the shape of a circular arc, the distal 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;

[0009] An active motor steering control unit, the active motor steering control unit is rotationally connected with a plurality of rollers at equal intervals along an axis, and the two ends of the active motor steering control unit are respectively provided with a power supply plate, and the rollers are rollingly connected with the inner wall of the main body;

[0010] The control motor is equidistantly arranged along the length direction of the main body and is fixedly connected with the inner wall of the main body, a plurality of control motors are symmetrically arranged along the axial section of the main motor steering control unit, a plurality of drive shafts are arranged along the length direction of the control motor in the channel of the control motor, the upper and lower ends of the control motor are slidably connected with the power supply plate through the electrode plate, the two ends of the drive shaft are rotatably connected with the inner wall of the channel, a plurality of pull wires are wound on the drive shafts, and the side end of the pull wire is fixedly connected with the top plate.

[0011] As a further scheme of the present application, the side end of the control motor is fixedly connected with a positioning plate, the two ends of the main motor steering control unit are respectively provided with a positioner, the axis of the positioner is perpendicular to the positioning plate, and the positioner is not in contact with the positioning plate.

[0012] As a further scheme of the present application, the two ends of the power supply plate are respectively in the shape of a circular arc, and a limiting assembly is arranged between the power supply plate and the main motor steering control unit.

[0013] As a further scheme of the present application, the limiting assembly is provided with two groups and is symmetrically arranged along the axial section of the power supply plate, and the limiting assembly comprises a limiting spring and a limiting column, a limiting hole is arranged in the main motor steering control unit, the limiting spring is arranged in the inner cavity of the limiting hole, the two ends of the limiting spring are fixedly connected with the main motor steering control unit and the limiting column respectively, the limiting column is slidably connected with the inner wall of the limiting hole, and the side end of the limiting column is fixedly connected with the power supply plate.

[0014] As a further scheme of the present application, a plurality of guide rails are equidistantly fixedly connected with the inner wall along the axis, a groove is arranged in the roller along the axis, the two sides of the guide rail are attached to the inner wall of the groove, and the inner cavity of the guide rail is communicated with the inner cavity of the base.

[0015] As a further scheme of the present application, the side end of the base is fixedly connected with a detection cylinder through a connecting pipe, a temperature detector is fixedly connected with the inner wall of the base, a pressure gauge is arranged at the side end of the detection cylinder, an air outlet valve is fixedly connected with the side end of the detection cylinder, and the detection cylinder is communicated with the inner cavity of the base through the connecting pipe.

[0016] As a further scheme of the present application, the end of the pull wire is fixedly connected with a storage roller, a buffer assembly is arranged at one end of the pull wire close to the base, and the side end of the storage roller is fixedly connected with the inner wall of the base through a storage motor.

[0017] As a further scheme of the present application, the buffer assembly comprises a buffer pipe, a buffer plate and a buffer spring, a buffer hole is arranged in the buffer pipe along the axis, the buffer spring is arranged in the buffer hole, the two ends of the buffer spring are fixedly connected with the buffer plate respectively, the side end of the buffer plate is fixedly connected with the pull wire, and the buffer plate is slidably connected with the inner wall of the buffer hole.

[0018] As a further scheme of the present application: the upper and lower ends of the inner wall of the buffer hole are respectively provided with positioning grooves, the upper and lower ends of the buffer plate are respectively connected with the inner wall of the positioning groove in a limiting manner and are connected with the inner wall of the positioning groove in a sliding manner.

[0019] As a further scheme of the present application: the channel penetrates through the inside of the control motor along the length direction of the control motor, the pull wire penetrates through the inner cavity of the channel, and the pull wire is sequentially led out from the top and bottom of the plurality of drive shafts along the length direction of the control motor.

[0020] The present application has the following beneficial effects:

[0021] 1. By setting the active motor steering control unit, the drive motor and the main body, the active motor steering control unit moves the roller to the position where the main body needs to turn by controlling the roller on the inner wall of the main body, the power supply plate and the electrode plate on the active motor steering control unit are attached, 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 a large number of wires for power supply, saving the space and weight inside the main body.

[0022] 2. The control motor drives the plurality of drive shafts to rotate synchronously, the rotating drive shafts drive the connected pull wires to move, the pull wires pull the top plate to control the main body to turn, thereby realizing automatic and accurate turning operation of the main body. When the main body turns to a certain angle, the active motor steering control unit controls the battery to stop supplying power to the control motor, and then the active motor steering control unit moves to the next control motor, thereby realizing the operation that the main body can turn multiple times.

[0023] 3. The top plate fixed at the top end of the main body has hardness, when the top end of the main body collides with a hard material, the top plate collides with the hard material, the top plate can protect the top end of the main body, avoid the main body colliding with the hard material during turning, and the shape of the top plate can ensure that the top plate can slide along the surface of the hard material. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described below with reference to the drawings.

[0025] Figure 1 It is a general structure schematic view of the present application;

[0026] Figure 2 It is a general structure top view of the present application;

[0027] Figure 3 It is a general structure of the present application Figure 2 A-A sectional view of the general structure;

[0028] Figure 4 It is a general structure of the present application Figure 2Overall structure B-B cross-sectional view;

[0029] Figure 5 The structure of E of the application Figure 4 Enlarged schematic view of the structure at E;

[0030] Figure 6 The schematic diagram of the storage roller and pull wire structure of the application;

[0031] Figure 7 The schematic diagram of the buffer assembly structure of the application;

[0032] Figure 8 The structure of C of the application Figure 7 Buffer assembly C-C cross-sectional view;

[0033] Figure 9 The schematic diagram of the active motor steering control unit structure of the application;

[0034] Figure 10 The schematic diagram of the control motor structure of the application;

[0035] Figure 11 The left view of the control motor structure of the application;

[0036] Figure 12 The structure of D of the application Figure 11 Control motor structure D-D cross-sectional view.

[0037] In the figure: 1, main body; 2, top plate; 3, base; 4, air outlet valve; 5, detection cylinder; 6, pressure gauge; 7, air inlet pipe; 8, screw; 9, pull wire; 10, guide rail; 11, active motor steering control unit; 12, control motor; 13, buffer pipe; 14, storage motor; 15, storage roller; 16, temperature detector; 17, connecting pipe; 18, roller; 19, limit spring; 20, limit hole; 21, limit column; 22, power supply plate; 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

[0038] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0039] As Figures 1-12As shown, a self-growing robot with active motor steering control unit, including: the main body 1, active motor steering control unit 11 and control motor 12, the top of the main body 1 is fixedly connected with the top plate 2 in the shape of a circular arc, the tail end of the main body 1 is fixedly connected with the air inlet pipe 7 through the base 3, the side end of the top plate 2 is fixedly connected with the screw rod 8, the active motor steering control unit 11 is equidistantly rotationally connected with a plurality of rollers 18 along the axis, the active motor steering control unit 11 is respectively provided with a power supply plate 22 at both ends, the roller 18 is rollingly connected with the inner wall of the main body 1, a plurality of control motors 12 are equidistantly arranged along the length direction of the main body 1 and fixedly connected with the inner wall of the main body 1, a plurality of control motors 12 are symmetrically arranged along the axial section of the active motor steering control unit 11, a plurality of drive shafts 31 are mounted on the inner wall of the channel 30 of the control motor 12 along the length direction of the control motor 12, the control motor 12 is slidably connected with the power supply plate 22 through the electrode plate 23 at both ends, the drive shaft 31 is rotationally connected with the inner wall of the channel 30 at both ends, a plurality of drive shafts 31 are woundly connected with the pull wire 9, and the side end of the pull wire 9 is fixedly connected with the top plate 2. The existing inflation device and the air inlet pipe 7 are installed, the inflation device is operated, the inflation device inflates the air in the inner cavity of the base 3 through the air inlet pipe 7, the air pressure increases to open the main body 1, and the main body 1 can automatically grow.

[0040] When the main body 1 needs to be turned after growing, the active motor steering control unit 11 drives the roller 18 to rotate, 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, the active motor steering control unit 11 moves to the position where the main body 1 needs to be turned, 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 be turned, the active motor steering control unit 11 controls the roller 18 to stop rotating, the active motor steering control unit 11 stores a battery, the power supply plates 22 fixed at both ends of the control motor 12 are positive and negative respectively, the battery supplies power, 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 realizing the effect of automatically supplying power to the control motor 12, avoiding the phenomenon that the control motor 12 needs a large number of wires for power supply, saving the space and weight inside the main body 1.

[0041] When the control motor 12 is powered by the battery, the control motor 12 drives several drive shafts 31 to rotate synchronously, and the rotating drive shafts 31 drive the connected pull wires 9 to move, and the pull wires 9 pull the top plate 2 to control the body 1 to turn, thereby realizing the automatic and precise turning operation of the body 1. The position of the control motor 12 can ensure that the body 1 can turn in two directions. When the body 1 turns to a certain angle, the active motor turning control unit 11 controls the battery to stop supplying power to the control motor 12, and then the active motor turning control unit 11 moves to the next control motor 12, thereby realizing the operation of the body 1 can turn multiple times.

[0042] When the body 1 turns, the body 1 moves the top end. The body 1 is generally made of rubber material, and the body 1 is used in exploration and rescue scenes. The top end of the body 1 is easy to collide with hard substances, which causes the top end of the body 1 to break, causing the body 1 to leak, thereby affecting the turning operation of the body 1. The top plate 2 fixed to the top end of the body 1 has hardness. When the top end of the body 1 collides with hard substances, the top plate 2 collides with hard substances, and the top plate 2 can protect the top end of the body 1 from colliding with hard substances during turning. The shape of the top plate 2 can ensure that the top plate 2 can slide along the surface of the hard substance.

[0043] The screw rod 8 fixed to 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 rod 8 through bolt connection. When the body 1 turns, the body 1 can turn with the detection equipment, so that the detection equipment can be used in exploration and rescue scenes through the body 1.

[0044] In some specific embodiments, the control motor 12 is fixedly connected with a positioning plate 29 at one end, and the active motor steering control unit 11 is respectively provided with a positioner 28 at both ends. 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 is steering, 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 motor 12 is equidistantly arranged in the main body 1, each group of control motor 12 is numbered by the positioning plate 29, and each group of control motor 12 is fixed at each specific steering position of the main body 1. When the active motor steering control unit 11 moves to the position where the main body 1 needs to be steered, 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 beside the specific control motor 12, thereby supplying power to the control motor 12. When the length of the main body 1 becomes larger and more control motors 12 are needed, the control motor 12 can be classified by the positioning plate 29, so as to avoid the phenomenon that the active motor steering control unit 11 is dislocated during movement when there are too many control motors 12, thereby ensuring the accuracy of steering of the main body 1.

[0045] In some specific embodiments, the power supply plate 22 is respectively provided with a circular arc shape at both ends, and a limiting assembly is arranged 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 phenomenon that the edge of the power supply plate 22 is stuck with the electrode plate 23, the shape of both 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 attached, 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 attached, the limiting assembly can resist the power supply plate 22, so that the power supply plate 22 and the electrode plate 23 are fully attached. The power supply plate 22 can be connected to the battery on the active motor steering control unit 11 through the wire.

[0046] In some specific embodiments, two sets of limiting components are provided and symmetrically arranged along the axial section of the power supply plate 22, and the limiting component comprises a limiting spring 19 and a limiting column 21, a limiting hole 20 is formed in the interior of 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 with the active motor steering control unit 11 and the limiting column 21 respectively, the limiting column 21 is in sliding connection with the inner wall of the limiting hole 20, and the side end of the limiting column 21 is fixedly connected with the power supply plate 22. When the power supply plate 22 starts to slide along the electrode plate 23, the two sets of power supply plates 22 start to open, the power supply plate 22 slides along the inner wall of the limiting hole 20 with the limiting column 21, the limiting column 21 compresses the limiting spring 19, and the elastic tension provided by the limiting spring 19 is transmitted to the power supply plate 22 through the limiting column 21, so that the power supply plate 22 and the electrode plate 23 are fully attached. The limiting column 21 has no conductivity.

[0047] In some specific embodiments, a plurality of guide rails 10 are fixedly connected to the inner wall of the main body 1 along the axial line, a groove is formed in the roller 18 along the axial line, the two sides of the guide rail 10 are attached to the inner wall of the groove, and the inner cavity of the guide rail 10 is in communication with the inner cavity of the base 3. When the active motor steering control unit 11 controls the roller 18 to move in the inner cavity of the main body 1, in order to avoid the phenomenon that the active motor steering control unit 11 rotates when moving in the main body 1, causing the power supply plate 22 to fail to attach to the electrode plate 23, when the active motor steering control unit 11 controls the roller 18 to rotate, the groove formed in the roller 18 rolls along the guide rail 10, and the guide rail 10 provides a limiting guide for the roller 18 by attaching to 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, and 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 effect of the guide rail 10.

[0048] In some specific embodiments, the base 3 is fixedly connected with a detection cylinder 5 through a connecting pipe 17, the inner wall of the base 3 is fixedly connected with 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 with an air outlet valve 4, and the detection cylinder 5 is in communication with the inner cavity of the base 3 through the connecting pipe 17. When the main body 1 turns, the volume of the inner cavity of the main body 1 starts 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 is consistent with that in the inner cavity of the base 3, 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 remains at a stable value, the air outlet valve 4 operates to discharge the gas in the inner cavity of the base 3, so that the air pressure in the inner cavity of the main body 1 can be kept in a stable state.

[0049] When the control motor 12 and the active motor steering control unit 11 generate heat, if the main body 1 cannot timely discharge the heat, the temperature of the main body 1 and the inner cavity of the base 3 will rise, and the temperature detector 16 can detect the temperature of the main body 1 and the inner cavity of the base 3 in real time. The increase in temperature can also cause the air pressure in the inner cavity of the main body 1 to increase, which can facilitate the detection of the steering angle of the main body 1 by the staff.

[0050] In some specific embodiments, the end of the pull wire 9 is fixedly connected with a storage roller 15, and the pull wire 9 is provided with a buffer assembly at one end close to the base 3. The side end of the storage roller 15 is fixedly connected with the inner wall of the base 3 through a storage motor 14. After the main body 1 is steered, the control motor 12 controls the driving shaft 31 to rotate and pull the pull wire 9. The pull wire 9 will appear surplus. The surplus pull wire 9 will cause the driving shaft 31 and the pull wire 9 of the last group of control motors 12 to loosen. The more the main body 1 is steered, the more the surplus position of the pull wire 9 appears. When the control motor 12 controls the driving shaft 31 to rotate and drive the loosened pull wire 9 to move, the loosened pull wire 9 will slip or even be stuck. In order to ensure that the pull wire 9 can be used repeatedly.

[0051] When the control motor 12 controls the driving shaft 31 to rotate and drive the pull wire 9 to move, the storage motor 14 operates, the storage motor 14 controls the storage roller 15 to rotate, and the storage roller 15 rotates and pulls the pull wire 9 to wind on the storage roller 15. For the driving shaft 31 that does not rotate, the pull wire 9 can automatically rotate the driving shaft 31, so that the storage roller 15 stores the surplus pull wire 9, thereby ensuring that the pull wire 9 is always in a tensioned state, avoiding the loosening of the pull wire 9 on the driving shaft 31.

[0052] In some specific embodiments, the buffer assembly comprises a buffer tube 13, a buffer plate 25 and a buffer spring 26. The buffer hole 24 is formed in the buffer tube 13 along the axis. The buffer spring 26 is arranged in the buffer hole 24. The buffer spring 26 is fixedly connected with the buffer plate 25 at both ends. The buffer plate 25 is fixedly connected with the pull wire 9 at the side end. The buffer plate 25 is slidably connected with the inner wall of the buffer hole 24. Since there is an error in the movement of the driving shaft 31 and the storage of the pull wire 9 by the storage roller 15, the pull wire 9 is prone to surplus or breakage. In order to avoid this phenomenon of the pull wire 9, the pull wire 9 can be buffered by the buffer assembly. When the storage roller 15 stores the pull wire 9 too fast, the storage roller 15 pulls the pull wire 9 at a faster speed, and the pull 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 opened state. The buffer plate 25 is provided with a sensor. When the elastic tension of the buffer spring 26 increases, the sensor on the buffer plate 25 can transmit to the control end. The control end slows down the rotating speed of the storage roller 15 by controlling the storage motor 14, thereby ensuring that the pull wire 9 is always in a suitable tensioned state.

[0053] When the surplus of the pull wire 9 appears, 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 starts to shorten, at this time, the pulling force of the buffer spring 26 to the buffer plate 25 becomes small, the sensor on the buffer plate 25 transmits the change of the pulling force of the buffer spring 26 to the control end, and the control end controls the storage motor 14 to speed up the rotating speed of the storage roller 15.

[0054] In some specific embodiments, the upper and lower ends of the inner wall of the buffer hole 24 are respectively provided with positioning grooves 27, and the upper and lower ends of the buffer plate 25 are respectively connected with the inner wall of the positioning groove 27 in a limiting and sliding manner. When the buffer plate 25 slides along the inner wall of the buffer hole 24, in order to avoid the self-rotation of the buffer plate 25 leading to the excessive compression or expansion of the buffer spring 26, resulting in the inaccurate pulling force of the buffer spring 26, the upper and lower ends of the buffer plate 25 are limited by the inner wall of the positioning groove 27, thereby avoiding the self-rotation of the buffer plate 25.

[0055] In some specific embodiments, the channel 30 penetrates the inside of the control motor 12 along the length direction of the control motor 12, the pull wire 9 penetrates the inner cavity of the channel 30, and the pull wire 9 is sequentially out of the top and bottom of the plurality of 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 penetrates the inner cavity of the channel 30. Since the pull wire 9 is sequentially wound on the drive shafts 31, the pull wire 9 is first wound on the top of the first group of drive shafts 31 and then out of the top, then the pull wire 9 is wound on the bottom of the second group of drive shafts 31 and then out of the bottom, then the pull wire 9 is wound on the top of the third group of bases 3 and then out of the top, and the pull wire 9 is sequentially arranged on the drive shafts 31. The pull wire 9 can avoid the up-and-down vibration phenomenon during movement by this wiring method. The drive shaft 31 can be provided with a groove, and the pull wire 9 is wound in the groove on the drive shaft 31, so as to limit the pull wire 9 and avoid the horizontal deviation of the pull wire 9.

[0056] The above describes several embodiments of the present application in detail, but the embodiments of the present application are not limited to this, and cannot be considered as limiting the scope of the present application. Any equivalent changes and improvements made within the scope of the present application should still belong to the patent coverage of the present application.

Claims

1. A self-growing robot with active electric motor steering control unit, characterized by, The utility model relates to a kind of automatic control device of air supply, including: Main body (1), the top end fixed connection of the main body (1) is top plate (2) in arc shape, main body (1) end is fixedly connected with air inlet pipe (7) by pedestal (3), the side end fixed connection of the top plate (2) is screw rod (8); Active motor steering control unit (11), the active motor steering control unit (11) is equally spaced rotationally connected with several rollers (18) along axis, active motor steering control unit (11) both ends are respectively installed with power supply plate (22), the roller (18) is rollingly connected with the inner wall of main body (1); Control motor (12), the control motor (12) is equally spaced along the length direction of main body (1), and is fixedly connected with the inner wall of main body (1), several control motors (12) are symmetrically arranged along the axis section of active motor steering control unit (11), the inner wall of channel (30) opened by control motor (12) is installed with several groups of drive shaft (31) along the length direction of control motor (12), control motor (12) upper and lower ends are slidably connected with power supply plate (22) by electrode plate (23), the both ends of drive shaft (31) are rotationally connected with the inner wall of channel (30), several drive shafts (31) are woundly connected with pull wire (9), the side end of pull wire (9) is fixedly connected with top plate (2); The pull wire (9) is alternately threaded and wound from the top and bottom of several drive shafts (31) in sequence along the length direction of control motor (12).

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

3. The self-growing robot with active motor steering control unit according to claim 1, wherein, The both ends of the power supply plate (22) are in arc shape, and a limiting assembly is arranged between the power supply plate (22) and the active motor steering control unit (11).

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

5. The self-growing robot with active motor steering control unit according to claim 1, wherein, The inner wall of the main body (1) is fixedly connected with several guide rails (10) along the axis, the roller (18) is provided with a groove along the axis, and the guide rail (10) is attached to the inner wall of the groove.

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

7. The self-growing robot with active motor steering control unit of claim 1, wherein, The pull wire (9) is fixedly connected with a receiving roller (15) at the end, and is provided with a buffer assembly at the end close to the base (3), and the side end of the receiving roller (15) is fixedly connected with the inner wall of the base (3) through a receiving motor (14).

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

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

10. The self-growing robot with active motor steering control unit of claim 1, wherein, The channel (30) penetrates the inside of the control motor (12) along the length direction of the control motor (12), the pull wire (9) penetrates the inner cavity of the channel (30), and the pull wire (9) is sequentially led out 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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