A frictionless self-growing robot

Abstract

This invention relates to the field of soft robot technology, specifically to a frictionless self-growing robot, comprising a base and a double-layer main structure mounted on one end of the base. The double-layer main structure includes an outer ring and an inner ring disposed inside the outer ring. A camera is mounted at the end of the inner ring. When the base is inflated, gas is simultaneously injected into the double-layer main structure. Subsequently, a pushing component acts on both the inner and outer layers of the inner ring, causing it to elongate. This elongation, combined with the gas injection, achieves overall growth, thereby causing the camera and the pull wire to extend synchronously. This effectively prevents the tip load mechanism from gradually detaching from the main body during growth. Simultaneously, under the push of the pushing component, the inner side of the outer ring elongates, and its inner fold unfolds, forming an outward-folding growth, thus preventing friction between the main body of the device and the external environment during the growth process.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, specifically to a frictionless self-growing robot. Background Technology

[0002] From conceptualization to practical application, self-growing robots require the installation of advanced payloads such as cameras to achieve complex functions like real-time image transmission. These payloads can be mounted in various ways, including wire-pulled, cap-type, and magnetic cap-type. Wire-pulled mounting, because it eliminates the need for numerous rigid devices (like caps) at the robot's end, allows the robot to flexibly navigate confined spaces through its own deformation, exhibiting high environmental adaptability. However, wire-pulled mounting also presents significant problems. During the robot's outward elongation, unavoidable friction exists between the main body and the pull wire. As the robot moves forward, it generates a forward frictional force on the pull wire. This friction causes the advanced payload to grow faster than the main body under the pull wire's traction. Consequently, during growth, the advanced payload gradually detaches from the main body, failing to grow synchronously and remaining permanently at the front end. Therefore, we propose a frictionless self-growing robot. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a frictionless self-growing robot, comprising a base and a double-layer main structure mounted at one end of the base. The double-layer main structure includes an outer annular body and an inner annular body disposed within the outer annular body. A camera is mounted at one end of the inner annular body, and a wire is connected to one side of the camera. The wire passes through the inner annular body, and one end of the wire is fixed to the inner wall of the inner annular body. A pushing component is disposed within the base and connected to both the outer and inner annular bodies. This device is used to assist in the elongation of the inner ring body and the outer ring body when inflating the base. The base is equipped with an end deformation component that connects to the outer and inner ring bodies. This component controls the elongation speed of the outer and inner ring bodies when inflating the base, allowing the device end to switch between parallel, concave, and convex shapes. The inner ring body is equipped with an air extraction component, which is used to extract air from the front of the device when the device end forms a concave suction cup state, in order to adsorb items.

[0004] In some embodiments, the outer ring body is provided with folding portions at equal intervals on its inner side, which are used to automatically unfold when the outer ring body is inflated and elongated.

[0005] In some embodiments, the pushing component includes two pairs of friction wheels symmetrically arranged in the base, with two friction wheels in each pair located in the outer ring and the inner ring respectively, and correspondingly contacting and abutting against the inner side of the outer ring and the outer side of the inner ring respectively.

[0006] A mounting plate is fixedly connected inside the base, and a drive motor is fixedly connected to the mounting plate. The output shaft of the drive motor is fixed to a friction wheel located inside the outer ring. A second mounting plate is fixedly connected inside the base, and a drive motor is also fixedly connected to the second mounting plate. The output shaft of the drive motor is fixed to a friction wheel located inside the inner ring.

[0007] In some embodiments, a pair of friction wheels are provided inside the base. Both friction wheels are located inside the inner ring and are in contact with the inner side of the inner ring. A drive motor is fixedly connected to the mounting plate and the output shaft of the drive motor is fixed to the friction wheels.

[0008] In some embodiments, the end deformable member includes a controller mounted on a base, the controller being electrically connected to a drive motor one, a drive motor two, and an inflation device electrically connected to the base.

[0009] In some embodiments, the air extraction assembly includes a flexible outer tube with one end fixedly connected to the middle of the inner ring body, the line body is disposed inside the flexible outer tube, and a support protrusion is fixedly connected between the line body and the flexible outer tube, and one end of the flexible outer tube passes through the base and is connected to an external pump, and one end of the flexible outer tube has a through hole.

[0010] In some embodiments, the first friction wheel adopts a hollow design, and one end of the first drive motor is located inside the first friction wheel. The second friction wheel has an arc-shaped groove for fitting the inner side of the inner ring.

[0011] The outer surfaces of both friction wheel one and friction wheel two are made of rubber, and anti-slip grooves are provided on the outer surfaces of both friction wheel one and friction wheel two. Both drive motor one and drive motor two are designed as self-locking motors.

[0012] In some embodiments, the base is rectangular, with the outer side of the outer ring fixedly connected to the base and its inner side stacked and stored inside the base;

[0013] The outer end of the inner ring is fixedly connected to the inner end of the outer ring, and both the inner and outer sides of the inner ring are stacked and housed in the base.

[0014] In some embodiments, the ends of the inner annulus are thickened.

[0015] The present invention has at least the following beneficial effects:

[0016] When the device is inflated into the base, the gas is simultaneously injected into the double-layer main structure. Subsequently, the pushing component acts on both the inner and outer layers of the inner ring, causing it to elongate. This, along with the gas injection, promotes overall growth, thereby causing the camera and the pull wire to extend synchronously. This effectively prevents the tip load mechanism from gradually detaching from the main body as it grows. At the same time, under the push of the pushing component, the inner side of the outer ring elongates, and its inner folded part unfolds, forming an outward-folding growth, thus preventing the main body of the device from rubbing against the external environment during the growth process.

[0017] Meanwhile, in the growth of the main body, the device uses end deformation components to control the elongation speed of the outer and inner rings, so as to switch the device ends between parallel, concave, and convex shapes to adapt to different external environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 For the present invention Figure 1 Schematic diagram of partial cross-section;

[0020] Figure 3 For the present invention Figure 2 Schematic diagram of the structure of area A in the middle;

[0021] Figure 4 For the present invention Figure 2 Schematic diagram of partial cross-section;

[0022] Figure 5 For the present invention Figure 4 Schematic diagram of the structure of area B in the middle.

[0023] In the diagram: 1-Base; 2-Double-layer main structure; 3-Outer ring; 4-Inner ring; 5-Camera; 6-Line; 7-Push component; 8-End deformation component; 9-Evacuation component; 31-Folding part; 32-Friction wheel one; 33-Mounting plate one; 34-Drive motor one; 35-Friction wheel two; 36-Drive motor two; 37-Controller; 38-Flexible outer tube; 39-Support protrusion; 41-Through hole; 42-Arc groove; 43-Anti-slip groove; 44-Mounting plate two. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figures 1-5 The present invention provides a technical solution: a frictionless self-growing robot, comprising a base 1, and further comprising:

[0026] A double-layer main structure 2 is installed at one end of the base 1; wherein, the double-layer main structure 2 includes an outer ring 3 and an inner ring 4 disposed inside the outer ring 3;

[0027] Camera 5 is installed at one end of the inner ring 4, and a wire 6 is connected to one side of camera 5. The wire 6 passes through the inner ring 4, and one end of the wire 6 is fixedly connected to the inner wall of the inner ring 4.

[0028] Push component 7 is set inside base 1 and connected to outer ring 3 and inner ring 4. When inflating base 1, it helps to push inner ring 4 to extend line 6 as a whole, while also causing outer ring 3 to extend outward.

[0029] The end deformation member 8 is disposed in the base 1 and connected to the outer ring 3 and the inner ring 4. It is used to control the elongation speed of the outer ring 3 and the inner ring 4 when the base 1 is inflated, so as to switch the end of the device between parallel, concave and convex.

[0030] The air extraction component 9 is disposed on the inner ring body 4. When the device is in a concave suction cup state at the end, the air extraction component 9 is used to extract air from the front end of the device to adsorb items.

[0031] Specifically, when the device inflates the base 1, the gas is simultaneously injected into the double-layer main structure 2. Subsequently, the pushing component 7 acts on both the inner and outer layers of the inner ring 4, causing it to elongate. This, along with the gas injection, enables the overall growth, thereby causing the camera 5 and the pull wire to extend synchronously. This effectively prevents the tip load mechanism from gradually detaching from the main body as it grows. At the same time, under the push of the pushing component 7, the inner side of the outer ring 3 elongates, and its inner fold 31 unfolds accordingly, forming an outward-folding growth. This prevents the main body of the device from rubbing against the external environment during the growth process.

[0032] Meanwhile, in the growth of the main body, the device uses the end deformation component 8 to control the elongation speed of the outer ring 3 and the inner ring 4, so as to switch the end of the device between parallel, concave and convex shapes to adapt to different external environments.

[0033] Folding portions 31 are provided at equal intervals on the inner side of the outer ring 3, which are used to automatically unfold when the outer ring 3 is inflated and elongated.

[0034] The pushing component 7 includes two pairs of friction wheels 32 symmetrically arranged in the base 1. Two of the friction wheels 32 in each pair are located in the outer ring 3 and the inner ring 4 respectively, and are in contact with the inner side of the outer ring 3 and the outer side of the inner ring 4 respectively. The pair of friction wheels 32 are designed to sandwich the outer ring 3 and the inner ring 4. This design can not only assist the outer ring 3 and the inner ring 4 to inflate and unfold when the base 1 is inflated, but also control the inflation degree of the inner ring 4.

[0035] A mounting plate 33 is fixedly connected inside the base 1, and a drive motor 34 is fixedly connected to the mounting plate 33. The output shaft of the drive motor 34 is fixedly connected to the friction wheel 32 located inside the outer ring 3. A mounting plate 44 is fixedly connected inside the base 1, and a drive motor 34 is also fixedly connected to the mounting plate 44. The output shaft of the drive motor 34 is fixedly connected to the friction wheel 32 located inside the inner ring 4. When the drive motor 34 is started, it drives the inner ring 4 to extend, and also drives the inner side of the outer ring 3 to extend.

[0036] A pair of friction wheels 35 are provided inside the base 1. Both friction wheels 35 are located inside the inner ring 4 and are in contact with the inner side of the inner ring 4. A drive motor 36 is fixedly connected to the mounting plate 44. The output shaft of the drive motor 36 is fixedly connected to the friction wheels 35.

[0037] The end deformable part 8 includes a controller 37 mounted on the base 1. The controller 37 is electrically connected to the first drive motor 34, the second drive motor 36 and the inflation device connected to the base 1 via wires, and is used to control the first drive motor 34, the second drive motor 36 and the inflation device connected to the base 1 via a program.

[0038] Specifically, during the normal growth phase of the device, the controller 37 precisely controls the synchronous operation of drive motor 34 and drive motor 36 according to a preset program, ensuring that their rotation speed perfectly matches the inflation rate of the inflation device. In this state, friction wheel 32 and friction wheel 35 rotate accordingly, appropriately loosening the inner ring 4 and the inner side of the outer ring 3, allowing the gas injected into the base 1 by the inflation device to enter the inner and outer rings 3 synchronously, ensuring that the ends of both extend synchronously, thereby achieving parallel and stable growth of the device ends.

[0039] When the device encounters confined spaces or bends during its growth process, the controller 37 responds quickly, controlling the drive motors 34 and 36 to accelerate synchronously, exceeding the inflation speed of the inflation device. At this time, friction wheels 32 and 35 accelerate their rotation, transitionally loosening the inner ring 4 and the inner side of the outer ring 3. As a result, the gas injected into the base 1 by the inflation device mainly flows into the inner ring 4, with only a small amount entering the outer ring 3. This causes the inner ring 4 to bulge relative to the outer ring 3, giving the device an outwardly convex conical shape at the end, effectively improving the device's smoothness of movement in confined spaces.

[0040] In other scenarios during device growth, the controller 37, through program control, synchronizes the rotation of drive motor 34 and drive motor 36 at a low speed, lower than the inflation speed of the inflation device. At this time, friction wheels 32 and 35 rotate slowly, gently releasing the inner ring 4 and the inner side of the outer ring 3. Consequently, the gas injected into the base 1 by the inflation device mainly enters the outer ring 3, with a small amount entering the inner ring 4, causing the outer ring 3 to bulge out of the inner ring 4, forming a concave suction cup shape at the end of the device. Subsequently, the suction assembly 9 activates, extracting air from the front of the device and using negative pressure to adsorb the object.

[0041] The air extraction assembly 9 includes a flexible outer tube 38 with one end fixedly connected to the middle of the inner ring body 4. A wire 6 is disposed inside the flexible outer tube 38, and a support protrusion 39 is fixedly connected between the wire 6 and the flexible outer tube 38. One end of the flexible outer tube 38 passes through the base 1 and is connected to an external pump via a conduit. A through hole 41 is provided at one end of the flexible outer tube 38. By activating the external pump, gas is extracted from the flexible outer tube 38, and then gas at the end of the device is extracted through the through hole 41.

[0042] Friction wheel 32 is hollow, and one end of drive motor 34 is located inside friction wheel 32 and is slidably connected to its inner wall. This design increases the contact area between friction wheel 32 and inner ring 4 and outer ring 3. Friction wheel 35 is provided with arc groove 42 for fitting the inner side of inner ring 4. This design increases the contact area between friction wheel 35 and inner ring 4, thereby improving the stability of the device.

[0043] The outer surfaces of friction wheel 32 and friction wheel 35 are both made of rubber, and anti-slip grooves 43 are provided on the outer surfaces of friction wheel 32 and friction wheel 35. This design increases the friction between friction wheel 32 and the inner ring 4 and the outer ring 3, and also increases the friction between friction wheel 35 and the inner side of the inner ring 4, thereby improving the stability of the device. In addition, drive motor 34 and drive motor 36 are both designed with self-locking motors to improve the locking effect of friction wheel 32 and friction wheel 35 on the device, thereby improving the stability of the device.

[0044] The base 1 adopts a rectangular design. The outer side of the outer ring 3 is fixedly connected to the base 1, and its inner side is stacked and stored inside the base 1. Due to the rectangular structure of the base 1, the end of the double-layer main structure 2 located inside the base 1 is constrained accordingly, thus also forming a rectangular shape. This design allows the reserved installation space inside to be more suitable for installing drive motor 1 34, drive motor 2 36, friction wheel 1 32, and friction wheel 2 35, ensuring the rationality and stability of the installation of each component.

[0045] The outer end of the inner ring 4 is fixedly connected to the inner end of the outer ring 3, and both the inner and outer sides of the inner ring 4 are stacked and stored in the base 1.

[0046] The inner ring body 4 has a thickened end design, which can significantly improve the rigidity of the inner ring body 4. When the end of the device forms a concave suction cup structure, it can effectively reduce the probability of deformation of the end of the inner ring body 4 as the center of the suction cup, ensuring the stability and reliability of the device in adsorption operations and other application scenarios.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A frictionless self-growing robot, comprising a base (1), characterized in that, It also includes: A double-layer main structure (2) is installed at one end of a base (1); wherein the double-layer main structure (2) includes an outer ring (3) and an inner ring (4) disposed inside the outer ring (3). A camera (5) is installed at one end of an inner ring (4), and a wire (6) is connected to one side of the camera (5). The wire (6) passes through the inner ring (4), and one end of the wire (6) is fixed to the inner wall of the inner ring (4). The push component (7) is set inside the base (1) and connected to the outer ring (3) and the inner ring (4). When the base (1) is inflated, it helps to push the inner ring (4) to extend the line (6) as a whole, while also causing the outer ring (3) to extend outward. The end deformation member (8) is set inside the base (1) and connected to the outer ring (3) and the inner ring (4). It is used to control the elongation speed of the outer ring (3) and the inner ring (4) when the base (1) is filled with air, so as to switch the end of the device between parallel, concave and convex. The air extraction component (9) is set on the inner ring body (4) and is used to extract air from the front end of the device when the device is in a concave suction cup state at the end of the device to adsorb the item. The outer ring (3) is provided with folding parts (31) at equal intervals on the inner side, which are used to automatically unfold when the outer ring (3) is inflated and elongated.

2. The frictionless self-growing robot according to claim 1, characterized in that: The pushing component (7) includes two pairs of friction wheels (32) symmetrically arranged in the base (1). Two of the friction wheels (32) in each pair are located in the outer ring (3) and the inner ring (4), respectively, and are in contact with the inner side of the outer ring (3) and the outer side of the inner ring (4). A mounting plate (33) is fixedly connected inside the base (1). A drive motor (34) is fixedly connected to the mounting plate (33). The output shaft of the drive motor (34) is fixed to a friction wheel (32) located inside the outer ring (3). A mounting plate (44) is fixedly connected inside the base (1). A drive motor (34) is also fixedly connected to the mounting plate (44). The output shaft of the drive motor (34) is fixed to a friction wheel (32) located inside the inner ring (4).

3. The frictionless self-growing robot according to claim 2, characterized in that: A pair of friction wheels (35) are provided inside the base (1). Both friction wheels (35) are located inside the inner ring (4) and are in contact with the inner side of the inner ring (4). A drive motor (36) is fixedly connected to the mounting plate (44). The output shaft of the drive motor (36) is fixed to the friction wheels (35).

4. The frictionless self-growing robot according to claim 3, characterized in that: The end deformable part (8) includes a controller (37) mounted on the base (1), which is electrically connected to a drive motor (34), a drive motor (36) and an inflation device that is electrically connected to the base (1).

5. The frictionless self-growing robot according to claim 4, characterized in that: The air extraction assembly (9) includes a flexible outer tube (38) with one end fixedly connected to the middle of the inner ring (4). The line (6) is disposed inside the flexible outer tube (38), and a support protrusion (39) is fixedly connected between the line (6) and the flexible outer tube (38). One end of the flexible outer tube (38) passes through the base (1) and is connected to an external pump. One end of the flexible outer tube (38) has a through hole (41).

6. The frictionless self-growing robot according to claim 5, characterized in that: The friction wheel one (32) adopts a hollow design, and one end of the drive motor one (34) is located inside the friction wheel one (32). The friction wheel two (35) has an arc groove (42) for fitting the inner side of the inner ring body (4). The outer surfaces of friction wheel one (32) and friction wheel two (35) are both made of rubber, and anti-slip grooves (43) are provided on the outer surfaces of friction wheel one (32) and friction wheel two (35). The drive motor one (34) and drive motor two (36) are both designed as self-locking motors.

7. The frictionless self-growing robot according to claim 6, characterized in that: The base (1) adopts a rectangular design. The outer side of the outer ring (3) is fixedly connected to the base (1), and its inner side is stacked and stored inside the base (1). The outer end of the inner ring (4) is fixedly connected to the inner end of the outer ring (3), and the inner and outer sides of the inner ring (4) are stacked and stored in the base (1).

8. The frictionless self-growing robot according to claim 7, characterized in that: The inner ring (4) has a thickened end design.

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