Self-growing robot with guide rail independent steering control mechanism

Abstract

The invention belongs to the technical field of robots, and particularly relates to a self-growing robot with a guide rail independent steering control mechanism, comprising: a base, one end of which is provided with an air inlet and the inside of which is fixedly connected with a growing motor; one end of the main body is fixedly connected with the end, away from the air inlet, of the base, the other end of the main body is fixedly connected with an output shaft of the growth motor, and the main body is stored in the base and / or unfolded outside the base through the growth motor; the flexible guide rail is fixedly connected to the inner side wall of the main body; the steering control mechanism is arranged on the flexible guide rail in a rolling manner; the steering executing mechanisms are fixedly arranged on the inner side wall of the main body; and when the main body is unfolded outside the base, the steering control mechanism drives the main body to steer through the plurality of steering execution mechanisms. By introducing the steering control mechanism and the flexible guide rail structure, sequence control over a large number of motor sets is achieved, the movement flexibility and control precision of the robot are improved, and therefore the robot can better meet the task requirements in the complex environment.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a self-growing robot with a guide rail independent steering control mechanism. BACKGROUND

[0002] With the rapid development of robot technology, self-growing robots, as a new type of robot, have gradually attracted widespread attention. Self-growing robots have the ability to autonomously expand and adapt to the environment, and can perform tasks in complex and dynamic environments. However, existing self-growing robots still have certain limitations in steering control and motion flexibility, especially in cases where precise steering and positioning control are required.

[0003] Traditional motor wire steering schemes face two major challenges when applied to self-growing robots. First, as the length of the robot increases and the requirement for steering accuracy increases, the number of motors required will increase significantly. This results in a dramatic increase in the number of wires and the volume of the control motors, which in turn affects the mechanical and electrical stability of the robot. Second, if each motor is provided with a separate power supply and controlled through wireless communication, the volume of the steering motor assembly will be too large, which is not conducive to the rational layout of the steering motor assembly on the robot body.

[0004] Therefore, it is necessary to design a self-growing robot with a guide rail independent steering control mechanism to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a self-growing robot with a guide rail independent steering control mechanism to solve the above problems, by introducing a steering control mechanism and a flexible guide rail structure, to realize sequential control of a large number of motor groups, improve the motion flexibility and control accuracy of the robot, and better adapt to task requirements in complex environments.

[0006] To achieve the above purpose, the present application provides the following scheme: a self-growing robot with a guide rail independent steering control mechanism, comprising:

[0007] a base having an air inlet at one end, the base being internally fixedly connected with a growing motor;

[0008] a main body fixedly connected at one end to the end of the base away from the air inlet, the other end of the main body being fixedly connected to the output shaft of the growing motor, the main body being received inside the base and / or being deployed outside the base by the growing motor;

[0009] a flexible guide rail fixedly connected to the inner side wall of the main body, the flexible guide rail being arranged along the length direction of the main body;

[0010] A turning control mechanism is arranged on the flexible guide rail;

[0011] A plurality of turning execution mechanisms are fixedly arranged on the inner side wall of the main body;

[0012] When the main body is unfolded outside the base, the turning control mechanism drives the main body to turn through the plurality of turning execution mechanisms.

[0013] The self-growing robot with the guide rail independent turning control mechanism comprises a moving seat, a containing groove is formed on one side of the moving seat, a power output part is fixedly arranged in the containing groove, a rolling part is fixedly connected to the output end of the power output part, the rolling part is located on the other side of the moving seat and in rolling contact with the flexible guide rail, a power supply part is arranged on the side of the moving seat close to the rolling part, and the power supply part is adapted to the turning execution mechanism.

[0014] The power output part comprises a motion motor, the motion motor is fixedly arranged in the containing groove, a worm is coaxially and fixedly connected to the output shaft of the motion motor, worm wheels are in transmission engagement with the two sides of the worm, the worm wheels are rotationally arranged on the moving seat, and one end of the worm wheel rotationally penetrates through the moving seat and is fixedly connected with the rolling part.

[0015] The rolling part comprises drive rollers, the drive rollers are coaxially and fixedly connected with the worm wheels, and the two drive rollers are in rolling contact with the two opposite side walls of the flexible guide rail.

[0016] The power supply part comprises a motor groove, the motor groove is formed on the side of the moving seat close to the flexible guide rail, and contact spring sheets are fixedly connected to the two opposite side walls of the motor groove.

[0017] The side of the moving seat close to the flexible guide rail is also rotationally connected with two driven rollers, and the two driven rollers are in rolling contact with the two opposite side walls of the flexible guide rail.

[0018] The turning execution mechanism comprises a turning motor assembly, the turning motor assembly is fixedly connected with the inner side wall of the main body, one end of a pull wire is fixedly connected to the output end of the turning motor assembly, and the other end of the pull wire is fixedly connected with the inner side wall of the main body.

[0019] The self-growing robot with the guide rail independent steering control mechanism comprises a main body, a steering motor assembly and a steering control mechanism.

[0020] The self-growing robot with the guide rail independent steering control mechanism comprises a main body, a steering motor assembly and a steering control mechanism.

[0021] The self-growing robot with the guide rail independent steering control mechanism comprises a main body, a steering motor assembly and a steering control mechanism.

[0022] Compared with the prior art, the self-growing robot with the guide rail independent steering control mechanism has the following advantages and technical effects:

[0023] 1. The steering structure of the self-growing robot is more simple, and the steering functions in different directions are more independent, and the control is more dispersed, different control units are used to independently control the steering execution mechanisms on different sides of the main body, on the one hand, wireless control of the steering execution mechanisms is realized, and the complex control wire harness is optimized, and on the other hand, the steering of each part can be flexibly adjusted in a complex environment, and more accurate motion control is realized.

[0024] 2. The steering ability of the self-growing robot is more flexible through the design of the steering execution mechanism, and the accurate control of the steering angle is realized. Through the preset arrangement density of the steering execution mechanism on the main body, different degrees of maximum steering angle can be realized. Through the selection of the transmission ratio of the steering execution mechanism, the power-off self-locking of the transmission motor can be realized, the length of the steering execution mechanism is locked, and thus the shape of the main body after steering can be locked.

[0025] 3. Through the introduction of the steering control mechanism and the flexible guide rail structure, a large number of motor groups are controlled in series, the number and volume of the control motor wires are reduced, and the mechanical stability and electrical stability of the robot are improved, so that the robot can better adapt to the task requirements in a complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only illustrate some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative effort based on these drawings also belong to the protection scope of the present application.

[0027] Figure 1 It is a whole schematic diagram of the present application.

[0028] Figure 2 It is a turning schematic diagram of the present application.

[0029] Figure 3 It is a schematic diagram of the flexible guide rail, the turning control mechanism and the turning execution mechanism of the present application.

[0030] Figure 4 It is a schematic diagram of the inside of the main body of the present application.

[0031] Figure 5 It is a schematic diagram of the turning control mechanism of the present application.

[0032] Figure 6 It is a schematic diagram of the turning motor assembly of the present application.

[0033] Figure 7 It is a sectional view of the turning motor assembly of the present application.

[0034] Figure 8 It is a schematic diagram of the connection control of the turning motor assembly of the present application.

[0035] In the drawings: 1, base; 11, growing motor; 2, main body; 21, turning motor assembly; 211, turning motor; 2111, turning motor power line; 212, motor sleeve; 213, motor shaft sleeve; 214, metal sheet; 22, stay wire; 23, flexible guide rail; 3, turning control mechanism; 31, motion motor; 32, worm; 33, worm wheel; 34, driving roller; 35, driven roller; 36, motor slot; 361, contact spring sheet. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] Referring to Figures 1 to 8 As shown in the drawings, the present application provides a self-growing robot with guide rail independent steering control mechanism, comprising:

[0039] The base 1 is provided with an air inlet at one end, and the inside of the base 1 is fixedly connected with a growing motor 11;

[0040] The main body 2 is fixedly connected at one end with the end of the base 1 away from the air inlet, and the other end of the main body 2 is fixedly connected with the output shaft of the growing motor 11, and the main body 2 is accommodated inside the base 1 by the growing motor 11 and / or unfolded outside the base 1.

[0041] The flexible guide rail 23 is fixedly connected on the inner side wall of the main body 2, and the flexible guide rail 23 is arranged along the length direction of the main body 2; one or more steering control mechanisms 3 can be arranged on each flexible guide rail 23.

[0042] The steering control mechanism 3 is rollingly arranged on the flexible guide rail 23.

[0043] The steering control mechanism 3 is rollingly arranged on the flexible guide rail 23.

[0044] When the main body 2 is unfolded outside the base 1, the steering control mechanism 3 drives the main body 2 to steer through the plurality of steering execution mechanisms.

[0045] By inputting air into the base 1, the self-growing robot has a certain air pressure inside, and under the action of the air pressure, the main body 2 has a certain rigidity.

[0046] Further, the steering control mechanism 3 comprises a moving seat, the moving seat is provided with a receiving groove at one side, a power output part is fixedly arranged in the receiving groove, the output end of the power output part is fixedly connected with a rolling part, the rolling part is located at the other side of the moving seat and is in rolling contact with the flexible guide rail 23, the side of the moving seat close to the rolling part is provided with a power supply part, and the power supply part is adapted to the steering execution mechanism.

[0047] Further, the power output part comprises a motion motor 31, the motion motor 31 is fixedly arranged in the receiving groove, the output shaft of the motion motor 31 is coaxially fixedly connected with a worm 32, the two sides of the worm 32 are transmissionally engaged with worm gears 33, the worm gears 33 are rotationally arranged on the moving seat, and one end of the worm gear 33 rotationally penetrates through the moving seat and is fixedly connected with the rolling part.

[0048] The rotation of the motion motor 31 can realize the reverse rotation of the two worm gears 33 at the same time, and the simultaneous equal-speed reverse rotation of the two worm gears 33 can realize the rolling of the driving roller 34 on the flexible guide rail 23, so as to realize the axial movement of the steering control mechanism 3.

[0049] Further, the rolling part comprises two driving rollers 34 coaxially fixedly connected with the worm wheel 33, and the two driving rollers 34 are in rolling contact with two opposite side walls of the flexible guide rail 23 respectively.

[0050] Further, the power supply part comprises a motor slot 36, which is arranged on one side of the moving seat close to the flexible guide rail 23, and two opposite side walls of the motor slot 36 are fixedly connected with two contact spring sheets 361 respectively.

[0051] When the steering motor assembly 21 passes through the motor slot 36, the contact spring sheets 361 have a certain pressing force on the steering motor assembly 21, and the pressing process is in contact with the metal sheet 214 of the steering motor assembly 21, so as to realize the rotation control of the steering motor 211.

[0052] Further, the one side of the moving seat close to the flexible guide rail 23 is also rotatably connected with two driven rollers 35, and the two driven rollers 35 are in rolling contact with two opposite side walls of the flexible guide rail 23 respectively.

[0053] The driven rollers 35 ensure the stability of the axial movement of the steering control mechanism 3.

[0054] Further, the steering execution mechanism comprises a steering motor assembly 21 fixedly connected with the inner side wall of the main body 2, and one end of a pull wire 22 is fixedly connected with the output end of the steering motor assembly 21, and the other end of the pull wire 22 is fixedly connected with the inner side wall of the main body 2.

[0055] Further, the steering motor assembly 21 comprises a motor sleeve 212 fixedly connected with the inner side wall of the main body 2, and a steering motor 211 is fixedly arranged in the motor sleeve 212, one end of the pull wire 22 is fixedly connected with the output shaft of the steering motor 211, and the steering motor 211 is electrically connected with the steering control mechanism 3 through a power supply part.

[0056] Through the rotation of the steering motor 211, the pull wire 22 can be tightened and released.

[0057] Further, the power supply part comprises two metal sheets 214 fixedly connected with two opposite outer side walls of the motor sleeve 212 respectively, one metal sheet 214 is electrically connected with the positive electrode of the steering motor 211 through a steering motor power line 2111, and the other metal sheet 214 is electrically connected with the negative electrode of the steering motor 211 through another steering motor power line 2111.

[0058] The motor sleeve 212 is provided with an opening, so that the pull wire 22 can be fixed with the steering motor 211 in the motor sleeve 212, and metal sheets 214 are fixed on both sides of the motor sleeve 212, the metal sheets 214 are connected with the power supply line 2111 of the steering motor, one side of the metal sheet 214 is connected with the positive electrode, and the other side is connected with the negative electrode, and the steering motor assembly 21 is clamped to supply power and control the steering motor 211.

[0059] Further, the output end of the steering motor 211 is fixedly sleeved with a motor shaft sleeve 213, and one end of the pull wire 22 is fixedly connected with the motor shaft sleeve 213.

[0060] The working process of the present application is as follows:

[0061] Under the action of the air pressure in the base 1, through the rotation of the growth motor 11, the material of the main body 2 wound by the growth motor 11 is released, the inside main body 2 continuously moves forward, the outside main body 2 is formed by turning over at the tip of the main body 2, so that the growth of the main body 2 is realized. When the growth motor 11 is reversed, the inside main body 2 is pulled back and wound on the growth motor 11, at this time, the length of the main body 2 is continuously shortened, so that the recycling of the main body 2 is realized. Through the continuous growth of the main body 2, the number of the steering motor assemblies 21 and the pull wires 22 on the main body 2 will also increase.

[0062] When the growth process, the motion motor 31 in the steering control mechanism 3 is controlled to rotate, under the action of the worm 32 and the worm gear 33, the driving roller 34 relatively rolls on the flexible guide rail 23, realizing the axial movement of the steering control mechanism 3 in the main body 2. According to the steering requirement, the target steering motor assembly 21 is determined, when the steering control mechanism 3 is positioned to the corresponding steering motor assembly 21, the movement is stopped, so that the steering motor assembly 21 stays in the motor groove 36, through the contact spring sheet 361, the metal sheets 214 on both sides of the steering motor assembly 21 are pressed and connected, the steering motor 211 can be powered, the rotation of the steering motor 211 is controlled, and then the pull wire 22 is continuously tightened and wound in the motor shaft sleeve 213 of the steering motor 211 shaft in the motor sleeve 212. Due to the continuous shortening of the pull wire 22, under the action of the pulling force of the pull wire 22, the main body 2 on the working side of the steering motor assembly 21 is gradually tightened and wrinkled, and the length difference appears on both sides of the main body 2, so that the main body 2 turns to the side. The steering angle is determined by the contraction degree of the pull wire 22.

[0063] After the control of the steering motor assembly 21 is completed, the steering control mechanism 3 continues to move axially, positions the next group of steering motor assemblies 21 and controls them, and the steering angle can also be optimized by adjusting the steering motor assemblies 21 which have worked for many times. The steering motor assemblies 21 on different sides in the main body 2 are independently controlled by different steering control mechanisms 3, and the motors on the same side are sequentially controlled by one steering control mechanism 3 or jointly controlled by multiple steering control mechanisms 3.

[0064] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0065] The above-described embodiments are only to describe the preferred modes of the present application, and are not intended to limit the scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A self-growing robot with a guide rail independent steering control mechanism, characterized by, The utility model relates to a kind of growth device, including: Base (1), one end is provided with air inlet, the base (1) inside fixedly connected with growth motor (11); Main body (2), one end is fixedly connected with the base (1) end away from air inlet, the other end of the main body (2) is fixedly connected with the output shaft of the growth motor (11), the main body (2) is housed in the base (1) inside and / or deployed outside the base (1) by the growth motor (11); Flexible guide rail (23), fixedly connected on the inner side wall of the main body (2), the flexible guide rail (23) is arranged along the length direction of the main body (2); Steering control mechanism (3), is arranged on the flexible guide rail (23); A plurality of steering execution mechanisms, fixedly arranged on the inner side wall of the main body (2); When the main body (2) is deployed outside the base (1), the steering control mechanism (3) drives the main body (2) to steer by a plurality of steering execution mechanisms.

2. The self-growing robot with guide rail independent steering control mechanism according to claim 1, characterized in that, The steering control mechanism (3) includes a moving seat, the moving seat is provided with a receiving groove on one side, the receiving groove is fixedly provided with a power output portion, the output end of the power output portion is fixedly connected with a rolling portion, the rolling portion is located on the other side of the moving seat and is in rolling contact with the flexible guide rail (23), the side of the moving seat close to the rolling portion is provided with a power supply portion, and the power supply portion is adapted to the steering execution mechanism.

3. The self-growing robot with guide rail independent steering control mechanism according to claim 2, characterized in that, The power output portion includes a motion motor (31), the motion motor (31) is fixedly arranged in the receiving groove, the output shaft of the motion motor (31) is coaxially fixedly connected with a worm (32), the two sides of the worm (32) are drivingly engaged with a worm gear (33), the worm gear (33) is rotatably arranged on the moving seat, and one end of the worm gear (33) rotatably penetrates the moving seat and is fixedly connected with the rolling portion.

4. The self-growing robot with guide rail independent steering control mechanism according to claim 3, characterized in that, The rolling portion includes a drive roller (34), the drive roller (34) is coaxially fixedly connected with the worm gear (33), and the two drive rollers (34) are respectively in rolling contact with the two opposite side walls of the flexible guide rail (23).

5. The self-growing robot with guide rail independent steering control mechanism according to claim 2, characterized in that, The power supply portion includes a motor slot (36), the motor slot (36) is formed on the side of the moving seat close to the flexible guide rail (23), and the two opposite side walls of the motor slot (36) are respectively fixedly connected with contact spring sheets (361).

6. The self-growing robot with guide rail independent steering control mechanism according to claim 2, wherein, The side of the moving seat close to the flexible guide rail (23) is also rotatably connected with two driven rollers (35), and the two driven rollers (35) are respectively in rolling contact with the two opposite side walls of the flexible guide rail (23).

7. The self-growing robot with guide rail independent steering control mechanism according to claim 1, wherein, The steering execution mechanism includes a steering motor assembly (21), the steering motor assembly (21) is fixedly connected with the inner side wall of the main body (2), one end of the output end of the steering motor assembly (21) is fixedly connected with a pull wire (22), and the other end of the pull wire (22) is fixedly connected with the inner side wall of the main body (2).

8. The self-growing robot with guide rail independent steering control mechanism according to claim 7, characterized in that, The steering motor assembly (21) comprises a motor sleeve (212) fixedly connected with the inner side wall of the main body (2), a steering motor (211) is fixedly arranged in the motor sleeve (212), one end of the pull wire (22) is fixedly connected with an output shaft of the steering motor (211), and the steering motor (211) is electrically connected with the steering control mechanism (3) through an energizing portion.

9. The self-growing robot with guide rail independent steering control mechanism according to claim 8, wherein, The energizing portion comprises two metal sheets (214), the two metal sheets (214) are respectively fixedly connected with two opposite outer side walls of the motor sleeve (212), one metal sheet (214) is electrically connected with a positive electrode of the steering motor (211) through a steering motor power line (2111), and the other metal sheet (214) is electrically connected with a negative electrode of the steering motor (211) through the other steering motor power line (2111).

10. The self-growing robot with guide rail independent steering control mechanism according to claim 8, wherein, An output end of the steering motor (211) is fixedly sleeved with a motor shaft sleeve (213), and one end of the pull wire (22) is fixedly connected with the motor shaft sleeve (213).

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