Winding soft robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a winding soft robot which comprises a movable joint, a front movable block and a rear movable block, movable grooves are formed in the front end of the movable joint and the front end of the rear movable block, and movable spines are fixedly connected to the rear end of the movable joint and the rear end of the front movable block. By means of the structural design of the movable joints, the front movable blocks and the rear movable blocks, the movable joints, the front movable blocks and the rear movable blocks can conduct adsorption and spiral movement on the inner wall and the outer surface of a pipeline, and the movable joints, the front movable blocks and the rear movable blocks can conduct adsorption and spiral movement on the inner wall and the outer surface of the pipeline; the robot can be used for exploration and dredging of emergency pipelines and narrow and small spaces, a mobile platform solution is provided by winding and advancing of climbing objects, meanwhile, high-risk work such as dredging and deicing can be achieved by additionally installing working parts, and the working stability and the multi-mode adaptability are overall improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a winding soft robot. BACKGROUND

[0002] Robots are widely used in military, industry, scientific exploration and many other fields, including soft robots. Soft robots are similar to soft-bodied animals in nature, with almost unlimited degree of freedom combination and continuous deformation ability. This unique flexibility gives them excellent environmental adaptability and flexibility, making them have broad application prospects in fields such as exploration and medical treatment that require high adaptability.

[0003] Most current soft robots achieve forward movement through the expansion and contraction of gas in elastic cavities. When air is injected into the cavity, the elastic cavity will expand like a balloon, but the cavity material will not stretch and the limbs will curl up. When bending, the entire body can continuously move forward by means of the lateral thrust generated by the friction between the limbs and the surrounding environment.

[0004] Existing soft robots mainly achieve forward movement through the expansion and contraction of gas in elastic cavities. However, due to the irregular shape of most pipes, the robot has poor stability when moving. In high-voltage cable deicing work, most robots are wrapped and rolled for deicing. Robots are mostly specialized robots and cannot adapt to multiple modes. Therefore, a winding soft robot is designed to solve the problems of poor stability and inability to adapt to multiple modes. SUMMARY

[0005] The present application relates to the field of robot technology, in particular to a winding soft robot.

[0006] To solve the above technical problems, the present application provides the following technical scheme: a winding soft robot, comprising a movable joint, a front movable block and a rear movable block, the front end of the movable joint and the rear movable block is provided with a movable slot, the rear end of the movable joint and the front movable block is fixedly connected with a movable spine, one end of the movable spine is fixedly connected with a positioning ball adapted to the movable slot, the positioning ball is clamped into the inside of the movable slot, the two sides of the movable joint are fixedly connected with a carbon fiber connecting rod, the bottom of the carbon fiber connecting rod is fixedly connected with an omnidirectional Mecanum wheel, the bottom of the movable joint is fixedly connected with an arc-shaped expansion suction disc, the inside of the arc-shaped expansion suction disc is used for installing a flexible piezoresistive sensor group and a laser radar, the number of the movable joints is set to be multiple, and the multiple movable joints are connected one by one through the positioning ball and the movable slot.

[0007] The application further discloses that the surface of the positioning card ball is slidably connected with the inner wall of the movable groove, and the material of the movable spine is memory alloy.

[0008] The application further discloses that the top of the movable joint is fixedly connected with a mounting base, and the two sides of the mounting base are rotatably connected with connecting cylinders.

[0009] The application further discloses that one end of the connecting cylinder, away from the mounting base, is rotatably connected with an auxiliary rotating arm, one end of the auxiliary rotating arm, away from the connecting cylinder, is rotatably connected with a mounting rotating arm, and one end of the mounting rotating arm, away from the auxiliary rotating arm, is fixedly connected with an auxiliary quick-chuck for connecting different working pieces.

[0010] The application further discloses that one side of the connecting cylinder and the mounting rotating arm is fixedly connected with a micro servo motor, the micro servo motor provides power for the rotation of the auxiliary rotating arm and the mounting rotating arm, and the auxiliary rotating arm and the mounting rotating arm can be deflected by 90 degrees.

[0011] The application further discloses that the front end of the front movable block and the rear end of the rear movable block are fixedly connected with elastic connecting shafts, the front end of the front movable block is fixedly connected with a first cover disc through the elastic connecting shaft, and the rear end of the rear movable block is fixedly connected with a second cover disc through the elastic connecting shaft.

[0012] The application further discloses that the first cover disc is fixedly connected with a sealing cover disc at the opening in the bottom of the first cover disc, the bottom of the sealing cover disc is fixedly connected with an upper rotating frame, the surface of the upper rotating frame is fixedly connected with a lifting assembly, the bottom of the lifting assembly is fixedly connected with a lower rotating frame, the bottom of the lower rotating frame is fixedly connected with a third cover disc, and the second cover disc and the third cover disc are fixedly connected with a deformable adsorption disc at the opening in the bottom of the second cover disc and the third cover disc.

[0013] The application further discloses that the first cover disc, the second cover disc and the third cover disc are fixedly connected with mounting cylinders at the middle of the inner wall of the bottom of the first cover disc, the second cover disc and the third cover disc, the surface of the mounting cylinder is fixedly connected with a plurality of electric telescopic rods, one end of the electric telescopic rod is respectively arranged to penetrate through the first cover disc, the second cover disc and the third cover disc, and one end of the electric telescopic rod, located at the first cover disc, the second cover disc and the third cover disc, is fixedly connected with a supporting adsorption disc.

[0014] The application further discloses that the number of the upper rotary frame and the lower rotary frame is four, and the four upper rotary frames and the four lower rotary frames are symmetrically arranged between the bottom of the sealing cover disc and the top of the third cover disc respectively, the lifting assembly comprises upper support shafts and lower support shafts, the number of the upper support shafts and the lower support shafts is two, the two ends of the two upper support shafts are fixedly connected with the surface of the upper rotary frame, and the two ends of the two lower support shafts are fixedly connected with the surface of the lower rotary frame.

[0015] The application further discloses that the surface of the upper support shaft is rotatably connected with upper rotary plates on both sides, one end of the upper rotary plate away from the upper support shaft is fixedly connected with a support horizontal shaft, the surface of the support horizontal shaft is rotatably connected with lower rotary plates on both sides, one end of the lower rotary plate away from the support horizontal shaft is rotatably connected with the surface of the lower support shaft, the number of the upper rotary plates and the lower rotary plates is four, and the surface of two of the upper rotary plates and the lower rotary plates is fixedly connected with mounting clamping shafts, the number of the mounting clamping shafts is two, and the two mounting clamping shafts are cross arranged, and a hydraulic rod is rotatably connected between the two mounting clamping shafts.

[0016] Compared with the prior art, the application has the beneficial effects that: Through the structural design of the movable joint, the front movable block and the rear movable block, the soft body robot can be adsorbed and spirally moved on the inner wall and the outer surface of the pipeline, can be used for the exploration and dredging of emergency pipelines and narrow spaces, and can provide a moving platform solution by climbing and winding around objects, and meanwhile, through the installation of working components, the soft body robot can realize high-risk operation such as dredging and deicing, and the stability during work and the adaptability to multiple modes are improved.

[0017] Through the setting of the first cover disc, the third cover disc and the lifting assembly, the support point can be adjusted, and then the movement on the inner wall and the outer surface of the pipeline can be continuously performed, and when the movement is realized through the adjustment, the first cover disc can be supported by the electric telescopic rod and the support suction disc on the surface of the first cover disc, then the third cover disc is pushed forward by the lifting assembly, and then the third cover disc is supported again by the electric telescopic rod and the support suction disc on the surface of the third cover disc, and then the support suction disc on the first cover disc is cancelled, and the first cover disc is pulled forward by the lifting assembly, so that the whole process can ensure that there is always a support point, and then the stability during the adjustment is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application, and do not constitute a limitation on the application. In the drawings: Figure 1 is a perspective view of a winding soft body robot according to an embodiment of the application; Figure 2is a schematic view of a winding soft robot side view structure of an embodiment of the present application; Figure 3 is a schematic view of a winding soft robot bottom structure of an embodiment of the present application; Figure 4 is a first perspective view of a rear active block connecting structure in an embodiment of the present application; Figure 5 is a second perspective view of a rear active block connecting structure in an embodiment of the present application; Figure 6 is a first perspective view of an active joint connecting structure in an embodiment of the present application; Figure 7 is a second perspective view of an active joint connecting structure in an embodiment of the present application; Figure 8 is an exploded view of a second cover disc connecting structure in an embodiment of the present application; Figure 9 is a perspective view of a first cover disc connecting structure in an embodiment of the present application; Figure 10 is a schematic view of a lifting assembly connecting structure in an embodiment of the present application; In the figure: 1, active joint; 2, front active block; 3, rear active block; 4, active groove; 5, active spine; 6, positioning ball; 101, carbon fiber connecting rod; 102, omnidirectional Mecanum wheel; 111, arc-shaped expansion adsorption disc; 121, mounting base; 122, connecting cylinder; 123, auxiliary rotating arm; 124, mounting rotating arm; 125, auxiliary quick-connection chuck; 126, micro servo motor; 7, elastic connecting shaft; 201, first cover disc; 301, second cover disc; 202, sealing cover disc; 203, upper rotating frame; 8, lifting assembly; 204, lower rotating frame; 205, third cover disc; 9, deformable adsorption disc; 10, mounting cylinder; 1001, electric telescopic rod; 1002, supporting adsorption disc; 801, upper support shaft; 802, lower support shaft; 803, upper rotating plate; 804, support cross shaft; 805, lower rotating plate; 806, mounting clamping shaft; 807, hydraulic rod. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Reference Figure 1 - Figure 10The embodiment of the present application provides a winding soft robot, which comprises a movable joint 1, a front movable block 2 and a rear movable block 3, the front end of the movable joint 1 and the rear movable block 3 is provided with a movable groove 4, the rear end of the movable joint 1 and the front movable block 2 is fixedly connected with a movable spine 5, one end of the movable spine 5 is fixedly connected with a positioning clamping ball 6 matched with the movable groove 4, the positioning clamping ball 6 is clamped into the inside of the movable groove 4, the two sides of the movable joint 1 are fixedly connected with a carbon fiber connecting rod 101, the bottom of the carbon fiber connecting rod 101 is fixedly connected with an omnidirectional Mecanum wheel 102, the bottom of the movable joint 1 is fixedly connected with an arc-shaped expansion adsorption disc 111, the inside of the arc-shaped expansion adsorption disc 111 is used for mounting a flexible piezoresistive sensor group and a laser radar, the number of the movable joint 1 is set to be multiple, and the multiple movable joints 1 are connected one by one through the positioning clamping ball 6 and the movable groove 4.

[0021] When working, multiple movable joints 1 are arranged, the two ends of each movable joint 1 are respectively provided with a movable groove 4 and a fixed movable spine 5, in addition, a positioning clamping ball 6 is connected to one end of the movable spine 5, the positioning clamping ball 6 can be clamped into the movable groove 4, thereby realizing the connection of the multiple movable joints 1 one by one, and the connection mode can enable the movable joints 1 connected to one block to rotate at multiple angles, in addition, the movable joint 1 is fixedly connected with a carbon fiber connecting rod 101 on the two sides, the carbon fiber connecting rod 101 is used for mounting an omnidirectional Mecanum wheel 102, the omnidirectional Mecanum wheel 102 is used for moving on the inner wall of a pipeline or the outer surface of the pipeline, and when moving, the rotation of the multiple movable joints 1 enables the movable joints 1 to form a spiral shape, thereby spiraling on the inner wall of the pipeline or winding on the outer surface of the pipeline, when not needing to move, the arc-shaped expansion adsorption disc 111 starts to expand and is attached to the inner wall of the pipeline and the outer surface of the pipeline, thereby realizing the adsorption effect and ensuring the stability during work, when needing to move, the arc-shaped expansion adsorption disc 111 starts to shrink, thereby canceling the adsorption effect, and the flexible piezoresistive sensor group and the laser radar are mounted in the inside of the arc-shaped expansion adsorption disc 111, the laser radar is used for scanning the curvature of the pipe wall and is used for controlling the pneumatic shrinkage of the arc-shaped expansion adsorption disc 111, and the flexible piezoresistive sensor group is used for cooperating with PID closed loop control to keep the pressure of each point in a certain safety range.

[0022] Figure 1 、 Figure 5 and Figure 7As shown, the surface of the positioning ball 6 is in sliding connection with the inner wall of the movable groove 4, the material of the movable spine 5 is memory alloy, and the plurality of movable joints 1 form a complete telescopic deformation skeleton; The top of the movable joint 1 is fixedly connected with the mounting base 121, and the two sides of the mounting base 121 are rotatably connected with the connecting cylinder 122; The end of the connecting cylinder 122 away from the mounting base 121 is rotatably connected with the auxiliary rotating arm 123, the end of the auxiliary rotating arm 123 away from the connecting cylinder 122 is rotatably connected with the mounting rotating arm 124, and the end of the mounting rotating arm 124 away from the auxiliary rotating arm 123 is fixedly connected with the auxiliary quick-chuck chuck 125 for connecting different working members; The connecting cylinder 122 and the mounting rotating arm 124 are fixedly connected with the micro servo motor 126 on one side, the micro servo motor 126 supplies power for the rotation of the auxiliary rotating arm 123 and the mounting rotating arm 124, and the auxiliary rotating arm 123 and the mounting rotating arm 124 can be deflected by plus or minus ninety degrees.

[0023] When working, the positioning ball 6 can slide inside the movable groove 4 to realize multi-angle free rotation, the movable spine 5 is made of memory alloy and can freely bend and automatically restore to its original shape, the plurality of movable joints 1 form a complete deformation skeleton, the entire deformation skeleton can be telescopic and bent, and the two ends thereof are used for connecting the front movable block 2 and the rear movable block 3; In addition, the mounting base 121 is fixedly installed on the top of the movable joint 1, the two sides of the mounting base 121 are used for installing the connecting cylinder 122, the connecting cylinder 122 can rotate on the mounting base 121, the rotating arm and the mounting rotating arm 124 are installed on one end of the connecting cylinder 122, the mounting rotating arm 124 is used for the auxiliary quick-chuck chuck 125, which is driven by the micro servo motor 126 to supply power for the rotation of the auxiliary rotating arm 123 and the mounting rotating arm 124, so that the auxiliary rotating arm 123 and the mounting rotating arm 124 can be deflected by plus or minus ninety degrees, and the rotation of the connecting cylinder 122 is matched to increase the scanning area of the auxiliary quick-chuck chuck 125; When working is needed, different working parts can be added to realize high-risk work such as dredging and deicing, and the stability and multi-modal adaptability during working are improved.

[0024] Figure 4 、 Figure 8 and Figure 9As shown, the front end of the front movable block 2 and the rear end of the rear movable block 3 are fixedly connected with elastic connecting shafts 7, the front end of the front movable block 2 is fixedly connected with a first cover disc 201 through the elastic connecting shaft 7, and the rear end of the rear movable block 3 is fixedly connected with a second cover disc 301 through the elastic connecting shaft 7; a sealing cover disc 202 is fixedly connected at the opening in the bottom of the first cover disc 201, the bottom of the sealing cover disc 202 is fixedly connected with an upper rotating frame 203, the surface of the upper rotating frame 203 is fixedly connected with a lifting assembly 8, the bottom of the lifting assembly 8 is fixedly connected with a lower rotating frame 204, the bottom of the lower rotating frame 204 is fixedly connected with a third cover disc 205, and a deformable adsorption disc 9 is fixedly connected at the opening in the bottom of the second cover disc 301 and the third cover disc 205; a mounting cylinder 10 is fixedly connected in the middle of the inner wall bottom of the first cover disc 201, the second cover disc 301 and the third cover disc 205, the surface of the mounting cylinder 10 is fixedly connected with a plurality of electric telescopic rods 1001, one end of each of the electric telescopic rods 1001 penetrates through the first cover disc 201, the second cover disc 301 and the third cover disc 205, and one end of the electric telescopic rod 1001 located at the first cover disc 201, the second cover disc 301 and the third cover disc 205 is fixedly connected with a supporting suction disc 1002.

[0025] When working, an elastic connecting shaft 7 is connected on the front movable block 2 and the rear movable block 3, the elastic connecting shaft 7 can be bent, the elastic connecting shaft 7 on the front movable block 2 is used to connect the first cover disc 201, the elastic connecting shaft 7 on the rear movable block 3 is used to connect the second cover disc 301, the sealing cover disc 202 is used to seal the first cover disc 201 and fix the upper rotating frame 203, the upper rotating frame 203 is fixedly connected with the lifting assembly 8, the lifting assembly 8 connects the lower rotating frame 204, so that the lower rotating frame 204 is fixedly connected with the third cover disc 205, the deformable adsorption disc 9 is fixed on the second cover disc 301 and the third cover disc 205, the deformable adsorption disc 9 can be attached to the inner wall and the outer surface of the pipeline, and it can deform along with the bending radius of the inner wall and the outer surface of the pipeline, in addition, the mounting cylinder 10 is supported and fixed in the middle of the inner wall of the first cover disc 201, the second cover disc 301 and the third cover disc 205, the mounting cylinder 10 is used to support the electric telescopic rod 1001, the electric telescopic rod 1001 can drive the supporting suction disc 1002 to move after working, on the one hand, it can be attached to the inner wall of the pipeline, on the other hand, it can also make the electric telescopic rod 1001 retract to a certain extent, so that it can also be attached to the outer surface of the pipeline, so as to realize the function of fixed positioning of the front movable block 2 and the rear movable block 3.

[0026] Figure 9 and Figure 10As shown, the number of upper rotating frames 203 and lower rotating frames 204 is four, and the four upper rotating frames 203 and lower rotating frames 204 are symmetrically arranged in pairs between the bottom of the sealing cover plate 202 and the top of the third cover plate 205. The lifting assembly 8 includes an upper support shaft 801 and a lower support shaft 802, and the number of upper support shafts 801 and lower support shafts 802 is two. The two ends of the two upper support shafts 801 are fixedly connected to the surface of the upper rotating frame 203, and the two ends of the two lower support shafts 802 are fixedly connected to the surface of the lower rotating frame 204. Upper rotating plates 8 are rotatably connected to both sides of the surface of the upper support shaft 801. 03. The upper rotating plate 803 is fixedly connected to a supporting horizontal shaft 804 at one end away from the upper supporting shaft 801. Both sides of the surface of the supporting horizontal shaft 804 are rotatably connected to a lower rotating plate 805. The end of the lower rotating plate 805 away from the supporting horizontal shaft 804 is rotatably connected to the surface of the lower supporting shaft 802. The number of upper rotating plates 803 and lower rotating plates 805 is set to four. Among them, the surfaces of two upper rotating plates 803 and two lower rotating plates 805 are fixedly connected to a mounting pin 806. The number of mounting pins 806 is set to two, and the two mounting pins 806 are arranged crosswise. A hydraulic rod 807 is rotatably connected between the two mounting pins 806.

[0027] During operation, four upper rotating frames 203 and lower rotating frames 204 are symmetrically arranged in pairs between the bottom of the sealing cover plate 202 and the top of the third cover plate 205. A lifting assembly 8 is installed between these frames. The lifting assembly 8 includes an upper support shaft 801 and a lower support shaft 802. The upper support shaft 801 is fixed to the upper rotating frame 203, and the lower support shaft 802 is fixed to the lower rotating frame 204. During lifting, the hydraulic rod 807 extends and retracts, thereby pushing or pulling two mounting shafts 806 to move. The movement of the two mounting shafts 806 then causes the upper rotating plate 803 and the lower rotating plate 805 to rotate. By rotating to different angles, the distance between the sealing cover plate 202 and the third cover plate 205 can be adjusted, thus achieving the lifting function. When adjusting the positioning angle, the electric telescopic rod 1001 and the support suction cup 1002 on the surface of the first cover plate 201 provide support. Then, the lifting component 8 drives the third cover plate 205 forward, and then the electric telescopic rod 1001 and the support suction cup 1002 on the surface of the third cover plate 205 provide support again. Afterward, the support suction cup 1002 on the first cover plate 201 is deactivated, and the lifting component 8 pulls the first cover plate 201 forward. The entire process ensures that there is always a support point, thereby ensuring the stability during adjustment.

[0028] First, multiple movable joints 1 are set up. Each movable joint 1 has a movable groove 4 and a fixed movable spine 5 at both ends. A positioning ball 6 is connected to one end of the movable spine 5, and the positioning ball 6 can be inserted into the movable groove 4, thus enabling the sequential connection of the multiple movable joints 1. This connection method allows the connected movable joints 1 to rotate at multiple angles. Furthermore, carbon fiber connecting rods 101 are fixed to both sides of the movable joint 1. The carbon fiber connecting rods 101 are used to install omnidirectional Mecanum wheels 102, which move on the inner wall or outer surface of the pipe. During movement, the rotation of the multiple movable joints 1... This allows it to form a spiral shape, coiling around the inner wall of the pipe or wrapping around its outer surface. When movement is not required, the arc-shaped expansion adsorption plate 111 expands, adhering to the inner wall and outer surface of the pipe to achieve adsorption and ensure stability during operation. When movement is required, the arc-shaped expansion adsorption plate 111 contracts, thus canceling the adsorption effect. A flexible piezoresistive sensor group and a lidar are installed inside the arc-shaped expansion adsorption plate 111. The lidar scans the curvature of the pipe wall to control the pneumatic contraction of the arc-shaped expansion adsorption plate 111, while the flexible piezoresistive sensor group works in conjunction with PID closed-loop control to maintain the pressure at each point within a certain safe range. Then, the positioning ball 6 can slide inside the movable groove 4, thereby achieving free rotation at multiple angles. The movable spine 5 is made of shape memory alloy, which allows it to bend freely and has the function of automatically returning to its original shape. Multiple movable joints 1 form a complete deformable skeleton. This entire deformable skeleton can be extended, retracted, and bent. Its two ends are used to connect the front movable block 2 and the rear movable block 3. In addition, a base 121 is fixedly installed on the top of the movable joint 1. The two sides of the mounting base 121 are used to install connecting cylinders 122. The connecting cylinders 122 can be mounted on the mounting base. The device rotates on the base 121. A rotating arm and a mounting arm 124 are installed at one end of the connecting cylinder 122. The mounting arm 124 assists the quick-connect chuck 125 and is driven by a micro servo motor 126, which powers the rotation of the auxiliary rotating arm 123 and the mounting arm 124. This allows the auxiliary rotating arm 123 and the mounting arm 124 to deflect by ±90 degrees. Combined with the rotation of the connecting cylinder 122, this increases the scanning area of ​​the auxiliary quick-connect chuck 125. Different working parts can be added when needed. The overall structure, through the design of the movable joint 1, the front movable block 2, and the rear movable block 3, allows it to adhere to and hover on the inner and outer surfaces of pipes. It can be used for emergency pipe exploration and clearing in confined spaces, as well as providing a mobile platform solution for climbing and entanglement. At the same time, by adding working parts, it can be used for high-risk operations such as clearing and de-icing, thus improving the overall stability and multimodal adaptability during operation.In addition, an elastic connecting shaft 7 is connected to both the front movable block 2 and the rear movable block 3. The elastic connecting shaft 7 can be bent. The elastic connecting shaft 7 on the front movable block 2 is used to connect the first cover plate 201, and the elastic connecting shaft 7 on the rear movable block 3 is used to connect the second cover plate 301. The sealing cover plate 202 is used to seal the first cover plate 201 and fix the upper rotating frame 203. The upper rotating frame 203 is fixedly connected to the lifting assembly 8. The lifting assembly 8 connects to the lower rotating frame 204, so that the lower rotating frame 204 is fixedly connected to the third cover plate 205. A deformable adsorption plate 9 is fixed on the second cover plate 301 and the third cover plate 205. It can fit against the inner wall and outer surface of the pipe, and it can deform with the curvature of the inner wall and outer surface of the pipe. In addition, a cylinder 10 is fixedly installed in the middle of the inner wall of the first cover plate 201, the second cover plate 301 and the third cover plate 205. The cylinder 10 is used to support the electric telescopic rod 1001. After the electric telescopic rod 1001 is working, it can drive the support suction cup 1002 to move. On the one hand, it can fit against the inner wall of the pipe. On the other hand, it can also use a part to make the electric telescopic rod 1001 extend and retract to a certain extent, so that it can also fit against the outer surface of the pipe, thereby realizing the fixed positioning function of the front movable block 2 and the rear movable block 3. Finally, four upper rotating frames 203 and lower rotating frames 204 are symmetrically arranged in pairs between the bottom of the sealing cover plate 202 and the top of the third cover plate 205. A lifting assembly 8 is installed between these frames. The lifting assembly 8 includes an upper support shaft 801 and a lower support shaft 802. The upper support shaft 801 is fixed to the upper rotating frame 203, and the lower support shaft 802 is fixed to the lower rotating frame 204. During lifting, the hydraulic rod 807 extends and retracts, pushing or pulling the two mounting shafts 806 to move. The movement of the two mounting shafts 806 causes the upper rotating plate 803 and the lower rotating plate 805 to rotate. By rotating to different angles, the distance between the sealing cover plate 202 and the third cover plate 205 can be adjusted, thus achieving the lifting function. The entire system, by setting up a first cover plate 201, a third cover plate 205, and a lifting assembly 8, can adjust the support point and thus continuously move on the inner wall and outer surface of the pipe. When adjusting and moving, it can be supported by the electric telescopic rod 1001 and the support suction cup 1002 on the surface of the first cover plate 201. Then, the lifting assembly 8 drives the third cover plate 205 forward, and then the electric telescopic rod 1001 and the support suction cup 1002 on the surface of the third cover plate 205 provide support again. Afterward, the support suction cup 1002 on the first cover plate 201 is de-supported, and the lifting assembly 8 pulls the first cover plate 201 forward. The whole process can ensure that there is always a support point, thus ensuring the stability during adjustment.

[0029] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0030] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A winding soft robot, comprising a movable joint (1), a front movable block (2), and a rear movable block (3), characterized in that: The front ends of the movable joint (1) and the rear movable block (3) are provided with movable slots (4). The rear ends of the movable joint (1) and the front movable block (2) are fixedly connected with movable spines (5). One end of the movable spine (5) is fixedly connected with a positioning ball (6) that is adapted to the movable slot (4). The positioning ball (6) is inserted into the interior of the movable slot (4). Carbon fiber connecting rods (101) are fixedly connected to both sides of the movable joint (1). Omnidirectional Mecanum wheels (102) are fixedly connected to the bottom of the carbon fiber connecting rods (101). An arc-shaped expansion adsorption plate (111) is fixedly connected to the bottom of the movable joint (1). The interior of the arc-shaped expansion adsorption plate (111) is used to install a flexible piezoresistive sensor group and a lidar. The number of movable joints (1) is set to be multiple, and the multiple movable joints (1) are connected one by one to each other through the positioning ball (6) and the movable slot (4).

2. The winding soft robot according to claim 1, characterized in that: The surface of the positioning ball (6) is slidably connected to the inner wall of the movable groove (4), the movable spine (5) is made of shape memory alloy, and the multiple movable joints (1) form a complete retractable deformable skeleton.

3. The winding soft robot according to claim 1, characterized in that: The top of the movable joint (1) is fixedly connected to a mounting base (121), and both sides of the mounting base (121) are rotatably connected to connecting cylinders (122).

4. The winding soft robot according to claim 3, characterized in that: An auxiliary rotating arm (123) is rotatably connected to one end of the connecting cylinder (122) away from the mounting base (121). An mounting rotating arm (124) is rotatably connected to one end of the auxiliary rotating arm (123) away from the connecting cylinder (122). An auxiliary quick-connect chuck (125) for connecting different workpieces is fixedly connected to one end of the mounting rotating arm (124) away from the auxiliary rotating arm (123).

5. A winding soft robot according to claim 4, characterized in that: A micro servo motor (126) is fixedly connected to one side of the connecting cylinder (122) and the mounting rotating arm (124). The micro servo motor (126) provides power for the rotation of the auxiliary rotating arm (123) and the mounting rotating arm (124). The auxiliary rotating arm (123) and the mounting rotating arm (124) can deflect by positive and negative ninety degrees.

6. The winding soft robot according to claim 1, characterized in that: The front end of the front movable block (2) and the rear end of the rear movable block (3) are both fixedly connected to an elastic connecting shaft (7). The front end of the front movable block (2) is fixedly connected to a first cover plate (201) via the elastic connecting shaft (7), and the rear end of the rear movable block (3) is fixedly connected to a second cover plate (301) via the elastic connecting shaft (7).

7. A winding soft robot according to claim 6, characterized in that: A sealing cover plate (202) is fixedly connected to the opening at the bottom of the first cover plate (201). An upper rotating frame (203) is fixedly connected to the bottom of the sealing cover plate (202). A lifting assembly (8) is fixedly connected to the surface of the upper rotating frame (203). A lower rotating frame (204) is fixedly connected to the bottom of the lifting assembly (8). A third cover plate (205) is fixedly connected to the bottom of the lower rotating frame (204). A deformable adsorption plate (9) is fixedly connected to the opening at the bottom of the second cover plate (301) and the third cover plate (205).

8. A winding soft robot according to claim 6, characterized in that: A mounting cylinder (10) is fixedly connected to the middle of the bottom of the inner wall of the first cover plate (201), the second cover plate (301) and the third cover plate (205). A plurality of electric telescopic rods (1001) are fixedly connected to the surface of the mounting cylinder (10). One end of each electric telescopic rod (1001) passes through the first cover plate (201), the second cover plate (301) and the third cover plate (205). A support suction cup (1002) is fixedly connected to one end of the electric telescopic rod (1001) located in the first cover plate (201), the second cover plate (301) and the third cover plate (205).

9. A winding soft robot according to claim 7, characterized in that: The number of the upper rotating frame (203) and the lower rotating frame (204) is set to four, and the four upper rotating frames (203) and the lower rotating frames (204) are symmetrically arranged in pairs between the bottom of the sealing cover plate (202) and the top of the third cover plate (205). The lifting assembly (8) includes an upper support shaft (801) and a lower support shaft (802). The number of the upper support shaft (801) and the lower support shaft (802) is set to two. The two ends of the two upper support shafts (801) are fixedly connected to the surface of the upper rotating frame (203), and the two ends of the two lower support shafts (802) are fixedly connected to the surface of the lower rotating frame (204).

10. A winding soft robot according to claim 9, characterized in that: Both sides of the surface of the upper support shaft (801) are rotatably connected to an upper rotating plate (803). The end of the upper rotating plate (803) away from the upper support shaft (801) is fixedly connected to a support horizontal shaft (804). Both sides of the surface of the support horizontal shaft (804) are rotatably connected to a lower rotating plate (805). The end of the lower rotating plate (805) away from the support horizontal shaft (804) is rotatably connected to the surface of the lower support shaft (802). The number of the upper rotating plate (803) and the lower rotating plate (805) is set to four. The surfaces of two of the upper rotating plates (803) and the lower rotating plate (805) are fixedly connected to a mounting pin (806). The number of the mounting pins (806) is set to two, and the two mounting pins (806) are arranged crosswise. A hydraulic rod (807) is rotatably connected between the two mounting pins (806).

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