Chemically driven growing robot with reconfigurable shape and method of operation thereof

Abstract

The application discloses a chemical-driven growth robot with reconfigurable shape and a working method thereof. The growth robot comprises a head heating module, a growth main body and a chemical growth module. The head heating module is movably sleeved outside the growth main body, an outlet is formed in the outer wall of the chemical growth module, the growth main body has a recovery state and a growth state, one end of the growth main body is accommodated in the chemical growth module, the other end of the growth main body is accommodated in the chemical growth module in the recovery state, and the growth main body is outwardly extended through the outlet of the head heating module in the growth state. When the growth robot works, the local part of the growth main body is heated through the heating film on the head heating module, the cross-sectional shape of the growth main body can be changed in real time and reversibly, and the growth main body can adapt to different task requirements. The application realizes lightweight, cable-free driving and dynamic function reconfiguration of the robot, and has wide application prospects in the fields of complex environment exploration and operation.

Description

Technical Field

[0001] This invention belongs to the field of soft robot technology, and specifically relates to a growth robot with a lightweight and cableless drive method that can dynamically change its functional form during a task. Background Technology

[0002] Growth-type soft robots, mimicking the growth pattern of plant vines, demonstrate great potential for movement in complex and confined environments through their extended ends. However, existing technologies face several key bottlenecks. First, most rely on external air pumps, limiting their range of motion and application flexibility. Second, the form of existing growth robots is typically fixed after manufacturing, making it impossible to adjust their structure and function online according to changes in the task environment, thus limiting the robots' adaptability and versatility. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a chemically driven growth robot with a reconfigurable shape, thereby solving the technical problems of bulky growth robot drive systems, reliance on external gas sources, and fixed functional forms in the prior art.

[0004] The technical solution adopted in this invention is as follows: I. A Chemically Driven Growth Robot with Reconfigurable Shape The chemically driven growth robot includes a head heating module, a growth body, and a chemical growth module. The growth body is a flexible tubular structure closed at both ends, and the head heating module is movably fitted onto the outside of the growth body. The chemical growth module is a cabin structure with an outlet on its outer wall. The growth body has a retracted state where it is coiled and stored inside the chemical growth module, and a growth state where it is protruded outwards driven by the internal pressure provided by the chemical growth module. One end of the growth body is stored inside the chemical growth module, and the other end of the growth body is stored inside the chemical growth module in the retracted state. In the growth state, the growth body protrudes outwards through the outlet of the head heating module. In the retracted state, a portion of the growth body protrudes from the outlet of the chemical growth module, and the head heating module is fitted onto the outside of this portion of the growth body.

[0005] The growth body includes at least one composite layer and one skin; the outer layer of the growth body is the skin, and at least one composite layer is arranged axially inside the growth body. The composite layer includes a confinement layer and a deformation layer stacked sequentially in the axial direction, with ventilation holes in the middle; the growth body is mainly composed of polyethylene film, and the growth body is connected to the gas path of the chemical growth module. Ammonia gas generated by heating ammonia water can enter the interior of the growth body, thereby driving its growth; multiple ventilation holes are correspondingly distributed on the confinement layer and the deformation layer.

[0006] The head heating module includes a sliding structure and a heating film. The sliding structure is movably fitted onto the outside of the growth subject. A notch is opened on the side wall of the sliding structure. One side of the heating film is fixed to the inner wall at the notch of the sliding structure, and the other side of the heating film is in contact with the outside of the growth subject and is located outside the epidermis of the growth subject. It applies heat to the local area of ​​the growth subject, causing the limiting layer to melt. The internal pressure of the chemical growth module increases, causing the deformation layer to deform and the local cross-sectional shape of the growth subject to change. The sliding structure is an annular sleeve structure, and the heating film is an arc-shaped heating film that matches the curvature of the annular sleeve structure.

[0007] The outer shell of the chemical growth module is a chemical growth module structure. Inside the chemical growth module, there is a roller and a DC motor. The output shaft of the DC motor is connected to one end of the roller, and the other end of the roller is connected to the inner wall of the chemical growth module. The shaft of the roller is connected to one end of the inner part of the growth body that is not turned outward.

[0008] The chemical growth module also includes a heating element and ammonia water; the heating element is located at the bottom of the chemical growth module, and the module is filled with ammonia water, which immerses the heating element.

[0009] The melting temperature of the deformable layer is higher than that of the confinement layer, and the melting temperature of the confinement layer is higher than that of ammonia vaporization. The deformable layer is mainly made of elastic material with low Young's modulus, configured to deform under stress and recover its initial shape by its own elastic rebound after stress is released. The confinement layer is mainly made of material with high Young's modulus.

[0010] II. Working Method of Chemically Driven Growth Robots with Reconfigurable Shapes The working method includes the following steps: S1. Drive the growth body to extend outward from the outlet of the chemical growth module while performing the work task; specifically, fix the growth robot at the starting position of the work task, then turn on the DC motor, and at the same time heat the ammonia water through the heating element to vaporize it into ammonia gas. The internal pressure of the chemical growth module increases, which together drive the growth body to extend outward from the outlet of the chemical growth module. At the same time, the growth body performs the work task during the outward extension process.

[0011] S2. During the execution of the work task, the head heating module is used to locally heat the target section of the growth subject, so that the limiting layer melts and the initial shape of the growth subject cross section is released; under the internal pressure of the chemical growth module, the target section is driven to deform; after cooling, the limiting layer is re-solidified and the current deformation state of the cross section is locked, thus completing the local cross section shape reconstruction of the growth subject.

[0012] Specifically, it consists of the following two sub-steps: S21. During the execution of the work task, the head heating module is moved to the target section to be reconstructed on the growth body. The target section is heated by the heating film to melt the limiting layer. At the same time, the deformation layer is deformed by the internal pressure of the chemical growth module. Then the head heating module is removed, and the local cross-sectional shape of the growth body where the target section is located changes. S22. After the target section cools down, the limiting layer is re-cured to complete the local cross-sectional shape reconstruction of the growth body, and the reconstructed cross-sectional shape is used to perform the work task.

[0013] S3. After the task is completed, the head heating module reheats the target section of the growth body locally, melting the limiting layer, releasing the lock on the current deformation state of the growth body cross-section, reducing the internal pressure of the chemical growth module, causing the deformed layer to elastically rebound, and restoring the cross-sectional shape. After cooling, the limiting layer re-solidifies and locks the initial shape, completing the local cross-sectional shape restoration of the growth body, and finally driving the growth body to be retracted into the chemical growth module. Specifically, after the task is completed, the heating plate stops heating the ammonia water, the ammonia gas inside the chemical growth module cools and liquefies, the internal pressure of the chemical growth module decreases, and at the same time, the DC motor mode is switched to drive the reel to rotate in the opposite direction, pulling the growth body back and retracting it into the chemical growth module.

[0014] This invention employs a built-in pressure source based on liquid vaporization, achieving a lightweight and highly integrated drive source. This invention addresses the problems of existing growth robots that rely on bulky external air pumps, have fixed functional forms, and are difficult to adjust online.

[0015] The beneficial effects of this invention are: 1. Lightweight and cableless drive: The integrated chemical growth module replaces the traditional bulky external air pump and air tube, making the robot system more compact and independent, and has broad application prospects in complex environment exploration and operation.

[0016] 2. Reconfigurable shape: The robot is no longer a single fixed form. It can adjust its cross-sectional shape online according to the environment or task requirements, which enhances its adaptability and versatility.

[0017] 3. Structural integration: The driving, growth and remodeling functions are integrated into a single chemical growth module, which facilitates deployment and application. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of a chemically driven growth robot with a reconfigurable shape according to the present invention. Figure 2 This is a schematic diagram of the head heating module of a chemically driven growth robot with a reconfigurable shape according to the present invention. Figure 3This is a schematic diagram of the vesicle structure of the growth body of a chemically driven growth robot with a reconfigurable shape according to the present invention. Figure 4 This is a schematic diagram of the chemical growth module of a chemically driven growth robot with a reconfigurable shape according to the present invention. Figure 5 This is a schematic diagram illustrating the growth and recycling of a chemically driven growth robot with a reconfigurable shape according to the present invention. Figure 6 This is a schematic diagram illustrating the vein reconstruction and deformation of a chemically driven growth robot with a reconfigurable shape according to the present invention.

[0019] In the diagram: 1. Head heating module; 2. Growth body; 3. Chemical growth module; 11. Heating film; 12. Sliding structure; 21. Restriction layer; 22. Deformation layer; 23. Skin; 24. Ventilation hole; 31. Chemical growth module structure; 32. Roller; 33. DC motor; 34. Heating element; 35. Ammonia water. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] like Figure 1 As shown, the reconfigurable shape chemically driven growth robot includes a head heating module 1, a growth body 2, and a chemical growth module 3. The growth body 2 is a flexible tubular structure that is closed at both ends and can be folded outwards. The head heating module 1 is movably fitted onto the outside of the growth body 2. The chemical growth module 3 is a cabin structure with an outlet on its outer wall. The growth body 2 has a retracted state where it is coiled and stored inside the chemical growth module 3, and a growth state where it is folded outwards by the internal pressure provided by the chemical growth module 3. One end of the growth body 2 is stored inside the chemical growth module 3, and the other end of the growth body 2 is stored inside the chemical growth module 3 in the retracted state. In the growth state, the growth body 2 folds outwards through the outlet of the head heating module 1. In the retracted state, a portion of the growth body 2 extends outwards from the outlet of the chemical growth module 3, and the head heating module 1 is fitted onto the outside of this portion of the growth body 2. The head heating module 1 is used to reconfigure the shape of the growth body 2.

[0022] like Figure 3As shown, the growth body 2 includes at least one composite layer (vein) and one epidermis 23; the outermost layer of the growth body 2 is the epidermis 23, and at least one composite layer (vein) is arranged axially inside the growth body 2. The composite layer includes a confinement layer 21 and a deformation layer 22 stacked axially, with a vent 24 in the middle; the growth body 2 is mainly composed of a polyethylene film. The growth body 2 is connected to the gas path of the chemical growth module 3. Ammonia gas generated by heating ammonia water 35 can enter the interior of the growth body 2, thereby driving its growth. Gas is introduced to provide internal pressure to drive the growth body 2 to produce an outward extension movement; multiple vents 24 are correspondingly distributed on the confinement layer 21 and the deformation layer 22 to allow gas to enter the entire growth body 2.

[0023] The melting temperature of the deformable layer 22 is lower than that of the confinement layer 21, but higher than the vaporization temperature of ammonia 35. The confinement layer 21 is made of a material with a lower melting temperature. The deformable layer 22 is made of a low Young's modulus elastic material and is configured to deform under stress and recover its initial shape after stress is released. The confinement layer 21 is made of a high Young's modulus material and is configured to resist deformation under stress.

[0024] like Figure 2 As shown, the head heating module 1 includes a sliding structure 12 and a heating film 11. The sliding structure 12 is movably sleeved on the outside of the growth body 2. A notch is opened on the side wall of the sliding structure 12. One side of the heating film 11 is fixed to the inner wall at the notch of the sliding structure 12, and the other side of the heating film 11 is in contact with the outside of the growth body 2 and is located outside the epidermis 23 of the growth body 2. It applies heat to the local area of ​​the growth body 2, causing the limiting layer 21 to melt and release the shape lock. The internal pressure increases, causing the deformation layer 22 to deform. The local cross-sectional shape of the growth body 2 changes. Under the action of internal pressure, the cross-sectional shape is reconstructed. The sliding structure 12 is an annular sleeve structure, and the heating film 11 is an arc-shaped heating film that matches the curvature of the annular sleeve structure.

[0025] like Figure 4 As shown, the outer shell of the chemical growth module 3 is a chemical growth module structure 31. The interior of the chemical growth module 3 is equipped with a scroll 32 and a DC motor 33. The output shaft of the DC motor 33 is connected to one end of the scroll 32. The body of the DC motor 33 is fixed to the inner wall of the chemical growth module 3. The DC motor 33 is used to drive the scroll 32 to rotate. The other end of the scroll 32 is connected to the inner wall of the chemical growth module 3. The shaft of the scroll 32 is connected to one end of the inner part of the growth body 2 that is not turned outward. The scroll 32 is used to wind, retract, and release the flexible growth body 2.

[0026] like Figure 4As shown, the chemical growth module 3 also includes a heating element 34 and ammonia water 35; the bottom of the chemical growth module 3 is provided with a heating element 34, and the chemical growth module 3 is filled with liquid chemical substance ammonia water 35. The ammonia water 35 immerses the heating element 34, and the heating element 34 controls the vaporization process of the ammonia water 35 to generate pressure, so as to drive the growth body 2 to grow outward.

[0027] like Figure 5 and Figure 6 As shown, the working method of the chemically driven growth robot with reconfigurable shape includes the following steps: S1. Drive the growth body 2 to extend outward from the outlet of the chemical growth module 3, and perform its working task at the same time; Specifically, the growth robot is fixed at the starting position of the work task, and then the DC motor 33 is turned on. At the same time, the ammonia water 35 is heated by the heating element 34 to vaporize it into ammonia gas. The internal pressure of the chemical growth module 3 increases, which together drive the growth body 2 to fold out from the outlet of the chemical growth module 3. At the same time, the growth body 2 performs the work task during the folding out process.

[0028] S2. During the execution of the work task, the head heating module 1 is used to locally heat the target section of the growth body 2, so that the limiting layer 21 melts and releases the lock on the cross-sectional shape of the growth body 2; under the internal pressure of the chemical growth module 3, the target section is driven to deform; after complete cooling, the limiting layer 21 is re-solidified and the current deformation state is locked, thus completing the local cross-sectional shape reconstruction of the growth body 2. Specifically, it is divided into the following two sub-steps: S21. During the execution of the work task, the head heating module 1 is manually moved to the target section to be reconstructed on the growth body 2. The target section is heated by the heating film 11, so that the limiting layer 21 melts (or melts). At the same time, under the pressure of the chemical growth module 3, the deformation layer (22) deforms. Then the head heating module 1 is removed, and the local cross-sectional shape of the growth body 2 where the target section is located changes. S22. After the target section cools down, the molten limiting layer 21 is re-solidified, thereby locking the new cross-sectional shape, completing the local cross-sectional shape reconstruction of the growth body 2, and using the reconstructed cross-sectional shape to perform the work task.

[0029] S3. After the task is completed, the head heating module 1 reheats the target section of the growth subject 2 locally, melting the restricting layer 21 to release the lock on the cross-sectional shape of the growth subject 2. The internal pressure of the chemical growth module 3 is reduced, causing the deformed layer 22 to elastically rebound and the cross-sectional shape to recover. After complete cooling, the restricting layer 21 re-solidifies and locks in its initial shape, completing the localized recovery of the cross-sectional shape of the growth subject 2. Finally, the growth subject 2 is driven back into the chemical growth module 3.

[0030] Specifically, after completing the task, the heating element 34 stops heating the ammonia water 35, the ammonia gas inside the chemical growth module 3 cools and liquefies, the pressure inside the chemical growth module 3 decreases, and at the same time, the mode of the DC motor 33 is switched to drive the reel 32 to rotate in the opposite direction, pulling the growth body 2 back and winding it back into the chemical growth module 3.

[0031] Those skilled in the art will understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. 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 chemically driven growth robot with a reconfigurable shape, characterized in that: The system includes a head heating module (1), a growth body (2), and a chemical growth module (3). The growth body (2) is a flexible tubular structure closed at both ends. The head heating module (1) is movably fitted onto the outside of the growth body (2). The chemical growth module (3) is a cabin structure with an outlet on its outer wall. The growth body (2) has a retracted state where it is coiled and stored inside the chemical growth module (3) and a growth state where it is pushed outward by the internal pressure provided by the chemical growth module (3). One end of the growth body (2) is stored inside the chemical growth module (3), and the other end of the growth body (2) is stored inside the chemical growth module (3) in the retracted state. In the growth state, the growth body (2) is pushed outward through the outlet of the head heating module (1). In the retracted state, a portion of the growth body (2) extends out from the outlet of the chemical growth module (3), and the head heating module (1) is fitted onto the outside of this portion of the growth body (2). The growth body (2) includes at least one composite layer and one skin (23); the outer layer of the growth body (2) is the skin (23), and at least one composite layer is arranged axially inside the growth body (2). The composite layer includes a confinement layer (21) and a deformation layer (22) stacked axially, with ventilation holes (24) in the middle; the growth body (2) is mainly composed of polyethylene film, and the growth body (2) is connected to the gas path of the chemical growth module (3). Ammonia gas generated by heating ammonia water (35) can enter the interior of the growth body (2), thereby driving its growth; multiple ventilation holes (24) are correspondingly distributed on the confinement layer (21) and the deformation layer (22). The head heating module (1) includes a sliding structure (12) and a heating film (11); the sliding structure (12) is movably sleeved on the outside of the growth body (2), and a notch is opened on the side wall of the sliding structure (12). One side of the heating film (11) is fixed to the inner wall of the notch of the sliding structure (12), and the other side of the heating film (11) is in contact with the outside of the growth body (2) and is located outside the epidermis (23) of the growth body (2), and applies heat to the local part of the growth body (2), causing the limiting layer (21) to melt, the internal pressure of the chemical growth module (3) to increase, causing the deformation layer (22) to deform, and the local cross-sectional shape of the growth body (2) to change; the sliding structure (12) is an annular sleeve structure, and the heating film (11) is an arc-shaped heating film adapted to the curvature of the annular sleeve structure; The outer shell of the chemical growth module (3) is a chemical growth module structure (31). The chemical growth module (3) is equipped with a scroll (32) and a DC motor (33) inside. The output shaft of the DC motor (33) is connected to one end of the scroll (32), the other end of the scroll (32) is connected to the inner wall of the chemical growth module (3), and the shaft of the scroll (32) is connected to one end of the non-outward-turned part inside the growth body (2). The chemical growth module (3) also includes a heating element (34) and ammonia water (35); the heating element (34) is provided at the bottom of the interior of the chemical growth module (3), and the interior of the chemical growth module (3) is filled with ammonia water (35), which immerses the heating element (34). The melting temperature of the deformable layer (22) is higher than that of the confinement layer (21), and the melting temperature of the confinement layer (21) is higher than that of the ammonia water (35) vaporization temperature; the deformable layer (22) is mainly made of an elastic material with low Young's modulus, configured to deform under stress and recover its initial shape by its own elastic rebound after the stress is released; the confinement layer (21) is mainly made of a material with high Young's modulus.

2. A method of operating a reconfigurable shape, chemically driven growing robot as claimed in claim 1, characterized in that, Includes the following steps: S1. Drive the growth body (2) to extend outward from the outlet of the chemical growth module (3) and perform working tasks at the same time; S2. During the execution of the work task, the head heating module (1) is used to locally heat the target section of the growth body (2), so that the limiting layer (21) melts and the initial shape of the cross section of the growth body (2) is released; under the internal pressure of the chemical growth module (3), the target section is driven to deform. After cooling, the limiting layer (21) is re-solidified and locks the current deformation state of the cross section, thus completing the local cross-sectional shape reconstruction of the growth body (2); S3. After the work task is completed, the head heating module (1) heats the target section of the growth body (2) again, causing the restriction layer (21) to melt, releasing the lock on the current deformation state of the cross section of the growth body (2), reducing the internal pressure of the chemical growth module (3), causing the deformation layer (22) to elastically rebound and the cross section shape to recover. After cooling, the limiting layer (21) is re-solidified and locked in its initial shape, completing the local cross-sectional shape restoration of the growth body (2), and finally driving the growth body (2) to be recycled into the chemical growth module (3).

3. The method of working according to claim 2, characterized in that, Step S1 specifically involves: The growth robot is fixed at the starting position of the work task, and then the DC motor (33) is turned on. At the same time, the ammonia water (35) is heated by the heating plate (34) to vaporize and turn into ammonia gas. The internal pressure of the chemical growth module (3) increases, which together drive the growth body (2) to fold out from the outlet of the chemical growth module (3). At the same time, the growth body (2) performs the work task during the folding out process.

4. The working method according to claim 2, characterized in that, Step S2 specifically involves: S21. During the execution of the work task, the head heating module (1) is moved to the target section to be reconstructed on the growth body (2), and the target section is heated by the heating film (11) to melt the limiting layer (21). At the same time, the deformation layer (22) is deformed by the internal pressure of the chemical growth module (3). Then the head heating module (1) is removed, and the local cross-sectional shape of the growth body (2) where the target section is located changes. S22. After the target section cools down, the limiting layer (21) is re-cured to complete the local cross-sectional shape reconstruction of the growth body (2) and to perform the work task using the reconstructed cross-sectional shape.

5. The working method according to claim 2, characterized in that, Step S3 specifically involves: After completing the task, the heating element (34) stops heating the ammonia water (35), the ammonia gas inside the chemical growth module (3) cools and liquefies, the pressure inside the chemical growth module (3) decreases, and at the same time the mode of the DC motor (33) is switched to drive the reel (32) to rotate in the opposite direction, pull back the growth body (2) and rewind it into the chemical growth module (3).

Images