Deformable omni-directional bristle robot capable of passing through narrow gap

Abstract

The invention relates to the technical field of robots, in particular to a deformable omni-directional bristle robot capable of passing through a narrow gap, which comprises a cross-shaped main body bracket used for integral connection of the bristle robot; the four sub-driving units are arranged in a 90-degree circumferential array mode, are connected with the two sides of the main body support through hinges respectively and provide power for the bristle robot; the deformation unit is glued on the main body brackets and provides power for the deformation of the two main body brackets; the control system is mounted on the main body bracket and is used for controlling and supplying energy to the sub-driving units and the deformation units; according to the method, the problem of motion control of an existing seta robot in a complex environment is solved, and a new thought and method are provided for development of a flexible robot technology.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a deformable omnidirectional bristle robot capable of navigating narrow gaps and its control method. Background Technology

[0002] With the continuous advancement of robotics technology, traditional mobile robots often exhibit significant limitations when facing complex and dynamic environments. Traditional robots, such as wheeled and tracked robots, rely on rigid structures and rigid actuation mechanisms. While they can operate efficiently on flat and regular surfaces, they often fail to adapt to complex, narrow, or irregular environments, such as pipes and fissured terrain. These robots exhibit poor adaptability in these special environments and cannot readily cope with constantly changing spatial constraints, often requiring special designs, such as the use of Mecanum wheels, to improve their flexibility and maneuverability. Therefore, designing a robot with high adaptability and flexibility has become an important topic in the field of robotics research, especially in specialized tasks such as pipeline inspection, disaster relief, and underground exploration, where traditional robots are often inadequate.

[0003] Flexible robots not only possess high environmental adaptability but also can move flexibly in confined spaces, breaking through areas inaccessible to traditional robots, such as pipeline inspection, medical examination, and disaster relief. However, with the continuous development of flexible robot technology, some new challenges have also emerged. Although flexible robots have strong environmental adaptability and flexibility, they still have certain shortcomings in terms of motion accuracy and control stability.

[0004] To address this problem, bristle robots, as a branch of flexible robotics, have gradually become a research hotspot. Bristle robots combine the advantages of rigid and flexible materials, using bristles as the main components of robot motion. Unlike fully flexible robots, bristle robots, through the combination of rigidity and flexibility in the bristles, not only possess the flexibility of flexible actuation but also can provide necessary support and directional control, thereby improving the robot's motion accuracy and stability in complex environments. This design gives bristle robots strong adaptability and precision control capabilities in various tasks, and they hold significant application potential, particularly in fields such as pipeline inspection, medical treatment, and rescue.

[0005] Current research shows that bristle robots designed for specific scenarios using specific actuation methods either apply strict motion constraints or can only achieve unidirectional movement. This lack of operability limits their application in unconstrained environments. Therefore, simply changing the actuation conditions is not enough to achieve motion control.

[0006] However, current research is characterized by structural parameters such as the number and thickness of the bristles being fixed during fabrication, making real-time adjustment impossible. This limits the directional motion control of these structures to specific conditions. Real-world environments are highly unpredictable. Therefore, a structure capable of real-time parameter adjustment is needed to achieve omnidirectional motion control. Furthermore, existing bristle robots are unable to maneuver flexibly in confined spaces. Summary of the Invention

[0007] To address the aforementioned problems, this invention provides a deformable omnidirectional bristle robot capable of navigating narrow gaps and its control method, solving the motion control problem of bristle robots in the prior art, maintaining excellent mobility while also having good narrow gap navigation ability.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A deformable omnidirectional bristle robot capable of navigating narrow gaps, including The main support frame is cross-shaped and used for the overall connection of the bristle robot. Four sub-drive units are arranged in a 90° circular array and are connected to the hinges on both sides of the main support to provide power for the bristle robot. The deformation unit is glued to the main support and provides power for the deformation of the two main supports; The control system, mounted on the main support, is used for the control and power supply of the sub-drive unit and the deformation unit.

[0009] Furthermore, the sub-drive unit includes a bristle film assembly and a motor drive module.

[0010] Furthermore, the bristle film assembly includes a bottom bristle array and a top bristle backing plane. The bristle film assembly is made of dragon-skin 10, a soft silicone material used to mold the bristle array and the bristle backing plane. The bristle array is arranged with bristles measuring 2mm × 2mm × 4mm in length, width, and height, spaced 3mm apart. This combination results in the fastest movement speed and best movement stability for the sub-drive unit.

[0011] Furthermore, the motor drive module is located on the bristle liner plane of the bristle film assembly.

[0012] Furthermore, the motor drive module includes a rigid support for the drive module and an eccentric motor. The rigid support for the drive module includes a base plate, a receiving block, a grooved connecting block, and a hinge hinge movable end blade. The receiving block is located on the rigid support away from the main support, and the hinge hinge movable end blade is located on the rigid support close to the main support. The grooved connecting block is disposed on the receiving block.

[0013] Furthermore, the eccentric motor is glued above the central axis of the rigid support of the drive module, located in the top groove of the groove connecting block; the central axis of the eccentric motor is parallel to the central axis of the rigid support of the drive module, and the bottom of the rigid support of the drive module is glued above the bristle lining plane of the bristle film assembly.

[0014] Furthermore, the deformable unit includes a traction device, a micro motor, a fixed pulley, and a rope; the micro motor is connected to the traction device for transmission, the fixed pulley is set on the straight support where the deformable unit is located, one end of the rope is set on the traction device, and the other end passes around the fixed pulley and is connected to another straight support.

[0015] Furthermore, the control system includes a battery and a control board, the battery and the control board being electrically connected, and the control board being electrically connected to an eccentric motor and a micro motor.

[0016] This invention also proposes a control method for the deformable omnidirectional bristle robot described above, comprising the following: During movement, the deformable omnidirectional bristle robot selects different control methods for different environments. In a flat environment, the bristles do not deform, and the control board sends control signals to the motor drive module of the sub-drive unit. When encountering pipes or gaps, the control board sends control signals to the micro-motor of the deformation unit in the motor drive module of the sub-drive unit; specifically: When the omnidirectional bristle robot moves in a flat environment, it has two movement modes: unidirectional movement and omnidirectional movement. The control method for unidirectional motion is as follows: the control board sends the control signal to the motor drive module of one of the four sub-drive units, the motor drive modules of the other sub-drive units are in a de-energized state, the eccentric motor of the motor drive module of the sub-drive unit in the energized state rotates, and the deformable omnidirectional bristle robot begins to move unidirectionally away from the main support. The control method for omnidirectional motion is as follows: the control board sends control signals to the two, three, or four motor drive modules of the four sub-drive units. The synchronous rotation of the eccentric motors of the two to four motor drive modules drives the deformable omnidirectional bristle robot to achieve omnidirectional motion. Among them, dual-motor drive has a slow speed, large deflection curvature, sensitive steering, and strong motion control capability, making it suitable for obstacle avoidance or steering in complex terrain; tri-motor drive has a fast speed, small deflection curvature, making it suitable for rapid movement on flat terrain; and quad-motor drive has strong steering capability, making it suitable for turning on the spot.

[0017] When the omnidirectional bristle robot is in a narrow environment such as pipes and gaps, it adopts a narrow gap passage mode. The control method for the narrow-gap movement mode is as follows: the control board sends control signals to the micro motors of the deformation module. The micro motors rotate, driving the traction device to rotate, which in turn drives the ropes connected to the main support, causing the main support to rotate. This causes the bristle robot to retract from a cross shape to an approximately straight line shape. The four motor drive modules are grouped in pairs, two in front and two in back. By energizing the eccentric motors of the two front or rear motor drive modules, the bristle robot can move forward or backward, achieving narrow-gap movement.

[0018] Note: The flat bottom and narrow shape are determined by visual observation and signal transmission to the drive board, which then controls the deformation.

[0019] The motion mechanism of the bristle robot is as follows: The rotation of the eccentric motor generates a periodically changing centrifugal force, which acts on the body, causing the bristle robot to vibrate up and down. When the robot vibrates up and down, the contact surface applies a vertically upward force to the bottom of the bristles, causing the bristles to bend. When the static friction force generated by the downward bending of the bristles is greater than the sliding friction force generated when they bounce upward, the bristle robot generates a forward driving force, propelling the robot forward.

[0020] Beneficial effects of the technical solution of this invention: This invention presents a deformable omnidirectional bristle robot that combines the advantages of rigid and flexible materials to achieve efficient movement and obstacle-crossing capabilities in complex environments. Its innovative structural design and flexible control methods make it widely applicable in specialized tasks such as pipeline inspection, disaster relief, and underground exploration. By sending control signals to the motor drive module and deformation module via a control board, and adjusting structural parameters in real time, the robot can achieve unidirectional or omnidirectional movement in flat environments and obstacle-crossing movement in pipe or crevice environments. This robot can adapt to various unpredictable environments, significantly improving the reliability and efficiency of task execution. This invention not only solves the motion control problem of existing bristle robots in complex environments but also provides new ideas and methods for the development of flexible robot technology. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of a deformable omnidirectional bristle robot capable of navigating narrow gaps according to the present invention. Figure 2 This is a schematic diagram of the main support structure in this invention; Figure 3 This is a schematic diagram of the control system and deformation unit in this invention; Figure 4 This is a schematic diagram of the sub-driving unit in the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the sub-driving unit in the present invention. Figure 2 ; Figure 6for Figure 1 Top view of a omnidirectional bristle robot; Figure 7 for Figure 1 Side view of a omnidirectional bristle robot; Figure 8 for Figure 1 A schematic diagram of the deformed omnidirectional bristle robot; Figure 9 This is a schematic diagram of the deformation process of an omnidirectional bristle robot. In the diagram: 1. Main support; 2. Control system; 21. Battery; 22. Control board; 3. Sub-drive unit; 31. Bristle film assembly; 311. Bristle array; 312. Bristle lining plane; 32. Motor drive module; 321. Eccentric motor; 322. Drive module rigid support; 4. Deformation unit; 41. Traction device; 42. Micro motor; 43. Fixed pulley; 44. Rope; 5. Base plate; 6. Receiving block; 7. Groove connecting block; 8. Hinge movable end blade. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] The accompanying drawings in this invention are not strictly drawn to scale, and the specific dimensions and quantity of each structure can be determined according to actual needs. The drawings described in this invention are merely structural schematic diagrams.

[0024] like Figures 1-9 As shown, a deformable omnidirectional bristle robot capable of navigating narrow gaps is characterized by comprising a main support 1, which is cross-shaped and used for the overall connection of the bristle robot; four sub-drive units 3, arranged in a 90° circular array, which are hinged to the main support 1 to provide power to the bristle robot; a deformation unit 4, which is mounted on the main support 1 and provides power for the deformation of the two main supports 1; and a control system 2, which is mounted on the main support 1 and used for the control and power supply of the sub-drive units 3 and the deformation units 4.

[0025] refer to Figure 2 The main support 1 is composed of two intersecting and movable connections between two straight sections, including a connecting hole 11 in the middle of the crossbar, hinge fixing end blades 12 on both sides, and a sunken plane 13 in the middle of the crossbar that provides space for deformation.

[0026] refer to Figure 3The deformation unit 4 includes a traction device 41 (lead screw), a micro motor 42, a fixed pulley 43, and a rope 44. The micro motor 42 is connected to the traction device 41 for transmission. The fixed pulley is set on the straight bracket where the deformation unit 4 is located. One end of the rope is set on the traction device 41, and the other end passes around the fixed pulley and is connected to another straight bracket. (A spring or elastic material can be set between the two straight brackets so that the rope 44 can be relaxed and restored to form a cross-shaped structure again.)

[0027] refer to Figure 4 The sub-drive unit 3 includes a bristle film assembly 31 and a motor drive module 32.

[0028] The bristle film assembly 31 includes a bristle array at the bottom and a bristle-lined plane 312.

[0029] The motor drive module 32 is located on the bristle lining plane 312 of the bristle film assembly 31; the motor drive module 32 is located at the end of the bristle lining plane 312 away from the main support 1.

[0030] The motor drive module 32 includes a drive module rigid bracket 322 and an eccentric motor 321. The drive module rigid bracket 322 includes a base plate 5, a receiving block 6, a groove connecting block 7, and a hinge hinge movable end blade 8. The receiving block is located on the rigid bracket 322 away from the main support 1, and the hinge hinge movable end blade 8 is located on the rigid bracket 322 close to the main support 1. The groove connecting block 7 is disposed on the receiving block 6.

[0031] The eccentric motor 321 is glued above the central axis of the rigid support 322 of the drive module and is located in the top groove of the groove connecting block 3; the central axis of the eccentric motor 321 is parallel to the central axis of the rigid support 322 of the drive module, and the bottom of the rigid support 322 of the drive module is glued above the bristle lining plane 312 of the bristle film assembly 31.

[0032] refer to Figure 3 The control system 2 includes a battery 21 and a control board 22. The battery 21 is electrically connected to the control board 22, and the control board 22 is electrically connected to the eccentric motor 321 and the micro motor 42.

[0033] The present invention discloses an operation method for a deformable omnidirectional bristle robot capable of navigating narrow gaps. During movement, the deformable omnidirectional bristle robot selects different control methods for different stages. In flat environments, the robot does not deform, and the control board 22 sends control signals to the motor drive module 32 of the sub-drive unit 3. When encountering narrow environments such as pipes or gaps, the control board 22 sends control signals to the servo motor 42 of the deformable unit 4 and the motor drive module 32 of the sub-drive unit 3. Specifically: When the omnidirectional bristle robot moves in a flat environment, it has two movement modes: unidirectional movement and omnidirectional movement. The control method for unidirectional motion is as follows: the control board 22 sends the control signal to the motor drive module 32 of one of the four sub-drive units 3, the motor drive modules 32 of the other sub-drive units 3 are in a de-energized state, the eccentric motor 321 of the motor drive module 32 of the sub-drive unit 3 in the energized state rotates, and the deformable omnidirectional bristle robot begins to move unidirectionally away from the main support 1. The omnidirectional motion control method is as follows: the control board 22 sends control signals to one to four of the four sub-drive units 3, including two, three, or four motor drive modules 32. The synchronous rotation of the eccentric motors 321 of the multiple motor drive modules 32 drives the deformable omnidirectional bristle robot to achieve omnidirectional motion. The actual operation process is as follows: the bristle robot is composed of four sub-drive units 32 arranged around a center. The angular displacement interval between two adjacent units relative to the center in the circumferential direction is 90°. Assuming that the sub-drive units 32 are numbered 1, 2, 3, and 4, when only the control signal is sent to sub-drive unit 32 number 1, the bristle robot moves along the central axis of sub-drive unit 32 number 1, which is unidirectional motion. When sub-drive units 32 number 1 and 2 are started simultaneously, and the driving voltage of the eccentric motors 321 is the same, sub-drive units 1 and 2 move simultaneously, combining a 45° direction of motion. By changing the voltage of the two sub-drive units 32, motion in any direction within the range of 0° to 90° can be achieved. Similarly, driving sub-drive units 2 and 3, or sub-drive units 32 and 4, or sub-drive units 4 and 1, can achieve movement in any direction within the range of 90° to 180°, 180° to 270°, or 270° to 360°, which is omnidirectional movement. When three or four sub-drive units 32 are driven simultaneously, similar omnidirectional movement will be achieved according to the voltage of the eccentric motor 321 of each unit.

[0034] When the omnidirectional bristle robot is in a narrow environment such as pipes and gaps, it adopts a narrow gap passage mode. The control method for the narrow gap passage mode is as follows: the control board 22 sends a control signal to the micro motor 42 of the deformation module 4. The micro motor 42 rotates, driving the traction device 41 to rotate, which in turn drives the rope connected to the main support 1, causing the main support 1 to rotate. This causes the bristle robot to retract from a cross shape to an approximately straight shape. The eccentric motor 321 of the motor drive module 32 is energized and rotates, driving the bristle robot to move forward or backward, thus achieving narrow gap passage movement.

[0035] To improve the motion performance of the bristle robot, this invention employs a two-factor completely randomized design of the bristle structure parameters and motor structure parameters, proposing a relatively optimal combination of bristle mechanism parameters and an optimal selection of motor structure parameters.

[0036] As an alternative embodiment, the bristle film component 31 is made of dragon-skin 10; dragon-skin 10 is a soft silicone used to mold the bristle array 311 and the bristle backing plane 312. The fabrication method of the bristle film component 31 includes printing a mold for the bristle film component 31 using a commercial 3D printer, preparing a 1:1 dragon-skin 10 standard solution for casting, and obtaining the bristle film component 31 after demolding.

[0037] The structural parameters of the bristle array 311 include bristle stiffness and bristle tilt angle. The bristle stiffness variables include bristle length and bristle thickness. Through a two-factor completely random design, the optimal bristle structural performance combination can be found. The bristle film component 31 is made of dragon-skin 10, a soft silicone material used to mold the bristle array 311 and the bristle backing plane 312. The optimal performance combination for the bristle array 311 is a bristle length, width, and height of 2mm × 2mm × 4mm. This combination results in the fastest movement speed and best movement stability for the sub-drive unit 3.

[0038] The variable factors for the motor structural parameters include the placement positions of the motor drive module 32 and the eccentric motor 321. To study the influence of the placement position of motor 321 on motion performance, the placement positions of the motor drive module 32 and the eccentric motor 321 are used as variables. The positional variable factor for the motor drive module 32 is its position variation on the upper surface of the bristle-lined plane 312, ranging from the end furthest from the main support 1 to the end closest to the main support 1, with three placement positions: close, far, and in the middle. The positional variable factor for the eccentric motor 321 is the angle between it and the central axis of the sub-drive unit 3, which varies from -90° to 90°. Through a two-factor completely randomized design, the combination of motor structural parameters with the best motion performance can be found. The evaluation criteria for motion performance are the magnitude of the motion speed and the magnitude of the motion deflection angle. The motion speed is the relative displacement of the center of mass per unit time, and the motion deflection angle is the angular change of the central axis where the center of mass is located between the end and the beginning of the unit time. A larger motion speed and a smaller motion deflection angle can represent excellent motion performance. Through a two-factor completely randomized design experiment, with the structural parameters of the bristle array 311 and the placement position of the eccentric motor 321 unchanged, changing the placement position of the motor drive module 32 yielded the conclusion that the best motion performance was achieved when it was placed far away from the main support 1. With the structural parameters of the bristle array 311 and the placement position of the motor drive module 32 unchanged, changing the placement position of the eccentric motor 321 yielded the conclusion that the best motion performance was achieved when the eccentric motor 321 was placed at an angle of 0°.

[0039] In summary, the omnidirectional flexible bristle robot of this invention achieves efficient movement and obstacle-crossing capabilities in complex environments by combining the advantages of rigid and flexible materials. Its innovative structural design and flexible control methods make it widely applicable in specialized tasks such as pipeline inspection, disaster relief, and underground exploration. By sending control signals to the motor drive module and deformation control module through a control board and adjusting structural parameters in real time, the robot can achieve unidirectional or omnidirectional movement in flat environments and obstacle-crossing movement in stepped or rugged environments. This robot can adapt to various unpredictable environments, significantly improving the reliability and efficiency of task execution. This invention not only solves the motion control problem of existing bristle robots in complex environments but also provides new ideas and methods for the development of flexible robot technology.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A deformable omnidirectional bristle robot capable of navigating narrow gaps, characterized in that, It includes a main support (1), a sub-drive unit (3), a deformation unit (4), and a control system (2); Multiple sub-drive units (3) are arranged in an array along the circumferential direction and are respectively hinged to the main support (1); The main support (1) is cross-shaped and includes two cross-moving supports; The deformation unit (4) is installed on the main support (1) to provide power for the deformation of the main support (1); The control system (2) is installed on the main support (1) and is used for the control and power supply of the sub-drive unit (3) and the deformation unit (4).

2. The deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 1, characterized in that, The single-piece bracket includes a horizontal bar with a connecting hole (11) in the middle and hinged fixed end blades (12) on both sides of the horizontal bar. The middle of the horizontal bar is provided with a recessed plane (13) to provide space for deformation.

3. The deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 1, characterized in that, The deformable unit (4) includes a traction device (41), a micro motor (42), a fixed pulley (43), and a rope (44). The micro motor (42) is connected to the traction device (41) for transmission. The fixed pulley is set on the straight support where the deformable unit (4) is located. One end of the rope is set on the traction device (41), and the other end passes around the fixed pulley and is connected to another straight support.

4. A deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 3, characterized in that, The four sub-drive units (3) are arranged in a 90° circular array on the main support (1) to provide power for the bristle robot. The sub-drive unit (3) includes a bristle film assembly (31) and a motor drive module (32) disposed on the bristle film assembly (31). The bristle film assembly (31) includes a bristle lining plane (312) and a bristle array (311). The motor drive module (32) includes a drive module rigid bracket (322) and an eccentric motor (321). The drive module rigid bracket (322) includes a base plate (5), a receiving block (6), a groove connecting block (7), and a hinge hinge movable end blade (8). The receiving block (6) is located on the base plate (5) away from the main support (1), and the hinge hinge movable end blade (8) is located on the base plate (5) close to the main support (1). The groove connecting block (7) is set on the receiving block (6).

5. A deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 4, characterized in that, The eccentric motor (321) is glued above the central axis of the rigid support (322) of the drive module and located in the top groove of the groove connecting block (3); the central axis of the eccentric motor (321) is parallel to the central axis of the rigid support (322) of the drive module, and the bottom of the rigid support (322) of the drive module is glued above the bristle lining plane (312) of the bristle film assembly (31).

6. A deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 4, characterized in that, The control system (2) includes a battery (21) and a control board (22), the battery (21) and the control board (22) being electrically connected, and the control board (22) being electrically connected to an eccentric motor (321) and a micro motor (42).

7. A deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 4, characterized in that, The bristle film assembly (31) is made of soft silicone. The bristle array (311) is arranged such that the bristles are 2mm long, 2mm wide, and 4mm high, with a 3mm interval between them.

8. A deformable omnidirectional bristle robot capable of navigating narrow gaps according to claim 4, characterized in that, The motor drive module (32) is located on the bristle lining plane (312) at one end away from the main support (1), and the center line of the eccentric motor (321) coincides with the center line of the sub-drive unit (3).

9. The method for operating a deformable omnidirectional bristle robot capable of navigating narrow gaps according to any one of claims 1-8, characterized in that, Includes the following steps: In a flat terrain environment: When the omnidirectional bristle robot moves in a flat environment, it has two movement modes: unidirectional movement and omnidirectional movement, as detailed below; The control method for unidirectional motion is as follows: the control board (22) sends the control signal to the motor drive module (32) of one of the four sub-drive units (3), the motor drive modules (32) of the other sub-drive units (3) are in a de-energized state, the eccentric motor (321) of the motor drive module (32) of the sub-drive unit (3) in the energized state rotates, and the deformable omnidirectional bristle robot begins to move unidirectionally away from the main support (1); The control method for omnidirectional motion is as follows: the control board (22) sends control signals to two, three, or four motor drive modules (32) of the four sub-drive units (3). The synchronous rotation of the eccentric motors (321) of the two, three, or four motor drive modules (32) drives the deformable omnidirectional bristle robot to achieve omnidirectional motion; specifically: Drive two sub-drive units (3), and by adjusting their voltage, move in any direction within the 0-90° angle range. Drive different combinations of two sub-drive units (3) to cover the 360° omnidirectional direction. When driving three or four sub-drive units, combine the voltage of each unit to achieve omnidirectional 360° movement. When navigating narrow spaces: When the omnidirectional bristle robot is in a confined environment, it adopts a narrow-gap movement mode; specifically as follows: The control board (22) sends control signals to the micro motor (42) of the deformation module (4). The micro motor (42) rotates, driving the traction device (41) to rotate, which in turn drives the rope connected to the main support (1), causing the main support (1) to rotate, so that the bristle robot shrinks from a cross shape to an approximately straight shape. The four motor drive modules (32) are in pairs, two in front and two in back. The eccentric motors (321) of the two motor drive modules (32) in front or behind are energized and rotated, driving the bristle robot to move forward or backward, realizing narrow gap passage movement.

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