Rapid self-healing growth robot based on multilayer composite epidermis and thermal excitation and self-healing method thereof

Abstract

The invention discloses a rapid self-healing growth robot based on multilayer composite epidermis and thermal excitation and a self-healing method thereof. The growth robot comprises a growth body and a thermal excitation module, the thermal excitation module is movably arranged outside the growth body in a sleeving mode, and the thermal excitation module is used for applying controllable heat to the local damaged position of the growth body and triggering and accelerating the self-healing function of the growth body; when the surface of the growth body is damaged, the thermal excitation module is moved to the position above the damaged part for local heating, under thermal excitation, the driving layer in the growth body shrinks so as to draw the wound, and meanwhile, the healing layer in the growth body melts and flows to fill a damage notch; and after heating is stopped, the molten material is solidified to realize growth body self-healing. According to the self-healing method, the robot can complete rapid self-healing within several seconds, the structure is simple, the healing speed is high, the triggering mode is convenient and fast, and the reliability and survivability of the growth robot in practical application are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of soft robot technology, specifically relating to a growth robot capable of rapid self-repair after physical damage. Background Technology

[0002] Growth-type soft robots, mimicking the growth pattern of vines, can extend into narrow or unstructured environments, showing great potential in fields such as pipeline inspection, disaster search and rescue, and medical exploration. However, these robots are typically constructed from thin, lightweight film materials, making them highly susceptible to punctures or scratches from sharp objects when interacting with complex environments, leading to functional failure. Existing self-healing materials, such as self-healing thermoplastic polyurethanes based on reversible or non-covalent bonds, can repair damage, but their healing process typically takes several hours or even longer, failing to meet the demands of rapid response and recovery tasks for robots. Therefore, developing a growth robot capable of rapid, in-situ self-healing is a significant challenge in this field. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a rapid self-healing growth robot based on a multi-layer composite epidermis and thermal stimulation, thereby solving the technical problems of easy damage and slow repair of soft robots in the prior art.

[0004] The technical solution adopted in this invention is as follows: I. A rapid self-healing growth robot based on multi-layer composite epidermis and thermal stimulation The rapid self-healing growth robot includes a growth body and a thermal excitation module. The thermal excitation module is movably fitted onto the outside of the growth body. The thermal excitation module is used to apply heat to the damaged area of ​​the growth body to trigger the self-healing function of the growth body, so as to realize the self-healing of the growth body.

[0005] The growth body is a flexible, closed tubular structure that can grow and deform axially / radially. The growth body has a retracted state where it does not expand outward and a growth state where it expands outward driven by internal pressure.

[0006] The thermal excitation module includes a movable structure and a polyimide heating film. The movable structure is movably fitted onto the outside of the growth body. A notch is opened on the side wall of the movable structure. One side of the polyimide heating film is fixed to the inner wall of the notch of the movable structure. The other side of the polyimide heating film is located outside the growth body and above the damaged area, and applies heat to the damaged area. The notch is in contact with an external heating device.

[0007] The movable structure is an annular sleeve structure, and the polyimide heating film is an arc-shaped heating film that matches the curvature of the annular sleeve structure.

[0008] The epidermis of the growth organism is a multi-layered composite epidermis, which mainly consists of a driving layer, an elastic layer, a healing layer, and a protective layer stacked sequentially from the outside to the inside. The driving layer is mainly composed of a heat-shrinkable film with shape memory effect, the elastic layer is mainly composed of an acrylic adhesive soft gel, the healing layer is mainly composed of thermoplastic materials, and the protective layer is mainly composed of thermoplastic materials.

[0009] The melting point of the thermoplastic material in the protective layer is higher than that of the thermoplastic material in the healing layer and the heating temperature of the thermal excitation module; the melting point of the thermoplastic material in the healing layer is lower than that of the heating temperature of the thermal excitation module.

[0010] The heat-shrinkable film is a co-extruded heat-shrinkable film with polyethylene as the middle layer and polypropylene as the inner and outer layers; the thermoplastic material is thermoplastic polyurethane.

[0011] The growth body is equipped with a self-contained chemical driving unit, which generates gas to provide internal pressure for the growth body to change from a contracted state to a growth state.

[0012] The chemical drive unit contains ammonium bicarbonate powder, which is heated and decomposed by a thermal excitation module to produce gas.

[0013] II. Self-healing method of rapid self-healing growth robot based on multi-layer composite skin and thermal stimulation When a gap-like injury occurs on the outside of the growth body, the thermal excitation module is manually moved so that the polyimide heating film is positioned above the damaged area, and the damaged area is heated. Under the thermal excitation, the driving layer generates a contraction force, pulling the edge of the damaged area towards the center and deforming it. At the same time, the healing layer is heated and melts into a fluid. Under the contraction force applied by the driving layer, the fluid fills the deformed damaged area. Finally, heating is stopped, the fluid cools and solidifies, and the growth robot completes self-healing.

[0014] The self-healing method of this invention enables robots to complete rapid self-healing within seconds, which is more than three orders of magnitude more efficient than traditional self-healing materials. Furthermore, this invention has a simple structure, fast healing speed, and convenient triggering method, which greatly enhances the reliability and survivability of growth robots in practical applications.

[0015] The beneficial effects of this invention are: 1. Extremely fast healing speed: Through the synergistic effect of the active contraction of the driving layer and the passive filling of the healing layer, the long repair process of traditional materials, which is mainly based on molecular diffusion, is transformed into a rapid process combining macroscopic mechanical force and material phase change.

[0016] 2. Simple triggering method: The entire self-healing process can be triggered by applying controllable heat, making it easy to integrate and control.

[0017] 3. Lightweight structure: The multi-layer composite skin itself is made of thin film, which is lightweight and very suitable for applications such as growth robots and drones that are sensitive to load. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of the rapid self-healing growth robot based on multi-layer composite epidermis and thermal stimulation according to the present invention. Figure 2 This is a schematic diagram of the multi-layer composite skin of the rapid self-healing growth robot based on multi-layer composite skin and thermal stimulation according to the present invention. Figure 3 This is a schematic diagram of the thermal excitation module of the rapid self-healing growth robot based on multi-layer composite epidermis and thermal excitation of the present invention. Figure 4 This is a schematic diagram illustrating the principle of the self-healing process of the main body of the rapid self-healing growth robot based on multi-layer composite epidermis and thermal stimulation according to the present invention.

[0019] In the figure: 1. Growth body; 2. Thermal excitation module; 3. Damaged area; 11. Driving layer; 12. Elastic layer; 13. Healing layer; 14. Protective layer; 21. Movable structure; 22. Polyimide heating film. 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 rapid self-healing growth robot includes a growth body 1 and a thermal excitation module 2. The thermal excitation module 2 is movably fitted outside the growth body 1. The thermal excitation module 2 is used to apply controllable heat to the local damaged area 3 of the growth body 1 to trigger and accelerate the self-healing function of the growth body 1, so as to realize the self-healing of the growth body 1.

[0022] The growth body 1 is a flexible closed tubular structure that can grow, deform, and expand axially / radially. The growth body 1 grows under the drive of internal pressure and contracts under the action of external force. The growth body 1 has a retracted state that does not expand outward and a growth state that expands outward driven by internal pressure.

[0023] like Figure 3As shown, the thermal excitation module 2 includes a movable structure 21 and a heating element, namely a polyimide heating film 22. The movable structure 21 is movably sleeved on the outside of the growth body 1. A notch is formed in the side wall of the movable structure 21. One side of the polyimide heating film 22 is fixed to the inner wall of the notch in the movable structure 21, and the other side of the polyimide heating film 22 is located outside the growth body 1 and above the damaged area 3, applying controllable heat to the locally damaged area 3. The notch is in contact with an external heating device. The movable structure 21 is an annular sleeve structure, and the polyimide heating film 22 is an arc-shaped heating film adapted to the curvature of the annular sleeve structure.

[0024] like Figure 2 As shown, the skin of the growth body 1 is a multi-layered composite skin, which mainly consists of a driving layer 11, an elastic layer 12, a healing layer 13, and a protective layer 14 stacked sequentially from the outside to the inside. The driving layer 11 is mainly composed of a heat-shrinkable film with shape memory effect, which functions to shrink when subjected to thermal stimulation to provide mechanical driving force for the healing process. The elastic layer 12 is mainly composed of a soft acrylic adhesive, which provides elastic tension for the growth body 1 and serves as an adhesive medium for adjacent functional layers. The healing layer 13 is mainly composed of a low-melting-point thermoplastic material, which functions to melt when subjected to thermal stimulation and flow to fill the damaged area 3. The protective layer 14 is mainly composed of a high-melting-point thermoplastic material, which provides structural support and heat resistance for the growth body 1 and is well compatible with the material of the healing layer 13.

[0025] Specifically, the multi-layer composite skin is composed of four functional layers bonded together by hot pressing and other methods: the outermost layer is the driving layer 11, which is made of heat-shrinkable film; the second layer is the elastic layer 12, which is made of acrylic adhesive soft gel; the third layer is the healing layer 13, which is made of low melting point thermoplastic material; and the innermost layer is the protective layer 14, which is made of high melting point material.

[0026] The high-melting-point thermoplastic material of the protective layer 14 has a melting point much higher than that of the low-melting-point thermoplastic material of the healing layer 13 and the heating temperature of the thermal excitation module 2, so as to maintain structural stability during the healing process; the low-melting-point thermoplastic material of the healing layer 13 has a melting point lower than that of the heating temperature of the thermal excitation module 2.

[0027] The heat-shrinkable film is a co-extruded heat-shrinkable film with polyethylene as the middle layer and polypropylene as the inner and outer layers; the low-melting-point thermoplastic material is a low-melting-point thermoplastic polyurethane with a melting point of 50-70°C, and the high-melting-point thermoplastic material is thermoplastic polyurethane.

[0028] The growth body 1 is internally equipped with a self-contained chemical driving unit. This unit generates gas to provide internal pressure for the growth body 1 to transition from a contracted state to a growth state. The chemical driving unit contains ammonium bicarbonate powder, which is heated and decomposed by the thermal excitation module 2 to generate gas.

[0029] Specifically, the chemical drive unit generates gas under heating conditions, providing controllable internal pressure to the cavity of the growth body 1; driven by the internal pressure, the head of the growth body 1 expands axially and turns the internal material outward, realizing the growth movement of the rapid self-healing growth robot.

[0030] like Figure 4 As shown, when a gap-like damage (such as perforation or scratch) appears on the exterior of the growth body 1, the thermal excitation module 2 is manually moved so that the polyimide heating film 22 is positioned above the locally damaged area 3, and the locally damaged area 3 is locally heated. Under the thermal excitation, the driving layer 11 is heated and generates a contraction force, mechanically pulling the edge of the damaged area 3 towards the center and deforming it like suturing a wound. At the same time, the healing layer 13 is heated and melts into a fluid. Under the contraction force applied by the driving layer 11, the fluid quickly fills the gap at the deformed damaged area. The thermal excitation module 2 stops heating, the fluid cools and solidifies, and it integrates with the surrounding material, finally forming a sealed repair area that restores the structural integrity, completing the airtight repair, and the growth robot completes self-healing.

[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 fast self-healing growth robot based on multi-layer composite skin and thermal stimulation, characterized in that: it comprises a growth body (1) and a thermal stimulation module (2), the thermal stimulation module (2) is movably sleeved outside the growth body (1), and the thermal stimulation module (2) is used for applying heat to a damaged part (3) of the growth body (1) to trigger the self-healing function of the growth body (1) to realize self-healing of the growth body (1).

2. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 1, characterized in that: the growth body (1) is a flexible closed tubular structure capable of axial / radial growth deformation, and the growth body (1) has a retracted state without outward expansion and a growth state with outward expansion driven by internal pressure.

3. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 1, characterized in that: the thermal stimulation module (2) comprises a movable structure (21) and a polyimide heating film (22); the movable structure (21) is movably sleeved outside the growth body (1), a side wall of the movable structure (21) is provided with a gap, one side of the polyimide heating film (22) is fixed to the inner wall of the gap of the movable structure (21), the other side of the polyimide heating film (22) is located outside the growth body (1) and located at the upper part of the damaged part (3) and applies heat to the damaged part (3); and the gap is in contact with an external heating device.

4. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 3, characterized in that: the movable structure (21) is a ring sleeve structure, and the polyimide heating film (22) is an arc-shaped heating film matched with the curvature of the ring sleeve structure.

5. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 1, characterized in that: the skin of the growth body (1) is a multi-layer composite skin mainly composed of a driving layer (11), an elastic layer (12), a healing layer (13) and a protective layer (14) stacked from outside to inside; the driving layer (11) is mainly composed of a heat-shrinkable film with shape memory effect, the elastic layer (12) is mainly composed of a soft acrylic adhesive, the healing layer (13) is mainly composed of a thermoplastic material, and the protective layer (14) is mainly composed of a thermoplastic material.

6. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 5, characterized in that: the melting point of the thermoplastic material of the protective layer (14) is higher than the melting point of the thermoplastic material of the healing layer (13) and the heating temperature of the thermal stimulation module (2); and the melting point of the thermoplastic material of the healing layer (13) is lower than the heating temperature of the thermal stimulation module (2).

7. The fast self-healing growth robot based on multi-layer composite skin and thermal stimulation according to claim 5, characterized in that: ​ ​ ​ ​ ​ ​ The heat-shrinkable film is a co-extrusion heat-shrinkable film with polyethylene as the middle layer and polypropylene as the inner and outer layers; the thermoplastic material is thermoplastic polyurethane. 8.The quick self-healing growth robot based on multi-layer composite skin and thermal excitation according to claim 5, characterized in that: The growth body (1) is internally provided with a self-contained chemical drive unit, which provides internal pressure for the growth body (1) to change from a shrinkage state to a growth state by generating gas. 9.The quick self-healing growth robot based on multi-layer composite skin and thermal excitation according to claim 8, characterized in that: The chemical drive unit contains ammonium bicarbonate powder, which is heated and decomposed by the thermal excitation module (2) to generate gas. 10.A self-healing method of the quick self-healing growth robot based on multi-layer composite skin and thermal excitation according to any one of claims 1-9, characterized in that: When the growth body (1) has a gap-like damage on the outside, the thermal excitation module (2) is manually moved to make the polyimide heating film (22) located on the upper part of the damaged part (3), and the damaged part (3) is heated, under the action of thermal excitation, the driving layer (11) generates shrinkage force under heat, and the edges of the damaged part (3) are pulled to the center to deform, at the same time, the healing layer (13) is melted into a fluid under heat, and the fluid is filled into the deformed damage under the shrinkage force applied by the driving layer (11); finally, stop heating, the fluid cools and solidifies, and the growth robot completes self-healing.

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