A self-growing robot of a new growth mechanism

Abstract

The application discloses a novel self-growth robot with a new growth mechanism and relates to the technical field of self-growth robots.The robot comprises a base, flexible main bodies and air tubes fixedly connected to two ends of the base, a moving frame arranged in the inner cavity of the flexible main body, drivers fixedly connected to the upper and lower ends of the moving frame, a servo motor installed on the side end of the moving frame, a reel installed on the side end of the servo motor, a rotating plate fixedly connected to the side end of the reel and penetrating through the moving frame, the rotating plate being rotatably connected to the side end of the moving frame, driving wheels installed at the two ends of the driver, and the driving wheels being rollingly connected to the inner wall of the flexible main body.The smoothening frame is in a circular arc shape, is provided with two groups, and is attached to the inner wall of the flexible main body at the end away from the base.The smoothening frame is used for limiting the upper and lower sides of the top end of the flexible main body, smoothening the flexible main body, avoiding the phenomenon that the flexible main body is wrinkled due to bending, and guaranteeing the smooth storage of the flexible main body.

Description

Technical Field

[0001] This invention relates to the field of self-growing robot technology, and more specifically to a self-growing robot with a novel growth mechanism. Background Technology

[0002] Self-growing robots are special robots that can extend and retract their length through their own structural design and power mechanism. Their core feature is that they can dynamically change their shape to adapt to specific task requirements. They are widely used in scenarios such as narrow space exploration, rescue, and pipeline maintenance.

[0003] In the existing technology, self-growing robots mainly consist of a base, a scroll, and a flexible body. When the self-growing robot grows, the flexible body is stored on the scroll, gas is filled into the base, and the air pressure drives the flexible body to open. At the same time, the scroll is driven by a motor to rotate, and the flexible body detaches from the scroll.

[0004] However, when the flexible body grows to a large length, during the retrieval process of the self-growing robot, gas is discharged from the base, and the flexible body is prone to buckling due to insufficient air pressure. This can cause the reel to be unable to smoothly retract the flexible body, thus affecting the retrieval effect of the self-growing robot. Summary of the Invention

[0005] The purpose of this invention is to provide a novel self-growing robot with a novel growth mechanism to solve the technical problem in the prior art where the flexible body buckles due to insufficient air pressure, which leads to the unsmooth winding of the flexible body.

[0006] The technical problem to be solved by this invention can be achieved through the following technical solution:

[0007] A novel self-growing robot with a growth mechanism includes:

[0008] The base has a flexible body and an air tube fixedly connected to its two ends, and the inner cavity of the base is connected to the inner cavity of the flexible body.

[0009] A movable frame is disposed in the inner cavity of the flexible body, and a driver is fixedly connected to the upper and lower ends respectively. A servo motor is installed on the side end of the movable frame, and a roller is installed on the side end of the servo motor. A rotating plate that passes through the movable frame is fixed on the side end of the roller. The rotating plate is rotatably connected to the side end of the movable frame. Drive wheels are installed on both ends of the driver and are tactilely connected to the inner wall of the flexible body.

[0010] The smoothing frame is arc-shaped and has two sets, which are respectively attached to the inner wall of the flexible body at the end away from the base. The smoothing frame is fixedly connected to the side of the movable frame through a buffer assembly.

[0011] As a further aspect of the present invention: the side end of the movable frame is hinged to a connecting frame via a hinge plate, the hinge plate is provided in two sets and is located at the upper and lower ends of the movable frame respectively, the side end of the connecting frame is fixedly connected to a linear connecting line, the side end of the connecting line is fixedly connected to a storage component, and the storage component is disposed in the inner cavity of the base.

[0012] As a further aspect of the present invention: the storage component includes: a storage unit, a storage shaft, and a partition plate. The storage unit is fixedly connected to the inner wall of the base. The storage shaft is fixedly connected to the side end of the connecting line. The side end of the storage shaft is fixedly connected to the storage unit. The end of the storage shaft away from the storage unit is rotatably connected to the inner wall of the base through the partition plate. The diameter of the partition plate is larger than the diameter of the storage shaft.

[0013] As a further embodiment of the present invention: the upper and lower ends of the movable frame are respectively fixedly connected to the limiting frame, the limiting frame is located at the side end of the driver, the side end of the limiting frame is rotatably connected to the limiting wheel, and the limiting wheel is rollingly connected to the inner wall of the flexible body.

[0014] As a further embodiment of the present invention: the buffer assembly includes: a buffer tube, a buffer spring, and a buffer column. The side end of the buffer tube is fixedly connected to the movable frame. The buffer spring is disposed in the inner cavity of the buffer tube. Both ends of the buffer spring are fixedly connected to the buffer tube and the buffer column, respectively. The buffer column is slidably connected to the inner cavity of the buffer tube. The side end of the buffer column is fixedly connected to the smoothing frame.

[0015] As a further aspect of the present invention: the reel is provided with a guide frame on the side away from the base, the guide frame is provided in two sets and is symmetrically arranged along the cross section of the moving frame, the side end of the guide frame is fixedly connected to the moving frame, the guide frame is located between the two sets of buffer components, and the side end of the guide frame is provided with a rounded corner.

[0016] As a further embodiment of the present invention: the guide frame is equidistantly equipped with several sets of guide rollers along its length direction, and the guide frame is provided with two sets of limiting shafts at the end away from the roll shaft. The upper and lower ends of the guide rollers are rotatably connected to the guide frame, and the two sets of limiting shafts are symmetrically arranged along the cross-section of the roll shaft.

[0017] As a further embodiment of the present invention: the two ends of the limiting shaft are respectively rotatably connected to slide blocks, the upper and lower ends of the guide frame are respectively provided with slide grooves, the slide blocks are slidably connected to the inner wall of the slide grooves, and are engaged with the inner wall of the slide grooves.

[0018] As a further aspect of the present invention: the inner cavity of the slide groove is provided with a limiting spring, and the upper and lower ends of the limiting spring are fixedly connected to the guide frame and the slide block, respectively.

[0019] Beneficial effects:

[0020] 1. When the flexible body is stored in the roll, the upper and lower ends of the moving frame are supported by the driver. The driver drives the drive wheel to rotate, thereby achieving the effect of moving the moving frame with the roll. At the same time, it ensures that the moving frame and the top of the flexible body are kept at a fixed distance, thus ensuring that the flexible body can be continuously stored on the roll.

[0021] 2. When the flexible body is stored on the roll, a smoothing frame is set to limit the upper and lower sides of the top of the flexible body. The smoothing frame smooths the flexible body and prevents wrinkles caused by bending. This can prevent the flexible body from being misaligned or stuck on the roll, thus ensuring smooth storage of the flexible body.

[0022] 3. The smoothing frame is installed on the movable frame through a buffer component. When the flexible body is being stored, if the air pressure inside the flexible body is unstable, the buffer component ensures that the smoothing frame can always hold and limit the flexible body. The two ends of the smoothing frame can be set to an arc shape to prevent the edges of the smoothing frame from scratching the inner wall of the flexible body when the flexible body slides along the smoothing frame. Attached Figure Description

[0023] The invention will now be further described with reference to the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a right view of the overall structure of the present invention;

[0026] Figure 3 For the present invention Figure 2 Overall structural AA section view;

[0027] Figure 4 For the present invention Figure 2 Overall structural BB section view;

[0028] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point E;

[0029] Figure 6 This is a schematic diagram of the storage component structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the buffer component structure of the present invention;

[0031] Figure 8 This is a front view of the buffer component structure of the present invention;

[0032] Figure 9 For the present invention Figure 8 CC section view of the buffer component;

[0033] Figure 10 For the present invention Figure 8 DD section view of the buffer component;

[0034] Figure 11 For the present invention Figure 9 Enlarged schematic diagram of the structure at point F.

[0035] In the diagram: 1. Base; 2. Flexible body; 3. Air pipe; 4. Storage device; 5. Storage shaft; 6. Connecting line; 7. Connecting frame; 8. Limiting frame; 9. Driver; 10. Drive wheel; 11. Moving frame; 12. Buffer tube; 13. Buffer spring; 14. Buffer column; 15. Roller; 16. Limiting shaft; 17. Guide roller; 18. Guide frame; 19. Hinge plate; 20. Isolation plate; 21. Servo motor; 22. Rotating plate; 23. Smoothing frame; 24. Limiting wheel; 25. Slide groove; 26. Slide seat; 27. Limiting spring. Detailed Implementation

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

[0037] like Figures 1-11 As shown, a novel self-growing robot with a growth mechanism includes: a base 1, a moving frame 11, and a smoothing frame 23. A flexible body 2 and an air tube 3 are fixedly connected to both ends of the base 1, respectively. The inner cavity of the base 1 communicates with the inner cavity of the flexible body 2. The moving frame 11 is disposed within the inner cavity of the flexible body 2, and drivers 9 are fixedly connected to its upper and lower ends. A servo motor 21 is mounted on the side of the moving frame 11, and a scroll 15 is mounted on the side of the servo motor 21. A rotating plate 22, penetrating the moving frame 11, is fixed to the side of the scroll 15. The rotating plate 22 is rotatably connected to the side of the moving frame 11. Drive wheels 10 are mounted on both ends of the driver 9, and the drive wheels 10 roll against the inner wall of the flexible body 2. The smoothing frame 23 is arc-shaped and has two sets, which are respectively attached to the inner wall of the flexible body 2 at the end away from the base 1. The smoothing frame 23 is fixedly connected to the side of the moving frame 11 through a buffer assembly. When the flexible body 2 is being stored, the gas in the cavity of the base 1 and the flexible body 2 is discharged through the air pipe 3. At the same time, the servo motor 21 runs and drives the roller 15 to rotate. The roller 15 pulls the flexible body 2 to be stored. The side of the roller 15 drives the rotating plate 22 to rotate. The rotating plate 22 rotates at the side of the moving frame 11 and provides a limiting support for the side of the roller 15.

[0038] When the flexible body 2 is stored in the scroll 15, the driver 9 operates, driving the drive wheels 10 at both ends to rotate. The drive wheels 10 roll along the inner wall of the flexible body 2. The drivers 9 at the upper and lower ends of the moving frame 11 move the moving frame 11 towards the base 1. At the same time, it can ensure that the moving frame 11 maintains a fixed distance from the top of the flexible body 2, thus ensuring that the flexible body 2 can be continuously stored on the scroll 15. When the flexible body 2 is completely stored, the moving frame 11 enters the inner cavity of the base 1, thereby achieving the effect of storing the flexible body 2. The moving frame 11 is equipped with drivers 9 at both the upper and lower ends, which can ensure that the moving frame 11 moves stably. The moving frame 11 can provide stable support for the servo motor 21 and the scroll 15, thereby achieving the effect of stably storing the flexible body 2 during the movement of the scroll 15, avoiding the phenomenon of asymmetry between the upper and lower parts of the flexible body 2 when it is stored.

[0039] When the gas inside the flexible body 2 is discharged, the insufficient air pressure inside the flexible body 2 will cause it to bend. In order to prevent the flexible body 2 from being misaligned or stuck on the scroll 15, when the flexible body 2 is stored on the scroll 15, the smoothing frame 23 limits the upper and lower sides of the top of the flexible body 2. The flexible body 2 can slide along the smoothing frame 23. The smoothing frame 23 smooths the flexible body 2, preventing the flexible body 2 from wrinkling due to bending. This can prevent the flexible body 2 from being misaligned or stuck on the scroll 15, thus ensuring that the flexible body 2 can be stored smoothly.

[0040] When the flexible body 2 is stored, the gas discharge from the inner cavity of the flexible body 2 will cause the air pressure inside the flexible body 2 to become unstable. When the smoothing frame 23 smooths the flexible body 2, the buffer component provides support for the smoothing frame 23 to ensure that the smoothing frame 23 can always hold and limit the flexible body 2. The two ends of the smoothing frame 23 can be set to an arc shape to avoid the edge of the smoothing frame 23 from scratching the inner wall of the flexible body 2 when the flexible body 2 slides along the smoothing frame 23.

[0041] When the flexible body 2 begins to grow, gas is introduced into the inner cavity of the base 1 through the air pipe 3. The driver 9 moves the moving frame 11 away from the base 1. At the same time, the flexible body 2 stored on the scroll 15 is detached, thereby achieving the effect of stable growth of the flexible body 2 and avoiding the instability of the flexible body 2 growing under air pressure after it is detached from the scroll 15.

[0042] In some specific implementations, the side end of the movable frame 11 is hinged to a connecting frame 7 via a hinge plate 19. The hinge plate 19 has two sets, located at the upper and lower ends of the movable frame 11 respectively. A linear connecting line 6 is fixedly connected to the side end of the connecting frame 7, and a storage component is fixedly connected to the side end of the connecting line 6. The storage component is located in the inner cavity of the base 1. When the movable frame 11 moves into the base 1, if the speed at which the roller 15 stores the flexible body 2 is too fast, the rate at which the gas is discharged from the inner cavity of the flexible body 2 is too low. This can cause the roller 15 to jam when storing the flexible body 2. At this time, the drive wheel 10 will slip on the inner wall of the flexible body 2, and may even cause damage to the flexible body 2.

[0043] When the drive wheel 10 slips on the inner wall of the flexible body 2, the driver 9 will detect the slip signal of the drive wheel 10. The driver 9 will transmit the signal to the control terminal, which will analyze it and then control the servo motor 21 to reduce the power and reduce the speed of the roller 15. At the same time, it will accelerate the rate of gas discharge from the inner cavity of the flexible body 2, thereby avoiding damage to the flexible body 2 during storage.

[0044] When the drive wheel 10 simply slips, it is not due to the low gas discharge rate inside the flexible body 2. In order to ensure that the moving frame 11 continues to move towards the base 1 inside the flexible body 2, when the moving frame 11 moves towards the base 1, the storage component operates and stores the connecting line 6. The connecting line 6 pulls the connecting frame 7 towards the base 1. The connecting frame 7 pulls the moving frame 11 towards the base 1 by pulling the hinge plate 19, thereby realizing the continuous movement of the moving frame 11 towards the base 1.

[0045] In some specific embodiments, the storage assembly includes: a storage unit 4, a storage shaft 5, and a partition plate 20. The storage unit 4 is fixedly connected to the inner wall of the base 1. The storage shaft 5 is fixedly connected to the side end of the connecting line 6. The side end of the storage shaft 5 is fixedly connected to the storage unit 4. The end of the storage shaft 5 away from the storage unit 4 is rotatably connected to the inner wall of the base 1 via the partition plate 20. The diameter of the partition plate 20 is larger than the diameter of the storage shaft 5. When the storage assembly stores the connecting line 6, the storage unit 4 operates, and the storage unit 4 drives the storage unit to store the connecting line 6. The storage shaft 5 rotates, and the connecting wire 6 begins to wind around the storage shaft 5. The storage shaft 5 stores the connecting wire 6, and the storage shaft 5 drives the isolation plate 20 to rotate along the inner wall of the base 1. The size limitation of the isolation plate 20 can isolate the connecting wire 6, preventing the connecting wire 6 from contacting the inner wall of the base 1, thereby preventing the connecting wire 6 from having an excessively large angle with the axis of the flexible body 2, and preventing the connecting wire 6 from sliding along the inner wall of the flexible body 2 and causing scratches on the inner wall of the flexible body 2.

[0046] In some specific implementations, the upper and lower ends of the movable frame 11 are respectively fixedly connected to the limiting frame 8. The limiting frame 8 is located on the side of the driver 9. The side of the limiting frame 8 is rotatably connected to the limiting wheel 24. The limiting wheel 24 is rolledly connected to the inner wall of the flexible body 2. When the movable frame 11 moves in the inner cavity of the flexible body 2, the movable frame 11 is driven by the driver 9 to drive the driving wheel 10 to rotate. However, when the driving wheels 10 at both ends of the driver 9 roll along the inner wall of the flexible body 2, only the roller 15 limits the movable frame 11 by housing the flexible body 2. However, when the air pressure in the inner cavity of the flexible body 2 is unstable, the unsmooth housing of the flexible body 2 will affect the stability of the movable frame 11. Therefore, when the movable frame 11 moves, the movable frame 11 moves with the limiting frame 8. The limiting frame 8 drives the limiting wheel 24 to roll along the inner wall of the flexible body 2. The limiting wheel 24 and the driving wheels 10 on both sides of the driver 9 form a stable triangular support point, which can limit and support the driver 9, thereby ensuring the stability of the movable frame 11 when it moves.

[0047] In some specific implementations, the buffer assembly includes: a buffer tube 12, a buffer spring 13, and a buffer column 14. The side end of the buffer tube 12 is fixedly connected to the movable frame 11. The buffer spring 13 is disposed in the inner cavity of the buffer tube 12. The two ends of the buffer spring 13 are fixedly connected to the buffer tube 12 and the buffer column 14, respectively. The buffer column 14 is slidably connected to the inner cavity of the buffer tube 12. The side end of the buffer column 14 is fixedly connected to the smoothing frame 23. When the smoothing frame 23 abuts against the inner wall of the flexible body 2, the buffer spring 13 is in a compressed state. The elastic force provided by the buffer spring 13 is transmitted to the buffer column 14. The buffer column 14 transmits the elastic force of the buffer spring 13 to the smoothing frame 23. When the air pressure of the flexible body 2 changes, the flexible body 2 moves against the smoothing frame 23 towards the base 1. The smoothing frame 23 drives the buffer column 14 to slide along the inner wall of the buffer tube 12. At this time, the buffer spring 13 is further compressed, thereby ensuring that the smoothing frame 23 always abuts against the inner wall of the flexible body 2.

[0048] In some specific implementations, the scroll 15 is provided with a guide frame 18 on the side away from the base 1. There are two sets of guide frames 18, which are symmetrically arranged along the cross-section of the movable frame 11. The side end of the guide frame 18 is fixedly connected to the movable frame 11. The guide frame 18 is located between the two sets of buffer components. The side end of the guide frame 18 is rounded. When the flexible body 2 is bent in the opposite direction from the top, the flexible body 2 begins to move towards the scroll 15 and eventually winds around the scroll 15. When the flexible body 2 moves towards the scroll 15, the guide frame 18 can limit the two sides of the flexible body 2. The inner edge of the top of the guide frame 18 is rounded to prevent the inner edge of the top of the guide frame 18 from scratching the inner wall of the flexible body 2 when the flexible body 2 slides along the guide frame 18. The guide frame 18 can provide guidance for the storage of the flexible body 2.

[0049] In some specific implementations, the guide frame 18 is equidistantly equipped with several sets of guide rollers 17 along its length. The guide frame 18 has two sets of limiting shafts 16 at one end away from the roll 15. The upper and lower ends of the guide rollers 17 are rotatably connected to the guide frame 18, and the two sets of limiting shafts 16 are symmetrically arranged along the axial section of the roll 15. When the flexible body 2 moves along the surface of the guide frame 18, in order to avoid friction between the surface of the guide frame 18 and the inner wall of the flexible body 2, which would cause wear on the inner wall of the flexible body 2, the flexible body 2 rotates along the inner wall of the guide frame 18. The guide rollers 17 can provide guidance for the movement of the flexible body 2 and prevent wear on the inner wall of the flexible body 2.

[0050] When the flexible body 2 is stored, dust will be absorbed on the outer surface of the flexible body 2 after growth. The top of the flexible body 2 is bent in the opposite direction and enters the inner cavity of the flexible body 2. At this time, the dust absorbed on the surface of the flexible body 2 will enter the inner cavity of the flexible body 2. The dust will affect the operating environment of the driver 9 and the servo motor 21. The guide roller 17 is covered with cleaning cotton. When the two ends of the flexible body 2 slide along the guide roller 17, the guide roller 17 cleans and absorbs the dust at both ends of the flexible body 2. When the cleaning cotton on the guide roller 17 becomes ineffective, the guide roller 17 can be removed from the guide frame 18 and then the cleaning cotton can be replaced.

[0051] In some specific implementations, the limiting shaft 16 is rotatably connected to slide blocks 26 at both ends, and the guide frame 18 is provided with slide grooves 25 at both ends. The slide blocks 26 are slidably connected to the inner wall of the slide grooves 25 and are engaged with the inner wall of the slide grooves 25. The inner cavity of the slide grooves 25 is provided with limiting springs 27. The upper and lower ends of the limiting springs 27 are fixedly connected to the guide frame 18 and the slide blocks 26, respectively. When the flexible body 2 bends in the opposite direction and enters the inner cavity of the flexible body 2, the limiting shaft 16 can roll along the upper and lower parts of the flexible body 2. On the one hand, the limiting shaft 16 can limit the upper and lower ends of the flexible body 2 to ensure that the upper and lower ends of the flexible body 2 can fit together better. On the other hand, cleaning cotton can be sleeved on the surface of the limiting shaft 16, so that the limiting shaft 16 can clean the dust at the upper and lower ends of the flexible body 2, thereby achieving the effect of thoroughly cleaning the dust on the outer surface of the flexible body 2.

[0052] To prevent excessive compression caused by the limiting shaft 16 when the air pressure inside the flexible body 2 is unstable and the flexible body 2 is bent in the opposite direction, the limiting shaft 16 moves along the slide block 26 when the upper and lower ends of the flexible body 2 are pressed against the limiting shaft 16 in a direction away from each other. The slide block 26 slides along the inner wall of the slide groove 25. For the limiting shaft 16 at the bottom of the flexible body 2, the slide block 26 pulls the limiting spring 27, which further opens up. The elastic tension provided by the limiting spring 27 is transmitted to the slide block 26, thereby providing greater support for the limiting shaft 16 and achieving a buffering effect. For the limiting shaft 16 at the top of the flexible body 2, the limiting spring 27 is initially compressed due to the weight of the limiting shaft 16. When the slide block 26 is stretched along with the limiting spring 27, the elastic tension provided by the limiting spring 27 provides a limiting effect on the limiting shaft 16 at the top of the flexible body 2, thereby buffering the limiting shaft 16 at the top of the flexible body 2.

[0053] The sliding block 26 and the inner wall of the sliding groove 25 are engaged to provide limiting support for both ends of the limiting shaft 16.

[0054] The foregoing has described several embodiments of the present invention in detail, but these embodiments are not limited thereto and should not be considered as limiting the scope of the invention. All equivalent variations and improvements made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A novel self-growing robot with a novel growth mechanism, characterized in that, include: The base (1) has a flexible body (2) and an air tube (3) fixedly connected to its two ends respectively, and the inner cavity of the base (1) is connected to the inner cavity of the flexible body (2); A movable frame (11) is set in the inner cavity of the flexible body (2), and a driver (9) is fixedly connected to the upper and lower ends respectively. A servo motor (21) is installed on the side end of the movable frame (11), and a roller (15) is installed on the side end of the servo motor (21). A rotating plate (22) that passes through the movable frame (11) is fixed on the side end of the roller (15). The rotating plate (22) is rotatably connected to the side end of the movable frame (11). A drive wheel (10) is installed on both ends of the driver (9), and the drive wheel (10) is rolledly connected to the inner wall of the flexible body (2). The smoothing frame (23) is arc-shaped. There are two sets of smoothing frames (23), which are respectively attached to the inner wall of the flexible body (2) at the end away from the base (1). The smoothing frame (23) is fixedly connected to the side of the moving frame (11) through the buffer assembly. The scroll (15) has a guide frame (18) on the side away from the base (1). There are two sets of guide frames (18), which are symmetrically arranged along the cross section of the moving frame (11). The side end of the guide frame (18) is fixedly connected to the moving frame (11). The guide frame (18) is located between the two sets of buffer components. The side end of the guide frame (18) has a rounded corner. The guide frame (18) is equidistantly equipped with several sets of guide rollers (17) along its length. The guide frame (18) has two sets of limiting shafts (16) at one end away from the roll (15). The upper and lower ends of the guide rollers (17) are rotatably connected to the guide frame (18), and the two sets of limiting shafts (16) are symmetrically arranged along the cross section of the roll (15). The limiting shaft (16) is rotatably connected to slide blocks (26) at both ends. The guide frame (18) is provided with slide grooves (25) at both ends. The slide blocks (26) are slidably connected to the inner wall of the slide grooves (25) and are engaged with the inner wall of the slide grooves (25). The inner cavity of the slide (25) is provided with a limiting spring (27), and the upper and lower ends of the limiting spring (27) are fixedly connected to the guide frame (18) and the slide (26) respectively.

2. The self-growing robot with a novel growth mechanism according to claim 1, characterized in that, The side end of the movable frame (11) is hinged to a connecting frame (7) via a hinge plate (19). The hinge plate (19) has two sets, which are located at the upper and lower ends of the movable frame (11) respectively. The side end of the connecting frame (7) is fixedly connected to a linear connecting line (6). The side end of the connecting line (6) is fixedly connected to a storage component. The storage component is located in the inner cavity of the base (1).

3. The self-growing robot with a novel growth mechanism according to claim 2, characterized in that, The storage assembly includes: a storage unit (4), a storage shaft (5), and a partition plate (20). The storage unit (4) is fixedly connected to the inner wall of the base (1). The storage shaft (5) is fixedly connected to the side end of the connecting line (6). The side end of the storage shaft (5) is fixedly connected to the storage unit (4). The storage shaft (5) is rotatably connected to the inner wall of the base (1) through the partition plate (20) at the end away from the storage unit (4). The diameter of the partition plate (20) is larger than the diameter of the storage shaft (5).

4. The self-growing robot with a novel growth mechanism according to claim 1, characterized in that, The upper and lower ends of the movable frame (11) are respectively fixedly connected to the limiting frame (8). The limiting frame (8) is located on the side of the driver (9). The side of the limiting frame (8) is rotatably connected to the limiting wheel (24). The limiting wheel (24) is rolledly connected to the inner wall of the flexible body (2).

5. The self-growing robot with a novel growth mechanism according to claim 1, characterized in that, The buffer assembly includes a buffer tube (12), a buffer spring (13), and a buffer column (14). The side end of the buffer tube (12) is fixedly connected to the movable frame (11). The buffer spring (13) is disposed in the inner cavity of the buffer tube (12). The two ends of the buffer spring (13) are fixedly connected to the buffer tube (12) and the buffer column (14) respectively. The buffer column (14) is slidably connected to the inner cavity of the buffer tube (12). The side end of the buffer column (14) is fixedly connected to the smoothing frame (23).

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