Soft growing robot

Abstract

The present invention relates to a soft growing robot. A self-retractable soft growing robot according to the present invention includes a retraction unit coupled to the outer and inner peripheral portions of a growing unit so that the growing unit can retract without tension being applied to the inner peripheral portion, and thus the growing unit can retract without being bent.

Description

Growing soft robots

[0001] The present invention relates to a growing soft robot, and more particularly, to a growing soft robot capable of shrinking on its own, including a shrinking unit that is coupled to a growing unit and causes the growing unit to shrink.

[0002]

[0003] In environments where people cannot reach specific destinations, such as hollow pipes or debris from collapsed buildings, various types of mobile robots are being developed to move to these destinations on behalf of people and then perform various inspection, maintenance and repair tasks, or rescue activities.

[0004] Among these mobile robots, there's the Vine Robot, a growing soft robot whose tip is configured to grow. In conventional growing soft robots, the growing unit, comprising an inner and outer periphery, protrudes outward from the case, with the inner periphery coiled and housed within the case.

[0005] At this time, in a conventional growth-type soft robot, the outer circumference is configured to be fixed to the case, and when a compressor capable of supplying compressed air supplies air to the space between the outer circumference and the inner circumference, the inner circumference is converted to the outer circumference side, thereby increasing the overall length of the growth unit.

[0006] Such a growth-type soft robot has the advantage of being able to move in an inclined direction or along various curved paths, enabling three-dimensional operation.

[0007] However, conventional growing soft robots face the challenge of being able to shrink in the opposite direction of growth. For example, applying tension to the inner periphery of the growing unit to cause it to shrink can cause the growing unit to bend excessively, potentially disrupting the normal functioning of the growing soft robot.

[0008] To solve these problems, methods such as installing a motor or the like at the end of the growth unit to make the growth unit shrink have been proposed, but if a certain device is installed at the end of the growth unit, the weight and volume of the growth unit increases, which causes problems such as the growth unit being unable to pass through narrow gaps.

[0009] Therefore, there is a need to develop a growing soft robot that can effectively shrink the growing unit while preventing the growing unit from becoming heavier or increasing in volume.

[0010]

[0011] One object of the present invention is to provide a growth-type soft robot in which the growth unit can shrink without bending.

[0012] Another object of the present invention is to provide a growing soft robot that can effectively shrink while having a small and light growth unit.

[0013] One object of the present invention is to provide a growing soft robot capable of preventing a growing unit from bending in an unintended direction.

[0014] Another object of the present invention is to provide a growth-type soft robot capable of preventing air pressure from decreasing as some of the air supplied to grow a growth unit leaks out through a space surrounded by an inner periphery.

[0015] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0016]

[0017] As a technical means for achieving the above-described technical task, a growing soft robot according to one embodiment of the present invention comprises a body part having a first space formed inside, a first hole formed on one side, and a second hole formed on the other side, and a housing including a protrusion formed by protruding from an outer circumferential surface of the body part to surround the first hole, an outer circumferential surface coupled to the outer circumferential surface of the protrusion, and an inner circumferential surface connected from the outer circumferential surface toward the inside of the outer circumferential surface and extending into the first space, wherein when air is supplied to a second space between the outer circumferential surface and the inner circumferential surface, the inner circumferential surface is pushed away from the protrusion by the pressure of the air and converted into the outer circumferential surface, and extends in a direction away from the protrusion, and a shrinking unit having one or more channels formed inside, and coupled to the outer circumferential surface and the inner circumferential surface along one end of the inner circumferential surface from one end of the outer circumferential surface to one end of the inner circumferential surface, wherein the shrinking unit, when the air is supplied to the channel, moves the outer circumferential surface toward the inner circumferential surface. You can make the above growth unit shrink by converting it.

[0018] As a technical means for achieving the above-described technical task, a growth-type soft robot according to another embodiment of the present invention may include a housing including a body part having a first space formed therein, a first hole formed on one side, and a second hole formed on the other side, and a protrusion formed to protrude from an outer circumferential surface of the body part so as to surround the first hole, an outer circumferential surface coupled to the outer circumferential surface of the protrusion, and an inner circumferential surface connected from the outer circumferential surface toward the inside of the outer circumferential surface and extending into the first space, wherein when air is supplied to a second space between the outer circumferential surface and the inner circumferential surface, the inner circumferential surface is pushed away from the protrusion by the pressure of the air and converted into the outer circumferential surface, and the growth unit extending in the direction away from the protrusion may include a sealing ring installed to surround the inner circumferential surface at a predetermined point of the inner circumferential surface, and when the inner circumferential surface is pushed away from the protrusion, it moves toward one end of the inner circumferential surface that is located farther from the protrusion among both ends of the inner circumferential surface.

[0019]

[0020] According to the solution to the problem of the present invention described above, a growing soft robot according to one embodiment of the present invention is configured to shrink the growing unit by supplying air to the channel of the shrinking unit instead of applying tension to the inner circumference, thereby providing an effect of preventing the growing soft robot from breaking down by shrinking the growing unit without bending.

[0021] In addition, instead of installing a relatively large and heavy device inside the growth unit, a relatively small and light shrinking unit is installed to shrink the growth unit, thereby providing the effect of allowing the growth unit to shrink effectively while being small and light and able to pass through narrow gaps and the like.

[0022] According to the solution to the problem of the present invention described above, a growth-type soft robot according to another embodiment of the present invention can control the growth of a growth unit without applying tension to the inner circumference by having a sealing ring, thereby providing an effect of preventing the growth unit from bending in an unintended direction by removing tension applied to the inner circumference.

[0023] In addition, since the sealing ring prevents air from leaking through the third space surrounded by the inner circumference, the pressure of the air supplied to grow the growth unit is prevented from decreasing, and the pressure difference between the inner circumference and the outer circumference and the inner circumference prevents the inner circumference from pressurizing the third space and narrowing the third space.

[0024] In addition, since the sealing ring is provided so that the third space at the end of the growth unit is located in the center of the growth unit, it provides the effect of making it easier to install an information collection device on a cable placed in the third space.

[0025] In addition, by providing a sealing ring, a mount can be installed on the sealing ring and an information collection device can be coupled to the mount, thereby providing an effect of effectively controlling the position of the information collection device so that the information collection device is located at the end of the growth unit.

[0026]

[0027] FIG. 1 is a drawing illustrating the structure of a growth-type soft robot according to one embodiment of the present invention.

[0028] Fig. 2 is a drawing showing the structure of the growing soft robot of Fig. 1 with cables and information collection devices installed.

[0029] Figure 3 is a drawing showing the growth unit shrinking as air is supplied to the channel of the shrinking unit.

[0030] Figure 4 is an enlarged view of A in Figure 3.

[0031] Figure 5 is a drawing for explaining the principle of shrinking of a growth unit when air is supplied to the channel of the shrinking unit.

[0032] Figure 6 is an enlarged view of B in Figure 5.

[0033] FIG. 7 is a drawing illustrating the structure of a growth-type soft robot according to another embodiment of the present invention.

[0034] Fig. 8 is a drawing showing the structure of the growing soft robot of Fig. 7 with cables and information collection devices installed.

[0035] Figure 9 is a drawing showing the growth unit growing as the force pushing out the inner part due to the supply of air becomes greater than the frictional force between the sealing ring and the inner part.

[0036] Figure 10 is a drawing for comparing and explaining a growth unit that is not equipped with a sealing ring and thus bends in an unintended direction and a growth unit that is equipped with a sealing ring and thus does not bend in an unintended direction.

[0037] Figure 11 is a drawing for explaining by comparison the end of a growth unit without a sealing ring and the end of a growth unit with a sealing ring.

[0038] Figure 12 is a drawing for explaining the comparison of the flow of air introduced into a growth unit without a sealing ring and the flow of air introduced into a growth unit with a sealing ring.

[0039] Figure 13 is a drawing showing a growth unit with a mount installed on a sealing ring.

[0040] Figure 14 is a drawing showing an information collection device having a predetermined volume protruding outside the growth unit through a sealing ring.

[0041] Figure 15 is a drawing showing a growth unit when the sealing ring is omitted.

[0042]

[0043] As a technical means for achieving the above-described technical task, a growing soft robot according to one embodiment of the present invention comprises a body part having a first space formed inside, a first hole formed on one side, and a second hole formed on the other side, and a housing including a protrusion formed by protruding from an outer circumferential surface of the body part to surround the first hole, an outer circumferential surface coupled to the outer circumferential surface of the protrusion, and an inner circumferential surface connected from the outer circumferential surface toward the inside of the outer circumferential surface and extending into the first space, wherein when air is supplied to a second space between the outer circumferential surface and the inner circumferential surface, the inner circumferential surface is pushed away from the protrusion by the pressure of the air and converted into the outer circumferential surface, and extends in a direction away from the protrusion, and a shrinking unit having one or more channels formed inside, and coupled to the outer circumferential surface and the inner circumferential surface along one end of the inner circumferential surface from one end of the outer circumferential surface to one end of the inner circumferential surface, wherein the shrinking unit, when the air is supplied to the one or more channels, extends the outer circumferential surface by the pressure of the air. You can shrink the above growth unit by converting it to your main unit.

[0044] In addition, the inner circumference includes a sealing ring installed to surround the inner circumference and the shrinking unit at a predetermined point of the inner circumference, and the shrinking unit can shrink the growth unit by converting the outer circumference to the inner circumference when a first tension acting on the inner circumference to convert the outer circumference to the inner circumference is greater than the sum of a frictional force acting between the sealing ring and the growth unit and a second tension acting on the outer circumference to convert the inner circumference to the outer circumference.

[0045] In addition, the sealing ring is formed in a ring shape with a hole formed inside, and the first tension and the second tension can be calculated by the following mathematical expressions 1 and 2.

[0046] Additionally, the shrinking unit can be coupled to the inner surface of the outer portion and the inner surface of the inner portion.

[0047] Additionally, the shrinking unit can be coupled to the outer circumference of the outer portion and the outer circumference of the inner portion.

[0048] In addition, the sealing ring can be formed to pressurize the inner circumference and the shrinking unit surrounded by the sealing ring with a force having a predetermined size.

[0049] In addition, at least a portion of the cable may be disposed in the third space surrounded by the inner circumference, such that one end thereof protrudes outward from one end of the growth unit that is located further from the protrusion among the two ends of the growth unit, and at least a portion of the cable may be disposed in the first space of the housing and passes through the second hole of the housing.

[0050] In addition, the cable may include an information collection device installed at one end thereof and capable of obtaining information including at least one of sound and image.

[0051] In addition, the housing may include a first pillar part that is installed inside the first space, has a third hole formed inside, is formed in a hollow cylindrical shape, and is inserted inside the third space, and a second pillar part that is installed inside the first space, has a fourth hole formed inside, is formed in a hollow cylindrical shape, and is inserted inside the channel.

[0052] Additionally, it may include an air supply mechanism that can selectively supply air to one or more of the second space, the third space, and the channel.

[0053] Additionally, the sealing ring may be formed of a flexible elastic member.

[0054] As a technical means for achieving the above-described technical task, a growth-type soft robot according to another embodiment of the present invention may include a housing including a body part having a first space formed therein, a first hole formed on one side, and a second hole formed on the other side, and a protrusion formed to protrude from an outer circumferential surface of the body part so as to surround the first hole, an outer circumferential surface coupled to the outer circumferential surface of the protrusion, and an inner circumferential surface connected from the outer circumferential surface toward the inside of the outer circumferential surface and extending into the first space, wherein when air is supplied to a second space between the outer circumferential surface and the inner circumferential surface, the inner circumferential surface is pushed away from the protrusion by the pressure of the air and converted into the outer circumferential surface, and the growth unit extending in the direction away from the protrusion may include a sealing ring installed to surround the inner circumferential surface at a predetermined point of the inner circumferential surface, and when the inner circumferential surface is pushed away from the protrusion, it moves toward one end of the inner circumferential surface that is located farther from the protrusion among both ends of the inner circumferential surface.

[0055] Additionally, the sealing ring may be formed of a plastic material.

[0056] Additionally, the sealing ring may be formed of a flexible elastic member.

[0057] Additionally, the sealing ring can be formed to pressurize the inner circumference surrounded by the sealing ring with a force having a predetermined size.

[0058] In addition, at least a portion of the cable may be disposed in the third space surrounded by the inner circumference, such that one end thereof protrudes outward from one end of the growth unit that is located further from the protrusion among the two ends of the growth unit, and at least a portion of the cable may be disposed in the first space of the housing and passes through the second hole of the housing.

[0059] In addition, the cable may include an information collection device installed at one end thereof and capable of obtaining information including at least one of sound and image.

[0060] Additionally, at least a portion of the inner portion accommodated within the first space may be laminated into multiple layers and accommodated within the first space.

[0061] In addition, the housing is installed inside the first space and includes a pillar part formed in a hollow cylindrical shape with a third hole formed therein, and the cable, at least a portion of which is disposed in the first space of the housing, passes through the inside of the third hole formed in the pillar part and passes through the second hole, and at least a portion of the inner peripheral part laminated in a plurality of layers can be laminated while surrounding the pillar part.

[0062] Additionally, it may include an air supply device capable of supplying air to the second space and the third space.

[0063] In addition, the pillar portion may be arranged so that one end faces the second hole of the housing, and the air supply mechanism may be configured to supply air toward the second hole and the third hole.

[0064] Specific details of other embodiments for solving the problem are included in the description and drawings of the invention.

[0065]

[0066] Below, with reference to the attached drawings, embodiments of the present invention are described in detail to facilitate easy implementation by those skilled in the art. However, the present invention can be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity, and similar reference numerals have been used throughout the specification to indicate similar elements.

[0067] Throughout this specification, when a part is said to be "connected" to another part, this includes not only cases where it is "directly connected" but also cases where it is "electrically connected" with another element in between.

[0068] Throughout this specification, when it is said that an element is "on" another element, this includes not only cases where the element is in contact with the other element, but also cases where another element exists between the two elements.

[0069] Throughout this specification, when a part is said to "include" a certain component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise specifically stated. The terms "about," "substantially," and the like, as used throughout this specification, are used to mean at or near the numerical value when manufacturing and material tolerances inherent to the meanings stated, and are used to prevent unscrupulous infringers from unfairly exploiting disclosures that state precise or absolute values ​​to aid understanding of this specification. The terms "step of doing" or "step of" as used throughout this specification do not mean "step for."

[0070] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings and the following description. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Like reference numbers designate like elements throughout the specification.

[0071]

[0072] FIG. 1 is a diagram illustrating the structure of a self-shrunk growing soft robot according to one embodiment of the present invention, and FIG. 2 is a diagram illustrating the structure of the self-shrunk growing soft robot of FIG. 1 in which a cable and an information gathering mechanism are installed. Referring to FIGS. 1 and 2, the self-shrunk growing soft robot (1) includes a housing (10), a growth unit (20), a shrinking unit (30), a sealing ring (40), and an air supply mechanism (50), and may further include a cable (60) and an information gathering mechanism (70).

[0073] First, the housing (10) will be described. As illustrated in FIG. 1, the housing (10) includes a body portion (11) and a protrusion (13). The body portion (11) has a first space (12) formed therein, a first hole formed on one side, and a second hole formed on the other side. The protrusion (13) is formed to protrude from the outer peripheral surface of the body portion (11) so as to surround the first hole.

[0074] Meanwhile, the housing (10) may further include a first pillar portion (14) and a second pillar portion (15). As illustrated in FIG. 1, the first pillar portion (14) may be installed inside the first space (12) and may be formed in a hollow cylindrical shape with a third hole (14-1) formed therein. In addition, the second pillar portion (15) may be installed inside the first space (12) and may be formed in a hollow cylindrical shape with a fourth hole (15-1) formed therein.

[0075] Next, the growth unit (20) will be described. As illustrated in Fig. 1, the growth unit (20) includes an inner circumference (21) and an outer circumference (22). The outer circumference (22) is coupled to the outer surface of the protrusion (13) of the housing (10). The inner circumference (21) is connected from the outer circumference (22) toward the inside of the outer circumference (22) and extends into the inside of the first space (12). At this time, when air is supplied to the second space (23) between the outer circumference (22) and the inner circumference (21), the inner circumference (21) is pushed away from the protrusion (13) by the pressure of the air and converted into the outer circumference (22), so that the growth unit (20) extends away from the protrusion (13). Meanwhile, at least a portion of the inner circumference (21) accommodated within the first space (12) may be laminated in multiple layers and accommodated within the first space (12). For example, as illustrated in FIG. 2, at least a portion of the inner circumference (21) accommodated within the first space (12) and laminated in multiple layers may be laminated while surrounding the first pillar portion (14).

[0076] Next, the shrinking unit (30) will be described. As illustrated in Fig. 1, the shrinking unit (30) has a channel (31) formed therein, and is coupled to the outer circumference (22) and the inner circumference (21) along one end of the inner circumference (21) from one end of the outer circumference (22). That is, the shrinking unit (30) is formed to have a relatively simple structure and a relatively small and light structure compared to a predetermined mechanism used for shrinking a conventional growing soft robot.

[0077] FIG. 3 is a drawing showing the growth unit shrinking when air is supplied to the channel of the shrinking unit, and FIG. 4 is an enlarged drawing of A of FIG. 3. As shown in FIG. 3, when air is supplied to the channel (31) of the shrinking unit (30) in a state where the sealing ring (40) to be described later is installed to surround the inner portion (21) and the shrinking unit (30), the shrinking unit (30) converts the outer portion (22) into the inner portion (21) to shrink the growth unit (20). In this way, the growth unit (20) shrinks because, as shown in FIG. 4, when air is supplied to the channel (31) of the shrinking unit (30), tension is applied to the inner portion (21) of the growth unit (20) so that the inner portion (21) moves in a direction closer to the protrusion (13). That is, the shrinking unit (30) applies a first tension (T) to the inner part (21) to convert the outer part (22) into the inner part (21). i ) is a tension (N) having the same size as the frictional force acting between the sealing ring (40) and the growth unit (20) and the force required to transform the inner part (21) into the outer part (22). d ) and a second tension (T) acting on the outer portion (22) to convert the inner portion (21) into the outer portion (22) o ) is greater than the sum of the two, the outer part (22) is converted to the inner part (21), causing the growth unit (20) to shrink.

[0078] FIG. 5 is a drawing for explaining the principle of shrinking of a growth unit when air is supplied to a channel of a shrinking unit, and FIG. 6 is an enlarged drawing of B of FIG. 5. Specifically, referring to FIGS. 5 and 6, when a sealing ring (40) is formed in a ring shape with a hole formed inside, a first tension (T) is applied to the inner portion (21) so that the shrinking unit (30) converts the outer portion (22) into the inner portion (21). i ) can be calculated by the following mathematical formula 1.

[0079] [Mathematical Formula 1]

[0080] T i = (P r - P B )*r r *π*r B

[0081] Here, T i is the first tension, P r The pressure of air supplied to the channel (31) of the shrinking unit (30), P B is the pressure of air supplied to the second space (23) between the outer part (22) and the inner part (21), r r The length of the radius of the cross-section of the shrinking unit (30) cut in a direction perpendicular to the direction in which the growth unit (20) extends, r B is the length of the radius of the cross-section of the growth unit (20) cut in a direction perpendicular to the direction in which the growth unit (20) extends.

[0082] And, referring to FIGS. 5 and 6, a second tension (T) is applied to the outer portion (22) to convert the inner portion (21) into the outer portion (22). o ) can be calculated by the following mathematical formula 2.

[0083] [Equation 2]

[0084] T o = P B *r B *π*r s

[0085] Here, T o is the second tension, P B is the pressure of air supplied to the second space (23) between the outer part (22) and the inner part (21), r B is the length of the radius of the cross-section of the growth unit (20) cut in a direction perpendicular to the direction in which the growth unit (20) extends, r s is the length of the radius of the hole of the sealing ring (40).

[0086] Therefore, when the condition of the following mathematical expression 3 is satisfied, the shrinking unit (30) causes the growth unit (20) to shrink by converting the outer circumference (22) into the inner circumference (21).

[0087] [Equation 3]

[0088] T i > T o + N d

[0089] Here, T i is the first tension, T o is the second tension, N d is a tension having a force equal to the sum of the frictional force acting between the sealing ring (40) and the growth unit (20) and the force required to transform the inner portion (21) into the outer portion (22).

[0090] Meanwhile, the shrinking unit (30) can be coupled to the inner surface of the outer circumference (22) and the inner surface of the inner circumference (21) as shown in Fig. 1, but alternatively, it can also be coupled to the outer surface of the outer circumference (22) and the outer surface of the inner circumference (21). That is, the shrinking unit (30) can be installed in a self-shrinking growth-type soft robot (1) so that at least a portion of it is placed in the third space (24) surrounded by the inner circumference (21) while being coupled to the outer surface of the outer circumference (22) and the outer surface of the inner circumference (21).

[0091] Next, the sealing ring (40) will be described. As illustrated in Fig. 1, the sealing ring (40) is installed to surround the inner circumference (21) and the shrinking unit (30) at a predetermined point of the inner circumference (21), and may be formed in a ring shape with a hole formed therein. In addition, the sealing ring (40) may be formed to press the inner circumference (21) and the shrinking unit (30) surrounded by the sealing ring (40) with a force having a predetermined magnitude, and may be formed of a flexible elastic member.

[0092] Next, the air supply mechanism (50) will be described. Referring to FIG. 1, the air supply mechanism (50) can be configured to supply air to the second space (23), the third space (24) of the growth unit (20) and the channel (31) of the shrinking unit (30), and can be configured as a conventional air supply device, etc. This air supply mechanism (50) can be configured to selectively supply air to any one or more of the second hole of the housing, the third hole (14-1) of the first column part (14) and the fourth hole (15-1) of the second column part (15), thereby selectively supplying air to any one or more of the second space (23), the third space (24) and the channel (31).

[0093] Next, the cable (60) will be described. The cable (60) can be formed as a conventional cable capable of transmitting and receiving information, and as illustrated in FIG. 2, at least a portion of the cable is disposed in a third space (24) surrounded by an inner portion (21), such that one end protrudes outward from one end of the growth unit (20) that is located farther from the protrusion (13) among the two ends of the growth unit (20), and at least a portion of the cable is disposed in a first space (12) of the housing (10) and can pass through a second hole of the housing (10).

[0094] Next, the information collection device (70) will be described. The information collection device (70) can be installed at one end of the cable (60) and can be configured to acquire information including at least one of sound and image. For example, the information collection device (70) can be configured as a conventional camera and installed at the end of the cable (50) that is discharged from one end of the growth unit (20), and can capture objects, etc., located in the direction in which the growth unit (20) grows.

[0095] In this way, the growing soft robot according to one embodiment of the present invention is configured to shrink the growing unit by supplying air to the channel of the shrinking unit instead of applying tension to the inner portion, thereby providing an effect of preventing the growing soft robot from breaking down by causing the growing unit to shrink without bending.

[0096] In addition, instead of installing a relatively large and heavy device inside the growth unit, a relatively small and light shrinking unit is installed to shrink the growth unit, thereby providing the effect of allowing the growth unit to shrink effectively while being small and light and able to pass through narrow gaps and the like.

[0097]

[0098] Hereinafter, a growth-type soft robot according to another embodiment of the present invention will be described.

[0099] FIG. 7 is a diagram illustrating the structure of a growth-type soft robot according to one embodiment of the present invention, and FIG. 8 is a diagram illustrating the structure of the growth-type soft robot of FIG. 7 in which a cable and an information collection mechanism are installed. Referring to FIGS. 7 and 8, the growth-type soft robot (2) includes a housing (100), a growth unit (200), a sealing ring (300), and an air supply mechanism (400), and may further include a cable (500) and an information collection mechanism (600).

[0100] First, the housing (100) will be described. As illustrated in FIG. 7, the housing (100) includes a body portion (110) and a protrusion (130). The body portion (110) has a first space (120) formed therein, a first hole formed on one side, and a second hole formed on the other side. The protrusion (130) is formed to protrude from the outer peripheral surface of the body portion (110) so as to surround the first hole.

[0101] Meanwhile, the housing (100) may further include a pillar portion (140). The pillar portion (140) may be installed inside the first space (120) and may be formed in a hollow cylindrical shape with a third hole (140-1) formed inside. In addition, as illustrated in FIG. 7, the pillar portion (140) may be arranged such that one end faces the second hole of the housing (100) so that air supplied from an air supply device (400) to be described later flows into the third hole (140-1).

[0102] Next, the growth unit (200) will be described. As illustrated in FIG. 7, the growth unit (200) includes an inner circumference (210) and an outer circumference (220). The outer circumference (220) is coupled to the outer surface of the protrusion (130) of the housing (100). The inner circumference (210) is connected from the outer circumference (220) toward the inside of the outer circumference (220) and extends into the inside of the first space (120). At this time, when air is supplied to the second space (230) between the outer circumference (220) and the inner circumference (210), the inner circumference (210) is pushed away from the protrusion (130) by the pressure of the air and converted into the outer circumference (220), so that the growth unit (200) extends away from the protrusion (130). Meanwhile, at least a portion of the inner portion (210) accommodated within the first space (120) may be laminated in multiple layers and accommodated within the first space (120). For example, at least a portion of the inner portion (210) accommodated within the first space (120) and laminated in multiple layers may be laminated while surrounding the pillar portion (140).

[0103] Next, the sealing ring (300) will be described. As illustrated in FIG. 7, the sealing ring (300) is installed to surround the inner circumference (210) at a predetermined point of the inner circumference (210), and when the inner circumference (210) is pushed away from the protrusion (130), it moves toward one end of the inner circumference (210) that is located farther away from the protrusion (130) among the two ends of the inner circumference (210). That is, when the growth unit (200) grows, the sealing ring (300) is positioned at a predetermined point of the inner circumference (210) adjacent to the end of the growth unit (200). This sealing ring (300) can be formed in various shapes. For example, the sealing ring (300) can be formed in a ring shape. In addition, the sealing ring (300) can also be formed of a flexible elastic member. For example, the sealing ring (300) may be formed as a rubber ring, or may be formed as a plastic material. Meanwhile, the sealing ring (300) may be formed to pressurize the inner circumference (210) surrounded by the sealing ring (300) with a force having a predetermined size. In this way, when the sealing ring (300) presses the inner circumference (210), the air introduced into the third space (240) surrounded by the inner circumference (210) can be effectively prevented from being discharged to the outside of the growth-type soft robot (2). In this way, by installing the sealing ring (300) in the growth unit (200), various effects are generated in the growth unit (200).

[0104] Figure 9 is a drawing showing the growth of a growth unit, in which the force pushing the inner circumference out due to the supply of air is greater than the frictional force between the sealing ring and the inner circumference. For example, as illustrated in Figure 9, by installing a sealing ring (300), the growth unit (200) can be controlled to grow without applying tension to the inner circumference (210). Specifically, when the frictional force between the sealing ring (300) and the inner circumference (210) is greater than the force by which the inner circumference is pushed out due to the supply of air, the growth unit (200) does not grow, and when the force by which the inner circumference (210) is pushed out due to the supply of air is greater than the frictional force between the sealing ring (300) and the inner circumference (210), the inner circumference (210) is pushed out and converted to the outer circumference (220), and the growth unit (200) grows. Therefore, there is no need to apply tension to the inner circumference (210) to control the state in which the inner circumference (210) is pushed out and converted to the outer circumference (220).

[0105] FIG. 10 is a drawing for comparing and explaining a growth unit that is not provided with a sealing ring and thus bends in an unintended direction, and a growth unit that is provided with a sealing ring and thus does not bend in an unintended direction. In addition, as illustrated in FIG. 10, when tension is applied to the inner circumference (210) of the growth unit (200), the growth unit (200) may bend in an unintended direction due to the turning force caused by the tension (see (a) of FIG. 10), but when tension is not applied to the inner circumference (210) of the growth unit (200), the turning force caused by the tension does not act, so the growth unit (200) does not bend in an unintended direction (see (b) of FIG. 10). That is, by providing the sealing ring (300), an effect of precisely controlling the growth direction of the growth unit (200) occurs.

[0106] Fig. 11 is a drawing for explaining the end of a growth unit without a sealing ring and the end of a growth unit with a sealing ring. For another example, as illustrated in Fig. 11, by providing a sealing ring (300), the third space (240) at the end of the growth unit (200) is positioned in the center of the growth unit (200), so that the information collection device (600) to be described later can be more easily installed in the cable (500) to be described later, which is arranged in the third space (240).

[0107] FIG. 12 is a drawing for explaining by comparing the flow of air introduced into a growth unit without a sealing ring and the flow of air introduced into a growth unit with a sealing ring. As another example, as illustrated in FIG. 12, when air is supplied to the second space (230) and the third space (240), if the sealing ring (300) is not installed in the growth unit (200), the air moving through the third space (240) is discharged to the end of the growth unit (200), but if the sealing ring (300) is installed in the growth unit (200), the air moving through the third space (240) is prevented from leaking out to the end of the growth unit (200), and thus the pressure of the air supplied to grow the growth unit (200) can be prevented from decreasing. In addition, when a sealing ring (300) is installed in the growth unit (200), the air moving through the third space (240) does not leak out, so the pressure difference between the second space (230) and the third space (240) does not exceed a predetermined size, thereby preventing the inner portion (210) from pressurizing the third space (240) and narrowing the third space (240). Therefore, the cable (500) and the information collection device (600) inserted into the third space (240) can easily move within the third space (240).

[0108] Fig. 13 is a drawing illustrating a growth unit with a mount installed on a sealing ring. As another example, as illustrated in Fig. 13, a mount (700) may be installed on a sealing ring (200) installed on a growth unit (200). In this way, when the mount (700) is installed on the sealing ring (200), by coupling the information collection device (600) to the mount (700), the position of the information collection device (600) can be effectively controlled so that the information collection device (600) remains positioned at the end of the growth unit (200) even as the growth unit (200) grows.

[0109] FIG. 14 is a drawing showing an information collection device having a predetermined volume protruding out of a growth unit through a sealing ring. Meanwhile, as illustrated in FIG. 14, when the sealing ring (300) is formed of a flexible elastic member, an information collection device (600) having a predetermined volume that is inserted through the third space (240) and moves to the end of the growth unit (200) can easily move to the end of the growth unit (200) by passing through the sealing ring (300). When the sealing ring (300) is formed of a flexible elastic member, the diameter of the sealing ring (300) expands so that the information collection device (600) can pass through the sealing ring (300), and after the information collection device (600) passes through the sealing ring (300), the diameter of the sealing ring (300) decreases so that the inner circumference (210) can be pressurized again.

[0110] Next, the air supply device (400) will be described. Referring to FIG. 7, the air supply device (400) can be configured to supply air to the second space (230) and the third space (240) of the growth unit (200), and can be configured as a conventional air supply device, etc. Meanwhile, as illustrated in FIG. 7, when the column part (140) is arranged so that one end faces the second hole of the housing (100), air supplied from one air supply device (400) can flow into the second hole of the housing and the third hole (140-1) of the column part (140) and be supplied to the second space (230) and the third space (240). That is, instead of having multiple air supply devices (400) to supply air to the second space (230) and the third space (240), air can be supplied to the second space (230) and the third space (240) using one air supply device (400).

[0111] Next, the cable (500) will be described. The cable (500) can be formed as a conventional cable capable of transmitting and receiving information, and as illustrated in FIG. 9, at least a portion of the cable is disposed in a third space (240) surrounded by an inner portion (210), such that one end protrudes outward from one end of the growth unit (200) that is located farther from the protrusion (130) among the two ends of the growth unit (200), and at least a portion of the cable is disposed in a first space (120) of the housing (100) and can pass through a second hole of the housing (100).

[0112] Next, the information collection device (600) will be described. The information collection device (600) can be installed at one end of the cable (500) and can be configured to acquire information including at least one of sound and image. For example, the information collection device (600) can be configured as a conventional camera and installed at the end of the cable (500) that is discharged from one end of the growth unit (200), and can capture objects, etc., located in the direction in which the growth unit (200) grows.

[0113] In this way, the growth-type soft robot according to the present invention can control the growth of the growth unit without applying tension to the inner circumference by providing a sealing ring, thereby preventing the growth unit from bending in an unintended direction by removing tension applied to the inner circumference. In addition, since the sealing ring prevents air from leaking through the third space surrounded by the inner circumference, the pressure of the air supplied to grow the growth unit is prevented from decreasing, and the pressure difference between the inner circumference and the third space between the outer circumference and the inner circumference prevents the inner circumference from pressurizing the third space and narrowing the third space. In addition, since the sealing ring allows the third space at the end of the growth unit to be located in the center of the growth unit, the information collection device can be more easily installed on the cable arranged in the third space. In addition, since the sealing ring allows a mount to be installed on the sealing ring and the information collection device to be coupled to the mount, the position of the information collection device can be effectively controlled so that the information collection device is located at the end of the growth unit.

[0114] Fig. 15 discloses a growing soft robot according to another embodiment of the present invention. Unlike the other embodiments described above, the sealing ring may be omitted in this embodiment. Figs. 15a and 15b illustrate a process of performing a shrinking motion. As illustrated, the shrinking motion can be performed by injecting air into a plurality of shrinking units (or channels) connected to the growing unit (20') to cause the growing unit (20') to be rolled up.

[0115] To explain in detail, when air is injected into the inlet (23`) connected to the shrinking unit (or channel) while the opening (24`), which is the end of the outer circumference (22`), is fixed, the growth unit (20`) expands as the air exerts force on the inner wall (20`-1), as shown in the enlarged view of Fig. 15c. Then, due to the force of the growth unit (20`) expanding, the outer circumference (22`) is converted into the inner circumference (21`) and rolled in.

[0116] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0117] The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

[0118]

[0119] [Explanation of symbols]

[0120] 1: A growing soft robot according to an embodiment

[0121] 10: Housing

[0122] 11: Body 13: Protrusion

[0123] 14: First pillar section 15: Second pillar section

[0124] 20: Growth Unit

[0125] 21: In-house wife 22: Out-house wife

[0126] 30: Shrinking Unit

[0127] 31: Channel

[0128] 40: Sealing ring

[0129] 50: Air supply device

[0130] 60: Cable

[0131] 70: Information gathering organization

[0132] 2: A growing soft robot according to another embodiment

[0133] 100: Housing

[0134] 110: Body 130: Protrusion

[0135] 140: Pillar

[0136] 200: Growth Unit

[0137] 210: In-house 220: Out-house

[0138] 300: Sealing ring

[0139] 400: Air supply device

[0140] 500: Cable

[0141] 600: Information Gathering Organization

[0142] 700: Mount

[0143]

[0144] The present invention relates to a growth-type soft robot and has industrial applicability.

Claims

1. A housing including a body part having a first space formed inside, a first hole formed on one side, and a second hole formed on the other side, and a protrusion formed to protrude from the outer surface of the body part to surround the first hole; and A growth-type soft robot comprising a growth unit including an outer circumference coupled to an outer surface of the protrusion and an inner circumference connected from the outer circumference toward the inside of the outer circumference and extending into the first space, and when air is supplied to a second space between the outer circumference and the inner circumference, the inner circumference is pushed away from the protrusion by the pressure of the air and converted into the outer circumference, thereby extending in a direction away from the protrusion.

2. In paragraph 1, A shrinking unit having one or more channels formed therein and coupled to the outer portion and the inner portion along one end of the inner portion from one end of the outer portion; The above shrinking unit is, A growth-type soft robot that, when the air is supplied through one or more of the channels, causes the outer portion to change into the inner portion, thereby shrinking the growth unit.

3. In paragraph 2, Including a sealing ring installed to surround the inner part and the shrinking unit at a predetermined point of the inner part, The above shrinking unit is, A self-shrinking growing soft robot that causes the growth unit to shrink by converting the outer portion to the inner portion when the first tension applied to the inner portion to convert the outer portion to the inner portion is greater than the sum of the frictional force applied between the sealing ring and the growth unit and the force required to transform the inner portion to the outer portion, and the second tension applied to the outer portion to convert the inner portion to the outer portion.

4. In paragraph 3, The above sealing ring is formed in a ring shape with a hole formed inside, A growing soft robot, wherein the first tension and the second tension are calculated by the following mathematical expressions 1 and 2. [Mathematical Formula 1] T i = (P r - P B )*r r *π*r B (Here, T i is the first tension, P r is the pressure of the air supplied to the channel of the shrinking unit, P B is the pressure of air supplied to the second space between the outer and inner parts, r r r is the length of the radius of the cross-section of the shrinkage unit cut in a direction perpendicular to the direction in which the growth unit extends. B is the length of the radius of the cross-section of the growth unit cut in a direction perpendicular to the direction in which the growth unit extends) [Equation 2] T o = P B *r B *π*r s (Here, T o is the second tension, P B is the pressure of air supplied to the second space between the outer and inner parts, r B is the length of the radius of the cross-section of the growth unit cut in a direction perpendicular to the direction in which the growth unit extends, r s is the length of the radius of the hole in the sealing ring) 5. In paragraph 4, A growing soft robot in which the above shrinking unit is coupled to the inner surface of the outer portion and the inner surface of the inner portion.

6. In paragraph 4, A growing soft robot in which the above shrinking unit is coupled to the outer surface of the outer portion and the outer surface of the inner portion.

7. In paragraph 5 or 6, A growing soft robot, wherein the sealing ring is formed to pressurize the inner circumference and the shrinking unit surrounded by the sealing ring with a force having a predetermined size.

8. In paragraph 7, At least a portion of the growth unit is disposed in a third space surrounded by the inner circumference, and is installed so that one end protrudes outward from one end of the growth unit that is located further from the protrusion among the two ends of the growth unit. A growing soft robot, wherein at least a portion of the robot comprises a cable disposed in the first space of the housing and passing through the second hole of the housing.

9. In paragraph 8, A growing soft robot comprising an information collection device installed at one end of the cable and capable of acquiring information including at least one of sound and image.

10. In paragraph 9, The above housing, A first pillar part installed inside the first space, having a third hole formed inside and formed in a hollow cylindrical shape, and inserted inside the third space; and A growth-type soft robot, which is installed inside the first space, has a fourth hole formed inside, is formed in a hollow cylindrical shape, and includes a second column part inserted inside the channel.

11. In paragraph 10, A growing soft robot comprising an air supply mechanism capable of selectively supplying air to one or more of the second space, the third space, and the channel.

12. In paragraph 11, A growing soft robot, wherein the sealing ring is formed of a flexible elastic member.

13. In paragraph 1, A growing soft robot comprising a sealing ring installed to surround the inner circumference at a predetermined point of the inner circumference, and which moves toward one end of the inner circumference that is further from the protrusion among both ends of the inner circumference when the inner circumference is pushed away from the protrusion.

14. In paragraph 13, The above sealing ring is a growing soft robot formed of plastic material.

15. In paragraph 13, A growing soft robot, wherein the sealing ring is formed of a flexible elastic member.

16. In paragraph 15, A growing soft robot, wherein the sealing ring is formed to pressurize the inner portion surrounded by the sealing ring with a force having a predetermined size.

17. In paragraph 16, At least a portion of the growth unit is disposed in a third space surrounded by the inner circumference, and is installed so that one end protrudes outward from one end of the growth unit that is located further from the protrusion among the two ends of the growth unit. A growing soft robot, wherein at least a portion of the robot comprises a cable disposed in the first space of the housing and passing through the second hole of the housing.

18. In paragraph 17, A growing soft robot comprising an information collection device installed at one end of the cable and capable of acquiring information including at least one of sound and image.

19. In paragraph 18, A growth-type soft robot, wherein at least a portion of the inner portion accommodated within the first space is laminated into a plurality of layers and accommodated within the first space.

20. In paragraph 19, The housing is installed inside the first space and includes a pillar portion formed in a hollow cylindrical shape with a third hole formed inside, The cable, at least a portion of which is disposed in the first space of the housing, passes through the inside of the third hole formed in the pillar portion and passes through the second hole, A growing soft robot, wherein at least a portion of the inner portion is laminated in multiple layers and is laminated to surround the column portion.

21. In paragraph 20, A growing soft robot comprising an air supply mechanism capable of supplying air to the second space and the third space.

22. In paragraph 21, The above pillar portion is arranged so that one end faces the second hole of the housing, A growth-type soft robot, wherein the air supply mechanism is configured to supply air toward the second hole and the third hole.

Images