CN112550515B - Miniature jumping robot capable of controlling jumping direction - Google Patents
Miniature jumping robot capable of controlling jumping direction Download PDFInfo
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- CN112550515B CN112550515B CN202011604857.6A CN202011604857A CN112550515B CN 112550515 B CN112550515 B CN 112550515B CN 202011604857 A CN202011604857 A CN 202011604857A CN 112550515 B CN112550515 B CN 112550515B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The utility model provides a controllable jump direction's miniature jump robot, including the body structure, a plurality of leg structures, a plurality of locking structure and driver, the leg structure is connected to the body structure, locking structure links to each other and allows the relative rotation between locking structure and the leg structure with the leg structure, locking structure includes electrode layer or magnetic material layer, can lock to the ground base plate through electrostatic adsorption power or magnetic force, the driver passes through the connection structure and links to each other with the body structure, the driver is the material that has the shape memory function, the change that takes place rigidity coefficient when the driver circular telegram produces elastic potential energy, elastic potential energy is released to the leg structure in the twinkling of an eye and is converted into robot's jump starting ability when releasing locking structure, release time sequence through controlling a plurality of locking structure, realize the control of robot jump direction. The robot can control the jumping direction, has strong obstacle crossing capability and is flexible in jumping control.
Description
Technical Field
The invention relates to the field of micro robots, in particular to a micro hopping robot with controllable hopping directions.
Background
The progress of material science and the development of micro-nano processing technology provide possibility for the design and manufacture of the micro-robot. Due to the characteristics of miniaturization, light weight and the like, the micro robot can break through the limitation of the traditional large robot and is applied to multiple fields of disaster resistance, reconnaissance, detection and the like. In the ruins after earthquakes, the micro-robot is loaded with various sensors, shuttles in narrow gaps, searches trapped persons and simultaneously explores a terrain structure to assist search and rescue personnel in completing rescue work; the micro robot can also become a maintainer of a gas transmission pipeline system, and enters a pipeline to check the operation condition, so that potential safety hazards caused by gas leakage are avoided; a large number of micro robots can carry out cluster control to form an information network, and information within a wide range can be acquired in real time.
The size of the micro-robot is mostly in the centimeter magnitude, and how to cross the obstacle which is several times of the height of the micro-robot is an urgent problem to be solved. For insects with similar sizes to those of micro-robots, jumping in a controllable direction is an indispensable motion state, and besides obstacle crossing, the controllable direction jumping robot can help the insects to flexibly transfer under complex terrains and avoid pursuing of natural enemies when facing life risks. Thus, achieving a controlled directional jump is an effective way to improve the terrain-passing capability of the micro-robot. At present, research on micro jumping robots mainly focuses on realizing the jumping function, and few micro robots can realize jumping in a controllable direction.
It is to be noted that the information disclosed in the above background section is only for understanding the background of the present application and thus may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The main object of the present invention is to overcome the above problems in the prior art and to provide a micro jump robot with jump direction control capability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a miniature jumping robot with controllable jumping direction comprises a body structure, a plurality of leg structures, a plurality of locking structures and a driver, wherein the body structure is connected with the leg structures, the locking structures are connected with the corresponding leg structures and allow the locking structures and the leg structures to rotate relatively, each locking structure comprises an electrode layer or a magnetic material layer, when voltage is applied to the electrode layers, electrostatic attraction force between the electrode layers and a ground substrate made of a suitable material is generated to fix the leg structures on the ground substrate, or when a magnetic field is applied to the magnetic material layers, the magnetic material layers are attached to the ground substrate, the driver is connected with the body structure through a connecting structure, the driver is made of a material with a shape memory function, and when the driver is powered on, the change of a rigidity coefficient is generated to generate elastic potential energy, when the locking structures are released, elastic potential energy is instantly released to the corresponding leg structures to be converted into jumping kinetic energy of the robot, and the control of the jumping direction of the robot is realized by controlling the releasing time sequence of the locking structures. The leg structure is a transmission mechanism of the robot, and transmits a reaction force from the ground substrate.
Further:
the plurality of leg structures comprise a left front leg, a left rear leg, a right front leg and a right rear leg, and the body structure has a polygonal main body shape; preferably, the body structure is rectangular, the plurality of leg structures are connected at four corners of the body structure, preferably at four notches of the four corners, two ends of the driver are respectively fixed at a head end and a tail end of the rectangular body structure, the head end of the rectangular body structure refers to a midpoint between a left front leg and a right front leg on the body structure, and the tail end of the rectangular body structure refers to a midpoint between a left rear leg and a right rear leg on the body structure.
The main body of the leg structure is polygonal; preferably, the leg structure is rectangular, the ends of the left front leg and the right front leg are rectangular, and the ends of the left rear leg and the right rear leg are arc-shaped; preferably, the leg structure is a one-piece layered structure.
The leg structure and the body structure are integrally formed or connected by a connecting structure.
The locking structure further comprises a substrate layer, the substrate layer is a substrate of the electrode layer, and the part of the substrate layer, which is more than the locking structure in shape, is also connected with the leg structure and serves as a flexible hinge to allow relative rotation between the locking structure and the leg structure; preferably, the substrate layer is a flexible material, and preferably, the flexible material is a polyimide material.
The locking structure further comprises a supporting layer for supporting the shape of the outer contour of the locking structure; preferably, the support layers of the body structure, the leg structure and the locking structure are all flexible materials, preferably the flexible materials are PET materials.
The driver is made of alloy material with shape memory effect or at least one part of the driver is in a spring structure.
The actuator is connected to the body structure by an adhesive layer, preferably the adhesive material is aluminum tape with adhesive on one side.
The body structure, the leg structures and the locking structures are integrally formed three-dimensional structures formed by cutting the two-dimensional material and folding the two-dimensional material through a paper folding process, wherein included angles between the leg structures and the ground substrate are adjusted by folding the leg structures and the body structure to form creases, the locking structures are folded along the contours of the leg structures to form the creases, and the two-dimensional material is folded into a three-dimensional robot structure.
The control of the jumping direction is realized by controlling the plurality of locking structures to release in time sharing twice, and the control of the jumping lift angle is realized by adjusting the interval length of the two-time releasing time.
In the embodiment of the invention, each locking structure has independent control freedom, and after the driver finishes an energy storage process, the control of the jump direction is realized through time-sharing release of the left front locking structure, the left rear locking structure, the right front locking structure and the right rear locking structure, wherein the jump direction comprises a jump height angle and a jump azimuth angle, the jump height angle refers to an included angle between the jump direction and a horizontal plane and determines a relation between a jump distance on the horizontal plane and a jump height on a vertical plane, and the jump azimuth angle refers to an included angle between a projection of the jump direction on the horizontal plane and a take-off front body axis and determines a relation between a forward jump distance and a lateral jump distance on the horizontal plane.
The left front locking structure and the right front locking structure are released firstly, and then the left rear locking structure and the right rear locking structure are released, so that the robot can jump forwards; similarly, the left rear locking structure and the right rear locking structure are released firstly, then the left front locking structure and the right front locking structure are released, and the robot jumps backwards; by adjusting the length of the time interval between the two releases, the control of the size of the jump lift angle can be realized.
The left front locking structure is released firstly, then the other three locking structures are released, and the robot jumps to the left front; the left rear locking structure is released firstly, then the other three locking structures are released, and the robot jumps to the left rear; the rear locking structure is released firstly, then the other three locking structures are released, and the robot jumps to the right and the rear; the right front locking structure is released firstly, then the other three locking structures are released, and the robot jumps to the right front; by adjusting the time interval between the two releases, control of the jump azimuth, i.e. changing the relation between the forward jump distance and the lateral jump distance, can be achieved.
The invention has the following beneficial effects:
the invention provides a micro jumping robot with controllable jumping direction, which can fix a plurality of leg structures of the robot on a ground substrate through a plurality of locking structures with electrode layers or magnetic material layers, wherein the ground substrate is the ground for jumping of the robot and provides large electrostatic adsorption force for the locking structures, or an external magnetic field is applied to generate magnetic force to lock the body of the robot to the ground substrate, a driver is made of materials with shape memory function, the driver generates change of rigidity coefficient after being driven to generate driving force to control the locking structures to release the leg structures, elastic potential energy can be released instantly and converted into kinetic energy of the robot to enable the robot to jump, and the control of the jumping direction and the jumping lifting angle of the robot can be realized by adjusting the time sequence for releasing the locking structures. The micro robot has excellent jumping capacity, can realize jumping with the height several times of the self height, can control the jumping direction, and has extremely strong obstacle crossing capacity and flexible jumping control. By controlling the jumping direction and the lifting angle, the jumping height, the forward jumping distance, the lateral jumping distance and the like of the robot can be controlled, the jumping and falling point of the robot can be controlled in a three-dimensional space, obstacle crossing, flexible transfer and the like are realized, the robot can move in a complex terrain environment, and higher difficulty work is completed.
Drawings
FIG. 1 is a top side view of the construction of a micro-jump robot in accordance with an embodiment of the present invention;
FIG. 2 is a bottom side view of the micro-jump robot according to the embodiment of the present invention;
FIG. 3 is an exploded view of the locking mechanism of the micro-jump robot in accordance with the embodiment of the present invention;
FIG. 4 is a side view of the assembly process of the micro-jump robot in accordance with an embodiment of the present invention;
fig. 5 is a flowchart of a method for manufacturing a micro jump robot according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1-4, in one embodiment, a jump direction controllable micro jump robot includes a body structure 1, a plurality of leg structures (2, 3, 4, 5), a plurality of locking structures (6, 7, 8, 9) and a driver 10, wherein the body structure 1 is connected with the leg structures, the locking structures are connected with the corresponding leg structures and allow relative rotation between the locking structures and the leg structures, the locking structures include an electrode layer 16 or a magnetic material layer, an electrostatic attraction force between the locking structures and a ground substrate made of a suitable material is generated when a voltage is applied to the electrode layer 16 to fix the leg structures on the ground substrate 13, or the magnetic material layer is tightly attached to the ground substrate 13 when a magnetic field is applied, and the driver 10 is connected with a connecting structure (such as a first adhesive layer 11, The second adhesive layer 12) is connected with the body structure 1, the driver 10 is made of a material with a shape memory function, when the driver 10 is powered on, the temperature rises, the rigidity coefficient changes to generate elastic potential energy, when the locking structures are locked, the elastic potential energy is stored in the driver 10, when one or more locking structures are released, the corresponding electrostatic adsorption force or magnetic force disappears, the elastic potential energy is released to the corresponding leg structures instantly to be converted into the jumping kinetic energy of the robot, and the control of the jumping direction of the robot is realized by controlling the releasing time sequence of the plurality of locking structures. The leg structure is a transmission mechanism of the robot, and transmits a reaction force from the ground substrate.
Referring to fig. 1-4, in a preferred embodiment, the plurality of leg structures includes a left front leg 2, a left rear leg 3, a right front leg 5, and a right rear leg 4, which are respectively connected to a left front locking structure 6, a left rear locking structure 7, a right front locking structure 9, and a right rear locking structure 8. The body structure 1 may have a polygonal main body shape, preferably, the body structure 1 has a rectangular shape, and the left front leg 2, the left rear leg 3, the right front leg 5, and the right rear leg 4 are connected to four corners of the body structure 1, preferably, at four notches at the four corners, respectively. The two ends of the driver 10 are respectively fixed at the head end and the tail end of the rectangular body structure 1, the head end of the rectangular body structure 1 refers to the middle point between the left front leg 2 and the right front leg 5 on the body structure 1, and the tail end of the rectangular body structure 1 refers to the middle point between the left rear leg 3 and the right rear leg 4 on the body structure 1.
In a preferred embodiment, the leg structure and the body structure 1 are integrally formed. The leg structure and the body structure 1 may also be connected by a connecting structure.
When the micro jumping robot of the embodiment is controlled to jump, the left front locking structure 6 and the right front locking structure 9 are released firstly, and then the left rear locking structure 7 and the right rear locking structure 8 are released, so that the robot can jump forwards; similarly, the left rear locking structure 7 and the right rear locking structure 8 are released firstly, then the left front locking structure 6 and the right front locking structure 9 are released, and the robot jumps backwards; by adjusting the length of the time interval between the two releases, the control of the size of the jump lift angle can be realized.
In addition, the left front locking structure 6 is released firstly, then the rest three locking structures 7 to 9 are released, and the robot jumps to the left front; the left rear locking structure 7 is released first, then the remaining three locking structures 6, 8 and 9 are released, and the robot jumps to the left rear; the right rear locking structure 8 is released first, then the remaining three locking structures 6, 7 and 9 are released, and the robot jumps to the right rear; the right front locking structure 9 is released firstly, then the rest three locking structures 6, 7 and 8 are released, and the robot jumps to the right front; by adjusting the time interval of the two releases, control of the jump azimuth can be achieved.
The micro jumping robot with controllable jumping directions has excellent jumping capability, can realize jumping of more than several times of self height, can also realize control of each jumping direction, controls jumping height, forward jumping distance and lateral jumping distance, controls a landing point in a three-dimensional space, realizes obstacle crossing, flexible transfer and the like, can move in a complex terrain environment, and completes higher-difficulty work.
In the preferred embodiment, except for the actuators, the leg structure is made by integral molding, and the leg structure comprises a left front leg 2, a left rear leg 3, a right rear leg 4 and a right front leg 5 which are all connected at four corners of the body structure 1 and are folded by a paper folding process to form a three-dimensional structure.
It will be appreciated that the body structure 1 and the leg structures may also be manufactured separately, and the four leg structures may then be adhered to the body structure 1 by means of adhesive layers.
In a preferred embodiment, the driver 10 is an alloy material with a shape memory effect, preferably nitinol.
In a preferred embodiment, at least a portion of the driver 10 is of a spring construction.
In a preferred embodiment, one end of the actuator 10 is arranged at the head end of the body structure 1 via an adhesive layer 11, and the other end of the actuator 10 is arranged at the tail end of the body structure 1 via an adhesive layer 12, extending in a front-to-back direction.
In a preferred embodiment, the right front locking structure 9 comprises a support layer 14, a substrate layer 15 and an electrode layer 16, the electrode layer 16 being attached to the substrate layer 15, the substrate layer 15 being glued to the support layer 14, the substrate layer 15 being composited on the right front leg 5 beyond the shape of the support layer 14, and the substrate layer 15 also acting as a hinge allowing relative rotation between the locking structure 9 and the right front leg 5.
In a preferred embodiment, the ground substrate 13 is a metal plate with an insulating layer on the surface, preferably the metal material is aluminum, and preferably the insulating layer is aluminum oxide.
In various embodiments, the locking structure may be an electrostatic locking structure or a magnetic locking structure, which may generate an attractive force between the locking structure and the ground substrate sufficient to overcome the force generated by the actuator contraction, and which may be quickly activated or released in conjunction with a timing control strategy. According to a typical embodiment, the locking structure is an electrostatic force locking structure, and the electrode layer 16 is made of metal and electrically connected to an external circuit, and when a high voltage is applied, an electrostatic attraction force is generated and absorbed on a ground substrate made of a suitable material such as a metal plate, thereby locking the entire robot structure. According to another possible embodiment, the locking structure is a magnetic locking structure, the electrode layer 16 is replaced by a magnetic material, and when an external magnetic field is applied, the magnetic material is subjected to a magnetic field force, so that the locking structure is attached to the ground substrate, and the robot structure is locked; when the external magnetic field is removed, the locking structure is released. The floor substrate of this embodiment may be any material or object surface.
In a preferred embodiment, the leg structure is polygonal in shape. In a further preferred embodiment the body of the leg structure is rectangular in shape, in a more preferred embodiment the rectangular profile of the left and right rear legs 3, 4 ends in an arc and are the same size.
In a preferred embodiment, the leg structure is a monolithic layered structure and the side of the monolithic structure is in contact with the ground substrate, with the direction of the reaction force from the ground substrate being along the long side of the monolithic structure, subject to in-plane deformation; in-plane deformation can take a larger force and produce less deformation than out-of-plane deformation where the force is along the thickness of the monolithic material. In a further preferred embodiment the angle between the leg structure and the floor substrate is adjusted by folding the fold between the leg structure and the body structure 1.
In a preferred embodiment, the body structure 1, the leg structures and the supporting layer 14 of the locking structure are all made of a flexible material. The flexible material is preferably polyethylene terephthalate. In a further preferred embodiment, the thickness of the flexible material is between 20 microns and 500 microns. A preferred embodiment is 50 microns.
Above the preferred design of shank structure can alleviate the weight of robot, warp the off-plane of monolithic type material simultaneously and change into the in-plane, improve the rigidity of robot shank structure, the effort of better transmission ground base plate improves mechanical efficiency to make the high jump of miniature robot realization.
In a preferred embodiment, the substrate layer of the locking structure is flexible polyimide and has a thickness of 5 micrometers, the electrode layer of the locking structure is a metal material, preferably, the metal material is aluminum, preferably, the thickness of the metal material is 100 nanometers, and preferably, the metal material is evaporated on the surface of the flexible substrate by using electron beam evaporation. The first adhesive layer and the second adhesive layer are made of adhesive metal materials, preferably, the adhesive materials are aluminum adhesive tapes with adhesive on single surfaces, and the thickness of the adhesive materials is preferably 65 micrometers.
In a preferred embodiment, the thickness of the first adhesive layer 11 and the second adhesive layer 12 is 10 microns to 200 microns. The first adhesive layer 11 and the second adhesive layer 12 provide a strong and light weight bond between the actuator 10 and the body structure 1 while facilitating an efficient electrical connection of the actuator 10 to external electrical equipment.
The structural characteristics, the principle and the manufacturing method of the direction-controllable micro-jump robot according to the embodiment of the invention are further described in the following with reference to the accompanying drawings.
Fig. 1 is a top side view of the overall structure of a micro-robot in a preferred embodiment of the present invention, and as shown in fig. 1 to 4, the micro-jump robot can be divided into the following functions: a body structure 1, leg structures (2, 3, 4, 5), locking structures (6, 7, 8, 9), drivers 10 and connecting structures, wherein the leg structures comprise a left front leg 2, a left rear leg 3, a right rear leg 4, a right front leg 5; the locking structures comprise a left front locking structure 6, a left rear locking structure 7, a right rear locking structure 8 and a right front locking structure 9; taking the right front locking structures 9 as an example, each of the locking structures comprises a support layer 14, a substrate layer 15 and an electrode layer 16; the attachment structure includes a first adhesive layer 11, a second adhesive layer 12.
The micro robot can be divided into: a skeleton layer comprising the body structure 1, leg structures (2, 3, 4, 5), a support layer 14 of locking structures, and a functional layer comprising a substrate layer 15 and an electrode layer 16 of the locking structures.
The leg structure is attached to the body structure 1; the locking structure is connected to the leg structure by means of a substrate layer 15, wherein the substrate layer 15 becomes a hinge structure allowing free rotation between the locking structure and the leg structure; one end of the actuator 10 is connected to the head end of the body structure 1 via a first adhesive layer 11, and the other end of the actuator 10 is connected to the tail end of the body structure 1 via a second adhesive layer 12; the body structure 1 is folded to form creases with the leg structures, the backing layer of the locking structure is folded to form creases along the contours of the leg structures, and the two-dimensional material is folded to form a three-dimensional robotic structure.
Applying high voltage to the electrode layer 16 of the locking structure, and generating electrostatic adsorption force on the locking structure to fix the robot on the ground substrate; the driver 10 is made of a material with a shape memory function, and after the temperature rises, the rigidity coefficient is increased, driving force is generated, and elastic potential energy is stored; releasing the four releasing and locking structures simultaneously, so that the electrostatic adsorption force disappears, a large amount of elastic potential energy is released instantly, the body structure 1 bends and curls up, the leg structure slaps the ground substrate, and the robot jumps up;
the left front locking structure 6 and the right front locking structure 9 are released firstly, and then the left rear locking structure 7 and the right rear locking structure 8 are released, so that the robot can jump forwards; similarly, the left rear locking structure 7 and the right rear locking structure 8 are released firstly, then the left front locking structure 6 and the right front locking structure 9 are released, and the robot jumps backwards; by adjusting the length of the time interval between the two releases, the control of the size of the jump lift angle can be realized.
The left front locking structure 6 is released firstly, then the rest three locking structures 7 to 9 are released, and the robot jumps to the left front; the left rear locking structure 7 is released first, then the remaining three locking structures 6, 8 and 9 are released, and the robot jumps to the left rear; the right rear locking structure 8 is released first, then the remaining three locking structures 6, 7 and 9 are released, and the robot jumps to the right rear; the right front locking structure 9 is released firstly, then the rest three locking structures 6 to 8 are released, and the robot jumps to the right front; by adjusting the time interval of the two releases, control of the jump azimuth can be achieved.
The miniature jumping robot capable of controlling the jumping direction has excellent jumping capacity, can realize jumping of height more than several times of that of the robot, can also realize control of each jumping direction, controls the jumping height, the forward jumping distance and the lateral jumping distance, controls the falling point in a three-dimensional space, realizes obstacle crossing, flexible transfer and the like, can move in a complex terrain environment, and completes higher difficulty work.
The micro jumping robot adopting the design has excellent jumping capability, can realize jumping of more than several times of the height of the robot, and has flexible control of jumping direction.
In one embodiment, the width of the body structure 1 ranges from [10 mm, 40 mm ].
In one embodiment, the length of the body structure 1 ranges from [20 mm, 80 mm ].
In an embodiment, the body structure 1 is rectangular in shape with four indentations.
The above body structure 1 is only an example and may also comprise other polygonal or curved structures, such as oval structures, diamond structures, etc.
In one embodiment, the width of the leg structure ranges from [0 ]. 5 mm, 5 mm ].
In one embodiment, the leg structures have a length in the range of [3 mm, 20 mm ].
In one embodiment, the left front leg 2 and the right front leg 5 are rectangular in shape.
In one embodiment, the left front leg 2 is the same size as the right front leg 5.
In one embodiment, the left and right rear legs 3, 4 are rectangular in shape terminating in an arc.
In one embodiment, the left rear leg 3 and the right rear leg 4 are the same size.
The leg structures are only examples, and may also include other polygonal structures or irregular shapes, and the four leg structures may also be designed with different shapes and sizes, and all the related modifications should fall into the protection scope of the present invention.
In one embodiment, the locking structure has a width in the range of [2 mm, 10 mm ].
In one embodiment, the length of the locking structure ranges from [3 mm, 15 mm ].
In one embodiment, the locking structure is drop-shaped.
In one embodiment, the left front locking structure 6, the left rear locking structure 7, the right rear locking structure 8 and the right front locking structure 9 are the same in shape and size.
The above locking structures are merely examples and may include different shape designs. Such as rectangular, circular, oval, petal-shaped, etc., and the four locking structures may have different shapes and sizes according to requirements, and the shape change related to the locking is within the protection scope of the present invention.
In one embodiment, the actuator 10 is formed as a solenoid spring structure, which provides a large elastic displacement.
In an embodiment the length of the actuator 10 is in the range of 1 cm, 6 cm, the length of the actuator being adapted to the length of the robot body structure 1.
In one embodiment, the diameter of the driver 10 ranges from 0. 5 mm, 3 mm ].
In one embodiment, the wire diameter range of the driver 10 is [0 ]. 05 mm, 0. 5 mm ], the size of the wire diameter is adapted to the driving force required by the robot.
The above driver 10 is merely exemplary and may include different shape structures such as a wire spring, a plate-shaped serpentine spring, etc., and various shape variations fall within the scope of the present invention.
In one embodiment, the actuator 10 is a memory alloy material.
In one embodiment, the memory alloy material is nitinol.
The memory alloy material can generate deformation after the temperature rises, the deformation generates braking force to accumulate elastic potential energy, so that jumping is realized, the temperature of the memory alloy material can be raised by directly heating the memory alloy material, and the temperature of the memory alloy material can also be raised by generating Joule heat through current.
In one embodiment, the body structure 1, the leg structures, and the support layers of the locking structure are all made of flexible materials.
In one embodiment, the flexible material is a polyethylene terephthalate material.
In one embodiment, the flexible material has a thickness in the range of [20 microns, 500 microns ].
In an embodiment the substrate layer 15 of the locking structure is of a flexible material.
In one embodiment, the flexible material is polyimide.
In one embodiment, the flexible material has a thickness in the range of [3 microns, 20 microns ].
In one embodiment, the electrode layer 16 of the locking structure is made of a metal material.
In one embodiment, the metal material is aluminum.
In one embodiment, the metal material has a thickness in the range of [40 nm, 200 nm ].
The electrode layer can also be made of a magnetic material, and magnetic force is generated through an external magnetic field to lock the robot structure to realize posture fixation.
In one embodiment, the electrode layer 16 is compounded on the surface of the substrate layer by a micro-nano processing technology.
In an embodiment, the micro-nano processing technology is an electron beam evaporation technology.
In one embodiment, the ground substrate 13 is a metal material.
In one embodiment, the metal material is an aluminum plate with an aluminum oxide layer on the surface.
In one embodiment, the oxide layer has a thickness in the range of [5 microns, 500 microns ].
In one embodiment, adhesive metal material is used for the first adhesive layer 11 and the second adhesive layer 12.
In one embodiment, the adhesive metal material is a single-sided aluminum tape.
In one embodiment, the thickness of the viscous metal material is in the range of [10 microns, 200 microns ].
In one embodiment, the adhesive polymer layer has a thickness in the range of [10 microns, 60 microns ].
Manufacturing method of micro flexible robot
The steps of making a micro flexible robot of an embodiment include:
a patterned skeleton layer, which comprises a supporting layer 14 of a body structure 1, a leg structure and a locking structure;
patterning functional layers, including a substrate layer 15 and an electrode layer 16 of a locking structure;
attaching the actuator 10 to the body structure 1 of the robot by means of the first adhesive layer 11 and the second adhesive layer 12 of the attachment structure;
folding the folds between the body structure 1 and the leg structures, folding the folds of the backing layer 15 of the locking structure, forming a three-dimensional structure of the micro-robot;
the skeleton layer is made of flexible polymer material;
the electrode layer 16 is a metal material;
the actuator 10 is an alloy material having a shape memory effect.
Referring to fig. 3 and 4, the method for manufacturing a micro-robot of this embodiment is shown in fig. 4, which is a flowchart of the manufacturing method, and the manufacturing method includes:
The background of the present invention may contain background information related to the problem or environment of the present invention and does not necessarily describe the prior art. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the claims.
Claims (19)
1. A miniature jumping robot with controllable jumping direction comprises a body structure, a plurality of leg structures, a plurality of locking structures and a driver, wherein the body structure is connected with the leg structures, the locking structures are connected with the corresponding leg structures and allow relative rotation between the locking structures and the leg structures, the locking structures comprise electrode layers or magnetic material layers, when voltage is applied to the electrode layers, electrostatic attraction force between the electrode layers and a ground substrate made of appropriate materials is generated to fix the leg structures on the ground substrate, or when a magnetic field is applied to the magnetic material layers, the magnetic material layers are made to be attached to the ground substrate, the driver is connected with the body structure through a connecting structure, the driver is made of materials with shape memory function, when the driver is powered on, the change of a rigidity coefficient is generated to generate elastic potential energy, when the locking structures are released, elastic potential energy is instantly released to the corresponding leg structures to be converted into jumping kinetic energy of the robot, and the control of the jumping direction of the robot is realized by controlling the releasing time sequence of the locking structures.
2. The micro-hopping robot as claimed in claim 1, wherein the plurality of leg structures include a left front leg, a left rear leg, a right front leg and a right rear leg, and the body structure has a polygonal shape.
3. The micro-hopping robot as claimed in claim 2, wherein the body structure has a rectangular main body shape, the plurality of leg structures are connected at four corners of the body structure, both ends of the driver are fixed to a head end and a tail end of the rectangular body structure, respectively, the head end of the rectangular body structure is a midpoint between a left front leg and a right front leg on the body structure, and the tail end of the rectangular body structure is a midpoint between a left rear leg and a right rear leg on the body structure.
4. The micro-hopping robot according to claim 3, wherein the plurality of leg structures are connected at four notches at four corners of the body structure.
5. The micro-jump robot of claim 2, wherein said leg structure body is polygonal in shape.
6. The micro-jump robot in accordance with claim 5, wherein said leg structure has a rectangular body shape, said left and right front legs have rectangular distal ends, and said left and right rear legs have arcuate distal ends.
7. The micro-jump robot of claim 5, wherein said leg structure is a one-piece layered structure.
8. A micro-jump robot according to any of claims 1 to 7, wherein said leg structure and said body structure are integrally formed or connected by a connecting structure.
9. A micro-jump robot according to any of claims 1 to 7, wherein said locking structures further comprise a substrate layer, said substrate layer being a substrate of said electrode layer, said substrate layer further being connected to said leg structures than the locking structure shape as a flexible hinge to allow relative rotation between the locking structure and the leg structures.
10. The micro-hopping robot of claim 9, wherein the substrate layer is a flexible material.
11. The micro-jump robot of claim 10, wherein said flexible material is a polyimide material.
12. The micro-jump robot of any one of claims 1 to 7, wherein said locking structure further comprises a support layer for supporting the shape of the outer contour of said locking structure.
13. The micro-jump robot of claim 12, wherein said body structure, said leg structure, and said support layer of said locking structure are all flexible materials.
14. The micro-jump robot of claim 13, wherein said flexible material is a PET material.
15. The micro-jump robot according to any of claims 1 to 7, wherein said actuator is an alloy material having a shape memory effect or at least a part of a spring structure.
16. The micro-jump robot of claim 9, wherein said actuator is coupled to said body structure by an adhesive layer, said backing layer being coupled to said leg structure beyond a portion of the shape of the locking structure.
17. The micro-jump robot of claim 16, wherein said adhesive layer is aluminum tape with adhesive on one side.
18. The micro-jump robot as claimed in any one of claims 1 to 7, wherein the body structure, the plurality of leg structures, and the plurality of locking structures are integrally formed three-dimensional structures formed by cutting the two-dimensional material and folding the two-dimensional material by a paper folding process, wherein the angle between the leg structures and the ground substrate is adjusted by folding the leg structures to form creases with the body structure, and the two-dimensional material is folded into a three-dimensional robot structure by folding the locking structures to form creases along the contour of the leg structures.
19. The micro-hopping robot according to any one of claims 1 to 7, wherein control of the hopping direction is achieved by controlling the plurality of locking structures to be released in two times of time, and control of the magnitude of the hopping lift angle is achieved by adjusting the interval length of the two times of release.
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| CN113084778B (en) * | 2021-05-10 | 2022-04-12 | 清华大学深圳国际研究生院 | Micro robot |
| CN113326645A (en) * | 2021-05-28 | 2021-08-31 | 清华大学 | Analysis method for jumping dynamic of flexible miniature magnetic control robot |
| CN114426068B (en) * | 2021-11-29 | 2023-06-20 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof |
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