CN115123415B - Miniature jumping robot based on isolated locust rear legs - Google Patents
Miniature jumping robot based on isolated locust rear legs Download PDFInfo
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- CN115123415B CN115123415B CN202210914903.5A CN202210914903A CN115123415B CN 115123415 B CN115123415 B CN 115123415B CN 202210914903 A CN202210914903 A CN 202210914903A CN 115123415 B CN115123415 B CN 115123415B
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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
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Abstract
The invention provides a miniature jump robot based on a rear leg of an isolated locust, which comprises a body, the rear leg of the isolated locust for executing jump motion, a driving device for executing the jump motion and a battery for providing electric energy for the driving device; the isolated locusts are arranged on the body in pairs; the driving device comprises a swing arm, a magnetic body and an electromagnetic coil; the swing arms are rotatably arranged on the machine body, and the two opposite isolated locust rear legs are connected to the opposite sides of the swing arms; the magnetic body is arranged on the swing arm; the electromagnetic coil is provided with a first coil and a second coil which are arranged in close proximity, the battery is used for electrifying the first coil and the second coil respectively and generating magnetic fields in opposite directions, attracting or repelling the magnetic body, and driving the swing arm to swing reciprocally so as to assist the in-vitro locust rear legs to complete jumping actions. The invention has the advantages of small volume and light weight.
Description
Technical Field
The invention belongs to the technical field of jumping robots, and particularly relates to a miniature jumping robot based on isolated locusts.
Background
From the "Size-grain hypothesis" (Size-particle hypothesis), it is known that as the Size of small crawling robots is reduced, the ground environment they face becomes more rugged, and the trafficability over the ground medium is significantly reduced. The jump can solve the problem, and the small robot can easily cross the obstacle with the size larger than the small robot by means of jump, so that the jump robot is widely applied to complex terrains and has wide application in the fields of space exploration, rescue in narrow space and the like.
At present, a jumping robot taking a locust as a bionic prototype exists in the prior art, a torsional spring is used for replacing a meniscus of the locust as an energy storage element, a motor is used for replacing muscles, a rear leg is driven to move, a propeller-shaped tail wing can be used for recovering an upright state of the robot and adjusting the direction of the robot, the whole length of the robot is about 25cm, and the mass is 46g. Due to the special properties of the energy storage element, the size and the quality of the robot cannot be reduced any more to achieve output of certain energy.
Disclosure of Invention
The invention aims to provide a miniature jumping robot based on the rear legs of in-vitro locusts, which has the advantages of small volume and light weight.
In order to achieve the above object, the present invention provides a micro jump robot based on the rear leg of an isolated locust, comprising:
a body;
the isolated locust rear legs for executing jumping action are arranged on the machine body in pairs;
driving means for assisting the jump;
a battery for supplying power to the driving device;
the driving device comprises a swing arm, a magnetic body and an electromagnetic coil;
the swing arms are rotatably arranged on the machine body, and the two opposite isolated locust rear legs are connected to the opposite sides of the swing arms; the magnetic body is arranged on the swing arm; the electromagnetic coil is provided with a first coil and a second coil which are arranged in close proximity, the battery is used for electrifying the first coil and the second coil respectively and generating magnetic fields in opposite directions, attracting or repelling the magnetic body, and driving the swing arm to swing reciprocally so as to assist the in-vitro locust rear legs to complete jumping actions.
According to another embodiment of the invention, the first coil and the second coil are nested with each other to form an inner loop coil and an outer loop coil; one of the first coil and the second coil generates a force which repels the magnetic body after being electrified so as to drive the magnetic body to drive the swing arm to rotate clockwise; the other of the first coil and the second coil generates a force attracting the magnetic body after being electrified so as to drive the magnetic body to drive the swing arm to rotate anticlockwise.
According to another embodiment of the invention, the electromagnetic coil is arranged obliquely with respect to the plane of the machine body.
According to another embodiment of the invention, the angle of inclination of the electromagnetic coil is less than 45 °.
According to another embodiment of the invention, the machine body is further provided with a signal device, and the signal device is used for receiving the control command to output a control signal to the first coil or the second coil.
According to another embodiment of the present invention, the signal device includes a control board, a processor, and a receiving antenna for receiving a wireless signal from the outside, the processor for converting the wireless signal into a control instruction and outputting the control signal to the first coil or the second coil; the control board is used for bearing the processor and the receiving antenna and is electrically connected.
According to another embodiment of the invention, the isolated locust hind leg is a biostructure comprising a leg joint and a shank joint which are connected with each other, the leg joint is fixedly connected on a swing arm, and the shank can rotate relative to the leg joint.
According to another specific embodiment of the invention, the leg joint is provided with a stimulating electrode for controlling the rotation angle of the leg joint, a stimulating signal is sent to the stimulating electrode by utilizing the signal device, and the extensor and flexor of the leg joint are stimulated electrically in order by the stimulating electrode so as to drive the rotation of the leg joint.
According to another embodiment of the invention, the stimulation electrode has a first electrode acting on the extensor muscle and a second electrode acting on the flexor muscle, both the first and second electrodes being disposed on the leg segment at an end region remote from the shank segment. The stimulation electrode is disposed on the leg in an end region remote from the shank.
According to another embodiment of the invention, the swing arm is T-shaped and has a handle end and two opposite free ends, the magnetic body is arranged at the handle end, the two free ends are rotatably arranged on the body, and the rear legs of the in-vitro locusts are connected with the free ends.
The invention has the following beneficial effects:
in the invention, the magnetic driving device is adopted to assist in driving the rear legs of the isolated locusts, so that forward jumping is completed, and the device has the advantages of compact structure and light weight, and is particularly suitable for jumping actions under small volume (miniature).
In the invention, a biological and abiotic structure composition form is adopted, the whole body is similar to an insect structure, and the difference of the starting time of applying electric stimulation to the hind legs of the isolated locusts at the two sides can cause the development of the hind legs of the isolated locusts at the two sides to have a small time difference so as to realize the steering jump of the jumping robot.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of an embodiment 1 of a micro-jump robot of the present invention;
fig. 2 is a schematic view of the rear leg of an isolated locust in example 1 of the micro jump robot of the invention, showing the implantation position of the stimulation electrode.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and the scope of the invention is therefore not limited to the specific embodiments disclosed below.
Example 1
As shown in fig. 1, the present embodiment provides a micro jump robot based on a rear leg of an isolated locust, which includes a body 10 and a rear leg 20 of an isolated locust for performing a jump motion; the isolated locust rear legs 20 are arranged on the machine body 10 in pairs, and the two isolated locust rear legs 20 are positioned on the left side and the right side of the machine body 10, and the whole forward jump of the robot is realized through the actions of the two isolated locust rear legs 20.
Specifically, the isolated locust hind leg 20 is preferably a biological structure, as shown in FIG. 2, comprising a leg section 21 and a shank section 22 interconnected, the shank section 22 being rotatable relative to the leg section 21. In this embodiment, the rotation of the shank 22 is controlled by adopting an electric stimulation mode, the shank 21 is provided with a stimulation electrode for controlling the rotation angle of the shank 22, and the extensor and flexor of the shank 21 can be stimulated by the stimulation electrode to drive the muscle tissues thereof so that the shank 22 is retracted first and then released rapidly, thereby driving the shank 22 to rotate.
Preferably, the stimulation electrode is provided on the leg segment 21 at an end region a remote from the shank segment 22; wherein the stimulation electrode has a first electrode a1 acting on the extensor muscle and a second electrode a2 acting on the flexor muscle, the first electrode a1 and the second electrode a2 each being arranged on the leg segment 21 at an end region a remote from the shank segment 22.
As shown in fig. 2, the first electrode a1 is implanted at a distance of 3mm from the left end of the leg segment 21 away from the shank 22, the second electrode a2 is implanted at a distance of 15mm from the right end of the leg segment 21 near the shank 22, and the second electrode a2 is implanted from the inside of the leg segment 21 to achieve a rapid response of muscle tissue.
In this embodiment, the difference of the starting time of the electric stimulation applied to the hind legs of the two sides of the isolated locust can make the two sides of the isolated locust to have a small time difference in the force applied to the hind legs 20 of the two sides of the isolated locust, so as to realize the steering jump of the jump robot. Under the condition of external intervention, other limiting structures and/or angle adjusting structures are arranged, for example, the included angle between the leg joint 21 and the machine body 10 can be adjusted, so that the jumping angle can be changed.
Referring again to fig. 1, the body 10 is provided with a driving device 30 for performing a jumping motion, and the driving device 30 includes a swing arm 31, a magnetic body 32, and an electromagnetic coil 33.
The swing arm 31 is rotatably disposed on the machine body 10, and the swing arm 31 is preferably T-shaped, and has a handle end and two opposite free ends, the magnetic body 32 is disposed at the handle end, and the two free ends are both engaged with the machine body 10 to form a pair of rotation pairs, for example, a rotation seat 11 is disposed on the machine body 10, and the two free ends are both rotatably supported on the rotation seat 11. Wherein the rear leg 20 of the locust is connected with the free end, specifically the leg joint 21 is fixed on the free end.
Correspondingly, in order to better mount the rear legs 20 of the isolated locust, a connecting seat 23 for matching with the leg sections 21 can be arranged at the free end so as to realize quick assembly of the rear legs 20 of the isolated locust.
The electromagnetic coil 33 has a first coil 331 and a second coil 332 which are arranged in close proximity, the machine body 10 is provided with a battery 40, the battery 40 is used for respectively electrifies the first coil 331 and the second coil 332 and generating magnetic fields in opposite directions, the magnetic body 32 is attracted or repelled, and the swing arm 31 is driven to swing reciprocally so as to assist the in-vitro locust rear leg 20 to complete jumping action.
Further, the first coil 331 and the second coil 332 are nested with each other to form an inner loop coil and an outer loop coil; one of the first coil 331 and the second coil 332 generates a force that repels the magnetic body 32 after being electrified, so as to drive the magnetic body 32 to drive the swing arm 31 to rotate clockwise; the other of the first coil 331 and the second coil 332 generates a force attracting the magnetic body 32 after being energized, so as to drive the magnetic body 32 to drive the swing arm 31 to rotate counterclockwise.
Preferably, the electromagnetic coil 33 is disposed at an inclination with respect to the plane of the body 10, the inclination of the electromagnetic coil 33 being less than 45 °, in particular for example 15 °, in order to better adapt to the magnetic body 32, so as to react more rapidly and to perform an attracting or repelling action.
With continued reference to fig. 1, the body 10 is further provided with a signaling device 50, and the battery 40 is used to supply power to the signaling device 50. Receiving a control instruction through the signal device 50 to output a control signal to the first coil 331 or the second coil 332; specifically, the signal device 50 is used to send a stimulating signal to the stimulating electrode, so as to realize jump control on the rear leg 20 of the locust in vitro.
The signal device 50 includes a control board 51, a processor 52, and a receiving antenna 53, the receiving antenna 53 is used for receiving a wireless signal from the outside so as to realize remote control; the processor 52 is configured to convert the wireless signal into a control command and output the control signal to the first coil 331 or the second coil 332; the control board 51 is used for carrying the processor 52 and the receiving antenna 53 and electrically connecting them.
In this embodiment, a biological and non-biological structure is adopted, the whole body is similar to an insect structure, and the magnetic driving device is adopted to assist the rear legs 20 of the locust to drive so as to jump forward; the difference of the electric stimulation starting time of the hind legs of the two sides of the isolated locusts causes the slight time difference of the force of the hind legs 20 of the two sides of the isolated locusts so as to realize the steering jump of the jumping robot; the whole structure has the advantages of compact structure and light weight, and is particularly suitable for jumping motion under small volume (miniature).
While the invention has been described in terms of preferred embodiments, it is not intended to limit the scope of the invention. It is intended that all modifications within the scope of the invention, i.e., all equivalents thereof, be embraced by the invention as they come within their scope without departing from the invention.
Claims (10)
1. A miniature jump robot based on an isolated locust hind leg, comprising:
a body;
the isolated locust rear legs for executing jumping action are arranged on the machine body in pairs;
driving means for assisting the jump;
a battery for providing electrical energy to the drive means;
wherein the driving device comprises a swing arm, a magnetic body and an electromagnetic coil;
the swing arms are rotatably arranged on the machine body, and the two separated locust rear legs in pairs are oppositely connected to the two opposite sides of the swing arms; the magnetic body is arranged on the swing arm; the electromagnetic coil is provided with a first coil and a second coil which are arranged in close proximity, the battery is used for respectively electrifying the first coil and the second coil and generating magnetic fields in opposite directions, attracting or repelling the magnetic body and driving the swing arm to swing in a reciprocating manner so as to assist the in-vitro locust rear legs to complete jumping actions.
2. The micro jump robot based on the rear leg of an isolated locust of claim 1, wherein: the first coil and the second coil are nested with each other to form an inner loop coil and an outer loop coil; one of the first coil and the second coil generates a force which repels the magnetic body after being electrified so as to drive the magnetic body to drive the swing arm to rotate clockwise; and after the other one of the first coil and the second coil is electrified, generating a force for attracting the magnetic body so as to drive the magnetic body to drive the swing arm to rotate anticlockwise.
3. The micro jump robot based on the rear leg of an isolated locust of claim 1, wherein: the electromagnetic coil is obliquely arranged relative to the plane of the machine body.
4. A micro jump robot based on the rear leg of an isolated locust as claimed in claim 3, wherein: the inclination angle of the electromagnetic coil is smaller than 45 degrees.
5. The micro jump robot based on the rear leg of an isolated locust of claim 1, wherein: the machine body is also provided with a signal device, and the signal device is used for receiving a control instruction so as to output a control signal to the first coil or the second coil.
6. The micro jump robot based on an isolated locust hind leg of claim 5, wherein: the signal device comprises a control board, a processor and a receiving antenna, wherein the receiving antenna is used for receiving a wireless signal from the outside, and the processor is used for converting the wireless signal into a control instruction and outputting the control signal to the first coil or the second coil; the control board is used for bearing the processor and the receiving antenna and is electrically connected.
7. The micro jump robot based on an isolated locust hind leg of claim 5, wherein: the isolated locust rear leg is a biological structure and comprises a leg joint and a shank joint which are connected with each other, the leg joint is fixedly connected to the swing arm, and the shank can rotate relative to the leg joint.
8. The micro jump robot based on the rear leg of an isolated locust of claim 7, wherein: the leg joint is provided with a stimulating electrode for controlling the rotation angle of the leg joint, a stimulating signal is sent to the stimulating electrode by utilizing the signal device, and the extensor and flexor of the leg joint are stimulated electrically in order by the stimulating electrode so as to drive the rotation of the leg joint.
9. The micro jump robot based on the rear leg of an isolated locust of claim 8, wherein: the stimulation electrode has a first electrode that acts on extensor muscles and a second electrode that acts on flexor muscles, both of which are disposed on the leg segment in an end region remote from the shank segment.
10. The micro jump robot based on the rear leg of an isolated locust of claim 1, wherein: the swing arm is T-shaped, and has a handle end and two opposite free ends, the magnetic body is arranged at the handle end, the two free ends are rotatably arranged on the machine body, and the isolated locust rear legs are connected with the free ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914903.5A CN115123415B (en) | 2022-08-01 | 2022-08-01 | Miniature jumping robot based on isolated locust rear legs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914903.5A CN115123415B (en) | 2022-08-01 | 2022-08-01 | Miniature jumping robot based on isolated locust rear legs |
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| Publication Number | Publication Date |
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| CN115123415A CN115123415A (en) | 2022-09-30 |
| CN115123415B true CN115123415B (en) | 2023-05-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN105438306A (en) * | 2015-11-25 | 2016-03-30 | 北京航空航天大学 | Bionic locust jumping robot with buffer performance |
| CN105584555A (en) * | 2016-03-08 | 2016-05-18 | 上海交通大学 | Magnetoresistive hopping mechanism based on capacitor |
| CN111098647A (en) * | 2019-12-20 | 2020-05-05 | 中国运载火箭技术研究院 | Amphibious microminiature detection robot with variable configuration |
| CN114211510A (en) * | 2022-01-27 | 2022-03-22 | 吉林大学 | Bionic rigid impact type tumbler hopping robot and hopping method thereof |
| CN216332381U (en) * | 2021-11-04 | 2022-04-19 | 武汉大学 | Locust-simulated jumping robot based on metamorphic mechanism |
-
2022
- 2022-08-01 CN CN202210914903.5A patent/CN115123415B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN105438306A (en) * | 2015-11-25 | 2016-03-30 | 北京航空航天大学 | Bionic locust jumping robot with buffer performance |
| CN105584555A (en) * | 2016-03-08 | 2016-05-18 | 上海交通大学 | Magnetoresistive hopping mechanism based on capacitor |
| CN111098647A (en) * | 2019-12-20 | 2020-05-05 | 中国运载火箭技术研究院 | Amphibious microminiature detection robot with variable configuration |
| CN216332381U (en) * | 2021-11-04 | 2022-04-19 | 武汉大学 | Locust-simulated jumping robot based on metamorphic mechanism |
| CN114211510A (en) * | 2022-01-27 | 2022-03-22 | 吉林大学 | Bionic rigid impact type tumbler hopping robot and hopping method thereof |
Non-Patent Citations (1)
| Title |
|---|
| Songsong Ma等.Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles.IEEE TRANSACTIONS ON ROBOTICS.2022,第38卷(第4期),2208-2217. * |
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| CN115123415A (en) | 2022-09-30 |
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