CN209850907U - Flexible micro robot - Google Patents
Flexible micro robot Download PDFInfo
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- CN209850907U CN209850907U CN201920354110.6U CN201920354110U CN209850907U CN 209850907 U CN209850907 U CN 209850907U CN 201920354110 U CN201920354110 U CN 201920354110U CN 209850907 U CN209850907 U CN 209850907U
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Abstract
The utility model discloses a flexible micro-robot, this flexible micro-robot includes: the flexible support comprises an active flexible part, a passive flexible part and a first support part, wherein the active flexible part and the passive flexible part are vertically attached; the active flexible part is used for extending or shortening under the action of external force; the passive flexible part is driven by the active flexible part to bend or relax towards the bottom; the first supporting piece is arranged on one side of the bottom of the passive flexible piece and forms a first preset included angle with the ground. The utility model discloses can be when improving micro-robot velocity of motion, simplify the structure, reduce cost.
Description
Technical Field
The utility model relates to a robot field especially relates to a flexible micro robot.
Background
Under the scenes of extreme environment exploration, military information detection, disaster search, rescue and the like, due to topographic reasons, the micro-robot is often used to participate in field work, and for the micro-robot with the size from millimeter to centimeter level, the quality of every milligram is also capable of generating vital influence on a robot motion system. Therefore, in order to improve the efficiency of the field work, it is necessary to provide a micro robot having a light structure and a high movement speed.
In order to improve the moving speed of the micro-robot in the prior art, the structural design of the micro-robot is generally complex, and the manufacturing cost is high.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a flexible micro-robot for when improving micro-robot velocity of motion, simplify the structure, reduce cost, this flexible micro-robot includes:
the flexible support comprises an active flexible part, a passive flexible part and a first support part, wherein the active flexible part and the passive flexible part are vertically attached;
the active flexible part is used for extending or shortening under the action of external force;
the passive flexible part is driven by the active flexible part to bend or relax towards the bottom;
the first supporting piece is arranged on one side of the bottom of the passive flexible piece and forms a first preset included angle with the ground.
Optionally, the active flexible part is made of a piezoelectric material, and the passive flexible part is made of a non-piezoelectric material;
the flexible micro-robot further comprises: the conducting layers are arranged on the upper and lower opposite surfaces of the active flexible part;
the active flexible part is used for receiving alternating current and is stretched or shortened under the action of alternating current driving voltage.
Optionally, the active flexible member is made of polyvinylidene fluoride.
Optionally, the passive flexible member is made of a poly-p-phthalic plastic or polyimide.
Optionally, the flexible micro-robot further comprises: and the second supporting piece is arranged on the other side of the bottom of the passive flexible piece and forms a second preset included angle with the ground.
Optionally, the degree of the first preset included angle and the degree of the second preset included angle are 20 degrees to 80 degrees.
Optionally, the thickness of the conductive layer is 20nm to 50 nm.
Optionally, the thickness of the active flexible part is 15 μm to 30 μm.
Optionally, the bending angle of the active flexible part and the passive flexible part is 30-60 °.
Optionally, the passive flexible member and the first supporting member are connected in a sticking manner.
The embodiment of the utility model provides an in, through setting up initiative flexible piece and passive flexible piece to make initiative flexible piece extend or shorten under the exogenic action, passive flexible piece is crooked or diastole to the bottom under the drive of initiative flexible piece, has guaranteed in follow-up operation, can extend or shorten through the flexible piece of external force control initiative, and drives the crooked or diastole of passive flexible piece, and then subaerial continuous motion under the supporting role of first support piece. Because the first supporting part and the ground have the first preset included angle, the flexible micro-robot can rapidly move on the ground. It is visible, the embodiment of the utility model provides a flexible micro robot simple structure, the cost of manufacture is lower, and can improve micro robot's velocity of motion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
fig. 1 is a schematic structural diagram of a flexible micro-robot in an embodiment of the present invention.
The reference numbers are as follows:
1 an active flexible member, wherein the flexible member is a flexible member,
2, a passive flexible part is arranged on the flexible part,
3 a first supporting part is arranged on the first supporting part,
4 a conductive layer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The embodiment of the utility model provides a flexible micro-robot, as shown in figure 1, this flexible micro-robot includes: an active flexible part 1 and a passive flexible part 2 which are attached up and down, and a first supporting part 3. The active flexible member 1 is adapted to elongate or contract under an external force. The passive flexures 2 are intended to bend or relax to the bottom under the action of the active flexures 1. The first supporting member 3 is disposed at one side of the bottom of the passive flexible member 2, and has a first preset included angle with the ground.
When the flexible micro-robot needs to be controlled to move on the ground, the active flexible part 1 is extended or shortened by using external force (the external force includes optical energy, electric energy or temperature and the like) so as to drive the passive flexible part 2 to bend or relax towards the bottom, in the process, the external force is controlled to be changed continuously, the active flexible part 1 is enabled to continuously repeat the action of extension or shortening, the passive flexible part 2 is further driven to bend or relax towards the bottom continuously, and the flexible micro-robot can move on the ground under the supporting operation of the first supporting part 3 (because of the existence of the first supporting part 3, after the flexible micro-robot deforms, the front and back friction force is unbalanced, and the flexible micro-robot can move in a single direction). During operation, the flexible micro-robot can be used as a carrier (for example, some sensors are mounted on the flexible micro-robot) according to actual needs.
The embodiment of the utility model provides a flexible micro robot, through setting up initiative flexible part 1 and passive flexible part 2, and make initiative flexible part 1 extend or shorten under the exogenic action, driven flexible part 2 is crooked or diastole to the bottom under the drive of initiative flexible part 1, guaranteed in follow-up operation, can extend or shorten through external force control initiative flexible part 1, and drive the crooked or diastole of passive flexible part 2, and then subaerial continuous motion under the supporting role of first support piece 3. Since the first supporting member 3 has a first preset included angle with the ground, the flexible micro-robot can rapidly move on the ground. It is visible, the embodiment of the utility model provides a flexible micro robot simple structure, the cost of manufacture is lower, and can improve micro robot's velocity of motion.
The first supporting member 3 may have various structures, for example, a rod structure, a column structure, etc.
In order to secure the moving speed of the flexible micro-robot, the bending angles of the active flexure 1 and the passive flexure 2 may be set to 30 ° -60 ° (e.g., 30 °, 45 °, 50 °, etc.).
Further, the active flexible member 1 is made of piezoelectric material, and the passive flexible member 2 is made of non-piezoelectric material. As shown in fig. 1, the flexible micro-robot further comprises: a conductive layer 4. The conductive layers 4 are disposed on the upper and lower opposite surfaces of the active flexible member 1.
The active flexible member 1 is used for receiving alternating current and is stretched or shortened under the action of an alternating current driving voltage.
Based on that piezoelectric material can take place mechanical deformation because of the electric field, and piezoelectric material is not influenced by the electricity, through adopting piezoelectric material and non-piezoelectric material to mutually support, guaranteed that initiative flexible 1 can take place to warp constantly through the alternating current, and passive flexible 2 can change along with the change of initiative flexible 1. By providing the conductive layer 4, a protective energy absorbing layer is provided for the active flexible element 1, which has a better covering and protecting performance. Wherein the thickness of the conductive layer 4 is 20nm-50nm (such as 20nm, 30nm, 35nm, etc.).
Specifically, if one end of the flexible micro-robot is fixed and is regarded as a cantilever beam, the deformation of the cantilever beam under the static voltage driving can be deduced, and the derivation formula is as follows:
in the above (1), (2), (3) and (4), epsilon is the strain of the active flexible member 1; t is t1、t2、t3The thicknesses of the active flexure 1, the conductive layer 4 and the passive flexure 2, respectively; e1, E2, E3 are the Young's moduli of the active flexure 1, the conductive layer 4 and the passive flexure 2, respectively; u is a driving voltage; d31Is the piezoelectric coefficient; c is an intermediate shaft amount; t is tbIs a thickness measure.
Through the formulas (1), (2), (3) and (4), the displacement of the free end of the cantilever beam under a certain voltage can be calculated. Under different voltage driving, the theoretical derivation result is similar to the actual experiment result according to the relationship between the displacement of the free end of the cantilever beam and the driving voltage. Under the AC driving voltage, the robot body deforms, and unidirectional motion is generated due to the imbalance of front and back friction forces. Under the drive of the alternating current signal, the driving frequency should be close to the resonance frequency of the robot. Near this frequency, the amplitude of the body deformation of the robot is the largest, and the movement speed is the fastest.
The Polyvinylidene fluoride has good chemical resistance, processability, fatigue resistance and creep resistance, so the material of the active flexible member 1 can be Polyvinylidene fluoride (PVDF for short).
Based on excellent abrasion and friction resistance, dimensional stability and electrical insulation of the poly (p-phenylene terephthalate) and the Polyimide, the passive flexible member 2 can be made of poly (p-phenylene terephthalate) (PET) or Polyimide (PI).
The active flexible member 1 may be a thin film structure, and the thickness thereof may be 15 μm to 30 μm (15 μm, 20 μm, 25 μm, etc.).
In order to increase the moving speed of the flexible micro-robot, the flexible micro-robot further comprises: a second support member. The second supporting piece is arranged on the other side of the bottom of the driven flexible piece 2 and forms a second preset included angle with the ground. Wherein "the other side" refers to the side opposite to the first support 3.
It can be understood that adding the second support element on the other side of the bottom of the passive flexible element 2 is equivalent to adding a power element, when the flexible micro-robot moves, the first support element 3 and the second support element simultaneously support the ground, the movement process is similar to a horse, and the pentium effect can be realized by continuously changing the movement speed during the movement process, namely, the second support element temporarily leaves the ground during the movement process, so that the flexible micro-robot adapts to various complex geographical environments.
Further, in order to ensure the moving speed of the flexible micro-robot, the degrees of the first preset included angle and the second preset included angle may be 20 ° to 80 ° (e.g., 30 °, 50 °, 70 °, etc.).
In the embodiment of the present invention, the passive flexible member 2 and the first supporting member 3 may be connected in a sticking manner.
By such an arrangement, the passive flexible member 2 and the first support member 3 can be firmly connected, and the installation is convenient.
The material of the first supporting member 3 may be the same as that of the passive flexible member 2, that is, the first supporting member 3 may be folded so as to adjust the included angle between the first supporting member and the ground at any time.
The following description is made by taking PVDF as an example for the active flexible part 1 and PET as an example for the passive flexible part 2. the manufacturing process of the flexible micro-robot of the utility model is as follows:
first, a mask plate having a hollow square pattern and a length of 3cm and a width of 1.5cm was produced as a mask for evaporating metal on the flexible piezoelectric film PVDF. Under the mask plate, gold was deposited by vapor deposition or sputtering to a thickness of 20nm on both surfaces of 20 μm PVDF. After double-sided gold plating, the evaporated square pattern with a length of 3cm and a width of 1.5cm was cut out with a laser cutter or a paper trimmer. The PET single-sided adhesive film without piezoelectric properties was cut into square patterns of the same size using the same cutting machine. And (3) fixing two surfaces of the PVDF by using a lead respectively, and sticking one surface with the PET adhesive with the PVDF films to form a framework of the robot. The planar framework is placed on a curved surface printed in 3D, and the planar framework dog is made into an arched three-dimensional curved surface in a hot pressing mode, wherein the curvature is 45 degrees. And folding the PET into an angle, adhering the PET to one end of the arched three-dimensional curved surface to form a leg part, and forming an included angle of 70 degrees between the leg part and the ground. And two leads led out from the PVDF are respectively connected into two terminals of the driving circuit board. The driving circuit board outputs an adjustable alternating current signal. The mass of the manufactured flexible micro-robot is less than 0.1 g.
During operation, the upper surface and the lower surface of the PVDF are respectively externally connected with leads and connected to the anode and the cathode of an external power supply, the anode provides alternating voltage, the peak value is in a range from 50V to 200V, and the cathode can be grounded.
In conclusion, the utility model realizes the rapid movement of the flexible micro robot by using simple manufacturing process and structural design; and after the action of large pressure and deformation, the robot can still keep the capability of continuous movement, which shows that the flexible micro-robot has better stability and robustness.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A flexible micro-robot, comprising: an active flexible part (1) and a passive flexible part (2) which are attached up and down, and a first supporting part (3);
the active flexible part (1) is used for stretching or shortening under the action of external force;
the passive flexible part (2) is driven by the active flexible part (1) to bend or relax towards the bottom;
the first supporting piece (3) is arranged on one side of the bottom of the passive flexible piece (2) and forms a first preset included angle with the ground.
2. The flexible micro-robot according to claim 1, wherein the active flexible member (1) is made of piezoelectric material, and the passive flexible member (2) is made of non-piezoelectric material;
the flexible micro-robot further comprises: the conductive layers (4) are arranged on the upper and lower opposite surfaces of the active flexible part (1);
the active flexible part (1) is used for accessing alternating current and is stretched or shortened under the action of alternating current driving voltage.
3. The flexible micro-robot according to claim 2, wherein the active flexible member (1) is made of polyvinylidene fluoride.
4. The flexible micro-robot according to claim 2, wherein the passive flexible member (2) is made of a poly-p-phthalic plastic or polyimide.
5. The flexible microrobot of claim 2, further comprising: the second supporting piece is arranged on the other side of the bottom of the passive flexible piece (2) and forms a second preset included angle with the ground.
6. The flexible microrobot of claim 5, wherein said first predetermined angle and said second predetermined angle are in degrees between 20 ° and 80 °.
7. The flexible microrobot according to claim 2, wherein the thickness of the conductive layer (4) is 20nm to 50 nm.
8. The flexible microrobot according to claim 1, wherein the thickness of the active flexible member (1) is 15 μm to 30 μm.
9. The flexible micro-robot according to claim 1, wherein the bending angle of the active flexible member (1) and the passive flexible member (2) is 30 ° -60 °.
10. The flexible micro-robot according to claim 1, characterized in that the passive flexible member (2) and the first support member (3) are connected in an adhesive manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920354110.6U CN209850907U (en) | 2019-03-20 | 2019-03-20 | Flexible micro robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920354110.6U CN209850907U (en) | 2019-03-20 | 2019-03-20 | Flexible micro robot |
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| CN209850907U true CN209850907U (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920354110.6U Active CN209850907U (en) | 2019-03-20 | 2019-03-20 | Flexible micro robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848957A (en) * | 2019-03-20 | 2019-06-07 | 清华大学深圳研究生院 | A kind of flexible miniature robot |
| CN112372666A (en) * | 2020-10-30 | 2021-02-19 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
-
2019
- 2019-03-20 CN CN201920354110.6U patent/CN209850907U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848957A (en) * | 2019-03-20 | 2019-06-07 | 清华大学深圳研究生院 | A kind of flexible miniature robot |
| CN109848957B (en) * | 2019-03-20 | 2024-03-22 | 清华大学深圳研究生院 | Flexible micro-robot |
| CN112372666A (en) * | 2020-10-30 | 2021-02-19 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
| CN112372666B (en) * | 2020-10-30 | 2022-03-08 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
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