Shape memory alloy spring-driven jumping robot

Abstract

The invention relates to a shape memory alloy spring-driven jumping robot which comprises a front arm, an energy storage mechanism, an energy conversion mechanism, a rear arm, a trigger mechanism, a control system, a battery and an angle adjusting column, wherein the front arm is formed by fixedly connecting a first connection block, a first bar and a second bar; the energy storage mechanism comprises a pair of torsion springs which are coaxially and symmetrically arranged in parallel, or parallel two rows of torsion springs, or reeds symmetrically arranged in the horizontal direction; the front exposed end and the rear exposed end of the energy storage mechanism are inserted on the front arm and the rear arm; the rear arm is formed by fixedly connecting a second connection block, a third bar, a fourth bar and a third connection block; the trigger mechanism is formed by welding a trigger torsion spring, a second hanger and a fourth connection block, and is fixed at the rear part of the rear arm; the control system comprises a power supply part, a single chip microcomputer part and a driving part; and the angle adjusting column is connected at the tail end of the rear arm through a pin shaft. The jumping robot has a simple structure and stable performances, and overcomes the disadvantages in the prior art that the power-to-weight ratio is small, the noise and the pollution are generated during driving and the driving voltage is higher.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a bouncing robot driven by a shape memory alloy spring. Background technique [0002] At present, mobile robots mainly adopt two locomotion modes: multi-wheel or crawler drive, bionic crawling or walking. However, these two mobile robots have a common defect: it is difficult to jump over larger obstacles or ditches at one time. With the increasingly wide application range of robots, the working environment faced by robots is getting worse and worse, such as archaeological exploration, military reconnaissance, anti-terrorism activities, etc. In such an environment, it is obvious that robots must have strong terrain adaptation and autonomous movement capabilities . Compared with the above two mobile robots, the bouncing robot can successfully jump over obstacles several times higher than its own size. For example, the 7-gram bouncing robot studied by the University of Lausanne in ...

AI Technical Summary

Problems solved by technology

However, these two mobile robots have a common defect: it is difficult to jump over large obstacles or ditches at one time

[0003] Most commonly used robots are driven by servo motors, which have a small power-to-weight ratio and require a deceleration mechanism, which increases the size of the robot, has a heavy structure, and requires high precision parts; at the same time, the motor drive has noise and pollution, and the drive voltage is also high. , which is very unfavorable for the miniaturization of robots and the development of household and service industries

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