Jumping type robot and control method thereof

Abstract

The invention belongs to the ultrasonic field, the piezoelectric driving field and the jumping robot field, and particularly relates to a jumping type robot and a control method thereof. The technicalproblems that a traditional robot is complex in structure, large in size and incapable of adapting to narrow space and complex environments are solved. The robot comprises four identical jumping legsand a platform, each jumping leg comprises an upper piezoelectric bimorph and a lower piezoelectric bimorph, the upper piezoelectric bimorph and the lower piezoelectric bimorph are installed togetherat a certain angle theta, and theta is larger than 0 degree and smaller than 180 degrees. Under the excitation of sawtooth-shaped voltage signals, the jumping leg of the robot can be bent and deformed, and jumping motion is achieved. The robot is based on the inverse piezoelectric effect, the piezoelectric bimorph is adopted as a driving unit and a jumping leg structure at the same time, the structure is greatly simplified, the size is small and flexible, the obstacle avoidance capacity of the robot can be improved, intelligence and microminiaturization of the robot can be achieved, and the robot can be applied to complex environments such as interstellar exploration, archaeology detection, military reconnaissance and rescue search.

Description

technical field [0001] The invention relates to the fields of ultrasound, piezoelectric drive and jumping robot, in particular to a jumping robot and a control method thereof. Background technique [0002] Traditional mobile robots are mainly driven by wheels. Generally, they need to transform the natural world and pave the road. It is difficult to adapt to complex terrain and has poor obstacle-crossing ability. With the rapid development of robots, the application environment of modern robots requires robots to have stronger terrain adaptability. Jumping robots have become a research hotspot because of their ability to overcome complex natural environments and move efficiently. In recent years, people have successively proposed various types of jumping robots. For example, Chinese patent CN201921563358.X proposed a quadruped robot consisting of servo motors, conveyor belts, gears, transmission shafts and connecting rods; A walking robot with a driving component and a walk...

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Problems solved by technology

In recent years, people have successively proposed various types of jumping robots. For example, Chinese patent CN201921563358.X proposed a quadruped robot consisting of servo motors, conveyor belts, gears, transmission shafts and connecting rods; A walking robot with a driving component and a walking component connected by a crank structure; CN201920888311.4 proposes a bouncing mechanical leg composed of a motor and a bouncing steering gear; CN202010009210.2 proposes a gear A bouncing robot with a rack structure; CN201920417003.3 proposes a bouncing mechanism composed of a cylinder, a piston, an igniter and a linear motor; CN109436125A proposes a quadruped robot with twelve degrees of freedom, which simplifies the traditional robot legs The complex structure of driving units such as electric cylinders, but it still needs to rely on multiple motors, and the leg structure is still composed of complex mechanical structures such as bearings, flanges, connecting rods, leadscrews, reducers, pulleys, etc.

Although the above-mentioned walking and jumping robots can realize jumping motion, because the driving methods they adopt are traditional, such as spring drive, pneumatic drive, hydraulic drive and motor drive, the entire robot has a complex structure, large size, and inflexible movement. Entering dangerous and narrow spaces greatly limits the development and application scenarios of robots

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