Multi-degree-of-freedom crawler-imitating robot controlled by microwave frequency

Abstract

The invention discloses a microwave frequency-controlled multi-degree-of-freedom crawler-imitating robot, and relates to the technical field of micro-machine.The microwave frequency-controlled multi-degree-of-freedom crawler-imitating robot comprises a rack, a microwave receiving module and a motion execution module, the motion execution module is arranged in the rack, and the microwave receiving module is arranged at the top of the rack and connected with the motion execution module through the rack; the microwave receiving module is used for receiving microwaves, converting the microwaves into induction current and transmitting the induction current to the motion execution module, and the motion execution module is used for driving the crawler robot to move to a target position. The device is compact in structure, excellent in driving performance and capable of achieving non-contact motion control.

Description

Technical Field

[0001] The invention relates to a microwave frequency-controlled multi-freedom reptile-like robot, belonging to the technical field of micro-machinery. Background Art

[0002] Biomimetic crawler robots are currently demonstrating significant application value in areas such as confined space exploration, disaster relief, and military reconnaissance. However, their motion performance is limited by traditional electromagnetic or pneumatic actuation methods. These systems have significant limitations in miniaturization, high-frequency response, and adaptability to complex environments, particularly in achieving multi-degree-of-freedom motion in unstructured terrain.

[0003] Microwave frequency braking technology, with its penetrating properties and contactless energy transmission, offers a novel drive solution for reptile-like robots, potentially overcoming the bottlenecks of existing drive methods in terms of response speed, power density, and environmental compatibility. Existing reptile-like robots often rely on gear transmission and motor drive, which suffer from low transmission efficiency and high rigidity, significantly limiting their lightweight, flexible, and portability. Furthermore, the limited power density of batteries makes it difficult to achieve both miniaturization and long-term power supply. The presence of wires also restricts the robot's ability to maneuver in complex environments.

[0004] As the application of bionic crawler robots continues to expand, higher requirements are placed on the performance of the robots' braking and control methods. Designing a robot with a compact structure, excellent driving performance, and non-contact motion control has become a technical challenge that urgently needs to be addressed in the development of bionic crawler robot technology. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a microwave frequency-controlled multi-degree-of-freedom reptile robot with a compact structure, excellent driving performance and the ability to achieve non-contact motion control.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions: The present invention provides a microwave frequency-controlled multi-degree-of-freedom reptile-like robot, comprising a frame, a microwave receiving module, and a motion execution module. The motion execution module is disposed inside the frame, the microwave receiving module is disposed on top of the frame, and is connected to the motion execution module via the frame. The microwave receiving module is used to receive microwaves and convert the microwaves into induced currents, which are transmitted to the motion execution module. The motion execution module is used to drive the reptile-like robot to move to a target position. The end of the frame is also provided with a gripping module, which is used to grasp and release the target object under microwave control.

[0007] Furthermore, the clamping module includes a clamping claw seat and two microwave bending brakes. The clamping claw seat is arranged at the front end of the frame. The two microwave bending brakes are symmetrically arranged on the clamping claw seat. The microwave bending brake includes a bimetallic strip and an absorbing material layer arranged in sequence from the outside to the inside. The absorbing material layer can generate a temperature rise under 8GHz microwave irradiation, causing the bimetallic strip to produce centripetal bending displacement and restore the displacement after the microwave irradiation stops.

[0008] Furthermore, the frame includes a frame body and supporting legs, the frame body includes a base plate and a front end plate and a rear end plate respectively arranged on both sides of the base plate, the supporting legs are arranged on both sides of the lower surface of the base plate close to the rear end plate, and are used to maintain the overall balance of the crawler robot during movement, and the base plate is provided with a movement channel.

[0009] Furthermore, the number of the motion channels corresponds to the number of the motion execution modules; a shielding plate is provided between the motion channels, and the surface of the shielding plate is coated with AB type conductive glue, which is used to suppress electromagnetic crosstalk between the motion execution modules.

[0010] Furthermore, the motion execution module includes a reset spring, a connecting shaft and a shape memory alloy spring arranged in sequence, one end of the reset spring is connected to the front end plate through a front fixing member, and the other end is connected to one end of the connecting shaft, the other end of the connecting shaft is connected to one end of the shape memory alloy spring, and the other end of the shape memory alloy spring is connected to the rear end plate through a rear fixing member; a bionic crawling foot is also sleeved on the connecting shaft, and the lower end of the bionic crawling foot passes through the motion channel and extends to the bottom of the base plate.

[0011] Furthermore, a shoulder is provided on the connecting shaft, which divides the connecting shaft into a long axis end and a short axis end through the shoulder. The long axis end is connected to the reset spring, and the short axis end is connected to the shape memory alloy spring. The bionic crawling foot is arranged between the reset spring and the shoulder.

[0012] Furthermore, the front fixing part includes a front fixed shaft and a fixed platform, the rear fixing part includes a rear fixed shaft and a fixed platform, and the front end plate and the rear end plate are both provided with fixing holes corresponding to the number of the operation execution modules. The front fixed shaft is passed through the fixing platform and connected to the fixing hole of the front end plate, and the rear fixed shaft passes through the fixing holes of the fixing platform and the rear end plate in sequence and extends to the outside.

[0013] Furthermore, the microwave receiving module includes a flexible thermoplastic polyurethane substrate and silver paste conductive tracks printed on the upper surface of the flexible thermoplastic polyurethane substrate, and the number of the silver paste conductive tracks corresponds to the number of the motion execution modules.

[0014] Furthermore, the number of the silver paste conductive tracks is 2, including a first silver paste conductive track and a second silver paste conductive track; The end of the silver paste conductive track extends to the rear end plate and is connected to a connecting through hole, and the connecting through hole is electrically connected to the rear fixed shaft.

[0015] Furthermore, the parameters of the first silver paste conductive track include a length range of 24.5~25.5mm, a width range of 0.4~0.6mm and a thickness range of 45~55μm, and a resonant frequency of 4GHz; the parameters of the second silver paste conductive track include a length range of 14.5~15.5mm, a width range of 0.4~0.6mm and a thickness range of 45~55μm, and a resonant frequency of 5.9GHz.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The crawler-like robot of the present invention uses cooperative control of microwaves of different frequency bands. The microwave receiving module converts the received microwaves into induced currents and transmits them to the motion execution module corresponding to the microwave frequency. The motion execution module is driven by the intermittent irradiation control of microwave energy to achieve biomimetic motion of the robot, enabling the robot to perform complex tasks. This achieves complete decoupling of motion control and operation functions, significantly improving the control accuracy and task adaptability of the crawler-like robot. The two motion execution modules and the gripping module of the reptile-like robot of the present invention are independently controlled by three different working frequencies to form a three-band resonant system. The microwave signals of the three frequencies can work independently in time-sharing and can also work synchronously and compositely, enabling the robot to have the ability to perform complex tasks and optimizing the overall performance of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the structure of a microwave frequency-controlled multi-degree-of-freedom crawler-like robot in one embodiment of the present invention; Figure 2 A schematic structural diagram of the positional relationship between a frame body and a motion execution module in a microwave frequency-controlled multi-degree-of-freedom crawler-like robot according to an embodiment of the present invention; Figure 3 Schematic diagram of the structure of a frame in a microwave frequency-controlled multi-degree-of-freedom crawler robot in one embodiment of the present invention; Figure 4 Schematic diagram of the structure of the connecting shaft in a microwave frequency-controlled multi-degree-of-freedom crawler robot in one embodiment of the present invention; Figure 5 Schematic diagram of the structure of a bionic crawling foot in a microwave frequency-controlled multi-degree-of-freedom reptile robot in one embodiment of the present invention; Figure 6Schematic diagram of a top view of a microwave frequency-controlled multi-degree-of-freedom crawler-like robot in one embodiment of the present invention; Figure 7 for Figure 6 AA-direction cross-sectional structural diagram; Figure 8 A schematic side view of the structure of a microwave frequency-controlled multi-degree-of-freedom crawler-like robot in one embodiment of the present invention; Figure 9 for Figure 8 BB-direction cross-sectional structural diagram; In the figure: 1-frame, 101-bottom plate, 102-front end plate, 103-rear end plate, 104-support foot, 105-movement channel, 106-shielding plate, 107-fixing hole, 2-microwave receiving module, 201-flexible TPU substrate, 202-first silver paste conductive track, 203-second silver paste conductive track, 204-connecting through hole, 3-motion execution module, 301-reset spring, 302-connecting shaft, 3021-long axis end, 3022-shaft shoulder, 3023-short axis end, 303-shape memory alloy spring, 304-bionic crawling foot, 4-fixed platform, 5-front fixed axis, 6-rear fixed axis, 7-gripping module, 701-bimetallic sheet, 702-absorbing material layer, 703-gripping claw seat. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0019] Example 1

[0020] like Figure 1 As shown, an embodiment of the present invention provides a microwave frequency-controlled multi-degree-of-freedom crawler robot, including a frame 1, a microwave receiving module 2 and a motion execution module 3. The microwave receiving module 2 is integrated on the top of the frame 1 in a covering manner to form a complete electromagnetic wave receiving interface, and the motion execution module 3 is arranged inside the frame 1.

[0021] In this embodiment, there are two motion execution modules 3, one on each side of the frame 1. A microwave receiving module 2 receives microwaves and converts them into induced currents, which are then transmitted to the motion execution modules 3. The two motion execution modules 3 are controlled by different microwave frequencies. By alternating or independently controlling the phase difference between the two motion execution modules 3, the crawler-like robot can move forward in a straight line, turn left, or turn right.

[0022] In some embodiments, a gripping module 7 is further included. The gripping module 7 is disposed at the front end of the rack 1. Under microwave control, the gripping module 7 can grasp and release the target object, thereby transporting it to a designated location.

[0023] Example 2

[0024] On the basis of embodiment 1, the rack 1 of this embodiment is as follows Figure 3 As shown, it includes a frame body and support legs 104. The frame body is concave in shape and includes a base plate 101 and a front plate 102 and a rear plate 103 disposed on either side of the upper surface of the base plate 101. The base plate 101 is designed to be 1 mm thick. Both the front plate 102 and the rear plate 103 are provided with fixing holes 107. The number of fixing holes 107 corresponds to the number of motion execution modules 3. Therefore, in this embodiment, the number of fixing holes 107 on both the front plate 102 and the rear plate 103 is two.

[0025] Support legs 104 are located on either side of the rear end of the lower surface of base plate 101. Their unique geometric design allows them to exhibit significant anisotropic friction during movement. These legs help maintain the overall balance of the crawler-like robot during movement. Base plate 101 is provided with motion channels 105, each corresponding to a motion execution module 3. Therefore, there are two motion channels 105.

[0026] Because motion actuator module 3 includes shape memory alloy springs 303 (SMA springs), a secondary electromagnetic radiation effect occurs between the SMA springs 303 during microwave actuation. Specifically, when the left SMA spring is activated by microwave actuation, it acts as a radiation source and generates a strong secondary radiation field. Because the two SMA springs utilize identical structural parameters and are spatially symmetrically arranged, the efficiency of microwave energy transmission between them is significantly improved. This can cause the right SMA spring to unintentionally actuate due to the secondary radiation waves.

[0027] To address the aforementioned technical issues, in this embodiment, a shielding plate 106 is positioned between the motion channels 105. The surface of the shielding plate 106 is coated with AB-type conductive adhesive, forming a seamless metallized electromagnetic barrier layer. This shielding structure exhibits excellent microwave reflection properties, effectively blocking microwaves in the 2.4-8 GHz frequency range. This innovative design completely eliminates mutual interference caused by electromagnetic coupling between the two parallel SMA springs during actuation, ensuring independent and reliable operation of each motion execution module 3.

[0028] In some embodiments, the shielding plate 106 is integrally formed with the frame 1 and has a thickness of 0.5 mm, which meets the electromagnetic compatibility requirements while maintaining a lightweight structure, so that the crawling robot system can still maintain stable motion performance in a complex electromagnetic environment.

[0029] The motion execution module 3 includes a return spring 301, a connecting shaft 302, and a shape memory alloy spring 303, arranged in this order. In this embodiment, the connecting shaft 302 is provided with a shoulder 3022, one end of which is a major axis end 3021 and the other end is a minor axis end 3023. The major axis end 3021 and the return spring 301 are securely connected using high-strength metal glue. The other end of the return spring 301 is connected to the front plate 102 via a front fixing member.

[0030] A bionic crawling foot 304 is also mounted on the long shaft end 3021, located between the shoulder 3022 and the return spring 301. In this embodiment, the bionic crawling foot 304 is rigidly connected to the connecting shaft 302 via a set screw. The lower end of the bionic crawling foot 304 extends through the motion channel 105 to below the base plate 101. The lower end of the bionic crawling foot 304 is provided with an S-shaped friction pattern, which forms a sliding pair with the ground. One end of the shape memory alloy spring 303 is fixed to the short shaft end 3023 via a laser welding process, and the other end is connected to the rear end plate 103 via a rear fixing member.

[0031] The short shaft end 3023 is connected to one end of the shape memory alloy spring 303, the other end of which is connected to the rear plate 103 via a rear fixing. In this embodiment, the shape memory alloy spring 303 is made of nickel-titanium alloy, with precision parameters such as a wire diameter of 0.25mm, an inner diameter of 1mm, and 22 effective turns. Its phase transition temperature is 40-50°C. In its initial state, the shape memory alloy spring 303 maintains a standard pitch of 1mm and undergoes axial contraction deformation when energized. The reset spring 301 is made of stainless steel, with precision specifications of a wire diameter of 0.2mm and an inner diameter of 1mm, ensuring the system has precise elastic recovery characteristics. The reset spring 301 is used to store and release elastic potential energy.

[0032] In some embodiments, the front fixing member includes a front fixed shaft 5 and a fixing platform 4, and the rear fixing member includes a rear fixed shaft 6 and a fixing platform 4. A return spring 301 is coaxially assembled with the front fixed shaft 5 using a metal-specific adhesive. The front fixed shaft 5 is inserted into the fixing platform 4 and connected to the fixing hole 107 of the front end plate 102. The rear fixed shaft 6 is inserted into the fixing platform 4 and then extends through the fixing hole 107 of the rear end plate 103. The interference fit between the fixing hole 107 and the front and rear fixed shafts 5 and 6 is 0.05 mm.

[0033] The principle of motion execution module 3 is as follows: Shape memory alloy spring 303, under the action of electric current, generates a temperature rise of 40-80°C through the Joule heating effect. When the temperature reaches the critical point of austenite transformation (45±5°C), it undergoes axial contraction deformation, outputting a phase change force of 0.5-1.5N. This phase change force is transmitted to the return tension spring 301 via the connecting shaft, causing it to elastically elongate by 2-5mm and store elastic potential energy. The bionic crawling foot 304 then moves synchronously with the shaft, achieving crawler-like motion.

[0034] After the microwave signal is turned off, the temperature of the shape memory alloy spring 303 drops to the martensitic phase transition point (30±5°C) under the action of environmental heat dissipation. At this time, the reset spring 301 releases the stored elastic potential energy, generating a rebound force of 0.8-1.2N to restore the shape memory alloy spring 303 to its initial length, completing a working cycle. The response time of the entire phase change-reset process is 2-5 seconds.

[0035] The rear fixed shaft 6 is connected to the microwave receiving module 2. Therefore, in addition to providing mechanical support, the rear fixed shaft 6 also needs to have a current conduction function. Therefore, in this embodiment, the front fixed shaft 5 and the rear fixed shaft 6 are made of conductive stainless steel. In this embodiment, the front fixed shaft 5 has a shaft body with a size of 3 mm × 1 mm, and the diameter of the rear fixed shaft 6 is 1±0.01 mm and the length is 4±0.1 mm. The connection between the rear fixed shaft 6 and the shape memory alloy spring 303 is laser welded to ensure that the contact resistance is less than 0.1 Ω.

[0036] The microwave receiving module 2 specifically comprises a 0.2mm-thick flexible thermoplastic polyurethane (TPU) substrate and silver paste conductive tracks printed on its top surface. In some embodiments, the number of silver paste conductive tracks corresponds to the number of motion execution modules 3, both being two. A connecting through-hole 204 with a diameter of 1±0.05mm is provided at the end of the silver paste conductive track. This connects electrically to the extended end of the rear fixed shaft 6 through an interference fit, forming a mechanically fixed and electrically connected structure comprising the connecting through-hole 204, the rear fixed shaft 6, and the shape memory alloy spring 303.

[0037] The silver paste conductive track is divided into a first silver paste conductive track 202 and a second silver paste conductive track 203. The length of the first silver paste conductive track 202 is 25±0.5mm, and the length of the second silver paste conductive track 203 is 15±0.5mm. Both silver paste conductive tracks are 0.5±0.1mm wide and 50±5μm thick. The different lengths of the silver paste conductive tracks correspond to different resonant frequencies. The resonant frequency of the first silver paste conductive track 202 is 4GHz, and the resonant frequency of the second silver paste conductive track 203 is 5.9GHz. The two resonant frequencies each correspond to a motion execution module 3.

[0038] When 4GHz microwave radiation is applied, the first silver paste conductive track 202 generates a resonant current and drives the left shape memory alloy spring 303 to contract through the left rear fixed shaft 6, thereby driving the left bionic crawling foot 304 to move; when 5.9GHz microwave radiation is applied, the second silver paste conductive track 203 generates a resonant current and drives the right shape memory alloy spring 303 to contract through the right rear fixed shaft 6, thereby driving the right bionic crawling foot 304 to move; by alternately or individually controlling the motion phase difference of the motion execution modules 3 on both sides, the straight-line forward, left-turn and right-turn movements of the crawler robot are realized.

[0039] The microwave driving process implemented by the microwave receiving module 2 and the motion execution module 3 in collaboration specifically includes: When the external microwave field acts on the flexible TPU substrate 201, the silver paste conductive track set on its surface generates an alternating induced current due to the electromagnetic induction effect, and the induced current is conducted to the shape memory alloy spring 303 through the connecting through hole 204 and the rear fixed shaft 6.

[0040] When the induced current flows through the SMA spring, the Joule heating effect causes the spring temperature to rise to the critical temperature of the austenite phase transformation, triggering the crystal structure phase transformation from martensite to austenite, causing the SMA spring to produce axial contraction deformation.

[0041] The contraction of the SMA spring, through mechanical transmission, drives the coordinated movement of the connecting shaft 302, the bionic crawling foot 304, and the return spring 301. The bionic crawling foot 304 produces a backward displacement, while the return spring 301 stores mechanical potential energy due to its elastic deformation. During the backward displacement of the bionic crawling foot 304, the forward sliding friction coefficient of the combined structure of the bionic crawling foot 304 and the supporting foot 104 is lower than the backward sliding friction coefficient, creating a directional friction effect. This drives the fixed foot to cause a net forward displacement of the entire frame 1, achieving directional forward motion of the center of mass of the crawler robot.

[0042] This driving mechanism can realize the step-by-step bionic crawling motion mode of the reptile robot through intermittent irradiation control of microwave energy.

[0043] The gripping module 7 includes a clamping jaw base 703, which is precisely assembled into the mounting hole at the front end of the frame 1 through an interference fit, forming a stable mechanical support structure. Two mirror-symmetrical microwave bending brakes are installed on the clamping jaw base 703. These brakes consist of a bimetallic strip 701 and an absorbing material layer 702, arranged from the outside to the inside. In this embodiment, the absorbing material layer 702 is 0.3 mm thick and 10 mm long, and is made of a flexible ferromagnetic composite film. However, this is not limiting; any other absorbing material is acceptable. The bimetallic strip 701 is 5J20110, 0.2 mm thick, and is laminated using a high-temperature adhesive.

[0044] Under 8GHz microwave irradiation, the absorbing material layer 702 efficiently absorbs microwave energy through dielectric and magnetic loss mechanisms, converting it into heat energy through the Joule heating effect, resulting in a temperature rise of 40-60°C. As the heat energy is transferred to the bimetallic strip 701, the significant difference in thermal expansion coefficient between the bimetallic strip 701 and the absorbing material layer 702 causes the bimetallic strip 701 to undergo a centripetal bending displacement of 1-2mm. The two microwave bending actuators form an effective clamping length of 10±0.5mm, and under microwave excitation, they operate synchronously to achieve reliable grasping and precise release of the target object.

[0045] When microwave radiation ceases, the bimetallic strip 701 gradually returns to its initial flattened state as the temperature drops, releasing the grasped object. The gripping module 7 features a compact structure, fast response, and adjustable gripping force (0.1-1N). By adjusting the microwave power and irradiation time, it can adaptively grasp objects of varying sizes.

[0046] Example 3

[0047] This embodiment also provides a method for manufacturing a microwave frequency-controlled multi-degree-of-freedom reptile-like robot, comprising the following steps: S1. Frame 1 was prepared using ABS engineering plastic using the fused deposition modeling 3D printing process. The printing layer thickness was set to 0.1 mm. After molding, the dimensional tolerance was controlled within the range of ±0.05 mm using a precision measuring tool.

[0048] Conductive AB glue is applied to the surface of the shielding plate 106 with a uniform thickness of 0.2 mm, and cured for 24 hours at 25±2° C. and a relative humidity of 40-60% to reduce the volume resistivity to below 0.01 Ω·cm.

[0049] S2. Press-fit a 1 mm diameter stainless steel fixed shaft into the fixing holes 107 of the front and rear plates 102 and 103 of the frame 1 with an interference fit of 0.05 mm. Use a laser welding process to fix the shape memory alloy spring 303 (NiTi alloy, wire diameter 0.25 mm) to the short axis end 3023 of the connecting shaft 302. Then, assemble the bionic crawling foot 304 with an S-shaped friction pattern and the reset spring 301 (stainless steel, wire diameter 0.2 mm) to the long axis end 3021 of the connecting shaft 302 in sequence. During the assembly process, use a parallelism tester to ensure that the parallelism error of the two bionic crawling feet 304 is less than 0.3 mm.

[0050] S3. Use a 200-mesh stainless steel screen for screen printing to print a silver paste conductive track with a width of 1 mm and a thickness of 50 μm on a 0.2 mm thick TPU film. Place it in a vacuum heating box and cure it at 70±2°C for 20 minutes. Then use a precision cutting machine to process a microwave receiving module 2 of the specified size.

[0051] S4. Use conductive AB glue to electrically connect the connecting through hole 204 at the end of the silver paste conductive track of the microwave receiving module 2 to the rear fixed shaft 6. After curing at 25°C for 24 hours, fold the TPU film into shape according to the preset creases and fix it with cyanoacrylate quick-drying glue (curing time <30 seconds) to form a three-dimensional receiving antenna structure.

[0052] S5. Press the gripper seat 703 into the mounting hole at the front end of the frame 1 with a 0.05mm interference fit. Then, use the laser cutting process to prepare a 10×3×0.3mm ferrite absorbing material sheet and a 10×3×0.1mm 5J20110 bimetallic sheet. Use conductive silver glue to press the absorbing material layer 702 onto the high-expansion layer of the bimetallic sheet 701. The low-expansion layer is bonded to the gripper seat slot with high-temperature resistant AB glue. Two sets of microwave bending brakes are symmetrically installed with a 20° pre-tilt angle to ensure a synchronous centripetal displacement of 1-2mm under 8GHz microwave irradiation. Finally, the robot components are assembled.

[0053] Example 4

[0054] This embodiment provides a control method for a multi-degree-of-freedom crawler-like robot applied to microwave frequency control, comprising the following steps: A. Emit a 4GHz microwave signal, causing the 24mm long silver paste conductive track to produce a resonance effect and form an induced current. This current is transmitted to the SMA spring through the rear fixed shaft 6. Under the action of Joule heating, the temperature of the SMA spring rises to the austenite phase transition point and produces contraction deformation. At the same time, the reset spring 301 is pulled through the connecting shaft 302 to extend it and store elastic potential energy, driving the bionic crawling foot 304 to complete the backward displacement.

[0055] B. During the backward movement of the bionic crawling foot 304, its S-shaped bottom surface and the anisotropic friction surface of the supporting foot 104 slide relative to each other. Since the forward sliding friction coefficient of the system design is significantly smaller than the backward sliding friction coefficient, a directional friction difference is formed, causing the frame to obtain a net displacement to the left and front.

[0056] C. Emit a 6 GHz microwave signal to excite the resonance of the 15 mm long silver paste conductive track. The generated current drives the SMA spring on the other side to contract using the same mechanism, achieving the movement of rack 1 to the right front under the action of asymmetric friction.

[0057] D. By alternately transmitting 4GHz and 6GHz microwave signals, the left and right moving legs can coordinate their steps at 5s intervals, driving the crawling robot to move forward in a straight line.

[0058] E. Turning control uses pulse width modulation (PWM) technology to selectively activate the 4GHz or 5.9GHz microwave channel with a duty cycle of 30-70% and a modulation waveform, achieving directional turning of the robot through the continuous action of unilateral driving force.

[0059] F. When the crawling robot approaches the target object, it activates an 8 GHz microwave signal to heat the microwave absorbing material of the microwave bending brake, driving the bimetallic strip 701 to generate a bending displacement of 1 to 2 mm to achieve grasping. After reaching the target position, the microwave emission is terminated to automatically reset the microwave bending brake.

[0060] This control scheme achieves precise decoupling of motion and operation through frequency division multiplexing technology, with the signal strength of each frequency band being 40W.

[0061] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A microwave frequency-controlled multi-degree-of-freedom reptile robot, characterized in that: The robot comprises a frame, a microwave receiving module and a motion execution module. The motion execution module is arranged inside the frame, the microwave receiving module is arranged on the top of the frame and is connected to the motion execution module through the frame. The microwave receiving module is used to receive microwaves and convert the microwaves into induced currents and transmit them to the motion execution module. The motion execution module is used to drive the crawler-like robot to move to the target position. The end of the frame is also provided with a gripping module, which is used to grasp and release the target object under microwave control.

2. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 1, characterized in that: The clamping module includes a clamping claw seat and two microwave bending brakes. The clamping claw seat is arranged at the front end of the frame. The two microwave bending brakes are symmetrically arranged on the clamping claw seat. The microwave bending brake includes a bimetallic strip and an absorbing material layer arranged in sequence from the outside to the inside. The absorbing material layer can generate a temperature rise under 8GHz microwave irradiation, causing the bimetallic strip to produce centripetal bending displacement and restore the displacement after the microwave irradiation stops.

3. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 1, characterized in that: The frame includes a frame body and supporting legs. The frame body includes a base plate and a front end plate and a rear end plate respectively arranged on both sides of the base plate. The supporting legs are arranged on both sides of the lower surface of the base plate close to the rear end plate, and are used to maintain the overall balance of the crawler robot during movement. The base plate is provided with a movement channel.

4. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 3, characterized in that: The number of the motion channels corresponds to the number of the motion execution modules; A shielding plate is provided between the motion channels, and the surface of the shielding plate is coated with AB type conductive glue, which is used to suppress electromagnetic crosstalk between the motion execution modules.

5. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 4, characterized in that: The motion execution module includes a reset spring, a connecting shaft and a shape memory alloy spring arranged in sequence, one end of the reset spring is connected to the front end plate through a front fixing piece, and the other end is connected to one end of the connecting shaft, the other end of the connecting shaft is connected to one end of the shape memory alloy spring, and the other end of the shape memory alloy spring is connected to the rear end plate through a rear fixing piece; a bionic crawling foot is also sleeved on the connecting shaft, and the lower end of the bionic crawling foot passes through the motion channel and extends to the bottom of the base plate.

6. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 5, characterized in that: A shoulder is provided on the connecting shaft, which divides the connecting shaft into a long axis end and a short axis end through the shoulder. The long axis end is connected to the reset spring, and the short axis end is connected to the shape memory alloy spring. The bionic crawling foot is arranged between the reset spring and the shoulder.

7. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 5, characterized in that: The front fixing part includes a front fixing shaft and a fixing platform, and the rear fixing part includes a rear fixing shaft and a fixing platform. The front end plate and the rear end plate are both provided with fixing holes corresponding to the number of the operation execution modules. The front fixing shaft is passed through the fixing platform and connected to the fixing hole of the front end plate. The rear fixing shaft passes through the fixing holes of the fixing platform and the rear end plate in sequence and extends to the outside.

8. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 1, characterized in that: The microwave receiving module includes a flexible thermoplastic polyurethane substrate and silver paste conductive tracks printed on the upper surface of the flexible thermoplastic polyurethane substrate. The number of the silver paste conductive tracks corresponds to the number of the motion execution modules.

9. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 8, characterized in that: The number of the silver paste conductive tracks is 2, which includes a first silver paste conductive track and a second silver paste conductive track; The end of the silver paste conductive track extends to the rear end plate and is connected to a connecting through hole, and the connecting through hole is electrically connected to the rear fixed shaft.

10. The microwave frequency-controlled multi-degree-of-freedom reptile robot according to claim 9, characterized in that: The parameters of the first silver paste conductive track include a length range of 24.5~25.5mm, a width range of 0.4~0.6mm and a thickness range of 45~55μm, and a resonant frequency of 4GHz; the parameters of the second silver paste conductive track include a length range of 14.5~15.5mm, a width range of 0.4~0.6mm and a thickness range of 45~55μm, and a resonant frequency of 5.9GHz.

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