Anti-overturning failure flexible micro robot

Abstract

The application discloses a flexible micro robot capable of preventing overturning failure, and belongs to the technical field of robots. The application solves the problems of complex driving structure and transmission of existing robots, the large size of the robot as a whole, the motion failure after overturning, and the limited motion environment in the prior art. In the technical scheme of the application, the flexible driver is located between the front leg of the robot and the rear leg of the robot and is connected with the front leg of the robot and the rear leg of the robot at two ends respectively; the front leg of the robot and the rear leg of the robot are helical respectively, and the front leg of the robot and the rear leg of the robot are symmetrically arranged; the flexible driver is sheet-shaped, and the flexible driver comprises a sheet-shaped driving flexible part and a sheet-shaped passive flexible part; and the driving flexible part and the passive flexible part are pasted into sheet shape. The technical scheme of the application is small in size, simple in structure, can still keep motion after overturning, and is high in motion efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible micro robot with anti-overturning failure, and relates to the technical field of robots. BACKGROUND

[0002] In recent years, micro robots have become one of the hotspots in research and application fields due to their small size, high flexibility, and strong concealment. Due to their small size and flexible movement ability, micro robots can enter narrow spaces that humans cannot reach, such as pipelines, machine interiors, underground tunnels, etc., in order to inspect and maintain these areas. In addition, in emergency situations such as earthquakes, fires, etc., micro robots can quickly investigate and obtain relevant information to guide rescue operations, thereby improving the efficiency and success rate of rescue.

[0003] Rigid micro robots have shape stability, but often fail under impact or compression. Flexible materials have additional degrees of freedom in deformation, which can adaptively deform under large stress to avoid damage and restore to original shape after external force disappears. Therefore, flexible micro robots can exhibit inherent terrain adaptability, motion fault tolerance, and robustness against accidental impact, and are simple to manufacture and lightweight.

[0004] Existing flexible micro robots have slow movement speed and can usually only move on relatively flat terrain. When in an environment with large height difference, they are prone to overturning, which leads to movement failure. SUMMARY

[0005] To solve the problems of existing technology, such as complex robot driving structure, complex transmission, resulting in large overall robot, and movement failure after overturning, and limited movement environment, the present application provides a flexible micro robot with anti-overturning failure that can still move and has high movement efficiency after overturning.

[0006] The technical scheme adopted by the present application is a flexible micro robot with anti-overturning failure, comprising a robot front leg, a robot rear leg, and a flexible driver; the flexible driver is located between the robot front leg and the robot rear leg and is connected to the robot front leg and the robot rear leg at both ends.

[0007] The robot front leg and the robot rear leg are respectively spiral-shaped, and the robot front leg and the robot rear leg are symmetrically arranged.

[0008] The flexible driver is in the form of a sheet, and the flexible driver comprises a sheet-shaped active flexible member and a sheet-shaped passive flexible member; the active flexible member and the passive flexible member are pasted in the form of a sheet.

[0009] The optimized flexible micro robot against overturning failure, the front leg of the robot has a sheet-shaped active flexible part and a sheet-shaped passive flexible part, and the active flexible part and the passive flexible part of the front leg of the robot are pasted in a sheet shape and then folded into a spiral shape.

[0010] The robot rear leg has a sheet-shaped active flexible part and a sheet-shaped passive flexible part, and the active flexible part and the passive flexible part of the robot rear leg are pasted in a sheet shape and then folded into a spiral shape.

[0011] The optimized flexible micro robot against overturning failure, the front leg of the robot, and the rear leg of the robot are respectively folded in two opposite directions by two ends of the flexible driver to form.

[0012] The optimized flexible micro robot against overturning failure, the active flexible part is a piezoelectric material, and the upper and lower surfaces of the active flexible part are respectively connected with wires for connecting electric current.

[0013] The optimized flexible micro robot against overturning failure, the flexible driver is in an initial state of a flat plate.

[0014] The optimized flexible micro robot against overturning failure, the connected electric current is resonant frequency alternating current; after the active flexible part is connected with the resonant frequency alternating current, the robot shrinks or expands in the length and height directions.

[0015] The optimized flexible micro robot against overturning failure, the front leg of the robot and the rear leg of the robot are respectively three-quarters of a spiral.

[0016] The optimized flexible micro robot against overturning failure, the length and width of the flexible driver are 3cm*1cm; the width of the front leg of the robot and the rear leg of the robot is the same as the width of the flexible driver.

[0017] The optimized flexible micro robot against overturning failure, the piezoelectric material of the active flexible part is a PVDF film with a thickness of 12um; the passive flexible part is a copper adhesive tape with a thickness of 50um.

[0018] The optimized flexible micro robot against overturning failure, the spiral radius of the front leg of the robot and the rear leg of the robot is 2mm.

[0019] The beneficial effects of the present application are:

[0020] The structure of the robot of the present application is a symmetrical structure, which can still maintain movement after overturning, and is helpful for the movement of the robot in an environment with large height difference.

[0021] The robot of the present application is driven by a flexible driver, realizes drive-transmission-structure integration, does not need additional transmission mechanism, reduces transmission faults, improves motion efficiency and can realize miniaturization of the overall size of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1-1 A physical prototype of the flexible micro robot without overturning failure according to an embodiment of the present application;

[0023] Figure 1-2 A structural schematic diagram of the flexible micro robot without overturning failure according to an embodiment of the present application;

[0024] Figure 2 A rear leg structural schematic diagram of the flexible micro robot without overturning failure according to an embodiment of the present application;

[0025] Figure 3 A front leg structural schematic diagram of the flexible micro robot without overturning failure according to an embodiment of the present application;

[0026] Figure 4 A motion mechanism schematic diagram of the flexible micro robot without overturning failure according to an embodiment of the present application;

[0027] Figure 5 A motion diagram of the flexible micro robot without overturning failure according to an embodiment of the present application in a complex environment;

[0028] Figure 6 A temperature detection diagram of the flexible micro robot without overturning failure according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical features of the present application are further described below in combination with the drawings and specific embodiments.

[0030] The technical solution of the present application is a flexible micro robot without overturning failure, the structure of the robot mainly comprises a robot front leg 3, a robot rear leg 4 and a flexible driver 5. The initial state of the flexible driver 5 is a flat plate. The robot front leg 3 and the robot rear leg 4 are respectively three-fourths of a spiral.

[0031] The flexible driver 5 is located between the robot front leg 3 and the robot rear leg 4 and is connected with the robot front leg 3 and the robot rear leg 4 at both ends respectively. The robot front leg 3 and the robot rear leg 4 are symmetrically arranged at both ends of the flexible driver 5. Figure 2 and Figure 3 The structural schematic diagrams of the robot front leg and the robot rear leg respectively.

[0032] The flexible micro robot body length of the present application is selected to be 10 mm, and the width is selected to be 10 mm. Among them, the length and width of the flexible driver 5 is 3 cm*1 cm, the width of the robot front leg 3 and the robot rear leg 4 is the same as the width of the flexible driver 5, and the spiral radius of the robot front leg 3 and the robot rear leg 4 is selected to be 2 mm. The body size of the robot in the present application is small, and the miniaturization of the overall size of the robot is realized. The overall size of the robot and the size of the robot front leg 3, the robot rear leg 4 and the flexible driver 5 in the present application can be adjusted according to actual needs, and the size can be enlarged or reduced.

[0033] In one embodiment of the present application, the robot front leg 3, the robot rear leg 4 and the flexible driver 5 can be respectively formed and connected to the two ends of the flexible driver 5. In this embodiment, the robot front leg 3 has a sheet-shaped active flexible member 1 and a sheet-shaped passive flexible member 2, and the active flexible member 1 and the passive flexible member 2 of the robot front leg 3 are folded into a spiral shape after being pasted into a sheet shape. The robot rear leg 4 has a sheet-shaped active flexible member 1 and a sheet-shaped passive flexible member 2, and the active flexible member 1 and the passive flexible member 2 of the robot rear leg 4 are folded into a spiral shape after being pasted into a sheet shape. The flexible driver 5 includes a sheet-shaped active flexible member 1 and a sheet-shaped passive flexible member 2; the active flexible member 1 and the passive flexible member 2 are pasted into a sheet shape.

[0034] In another embodiment of the present application, the flexible micro robot structure is integrally formed, wherein the flexible driver 5 is in a sheet shape, and the flexible driver 5 includes a sheet-shaped active flexible member 1 and a sheet-shaped passive flexible member 2. The flexible driver 5 is pasted into a sheet shape by the active flexible member 1 and the passive flexible member 2. The robot front leg 3 and the robot rear leg 4 are respectively formed by bending the two ends of the flexible driver 5 in two opposite directions.

[0035] The implementation schemes of the above two embodiments can be formed into the flexible micro robot structure of the present application, and can be selected as needed.

[0036] The upper and lower surfaces of the active flexible member 1 are respectively connected with wires for connecting current.

[0037] In this embodiment, the wires can be selected to be enameled copper wires, and there are two wires. One end of one wire is led out by the positive electrode of the voltage amplifier, and the other end is adhered to the upper surface of the active flexible member 1 by adhesive tape. One end of the other wire is led out by the negative electrode of the voltage amplifier, and the other end is clamped between the lower surface of the active flexible member 1 and the passive flexible member 2.

[0038] The active flexible member 1 is a piezoelectric material, and the passive flexible member 2 is selected to be a non-piezoelectric material. In the present application, the piezoelectric material of the active flexible member 1 is a PVDF film with a thickness of 12 um, and the passive flexible member 2 is a copper adhesive tape with a thickness of 50 um.

[0039] When the current of the access is the resonant frequency alternating current, the robot contracts or expands in both length and height directions. When the PVDF film is electrically excited, it produces planar deformation due to the inverse piezoelectric effect, while the copper tape remains unchanged and produces bending deformation. During operation, the upper and lower surfaces of the PVDF film are respectively connected to the positive and negative poles of an external power supply, and the positive pole provides an alternating voltage with a peak-to-peak value in the range of 80V to 200V, and the negative pole can be grounded. Under the excitation of the resonant frequency alternating current, the robot with double helix structure presents a unique resonant vibration mode to realize movement, such as Figure 4 The motion mechanism of the flexible micro robot without overturning failure is shown in the schematic diagram.

[0040] Figure 4 It is shown that the robot contracts or expands in both length and height directions in the resonant mode, and the maximum total displacement occurs at the end of the rear leg. During vibration, the rear leg and the front leg of the robot will contact the ground and generate friction to make it move. Because the movement frequency of the robot is high enough and the amplitude is large enough, fast movement can be realized. The unique double helix structure and movement mode enable the flexible micro robot described in the application to maintain movement ability even after overturning, so as to be able to cope with more complex environmental challenges.

[0041] As shown in Figure 5 , it can be seen that the robot moves along the high platform under the excitation of a voltage of 120Vpp and 180Hz. It falls from one end of the table and rotates 180° along the pitch angle to overturn. However, after falling and overturning, the robot can still move. In addition, the robot described in the application has potential application scenarios in temperature detection. As shown in Figure 6 , a temperature patch is connected to the robot. The temperature patch is black below 55℃ and red above 55℃. When the robot is placed on the left side of the heating platform at 0 seconds, the patch turns red when the robot moves to the heating platform of 55℃ at 24.93 seconds, and the patch turns black again when the robot moves to the right side of the heating platform at 28.16 seconds.

[0042] Of course, the above description is not a limitation on the application, and the application is not limited to the above examples. Within the scope of the application, changes, modifications, additions or substitutions made by those skilled in the art should be within the scope of the application.

Claims

1. A flexible microrobot designed to prevent tipping failure, comprising a front leg (3), a rear leg (4), and a flexible actuator (5); wherein the flexible actuator (5) is located between the front leg (3) and the rear leg (4) and its two ends are respectively connected to the front leg (3) and the rear leg (4); characterized in that: The robot's front legs (3) and rear legs (4) are spiral-shaped, and the robot's front legs (3) and rear legs (4) are symmetrically arranged. The flexible actuator (5) is sheet-shaped, and the flexible actuator (5) includes a sheet-shaped active flexible component (1) and a sheet-shaped passive flexible component (2); the active flexible component (1) and the passive flexible component (2) are bonded together as a sheet; The robot's front leg (3) has a sheet-like active flexible component (1) and a sheet-like passive flexible component (2). The active flexible component (1) and the passive flexible component (2) of the robot's front leg (3) are glued together as sheets and then bent into a spiral shape. The robot's hind leg (4) has a sheet-like active flexible component (1) and a sheet-like passive flexible component (2). The active flexible component (1) and the passive flexible component (2) of the robot's hind leg (4) are glued together as sheets and then bent into a spiral shape. The robot's front legs (3) and rear legs (4) are formed by bending the two ends of the flexible actuator (5) in two opposite directions.

2. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The active flexible component (1) is a piezoelectric material, and the upper and lower surfaces of the active flexible component (1) are respectively connected to wires for receiving current.

3. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The flexible actuator (5) is initially in the form of a flat plate.

4. The flexible microrobot for preventing tipping failure according to claim 3, characterized in that: The current connected is AC current of resonant frequency; after the active flexible part (1) is connected to AC current of resonant frequency, the robot contracts or expands in both length and height directions.

5. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The robot's front legs (3) and hind legs (4) are respectively three-quarter spirals.

6. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The flexible actuator (5) has a length and width of 3cm*1cm; the width of the robot's front leg (3) and rear leg (4) is the same as the width of the flexible actuator (5).

7. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The piezoelectric material of the active flexible component (1) is a PVDF film with a thickness of 12 μm; the passive flexible component (2) is a copper tape with a thickness of 50 μm.

8. The flexible microrobot for preventing tipping failure according to claim 1, characterized in that: The spiral radius of the robot's front leg (3) and rear leg (4) is 2 mm.

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