A four-way magnetic drive flexible hopping robot and method of use thereof

Abstract

The application discloses a four-direction magnetic driving flexible jumping robot and a use method thereof, which comprises a ferromagnetic plating layer, an aluminum support bending structure and a silicon support blocking structure. The flexible jumping robot is triggered to be driven in four directions by applying magnetic fields with different intensities. Under the magnetic fields with different intensities, the opposite aluminum support structures are limited to different compression deformations by the silicon support blocking structure, so that different inclination angles are obtained. When the magnetic field is removed, the aluminum support structure is restored, at this time, the deformations and inclination angles of the aluminum support structures in the positive and negative directions of the x-axis and the y-axis are different, and the aluminum support structures have different elastic forces, the directions of the elastic forces of the x-axis and the y-axis are determined by the intensity of the magnetic field, so that the movement in the positive and negative directions of the x-axis and the y-axis is realized. The compression cooperation of the x and y directions can realize four-direction movement. The flexible jumping robot has the characteristics of simple structure, easy-to-execute driving mode and four-direction jumping.

Description

Technical Field

[0001] This invention belongs to the technical field of flexible jumping robots, and particularly relates to a four-way magnetically driven flexible jumping robot and its usage method. Background Technology

[0002] Flexible jumping robots have wide applications in confined spaces, narrow areas, and positioning and monitoring. With the development of robotics technology, higher demands are being placed on the motion performance of various flexible robots, and the requirements for their drive mechanisms and directionality are becoming more urgent. However, currently proposed micro-flexible robots suffer from either overly complex structures hindering flexible operation or overly simple structures preventing multi-directional movement, failing to effectively combine ease of control with applicability. In this context, flexible jumping robots with four-directional magnetic actuation characteristics undoubtedly open up new avenues for flexible robot motion mechanisms. Summary of the Invention

[0003] The purpose of this invention is to provide a four-directional magnetically driven flexible jumping robot and its usage method. By applying magnetic fields of different intensities, the flexible jumping robot's motion mechanisms in different directions can be triggered, thereby achieving four-directional actuation. This solves the technical problem that existing flexible jumping robots cannot achieve four-directional actuation.

[0004] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows: A four-way magnetically driven flexible jumping robot, comprising: The top layer structure includes a ferromagnetic layer and an aluminum top layer, wherein the ferromagnetic layer is disposed on the upper surface of the aluminum top layer; The first aluminum support structure includes a first aluminum support structure A, the upper end of which is disposed at the lower end of the aluminum top layer, and the angle formed by the first aluminum support structure A and the horizontal plane is defined as the first included angle A; a first aluminum support structure B, the upper end of which is disposed at the lower end of the aluminum top layer, and the angle formed by the first aluminum support structure B and the horizontal plane is defined as the first included angle B; a first aluminum support structure C, the upper end of which is disposed at the lower end of the aluminum top layer, and the angle formed by the first aluminum support structure C and the horizontal plane is defined as the first included angle C; and a first aluminum support structure D, the upper end of which is disposed at the lower end of the aluminum top layer, and the angle formed by the first aluminum support structure D and the horizontal plane is defined as the first included angle D. The lengths of the first aluminum support structures A, B, C, and D are equal, and the first included angles A, B, C, and D are equal. The second aluminum support structure includes a second aluminum support structure A, the upper end of which is located at the lower end of the aluminum top layer, and the angle formed by the second aluminum support structure A and the horizontal plane is defined as the second included angle A; a second aluminum support structure B, the upper end of which is located at the lower end of the aluminum top layer, and the angle formed by the second aluminum support structure B and the horizontal plane is defined as the second included angle B; a second aluminum support structure C, the upper end of which is located at the lower end of the aluminum top layer, and the angle formed by the second aluminum support structure C and the horizontal plane is defined as the second included angle C; and a second aluminum support structure D, the upper end of which is located at the lower end of the aluminum top layer, and the angle formed by the second aluminum support structure D and the horizontal plane is defined as the second included angle D. The lengths of the second aluminum support structures A, B, C, and D are equal, and the second included angles A, B, C, and D are also equal. The third aluminum support structure, disposed on a horizontal plane, includes: a third aluminum support structure A, the upper end of which is located at the lower end of the first aluminum top layer; a third aluminum support structure B, the upper end of which is located at the lower end of the first aluminum top layer; a third aluminum support structure C, the upper end of which is located at the lower end of the first aluminum top layer; and a third aluminum support structure D, the upper end of which is located at the lower end of the first aluminum top layer. The lengths of the first aluminum support structures A, B, C, and D are equal. The third aluminum support structure A forms a third angle A with the horizontal plane; the third aluminum support structure B forms a third angle B with the horizontal plane; the third aluminum support structure C forms a third angle C with the horizontal plane; and the third aluminum support structure D forms a third angle D with the horizontal plane. The third angles A, B, C, and D are equal. A first silicon-based support structure includes a first silicon-based support structure A, one end of which is located at the overlapping end of an aluminum top layer and a first aluminum support structure A, and the central angle of the cross-section of the first silicon-based support structure A is a first central angle A; a first silicon-based support structure B, one end of which is located at the overlapping end of an aluminum top layer and a first aluminum support structure B, and the central angle of the cross-section of the first silicon-based support structure B is a first central angle B; a first silicon-based support structure C, one end of which is located at the overlapping end of an aluminum top layer and a first aluminum support structure C, and the central angle of the cross-section of the first silicon-based support structure C is a first central angle C; and a first silicon-based support structure D, one end of which is located at the overlapping end of an aluminum top layer and a first aluminum support structure D. Furthermore, the central angle of the cross-section of the first silicon support structure D is the first central angle D. The length of the first silicon support structure A is equal to the width of the first aluminum support structure A, the length of the first silicon support structure B is equal to the width of the first aluminum support structure B, the length of the first silicon support structure C is equal to the width of the first aluminum support structure C, and the length of the first silicon support structure D is equal to the width of the first aluminum support structure D. The first central angle A is greater than the first central angle B, which is greater than the first central angle C, which is greater than the first central angle D. The larger the central angle, the lower first aluminum support structure will contact and stop compressing first, while the others that have not yet contacted can continue to compress until they do. The order of size indicates the order of contact.

[0005] The second silicon support structure includes a second silicon support structure A, one end of which is disposed at the overlapping end of the first aluminum support structure A and the second aluminum support structure A, and the central angle of the cross-section of the first silicon support structure A is the second central angle A; a second silicon support structure B, one end of which is disposed at the overlapping end of the first aluminum support structure A and the second aluminum support structure A, and the central angle of the cross-section of the first silicon support structure B is the second central angle B; a second silicon support structure C, one end of which is disposed at the overlapping end of the first aluminum support structure A and the second aluminum support structure A, and the central angle of the cross-section of the first silicon support structure C is the second central angle C; and a second silicon support structure D, one end of which is disposed at the overlapping end of the first aluminum support structure A and the second aluminum support structure A. The overlapping ends of the second aluminum support structure A are described, and the central angle of the cross-section of the first silicon support structure D is the second central angle D; wherein, the length of the first silicon support structure A is equal to the width of the first aluminum support structure A, the length of the first silicon support structure B is equal to the width of the first aluminum support structure B, the length of the first silicon support structure C is equal to the width of the first aluminum support structure C, the length of the first silicon support structure D is equal to the width of the first aluminum support structure D, and the second central angle A is greater than the second central angle B, which is greater than the second central angle C, which is greater than the second central angle D; the larger the central angle, the lower first aluminum support structure will contact and stop compressing first, while the others that have not yet contacted can continue to compress until they do. The order of size is the order of contact.

[0006] A third silicon-based support structure, disposed on the upper surface of a horizontal plane, includes a third silicon-based support structure A, one end of which is disposed at the overlapping end of the second aluminum support structure A and the third aluminum support structure A, and the central angle of the cross-section of the first silicon-based support structure A is the third central angle A; a third silicon-based support structure B, one end of which is disposed at the overlapping end of the second aluminum support structure B and the third aluminum support structure B, and the central angle of the cross-section of the first silicon-based support structure B is the third central angle B; a third silicon-based support structure C, one end of which is disposed at the overlapping end of the second aluminum support structure C and the third aluminum support structure C, and the central angle of the cross-section of the first silicon-based support structure C is the third central angle C; and a third silicon-based support structure D. One end is located at the overlapping end of the first aluminum support structure D and the third aluminum support structure D, and the central angle of the cross-section of the first silicon support structure D is the third central angle D. The length of the first silicon support structure A is equal to the width of the second aluminum support structure A, the length of the first silicon support structure B is equal to the width of the second aluminum support structure B, the length of the first silicon support structure C is equal to the width of the second aluminum support structure C, and the length of the first silicon support structure D is equal to the width of the second aluminum support structure D. The third central angle C is greater than the third central angle D, which is greater than the third central angle A, which is greater than the third central angle B. The second-stage compression is intended to reverse the tilt direction.

[0007] Furthermore, the first, second, and third silicon support structures are all sector-shaped columns.

[0008] The present invention also discloses a method for using a four-directional magnetically driven flexible jumping robot, including applying a magnetic field of first strength to the flexible jumping robot to achieve positive x-axis movement, and applying a magnetic field of second strength to the flexible jumping robot to achieve reverse x-axis movement, wherein the second magnetic field is stronger than the first magnetic field, and the direction from the first aluminum support structure C to the first aluminum support structure A is the positive x-axis direction, and the opposite direction is the reverse x-axis direction; A third-strength magnetic field is applied to the flexible jumping robot to achieve positive y-axis movement, and a fourth-strength magnetic field is applied to the flexible jumping robot to achieve reverse y-axis movement. The fourth-strength magnetic field is stronger than the third-strength magnetic field. The direction from the first aluminum support structure B to the first aluminum support structure D is the positive y-axis direction, and the opposite direction is the reverse y-axis direction.

[0009] Furthermore, a magnetic field of the first intensity is applied to the flexible jumping robot to achieve positive x-axis motion, specifically including: Step S1: Apply the first intensity of magnetic field to the flexible jumping robot, causing the first aluminum support structure and the second aluminum support structure to bend and deform. Step S2: Continue the action until the first aluminum support structure A contacts the first silicon support structure A, the first aluminum support structure A contacts the second silicon support structure A, the second aluminum support structure C contacts the third silicon support structure C, and the first aluminum support structure C does not contact the first silicon support structure C, the first aluminum support structure C does not contact the second silicon support structure C, and the second aluminum support structure A does not contact the third silicon support structure A. At this point, the action stops. The first aluminum support structure and the second aluminum support structure recover, the compression deformation decreases, and the flexible jumping robot moves along the positive x-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the first intensity of magnetic field to the flexible jumping robot, so that it continues to move along the positive x-axis.

[0010] Furthermore, a magnetic field of a second intensity is applied to the flexible jumping robot to achieve reverse motion along the x-axis, specifically including: Step S1: Apply the second intensity of magnetic field to the flexible jumping robot, causing the first aluminum support structure and the second aluminum support structure to bend and deform. Step S2: Continue the action until the first aluminum support structure C contacts the first silicon support structure C, the first aluminum support structure C contacts the second silicon support structure C, the second aluminum support structure A contacts the third silicon support structure A, and the first aluminum support structure A does not contact the first silicon support structure A, the first aluminum support structure A does not contact the second silicon support structure A, and the second aluminum support structure C does not contact the third silicon support structure C. Then stop the action. At this time, the first aluminum support structure and the second aluminum support structure recover, the compression deformation decreases, and the flexible jumping robot realizes the reverse movement along the x-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the second intensity of magnetic field to the flexible jumping robot, causing it to continuously move in the opposite direction along the x-axis.

[0011] Furthermore, a magnetic field of third strength is applied to the flexible jumping robot to achieve positive y-axis motion, specifically including: Step S1: Apply the magnetic field of the third strength to the flexible jumping robot, causing the first aluminum support structure and the second aluminum support structure to bend and deform. Step S2: Continue to act until the first aluminum support structure B contacts the first silicon support structure B, the first aluminum support structure B contacts the second silicon support structure B, the second aluminum support structure D contacts the third silicon support structure D, and the first aluminum support structure D does not contact the first silicon support structure D, the first aluminum support structure D does not contact the second silicon support structure D, and the second aluminum support structure B does not contact the third silicon support structure B. Then stop acting. At this time, the first aluminum support structure and the second aluminum support structure (3) recover, the compression deformation becomes smaller, and the flexible jumping robot realizes movement along the positive y-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the third magnetic field strength to the flexible jumping robot, so that it continues to move along the positive y-axis.

[0012] Furthermore, a fourth-strength magnetic field is applied to the flexible jumping robot to achieve reverse y-axis motion, specifically including: Step S1: Apply the fourth intensity magnetic field to the flexible jumping robot, causing the first aluminum support structure and the second aluminum support structure to bend and deform. Step S2: Continue to act until the first aluminum support structure D contacts the first silicon support structure D, the first aluminum support structure D contacts the second silicon support structure D, the second aluminum support structure B contacts the third silicon support structure B, and the first aluminum support structure B does not contact the first silicon support structure B, the first aluminum support structure B does not contact the second silicon support structure B, and the second aluminum support structure D does not contact the third silicon support structure D. Then stop acting. At this time, the first aluminum support structure and the second aluminum support structure (3) recover, the compression deformation becomes smaller, and the flexible jumping robot realizes the reverse movement along the y-axis. Step S3: Repeat steps S1-S2, repeatedly applying the fourth-strength magnetic field to the flexible jumping robot, causing it to continuously move in the opposite direction along the y-axis. The present invention discloses a four-directional magnetically driven flexible jumping robot and its method of use, which have the following advantages: The flexible jumping robot provided by this invention comprises a first aluminum support structure and a second aluminum support structure that are compressed and bent by the application of a magnetic field, thereby generating a jumping driving force. It has the advantages of simple structure and easy driving method. This structure achieves four-way driving through the different angles formed by the first and second aluminum support structures at the four ends of the top aluminum layer with the horizontal plane, enabling it to jump in four directions.

[0013] In this invention, the aluminum support structures at opposite ends are restricted to different compression angles by silicone blocking structures under magnetic fields of varying intensities, resulting in alternating tilting in two directions. Upon removal of the magnetic field, the aluminum support structures recover. At this point, the elasticity of the aluminum support structures differs in the positive and negative x-axis directions, thus enabling movement in the positive or negative x-axis direction; similarly, the elasticity differs in the positive and negative y-axis directions, enabling movement in the positive or negative y-axis direction. The combined compression in the x and y directions allows for four-directional movement. This gives the flexible jumping robot the characteristics of simple structure, easy-to-implement drive mechanism, and four-directional jumping capability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a four-way magnetically driven flexible jumping robot provided in Example 1; Figure 2 This is a schematic diagram of the top-level structure of a four-way magnetically driven flexible jumping robot provided in Example 1; Figure 3 This is a schematic diagram of a four-way magnetically driven flexible jumping robot provided in Example 2, showing its movement along the positive x-axis. Figure 4 This is a schematic diagram of a four-directional magnetically driven flexible jumping robot provided in Example 2, showing its movement along the negative x-axis. Figure 5 This is a schematic diagram of a four-way magnetically driven flexible jumping robot provided in Example 3, showing its movement along the positive y-axis. Figure 6 This is a schematic diagram of a four-directional magnetically driven flexible jumping robot provided in Example 3, showing its movement along the negative y-axis. Explanation of markings in the diagram: 1-Top layer structure; 1b-Ferromagnetic layer; 1a-Aluminum top layer; 2-First aluminum support structure; 2a-First aluminum support structure A; 2b-First aluminum support structure B; 2c-First aluminum support structure C; 2d-First aluminum support structure D; 3-Second aluminum support structure; 3a-Second aluminum support structure A; 3b-Second aluminum support structure B; 3c-Second aluminum support structure C; 3d-Second aluminum support structure D; 4-Third aluminum support structure; 4a-Third aluminum support structure A; 4b-Third aluminum support structure B; 4c-Third aluminum support structure C; 4 d - Third aluminum support structure D, 5 - First silicon support structure, 5a - First silicon support structure A, 5b - First silicon support structure B, 5c - First silicon support structure C, 5d - First silicon support structure D, 6 - Second silicon support structure, 6a - Second silicon support structure A, 6b - Second silicon support structure B, 6c - Second silicon support structure C, 6d - Second silicon support structure D, 7 - Third silicon support structure, 7a - Third silicon support structure A, 7b - Third silicon support structure B, 7c - Third silicon support structure C, 7d - Third silicon support structure D, 8 - Horizontal plane. Detailed Implementation

[0015] To better understand the purpose, structure, and function of this invention, the following detailed description, in conjunction with the accompanying drawings, provides an explanation of a four-directional magnetically driven flexible jumping robot and its usage method. Example

[0016] See Figures 1-2 This embodiment provides a four-way magnetically driven flexible jumping robot, which includes a top layer structure 1, a ferromagnetic layer 1b, an aluminum top layer 1a, a first aluminum support structure 2, a first aluminum support structure A 2a, a first aluminum support structure B 2b, a first aluminum support structure C 2c, a first aluminum support structure D 2d, a second aluminum support structure 3, a second aluminum support structure A 3a, a second aluminum support structure B 3b, a second aluminum support structure C 3c, a second aluminum support structure D 3d, a third aluminum support structure 4, a third aluminum support structure A 4a, and a third aluminum support... Structure B 4b, Third aluminum support structure C 4c, Third aluminum support structure D 4d, First silicon support structure 5, First silicon support structure A 5a, First silicon support structure B 5b, First silicon support structure C 5c, First silicon support structure D 5d, Second silicon support structure 6, Second silicon support structure A 6a, Second silicon support structure B 6b, Second silicon support structure C 6c, Second silicon support structure D 6d, Third silicon support structure 7, Third silicon support structure A 7a, Third silicon support structure B 7b, Third silicon support structure C 7c, Third silicon support structure D 7d.

[0017] The ferromagnetic layer 1b and the aluminum top layer 1a are connected vertically to form the top layer structure 1.

[0018] The length of the first aluminum support structure A 2a is equal to the length of the first aluminum support structure B 2b, the length of the first aluminum support structure C 2c, and the length of the first aluminum support structure D 2d. The first aluminum support structure A 2a is connected to the positive x-axis end of the aluminum top layer 1a, the first aluminum support structure C 2c is connected to the negative x-axis end of the aluminum top layer 1c, the first aluminum support structure D 2d is connected to the positive y-axis end of the aluminum top layer 1d, and the first aluminum support structure B 2b is connected to the negative y-axis end of the aluminum top layer 1b, thus forming the first aluminum support structure 2.

[0019] The first aluminum support structure A2a forms a first angle A with the horizontal plane 8, the first aluminum support structure B2b forms a first angle B with the horizontal plane 8, the first aluminum support structure C2c forms a first angle C with the horizontal plane 8, and the first aluminum support structure D2d forms a first angle D with the horizontal plane 8. The first angle A is equal to the first angle B is equal to the first angle C is equal to the first angle D. The length of the second aluminum support structure A 3a is equal to the length of the second aluminum support structure B 3b, the length of the second aluminum support structure C 3c, and the length of the second aluminum support structure D 3d. The first aluminum support structure A 2a is connected vertically to the second aluminum support structure A 3a, the first aluminum support structure B 2b is connected vertically to the second aluminum support structure B 3b, the first aluminum support structure C 2c is connected vertically to the second aluminum support structure C 3c, and the first aluminum support structure D 2d is connected vertically to the second aluminum support structure D 3d, thus forming the second aluminum support structure 3.

[0020] The second aluminum support structure A3a forms a second included angle A with the horizontal plane 8; the second aluminum support structure B3b forms a second included angle B with the horizontal plane 8; the second aluminum support structure C3c forms a second included angle C with the horizontal plane 8; the second aluminum support structure D3d forms a second included angle D with the horizontal plane 8, and the second included angle A is equal to the second included angle B is equal to the second included angle C is equal to the second included angle D. The length of the third aluminum support structure A 4a is equal to the length of the third aluminum support structure B 4b, the length of the third aluminum support structure C 4c, and the length of the third aluminum support structure D 4d. The second aluminum support structure A 3a is connected vertically to the third aluminum support structure A 4a, the second aluminum support structure B 3b is connected vertically to the third aluminum support structure B 4b, the second aluminum support structure C 3c is connected vertically to the third aluminum support structure C 4c, and the second aluminum support structure D 3d is connected vertically to the third aluminum support structure D 4d, thus forming the third aluminum support structure 4.

[0021] The third aluminum support structure A 4a forms a third included angle A with the horizontal plane 8; the third aluminum support structure B 4b forms a third included angle B with the horizontal plane 8; the third aluminum support structure C 4c forms a third included angle C with the horizontal plane 8; the third aluminum support structure D 4d forms a third included angle D with the horizontal plane 8, wherein the third included angle A is equal to the third included angle B is equal to the third included angle C is equal to the third included angle D. The central angle of the cross-section of the first silicon support structure A 5a is the first central angle A; the central angle of the cross-section of the first silicon support structure B 5b is the first central angle B; the central angle of the cross-section of the first silicon support structure C 5c is the first central angle C; and the central angle of the cross-section of the first silicon support structure D 5d is the first central angle D. The first central angle A is greater than the first central angle B, which is greater than the first central angle C, which is greater than the first central angle D. The first silicon support structure A 5a is vertically connected to the first aluminum support structure A 2a; the first silicon support structure B 5b is vertically connected to the first aluminum support structure B 2b; the first silicon support structure C 5c is vertically connected to the first aluminum support structure C 2c; and the first silicon support structure D 5d is vertically connected to the first aluminum support structure D 2d, thus forming the first silicon support structure 5.

[0022] The central angle of the cross-section of the second silicon support structure A 6a is the second central angle A; the central angle of the cross-section of the second silicon support structure B 6b is the second central angle B; the central angle of the cross-section of the second silicon support structure C 6c is the second central angle C; and the central angle of the cross-section of the second silicon support structure D 6d is the second central angle D. The second central angle A is greater than the second central angle B, which is greater than the second central angle C, which is greater than the second central angle D. The second silicon support structure A 6a is vertically connected to the second aluminum support structure A 3a; the second silicon support structure B 6b is vertically connected to the second aluminum support structure B 3b; the second silicon support structure C 6c is vertically connected to the second aluminum support structure C 3c; and the second silicon support structure D 6d is vertically connected to the second aluminum support structure D 3d, thus forming the second silicon support structure 6.

[0023] The central angle of the cross-section of the third silicon support structure A 7a is the third central angle A; the central angle of the cross-section of the third silicon support structure B 7b is the third central angle B; the central angle of the cross-section of the third silicon support structure C 7c is the third central angle C; and the central angle of the cross-section of the second silicon support structure D 7d is the second central angle D. The third central angle C is greater than the third central angle D, which is greater than the third central angle A, which is greater than the third central angle B. The third silicon support structure A 7a is vertically connected to the third aluminum support structure A 4a; the third silicon support structure B 7b is vertically connected to the third aluminum support structure B 4b; the third silicon support structure C 7c is vertically connected to the third aluminum support structure C 4c; and the third silicon support structure D 7d is vertically connected to the third aluminum support structure D 4d, thus forming the third silicon support structure 7.

[0024] Specifically, in this embodiment, a first-strength magnetic field is applied to the flexible jumping robot to achieve positive x-axis movement, a second-strength magnetic field is applied to the flexible jumping robot to achieve reverse x-axis movement, a third-strength magnetic field is applied to the flexible jumping robot to achieve positive y-axis movement, and a fourth-strength magnetic field is applied to the flexible jumping robot to achieve reverse y-axis movement. The fourth-strength magnetic field is stronger than the second-strength magnetic field, which in turn is stronger than the third-strength magnetic field, which is stronger than the first-strength magnetic field. The direction from the first aluminum support structure C2c to the first aluminum support structure A2a is defined as the positive x-axis direction, and its opposite direction is defined as the reverse x-axis direction. The direction from the first aluminum support structure B2b to the first aluminum support structure D2d is defined as the positive y-axis direction, and its opposite direction is defined as the reverse y-axis direction.

[0025] More specifically, when a magnetic field is applied to the flexible jumping robot, causing compression deformation of the first aluminum support structure 2 and the second aluminum support structure 3, due to the deformation of the first silicon support structure A 5a, first silicon support structure B 5b, first silicon support structure C 5c, first silicon support structure D 5d, second silicon support structure A 6a, second silicon support structure B 6b, second silicon support structure C 6c, second silicon support structure D 6d, third silicon support structure A 7a, third silicon support structure B 7b, and third silicon support structure D 6d, the robot experiences compression deformation. Since the central angles of structures C7c and D7d are different, the compression limits of the first aluminum support structures A2a, B2b, C2c, D2d, A3a, B3b, C3c, D3d, A4a, B4b, C4c, and D4d are different. By controlling magnetic fields of different intensities, the flexible jumping robot's movement mechanisms in different directions can be triggered, thereby achieving four-way drive. Example

[0026] See Figures 3-4 Based on Embodiment 1, this embodiment provides a method for using a four-way magnetically driven flexible jumping robot, which specifically includes: When a weak magnetic field is applied, the first aluminum support structure 2 and the second aluminum support structure 3 undergo compression deformation, causing the first aluminum support structure A2a to contact the first silicon support structure A5a, the first aluminum support structure A2a to contact the second silicon support structure A6a, and the second aluminum support structure C3c to contact the third silicon support structure C7c. However, when the first aluminum support structure C2c does not contact the first silicon support structure C5c, the first aluminum support structure C2c does not contact the second silicon support structure C6c, and the second aluminum support structure A3a does not contact the third silicon support structure A7a, the operation stops. At this point, the first aluminum support structure 2 and the second aluminum support structure 3 recover, the compression deformation decreases, and the flexible jumping robot achieves movement along the positive x-axis.

[0027] When the magnetic field acts again, the first aluminum support structure 2 and the second aluminum support structure 3 are compressed and deformed again, and this process is repeated to enable the flexible jumping robot to move in the positive x-axis direction.

[0028] When a strong magnetic field is applied, the first aluminum support structure 2 and the second aluminum support structure 3 undergo compression deformation, causing the first aluminum support structure C2c to contact the first silicon support structure C5c, the first aluminum support structure C2c to contact the second silicon support structure C6c, and the second aluminum support structure A3a to contact the third silicon support structure A7a. However, when the first aluminum support structure A2a does not contact the first silicon support structure A5a, the first aluminum support structure A2a does not contact the second silicon support structure A6a, and the second aluminum support structure C3c does not contact the third silicon support structure C7c, the operation ceases. At this point, the first aluminum support structure 2 and the second aluminum support structure 3 recover, the compression deformation decreases, and the flexible jumping robot achieves reverse movement along the x-axis. Example

[0029] See Figures 5-6 Based on Embodiment 1, this embodiment provides a method for using a four-way magnetically driven flexible jumping robot, which specifically includes: When a weak magnetic field is applied, the first aluminum support structure 2 and the second aluminum support structure 3 undergo compression deformation, causing the first aluminum support structure 2b to contact the first silicon support structure 5b, the first aluminum support structure 2b to contact the second silicon support structure 6b, and the second aluminum support structure 3d to contact the third silicon support structure 7d. When the first aluminum support structure 2d does not contact the first silicon support structure 5d, the first aluminum support structure 2d does not contact the second silicon support structure 6d, and the second aluminum support structure 3b does not contact the third silicon support structure 7b, the operation ceases. At this point, the first aluminum support structure 2 and the second aluminum support structure 3 recover, the compression deformation decreases, and the flexible jumping robot achieves movement along the positive y-axis. When the magnetic field acts again, the first aluminum support structure 2 and the second aluminum support structure 3 are compressed and deformed again, and this process is repeated to enable the flexible jumping robot to move in the positive y-axis direction.

[0030] When a strong magnetic field is applied, the first aluminum support structure 2 and the second aluminum support structure 3 undergo compression deformation, causing the first aluminum support structure 2d to contact the first silicon support structure 5d, the first aluminum support structure 2d to contact the second silicon support structure 6d, and the second aluminum support structure 3b to contact the third silicon support structure 7b. When the first aluminum support structure 2b does not contact the first silicon support structure 5b, the first aluminum support structure 2b does not contact the second silicon support structure 6b, and the second aluminum support structure 3d does not contact the third silicon support structure 7d, the operation ceases. At this point, the first aluminum support structure 2 and the second aluminum support structure 3 recover, the compression deformation decreases, and the flexible jumping robot achieves reverse movement along the y-axis. When the magnetic field acts again, the first aluminum support structure 2 and the second aluminum support structure 3 are compressed and deformed again, and this process is repeated to enable the flexible jumping robot to move in the negative y-axis direction.

[0031] In summary, the four-directional magnetically driven flexible jumping robot of this invention differs from other jumping robots. This four-directional magnetically driven flexible jumping robot has the following main characteristics: First, the top layer structure is made of iron powder and aluminum, which has good driving characteristics; Second, the four-directional driving of the flexible jumping robot is achieved by using the different angles formed by the first aluminum support structure and the second aluminum support structure at the four ends of the top layer structure with the horizontal plane; Third, the flexible robot is made of aluminum material, and the manufacturing process is simple and easy to implement.

[0032] The criteria for distinguishing whether something belongs to this structure are as follows: 1. The top layer structure is prepared using iron powder and aluminum; 2. The flexible jumping robot is driven in four directions by using the first aluminum support structure and the second aluminum support structure at the four ends of the top layer structure to form different angles with the horizontal plane.

[0033] A structure that meets both of the above conditions should be considered a flexible jumping robot.

[0034] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A four-directional magnetically driven flexible jumping robot, characterized in that, include: The top layer structure (1) includes a ferromagnetic layer (1b) and an aluminum top layer (1a), wherein the ferromagnetic layer (1b) is disposed on the upper surface of the aluminum top layer (1a); The first aluminum support structure (2) includes a first aluminum support structure A (2a), the upper end of which is disposed at the lower end of the aluminum top layer (1a), and the angle formed by the first aluminum support structure A (2a) and the horizontal plane (8) is defined as the first included angle A; a first aluminum support structure B (2b), the upper end of which is disposed at the lower end of the aluminum top layer (1a), and the angle formed by the first aluminum support structure B (2b) and the horizontal plane (8) is defined as the first included angle B; and a first aluminum support structure C (2c), the upper end of which is disposed at the lower end of the aluminum top layer (1a), and the first aluminum support structure C (2c) is disposed at the lower end of the aluminum top layer (1a), and the first aluminum support structure B (2b) is disposed at the lower end of the aluminum top layer (1a), and the first aluminum support structure C (2c ... An aluminum support structure C (2c) and the horizontal plane (8) form an angle defined as the first included angle C; a first aluminum support structure D (2d) is provided at the lower end of the aluminum top layer (1a), and the angle formed by the first aluminum support structure D (2d) and the horizontal plane (8) is defined as the first included angle D, wherein the lengths of the first aluminum support structure A (2a), the first aluminum support structure B (2b), the first aluminum support structure C (2c), and the first aluminum support structure D (2d) are equal, and the first included angles A, B, C, and D are equal; The second aluminum support structure (3) includes a second aluminum support structure A (3a), the upper end of which is disposed at the lower end of the aluminum top layer (1a), and the angle formed by the second aluminum support structure A (3a) and the horizontal plane (8) is defined as the second included angle A; a second aluminum support structure B (3b), the upper end of which is disposed at the lower end of the first aluminum support structure B (2b), and the angle formed by the second aluminum support structure B (3b) and the horizontal plane (8) is defined as the second included angle B; and a second aluminum support structure C (3c), the upper end of which is disposed at the lower end of the first aluminum support structure C (2c). And the angle formed by the second aluminum support structure C (3c) and the horizontal plane (8) is defined as the second included angle C; the upper end of the second aluminum support structure D (3d) is set at the lower end of the aluminum top layer (1a), and the angle formed by the second aluminum support structure D (3d) and the horizontal plane (8) is defined as the second included angle D, wherein the lengths of the second aluminum support structure A (3a), the second aluminum support structure B (3b), the second aluminum support structure C (3c), and the second aluminum support structure D (3d) are equal, and the second included angles A, B, C, and D are equal; The third aluminum support structure (4) is disposed on the horizontal plane (8), and includes a third aluminum support structure A (4a), the upper end of which is disposed at the lower end of the second aluminum support structure A (3a); a third aluminum support structure B (4b), the upper end of which is disposed at the lower end of the second aluminum support structure B (3b); a third aluminum support structure C (4c), the upper end of which is disposed at the lower end of the second aluminum support structure C (3c); and a third aluminum support structure D (4d), the upper end of which is disposed at the lower end of the second aluminum support structure D (3d), wherein the third aluminum support structure A (4a) is disposed at the lower end of the second aluminum support structure B (3b); the third aluminum support structure C (4c), the upper end of which is disposed at the lower end of the second aluminum support structure C (3c); and the third aluminum support structure D (4d), the upper end of which is disposed at the lower end of the second aluminum support structure D (3d). The lengths of the three aluminum support structures A (4a), B (4b), C (4c), and D (4d) are equal; the second aluminum support structure A (3a) forms a third angle A with the horizontal plane (8); the second aluminum support structure B (3b) forms a third angle B with the horizontal plane (8); the second aluminum support structure C (3c) forms a third angle C with the horizontal plane (8); the second aluminum support structure D (3d) forms a third angle D with the horizontal plane (8); and the third angles A, B, C, and D are equal. The first silicon support structure (5) includes a first silicon support structure A (5a), one end of which is located at the overlapping end of the aluminum top layer (1a) and the first aluminum support structure A (2a), and the central angle of the cross-section of the first silicon support structure A (5a) is the first central angle A; a first silicon support structure B (5b), one end of which is located at the overlapping end of the aluminum top layer (1a) and the first aluminum support structure B (2b), and the central angle of the cross-section of the first silicon support structure B (5b) is the first central angle B; a first silicon support structure C (5c), one end of which is located at the overlapping end of the aluminum top layer (1a) and the first aluminum support structure C (2c), and the central angle of the cross-section of the first silicon support structure C (5c) is the first central angle C; and a first silicon support structure D (5d). One end of the first silicon support structure is located at the overlapping end of the aluminum top layer (1a) and the first aluminum support structure D (2d), and the central angle of the cross-section of the first silicon support structure D (5d) is the first central angle D. The length of the first silicon support structure A (5a) is equal to the width of the first aluminum support structure A (2a), the length of the first silicon support structure B (5b) is equal to the width of the first aluminum support structure B (2b), the length of the first silicon support structure C (5c) is equal to the width of the first aluminum support structure C (2c), the length of the first silicon support structure D (5d) is equal to the width of the first aluminum support structure D (2d), and the first central angle A is greater than the first central angle B, greater than the first central angle C, and greater than the first central angle D. The second silicon support structure (6) includes a second silicon support structure A (6a), one end of which is disposed at the overlapping end of the first aluminum support structure A (2a) and the second aluminum support structure A (3a), and the central angle of the cross-section of the second silicon support structure A (6a) is the second central angle A; a second silicon support structure B (6b), one end of which is disposed at the overlapping end of the first aluminum support structure B (2b) and the second aluminum support structure B (3b), and the central angle of the cross-section of the second silicon support structure B (6b) is the second central angle B; a second silicon support structure C (6c), one end of which is disposed at the overlapping end of the first aluminum support structure C (2c) and the second aluminum support structure C (3c), and the central angle of the cross-section of the second silicon support structure C (6c) is the second central angle C; ... A retaining structure D (6d) has one end located at the overlapping end of the first aluminum support structure D (2d) and the second aluminum support structure D (3d), and the central angle of the cross-section of the second silicon retaining structure D (6d) is the second central angle D; wherein, the length of the second silicon retaining structure A (6a) is equal to the width of the first aluminum support structure A (2a), the length of the second silicon retaining structure B (6b) is equal to the width of the first aluminum support structure B (2b), the length of the second silicon retaining structure C (6c) is equal to the width of the first aluminum support structure C (2c), the length of the second silicon retaining structure D (6d) is equal to the width of the first aluminum support structure D (2d), and the second central angle A is greater than the second central angle B, greater than the second central angle C, and greater than the second central angle D; A third silicon support structure (7) is disposed on the upper surface of the horizontal plane (8). It includes a third silicon support structure A (7a), one end of which is disposed at the overlapping end of the second aluminum support structure A (3a) and the third aluminum support structure A (4a), and the central angle of the cross-section of the third silicon support structure A (7a) is the third central angle A; a third silicon support structure B (7b), one end of which is disposed at the overlapping end of the second aluminum support structure B (3b) and the third aluminum support structure B (4b), and the central angle of the cross-section of the third silicon support structure B (7b) is the third central angle B; a third silicon support structure C (7c), one end of which is disposed at the overlapping end of the second aluminum support structure C (3c) and the third aluminum support structure C (4c), and the central angle of the cross-section of the third silicon support structure C (7c) is the third central angle C. The third silicon support structure D (7d) has one end located at the overlapping end of the second aluminum support structure D (3d) and the third aluminum support structure D (4d), and the central angle of the cross-section of the third silicon support structure D (7d) is the third central angle D. The length of the third silicon support structure A (7a) is equal to the width of the second aluminum support structure A (3a), the length of the third silicon support structure B (7b) is equal to the width of the second aluminum support structure B (3b), the length of the third silicon support structure C (7c) is equal to the width of the second aluminum support structure C (3c), the length of the third silicon support structure D (7d) is equal to the width of the second aluminum support structure D (3d), and the third central angle C is greater than the third central angle D, which is greater than the third central angle A, which is greater than the third central angle B.

2. The four-way magnetically driven flexible jumping robot according to claim 1, characterized in that, The first silicon support structure (5), the second silicon support structure (6), and the third silicon support structure (7) are all sector column structures.

3. A method of using a four-directional magnetically driven flexible jumping robot according to any one of claims 1-2, characterized in that, This includes applying a magnetic field of first strength to the flexible jumping robot to achieve positive x-axis movement, and applying a magnetic field of second strength to the flexible jumping robot to achieve reverse x-axis movement. The second magnetic field is stronger than the first magnetic field. The direction from the first aluminum support structure C (2c) to the first aluminum support structure A (2a) is the positive x-axis direction, and the opposite direction is the reverse x-axis direction. A third-strength magnetic field is applied to the flexible jumping robot to achieve positive y-axis movement, and a fourth-strength magnetic field is applied to the flexible jumping robot to achieve reverse y-axis movement. The fourth-strength magnetic field is stronger than the third-strength magnetic field. The direction from the first aluminum support structure B (2b) to the first aluminum support structure D (2d) is the positive y-axis direction, and the opposite direction is the reverse y-axis direction.

4. The method of using the four-way magnetically driven flexible jumping robot according to claim 3, characterized in that, The application of a magnetic field of first intensity to the flexible jumping robot to achieve positive x-axis motion specifically includes: Step S1: Apply the first intensity of magnetic field to the flexible jumping robot to cause the first aluminum support structure (2) and the second aluminum support structure (3) to bend and deform. Step S2: Continue the action until the first aluminum support structure A (2a) contacts the first silicon support structure A (5a), the first aluminum support structure A (2a) contacts the second silicon support structure A (6a), the second aluminum support structure C (3c) contacts the third silicon support structure C (7c), and the first aluminum support structure C (2c) does not contact the first silicon support structure C (5c), the first aluminum support structure C (2c) does not contact the second silicon support structure C (6c), and the second aluminum support structure A (3a) does not contact the third silicon support structure A (7a). Then stop the action. At this time, the first aluminum support structure (2) and the second aluminum support structure (3) recover, the compression deformation decreases, and the flexible jumping robot moves along the positive x-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the first intensity of magnetic field to the flexible jumping robot, so that it continues to move along the positive x-axis.

5. The method of using the four-way magnetically driven flexible jumping robot according to claim 3, characterized in that, The application of a magnetic field of second strength to the flexible jumping robot to achieve reverse x-axis motion specifically includes: Step S1: Apply the second intensity of magnetic field to the flexible jumping robot, causing the first aluminum support structure (2) and the second aluminum support structure (3) to bend and deform. Step S2: Continue the action until the first aluminum support structure C (2c) contacts the first silicon support structure C (5c), the first aluminum support structure C (2c) contacts the second silicon support structure C (6c), the second aluminum support structure A (3a) contacts the third silicon support structure A (7a), and the first aluminum support structure A (2a) does not contact the first silicon support structure A (5a), the first aluminum support structure A (2a) does not contact the second silicon support structure A (6a), and the second aluminum support structure C (3c) does not contact the third silicon support structure C (7c). Then stop the action. At this time, the first aluminum support structure (2) and the second aluminum support structure (3) recover, the compression deformation decreases, and the flexible jumping robot realizes the reverse movement along the x-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the second intensity of magnetic field to the flexible jumping robot, causing it to continuously move in the opposite direction along the x-axis.

6. The method of using the four-way magnetically driven flexible jumping robot according to claim 3, characterized in that, The application of a magnetic field of third strength to the flexible jumping robot to achieve positive y-axis motion specifically includes: Step S1: Apply the magnetic field of the third strength to the flexible jumping robot to cause the first aluminum support structure (2) and the second aluminum support structure (3) to bend and deform. Step S2: Continue the action until the first aluminum support structure B (2b) contacts the first silicon support structure B (5b), the first aluminum support structure B (2b) contacts the second silicon support structure B (6b), the second aluminum support structure D (3d) contacts the third silicon support structure D (7d), and the first aluminum support structure D (2d) does not contact the first silicon support structure D (5d), the first aluminum support structure D (2d) does not contact the second silicon support structure D (6d), and the second aluminum support structure B (3b) does not contact the third silicon support structure B (7b). Then stop the action. At this time, the first aluminum support structure (2) and the second aluminum support structure (3) recover, the compression deformation decreases, and the flexible jumping robot realizes movement along the positive y-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the third-strength magnetic field to the flexible jumping robot, so that it continues to move along the positive y-axis.

7. The method of using the four-way magnetically driven flexible jumping robot according to claim 3, characterized in that, The application of a fourth-intensity magnetic field to the flexible jumping robot to achieve reverse y-axis motion specifically includes: Step S1: Apply the fourth intensity magnetic field to the flexible jumping robot to cause the first aluminum support structure (2) and the second aluminum support structure (3) to bend and deform. Step S2: Continue the action until the first aluminum support structure D (2d) contacts the first silicon support structure D (5d), the first aluminum support structure D (2d) contacts the second silicon support structure D (6d), the second aluminum support structure B (3b) contacts the third silicon support structure B (7b), and the first aluminum support structure B (2b) does not contact the first silicon support structure B (5b), the first aluminum support structure B (2b) does not contact the second silicon support structure B (6b), and the second aluminum support structure D (3d) does not contact the third silicon support structure D (7d). Then stop the action. At this time, the first aluminum support structure (2) and the second aluminum support structure (3) recover, the compression deformation decreases, and the flexible jumping robot realizes the reverse movement along the y-axis. Step S3: Repeat steps S1-S2 to repeatedly apply the fourth intensity of magnetic field to the flexible jumping robot, causing it to continuously move in the opposite direction along the y-axis.

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