An insect-scale micro-crawling robot

Abstract

The application discloses an insect-level micro-crawling robot, which belongs to the field of micro-robots and comprises a robot body and a robot single-leg structure. The robot body comprises a body side rod, a body transverse rod and a body bottom transverse rod; the body side rod is provided with a driver fixing clamping groove and a body front-rear transverse rod fixing clamping groove; the robot single-leg structure comprises a leg driver, a thigh transmission mechanism, a shank transmission mechanism and a foot mechanism; the upper end of the leg driver is provided with a second protrusion which is inserted into the driver fixing clamping groove; and the robot body and the robot single-leg structure are connected through the driver fixing clamping groove. When two alternating current signals with a certain phase difference are connected to the two sides of the leg driver, a changing potential difference is formed on the two sides of the leg driver, and the leg driver is bent at this time. The application has the advantages of simple structure, flexible movement, strong bearing capacity, strong terrain adaptability, replaceable and repairable parts and convenient post-maintenance.

Description

Technical Field

[0001] This invention belongs to the field of micro-robots, specifically relating to an insect-level micro-crawling robot. Background Technology

[0002] With the development of robotics and the deepening of human research into robot technology, more and more robots with different functions are beginning to play a vital role in people's lives. As the scale of robots gradually shrinks, insect-sized microrobots are playing an even more important role due to their precision and flexibility. These insect-sized microrobots can replace humans in various tasks, thus possessing broad application prospects and enormous development potential.

[0003] Existing insect-level microrobots at home and abroad can be broadly classified into crawling, flying, underwater, and other amphibious microrobots according to their movement environments. With the deepening understanding of the movement mechanisms and structural composition of crawling insects such as cockroaches, ants, and spiders, insect-level micro-crawling robots have gradually become a research focus and hot topic both domestically and internationally, and many prototype insect-level micro-crawling robots have been developed.

[0004] However, micro-crawling robots still face many challenges in their development. Most existing micro-crawling robots suffer from drawbacks such as complex structure, complex manufacturing process, long preparation cycle, difficult assembly, high control complexity, and low maintainability, making them far from practical application. Therefore, designing a micro-crawling robot with a simple structure, flexible movement, strong load-bearing capacity, strong terrain adaptability, and replaceable and easily maintainable parts is of great significance. Summary of the Invention

[0005] Therefore, this invention provides an insect-level micro-crawling robot with a simple structure, flexible movement, strong load-bearing capacity, and strong terrain adaptability. At the same time, damaged parts can be replaced and repaired, which facilitates later maintenance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an insect-level micro-crawling robot includes a robot body and a single-leg structure;

[0007] The robot body includes a side rod, a cross rod, and a bottom cross rod; the side rod is provided with a driver fixing slot and a front and rear cross rod fixing slot;

[0008] The two ends of the body crossbar are provided with first protrusions, and the two ends of the body crossbar are inserted into the fixing slots of the front and rear crossbars of the body through the first protrusions; the bottom crossbar of the body passes through the middle of the front and rear body crossbars.

[0009] As a preferred solution for insect-level micro-crawling robots, adhesive is provided in the fixing slots of the front and rear crossbars of the body to fix the crossbars of the body;

[0010] The fuselage crossbar is connected to the fuselage side bar via the fuselage front and rear crossbar fixing slots.

[0011] As a preferred embodiment of the insect-level micro-crawling robot, the crossbar of the body has a rectangular cutout in the middle; the bottom crossbar of the body passes through the cutout between the front and rear crossbars.

[0012] The outer side of the front crossbar of the fuselage crossbar is aligned with the outer side of the front crossbar of the bottom crossbar of the fuselage.

[0013] The lower end of the hollowed-out crossbar of the machine body is covered with glue to fix the bottom crossbar of the machine body.

[0014] As a preferred embodiment of an insect-level micro-crawling robot, the single-leg structure of the robot includes a leg actuator; the upper end of the leg actuator is provided with a second protrusion, which is inserted into the actuator fixing slot; the robot body and the single-leg structure of the robot are connected through the actuator fixing slot.

[0015] As a preferred embodiment of the insect-level micro-crawling robot, the single-leg structure of the robot also includes a thigh transmission mechanism; the upper end of the thigh transmission mechanism is provided with a leg transmission connection fixing surface, and the leg transmission connection fixing surface is connected to the thigh transmission mechanism through a leg transmission hinge.

[0016] As a preferred embodiment of the insect-level micro-crawling robot, the leg drive connection fixing surface is fixedly connected to the lower end of the leg actuator by glue; the lower end cross-section of the lower end of the leg actuator is flush with the leg drive hinge.

[0017] As a preferred embodiment of the insect-level micro-crawling robot, each of the robot's single-leg structures is provided with two thigh transmission mechanisms; the lower ends of the two thigh transmission mechanisms are connected by flexible hinges; the two thigh transmission mechanisms and the two leg actuators form a quadrilateral structure.

[0018] As a preferred embodiment of the insect-level micro-crawling robot, the single-leg structure of the robot also includes a lower leg transmission mechanism; the lower leg transmission mechanism and the outer leg transmission side of the upper leg transmission mechanism are fixedly connected by glue.

[0019] The top edge of the calf drive mechanism is parallel to the flexible hinge connection.

[0020] As a preferred embodiment of the insect-level micro-crawling robot, the distance between the top edge of the lower leg drive and the flexible hinge is set to 2mm.

[0021] As a preferred embodiment of the insect-level micro-crawling robot, the single-leg structure of the robot also includes a foot mechanism, and the lower end of the lower leg transmission mechanism is provided with a fixed hinge; the lower leg transmission mechanism and the foot mechanism are connected through the fixed hinge.

[0022] This invention has the following advantages: it includes a robot body and a single-leg robot structure; the robot body includes side rods, cross rods, and bottom cross rods; the cross rods have first protrusions at both ends, which are inserted into the front and rear cross rod fixing slots; the bottom cross rod passes through the middle of the front and rear cross rods; the single-leg robot structure includes a leg actuator; the upper end of the leg actuator has a second protrusion, which is inserted into the actuator fixing slot; the robot body and the single-leg robot structure are connected through the actuator fixing slot. The single-leg robot structure also includes a thigh transmission mechanism; the upper end of the thigh transmission mechanism has a leg transmission connection fixing surface, which is connected to the thigh transmission mechanism through a leg transmission hinge. The single-leg robot structure also includes a lower leg transmission mechanism; the lower leg transmission mechanism and the outer leg transmission surface of the thigh transmission mechanism are fixedly connected by adhesive; the single-leg robot structure also includes a foot mechanism; the lower end of the lower leg transmission mechanism has a fixing hinge; the lower leg transmission mechanism and the foot mechanism are connected through the fixing hinge. This invention features a simple structure, flexible movement, strong load-bearing capacity, and strong terrain adaptability. Furthermore, damaged parts can be replaced and repaired, facilitating future maintenance. Attached Figure Description

[0023] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the insect-level micro-crawling robot body provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the body structure of the insect-level micro-crawling robot provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the single-leg structure of the insect-level micro-crawling robot provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the piezoelectric-driven single-leg movement of an insect-level micro-crawling robot provided in an embodiment of the present invention;

[0028] In the diagram, 1. Robot body; 2. Single-leg structure of the robot; 101. Side rod of the body; 102. Driver fixing slot; 103. Front and rear crossbar fixing slots of the body; 104. Body crossbar; 105. Outer side of the front crossbar; 106. Bottom crossbar of the body; 107. Front outer side of the bottom crossbar; 108. First protrusion; 201. Leg driver; 202. Thigh transmission mechanism; 203. Lower leg transmission mechanism; 204. Foot mechanism; 205. Lower end section; 206. Leg transmission connection fixing surface; 207. Leg transmission hinge; 208. Flexible hinge; 209. Outer side of the leg transmission; 2010. Top edge of the lower leg transmission; 2011. Fixed hinge; 2012. Second protrusion. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] See Figure 1 , Figure 2 , Figure 3 and Figure 4 Embodiment 1 of the present invention provides an insect-level micro-crawling robot, including a robot body 1 and a robot single-leg structure 2; the robot body 1 includes a body side rod 101, a body cross rod 104, and a body bottom cross rod 106; the body side rod 101 is provided with a driver fixing slot 102 and a body front and rear cross rod fixing slot 103.

[0031] The robot body 1 is made of carbon fiber and adopts a frame design, which can easily fix the eight leg actuators 201, and also provide space for the robot control system and other expansion equipment.

[0032] In this embodiment, the two ends of the body crossbar 104 are provided with first protrusions 108, and the two ends of the body crossbar 104 are inserted into the front and rear crossbar fixing slots 103 of the body through the first protrusions 108; the bottom crossbar 106 of the body passes through the middle of the front and rear body crossbars 104.

[0033] In this embodiment, adhesive is provided in the front and rear crossbar fixing slots 103 of the body to fix the crossbar 104 of the body; the crossbar 104 of the body is connected to the side bar 101 of the body through the front and rear crossbar fixing slots 103 of the body; the crossbar 104 of the body has a rectangular hollow in the middle; the bottom crossbar 106 of the body passes through the hollow between the front and rear crossbars 104; the outer side 105 of the front crossbar of the body crossbar 104 is aligned with the outer front side 107 of the bottom crossbar of the bottom crossbar of the body crossbar 106; adhesive is provided on the hollow lower end face of the crossbar 104 of the body to fix the bottom crossbar 106 of the body.

[0034] Among them, the side rod 101 and the cross rod 104 of the fuselage adopt a hollow design to reduce the weight of the whole machine.

[0035] In this embodiment, the robot single-leg structure 2 includes a leg driver 201; the upper end of the leg driver 201 is provided with a second protrusion 2012, and the second protrusion 2012 is inserted into the driver fixing slot 102; the robot body 1 and the robot single-leg structure 2 are connected through the driver fixing slot 102.

[0036] The robot body 1 is connected to four robot single-leg structures 2.

[0037] Specifically, the leg actuator 201 uses piezoelectric ceramic drive. The upper second protrusion 2012 is fixedly connected to the robot body 1, while the lower end can bend freely, driving the thigh transmission mechanism 202 to perform corresponding movements. For example... Figure 4 As shown, when two AC signals with a certain phase difference are connected to both sides of the leg actuator 201, a changing potential difference is formed on both sides of the leg actuator 201. At this time, the leg actuator 201 bends, and the direction and magnitude of the bending are related to the direction and magnitude of the potential difference. Utilizing the displacement change generated at the lower end by the bending of the leg actuator 201, the robot's individual leg structure 2 can achieve independent stepping and lifting movements. When the two leg actuators 201 of the robot's single-leg structure 2 bend upwards and downwards respectively, the robot performs a single-leg stepping motion; when the two leg actuators 201 of the robot's single-leg structure 2 bend upwards simultaneously, the robot performs a single-leg lifting motion. All four robot single-leg structures 2 can be driven independently, independently completing the two degrees of freedom of stepping and lifting movements, without interference, exhibiting high flexibility and maneuverability.

[0038] In one possible embodiment, the robot single-leg structure 2 further includes a thigh transmission mechanism 202; the upper end of the thigh transmission mechanism 202 is provided with a leg transmission connection fixing surface 206, which is connected to the thigh transmission mechanism 202 via a leg transmission hinge 207. The leg transmission connection fixing surface 206 is fixedly connected to the lower end of the leg actuator 201 with glue; the lower end section 205 of the lower end of the leg actuator 201 is flush with the leg transmission hinge 207. Each robot single-leg structure 2 is provided with two thigh transmission mechanisms 202; the lower ends of the two thigh transmission mechanisms 202 are connected by a flexible hinge 208; the two thigh transmission mechanisms 202 and the two leg actuators 201 form a quadrilateral structure. The robot single-leg structure 2 also includes a lower leg transmission mechanism 203; the lower leg transmission mechanism 203 is fixedly connected to the outer leg transmission surface 209 of the thigh transmission mechanism 202 with glue; the lower leg transmission top edge 2010 of the lower leg transmission mechanism 203 is connected to the flexible hinge 208 and remains parallel. The distance between the top edge 2010 of the lower leg drive mechanism and the flexible hinge 208 is set to 2mm. The robot's single-leg structure 2 also includes a foot mechanism 204, and a fixed hinge 2011 is provided at the lower end of the lower leg drive mechanism 203; the lower leg drive mechanism 203 and the foot mechanism 204 are connected by the fixed hinge 2011. Among them, the foot mechanism 204 increases the contact area between the robot and the ground, provides stable support for the robot as a whole, and improves the stability of the overall movement.

[0039] In summary, the present invention includes a robot body 1 and a robot single-leg structure 2; the robot body 1 includes a side rod 101, a cross rod 104, and a bottom cross rod 106; the side rod 101 is provided with a driver fixing slot 102 and a front and rear cross rod fixing slot 103; the cross rod 104 is provided with a first protrusion 108 at both ends, and the two ends of the cross rod 104 are inserted into the front and rear cross rod fixing slots 103 through the first protrusion 108; the bottom cross rod 106 passes through the middle of the two cross rods 104. Adhesive is provided in the front and rear crossbar fixing slots 103 of the body to fix the crossbar 104 of the body; the crossbar 104 of the body is connected to the side bar 101 of the body through the front and rear crossbar fixing slots 103 of the body; the crossbar 104 of the body has a rectangular hollow in the middle; the bottom crossbar 106 of the body passes through the hollow between the front and rear crossbars 104 of the body; the outer side 105 of the front crossbar of the body 104 of the body is aligned with the outer front side 107 of the bottom crossbar of the bottom crossbar of the body 106 of the body; adhesive is provided on the lower end of the hollow of the crossbar 104 of the body to fix the bottom crossbar 106 of the body. The robot single-leg structure 2 includes a leg driver 201; the upper end of the leg driver 201 has a second protrusion 2012, which is inserted into the driver fixing slot 102; the robot body 1 and the robot single-leg structure 2 are connected through the driver fixing slot 102. The robot's single-leg structure 2 also includes a thigh transmission mechanism 202; the upper end of the thigh transmission mechanism 202 is provided with a leg transmission connection fixing surface 206, which is connected to the thigh transmission mechanism 202 via a leg transmission hinge 207. The leg transmission connection fixing surface 206 is fixedly connected to the lower end of the leg actuator 201 with glue; the lower end section 205 of the lower end of the leg actuator 201 is flush with the leg transmission hinge 207. Each robot single-leg structure 2 has two thigh transmission mechanisms 202; the lower ends of the two thigh transmission mechanisms 202 are connected by a flexible hinge 208; the two thigh transmission mechanisms 202 and the two leg actuators 201 form a quadrilateral structure. The robot single-leg structure 2 also includes a lower leg transmission mechanism 203; the lower leg transmission mechanism 203 is fixedly connected to the outer leg transmission surface 209 of the thigh transmission mechanism 202 with glue; the top edge 2010 of the lower leg transmission mechanism 203 is connected to the flexible hinge 208 and remains parallel. The distance between the top edge 2010 of the lower leg drive mechanism and the flexible hinge 208 is set to 2mm. The robot's single-leg structure 2 also includes a foot mechanism 204, and a fixed hinge 2011 is provided at the lower end of the lower leg drive mechanism 203; the lower leg drive mechanism 203 and the foot mechanism 204 are connected by the fixed hinge 2011. This invention has a simple structure, flexible movement, strong load-bearing capacity, and strong terrain adaptability. At the same time, damaged parts can be replaced and repaired, facilitating later maintenance.

[0040] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An insect-level micro-crawling robot, characterized in that, Including the robot body (1) and the robot's single-leg structure (2); The robot body (1) includes a body side rod (101), a body cross rod (104), and a body bottom cross rod (106); the body side rod (101) is provided with a driver fixing slot (102) and a body front and rear cross rod fixing slot (103). The two ends of the body crossbar (104) are provided with first protrusions (108), and the two ends of the body crossbar (104) are inserted into the front and rear crossbar fixing slots (103) of the body through the first protrusions (108); the bottom crossbar (106) of the body passes through the middle of the front and rear body crossbars (104); The robot single-leg structure (2) includes a leg actuator (201); the upper end of the leg actuator (201) is provided with a second protrusion (2012), and the second protrusion (2012) is inserted into the actuator fixing slot (102); the robot body (1) and the robot single-leg structure (2) are connected through the actuator fixing slot (102); The robot's single-leg structure (2) also includes a thigh transmission mechanism (202); the upper end of the thigh transmission mechanism (202) is provided with a leg transmission connection fixing surface (206), and the leg transmission connection fixing surface (206) is connected to the thigh transmission mechanism (202) through a leg transmission hinge (207); The leg drive connection fixing surface (206) is fixedly connected to the lower end of the leg driver (201) by glue; the lower end section (205) of the lower end of the leg driver (201) is flush with the leg drive hinge (207); Each of the robot's single-leg structures (2) is provided with two thigh transmission mechanisms (202); the lower ends of the two thigh transmission mechanisms (202) are connected by a flexible hinge (208); the two thigh transmission mechanisms (202) and the two leg actuators (201) form a quadrilateral structure; The leg actuator (201) is driven by piezoelectric ceramic. The upper second protrusion (2012) is fixedly connected to the robot body (1), and the lower end can bend freely to drive the thigh transmission mechanism (202) to perform corresponding activities. When the two leg actuators (201) of the robot's single leg structure (2) bend upward and downward respectively, the robot realizes the single leg stepping action. When the two leg actuators (201) of the robot's single leg structure (2) bend upward at the same time, the robot realizes the single leg lifting action.

2. The insect-level micro-crawling robot according to claim 1, characterized in that, The front and rear crossbar fixing slots (103) of the fuselage are provided with glue to fix the fuselage crossbars (104); The fuselage crossbar (104) is connected to the fuselage side bar (101) through the fuselage front and rear crossbar fixing slot (103).

3. The insect-level micro-crawling robot according to claim 1, characterized in that, The body crossbar (104) has a rectangular cutout in the middle; the bottom crossbar (106) passes through the cutout between the front and rear body crossbars (104); The outer side (105) of the front crossbar of the fuselage crossbar (104) is aligned with the outer side (107) of the front crossbar of the bottom crossbar of the fuselage bottom crossbar (106); The lower end face of the hollowed-out crossbar (104) of the body is covered with glue to fix the bottom crossbar (106) of the body.

4. The insect-level micro-crawling robot according to claim 1, characterized in that, The robot's single-leg structure (2) also includes a lower leg transmission mechanism (203); the lower leg transmission mechanism (203) and the leg transmission outer side (209) of the thigh transmission mechanism (202) are fixedly connected by glue; The calf drive top edge (2010) of the calf drive mechanism (203) is connected to the flexible hinge (208) and remains parallel.

5. The insect-level micro-crawling robot according to claim 4, characterized in that, The distance between the top edge line (2010) of the lower leg drive and the flexible hinge (208) is set to 2mm.

6. The insect-level micro-crawling robot according to claim 5, characterized in that, The robot's single-leg structure (2) also includes a foot mechanism (204), and the lower end of the lower leg transmission mechanism (203) is provided with a fixed hinge (2011); the lower leg transmission mechanism (203) and the foot mechanism (204) are connected by the fixed hinge (2011).

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