Insect-level micro-crawling quadruped robot manufacturing method and quadruped robot structure

Abstract

The application discloses a kind of insect-grade micro-crawling quadruped robot manufacturing method and quadruped robot structure, the method is according to integrated fuselage processing drawing to the cutting processing of integrated fuselage processing material, generates robot integrated fuselage;According to the processing of specified material to the processing flow of multilayer composite material, generate leg structure five-layer composite material;According to the folding assembly process to two-dimensional integrated leg structure, generate robot integrated leg structure;According to the processing of specified material to the processing flow of multilayer composite material, generate piezoelectric driver multilayer composite material;According to piezoelectric driver release drawing to piezoelectric driver multilayer composite material is cut release, generates robot integrated piezoelectric driver;Each part is assembled, generates crawling quadruped robot.The application is integrated by using high degree of integration design, simplifies assembly process, reduces artificial error in micro robot assembly process, improves the assembly accuracy of robot.

Description

Technical Field

[0001] This invention belongs to the field of micro-robot manufacturing, specifically relating to a method for manufacturing an insect-level micro-crawling quadruped robot and the structure of the quadruped robot. Background Technology

[0002] With the development of bionics and robotics, and the advancement of microfabrication technology, a large number of insect-level micro-crawling robots have emerged, such as HAMR, DASH, and RoaCH. These robots are designed by mimicking the structure and movement of insects, often possessing highly biomimetic configurations, but they are relatively weak in load-bearing capacity and struggle to complete practical tasks. Unlike traditional rigid robots, insect-level robots are often manufactured using laser cutting techniques and multi-layer composite material manufacturing processes to form the robot's rigid links and flexible hinges.

[0003] Currently, most micro crawling robots have complex structures, which often leads to very complex manufacturing processes. After cutting, most of the structure still relies on manual assembly. Although this allows for mass production, the subsequent manual assembly process is very cumbersome and prone to human error, ultimately resulting in a long robot production cycle and a low yield.

[0004] To improve the efficiency and precision of insect-level microrobot manufacturing and simplify processing steps, the following methods are currently available:

[0005] First, further simplify the robot's structure and components: The more complex the robot's structure, the more difficult it is to manufacture. Simplifying the robot's structure has a good effect on improving the robot's processing efficiency and simplifying processing steps. However, if the robot's structure is too simple, it will often affect its performance, reduce the robot's movement flexibility, mobility, terrain adaptability, and even cause the robot to be unable to complete specific tasks.

[0006] Secondly, highly integrated smart materials are used: Insect-level microrobots are often composed of multiple layers of composite materials, with different materials having different properties, which together constitute the robot's body support, motion hinges, and drive components. To optimize robot manufacturing steps, reduce manufacturing difficulty, and improve precision, smart materials that integrate drive and sensing functions can greatly improve the efficiency of microrobot manufacturing, but at the same time, they will also increase costs.

[0007] Third, based on the "origami" process, unnecessary processing steps are reduced to a certain extent. However, due to structural limitations, its integration and degree of integration are not high. Moreover, the piezoelectric actuator processing technology designed in this invention has been continuously updated and iterated in the later stage, realizing a highly integrated dual-linkage piezoelectric actuator. This invention will describe in detail the manufacturing steps and processing drawings of this piezoelectric actuator.

[0008] Therefore, how to invent a method that features high robot integration, simple and efficient processing steps, and high assembly precision has become a problem that needs to be solved. Summary of the Invention

[0009] Therefore, this invention provides a method for manufacturing an insect-level micro-crawling quadruped robot and a quadruped robot structure. By adopting a highly integrated integrated design, the assembly process is simplified, human error in the assembly process of the micro-robot is reduced, and the assembly accuracy of the robot is improved.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a method for manufacturing an insect-level micro-crawling quadruped robot, comprising:

[0011] Integrated body machining: Cut and process the integrated body machining material according to the integrated body machining drawings to generate the robot's integrated body;

[0012] Integrated leg structure multi-layer composite material processing: The specified material is processed according to the multi-layer composite material processing procedure to generate a five-layer composite material for the leg structure;

[0013] Integrated leg structure folding and assembly: The two-dimensional integrated leg structure is folded and assembled according to the folding and assembly process to generate the robot's integrated leg structure;

[0014] Multi-layer composite material processing for integrated piezoelectric actuators: Processing specified materials according to the multi-layer composite material processing flow to generate multi-layer composite materials for piezoelectric actuators;

[0015] Integrated piezoelectric actuator assembly: The multilayer composite material of the piezoelectric actuator is cut and released according to the piezoelectric actuator release drawing to generate an integrated piezoelectric actuator for the robot;

[0016] Robot structure assembly: The robot's integrated body, integrated leg structure, and integrated piezoelectric actuator are assembled to generate a crawling quadruped robot.

[0017] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the processing flow of the robot's integrated body includes:

[0018] According to the machining drawings of the body structure, the pre-reserved slots on the right end of the integrated driver, the pre-reserved slots on the fixed rod of the integrated leg structure, and the pre-reserved slots on the left end of the integrated driver are cut on the woven carbon fiber cutting plate of the body to generate the integrated body of the robot.

[0019] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the processing flow of the five-layer composite material for the leg structure includes:

[0020] A two-layer composite material is made by combining unidirectional carbon fiber material with resin adhesive material;

[0021] Using a laser cutter, the alignment holes of the double-layer composite material, the reserved hinge slots of the single-leg structure, and the reserved hinge slots of the mirrored single-leg structure are pre-cut according to the pre-cut drawings of the leg structure hinge, to generate the pre-cut double-layer composite material.

[0022] The PI film is pre-cut according to the PI film pre-cutting drawing using a laser cutter to generate the pre-cut PI film material.

[0023] A layer of pre-cut PI film material is sandwiched between two pre-cut double-layer composite materials, and the fiber directions of the upper and lower layers of pre-cut double-layer composite materials are perpendicular; the alignment holes of the pre-cut double-layer composite materials are aligned with the alignment holes of the pre-cut PI film material, and hot pressing is performed by a hot press to obtain the five-layer composite material of the leg structure.

[0024] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the folding and assembly process of the robot's integrated leg structure includes:

[0025] Align the positioning hole of the integrated leg structure release with the alignment hole of the five-layer composite material; use a laser cutter to cut and release the integrated leg structure release cutting groove according to the leg structure release drawing to obtain the two-dimensional integrated leg structure;

[0026] The two-dimensional integrated leg structure is folded to obtain the robot's integrated leg structure.

[0027] As a preferred embodiment of the manufacturing method of an insect-level micro-crawling quadruped robot, the two-dimensional integrated leg structure includes an integrated leg structure fixing rod, a parallel leg structure upper left connecting rod, a parallel leg structure lower left connecting rod, a lower leg connecting rod, a parallel leg structure lower right connecting rod, a foot support, a parallel leg structure upper right connecting rod, a bottom connecting rod of the connecting mechanism, a middle transmission connecting rod of the connecting mechanism, a middle fixing connecting rod of the connecting mechanism, and a top connecting rod of the connecting mechanism;

[0028] One end of the upper left connecting rod of the parallel leg structure is connected to the fixing rod of the integrated leg structure via a hinge, and the other end is connected to the lower left connecting rod of the parallel leg structure via a hinge; the other end of the lower left connecting rod of the parallel leg structure is connected to the lower right connecting rod of the parallel leg structure via a hinge; the other end of the lower right connecting rod of the parallel leg structure is connected to the upper right connecting rod of the parallel leg structure via a hinge; the other end of the upper right connecting rod of the parallel leg structure is connected to the fixing rod of the integrated leg structure on the other side.

[0029] The upper left and upper right connecting rods of the parallel leg structure are respectively hinged to the bottom connecting rod of the connecting mechanism; the other end of the bottom connecting rod is hinged to the middle transmission connecting rod of the connecting mechanism; the other end of the middle transmission connecting rod is hinged to the middle fixed connecting rod of the connecting mechanism; the other end of the middle fixed connecting rod is hinged to the top connecting rod of the connecting mechanism.

[0030] The lower left connecting rod of the parallel leg structure is connected to the lower leg connecting rod via a hinge; the other end of the lower leg connecting rod is connected to the foot support via a hinge.

[0031] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the steps for folding and assembling the two-dimensional integrated leg structure include:

[0032] Align and secure the integrated leg structure fixing rods on the left and right sides;

[0033] The bottom connecting rod of the connecting mechanism, which is connected to the upper left connecting rod of the parallel leg structure, is folded outward by a hinge and fixedly connected to the upper left connecting rod of the parallel leg structure.

[0034] The bottom connecting rod of the connecting mechanism, which is connected to the upper right connecting rod of the parallel leg structure, is folded outward through a hinge and fixedly connected to the upper right connecting rod of the parallel leg structure.

[0035] The top connecting rod of the connecting mechanism is folded inward by a hinge and fixedly connected to the middle fixed connecting rod of the connecting mechanism.

[0036] The lower leg connecting rod is folded outward via a hinge and fixedly connected to the lower left connecting rod of the parallel leg structure.

[0037] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the processing flow of the piezoelectric actuator multilayer composite material includes:

[0038] The carbon fiber prepreg layer, glass fiber layer, driving voltage copper layer, driving voltage copper backing layer, positive voltage copper layer, grounding copper layer, bias voltage copper backing layer, glass fiber prepreg layer, and piezoelectric ceramic sheet were cut according to the processing drawings using a laser cutting machine.

[0039] The cut driving voltage copper layer and the driving voltage copper backing layer are bonded together and then hot-pressed using a hot press to obtain a driving voltage copper tape adhesive composite material.

[0040] The cut positive voltage copper layer and the ground copper layer are respectively bonded to the cut bias voltage copper backing layer, and then hot-pressed by a hot press to obtain positive voltage copper tape material and ground copper tape material.

[0041] The cut glass fiber layer, the driving voltage copper strip adhesive composite material, the cut carbon fiber prepreg layer, and the cut glass fiber layer are bonded together in a top-to-bottom order to obtain a four-layer composite material.

[0042] Piezoelectric sheets are inserted into the pre-drilled holes in the upper and lower glass fiber layers of the four-layer composite material; the bonded four-layer composite material is then placed in a vacuum fixture for heat treatment to cure the carbon fiber prepreg layer.

[0043] The cut glass fiber prepreg layer, the positive voltage copper strip adhesive material, the hot-pressed four-layer composite material, the grounding copper strip adhesive material, and the cut glass fiber prepreg layer are bonded together in a top-to-bottom order and placed in a vacuum fixture for heat treatment to obtain the piezoelectric actuator multilayer composite material.

[0044] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the assembly and processing flow of the robot's integrated piezoelectric actuator includes:

[0045] Align the integrated piezoelectric actuator release alignment positioning hole with the alignment hole of the multilayer composite material; use a laser cutter to cut and release the integrated piezoelectric actuator release cutting groove according to the piezoelectric actuator release drawing to obtain the robot integrated piezoelectric actuator.

[0046] As a preferred embodiment of a method for manufacturing an insect-level micro-crawling quadruped robot, the assembly process of the crawling quadruped robot includes:

[0047] The integrated leg structure fixing rod of the robot's integrated leg structure is inserted into the pre-reserved slot of the integrated leg structure fixing rod of the robot's integrated body, so that the integrated leg structure of the robot is fixedly connected to the robot's integrated body;

[0048] The fixed end of the integrated piezoelectric actuator in the middle of the robot is inserted into the reserved slots at the right and left ends of the integrated actuator in the robot's integrated body, respectively, so that the integrated piezoelectric actuator of the robot is fixedly connected to the robot's integrated body.

[0049] Connect the top of the integrated piezoelectric actuator of the robot integrated piezoelectric actuator to the top connecting rod of the connecting mechanism of the robot integrated leg structure; connect the positive terminal of the bias voltage to the positive terminal of the DC power supply; connect the negative terminal of the bias voltage to the negative terminal of the DC power supply.

[0050] The present invention also provides an insect-level micro-crawling quadruped robot structure, which is manufactured using the above-described method for manufacturing an insect-level micro-crawling quadruped robot.

[0051] This invention has the following advantages: It includes integrated body processing, where the integrated body material is cut and processed according to the integrated body processing drawings to generate the robot's integrated body; integrated leg structure multi-layer composite material processing, where multiple materials are processed according to the multi-layer composite material processing flow to generate a five-layer composite material for the leg structure; integrated leg structure folding and assembly, where the two-dimensional integrated leg structure is folded and assembled according to the folding and assembly flow to generate the robot's integrated leg structure; integrated piezoelectric actuator multi-layer composite material processing, where multiple materials are processed according to the multi-layer composite material processing flow to generate a piezoelectric actuator multi-layer composite material; integrated piezoelectric actuator assembly, where the piezoelectric actuator multi-layer composite material is cut and released according to the piezoelectric actuator release drawings to generate the robot's integrated piezoelectric actuator; and robot structure assembly, where the robot's integrated body, the robot's integrated leg structure, and the robot's integrated piezoelectric actuator are assembled to generate a crawling quadruped robot. The processing flow of the robot's integrated body includes: cutting a pre-reserved slot on the right end of the integrated actuator, a pre-reserved slot on the fixed rod of the integrated leg structure, and a pre-reserved slot on the left end of the integrated actuator on a woven carbon fiber cutting plate according to the body structure processing drawings to generate the robot's integrated body. The folding and assembly process of the robot's integrated leg structure includes: aligning the integrated leg structure's release alignment and positioning holes with the alignment holes of the five-layer composite material; using a laser cutter to cut and release the integrated leg structure's release cutting groove according to the leg structure release drawing to obtain the two-dimensional integrated leg structure; and folding the two-dimensional integrated leg structure to obtain the robot's integrated leg structure. The assembly and processing process of the robot's integrated piezoelectric actuator includes: aligning the integrated piezoelectric actuator's release alignment and positioning holes with the alignment holes of the multi-layer composite material; using a laser cutter to cut and release the integrated piezoelectric actuator's release cutting groove according to the piezoelectric actuator's release drawing to obtain the robot's integrated piezoelectric actuator. This invention designs integrated body, integrated leg structure, and integrated piezoelectric actuator processing drawings. The integrated leg structure uses a fixed rod to connect the left and right single leg structures, facilitating processing and subsequent assembly, and effectively reducing human error. The integrated piezoelectric actuator adopts an enhanced dual-linkage piezoelectric actuator manufacturing process, increasing the rigidity of the piezoelectric actuator while making the overall robot structure more compact. The entire processing and manufacturing process has advantages such as high integration, high efficiency, and high precision. It can mass-produce robots in a short time, and the operation is simple and easy to understand. The related technology can be promoted and applied to the production of other robots. Attached Figure Description

[0052] 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.

[0053] Figure 1 This is a schematic diagram illustrating the basic process of manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of the assembly and structure of multiple parts in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0055] Figure 3 This is a machining drawing of the integrated body structure of a robot in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0056] Figure 4 This is a PI film cutting drawing provided in an embodiment of the invention for a method of manufacturing an insect-level micro-crawling quadruped robot;

[0057] Figure 5 This is a pre-cut drawing of the integrated leg structure hinge in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0058] Figure 6 This is a drawing showing the release of the integrated leg structure in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention.

[0059] Figure 7 This is a schematic diagram of the integrated leg structure after release in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0060] Figure 8 This is a drawing showing the processing of the carbon fiber prepreg layer for the integrated piezoelectric actuator in a method for manufacturing an insect-grade micro-crawling quadruped robot provided in this embodiment of the invention.

[0061] Figure 9 This is a drawing showing the processing of the glass fiber layer of the integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0062] Figure 10 This is a drawing showing the processing of the copper layer for the driving voltage of the integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention.

[0063] Figure 11This is a drawing showing the processing of the copper backing adhesive layer for the integrated piezoelectric actuator driving voltage in a method for manufacturing an insect-level micro-crawling quadruped robot provided in this embodiment of the invention.

[0064] Figure 12 This is a drawing showing the copper layer fabrication process for the bias voltage of the integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in this embodiment of the invention.

[0065] Figure 13 This is a drawing showing the processing of the copper backing layer for the bias voltage of the integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in this embodiment of the invention.

[0066] Figure 14 This is a drawing showing the processing of the glass fiber prepreg layer for the integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in this embodiment of the invention.

[0067] Figure 15 This is a drawing showing the cutting and processing of piezoelectric ceramic sheets in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0068] Figure 16 This is a drawing showing the release of an integrated piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention.

[0069] Figure 17 This is a schematic diagram of the integrated piezoelectric actuator after release in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0070] Figure 18 This is a schematic diagram of the driving mode of the dual-crystal piezoelectric actuator in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention;

[0071] Figure 19 This is a physical image of the unreleased multilayer composite material used in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention.

[0072] Figure 20 This is a physical image of the integrated piezoelectric actuator after release in a method for manufacturing an insect-level micro-crawling quadruped robot provided in an embodiment of the present invention.

[0073] In the diagram: 1. Robot body; 2. Integrated robot leg structure; 3. Integrated robot piezoelectric actuator; 101. Woven carbon fiber cutting plate for the body; 102. Reserved slot on the right end of the integrated actuator; 103. Reserved slot on the fixing rod of the integrated leg structure; 104. Reserved slot on the left end of the integrated actuator; 201. PI film alignment hole; 202. Alignment hole for the two-layer composite material; 203. Reserved hinge slot for the single leg structure; 204. Reserved hinge slot for the mirrored single leg structure; 205. Release alignment and positioning hole for the integrated leg structure; 20 6. Integrated leg structure release cutting groove; 207. Integrated leg structure fixing rod; 208. Parallel leg structure upper left connecting rod; 209. Parallel leg structure lower left connecting rod; 210. Lower leg connecting rod; 211. Parallel leg structure lower right connecting rod; 212. Foot support; 213. Parallel leg structure upper right connecting rod; 214. Bottom connecting rod of connecting mechanism; 215. Middle transmission connecting rod of connecting mechanism; 216. Middle fixing connecting rod of connecting mechanism; 217. Top connecting rod of connecting mechanism; 301. Prepreg alignment hole; 302. Prepreg cutting groove 303. Glass fiber alignment hole; 304. Glass fiber cutting groove; 305. Driving voltage copper layer alignment hole; 306. Driving voltage copper layer cutting groove; 307. Driving voltage copper adhesive layer alignment hole; 308. Driving voltage copper adhesive layer cutting groove; 309. Positive voltage copper layer alignment hole; 310. Positive voltage copper layer cutting groove; 311. Grounding copper layer alignment hole; 312. Grounding copper layer cutting groove; 313. Bias voltage copper adhesive layer alignment hole; 314. Bias voltage copper adhesive layer cutting groove; 315. Glass fiber prepreg 316. Material alignment hole; 317. Glass fiber prepreg cutting groove; 318. Integrated piezoelectric actuator release alignment positioning hole; 319. Integrated piezoelectric actuator release cutting groove; 320. Top of integrated piezoelectric actuator; 321. Bias voltage positive terminal; 322. Integrated piezoelectric actuator middle fixed terminal; 323. Bias voltage negative terminal; 324. Right piezoelectric drive unit; 325. Right piezoelectric drive unit drive signal input terminal; 326. Left piezoelectric drive unit drive signal input terminal; 327. Left piezoelectric drive unit. Detailed Implementation

[0074] 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.

[0075] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17 This invention provides a method for manufacturing an insect-level micro-crawling quadruped robot, comprising:

[0076] S1. Integrated body processing: Cut and process the integrated body processing material according to the integrated body processing drawings to generate the robot integrated body 1;

[0077] S2. Integrated leg structure multi-layer composite material processing: Multiple materials are processed according to the multi-layer composite material processing flow to generate a five-layer composite material for the leg structure.

[0078] S3. Folding and assembling the integrated leg structure: Fold and assemble the two-dimensional integrated leg structure according to the folding and assembly process to generate the robot's integrated leg structure 2.

[0079] S4. Integrated piezoelectric actuator multilayer composite material processing: Multiple materials are processed according to the multilayer composite material processing flow to generate piezoelectric actuator multilayer composite material.

[0080] S5. Assemble the integrated piezoelectric actuator. Cut and release the multilayer composite material of the piezoelectric actuator according to the piezoelectric actuator release drawing to generate the robot integrated piezoelectric actuator 3.

[0081] S6. Robot structure assembly: Assemble the integrated robot body 1, the integrated robot leg structure 2, and the integrated robot piezoelectric actuator 3 to generate a crawling quadruped robot.

[0082] In this embodiment, the processing flow of the integrated robot body 1 in step S1 includes:

[0083] According to the fuselage structure machining drawings, see Figure 3 The robot's integrated body 1 is generated by cutting the pre-reserved slot 102 on the right end of the integrated driver, the pre-reserved slot 103 on the fixed rod of the integrated leg structure, and the pre-reserved slot 104 on the left end of the integrated driver on the woven carbon fiber cutting plate 101 of the body.

[0084] Specifically, the robot's integrated body structure is simple, consisting of only one piece of woven carbon fiber plate. Figure 3The robot is made from cutting drawings and woven carbon fiber material, which is lightweight yet strong, allowing the robot body to provide mounting slots for the drive and leg modules without affecting the overall weight of the robot.

[0085] In this embodiment, the processing flow of the five-layer composite material for the leg structure in step S2 includes:

[0086] A two-layer composite material is made by combining unidirectional carbon fiber material with resin adhesive material;

[0087] Pre-cut the drawings according to the leg structure hinge using a laser cutter. (See attached drawing) Figure 5 The alignment hole 202, the reserved hinge slot 203 of the single-leg structure, and the reserved hinge slot 204 of the mirrored single-leg structure of the double-layer composite material are pre-cut to generate the pre-cut double-layer composite material.

[0088] Use a laser cutter to cut the PI film according to the pre-cut drawing, see [reference]. Figure 4 The PI film alignment hole 201 is pre-cut to generate pre-cut PI film material;

[0089] A layer of pre-cut PI film material is sandwiched between two pre-cut double-layer composite materials, and the fiber directions of the upper and lower layers of pre-cut double-layer composite materials are perpendicular; the alignment hole 202 of the pre-cut double-layer composite material is aligned with the alignment hole 201 of the pre-cut PI film material, and hot pressing is performed by a hot press to obtain the five-layer composite material of the leg structure.

[0090] In this embodiment, the folding and assembly process of the robot integrated leg structure 2 in step S3 includes:

[0091] See Figure 6 Align the integrated leg structure release alignment positioning hole 205 with the alignment hole of the five-layer composite material; use a laser cutter to cut and release the integrated leg structure release cutting groove 206 according to the leg structure release drawing to obtain the two-dimensional integrated leg structure;

[0092] The two-dimensional integrated leg structure is folded to obtain the robot's integrated leg structure 2.

[0093] In this embodiment, in step S4, see... Figure 7 The two-dimensional integrated leg structure includes an integrated leg structure fixing rod 207, a parallel leg structure upper left connecting rod 208, a parallel leg structure lower left connecting rod 209, a lower leg connecting rod 210, a parallel leg structure lower right connecting rod 211, a foot support 212, a parallel leg structure upper right connecting rod 213, a connecting mechanism bottom connecting rod 214, a connecting mechanism middle transmission connecting rod 215, a connecting mechanism middle fixing connecting rod 216, and a connecting mechanism top connecting rod 217.

[0094] One end of the upper left connecting rod 208 of the parallel leg structure is connected to the fixing rod 207 of the integrated leg structure via a hinge, and the other end is connected to the lower left connecting rod 209 of the parallel leg structure via a hinge; the other end of the lower left connecting rod 209 of the parallel leg structure is connected to the lower right connecting rod 211 of the parallel leg structure via a hinge; the other end of the lower right connecting rod 211 of the parallel leg structure is connected to the upper right connecting rod 213 of the parallel leg structure via a hinge; the other end of the upper right connecting rod 213 of the parallel leg structure is connected to the fixing rod 207 of the integrated leg structure on the other side;

[0095] The upper left connecting rod 208 and the upper right connecting rod 213 of the parallel leg structure are respectively hinged to the bottom connecting rod 214 of the connecting mechanism; the other end of the bottom connecting rod 214 is hinged to the middle transmission connecting rod 215 of the connecting mechanism; the other end of the middle transmission connecting rod 215 is hinged to the middle fixed connecting rod 216 of the connecting mechanism; the other end of the middle fixed connecting rod 216 is hinged to the top connecting rod 217 of the connecting mechanism.

[0096] The lower left connecting rod 209 of the parallel leg structure is connected to the lower leg connecting rod 210 via a hinge; the other end of the lower leg connecting rod 210 is connected to the foot support 212 via a hinge.

[0097] The process for folding and assembling the two-dimensional integrated leg structure includes:

[0098] Align and secure the integrated leg structure fixing rods 207 on the left and right sides;

[0099] The bottom connecting rod 214 of the connecting mechanism, which is connected to the upper left connecting rod 208 of the parallel leg structure, is folded outward by a hinge and fixedly connected to the upper left connecting rod 208 of the parallel leg structure.

[0100] The bottom connecting rod 214 of the connecting mechanism, which is connected to the upper right connecting rod 213 of the parallel leg structure, is folded outward by a hinge and fixedly connected to the upper right connecting rod 213 of the parallel leg structure.

[0101] The top connecting rod 217 of the connecting mechanism is folded inward by a hinge and fixedly connected to the middle fixed connecting rod 216 of the connecting mechanism.

[0102] The lower leg connecting rod 210 is folded outward via a hinge and fixedly connected to the lower left connecting rod 209 of the parallel leg structure.

[0103] In this embodiment, the processing flow of the piezoelectric actuator multilayer composite material in step S4 includes:

[0104] The carbon fiber prepreg layer, glass fiber layer, driving voltage copper layer, driving voltage copper backing layer, positive voltage copper layer, grounding copper layer, bias voltage copper backing layer, glass fiber prepreg layer, and piezoelectric ceramic sheet were cut according to the processing drawings using a laser cutting machine.

[0105] For details, see Figure 8 Using a laser cutter, the prepreg alignment hole 301 and the prepreg cutting groove 302 are cut according to the carbon fiber prepreg layer processing drawings;

[0106] See Figure 9 Cut the glass fiber alignment hole 303 and glass fiber cutting groove 304 according to the glass fiber layer processing drawing;

[0107] See Figure 10 According to the driving voltage copper layer processing drawings, the driving voltage copper layer alignment hole 305 and the driving voltage copper layer cutting groove 306 are cut.

[0108] See Figure 11 According to the processing drawings of the driving voltage copper back adhesive layer, the alignment hole 307 and the cutting groove 308 of the driving voltage copper back adhesive layer are cut.

[0109] See Figure 12 According to the positive voltage copper layer processing drawings, the positive voltage copper layer alignment hole 309 and the positive voltage copper layer cutting groove 310 are cut; according to the grounding copper layer processing drawings, the grounding copper layer alignment hole 311 and the grounding copper layer cutting groove 312 are cut.

[0110] See Figure 13 According to the bias voltage copper backing adhesive layer processing drawings, the bias voltage copper backing adhesive layer alignment hole 313 and the bias voltage copper backing adhesive layer cutting groove 314 are cut.

[0111] See Figure 14 According to the glass fiber prepreg layer processing drawings, the glass fiber prepreg alignment hole 315 and the glass fiber prepreg cutting groove 316 are cut.

[0112] See Figure 15 According to the piezoelectric ceramic sheet cutting and processing drawings, the integrated piezoelectric actuator release alignment positioning hole 317 and the integrated piezoelectric actuator release cutting groove 318 are cut;

[0113] The cut driving voltage copper layer and the driving voltage copper backing layer are bonded together, and then hot-pressed by a hot press to obtain a driving voltage copper tape adhesive composite material.

[0114] The cut positive voltage copper layer and the ground copper layer are respectively bonded to the cut bias voltage copper backing layer, and then hot-pressed by a hot press to obtain positive voltage copper tape material and ground copper tape material.

[0115] The cut glass fiber layer, the driving voltage copper strip adhesive composite material, the cut carbon fiber prepreg layer, and the cut glass fiber layer are bonded together in a top-to-bottom order to obtain a four-layer composite material.

[0116] In this embodiment, the copper foil side of the driving voltage copper strip adhesive composite material is bonded to the carbon fiber prepreg, and the adhesive side of the driving voltage copper strip adhesive composite material is bonded to the glass fiber thereon.

[0117] Piezoelectric sheets are inserted into the pre-drilled holes in the upper and lower glass fiber layers of the four-layer composite material; the bonded four-layer composite material is then placed in a vacuum fixture for heat treatment to cure the carbon fiber prepreg layer.

[0118] In this composite material, the piezoelectric elements on the front and back sides have opposite polarities, meaning that one side of the four-layer composite material has all positive piezoelectric elements, while the other side has all negative piezoelectric elements.

[0119] The cut glass fiber prepreg layer, the positive voltage copper strip adhesive material, the hot-pressed four-layer composite material, the grounding copper strip adhesive material, and the cut glass fiber prepreg layer are bonded together in a top-to-bottom order and placed in a vacuum fixture for heat treatment to obtain the piezoelectric actuator multilayer composite material. (See [link to documentation]). Figure 19 ;

[0120] The positive voltage copper strip adhesive material and the grounding copper strip adhesive material are positioned such that the adhesive side is attached to the bottom glass fiber layer, while the copper side is attached to the top glass fiber prepreg layer.

[0121] In this embodiment, the assembly and processing flow of the robot integrated piezoelectric actuator 3 in step S5 includes:

[0122] Align the integrated piezoelectric actuator release alignment hole 317 with the alignment hole of the multilayer composite material; use a laser cutter according to the piezoelectric actuator release drawing, see [reference]. Figure 16 The integrated piezoelectric actuator release cutting groove 318 is cut and released to obtain the robot integrated piezoelectric actuator 3. See [link to documentation]. Figure 20 .

[0123] In this embodiment, the assembly process of the crawling quadruped robot in step S6 includes:

[0124] Insert the integrated leg structure fixing rod 207 of the robot integrated leg structure 2 into the reserved slot 103 of the integrated leg structure fixing rod of the robot integrated body 1, so that the robot integrated leg structure 2 is fixedly connected to the robot integrated body 1.

[0125] See Figure 17 The fixed end 321 of the integrated piezoelectric actuator 3 is inserted into the reserved slot 102 on the right end and the reserved slot 104 on the left end of the integrated actuator of the robot integrated body 1, respectively, so that the integrated piezoelectric actuator 3 is fixedly connected to the robot integrated body 1.

[0126] Connect the top 319 of the integrated piezoelectric actuator of the robot integrated piezoelectric actuator 3 to the top connecting rod 217 of the connecting mechanism of the robot integrated leg structure 2; connect the positive bias voltage 320 to the positive DC power supply; connect the negative bias voltage 322 to the negative DC power supply.

[0127] The drive signal input terminal 324 of the right piezoelectric drive unit and the drive signal input terminal 325 of the left piezoelectric drive unit control the movement of the right piezoelectric drive unit 323 and the left piezoelectric drive unit 326, respectively.

[0128] For details, see Figure 18 Common dual-crystal piezoelectric actuators have two driving modes. The actuator manufactured in this invention adopts the second (right) driving mode, which is a mode with one bias voltage and one AC signal. If the first (left) driving mode is to be adopted, the actuator manufacturing drawings need to be redesigned.

[0129] In summary, this invention includes: integrated body processing, which involves cutting and processing the integrated body material according to the integrated body processing drawings to generate the integrated robot body; integrated leg structure multi-layer composite material processing, which involves processing multiple materials according to the multi-layer composite material processing flow to generate a five-layer composite material for the leg structure; integrated leg structure folding and assembly, which involves folding and assembling the two-dimensional integrated leg structure according to the folding and assembly flow to generate the integrated robot leg structure; integrated piezoelectric actuator multi-layer composite material processing, which involves processing multiple materials according to the multi-layer composite material processing flow to generate a multi-layer composite material for the piezoelectric actuator; integrated piezoelectric actuator assembly, which involves cutting and releasing the multi-layer composite material for the piezoelectric actuator according to the piezoelectric actuator release drawings to generate the integrated robot piezoelectric actuator; and robot structure assembly, which involves assembling the integrated robot body, the integrated robot leg structure, and the integrated robot piezoelectric actuator to generate a crawling quadruped robot. The processing flow of the integrated robot body includes: cutting a pre-reserved slot on the right end of the integrated actuator, a pre-reserved slot on the fixed rod of the integrated leg structure, and a pre-reserved slot on the left end of the integrated actuator on a woven carbon fiber cutting plate according to the body structure processing drawings to generate the integrated robot body. The folding and assembly process of the robot's integrated leg structure includes: aligning the integrated leg structure's release alignment and positioning holes with the alignment holes of the five-layer composite material; using a laser cutter to cut and release the integrated leg structure's release cutting groove according to the leg structure release drawing to obtain the two-dimensional integrated leg structure; and folding the two-dimensional integrated leg structure to obtain the robot's integrated leg structure. The assembly and processing process of the robot's integrated piezoelectric actuator includes: aligning the integrated piezoelectric actuator's release alignment and positioning holes with the alignment holes of the multi-layer composite material; using a laser cutter to cut and release the integrated piezoelectric actuator's release cutting groove according to the piezoelectric actuator's release drawing to obtain the robot's integrated piezoelectric actuator. This invention designs integrated body, integrated leg structure, and integrated piezoelectric actuator processing drawings. The integrated leg structure uses a fixed rod to connect the left and right single leg structures, facilitating processing and subsequent assembly, and effectively reducing human error. The integrated piezoelectric actuator adopts an enhanced dual-linkage piezoelectric actuator manufacturing process, increasing the rigidity of the piezoelectric actuator while making the overall robot structure more compact. The entire processing and manufacturing process has advantages such as high integration, high efficiency, and high precision. It can mass-produce robots in a short time, and the operation is simple and easy to understand. The related technology can be promoted and applied to the production of other robots.

[0130] This invention also provides an insect-level micro-crawling quadruped robot structure, which is fabricated using the insect-level micro-crawling quadruped robot fabrication method described in the above embodiments.

[0131] 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. A method for manufacturing an insect-level micro-crawling quadruped robot, characterized in that, include: Integrated body processing: Cut and process the integrated body processing material according to the integrated body processing drawings to generate the robot integrated body (1); Integrated leg structure multi-layer composite material processing: The specified material is processed according to the multi-layer composite material processing procedure to generate a five-layer composite material for the leg structure; Folding and assembling of integrated leg structure: Folding and assembling the two-dimensional integrated leg structure according to the folding and assembly process to generate the robot's integrated leg structure (2). Multi-layer composite material processing for integrated piezoelectric actuators: Processing specified materials according to the multi-layer composite material processing flow to generate multi-layer composite materials for piezoelectric actuators; Integrated piezoelectric actuator assembly: The multilayer composite material of the piezoelectric actuator is cut and released according to the piezoelectric actuator release drawing to generate the robot integrated piezoelectric actuator (3). Robot structure assembly: The robot integrated body (1), the robot integrated leg structure (2) and the robot integrated piezoelectric actuator (3) are assembled to generate a crawling quadruped robot; The two-dimensional integrated leg structure includes an integrated leg structure fixing rod (207), a parallel leg structure upper left connecting rod (208), a parallel leg structure lower left connecting rod (209), a lower leg connecting rod (210), a parallel leg structure lower right connecting rod (211), a foot support (212), a parallel leg structure upper right connecting rod (213), a bottom connecting rod of the connecting mechanism (214), a middle transmission connecting rod of the connecting mechanism (215), a middle fixing connecting rod of the connecting mechanism (216), and a top connecting rod of the connecting mechanism (217). One end of the upper left connecting rod (208) of the parallel leg structure is connected to the fixing rod (207) of the integrated leg structure via a hinge, and the other end is connected to the lower left connecting rod (209) of the parallel leg structure via a hinge; the other end of the lower left connecting rod (209) of the parallel leg structure is connected to the lower right connecting rod (211) of the parallel leg structure via a hinge; the other end of the lower right connecting rod (211) of the parallel leg structure is connected to the upper right connecting rod (213) of the parallel leg structure via a hinge; the other end of the upper right connecting rod (213) of the parallel leg structure is connected to the fixing rod (207) of the integrated leg structure on the other side; The upper left connecting rod (208) of the parallel leg structure and the upper right connecting rod (213) of the parallel leg structure are respectively connected by hinges to the bottom connecting rod (214) of the connecting mechanism; the other end of the bottom connecting rod (214) of the connecting mechanism is connected by hinges to the middle transmission connecting rod (215) of the connecting mechanism; the other end of the middle transmission connecting rod (215) of the connecting mechanism is connected by hinges to the middle fixed connecting rod (216) of the connecting mechanism; the other end of the middle fixed connecting rod (216) of the connecting mechanism is connected by hinges to the top connecting rod (217) of the connecting mechanism. The lower left connecting rod (209) of the parallel leg structure is connected to the lower leg connecting rod (210) via a hinge; the other end of the lower leg connecting rod (210) is connected to the foot support (212) via a hinge. The process for folding and assembling the two-dimensional integrated leg structure includes: Align and secure the integrated leg structure fixing rods (207) on the left and right sides; The bottom link (214) of the connecting mechanism, which is connected to the upper left link (208) of the parallel leg structure, is folded outward by a hinge and fixedly connected to the upper left link (208) of the parallel leg structure. The bottom connecting rod (214) of the connecting mechanism, which is connected to the upper right connecting rod (213) of the parallel leg structure, is folded outward by a hinge and fixedly connected to the upper right connecting rod (213) of the parallel leg structure. The top connecting rod (217) of the connecting mechanism is folded inward by a hinge and fixedly connected to the middle fixed connecting rod (216) of the connecting mechanism; The lower leg connecting rod (210) is folded outward by a hinge and fixed to the lower left connecting rod (209) of the parallel leg structure; The assembly process of the crawling quadruped robot includes: Insert the integrated leg structure fixing rod (207) of the robot integrated leg structure (2) into the pre-reserved slot (103) of the integrated leg structure fixing rod of the robot integrated body (1) so that the robot integrated leg structure (2) is fixedly connected to the robot integrated body (1); Insert the fixed end (321) of the integrated piezoelectric actuator (3) in the middle of the integrated piezoelectric actuator into the reserved slot (102) on the right end and the reserved slot (104) on the left end of the integrated actuator of the integrated robot body (1), respectively, so that the integrated piezoelectric actuator (3) of the robot is fixedly connected to the integrated robot body (1). Connect the top end (319) of the integrated piezoelectric actuator of the robot integrated piezoelectric actuator (3) to the top connecting rod (217) of the connecting mechanism of the robot integrated leg structure (2); connect the positive terminal of the bias voltage (320) to the positive terminal of the DC power supply; connect the negative terminal of the bias voltage (322) to the negative terminal of the DC power supply.

2. The method for manufacturing an insect-level micro-crawling quadruped robot according to claim 1, characterized in that, The processing flow of the integrated robot body (1) includes: According to the body structure processing drawings, the pre-reserved slot (102) on the right end of the integrated driver, the pre-reserved slot (103) on the integrated leg structure fixing rod and the pre-reserved slot (104) on the left end of the integrated driver are cut on the body woven carbon fiber cutting plate (101) to generate the robot integrated body (1).

3. The method for manufacturing an insect-level micro-crawling quadruped robot according to claim 2, characterized in that, The processing flow of the five-layer composite material for the leg structure includes: A two-layer composite material is made by combining unidirectional carbon fiber material with resin adhesive material; Using a laser cutter, the double-layer composite material alignment hole (202), the single-leg structure reserved hinge slot (203), and the mirrored single-leg structure reserved hinge slot (204) are pre-cut according to the leg structure hinge pre-cutting drawing to generate the pre-cut double-layer composite material; The PI film alignment hole (201) is pre-cut using a laser cutter according to the PI film pre-cutting drawing to generate the pre-cut PI film material. A layer of pre-cut PI film material is sandwiched between the two pre-cut double-layer composite materials, and the fiber directions of the upper and lower layers of pre-cut double-layer composite materials are perpendicular; the alignment hole (202) of the pre-cut double-layer composite material is aligned with the alignment hole (201) of the pre-cut PI film material, and hot pressing is performed by a hot press to obtain the five-layer composite material of the leg structure.

4. The method for manufacturing an insect-level micro-crawling quadruped robot according to claim 3, characterized in that, The folding and assembly process of the robot's integrated leg structure (2) includes: Align the integrated leg structure release alignment positioning hole (205) with the alignment hole of the five-layer composite material; use a laser cutter to cut and release the integrated leg structure release cutting groove (206) according to the leg structure release drawing to obtain the two-dimensional integrated leg structure; The two-dimensional integrated leg structure is folded to obtain the robot's integrated leg structure (2).

5. The method for manufacturing an insect-level micro-crawling quadruped robot according to claim 4, characterized in that, The processing flow of the piezoelectric actuator multilayer composite material includes: The carbon fiber prepreg layer, glass fiber layer, driving voltage copper layer, driving voltage copper backing layer, positive voltage copper layer, grounding copper layer, bias voltage copper backing layer, glass fiber prepreg layer, and piezoelectric ceramic sheet were cut according to the processing drawings using a laser cutting machine. The cut driving voltage copper layer and the driving voltage copper backing layer are bonded together and then hot-pressed using a hot press to obtain a driving voltage copper tape adhesive composite material. The cut positive voltage copper layer and the ground copper layer are respectively bonded to the cut bias voltage copper backing layer, and then hot-pressed by a hot press to obtain positive voltage copper tape material and ground copper tape material. The cut glass fiber layer, the driving voltage copper strip adhesive composite material, the cut carbon fiber prepreg layer, and the cut glass fiber layer are bonded together in a top-to-bottom order to obtain a four-layer composite material. Piezoelectric sheets are inserted into the pre-drilled holes in the upper and lower glass fiber layers of the four-layer composite material; the bonded four-layer composite material is then placed in a vacuum fixture for heat treatment to cure the carbon fiber prepreg layer. The cut glass fiber prepreg layer, the positive voltage copper strip adhesive material, the hot-pressed four-layer composite material, the grounding copper strip adhesive material, and the cut glass fiber prepreg layer are bonded together in a top-to-bottom order and placed in a vacuum fixture for heat treatment to obtain the piezoelectric actuator multilayer composite material.

6. The method for manufacturing an insect-level micro-crawling quadruped robot according to claim 5, characterized in that, The assembly and processing flow of the robot integrated piezoelectric actuator (3) includes: Align the integrated piezoelectric actuator release alignment positioning hole (317) with the alignment hole of the multilayer composite material; use a laser cutter to cut and release the integrated piezoelectric actuator release cutting groove (318) according to the piezoelectric actuator release drawing to obtain the robot integrated piezoelectric actuator (3).

7. A structure for an insect-level micro-crawling quadruped robot, characterized in that, The insect-level micro-crawling quadruped robot is manufactured using any one of claims 1 to 6.

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