Microwave frequency-controlled multi-degree-of-freedom imitated-crawler robot

Abstract

The application discloses a microwave frequency-controlled multi-degree-of-freedom imitated crawler robot, and relates to the technical field of micro-mechanics, which comprises a frame, a microwave receiving module and a motion executing module, the motion executing module is arranged in the frame, the microwave receiving module is arranged on the top of the frame and is connected with the motion executing module through the frame, the microwave receiving module is used for receiving microwaves and converting the microwaves into induced current which is transmitted to the motion executing module, and the motion executing module is used for driving the crawler robot to move to a target position. The application has compact structure, excellent driving performance and can realize non-contact motion control.

Description

Technical Field

[0001] This invention relates to a microwave frequency-controlled multi-degree-of-freedom reptile-like robot, belonging to the field of micromechanical technology. Background Technology

[0002] Currently, biomimetic crawling robots have demonstrated significant application value in fields such as confined space exploration, disaster relief, and military reconnaissance; however, their motion performance is limited by traditional electromagnetic or pneumatic actuation methods. Traditional actuation systems have significant shortcomings in miniaturization, high-frequency response, and adaptability to complex environments, especially in achieving multi-degree-of-freedom motion in unstructured terrain.

[0003] Microwave frequency braking technology, with its advantages of penetration and non-contact energy transmission, provides a novel drive solution for crawler-like robots, and is expected to overcome the bottlenecks of existing drive methods in terms of response speed, power density, and environmental compatibility. Current crawler-like robots mostly use gear transmission and motor drive, which suffer from low transmission efficiency and high rigidity, greatly limiting the robot's lightweight, compliance, and portability. At the same time, the limitation of battery power density makes it difficult for robots to achieve both miniaturization and long-term power supply, and the presence of wires also limits the robot's mobility in complex environments.

[0004] As the application fields of biomimetic crawling robots continue to expand, higher demands are being placed on the performance of the robots' braking and control methods. How to design a robot with a compact structure, excellent driving performance, and the ability to achieve non-contact motion control has become an urgent technical problem to be solved in the current development of biomimetic crawling robot technology. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] This invention provides a microwave frequency-controlled multi-degree-of-freedom crawler-like robot, including a frame, a microwave receiving module, and a motion execution module. The motion execution module is located inside the frame, and the microwave receiving module is located on the top of the frame and connected to the motion execution module through the frame. The microwave receiving module is used to receive microwaves and convert them into induced currents that are transmitted to the motion execution module. The motion execution module is used to drive the crawler-like robot to move to a target position.

[0008] The end of the frame is also equipped with a gripping module, which is used to grasp and release the target object under microwave control.

[0009] Further, the clamping module comprises a clamping jaw seat and two microwave bending actuators, the clamping jaw seat is arranged at the front end of the frame, and the two microwave bending actuators are symmetrically arranged on the clamping jaw seat, the microwave bending actuator comprises a bimetallic strip and a wave-absorbing material layer arranged in sequence from outside to inside, the wave-absorbing material layer can generate temperature rise under 8GHz microwave irradiation, so that the bimetallic strip generates centripetal bending displacement, and the displacement is restored after the microwave stops irradiation.

[0010] Further, the frame comprises a frame body and a supporting leg, the frame body comprises a bottom plate and front and rear end plates arranged on both sides of the bottom plate respectively, the supporting leg is arranged on both sides of the bottom plate near the rear end plate, and is used for keeping the whole balance during the movement of the robot, and the bottom plate is provided with a movement channel.

[0011] Further, the number of the movement channels corresponds to that of the movement execution modules; shielding plates are arranged between the movement channels, the surfaces of the shielding plates are coated with AB conductive adhesive, and the AB conductive adhesive is used for inhibiting electromagnetic crosstalk between the movement execution modules.

[0012] Further, the movement execution module comprises a reset tension spring, a connecting shaft and a shape memory alloy spring arranged in sequence, one end of the reset tension spring is connected with the front end plate through a front fixing member, the other end of the reset tension spring is connected with one end of the connecting shaft, the other end of the connecting shaft is connected with one end of the shape memory alloy spring, and the other end of the shape memory alloy spring is connected with the rear end plate through a rear fixing member; a bionic crawling foot is further sleeved on the connecting shaft, and the bionic crawling foot extends to below the bottom plate through the movement channel.

[0013] Further, the connecting shaft is provided with a shaft shoulder, the connecting shaft is divided into a long shaft end and a short shaft end through the shaft shoulder, the long shaft end is connected with the reset tension spring, the short shaft end is connected with the shape memory alloy spring, and the bionic crawling foot is arranged between the reset tension spring and the shaft shoulder.

[0014] Further, the front fixing member comprises a front fixing shaft and a fixing table, the rear fixing member comprises a rear fixing shaft and a fixing table, a plurality of fixing holes corresponding to the number of the movement execution modules are formed in the front end plate and the rear end plate, the front fixing shaft is arranged in the fixing table and connected with the fixing hole of the front end plate, and the rear fixing shaft extends to the outside through the fixing table and the fixing hole of the rear end plate in sequence.

[0015] Further, the microwave receiving module comprises a flexible thermoplastic polyurethane substrate and a silver paste conductive track printed on the upper surface of the flexible thermoplastic polyurethane substrate, and the number of the silver paste conductive tracks corresponds to that of the movement execution modules.

[0016] Further, the number of the silver paste conductive tracks is 2, which includes a first silver paste conductive track and a second silver paste conductive track.

[0017] The end of the silver paste conductive track extends to the rear end plate and is connected with the connecting through hole, and the connecting through hole is electrically connected with the rear fixing shaft.

[0018] Further, the parameters of the first silver paste conductive track include a length range of 24.5-25.5 mm, a width range of 0.4-0.6 mm, a thickness range of 45-55 mu m, and a resonance frequency of 4 GHz, and the parameters of the second silver paste conductive track include a length range of 14.5-15.5 mm, a width range of 0.4-0.6 mm, a thickness range of 45-55 mu m, and a resonance frequency of 5.9 GHz.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The microwave frequency-controlled multi-degree-of-freedom reptile-like robot of the present application adopts different frequency bands for cooperative control, the microwave receiving module converts the received different microwaves into induced currents and transmits them to the motion execution module corresponding to the microwave frequency, and the motion execution module is driven by the intermittent irradiation control of microwave energy to realize the bionic motion of the robot, so that the robot has the ability to perform complex tasks, the motion control and operation function are completely decoupled, and the control accuracy and task adaptability of the reptile-like robot are significantly improved.

[0021] The two motion execution modules and the clamping module of the reptile-like robot of the present application are independently controlled by three different working frequencies to form a three-frequency resonant system, and the microwave signals of the three frequencies can work independently in time and can also have a synchronous combined effect, so that the robot has the ability to perform complex tasks, and the overall performance of the robot is optimized. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 FIG. 1 is a structural schematic diagram of a microwave frequency-controlled multi-degree-of-freedom reptile-like robot according to an embodiment of the present application;

[0023] Figure 2 FIG. 2 is a structural schematic diagram of the position relationship between the rack main body and the motion execution module in the microwave frequency-controlled multi-degree-of-freedom reptile-like robot according to an embodiment of the present application;

[0024] Figure 3 FIG. 3 is a structural schematic diagram of the rack in the microwave frequency-controlled multi-degree-of-freedom reptile-like robot according to an embodiment of the present application;

[0025] Figure 4 FIG. 4 is a structural schematic diagram of the connecting shaft in the microwave frequency-controlled multi-degree-of-freedom reptile-like robot according to an embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of the biomimetic crawling leg structure in a microwave frequency-controlled multi-degree-of-freedom crawling robot according to one embodiment of the present invention;

[0027] Figure 6 This is a top view of a microwave frequency-controlled multi-degree-of-freedom reptile-like robot in one embodiment of the present invention.

[0028] Figure 7 for Figure 6 A schematic diagram of the AA-direction cross-section structure;

[0029] Figure 8 This is a side view of a microwave frequency-controlled multi-degree-of-freedom reptile-like robot in one embodiment of the present invention.

[0030] Figure 9 for Figure 8 Schematic diagram of the BB-direction cross-section structure;

[0031] In the diagram: 1-Frame, 101-Base plate, 102-Front end plate, 103-Rear end plate, 104-Support foot, 105-Motion channel, 106-Shielding plate, 107-Fixing hole, 2-Microwave receiving module, 201-Flexible TPU substrate, 202-First silver paste conductive track, 203-Second silver paste conductive track, 204-Connecting through hole, 3-Motion execution module, 301-Reset tension spring, 302-Connecting shaft, 3021-Long shaft end, 3022-Shoulder, 3023-Short shaft end, 303-Shape memory alloy spring, 304-Bionic crawling foot, 4-Fixing platform, 5-Front fixed shaft, 6-Rear fixed shaft, 7-Grip module, 701-Bimetallic sheet, 702-Wave absorption material layer, 703-Gripper seat. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0033] Example 1

[0034] like Figure 1 As shown, this embodiment of the invention provides a microwave frequency-controlled multi-degree-of-freedom crawler-like robot, including a frame 1, a microwave receiving module 2, and a motion execution module 3. The microwave receiving module 2 is integrated on the top of the frame 1 in a covering manner to form a complete electromagnetic wave receiving interface, and the motion execution module 3 is located inside the frame 1.

[0035] In the embodiment, the number of motion execution modules 3 is 2, which are respectively arranged on both sides inside the frame 1. The microwave receiving module 2 is used to receive microwaves and convert the microwaves into induced current to transmit to the motion execution module 3. The two motion execution modules 3 are controlled by different microwave frequencies. By alternating or individually controlling the motion phase difference of the two motion execution modules 3, the straight forward movement, left turn and right turn movement of the simulated crawler robot are realized.

[0036] In some embodiments, a clamping module 7 is further included, which is arranged at the front end of the frame 1. Under the control of microwaves, the clamping module 7 can grab and release the target object, thereby carrying it to the designated location.

[0037] Embodiment 2

[0038] Based on embodiment 1, the frame 1 of the present embodiment is as shown in Figure 3 It includes a frame body and a support leg 104. The frame body is in the shape of a concave letter, including a bottom plate 101 and front and rear end plates 102 and 103 arranged on both sides of the upper surface of the bottom plate 101. The thickness of the bottom plate 101 is designed to be 1 mm. The front and rear end plates 102 and 103 are each provided with a fixing hole 107. The number of fixing holes 107 corresponds to the number of motion execution modules 3. Therefore, in the present embodiment, the number of fixing holes 107 on the front and rear end plates 102 and 103 is 2.

[0039] The support leg 104 is arranged on the lower surface of the bottom plate 101 on both sides of the rear end. The support leg 104 is designed with a special geometric structure, which exhibits significant anisotropic friction characteristics during movement. The support leg 104 can maintain the overall balance of the simulated crawler robot during movement. The bottom plate 101 is provided with a motion channel 105. Each motion channel 105 corresponds to a motion execution module 3. Therefore, the number of motion channels 105 is also 2.

[0040] Since the motion execution module 3 includes a shape memory alloy spring 303 (SMA spring), during microwave driving, electromagnetic secondary radiation effects will occur between the shape memory alloy springs 303. Specifically, when the left SMA spring is activated under microwave driving, it will generate a strong secondary radiation field as a radiation source. Since the two SMA springs are arranged symmetrically with the same structural parameters, the transmission efficiency of microwave energy between them is significantly improved, which may cause the right SMA spring to be driven unexpectedly due to receiving secondary radiation waves.

[0041] To solve the above technical problems, a shielding plate 106 is arranged between the motion channels 105 in the embodiment, the surface of the shielding plate 106 is coated with AB conductive adhesive to form a complete metalized electromagnetic shielding layer. The shielding structure has excellent microwave reflection characteristics and can effectively block the penetration of microwaves with a frequency range of 2.4-8 GHz. Through this innovative design, the mutual interference caused by electromagnetic coupling effect of the two parallel arranged SMA springs during driving can be completely eliminated, ensuring the independent and reliable operation of each motion execution module 3.

[0042] In some embodiments, the shielding plate 106 is integrally formed with the rack 1 and has a thickness of 0.5 mm, which maintains the lightweight structure while meeting the electromagnetic compatibility requirements, so that the crawling robot system can still maintain stable motion performance in complex electromagnetic environments.

[0043] The motion execution module 3 includes a reset tension spring 301, a connecting shaft 302, and a shape memory alloy spring 303 arranged in sequence. In the embodiment, the connecting shaft 302 is provided with a shaft shoulder 3022, one side of the shaft shoulder 3022 is a long shaft end 3021, and the other end is a short shaft end 3023. The long shaft end 3021 is reliably connected to the reset tension spring 301 using high-strength metal glue, and the other end of the reset tension spring 301 is connected to the front end plate 102 through a front fixing member.

[0044] A bionic crawling foot 304 is also sleeved on the long shaft end 3021 between the shaft shoulder 3022 and the reset tension spring 301. In the embodiment, the bionic crawling foot 304 is rigidly connected to the connecting shaft 302 through a set screw. The lower end of the bionic crawling foot 304 extends to the bottom plate 101 below through the motion channel 105. The lower end of the bionic crawling foot 304 is provided with an S-shaped friction pattern, which can form a sliding pair with the ground. One end of the shape memory alloy spring 303 is fixed to the short shaft end 3023 through laser welding, and the other end is connected to the rear end plate 103 through a rear fixing member.

[0045] The short shaft end 3023 is connected to one end of the shape memory alloy spring 303, and the other end of the shape memory alloy spring 303 is connected to the rear end plate 103 through the rear fixing member. In the embodiment, the shape memory alloy spring 303 is made of nickel-titanium alloy material, and has a wire diameter of 0.25 mm, an inner diameter of 1 mm, and an effective number of turns of 22. Its phase transition temperature is 40-50℃, and the shape memory alloy spring 303 maintains a standard pitch of 1 mm in the initial state and shrinks axially after being energized. The reset tension spring 301 is made of stainless steel material and has a wire diameter of 0.2 mm and an inner diameter of 1 mm, which ensures that the system has accurate elastic recovery characteristics, and the reset tension spring 301 is used to store and release elastic potential energy.

[0046] In some embodiments, the front fixing member includes a front fixing shaft 5 and a fixing base 4, and the rear fixing member includes a rear fixing shaft 6 and the fixing base 4. The reset tension spring 301 is coaxially assembled with the front fixing shaft 5 through a metal special adhesive, the front fixing shaft 5 is connected with the fixing hole 107 of the front end plate 102 by being arranged in the fixing base 4, and the rear fixing shaft 6 extends to the outside by being arranged in the fixing base 4 and then passing through the fixing hole 107 of the rear end plate 103. The interference amount of the fixing hole 107 with the front fixing shaft 5 and the rear fixing shaft 6 is 0.05 mm.

[0047] The principle of the motion execution module 3 is that the shape memory alloy spring 303 generates a temperature rise of 40-80℃ through the Joule heat effect under the action of the current, generates axial shrinkage deformation when the temperature reaches the critical point of the austenitic phase change (45±5℃), and outputs a phase change force of 0.5-1.5 N. The phase change force is transmitted to the reset tension spring 301 through the connecting shaft, so that the reset tension spring 301 generates an elastic elongation of 2-5 mm and stores elastic potential energy, the bionic crawling foot 304 is synchronously displaced with the shaft, and the crawling robot is realized.

[0048] After the microwave signal is turned off, the temperature of the shape memory alloy spring 303 decreases to the martensitic phase change point (30±5℃) under the action of environmental heat dissipation, at this time, the reset tension spring 301 releases the stored elastic potential energy, generates a rebound force of 0.8-1.2 N to make the shape memory alloy spring 303 restore the initial length, completes a working cycle, and the response time of the entire phase change-reset process is 2-5 seconds.

[0049] The rear fixing shaft 6 is connected with the microwave receiving module 2, so the rear fixing shaft 6 needs to have the current conduction function in addition to the mechanical support function, therefore, in the embodiment, the front fixing shaft 5 and the rear fixing shaft 6 are made of conductive stainless steel, in the embodiment, the front fixing shaft 5 is an axle body with a size of 3 mm*1 mm, the diameter of the rear fixing shaft 6 is 1±0.01 mm, and the length is 4±0.1 mm, and the connection between the rear fixing shaft 6 and the shape memory alloy spring 303 adopts a laser welding process to ensure that the contact resistance is less than 0.1Ω.

[0050] The microwave receiving module 2 specifically includes a flexible thermoplastic polyurethane (TPU) substrate with a thickness of 0.2 mm and a silver paste conductive track printed on the upper surface thereof, in some embodiments, the number of silver paste conductive tracks corresponds to the number of motion execution modules 3, and both are 2. The end of the silver paste conductive track is provided with a connecting through hole 204 with a diameter of 1±0.05 mm, which realizes electrical connection with the end of the rear fixing shaft 6 extending to the outside through interference fit, and forms a mechanical fixing and electrical connection structure of the connecting through hole 204, the rear fixing shaft 6 and the shape memory alloy spring 303.

[0051] The silver paste conductive track is divided into a first silver paste conductive track 202 and a second silver paste conductive track 203. The first silver paste conductive track 202 has a length of 25±0.5 mm, and the second silver paste conductive track 203 has a length of 15±0.5 mm. The width of the two silver paste conductive tracks is 0.5±0.1 mm, and the thickness is 50±5 μm. Different lengths of the silver paste conductive track correspond to different resonant frequencies. The resonant frequency of the first silver paste conductive track 202 is 4 GHz, and the resonant frequency of the second silver paste conductive track 203 is 5.9 GHz. The two resonant frequencies correspond to one motion execution module 3, respectively.

[0052] When 4 GHz microwave radiation is applied, the first silver paste conductive track 202 generates a resonant current and drives the left shape memory alloy spring 303 to contract through the left rear fixed shaft 6, thereby driving the left bionic crawling foot 304 to move. When 5.9 GHz microwave radiation is applied, the second silver paste conductive track 203 generates a resonant current and drives the right shape memory alloy spring 303 to contract through the right rear fixed shaft 6, thereby driving the right bionic crawling foot 304 to move. By alternately or individually controlling the motion phase difference of the two motion execution modules 3, the straight forward movement, left turning and right turning movement of the crawler robot can be realized.

[0053] The microwave receiving module 2 and the motion execution module 3 cooperatively realize the microwave driving process, which specifically includes:

[0054] When the external microwave field acts on the flexible TPU substrate 201, the silver paste conductive track arranged on the surface thereof generates an alternating induced current due to electromagnetic induction effect. The induced current is conducted to the shape memory alloy spring 303 through the through connection via 204 and the rear fixed shaft 6.

[0055] When the induced current flows through the SMA spring, the temperature of the spring is increased to the critical temperature of the austenitic phase change based on the Joule heat effect, triggering the crystal structure phase change from martensite to austenite, resulting in the axial contraction deformation of the SMA spring.

[0056] The contraction movement of the SMA spring drives the connecting shaft 302, the bionic crawling foot 304 and the reset tension spring 301 to move cooperatively. The bionic crawling foot 304 produces a backward displacement, and the reset tension spring 301 stores mechanical potential energy due to elastic deformation. During the backward displacement of the bionic crawling foot 304, the forward sliding friction coefficient of the combined structure of the bionic crawling foot 304 and the supporting foot 104 is smaller than the backward sliding friction coefficient, forming a directional friction effect, thereby driving the fixed foot to drive the whole chassis 1 to produce a net displacement forward, realizing the directional forward movement of the centroid of the crawler robot.

[0057] The driving mechanism can realize the step-by-step bionic crawling movement mode of the crawler robot through intermittent irradiation control of microwave energy.

[0058] The clamping module 7 comprises a clamping jaw seat 703 which is precisely assembled in the mounting hole at the front end of the rack 1 by interference fit to form a stable mechanical support structure. Two mirror-symmetric microwave bending actuators are arranged on the clamping jaw seat 703, which are composed of a bimetallic strip 701 and a wave-absorbing material layer 702 arranged from outside to inside. In this embodiment, the wave-absorbing material layer 702 has a thickness of 0.3 mm, a length of 10 mm, and is made of a flexible ferromagnetic composite material film, but is not limited thereto, and other materials that can absorb waves should be acceptable. The bimetallic strip 701 has a grade of 5J20110 and a thickness of 0.2 mm, and the two are formed into a laminated structure by high-temperature adhesive.

[0059] Under the irradiation of 8 GHz microwaves, the wave-absorbing material layer 702 efficiently absorbs microwave energy through dielectric loss and magnetic loss mechanisms and converts it into heat energy through the Joule heating effect, resulting in a temperature rise of 40-60℃. With the heat conduction to the bimetallic strip 701, due to the significant difference in the thermal expansion coefficient between the bimetallic strip 701 and the wave-absorbing material layer 702, the bimetallic strip 701 generates a centripetal bending displacement of 1-2 mm, and the two microwave bending actuators form an effective clamping length of 10±0.5 mm, which synchronously actuates to achieve reliable grasping and precise release of the target object under microwave excitation.

[0060] When the microwave irradiation stops, the bimetallic strip 701 gradually returns to the initial flat state as the temperature decreases, thereby releasing the grasped object. The clamping module 7 has the technical characteristics of compact structure, fast response speed, and adjustable clamping force (0.1-1 N), and can realize adaptive grasping of objects of different sizes by adjusting the microwave power and irradiation time.

[0061] Embodiment 3

[0062] The embodiment also provides a manufacturing method of a microwave frequency-controlled multi-degree-of-freedom imitated crawler robot, comprising the following steps:

[0063] S1, using a fused deposition modeling 3D printing process to prepare a rack 1 from ABS engineering plastic, the printing layer thickness is set to 0.1 mm, and the size tolerance after molding is controlled within ±0.05 mm range by using a precision gauge.

[0064] The conductive AB glue is coated on the surface of the shielding plate 106 with a uniform thickness of 0.2 mm, and is cured for 24 hours in an environment of 25±2℃ and relative humidity of 40-60% to reduce the volume resistivity to below 0.01Ω·cm.

[0065] S2, a stainless steel fixed shaft with a diameter of 1 mm is press-fitted into the fixed hole 107 of the front end plate 102 and the rear end plate 103 of the rack 1 with an interference of 0.05 mm, and the shape memory alloy spring 303 (NiTi alloy, wire diameter 0.25 mm) is fixed to the short shaft end 3023 of the connecting shaft 302 using a laser welding process. Then, the bionic crawling foot 304 with S-shaped friction lines and the reset tension spring 301 (stainless steel, wire diameter 0.2 mm) are sequentially assembled to the long shaft end 3021 of the connecting shaft 302. During assembly, a parallelism detector is used to ensure that the parallelism error of the two bionic crawling feet 304 is less than 0.3 mm.

[0066] S3, screen printing is performed using a 200-mesh stainless steel screen plate to print a silver paste conductive track with a width of 1 mm and a thickness of 50 μm on a 0.2 mm thick TPU film. The film is placed in a vacuum heating box and cured at 70±2°C for 20 minutes. Then, a precision cutting machine is used to process the microwave receiving module 2 to the specified size.

[0067] S4, the connecting through hole 204 at the end of the silver paste conductive track of the microwave receiving module 2 is electrically connected to the rear fixed shaft 6 using conductive AB glue. After curing for 24 hours at 25°C, the TPU film is folded according to the predetermined creases and fixed with cyanoacrylate quick-drying glue (curing time <30 seconds) to form a three-dimensional receiving antenna structure.

[0068] S5, after the jaw seat 703 is press-fitted into the mounting hole at the front end of the rack 1 with an interference of 0.05 mm, a 10×3×0.3 mm ferrite wave-absorbing material sheet and a 10×3×0.1 mm 5J20110 bimetallic sheet are prepared using laser cutting process. The wave-absorbing material layer 702 is pressed onto the high expansion layer of the bimetallic sheet 701 using conductive silver glue, and the low expansion layer is adhered to the jaw seat card slot using high-temperature resistant AB glue. Two groups of microwave bending brakes are symmetrically installed with a pre-inclination angle of 20° to ensure a synchronous centripetal displacement of 1-2 mm under 8 GHz microwave irradiation. Finally, the assembled robot components are completed.

[0069] Example 4

[0070] The embodiment provides a control method for a multi-degree-of-freedom bionic crawler robot applied to microwave frequency control, comprising the following steps:

[0071] A, a 4 GHz microwave signal is transmitted to make the silver paste conductive track with a length of 24 mm resonate and form an induced current. The current is conducted to the SMA spring through the rear fixed shaft 6; the SMA spring is heated to the austenite phase transition point under the action of Joule heating effect and generates shrinkage deformation, at the same time, the reset tension spring 301 is elongated to store elastic potential energy by the connecting shaft 302, and the bionic crawling foot 304 is driven to complete the backward displacement.

[0072] B. During the backward movement of the bionic crawling foot 304, the S-shaped bottom surface of the bionic crawling foot 304 slides on the anisotropic friction surface of the supporting foot 104. Due to the design of the system, the forward sliding friction coefficient is significantly smaller than the backward sliding friction coefficient, forming a directional friction difference, so that the frame obtains a net displacement to the left front.

[0073] C. The 6GHz microwave signal is emitted to excite the resonance of the silver paste conductive track with a length of 15mm, and the generated current drives the SMA spring on the other side to contract in the same mechanism, and the frame 1 moves to the right front under the action of asymmetric friction.

[0074] D. By alternately emitting 4GHz and 6GHz microwave signals, the left and right movement feet are coordinated to step at an interval of 5s, so as to drive the bionic crawling robot to move linearly forward.

[0075] E. The turning control adopts the pulse width modulation (PWM) technology, and the duty cycle is 30-70%. The 4GHz or 5.9GHz microwave channel is selectively activated, and the directional turning of the robot is realized through the continuous action of unilateral driving force.

[0076] F. When the bionic crawling robot approaches the target object, the 8GHz microwave signal is started to heat the wave-absorbing material of the microwave bending brake, drive the bimetallic strip 701 to produce a bending displacement of 1-2mm to realize grabbing, and terminate the microwave emission after reaching the target position to automatically reset the microwave bending brake.

[0077] The control scheme realizes the precise decoupling of movement and operation through frequency division multiplexing technology, and the signal strength of each frequency band is 40W.

[0078] The above only describes the preferred embodiments of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

Claims

1. A microwave frequency controlled multi-degree of freedom imitated-crawler robot, characterized in that, The application relates to a microwave-controlled bionic crawler robot, which comprises a rack, a microwave receiving module and a motion executing module. The rack end is further provided with a clamping module, which is used for clamping and releasing a target object under microwave control. The clamping module comprises a clamping jaw base and two microwave curved brakes, the clamping jaw base is arranged at the front end of the rack, and the two microwave curved brakes are symmetrically arranged on the clamping jaw base. The motion executing module comprises a reset tension spring, a connecting shaft and a shape memory alloy spring arranged in sequence. The microwave receiving module comprises a flexible thermoplastic polyurethane substrate and silver paste conductive tracks printed on the upper surface of the flexible thermoplastic polyurethane substrate.

2. The microwave frequency controlled multi-degree of freedom imitated-chelon robot according to claim 1, characterized in that, The number of the silver paste conductive tracks corresponds to the number of the motion executing modules.

3. The microwave frequency controlled multi-degree of freedom imitation-chameleon robot according to claim 2, characterized in that, The number of the motion holes corresponds to the number of the motion executing modules. A shielding plate is arranged between the motion holes, and the surface of the shielding plate is coated with AB conductive adhesive, which is used for inhibiting electromagnetic crosstalk between the motion executing modules.

4. The microwave frequency controlled multi-degree of freedom imitation-chameleon robot according to claim 1, characterized in that, The connecting shaft is provided with a shaft shoulder, which divides the connecting shaft into a long shaft end and a short shaft end.

5. The microwave frequency controlled multi-degree of freedom imitation-chameleon robot according to claim 1, characterized in that, The front fixing member comprises a front fixing shaft and a fixing table, and the rear fixing member comprises a rear fixing shaft and a fixing table.

6. The microwave frequency controlled multi-degree of freedom imitation-chameleon robot according to claim 1, characterized in that, The number of the silver paste conductive tracks is 2, and the silver paste conductive tracks comprise a first silver paste conductive track and a second silver paste conductive track. The end of the silver paste conductive track is connected with a connecting through hole on the rear end plate.

7. The microwave frequency controlled multi-degree of freedom imitation-chameleon robot according to claim 6, characterized in that, The parameters of the first silver paste conductive track include a length range of 24.5-25.5 mm, a width range of 0.4-0.6 mm, a thickness range of 45-55 μm, and a resonance frequency of 4 GHz; and the parameters of the second silver paste conductive track include a length range of 14.5-15.5 mm, a width range of 0.4-0.6 mm, a thickness range of 45-55 μm, and a resonance frequency of 5.9 GHz.

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