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Shape memory alloy-driving bionic wall climbing robot leg unit and robot

A wall-climbing robot and memory alloy technology, applied in the field of wall-climbing robots, can solve the problems of complex driving structure and gait design, and achieve the effects of simple gait planning, light weight and simple structure

Active Publication Date: 2018-08-07
TSINGHUA UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above problems, the purpose of the present invention is to provide a shape memory alloy driven bionic wall-climbing robot leg unit and robot to solve the problems of the existing multi-legged wall-climbing robot with complex drive structure and gait design.

Method used

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  • Shape memory alloy-driving bionic wall climbing robot leg unit and robot
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  • Shape memory alloy-driving bionic wall climbing robot leg unit and robot

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Embodiment Construction

[0032] Embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art would recognize that the described embodiments can be modified in various ways or combinations thereof without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Also, in this specification, the drawings are not drawn to scale, and like reference numerals denote like parts.

[0033] figure 1 It is the structural representation of the leg unit of the bionic wall-climbing robot described in the present invention, as figure 1As shown, the bionic wall-climbing robot leg unit of the present invention is installed on the torso 1 of the bionic wall-climbing robot, and its movement is driven by a shape memory alloy (ShapeMemory Alloy, referred to as SMA), and the bionic wall-climbing robot leg unit includes a bionic leg 2. Da...

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Abstract

The invention discloses a shape memory alloy-driving bionic wall climbing robot leg unit. The shape memory alloy-driving bionic wall climbing robot leg unit comprises bionic legs, a foot module, a shock absorption spring, a bi-directional shape memory alloy driving device and a single-directional shape memory alloy driving device, wherein the front-back and left-right movement of the bionic legs are driven by virtue of the bi-directional shape memory alloy driving device and the single-directional shape memory alloy driving device. The invention also discloses a shape memory alloy-driving bionic wall climbing robot driven by shape memory alloy. The bionic wall climbing robot comprises the bionic wall climbing robot leg unit. The shape memory alloy driving device adopts a bionic structure,so that the wall climbing movement of the robot on a medium surface is realized; the driving device is simple in structure, light in weight and flexible in movement; and the foot module adopts an ironmagnetic ball body, no surplus leg raising and re-absorption action is needed in the movement process of the bionic leg, the leg can provide a stable supporting force and absorption adsorption force,the supporting point is stable, the center of gravity of the robot is slight in change, and the gait planning is simple.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a bionic wall-climbing robot leg unit driven by a shape memory alloy and a robot. Background technique [0002] The bionic multi-legged wall-climbing robot has attracted more and more attention because of its strong flexibility and obstacle-surmounting ability. Different from wheeled and tracked robots, the multi-legged wall-climbing robot imitates the movement of animals, can realize a variety of motion postures, adapt to various surface environments, and has a wide range of applications. However, multi-legged wall-climbing robots are currently mostly driven by motors or hydraulic pressure, and have a large weight and complex structure. During the crawling process, it is necessary to achieve detachment and re-adsorption between each foot and the crawling surface, and the robot’s support points will change. And safety is reduced, and the gait design is complicated. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J11/00B25J15/06
CPCB25J11/00B25J15/0608B25J18/00
Inventor 张文东孙振国陈强
Owner TSINGHUA UNIV
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