Flexible crawling robot with magnetic control variable friction and variable leg length functions

Abstract

The invention relates to the field of flexible crawling robots, and provides a flexible crawling robot with magnetic control variable friction and variable leg length functions. The flexible crawlingrobot comprises a variable friction mechanism and a variable leg length mechanism; the variable friction mechanism comprises a bracket, a torsion spring, a magnet, an iron sheet, a variable friction plate and a rubber sheet; the variable leg length mechanism comprises a flexible bracket, a shape memory alloy wire winding bracket, a shape memory alloy wire, a guide rail frame, a shape memory alloyspring, a stainless steel guide tube and a metal spring; the variable friction mechanism and the variable leg length mechanism are connected through a top bracket of the flexible bracket to form a telescopic leg mechanism; and two telescopic leg mechanisms are overlapped and adhered up and down to form the flexible crawling robot. The power density and the response speed of the variable friction mechanism are improved by utilizing a magnetic control variable friction structure; and the purpose of an adjustable leg length of the robot is realized by utilizing a shape memory alloy driving methodso as to improve the climbing and obstacle-crossing capability of the robot aiming at complex terrain and realize the adjustable load capability.

Description

technical field [0001] The invention relates to the field of soft crawling robots, in particular to a soft crawling robot with magnetic control variable friction and variable leg length. Background technique [0002] The motion control of the soft robot is mainly composed of two parts: the leg variable friction mechanism and the body telescopic mechanism. There are many kinds of driving methods for the variable friction mechanism and body telescopic mechanism of the existing robot, and different effects can be produced by different driving methods. [0003] Motor, pneumatic and hydraulic drive: The variable friction and telescopic drive of the crawling robot can be realized through motor, pneumatic and hydraulic pressure. However, due to the small power density of the motor, air pressure and hydraulic pressure, the structure of the soft robot is bulky and noisy. [0004] Intelligent material drive: By using some new intelligent materials, such as shape memory polymers, sha...

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Problems solved by technology

[0006] The purpose of the present invention is to overcome the disadvantages of low power density, slow response speed, and non-adjustable leg length of the existing soft crawling robot, and provide a soft crawling robot with magnetically controlled variable friction and variable leg length. The structure improves the power density and response speed of the variable friction mechanism; the goal of adjusting the length of the robot's legs is realized by using the shape memory alloy driving method, so as to improve the robot's ability to crawl and overcome obstacles on complex terrain and realize the adjustable load capacity

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