A magnetron variable friction and variable leg length soft crawling robot

A crawling robot, variable friction technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of low power density, slow response speed, non-adjustable leg length, etc., to achieve the effect of improving power density

Active Publication Date: 2022-07-26
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • A magnetron variable friction and variable leg length soft crawling robot
  • A magnetron variable friction and variable leg length soft crawling robot
  • A magnetron variable friction and variable leg length soft crawling robot

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Embodiment Construction

[0029] The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0030] Embodiments of the present invention provide a magnetically controlled variable friction and variable leg length soft crawling robot, including a variable friction mechanism and a variable leg length mechanism.

[0031] like Figures 1 to 6 As shown, the variable friction mechanism includes a bracket 1 , a torsion spring 2 , a magnet 3 , an iron sheet 4 , a variable friction sheet 5 , and a rubber sheet 6 . The bracket 1 includes an arcuate inner layer and an arcuate outer layer. A through hole is arranged in the middle of the arcuate inner layer for fixing the cylindrical magnet 3. The arcuate outer layer passes through the slope structure and the steps of the variable friction plate 5. The surface is matched to fix the variable friction plate 5, the outer side of the variable friction plate 5 is pasted with a rubber ...

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Abstract

The invention relates to the field of soft crawling robots, and provides a magnetically controlled variable friction and variable leg length soft crawling robot, including a variable friction mechanism and a variable leg length mechanism. The variable friction mechanism includes a bracket, a torsion spring, a magnet, and an iron sheet. , variable friction plate, rubber sheet, the variable leg length mechanism includes flexible bracket, shape memory alloy wire winding bracket, shape memory alloy wire, guide rail frame, shape memory alloy spring, stainless steel guide tube, metal spring, the variable friction mechanism After connecting with the variable leg length mechanism through the top bracket of the flexible bracket, a retractable leg mechanism is formed, and the two retractable leg mechanisms are stacked and adhered up and down to form a flexible crawling robot. The invention utilizes the magnetic control variable friction structure to improve the power density and the response speed of the variable friction mechanism; uses the shape memory alloy driving method to achieve the goal of adjustable leg length of the robot, so as to improve the robot's ability to crawl over obstacles for complex terrain and to achieve variable load capacity. tune.

Description

technical field [0001] The invention relates to the field of soft crawling robots, in particular to a soft crawling robot with variable friction and variable leg length by magnetic control. 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 driving methods for the existing robot's variable friction mechanism and body telescopic mechanism, and different driving methods can produce different effects. [0003] Motor, air pressure and hydraulic drive: The variable friction and telescopic drive of the crawling robot can be realized through motor, air pressure and hydraulic pressure. However, due to the low power density of the motor, air pressure and hydraulic pressure, the structure of the soft robot is large and noisy. [0004] Intelligent material drive: By using some new intelligent materials, such as shape memory polymer, shape memory alloy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 李军锋
Owner WUHAN UNIV OF TECH
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