CN110654471B - Miniature bouncing robot - Google Patents
Miniature bouncing robot Download PDFInfo
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- CN110654471B CN110654471B CN201910979957.8A CN201910979957A CN110654471B CN 110654471 B CN110654471 B CN 110654471B CN 201910979957 A CN201910979957 A CN 201910979957A CN 110654471 B CN110654471 B CN 110654471B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
A miniature bouncing robot, comprising: the device comprises a front leg structure, a rear leg structure, a connecting structure and a driving structure, wherein the front leg structure is connected with the rear leg structure through the connecting structure, the rear leg structure can rotate freely relative to the front leg structure, the front leg structure comprises a front leg elastic piece, the rear leg structure comprises a rear leg elastic piece, the driving structure comprises a driver with a shape memory function and a brake with an adsorption force, the front leg structure and the rear leg structure are adsorbed together by the brake, two ends of the driver are respectively fixed on the front leg elastic piece and the rear leg elastic piece, the driver deforms by itself to generate driving force after being applied with voltage, and when the driving force is larger than the maximum braking force which can be provided by the brake, elastic potential energy is released instantly to be converted into jump-up kinetic energy of the robot, so that the robot jumps up. The miniature bouncing robot has excellent bouncing capability, can bounce more than several times of the height of the miniature bouncing robot, has extremely strong obstacle-climbing capability and is flexible to bounce control.
Description
Technical Field
The invention relates to the field of micro robots, in particular to a micro bouncing robot.
Background
With the development of robot technology and sensor technology, micro robots are getting more and more attention and development in the fields of disaster relief, detection, environmental monitoring and the like due to the characteristics of miniaturization, light weight, high functional integration and the like. The miniature robot with the weight and the volume similar to those of insects has the capability of moving in a pipeline or a slit, the detection and the perception of surrounding environments are finished through sensors such as gas, light, sound and the like of different types carried by the miniature robot, signals are transmitted to a base station in a wireless mode, and the detection and the modeling of complex environments are finished through networking of multiple robots. The micro-robot can be widely applied to the fields of underground pipeline dangerous gas leakage detection, earthquake relief and the like.
Common motion gestures of organisms include walking, jumping, flying and the like. Current research on micro-robots is mainly focused on walking. Due to the small size of the micro-robot, the capability of crossing larger obstacles is insufficient, so that the existing micro-robot is difficult to adapt to the extreme working environment with various obstacles.
The foregoing background is only for the purpose of providing an understanding of the inventive concepts and technical aspects of the present application and is not necessarily prior art to the present application and is not intended to be used as an aid in the evaluation of the novelty and creativity of the present application in the event that no clear evidence indicates that such is already disclosed at the date of filing of the present application.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the miniature bouncing robot with bouncing capability, which can work in an extreme environment.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A miniature bouncing robot, comprising: the device comprises a front leg structure, a rear leg structure, a connecting structure and a driving structure, wherein the front leg structure is connected with the rear leg structure through the connecting structure, the rear leg structure can rotate freely relative to the front leg structure, the front leg structure comprises a front leg elastic sheet, the rear leg structure comprises a rear leg elastic sheet, the driving structure comprises a driver with a shape memory function and a brake with an adsorption force, the brake adsorbs the front leg structure and the rear leg structure together to provide a braking force for preventing displacement of the front leg elastic sheet and the rear leg elastic sheet, two ends of the driver are respectively fixed on the front leg elastic sheet and the rear leg elastic sheet, the driver deforms to generate driving force after being applied with voltage, energy is stored in the front leg elastic sheet and the rear leg elastic sheet in a form of elastic potential energy, and when the driving force is larger than the maximum braking force which can be provided by the brake, the elastic potential energy is released instantaneously to be converted into the jumping kinetic energy of a robot.
Further:
the front end of the front leg elastic sheet is provided with two slender front legs, and the rear end of the rear leg elastic sheet is provided with two slender rear legs.
The back leg structure still includes back leg preforming and first adhesive layer, the back leg elastic sheet with back leg preforming bonds respectively the upper surface and the lower surface on first adhesive layer, connection structure includes connection preforming and second adhesive layer, go up connection preforming with back leg elastic sheet is located same layer, go up connection preforming's lower surface with the front end of the upper surface on first adhesive layer is many partial bonds, go up connection preforming's upper surface pass through the second adhesive layer with preceding leg elastic sheet bonds, first adhesive layer becomes preceding leg structure with hinge joint between the back leg structure.
The connecting structure further comprises a lower connecting pressing sheet, the lower connecting pressing sheet and the rear leg pressing sheet are positioned on the same layer, and the upper surface of the lower connecting pressing sheet is bonded with the front end excess part of the lower surface of the first adhesive layer.
The driver is an alloy material with shape memory effect, preferably nickel-titanium alloy.
At least a portion of the actuator is a spring structure.
The driver is arranged below the front leg structure and the rear leg structure, and preferably, two ends of the driver are respectively fixed at the hollow structures on the front leg elastic sheet and the rear leg elastic sheet.
The brake comprises a first component and a second component with adsorption force, wherein the first component and the second component are respectively and correspondingly fixed on the front leg structure and the rear leg structure, preferably, the first component and the second component are respectively fixed at hollow structures on the front leg elastic sheet and the rear leg elastic sheet, preferably, the brake is a magnet adsorption structure, an adhesive adsorption structure or an electrostatic adsorption structure.
The main body shapes of the front leg elastic sheet and the rear leg elastic sheet are polygonal, preferably, the main body shape of the front leg elastic sheet is two trapezoids with the lower bottom in butt joint, the main body shape of the rear leg elastic sheet is identical to the lower trapezoids of the front leg elastic sheet, preferably, the upper connecting pressing sheet, the lower connecting pressing sheet and the rear leg pressing sheet are trapezoids, and the sizes of the upper connecting pressing sheet, the lower connecting pressing sheet and the rear leg pressing sheet correspond to the sizes of the front leg elastic sheet and the rear leg elastic sheet.
The front leg structure, the rear leg structure and the connecting structure are all made of an elastic material, preferably a carbon fiber material, and preferably the elastic material has a thickness of 50-500 micrometers.
The thickness of the first adhesive layer and the second adhesive layer is 10 micrometers to 200 micrometers.
The invention has the following beneficial effects:
The miniature bouncing robot provided by the invention has excellent bouncing capability, can bounce more than several times of the height of the robot, has extremely strong obstacle-climbing capability, can walk or jump and move in a relatively flat environment, can also be used for coping with environments with more obstacles and rugged road conditions, is flexible in bouncing control, is suitable for working conditions in extreme environments, and can finish work with higher difficulty.
Drawings
FIG. 1 is a schematic view illustrating the disassembled components of a micro-bouncing robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a micro bouncing robot according to an embodiment of the present invention;
FIG. 3 is a side view of an assembly process of a micro-pop-up robot according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for manufacturing a micro-bouncing robot according to an embodiment of the present invention;
fig. 5 is a diagram illustrating an example of a micro-bouncing robot according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail. It should be emphasized that the following description is merely exemplary in nature and is in no way intended to limit the scope of the invention or its applications.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1-3 and 5, in one embodiment, a micro-scale bouncing robot comprises: the device comprises a front leg structure 1, a rear leg structure 2, a connecting structure 3 and a driving structure 4, wherein the front leg structure 1 is connected with the rear leg structure 2 through the connecting structure 3, the rear leg structure 2 can freely rotate relative to the front leg structure 1, the front leg structure 1 comprises a front leg elastic piece, the rear leg structure 2 comprises a rear leg elastic piece 5, the driving structure 4 comprises a driver 11 with a shape memory function and a brake with an adsorption force, the brake adsorbs the front leg structure 1 and the rear leg structure 2 together to provide a braking force for preventing the front leg elastic piece and the rear leg elastic piece 5 from generating displacement, two ends of the driver 11 are respectively fixed on the front leg elastic piece and the rear leg elastic piece 5, the driver 11 is deformed to generate driving force after being applied with voltage, energy is stored in the front leg elastic piece and the rear leg elastic piece 5 in an elastic form, and when the driving force is larger than the brake can provide maximum potential energy, the kinetic energy is converted into elastic energy, and the robot is released instantaneously when the mechanical energy is started. The miniature bouncing robot has excellent bouncing capability, can bounce at heights of more than several times, has extremely strong obstacle-climbing capability, can walk or jump and move in a relatively flat environment, can also cope with more environments with obstacles and rugged road conditions from the container, is flexible in bouncing control, is suitable for working conditions in extreme environments, and completes work with higher difficulty.
In a preferred embodiment, the front end of the front leg elastic panel has two elongated front legs, and the rear end of the rear leg elastic panel 5 has two elongated rear legs.
In a preferred embodiment, the rear leg structure 2 further comprises a rear leg pressing sheet 6 and a first adhesive layer 7, the rear leg elastic sheet 5 and the rear leg pressing sheet 6 are respectively adhered to the upper surface and the lower surface of the first adhesive layer 7, the connecting structure 3 comprises an upper connecting pressing sheet 8 and a second adhesive layer 10, the upper connecting pressing sheet 8 and the rear leg elastic sheet 5 are positioned on the same layer, the lower surface of the upper connecting pressing sheet 8 is adhered to a front end excess portion of the upper surface of the first adhesive layer 7, the upper surface of the upper connecting pressing sheet 8 is adhered to the front leg elastic sheet through the second adhesive layer 10, and the first adhesive layer 7 becomes a hinge joint between the front leg structure 1 and the rear leg structure 2.
In a further preferred embodiment, the connecting structure 3 further comprises a lower connecting pressing sheet 9, the lower connecting pressing sheet 9 and the rear leg pressing sheet 6 are positioned on the same layer, and the upper surface of the lower connecting pressing sheet 9 is adhered to the front excess portion of the lower surface of the first adhesive layer 7.
In a preferred embodiment, the actuator 11 is an alloy material having a shape memory effect, preferably nitinol.
In a preferred embodiment, at least a portion of the actuator 11 is of spring construction.
In a preferred embodiment, the actuator 11 is arranged below the front leg structure 1 and the rear leg structure 2, extending in the front-rear direction. According to a specific embodiment, two ends of the driver 11 may be respectively fixed at the hollowed structures on the front leg elastic piece and the rear leg elastic piece 5.
In a preferred embodiment, the brake comprises a first component 12 and a second component 13 with an adsorption force, and the first component 12 and the second component 13 are respectively and correspondingly fixed on the front leg structure 1 and the rear leg structure 2. According to a specific embodiment, the first component 12 and the second component 13 are respectively fixed at hollowed-out structures on the front leg elastic sheet and the rear leg elastic sheet 5,
In various embodiments, the actuator may be a magnet attraction structure, a glue attraction structure, or an electrostatic attraction structure. The above suction structure is configured to generate a suction force having a fixed maximum value, that is, a suction force having a determined threshold, and after the driving force reaches the maximum braking threshold, the deformation structure is released, so that the robot jumps. According to an exemplary embodiment, the first component 12 and the second component 13 employ a combination of magnets.
It will be appreciated that the first and second components 12, 13 of the brake may be either additional components provided on the front and rear leg elastic panels 5 or may be formed from the material of the front and rear leg elastic panels 5 themselves.
In a preferred embodiment, the main body shape of the front leg elastic panel and the rear leg elastic panel 5 is polygonal. In a further preferred embodiment, the main body shape of the front leg elastic panel is two trapezoids with the bottom butted, and the main body shape of the rear leg elastic panel 5 is the same as the lower half trapezoids of the front leg elastic panel. In a more preferred embodiment, the upper connecting press piece 8, the lower connecting press piece 9 and the rear leg press piece 6 are preferably trapezoidal in shape, corresponding in size to the front leg elastic piece and the rear leg elastic piece 5.
In a preferred embodiment, the front leg structure 1, the rear leg structure 2 and the connecting structure 3 are all made of an elastic material. The elastic material is preferably a carbon fiber material. In a further preferred embodiment, the elastic material has a thickness of 50 micrometers to 500 micrometers.
The optimal design of the elastic structure can enable the front leg structure and the rear leg structure of the robot to store elastic potential energy well, and the whole weight of the robot is light, so that the micro-robot can finish high bouncing.
In a preferred embodiment, the thickness of the first adhesive layer 7 and the second adhesive layer 10 is 10 micrometers to 200 micrometers.
The preferred thickness of the adhesive layer provides a strong and lightweight bond between the front and rear leg structures 1,2 while providing superior mechanical properties to facilitate the overall bouncing motion of the micro-robot.
The structural features, principles and fabrication methods of the micro-pop-up robot according to the embodiments of the present invention are further described below with reference to the accompanying drawings.
Fig. 1 is a schematic view showing a construction part of a micro-robot according to a preferred embodiment of the present invention, and as shown in fig. 1 to 3, the micro-robot includes: a front leg structure 1, a rear leg structure 2, a connecting structure 3, a driving structure 4, wherein the front leg structure 1 comprises a front leg elastic sheet; the rear leg structure 2 comprises a rear leg elastic sheet 5, a rear leg pressing sheet 6 and an adhesive layer 7; the connecting structure 3 comprises two connecting press sheets 8 and 9 with the same shape and an adhesive layer 10; the front leg structure 1 and the rear leg structure 2 are connected through a connecting structure to form a complete body structure; the driving structure 4 comprises a driver 11 with a shape memory function and a brake with an adsorption function, the driver 11 is made of materials with a shape memory effect, the brake comprises components 12 and 13 with mutual adsorption force, two ends of the driver 11 are respectively connected to the front leg structure 1 and the rear leg structure 2, and the components 12 and 13 of the brake are respectively and correspondingly fixed on the front leg structure 1 and the rear leg structure 2.
The overall structure of the micro robot according to the preferred embodiment is shown in fig. 2. After the front leg structure 1 and the rear leg structure 2 are connected through the connecting structure 3, the adhesive layer 7 becomes a connecting hinge joint, and the rear leg structure can rotate freely; there is an adsorption force between the assembly 12 of the brake mounted on the front leg structure 1 and the assembly 13 of the brake mounted on the rear leg structure 2 so that the front leg structure 1 and the rear leg structure 2 are fitted together; after the voltage is applied to the driver 11, the driver 11 generates deformation to generate driving force to drive the front leg structure 1 and the rear leg structure 2 to displace; however, because the front legs and the rear legs have braking structures, the brakes prevent the front legs and the rear legs from generating displacement and generate braking force; the driver 11 pulls the body structure, the stopper stops, the front leg and the rear leg structure deform, and energy is stored in the front leg and the rear leg in the form of elastic potential energy; the driver continuously deforms, the driving force is gradually increased, and when the driving force is larger than the maximum braking force which can be provided by the brake, the deformation of the front leg and the rear leg is released, namely the stored elastic potential energy is instantaneously released and converted into the initial kinetic energy of the robot; the kinetic energy is converted into gravitational potential energy, and the robot jumps up. The miniature bouncing robot adopting the design has excellent bouncing capability, can realize bouncing of more than several times of the height of the miniature bouncing robot, and has very flexible bouncing control.
In one embodiment, the front leg structure 1 has a width in the range of [4 mm, 20mm ].
In one embodiment, the front leg structure 1 has a length in the range of 20 mm, 80 mm.
In one embodiment, the front leg structure 1 is in the shape of a polygon with two elongated legs.
The slender legs can enable the front leg structure 1 and the rear leg structure to generate elastic deformation more easily when the front leg structure and the rear leg structure are subjected to force, and accumulation of elastic potential energy is achieved. The structure of the front leg and the rear leg can stabilize the posture of the micro-robot.
The above elongated legs are merely examples and may include other shaped structures such as triangular structures, fish tail structures, etc.
In one embodiment, the front leg structure 1 has a hollow structure, which is used to facilitate the fixing of the brake structure.
In an embodiment, the hollow structures of the front leg and the rear leg are hexagonal, circular, triangular or rectangular.
The above hollow structures are only examples, and can also include hollow arrays of other shapes, and related variations should fall within the protection scope of the present invention.
In addition, the diameter size of the graphic units (e.g., circles) in the hollowed-out structure ranges from [0.5 mm, 10 mm ].
In one embodiment, the rear leg elastic panel 5 has the same structure as the rear half of the front leg structure 1.
In one embodiment, the shape of the rear leg-pressing piece 6 is the same as the shape of the rear leg elastic piece 5 after the leg portion is removed.
In one embodiment, the rear leg elastic panel 5, the rear leg tuck 6, and the adhesive layer 7 all correspond in size to the front leg structure 1.
In one embodiment, the two connecting tabs 8, 9 are identical in shape.
In one embodiment, the two connecting tabs 8, 9 are trapezoidal in shape.
The above trapezoids are only examples, and can also comprise hollowed-out arrays with other shapes, and related variation cases should fall into the protection scope of the invention.
In an embodiment, the dimensions of the connecting pads 8, 9, the adhesive layer 10 correspond to the front leg structure 1.
In one embodiment, the actuator 11 is made as a spring structure, which can produce a large elastic displacement.
In one embodiment, the length of the actuator 11 ranges from 2 cm to 6cm, the length of the actuator being adapted to the length of the robot's torso.
In one embodiment, the diameter of the components 12, 13 of the brake is in the range of 0.5 mm, 3 mm, which is sized to accommodate the pore size of the rear leg structure 2 in accordance with the front leg structure 1.
In one embodiment, the front leg structure 1, the rear leg elastic sheet 5, the rear leg pressing sheet 6, and the connecting pressing sheets 8, 9 are made of elastic materials.
In one embodiment, the elastic material is a carbon fiber material.
In one embodiment, the elastomeric material has a thickness in the range of [50 microns, 500 microns ].
In one embodiment, the adhesive layer 7 is an adhesive film material.
In one embodiment, the adhesive film material is a double-sided PI tape.
In one embodiment, the adhesive film material has a thickness in the range of 10 microns, 200 microns.
In one embodiment, adhesive layer 10 is an adhesive material.
In one embodiment, the adhesive material is an acrylic tape.
In one embodiment, the adhesive layer has a thickness in the range of 10 microns, 200 microns.
In one embodiment, the spring driver 11 is a memory alloy material.
In one embodiment, the memory alloy material is a nickel titanium alloy.
In one embodiment, the memory alloy material has a diameter in the range of [20 microns, 200 microns ].
The memory alloy material is heated after passing through the current, and is deformed after being heated, and the deformation generates braking force to accumulate elastic potential energy, so that jump is realized.
In one embodiment, the components 12 and 13 of the brake are of a material that is attracted by an attractive force.
In one embodiment, the attractive structure may be a magnet. Of course, other structures or materials besides magnets, such as glue, electrostatic films, etc. may be included.
Manufacturing of miniature flexible robot
The steps of making the miniature flexible robot of an embodiment include:
bonding the rear leg elastic sheet and the rear leg pressing sheet respectively to form a complete rear leg structure;
bonding the upper and lower connecting press sheets to form a connecting structure;
connecting the rear leg structure to the front leg structure through a connecting structure to form a complete robot trunk;
bonding two ends of the braking structure to the front leg and the rear leg respectively;
And the brake structure is respectively arranged at the hollow structures of the front legs and the rear legs.
The driver is made of alloy material with shape memory effect; the brake is a device that can provide an adsorption force.
Referring to fig. 3 and fig. 4, the method for manufacturing the micro-robot of the present embodiment is shown in a flowchart of the method for manufacturing the micro-robot shown in fig. 4, and the method for manufacturing the micro-robot includes:
Step 401, sticking half of the adhesive layer 7 on the back leg elastic sheet 5, leaving a section of the adhesive layer to be non-sticking, aligning the back leg pressing sheet 6 with the back leg elastic sheet 5, and sticking the adhesive layer on the other side of the adhesive layer to complete a back leg structure;
step 404, aligning the connecting press piece 8 with one side of the elastic piece 5 of the rear leg, then attaching the connecting press piece 9 to one more end of the adhesive layer 7, and then aligning the connecting press piece 8 with the other side of the adhesive layer; the adhesive layer 10 is stuck on the surface of the elastic pressing sheet 8 to complete the connection of the connection 3 and the rear leg structure;
Step 403, adhering the front leg structure 1 and the rear leg structure 2 to the other surface of the adhesive layer 10 after aligning the gaps; completing the construction of a body structure;
Step 404, connecting two ends of the driver 11 into the holes of the front leg structure 1 and the rear leg structure 2 respectively; when the driver 11 is installed, the driver 11 is passed through the lower part of the robot body;
step 405, fitting the component 12 of the brake into the aperture of the head of the front leg structure 1; the assembly 13 of the brake is fitted into the aperture of the rear leg structure 2.
The foregoing is a further detailed description of the invention in connection with specific/preferred embodiments, and it is not intended that the invention be limited to such description. It will be apparent to those skilled in the art that several alternatives or modifications can be made to the described embodiments without departing from the spirit of the invention, and these alternatives or modifications should be considered to be within the scope of the invention. In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "preferred embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention.
Claims (10)
1. A miniature bouncing robot, comprising: a front leg structure, a rear leg structure, a connection structure, and a driving structure, the front leg structure and the rear leg structure being connected by the connection structure and enabling the rear leg structure to freely rotate with respect to the front leg structure, wherein the front leg structure includes a front leg elastic sheet, the rear leg structure includes a rear leg elastic sheet, the driving structure includes a driver having a shape memory function and a stopper having an adsorption force, the stopper adsorbs the front leg structure and the rear leg structure together to provide a braking force preventing displacement of the front leg elastic sheet and the rear leg elastic sheet, both ends of the driver are respectively fixed to the front leg elastic sheet and the rear leg elastic sheet, the driver is self-deformed to generate a driving force after a voltage is applied, energy is stored in the front leg elastic sheet and the rear leg elastic sheet in the form of elastic potential energy, when the driving force is greater than the maximum braking force which can be provided by the brake, the elastic potential energy is instantly released and converted into the jump starting energy of the robot, so that the robot jumps, the front end of the front leg elastic sheet is provided with two slender front legs, the rear end of the rear leg elastic sheet is provided with two slender rear legs, the rear leg structure further comprises a rear leg pressing sheet and a first adhesive layer, the rear leg elastic sheet and the rear leg pressing sheet are respectively adhered to the upper surface and the lower surface of the first adhesive layer, the connecting structure comprises an upper connecting pressing sheet and a second adhesive layer, the upper connecting pressing sheet and the rear leg elastic sheet are positioned on the same layer, the lower surface of the upper connecting pressing sheet is adhered to a part of the front end of the upper surface of the first adhesive layer, the upper surface of the upper connecting pressing sheet is adhered to the front leg elastic sheet through the second adhesive layer, the first adhesive layer becomes a hinge joint between the front leg structure and the rear leg structure.
2. The micro-pop-up robot of claim 1, wherein the connection structure further comprises a lower connection pad, the lower connection pad being positioned at the same layer as the rear leg pad, an upper surface of the lower connection pad being adhered to a front excess portion of a lower surface of the first adhesive layer.
3. The micro-pop-up robot of any one of claims 1 to 2, wherein the actuator is an alloy material having a shape memory effect.
4. The micro-pop-up robot of any one of claims 1 to 2, wherein at least a portion of the driver is formed as a spring structure.
5. The micro-bouncing robot of any one of claims 1 to 2, wherein the driver is disposed below the front leg structure and the rear leg structure, and two ends of the driver are respectively fixed at hollowed structures on the front leg elastic sheet and the rear leg elastic sheet.
6. The micro-bouncing robot of any one of claims 1 to 2, wherein the brake includes a first component and a second component having an adsorption force, the first component and the second component are respectively and correspondingly fixed on the front leg structure and the rear leg structure, the first component and the second component are respectively fixed at hollowed-out structures on the front leg elastic sheet and the rear leg elastic sheet, and the brake is a magnet adsorption structure, an adhesive adsorption structure or an electrostatic adsorption structure.
7. The micro-bouncing robot of any one of claims 1 to 2, wherein the main body shape of the front leg elastic piece and the rear leg elastic piece is a polygon.
8. The micro-bouncing robot of claim 7, wherein the main body shape of the front leg elastic piece is two trapezoids with the bottom butted, the main body shape of the rear leg elastic piece is the same as the lower half trapezoids of the front leg elastic piece, and the upper connecting pressing piece, the lower connecting pressing piece and the rear leg pressing piece are trapezoids, and the sizes of the upper connecting pressing piece, the lower connecting pressing piece and the rear leg pressing piece correspond to the front leg elastic piece and the rear leg elastic piece.
9. The micro-bouncing robot of any one of claims 1 to 2, wherein the front leg structure, the rear leg structure, and the connection structure are all made of an elastic material.
10. The micro-pop-up robot of claim 9, wherein the elastic material is a carbon fiber material, and the elastic material has a thickness of 50-500 microns; the thickness of the first adhesive layer and the second adhesive layer is 10 micrometers to 200 micrometers.
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| CN112550515B (en) * | 2020-12-29 | 2022-02-25 | 清华大学深圳国际研究生院 | Miniature jumping robot capable of controlling jumping direction |
| CN113650693B (en) * | 2021-09-23 | 2022-05-10 | 哈尔滨工业大学（深圳） | Miniature jumping device with aerial stable posture |
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| KR100746878B1 (en) * | 2005-12-29 | 2007-08-07 | 성균관대학교산학협력단 | Leg Mechanism of Quadruped Robot |
| CN107128385B (en) * | 2017-05-24 | 2019-02-26 | 电子科技大学 | A locust-like bouncing robot with leg linkage and buffering characteristics |
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