The invention provides a memory alloy driving-based soft floating robot. The memory alloy driving-based soft floating robot comprises a multifunctional head part and at least three driving modules connected with the multifunctional head part, the multifunctional head part comprises a semicircular head part shell, a head part connecting plate connected with the head part shell, a signal transmitting function module, a power supply and a magnet, the signal transmitting function module and the power supply are arranged between the head part shell and the head part connecting plate, and the magnet is arranged at the center of the head part shell. Each driving module comprises two connecting plates, a spherical hinge structure arranged between the centers of the two connecting plates, and at least four memory alloy springs arranged between the two connecting plates at equal intervals, every two adjacent driving modules share one connecting plate, the connecting plate of the driving module connected with the multifunctional head part is a head connecting plate, and a soft shell is wrapped outside each driving module. The multiple joints swing in water, the size of the driving device is smaller, a power supply needing to be carried is smaller, and the overall mass of the robot can be reduced.
本发明提供一种基于记忆合金驱动的软体浮游机器人,包括多功能头部、与多功能头部连接的至少三个驱动模块,多功能头部包括半圆形的头部外壳、与头部外壳连接的头部连接板、设置在头部外壳与头部连接板之间的发射信号功能模块以及电源、设置在头部外壳中心处的磁铁,每个驱动模块包括两个连接板、设置在两个连接板中心之间的球铰结构、等间距设置在两个连接板之间的至少四个记忆合金弹簧,相邻两个驱动模块共用一个连接板,与多功能头部连接的驱动模块的连接板为头部连接板,在驱动模块外部包裹有软体外壳。本发明利用多个关节在水中摆动,驱动装置体积更小,需携带的供电电源也更小,有益于对机器人整体进行质量的减轻。
Memory alloy driving-based soft floating robot
基于记忆合金驱动的软体浮游机器人
2021-11-12
Patent
Electronic Resource
Chinese
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