CN102649470B - Resonance-driven water surface mobile micro-robot - Google Patents
Resonance-driven water surface mobile micro-robot Download PDFInfo
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- CN102649470B CN102649470B CN201110048154.4A CN201110048154A CN102649470B CN 102649470 B CN102649470 B CN 102649470B CN 201110048154 A CN201110048154 A CN 201110048154A CN 102649470 B CN102649470 B CN 102649470B
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- water surface
- robot
- surface mobile
- mobile robot
- miniature water
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Abstract
The invention discloses a resonance-driven water surface mobile micro-robot which comprises a robot base body, a support foot arranged at the bottom of the robot base body and a driving mechanism arranged on the robot base body, wherein the support foot is circular, and the periphery of the support foot is provided a radial burr structure; and the driving mechanism consists of piezoelectric ceramics sets which are connected with one another and a drained walking wire, and the piezoelectric ceramics sets are forced to vibrate and drive the walking wire to resonate after being motivated by an external signal. According to the resonance-driven water surface mobile robot, the piezoelectric ceramics sets are forced to vibrate and drive the drained walking wire to resonate, so that a walking wave is generated on the water surface, the walking wave applies a reverse action force to the whole robot, and the driving mechanism forwards run; therefore, the resonance-driven water surface mobile robot is simple in structure. By adopting the support foot with the radial burr structure, the resonance-driven water surface mobile robot can better use the surface tension. The macroscopic structure of the support foot is circular, and the support foot macroscopically has the shape similar to the burr, so that the surface tension of water can be abundantly used, and the load capacity can be improved.
Description
Technical field
The present invention relates to Robotics field, particularly the miniature water surface mobile robot of a kind of resonant drive.
Background technology
Microminiature water surface movable robot has broad application prospects in fields such as bioengineering, environmental monitoring, MEMSs.Microminiature water surface movable robot has traditional incomparable huge advantage of water surface movable mechanism, it utilizes the surface tension effects of piezoceramic resonant mode driving principle and the water surface to make the more advantages of simple of mechanism of whole robot, also in type of drive, has reached an innovation simultaneously.
At present, also there are a lot of scientific research institutions to be studied water surface movable robot both at home and abroad.School of Information Technology of Central University for Nationalities, a lot of work is being done by the dynamo-electric Vocationl Technical College in Computer Science and Technology Department of Tsing-Hua University intellectual technology and system National Key Laboratory and Hebei aspect Bionic water strider water surface robot.They have proposed to utilize slider-crank mechanism drive machines people's paddling leg in the water surface, to form the oval-shaped track of striking, and mechanism can be advanced.The design problem of overwater walking robot has been studied by BJ University of Aeronautics & Astronautics's automation science and electrical engineering institute, has proposed robot driving leg algorithm for design, provides the method for designing and the example that make us robot architecture, control system and software.Design and Implement a kind of employing Dual-motors Driving, by the robot waterborne of grand external signal remote control, and robot has been carried out to performance testing.The design of bionical overwater walking robot has all been studied by above scientific research institution, has adopted the sufficient structure of similar water skipper, and by mode controlled motion and the direction of striking.
1, the research of existing water surface robot, the topological structure single (linearity) of its supporting foot, effects on surface tension force utilize weak effect, load-carrying capacity is extremely low.
2, adopt the elliplicorbit of foot end to drive, must utilize motor or two piezoceramic interoperations, complex structure.
3, prior art adopts motor to drive more, is unfavorable for improving the reliability of mechanism and the micro-miniaturisation of robot.
Summary of the invention
In view of this, the invention provides the miniature water surface mobile robot of a kind of resonant drive, to improve the load-carrying capacity of robot.
For achieving the above object, the invention provides following technical scheme:
The miniature water surface mobile robot of a kind of resonant drive, comprising:
Robot matrix;
Be arranged on the supporting foot of described robot matrix bottom, this supporting foot be circle, and is arranged with radial burr structure at annulus outer;
Be arranged on the driver train on described robot matrix, it forms by interconnective piezoceramic group with through the walking silk of hydrophobic treatments, and described piezoceramic group is subject to the rear forced vibration of outward sign excitation and drives described walking silk resonance.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described robot matrix and described supporting foot are the one-piece construction being cut into by line.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described robot matrix and described supporting foot are made by stainless steel substrates.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described piezoceramic group is bonded in the afterbody of described robot matrix.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described driver train is at least two.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described supporting foot is four.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described burr structure comprises the some filaments that are distributed in annulus external diameter.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described burr structure is that 0.05～0.15mm is wide, and 4～8mm is long, is distributed in the filament of annulus external diameter with 30 degree angles.
Preferably, in the miniature water surface mobile robot of above-mentioned resonant drive, described walking silk is steel wire.
Can find out from above-mentioned technical scheme, the present invention can apply a signal excitation piezoceramic group to the miniature water surface mobile apparatus of resonant drive by wireless transmitter, utilize the forced vibration of piezoceramic to drive the walking silk generation resonance after hydrophobic treatments, to produce row ripple at the water surface, row ripple applies an opposition for robot entirety, driver train advances, and it is simple in structure.The present invention has the supporting foot of the burr structure of radiation by employing, effects on surface tension force utilize effect better.This supporting foot macro-structure is a circle, and microcosmic is burr class shape in addition, and to make full use of the surface tension of water, load-carrying capacity is improved.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The miniature water surface mobile robot of the resonant drive body that Fig. 1 provides for the embodiment of the present invention overlook structural scheme of mechanism;
The miniature water surface mobile robot of the resonant drive body that Fig. 2 provides for the embodiment of the present invention overlook structural scheme of mechanism;
The miniature water surface mobile robot of resonant drive that Fig. 3 provides for the embodiment of the present invention overlooks structural scheme of mechanism.
Detailed description of the invention
The invention discloses the miniature water surface mobile robot of a kind of resonant drive, to improve the load-carrying capacity of robot.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1-Fig. 3, the miniature water surface mobile robot of the resonant drive body that Fig. 1 provides for the embodiment of the present invention overlook structural scheme of mechanism; The miniature water surface mobile robot of the resonant drive body that Fig. 2 provides for the embodiment of the present invention overlook structural scheme of mechanism; The miniature water surface mobile robot of resonant drive that Fig. 3 provides for the embodiment of the present invention overlooks structural scheme of mechanism.
The miniature water surface mobile robot of resonant drive provided by the invention, comprises robot matrix 1, supporting foot 2 and driver train.Wherein, robot matrix 1 is the miniature water surface mobile robot's of resonant drive load bearing component, supporting foot 2 is arranged on the bottom of robot matrix 1, this supporting foot 2 is circular, and outside it, be arranged with radial burr structure, supporting foot 2 utilizes the tension force of water surface that water surface movable robot is swum on the water surface.Driver train is arranged on robot matrix 1, it forms by interconnective piezoceramic group 3 with through the walking silk 4 of hydrophobic treatments, wherein walking silk 4 can be preferably finer wire and also can be other metal filaments or nonmetal wire, described piezoceramic group 3 is subject to the rear forced vibration of outward sign excitation and drives described walking silk 4 resonance, make walking silk 4 produce row ripple at the water surface, row ripple applies an opposition for robot entirety, and drive machines people advances.Can utilize two or the more cooperation of walking silk 4, control left and right turn.
The present invention can apply a signal excitation piezoceramic group 3 to the miniature water surface mobile apparatus of resonant drive by wireless transmitter, utilize the forced vibration of piezoceramic to drive the walking silk 4 after hydrophobic treatments that resonance occurs, to produce row ripple at the water surface, row ripple applies an opposition for robot entirety, driver train advances, its structure is simpler, and cost is lower.The present invention has the supporting foot 2 of the burr structure of radiation by employing, effects on surface tension force utilize effect better.These supporting foot 2 macro-structures are a circle, and microcosmic is burr class shape in addition, and to make full use of the surface tension of water, load-carrying capacity is improved.
Robot matrix 1 and the one-piece construction of described supporting foot 2 for being cut into by line.Be that robot matrix 1 and supporting foot 2 use line cutting technologies are made, its two as a whole, at collapsible 90 degree in the v middle part of supporting foot 2 so that its surface all contacts with horizontal surface, raising load-carrying capacity.Robot matrix 1 and described supporting foot 2, by making by stainless steel substrates, specifically can adopt the stainless steel substrates of 0.1mm thickness, all can be used for making machine people matrix 1 as long as meet any thickness of its floating condition.
Piezoceramic group 3 can be bonded in the afterbody of described robot matrix 1, advances rear portion drive machines people by the walking silk 4 being connected with piezoceramic group 3.Driver train can be at least two, is separately positioned on the both sides of robot matrix 1 afterbody, by the accurate control to each driver train, reaches the object turning to.Supporting foot 2 can be four, also can be other quantity, is carried as target stablizing, and can stablize on the basis of carrying, and the quantity that supporting foot 2 designs is more few better, can reduce the friction force of itself and the water surface, improves kinematic velocity.
Employing has the supporting foot 2 of macro-micro dual structure, effects on surface tension force utilize effect better, this supports macro-structure of 2 is an annular arrangement, in addition burr class shape of microcosmic, to make full use of the surface tension of water.Burr structure can comprise some filaments of the annulus external diameter that is distributed in macro-structure, and by experiment, microcosmic burr structure provided by the invention is that 0.05～0.15mm is wide, 4～8mm is long, be distributed in the filament of annulus external diameter with 30 degree angles, similarly microcosmic capillary structure, also can reach approximate effect.
For the structure design of supporting foot, we have carried out some specific aim experiments in earlier stage, and main purpose is to search out a kind of sufficient type of capillary optimum that can make full use of water.Specific as follows:
Table 1 supporting foot contrast table
Visible, the load-carrying capacity of the supporting foot of macro-micro dual structure provided by the invention is the highest, has outstanding advantage compared to general linear pattern and loop configuration.
In this specification sheets, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. the miniature water surface mobile robot of resonant drive, is characterized in that, comprising:
Robot matrix (1);
Be arranged on the supporting foot (2) of described robot matrix (1) bottom, this supporting foot (2) is circular, and outside it, is arranged with radial burr structure;
Be arranged on the driver train on described robot matrix (1), it forms by interconnective piezoceramic group (3) with through the walking silk (4) of hydrophobic treatments, and described piezoceramic group (3) is subject to the rear forced vibration of outward sign excitation and drives described walking silk (4) resonance.
2. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described robot matrix (1) and described supporting foot (2) one-piece construction for being cut into by line.
3. the miniature water surface mobile robot of resonant drive as claimed in claim 2, is characterized in that, described robot matrix (1) and described supporting foot (2) are made by stainless steel substrates.
4. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described piezoceramic group (3) is bonded in the afterbody of described robot matrix (1).
5. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described driver train is at least two.
6. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described supporting foot (2) is four.
7. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described burr structure comprises the some filaments that are distributed in annulus external diameter.
8. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described burr structure is that 0.05～0.15mm is wide, and 4～8mm is long, is distributed in the filament of annulus external diameter with 30 degree angles.
9. the miniature water surface mobile robot of resonant drive as claimed in claim 1, is characterized in that, described walking silk (4) is steel wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110048154.4A CN102649470B (en) | 2011-02-28 | 2011-02-28 | Resonance-driven water surface mobile micro-robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110048154.4A CN102649470B (en) | 2011-02-28 | 2011-02-28 | Resonance-driven water surface mobile micro-robot |
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| CN102649470A CN102649470A (en) | 2012-08-29 |
| CN102649470B true CN102649470B (en) | 2014-10-22 |
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| CN201110048154.4A Expired - Fee Related CN102649470B (en) | 2011-02-28 | 2011-02-28 | Resonance-driven water surface mobile micro-robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103465250B (en) * | 2013-09-11 | 2016-03-02 | 苏州大学张家港工业技术研究院 | Microrobot and mini mobile mechanism |
| CN112339957A (en) * | 2020-10-12 | 2021-02-09 | 东北电力大学 | Modal-driven water strider type bionic robot |
| CN113602466B (en) * | 2021-04-28 | 2022-07-15 | 电子科技大学 | Waterborne miniature flexible robot and control method |
Citations (6)
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| JPH06135383A (en) * | 1992-10-23 | 1994-05-17 | Mitsubishi Heavy Ind Ltd | Propulsion device of submerged moving body |
| CN1604451A (en) * | 2004-11-03 | 2005-04-06 | 大连理工大学 | Dual resonance frequency driving method of magnetic mini travel robot |
| CN2693434Y (en) * | 2003-06-24 | 2005-04-20 | 浙江大学 | Polliwog and spiral imitating blood vessel robot |
| CN1673033A (en) * | 2004-03-25 | 2005-09-28 | 周慧琳 | Propelling method and device based on interaction of interface travelling wave |
| CN101502959A (en) * | 2009-03-16 | 2009-08-12 | 哈尔滨工业大学 | Resonant vibration type microminiature robot travel mechanism |
| CN101817395A (en) * | 2010-01-15 | 2010-09-01 | 清华大学 | Remote-control electric overwater walking robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040087223A1 (en) * | 2002-05-22 | 2004-05-06 | Mullings Lester Earl | Vibrational water mover (V.W.M.) |
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2011
- 2011-02-28 CN CN201110048154.4A patent/CN102649470B/en not_active Expired - Fee Related
Patent Citations (6)
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|---|---|---|---|---|
| JPH06135383A (en) * | 1992-10-23 | 1994-05-17 | Mitsubishi Heavy Ind Ltd | Propulsion device of submerged moving body |
| CN2693434Y (en) * | 2003-06-24 | 2005-04-20 | 浙江大学 | Polliwog and spiral imitating blood vessel robot |
| CN1673033A (en) * | 2004-03-25 | 2005-09-28 | 周慧琳 | Propelling method and device based on interaction of interface travelling wave |
| CN1604451A (en) * | 2004-11-03 | 2005-04-06 | 大连理工大学 | Dual resonance frequency driving method of magnetic mini travel robot |
| CN101502959A (en) * | 2009-03-16 | 2009-08-12 | 哈尔滨工业大学 | Resonant vibration type microminiature robot travel mechanism |
| CN101817395A (en) * | 2010-01-15 | 2010-09-01 | 清华大学 | Remote-control electric overwater walking robot |
Non-Patent Citations (2)
| Title |
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| 一种仿水黾新型水上行走机器人的研究;张兆隆等;《机械传动》;20080630;第32卷(第3期);全文 * |
| 水上行走机器人;吴立成等;《机器人》;20100531;第32卷(第3期);第443-448页 * |
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