CN103465250B - Microrobot and mini mobile mechanism - Google Patents
Microrobot and mini mobile mechanism Download PDFInfo
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- CN103465250B CN103465250B CN201310412178.2A CN201310412178A CN103465250B CN 103465250 B CN103465250 B CN 103465250B CN 201310412178 A CN201310412178 A CN 201310412178A CN 103465250 B CN103465250 B CN 103465250B
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Abstract
The invention discloses a kind of microrobot and mini mobile mechanism, microrobot wherein specifically comprises following structure: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, be describedly somely micro-ly enough to array format arrangement.Microrobot structure of the present invention is simple, volume is little, energy consumption is low, capacity usage ratio is high, and it is large without electromagnetic interference, driving frequency adjustable extent.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of microrobot and the mini mobile mechanism based on this microrobot.
Background technology
Micro robot is little with its volume, the advantage such as maneuverability and economize energy, have broad application prospects in fields such as industrial detection, MEMS assembling, micro-operation, bioengineering and optical engineering, and become the hot fields of robot research gradually.
Existing micro robot generally includes and drives foot and the motor for driving sufficient motion to provide power.But the defect of this micro robot is, its energy consumption is high, easily generates heat, and adjustable frequency scope is little, there is the problems such as electromagnetic interference.Meanwhile, its driving foot of above-mentioned micro robot adopts the flexible foot of metal species and burr mostly, easily causes certain damage like this to contacting face.
Therefore, be necessary to provide a kind of microrobot overcoming the problems referred to above.
Summary of the invention
In view of this, the invention provides a kind of microrobot and mini mobile mechanism.
One of to achieve these goals, technical scheme provided by the invention is as follows:
A kind of microrobot, it comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, described some micro-array formats that is enough to are arranged, described piezoelectric ceramics can drive described flexible resonant body to produce resonance, at a resonant condition, described flexible resonant body produces standing wave, and the described some micro-foots being positioned at its side are vibrated, produce the active force driving the motion of described microrobot.
As a further improvement on the present invention, in described micro-sufficient array, micro-sufficient material is non-metallic material.
As a further improvement on the present invention, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
As a further improvement on the present invention, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
For realizing another goal of the invention above-mentioned, technical scheme provided by the invention is as follows:
A kind of mini mobile mechanism, it comprises some microrobots, described microrobot comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, described some micro-array formats that is enough to are arranged, and it is an entirety that the flexible resonant body of described some microrobots connects.
As a further improvement on the present invention, described flexible resonant body is one " time " font, and the equal symmetry of piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
As a further improvement on the present invention, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
As a further improvement on the present invention, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
As a further improvement on the present invention, described mini mobile mechanism also comprises power supply and controls drive circuit, and described power supply is that described piezoelectric ceramics is powered.
As a further improvement on the present invention, in described micro-sufficient array, micro-sufficient material is non-metallic material.
Compared with prior art, the invention has the beneficial effects as follows: microrobot structure of the present invention is simple, volume is little, energy consumption is low, capacity usage ratio is high, and it is large without electromagnetic interference, driving frequency adjustable extent.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the floor map of a detailed description of the invention of microrobot of the present invention;
Fig. 2 is the motion state schematic diagram under the piezoelectric ceramics of microrobot of the present invention has the first driving frequency situation.Wherein in order to clearly show the motion conditions of microrobot, also show in figure microrobot static time state.Particularly, A view be microrobot static time state, B view is the motion state of microrobot under the first driving frequency effect.And the direction of arrow represents the direction of motion of microrobot in figure;
Fig. 3 is the motion state schematic diagram under the piezoelectric ceramics of microrobot of the present invention has the second driving frequency situation, wherein in order to clearly show the motion conditions of microrobot, also show in figure microrobot static time state.Particularly, A view be microrobot static time state, C view is the motion state of microrobot under the second driving frequency effect.And the direction of arrow represents the direction of motion of microrobot in figure;
Fig. 4 is the schematic perspective view of a detailed description of the invention of mini mobile mechanism of the present invention.
In figure, the corresponding relation of correlation module and its label is as follows:
Flexible resonant body-10; Piezoelectric ceramics-20; Micro-foot-30; The flexible resonant body-201 connected as one.
Detailed description of the invention
The technical scheme of the microrobot that the embodiment of the present invention provides is as follows:
A kind of microrobot, it comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, be describedly somely micro-ly enough to array format arrangement.
Preferably, in described micro-sufficient array, micro-sufficient material is non-metallic material.
Preferably, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
Preferably, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
The technical scheme of the mini mobile mechanism that the embodiment of the present invention provides is as follows:
A kind of mini mobile mechanism, it comprises some microrobots, described microrobot comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, described some micro-array formats that is enough to are arranged, and it is an entirety that the flexible resonant body of described some microrobots connects.
Preferably, described flexible resonant body is one " time " font, and the equal symmetry of piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
Preferably, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
Preferably, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
Preferably, described mini mobile mechanism also comprises power supply and controls drive circuit, and described power supply is that described piezoelectric ceramics is powered.
Preferably, in described micro-sufficient array, micro-sufficient material is non-metallic material.
Technical scheme in the present invention is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, 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 embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
As shown in Figure 1, microrobot 100 of the present invention comprises flexible resonant body 10, is arranged at the piezoelectric ceramics 20 of above-mentioned flexible resonant body 10 side and is arranged at the position of the above-mentioned flexible resonant body 10 opposite side some micro-foot 30 corresponding with piezoelectric ceramics 20.Piezoelectric ceramics in the present invention is separated setting with micro-foot, thus the structure of microrobot is easy to miniaturized.
As a kind of embodiment, above-mentioned some micro-foots 30 are divided into two groups, and between two groups of micro-foots, tool is at regular intervals, and is relatively arranged on flexible resonant body 10.Correspondingly, micro-foot is often organized corresponding with a piezoelectric ceramics 20.In present embodiment, when above-mentioned piezoelectric ceramics 20 drives the flexible resonant body 10 of its side to carry out resonance as driving source, flexible resonant body 10, under the drive of excitation, produces standing wave thereon.Standing wave drives the two groups of micro-foots being arranged at flexible resonant body 10 opposite side to knock contact surface further, thus microrobot 100 moves.When above-mentioned micro-foot knocks contact surface, there is between micro-foot and contact surface an angle.According to the difference of the microrobot direction of motion, above-mentioned angle has different angle values.Meanwhile, the difference of the occasion of microrobot application, contact surface can be the tissue surface etc. in human body.
Preferably, above-mentioned micro-foot 30 is arranged with the array format of rule, is so conducive to the motion of micro-foot 30.Meanwhile, the material of micro-foot 30 is non-metallic material, such as photosensitive resin, ABS plastic etc.So, when micro-foot contacts with contact surface, can not scraping contact face.
Above-mentioned piezoelectric ceramics 20 can be specifically double piezoelectric plates structure, and above-mentioned bimorph specifically comprises the piezoelectric of two sheet and the metal material between above-mentioned two panels piezoelectric.Above-mentioned metal material, both as electrode, adds again the intensity of bimorph simultaneously.When above-mentioned bimorph is arranged in electric field, wherein a slice piezoelectric extends, and another sheet piezoelectric shortens, thus produces bending.
Piezoelectric ceramics 20 can also be stack pottery, wherein stacks pottery and is made up of some potsherds stacked.Setting like this, when applying after an electric field stacking pottery, it can have larger deformation quantity relative to layered ceramic.Thus stack the exportable larger active force of pottery, its frequency response is high.
Alternatively, piezoelectric ceramics 20 can also be earthenware, and this earthenware is tubular structure axisymmetricly, and it is divided into three parts or four parts, and after the electric field in applying one external world, every part can correspondingly produce the bending of space.
Below in conjunction with specific embodiment, the motion process of microrobot of the present invention is set forth.
As shown in Figure 2, above-mentioned piezoelectric ceramics 20 has the first driving frequency, when piezoelectric ceramics 20 drives flexible resonant body 10 resonance with above-mentioned first driving frequency, flexible resonant body 10 produces standing wave, under the effect of standing wave, micro-foot 30 knocks contact surface, and and tool first angle α between contact surface.Now, after micro-foot 30 is positioned at the corresponding crest location of the standing wave of generation, thus micro-foot knocks ground to oblique rear, and corresponding promotion robot travels forward.It should be noted that, above-mentioned in the present embodiment " oblique rear ", " forward " etc. are with the direction of motion shown in arrow in scheming for normative reference, and in definition figure, the direction of motion shown in arrow is front, and correspondingly, the opposite direction of arrow is rear.
As shown in Figure 3, change the driving frequency of piezoelectric ceramics 20, above-mentioned piezoelectric ceramics 20 has the second driving frequency, when piezoelectric ceramics 20 drives flexible resonant body 10 resonance with above-mentioned second driving frequency, flexible resonant body 10 produces standing wave, under the effect of standing wave, micro-foot 30 knocks contact surface, and and tool second angle β between contact surface.Now, before micro-foot 30 is positioned at the corresponding crest location of the standing wave of generation, thus micro-foot knocks ground to diagonally forward, and corresponding promotion robot moves backward.In the present embodiment, in definition figure, the direction of motion shown in arrow is rear, and correspondingly, the opposite direction of arrow is front.
As shown in Figure 4, the present invention also provides a kind of mini mobile mechanism 200, and this mini mobile mechanism 200 comprises above-mentioned some microrobots 100.As a kind of embodiment, it is an entirety 201 that the flexible resonant body 10 of above-mentioned some microrobots 100 connects, and connect for holistic flexible resonant body 201 is in one " time " font, in present embodiment, the piezoelectric ceramics 20 of some microrobots 100 is symmetrically distributed in the both sides of above-mentioned flexible resonant body 201, correspondingly, corresponding with piezoelectric ceramics 20 position micro-foot 30 is positioned at the opposite side of flexible resonant body 201.
As mentioned above, by applying the excitation of different frequencies to flexible resonant body, advance or the retrogressing of microrobot can be realized.Therefore, in an embodiment of mini mobile mechanism 200 of the present invention, when the piezoelectric ceramics 20 of microrobot 100 drives flexible resonant body 201 resonance with the first driving frequency, micro-foot 30 has the first angle with contact surface, now can realize the advance of mini mobile mechanism 200; When the piezoelectric ceramics 20 of microrobot 100 drives flexible resonant body 201 resonance with the second driving frequency, micro-foot 30 has the second angle with contact surface, now can realize the retrogressing of mini mobile mechanism 200.Its movement mechanism is set forth above, herein no longer repeated description.
Because above-mentioned microrobot 100 is symmetrically distributed in the both sides of above-mentioned flexible resonant body 201, thus the microrobot when side moves, and when the microrobot of opposite side is static, can realize turning to of mini mobile mechanism 200.In order to realize turning function, mini mobile mechanism also comprises power supply (not shown) and controls drive circuit (not shown), wherein, power supply is that piezoelectric ceramics 20 is powered, control drive circuit then for controlling the motion state of microrobot, its optionally control section microrobot motion, and remaining microrobot keeps static.In other embodiments, above-mentioned some microrobots can have different arrangement modes, and are not limited to the both sides being symmetrically distributed in flexible resonant body.Control the mode arranged evenly that drive circuit coordinates different microrobots, the motion mode that mini mobile mechanism is different can be realized.
Preferably, the micro-foot 30 in mini mobile mechanism 200 of the present invention adopts non-metallic material, such as photosensitive resin, ABS plastic etc.
In sum, microrobot structure of the present invention is simple, volume is little, energy consumption is low, capacity usage ratio is high, and it is large without electromagnetic interference, driving frequency adjustable extent.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through suitable conjunction, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (10)
1. a microrobot, it is characterized in that, described microrobot comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, described some micro-array formats that is enough to are arranged
Described piezoelectric ceramics can drive described flexible resonant body to produce resonance, at a resonant condition, described flexible resonant body produces standing wave, and the described some micro-foots being positioned at its side are vibrated, produce the active force driving the motion of described microrobot.
2. microrobot according to claim 1, is characterized in that, in described micro-sufficient array, micro-sufficient material is non-metallic material.
3. microrobot according to claim 1, is characterized in that, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
4. microrobot according to claim 1, is characterized in that, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
5. a mini mobile mechanism, it is characterized in that, described mini mobile mechanism comprises some microrobots, described microrobot comprises: flexible resonant body, be arranged at described flexible resonant body side piezoelectric ceramics and be arranged at the position of the described flexible resonant body opposite side some micro-foot corresponding with described piezoelectric ceramics, described some micro-array formats that is enough to are arranged, and it is an entirety that the flexible resonant body of described some microrobots connects.
6. mini mobile mechanism according to claim 5, is characterized in that, described flexible resonant body is one " time " font, and the equal symmetry of piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
7. mini mobile mechanism according to claim 5, is characterized in that, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described first driving frequency, has the first angle between described micro-foot and contact surface.
8. mini mobile mechanism according to claim 5, is characterized in that, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described second driving frequency, has the second angle between described micro-foot and contact surface.
9. mini mobile mechanism according to claim 5, is characterized in that, described mini mobile mechanism also comprises power supply and controls drive circuit, and described power supply is that described piezoelectric ceramics is powered.
10. mini mobile mechanism according to claim 5, is characterized in that, in described micro-sufficient array, micro-sufficient material is non-metallic material.
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| CN107351073B (en) * | 2017-07-31 | 2019-08-02 | 北京航空航天大学 | A kind of kinematic robot of vibratory drive |
| CN107986230B (en) * | 2017-12-07 | 2020-04-07 | 天津大学 | Preparation method of patterned bionic magnetic micro-nano robot |
| CN109773748B (en) * | 2019-03-13 | 2021-07-02 | 南方科技大学 | Micro robot |
| CN109848957B (en) * | 2019-03-20 | 2024-03-22 | 清华大学深圳研究生院 | Flexible micro-robot |
| CN113602466B (en) * | 2021-04-28 | 2022-07-15 | 电子科技大学 | Waterborne miniature flexible robot and control method |
| CN116442253B (en) * | 2023-02-13 | 2024-04-16 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
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| KR100402920B1 (en) * | 2001-05-19 | 2003-10-22 | 한국과학기술연구원 | Micro robot |
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| CN100344417C (en) * | 2005-06-29 | 2007-10-24 | 上海大学 | Minisize linear driver based on dimorphic crystal piezoelectric film |
| EP2142407B1 (en) * | 2007-04-13 | 2019-02-20 | Technion Research & Development Foundation Ltd. | Vibrating robotic crawler |
| CN101502959B (en) * | 2009-03-16 | 2010-09-08 | 哈尔滨工业大学 | Resonant vibration type microminiature robot travel mechanism |
| CN102649470B (en) * | 2011-02-28 | 2014-10-22 | 苏州大学 | Resonance-driven water surface mobile micro-robot |
| CN103182188B (en) * | 2011-12-30 | 2016-10-19 | 创首公司 | The climbing robot of vibratory drive |
| CN203527454U (en) * | 2013-09-11 | 2014-04-09 | 苏州大学张家港工业技术研究院 | Micro-robot and micro moving mechanism |
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Effective date of registration: 20170908 Address after: Suzhou City, Jiangsu province 215123 Xiangcheng District Ji Road No. 8 Patentee after: Soochow University Address before: Zhangjiagang mayor Jingyang Road Suzhou City, Jiangsu province 215600 No. 10 Patentee before: Zhangjiagang Institute of Industrial Technologies Soochow University |
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