CN104022680A - Inchworm bionic device - Google Patents
Inchworm bionic device Download PDFInfo
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- CN104022680A CN104022680A CN201410243058.9A CN201410243058A CN104022680A CN 104022680 A CN104022680 A CN 104022680A CN 201410243058 A CN201410243058 A CN 201410243058A CN 104022680 A CN104022680 A CN 104022680A
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Abstract
The invention discloses an inchworm bionic device which aims to solve the problems that in the prior art, an existing inchworm bionic device is large in size, low in positioning accuracy, difficult to process, high in requirement for the working environment, large in friction and small in route and has a single degree of freedom. The inchworm bionic device comprises a first supporting part, a fourth piezoelectric stack, a second supporting part, a third supporting part, a first direction control part, a fifth piezoelectric stack and a second direction control part. The right end of the second supporting part is fixedly connected with a screw at the left end of the fifth piezoelectric stack. The right end of the fifth piezoelectric stack is fixedly connected with a screw at the left end of the first direction control part. The right end of the first direction control part is fixedly connected with a screw at the left end of the third supporting part. The left end of the second supporting part is fixedly connected with a screw at the right end of the fourth piezoelectric stack. The left end of the fourth piezoelectric stack is fixedly connected with a screw at the right end of the second direction control part. The left end of the second direction control part is fixedly connected with the right end of the first supporting part.
Description
Technical field
The present invention relates to a kind of mobile device in microminiature moving device field, or rather, the present invention relates to a kind of looper bionic device.
Background technology
Along with the mankind's going deep into for microscopic fields research, especially more and more higher to installing the requirement of microminiaturization and accurate displacement in the fields such as ultraprecise processing, microrobot, traditional type of drive drives as motor, and macroscopical large scale drive unit such as Electromagnetic Drive can not meet its requirement.Piezoelectric actuator is little with its volume at present, the advantage that precision is high obtains studying very widely application, but many problems all do not have real being resolved at present, traditional creeping-type Bionic inchworm Piexoelectric actuator provides frictional force by clamper mechanism, for operational environment, service pipe internal diameter requires harsh, cannot widespread adoption, and drive piezoelectric stack and clamper piezoelectric stack to be all assembled on mover, cause mover inside to have many power lines to draw, in work, certainly will affect its kinematic accuracy and kinetic stability, many groups flexible hinge simultaneously that design on mover, also certainly will reduce mover self rigidity, in work, easily produce additional deformation.And most of Piexoelectric actuator can only be realized the rectilinear motion mode of two-freedom, cannot adapt to the multifreedom motion mode under complex environment.
Summary of the invention
Technical problem to be solved by this invention be overcome that prior art exists that positioning precision is low, device volume is large, the single degree of freedom, processing difficulties, high to operational environment requirement, there is larger friction and the little problem of stroke, looper bionic device is provided.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described looper bionic device comprises No. 1 support section, No. 4 piezoelectric stacks, No. 2 support sections, No. 3 support sections, No. 1 direction control section, No. 5 piezoelectric stacks and No. 2 direction control sections.
The right-hand member of No. 2 support sections is fixedly connected with the left end of No. 5 piezoelectric stacks, and the right-hand member of No. 5 piezoelectric stacks is fixedly connected with the left end of No. 1 direction control section, and the right-hand member of No. 1 direction control section is fixedly connected with the left end of No. 3 support sections; The left end of No. 2 support sections is fixedly connected with the right-hand member of No. 4 piezoelectric stacks, and the left end of No. 4 piezoelectric stacks is fixedly connected with the right-hand member of No. 2 direction control sections, and the left end of No. 2 direction control sections is fixedly connected with the right-hand member of No. 1 support section.
The right-hand member of No. 2 support sections described in technical scheme is fixedly connected with and refers to the left end of No. 5 piezoelectric stacks: the left pedestal of No. 5 piezoelectric stacks aligns with the foursquare protruding block of No. 2 mass right-hand members in No. 2 support sections, adopts the fixedly steel disc that upper and lower two chip architectures are identical to be fixedly connected with screw.
The right-hand member of No. 5 piezoelectric stacks described in technical scheme is fixedly connected with the left end of No. 1 direction control section, the right-hand member of No. 1 direction control section is fixedly connected with and refers to the left end of No. 3 support sections: the steel sheet spring that described No. 1 direction control section all posts flexural piezoelectric sheet by two two sides forms, the two ends of two steel sheet springs are respectively provided with two screwing through hole, the be placed in both sides, front and back of No. 5 piezoelectric stack right-hand members and the screw of No. 5 piezoelectric stack right-hand member front/rear ends of the left end of two steel sheet springs aligns and adopts and be screwed, the right-hand member screw of two leaf springs of No. 1 direction control section aligns and adopts with the screw of No. 1 contiguous block front/rear end and is screwed.
No. 1 support section described in technical scheme is comprised of No. 1 mass, No. 1 piezoelectric stack, No. 1 chassis, No. 4 steel sheet springs and No. 5 steel sheet springs.The main body of No. 1 described mass is the hardware of a solid cylindrical, the bottom, main body right side of No. 1 mass is provided with a square protruding block, tubular main body and square protruding block bottom surface are coplanar, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom surface of No. 1 mass main body is provided with 4 tapped blind holes.The center on No. 1 described chassis is distributed with the rosette in 4 sunk screw holes.No. 4 described steel sheet springs are the rectangle steel disc that structure is identical with No. 5 steel sheet springs, and the left end of No. 4 steel sheet springs and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes; The screw of No. 4 steel sheet springs and No. 5 steel sheet spring left ends aligns and adopts with the square protruding block end face on No. 1 mass right side and the screw of bottom surface and is screwed, the top of No. 1 piezoelectric stack is connected with the bottom surface bolt of No. 1 mass main body, and on No. 1 chassis, align and adopt with 4 screws of No. 1 piezoelectric stack bottom and be screwed in 4 sunk screw holes.
No. 1 piezoelectric stack described in technical scheme is by 20 Copper Foils that are pasted with piezoelectric ceramic piece successively upper and lower stacked being bonded, be that a side of every Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue bonding, the another side of piezoelectric ceramic piece adopts a side of bonding another sheet Copper Foil of insulation glue, the Copper Foil of 20 bonding piezoelectric ceramic pieces in side adopts the stacked piezoelectric stack that is bonded into of insulation glue by that analogy, every piezoelectric ceramic piece connects wire connecting electrode a, every Copper Foil connects wire connecting electrode b, the gluing square bottom face in bottom of piezoelectric stack is provided with the pedestal of four screws, the brace that is provided with four screws of the top of piezoelectric stack and a rectangle is gluing, the whole epoxy encapsulation that adopts of piezoelectric stack.
No. 1 support section described in technical scheme is identical with No. 3 support section structures, and No. 4 piezoelectric stack is identical with No. 5 piezoelectric stack structures, and No. 1 direction control section is identical with No. 2 direction control section structures.
No. 4 piezoelectric stacks described in technical scheme are by 25 Copper Foils that are pasted with piezoelectric ceramic piece successively upper and lower stacked being bonded, be that a side of every Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue bonding, the another side of piezoelectric ceramic piece adopts a side of bonding another sheet Copper Foil of insulation glue, the Copper Foil of 25 bonding piezoelectric ceramic pieces in side adopts the stacked piezoelectric stack that is bonded into of insulation glue by that analogy, every piezoelectric ceramic piece connects wire connecting electrode a, every Copper Foil connects wire connecting electrode b, the gluing square both sides end face in piezoelectric stack bottom is provided with the bottom base of four screws, the gluing square both sides end face in piezoelectric stack top is provided with the top base of four screws, four screws on top base and four screws on bottom base are all in couples and are oppositely arranged, four screws on top base and four screws on bottom base differ 90 °, the whole epoxy encapsulation that adopts of piezoelectric stack.
No. 2 support sections described in technical scheme are comprised of No. 2 masses, No. 2 piezoelectric stacks and No. 2 chassis.The main body of No. 2 described masses is a solid cylindrical hardware, the two ends, left and right of No. 2 mass main bodys respectively arrange a square protruding block, the top end face of the protruding block that two ends are square and bottom surface are respectively provided with two screws, and the bottom surface of No. 2 mass main bodys is provided with 4 tapped blind holes; The main body of the main body of No. 2 masses and No. 1 mass in No. 1 support section is identical with No. 3 mass block structures in No. 3 support sections.No. 2 piezoelectric stack is identical with No. 3 piezoelectric stack structures in No. 3 support sections with No. 1 piezoelectric stack in No. 1 support section.No. 2 chassis is identical with No. 3 chassis structures in No. 3 support sections with No. 1 chassis in No. 1 support section.No. 2 mass is connected with the brace screw on No. 2 piezoelectric stack tops, and the bottom base of No. 2 piezoelectric stacks is connected with No. 2 chassis screws.
Compared with prior art the invention has the beneficial effects as follows:
1. looper bionic device of the present invention adopts piezoelectric stack as drive unit, has structure small, can export larger power and displacement, and the feature that bearing capacity is strong drives step-length to reach micron level, can realize high accurancy and precision displacement.
2. looper bionic device core component quantity of the present invention is few, simple in structure, has reduced manufacturing cost, and whole apparatus structure is small, can be applied to various complex environments.
3. looper bionic device of the present invention utilizes the piezoelectric effect of piezoelectric stack, by apply the dither that high frequency voltage is realized it to piezoelectric stack, makes it as the drive source of dither, has stability of vibration high, the advantage that energy conversion efficiency is high.
3. looper bionic device of the present invention, by changing piezoelectric actuator control program, can be realized looper bionic device step pitch different, the micrometric displacement action that frequency is different.
4. looper bionic device of the present invention adopts dither antifriction control method, and support section and the friction between contact-making surface during dither are little, significantly reduce the frictional dissipation of looper bionic device.
5. the piezoelectric stack of looper bionic device of the present invention and air contact area are large, are conducive to heat radiation, and repeatedly test shows that driver is without obvious temperature rise for a long time, effectively the lifting device life-span.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the axonometric projection view that looper bionic device structure of the present invention forms;
Fig. 2 is No. 4 piezoelectric stacks of looper bionic device of the present invention and the schematic diagram of No. 5 piezoelectric stack structure compositions;
Fig. 3 is No. 4 piezoelectric stacks of looper bionic device of the present invention and the axonometric projection view of No. 5 piezoelectric stack structure compositions;
Fig. 4 is the schematic diagram of No. 1 piezoelectric stack of looper bionic device of the present invention, No. 2 piezoelectric stacks and No. 3 piezoelectric stack structure compositions;
Fig. 5 is the axonometric projection view of No. 1 piezoelectric stack of looper bionic device of the present invention, No. 2 piezoelectric stacks and No. 3 piezoelectric stack structure compositions;
Fig. 6 is the axonometric projection view that No. 1 support section structure of looper bionic device of the present invention forms;
Fig. 7 is the axonometric projection view that No. 1 direction control section structure of looper bionic device of the present invention forms;
Fig. 8 is the axonometric projection view that No. 1 mass block structure of looper bionic device of the present invention forms;
Fig. 9 is the axonometric projection view of No. 2 support sections of looper bionic device of the present invention and the annexation of No. 4 piezoelectric stacks and No. 5 piezoelectric stacks;
In figure: No. 1.1 masses, No. 2.1 piezoelectric stacks, No. 3.1 chassis, No. 4.1 support sections, No. 5.1 flexural piezoelectric sheets, No. 6.4 piezoelectric stacks, No. 7.2 piezoelectric stacks, No. 8.2 chassis, No. 9.2 support sections, 10.1 number steel sheet spring, No. 11.2 flexural piezoelectric sheets, 12.1 number contiguous block, 13.3 number support section, 14.3 number chassis, 15.3 number piezoelectric stack, 16.3 number mass, 17.2 number steel sheet spring, No. 18.1 direction control sections, 19.5 number piezoelectric stack, No. 20.1 connection steel discs, 21.2 number mass, No. 22.2 connection steel discs, 23.3 number steel sheet spring, No. 24.2 direction control sections, 25.2 number contiguous block, 26.4 number steel sheet spring.
Embodiment
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1, looper bionic device of the present invention is mainly comprised of 24, No. 4 piezoelectric stacks 6 of 18, No. 2 direction control sections of 13, No. 1 direction control section of 9, No. 3 support sections of 4, No. 2 support sections of No. 1 support section and No. 5 piezoelectric stacks 19.
Consult Fig. 6, No. 1 described support section 4 is comprised of No. 1 mass 1, No. 1 piezoelectric stack No. 3,4,2, No. 1 chassis steel sheet spring 26 and No. 5 steel sheet springs,
Consult Fig. 8, the main body of No. 1 mass 1 is the hardware of a solid cylindrical, the bottom, main body right side of No. 1 mass 1 is provided with a square protruding block, cylindrical main body and square protruding block bottom surface are coplanar, the top end face of square and bottom surface are respectively provided with two screws, the bottom surface of No. 1 mass 1 main body is provided with 4 tapped blind holes, and 4 tapped blind holes of the bottom part body of No. 1 mass 1 align and fix by screw with 4 screws of No. 1 piezoelectric stack 2 top end faces.
Consult Fig. 4 and Fig. 5, No. 1 described piezoelectric stack 2 is by 20 Copper Foils that are pasted with piezoelectric ceramic piece successively stacked forming, one side of one side of every Copper Foil and a slice piezoelectric ceramic piece adopts conductive glue bonding, the another side of piezoelectric ceramic piece is by a side of bonding another sheet Copper Foil of the glue that insulate, by that analogy that the Copper Foil of 20 bonding piezoelectric ceramic pieces in side is stacked bonding, from every piezoelectric ceramic piece, draw wire and wire parallel connection is accessed to electrode a, from every Copper Foil, draw wire parallel connection and access electrode b, just becoming piezoelectric stack; The piezoelectric stack bottom just becoming connects by gluing mode the pedestal that a square bottom face is provided with four screws, top connects the brace that is provided with four screws of a rectangle by gluing mode, finally adopt epoxy resin to carry out overall package to piezoelectric stack, make piezoelectric stack 2 No. 1.
Described No. 1 chassis 3 is for being distributed with the rosette in 4 sunk screw holes, No. 4 steel sheet springs 26 in No. 1 support section 4 are the rectangle steel disc that structure is identical with No. 5 steel sheet springs, No. 4 steel sheet springs 26 and No. 5 steel sheet springs are flatly placed up and down symmetrically, the left end of No. 4 steel sheet springs 26 and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes, the screw of No. 4 steel sheet springs 26 and No. 5 steel sheet spring left ends aligns and adopts with the square protruding block end face on No. 1 mass 1 right side and the screw of bottom surface and is screwed, the screw of No. 4 steel sheet springs 26 and No. 5 steel sheet spring right-hand members aligns and adopts with the end face of No. 2 contiguous blocks 25 and the screw of bottom surface and is screwed, on No. 1 chassis 3, align and adopt sunk screw to fix with 4 screws of No. 1 piezoelectric stack 2 bottom surfaces in 4 sunk screw holes.
No. 2 support section 9 is comprised of 21, No. 2 piezoelectric stacks 7 of No. 2 masses and No. 2 chassis 8, the main body of No. 2 masses 21 is a solid cylindrical hardware, the two ends, left and right of No. 2 mass 21 main bodys are respectively provided with a square protruding block, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom of No. 2 mass 21 main bodys is provided with 4 tapped blind holes.
No. 2 piezoelectric stack 7 is identical with in No. 1 piezoelectric stack 2 structures, No. 2 chassis 8 is identical with in No. 1 chassis 3 structures, on No. 2 chassis 8, align and adopt sunk screw to fix with 4 screws on No. 2 piezoelectric stack 7 bottom surfaces in 4 sunk screw holes, and 4 screws of the main body bottom face of No. 2 masses 21 align and adopt with 4 screws of No. 2 piezoelectric stack 7 top end faces and are screwed.
No. 3 support section 13 is comprised of No. 3 masses 16, No. 3 piezoelectric stacks No. 14,2,15, No. 3 chassis steel sheet spring 17 and No. 6 steel sheet springs, the main body of No. 3 masses 16 is a solid cylindrical hardware, its left side is provided with a square boss piece, the top end face of square boss piece and bottom surface are respectively provided with two screws, and the bottom part body of No. 2 masses 21 is provided with 4 tapped blind holes.
No. 3 piezoelectric stack 15 is identical with the structure of No. 1 piezoelectric stack 2, the structure on No. 3 chassis 14 is identical with the structure on No. 1 chassis 3, No. 2 steel sheet springs 17 and No. 6 steel sheet springs are structure identical rectangular steel disc, No. 2 steel sheet springs 17 and No. 6 steel sheet springs are flatly placed up and down symmetrically, the left end of No. 2 steel sheet springs 17 and No. 6 steel sheet springs and right-hand member are respectively provided with two screws, the screw of No. 2 steel sheet springs 17 and No. 6 steel sheet spring right-hand members aligns and adopts with the screw of bottom surface with the square boss piece top end face in No. 3 mass 16 left sides and is screwed, the screw of No. 2 steel sheet springs 17 and No. 6 steel sheet spring left ends aligns and adopts with the end face of No. 1 contiguous block 12 and the screw of bottom surface and is screwed, on No. 3 chassis 14, align and adopt sunk screw to fix with 4 screws on No. 3 piezoelectric stack 15 bottom surfaces in 4 sunk screw holes, 4 screws on No. 3 mass 16 main body bottom surfaces align and adopt with 4 screws of No. 3 piezoelectric stack 15 top end faces and are screwed.
When to support section piezoelectric stack in addition during the voltage of appropriate frequency and amplitude, piezoelectric stack is made dither, utilizes the antifriction effect of support section dither, reduces the support section of dither and the friction of contact-making surface when motion.
Consult Fig. 2 and Fig. 3, described No. 4 piezoelectric stacks 6 are by 25 Copper Foils that are pasted with piezoelectric ceramic piece successively upper and lower stacked forming, be that a side of every Copper Foil and a side of a slice piezoelectric ceramic piece adopt conductive glue bonding, the another side of piezoelectric ceramic piece adopts a side of bonding another sheet Copper Foil of insulation glue, by that analogy the Copper Foil employing of 25 bonding piezoelectric ceramic pieces in side being insulated, glue is stacked to be bonded together, from every piezoelectric ceramic piece, draw wire and wire parallel connection is accessed to electrode a, from every Copper Foil, draw wire parallel connection and access electrode b, just become piezoelectric stack, the piezoelectric stack bottom just becoming connects by gluing mode the left pedestal that a square both sides end face is provided with four screws, top connects by gluing mode the right pedestal that a square both sides end face is provided with four screws, four screws on left pedestal and four screws on right pedestal are all in couples and are oppositely arranged, four screws on left pedestal and four screws on right pedestal differ 90 °, finally adopt epoxy resin to carry out overall package to piezoelectric stack, make piezoelectric stack 6 No. 4.
No. 4 piezoelectric stack 6 right-hand members align with No. 2 foursquare protruding blocks of mass 21 left end, adopt the fixedly steel disc that upper and lower two chip architectures are identical to be fixedly connected with screw, the left end screw of No. 4 piezoelectric stacks 6 aligns and adopts screw to be fixedly connected with the right-hand member screw of No. 2 direction control sections 24.
Consult Fig. 9, the structure of No. 5 piezoelectric stacks 19 is identical with the structure of No. 4 piezoelectric stacks 6, the left end of No. 5 piezoelectric stacks 19 aligns and adopts the fixedly steel disc that upper and lower two chip architectures are identical to be fixedly connected with screw with No. 2 foursquare protruding blocks of mass 21 right-hand member, and the right-hand member screw of No. 5 piezoelectric stacks 19 aligns and adopts with the left end screw of No. 1 direction control section 18 and is screwed.
When applying fixed voltage to piezoelectric stack, the piezoelectric effect of piezoelectric stack is extended piezoelectric stack, makes looper bionic device move a step-length, and looper bionic device moving step length is consistent with piezoelectric stack extended length.
Consult Fig. 7, described No. 2 direction control sections 24 are comprised of No. 3 steel sheet springs 23 and No. 7 steel sheet springs, No. 3 steel sheet springs 23 are the rectangle steel flat spring that a two sides is all pasted with No. 1 flexural piezoelectric sheet 5, the flexural piezoelectric sheet that the model that No. 1 flexural piezoelectric sheet 5 Wei Xin Science and Technology Ltd.s' tomorrow that adopt produce is CMBP01, No. 7 steel sheet spring is identical with the structure of No. 3 steel sheet springs 23, the two ends of two steel sheet springs are respectively provided with two screwing through hole, the both sides, front and back that the right-hand member of two steel sheet springs is placed in respectively No. 4 piezoelectric stack 6 left ends are adopted and are screwed, two longitudinal line of symmetries of steel sheet spring are horizontal, two steel sheet springs are vertically placed, the lateral symmetry line of two steel sheet springs is perpendicular to horizontal direction, the left end screw of two leaf springs of No. 2 direction control sections 24 aligns and adopts with the screw of No. 2 contiguous block 25 fore-and-aft directions and is screwed, the screw of the right-hand member of No. 2 direction control sections 24 aligns and adopts with the screw of the left end fore-and-aft direction of No. 4 piezoelectric stacks 6 and is screwed.
No. 1 direction control section 18 is identical with No. 2 direction control section 24 structures, the right-hand member screw of two steel sheet springs in No. 1 direction control section 18 (No. 1 steel sheet spring 10 with No. 8 steel sheet springs) aligns and adopts with the screw on No. 1 contiguous block 12 front/rear ends and is screwed, and the screw of two steel sheet spring left ends of No. 1 direction control section 18 aligns and adopts with screw on No. 5 piezoelectric stack 19 right-hand member front/rear ends and is screwed.
The course of work of looper bionic device of the present invention is as follows:
High-frequency driving voltage is provided to No. 1 piezoelectric stack 2, make No. 1 support section 4 realize dither, to No. 4 piezoelectric stacks 6, apply fixed voltage simultaneously, No. 4 piezoelectric stack 6 length are increased, No. 1 support section 4 of promotion in dither state moves forward, and stops applying high-frequency driving voltage to No. 1 piezoelectric stack 2 and to No. 2 piezoelectric stacks 7, applies high-frequency driving voltage simultaneously.Make No. 2 support sections 9 realize dither, stop applying fixed voltage to No. 4 piezoelectric stacks 6 and to No. 5 piezoelectric stacks 19, apply fixed voltage simultaneously, No. 4 piezoelectric stack 6 becomes original shape No. 5 piezoelectric stacks 19 elongations simultaneously again, thereby No. 2 support sections 9 that promote in dither state move forward a step-length.Stop applying high-frequency driving voltage to No. 2 piezoelectric stacks 7 and to No. 3 piezoelectric stacks 15, apply high-frequency driving voltage simultaneously, make No. 3 support sections 13 realize dither, stop applying fixed voltage to No. 5 piezoelectric stacks 19, make No. 5 piezoelectric stacks 19 become original shape again, pull No. 3 support sections 13 in the dither state length that takes a step forward forward.So far whole device completes the motion to last step-length.
Described looper bionic device is in proal process, when No. 1 support section 4 is done dither and is moved forward, to 4 flexural piezoelectric sheets that are fixed on No. 2 direction control sections 24, apply fixing positive voltage, make the deformation of flexural piezoelectric sheet, cause steel sheet spring deformation, two steel sheet springs are crooked to the right, reach the object that device is turned right, when 4 flexural piezoelectric sheets to being fixed on No. 2 direction control sections 24 apply fixing negative voltage, make the deformation of flexural piezoelectric sheet, cause steel sheet spring deformation, two steel sheet springs are crooked left, reach the object that device is turned left.
Claims (8)
1. a looper bionic device, it is characterized in that, described looper bionic device comprises No. 1 support section (4), No. 4 piezoelectric stacks (6), No. 2 support sections (9), No. 3 support sections (13), No. 1 direction control section (18), No. 5 piezoelectric stacks (19) and No. 2 direction control sections (24);
The right-hand member of No. 2 support sections (9) is fixedly connected with the left end of No. 5 piezoelectric stacks (19), the right-hand member of No. 5 piezoelectric stacks (19) is fixedly connected with the left end of No. 1 direction control section (18), and the right-hand member of No. 1 direction control section (18) is fixedly connected with the left end of No. 3 support sections (13); The left end of No. 2 support sections (9) is fixedly connected with the right-hand member of No. 4 piezoelectric stacks (6), the left end of No. 4 piezoelectric stacks (6) is fixedly connected with the right-hand member of No. 2 direction control sections (24), and the left end of No. 2 direction control sections (24) is fixedly connected with the right-hand member of No. 1 support section (4).
2. according to looper bionic device claimed in claim 1, it is characterized in that, the right-hand member of described No. 2 support sections (9) is fixedly connected with and refers to the left end of No. 5 piezoelectric stacks (19):
The left pedestal of No. 5 piezoelectric stacks (19) aligns with the foursquare protruding block of No. 2 masses (21) right-hand member in No. 2 support sections (9), adopts the fixedly steel disc that upper and lower two chip architectures are identical to be fixedly connected with screw.
3. according to looper bionic device claimed in claim 1, it is characterized in that, the right-hand member of described No. 5 piezoelectric stacks (19) is fixedly connected with the left end of No. 1 direction control section (18), and the right-hand member of No. 1 direction control section (18) is fixedly connected with and refers to the left end of No. 3 support sections (13):
The steel sheet spring that described No. 1 direction control section (18) all posts flexural piezoelectric sheet by two two sides forms, the two ends of two steel sheet springs are respectively provided with two screwing through hole, the be placed in both sides, front and back of No. 5 piezoelectric stacks (19) right-hand member and the screw of No. 5 piezoelectric stacks (19) right-hand member front/rear end of the left end of two steel sheet springs aligns and adopts and be screwed, and the right-hand member screw of two leaf springs of No. 1 direction control section (18) aligns and adopts with the screw of No. 1 contiguous block (12) front/rear end and is screwed.
4. according to looper bionic device claimed in claim 1, it is characterized in that, described No. 1 support section (4) is comprised of No. 1 mass (1), No. 1 piezoelectric stack (2), No. 1 chassis (3), No. 4 steel sheet springs (26) and No. 5 steel sheet springs;
The main body of described No. 1 mass (1) is the hardware of a solid cylindrical, the bottom, main body right side of No. 1 mass (1) is provided with a square protruding block, tubular main body and square protruding block bottom surface are coplanar, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom surface of No. 1 mass (1) main body is provided with 4 tapped blind holes;
The center on described No. 1 chassis (3) is distributed with the rosette in 4 sunk screw holes;
Described No. 4 steel sheet springs (26) are the rectangle steel disc that structure is identical with No. 5 steel sheet springs, and the left end of No. 4 steel sheet springs (26) and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes; The screw of No. 4 steel sheet springs (26) and No. 5 steel sheet spring left ends aligns and adopts with the square protruding block end face on No. 1 mass (1) right side and the screw of bottom surface and is screwed, the top of No. 1 piezoelectric stack (2) is connected with the bottom surface bolt of No. 1 mass (1) main body, aligns and adopt with 4 screws of No. 1 piezoelectric stack (2) bottom and be screwed in upper 4 sunk screw holes, No. 1 chassis (3).
5. according to looper bionic device claimed in claim 4, it is characterized in that, described No. 1 piezoelectric stack (2) is by 20 Copper Foils that are pasted with piezoelectric ceramic piece successively upper and lower stacked being bonded, be that a side of every Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue bonding, the another side of piezoelectric ceramic piece adopts a side of bonding another sheet Copper Foil of insulation glue, the Copper Foil of 20 bonding piezoelectric ceramic pieces in side adopts the stacked piezoelectric stack that is bonded into of insulation glue by that analogy, every piezoelectric ceramic piece connects wire connecting electrode a, every Copper Foil connects wire connecting electrode b, the gluing square bottom face in bottom of piezoelectric stack is provided with the pedestal of four screws, the brace that is provided with four screws of the top of piezoelectric stack and a rectangle is gluing, the whole epoxy encapsulation that adopts of piezoelectric stack.
6. according to looper bionic device claimed in claim 1, it is characterized in that, described No. 1 support section (4) is identical with No. 3 support sections (13) structure, No. 4 piezoelectric stacks (6) are identical with No. 5 piezoelectric stacks (19) structure, and No. 1 direction control section (18) is identical with No. 2 direction control sections (24) structure.
7. according to looper bionic device claimed in claim 1, it is characterized in that, described No. 4 piezoelectric stacks (6) are by 25 Copper Foils that are pasted with piezoelectric ceramic piece successively upper and lower stacked being bonded, be that a side of every Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue bonding, the another side of piezoelectric ceramic piece adopts a side of bonding another sheet Copper Foil of insulation glue, the Copper Foil of 25 bonding piezoelectric ceramic pieces in side adopts the stacked piezoelectric stack that is bonded into of insulation glue by that analogy, every piezoelectric ceramic piece connects wire connecting electrode a, every Copper Foil connects wire connecting electrode b, the gluing square both sides end face in piezoelectric stack bottom is provided with the bottom base of four screws, the gluing square both sides end face in piezoelectric stack top is provided with the top base of four screws, four screws on top base and four screws on bottom base are all in couples and are oppositely arranged, four screws on top base and four screws on bottom base differ 90 °, the whole epoxy encapsulation that adopts of piezoelectric stack.
8. according to looper bionic device claimed in claim 1, it is characterized in that, described No. 2 support sections (9) are comprised of No. 2 masses (21), No. 2 piezoelectric stacks (7) and No. 2 chassis (8);
The main body of described No. 2 masses (21) is a solid cylindrical hardware, the two ends, left and right of No. 2 masses (21) main body respectively arrange a square protruding block, the top end face of the protruding block that two ends are square and bottom surface are respectively provided with two screws, and the bottom surface of No. 2 masses (21) main body is provided with 4 tapped blind holes; The main body of the main body of No. 2 masses (21) and No. 1 mass (1) in No. 1 support section (4) is identical with No. 3 masses (16) structure in No. 3 support sections (13);
No. 2 piezoelectric stacks (7) are identical with No. 3 piezoelectric stacks (15) structure in No. 3 support sections (13) with No. 1 piezoelectric stack (2) in No. 1 support section (4);
No. 2 chassis (8) are identical with No. 3 chassis structures in No. 3 support sections (13) with No. 1 chassis (3) in No. 1 support section (4);
No. 2 masses (21) are connected with the brace screw on No. 2 piezoelectric stacks (7) top, and the bottom base of No. 2 piezoelectric stacks (7) is connected with No. 2 chassis (8) screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410243058.9A CN104022680B (en) | 2014-06-03 | 2014-06-03 | Looper bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410243058.9A CN104022680B (en) | 2014-06-03 | 2014-06-03 | Looper bionic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104022680A true CN104022680A (en) | 2014-09-03 |
| CN104022680B CN104022680B (en) | 2016-04-27 |
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| CN111908896A (en) * | 2020-06-29 | 2020-11-10 | 华南理工大学 | Field-induced strain micro-displacement actuator and preparation method and application thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004153981A (en) * | 2002-11-01 | 2004-05-27 | Chuo Seiki Kk | Piezoelectric actuator and precision stage |
| CN1544208A (en) * | 2003-11-20 | 2004-11-10 | 上海交通大学 | Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system |
| CN203883699U (en) * | 2014-06-03 | 2014-10-15 | 吉林大学 | Inchworm bionic apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004153981A (en) * | 2002-11-01 | 2004-05-27 | Chuo Seiki Kk | Piezoelectric actuator and precision stage |
| CN1544208A (en) * | 2003-11-20 | 2004-11-10 | 上海交通大学 | Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system |
| CN203883699U (en) * | 2014-06-03 | 2014-10-15 | 吉林大学 | Inchworm bionic apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111908896A (en) * | 2020-06-29 | 2020-11-10 | 华南理工大学 | Field-induced strain micro-displacement actuator and preparation method and application thereof |
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