CN106712573A - Multiped micro robot - Google Patents
Multiped micro robot Download PDFInfo
- Publication number
- CN106712573A CN106712573A CN201510784807.3A CN201510784807A CN106712573A CN 106712573 A CN106712573 A CN 106712573A CN 201510784807 A CN201510784807 A CN 201510784807A CN 106712573 A CN106712573 A CN 106712573A
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- metal
- beams
- micro robot
- robot
- metal beam
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- 239000002184 metal Substances 0.000 claims abstract description 37
- 239000000919 ceramic Substances 0.000 claims abstract description 6
- 241000592274 Polypodium vulgare Species 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 8
- 239000000758 substrate Substances 0.000 abstract 3
- 230000033001 locomotion Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a multiped micro robot which comprises a substrate, a first metal beam, a second metal beam and a third metal beam fixed under the substrate, piezoelectric ceramic pieces bonded to the upper and lower surfaces of the second metal beam, and flexible feet fixed under the first metal beam, the second metal beam and the third metal beam. According to the multiped micro robot, due to the symmetry of a multiped arrangement mode and the consistency of driving signals, the substrate is stably supported and does not fall, and the robot is supported and moves along a vertical line.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of polypody micro robot, belong to smart electronicses product technical field.
Background technology
With the development of microelectric technique, super micro-processing and integrated manufacturing technology, particularly MEMS (MEMS) technology, micro robot arises at the historic moment, and with its small volume, flexibility is good the advantages of show good development prospect still in the multiple fields such as medicine, detection, micro mechanism and rescue, with the continuous extension of its application field, more and more higher is also become to the movement velocity of micro robot and the requirement of resolving power, this is accomplished by furtheing investigate its driving principle；Generally using typical motion principles such as stick-slip driving, inertial drive, sufficient formula drivings, stick-slip drives as a kind of inertial drive principle current micro robot, and stick-slip driving principle is widely used in various micro robot designs；Piezoelectric actuator is so that its response is fast, small volume, high precision the advantages of, be widely used in various high accuracy positioning mechanisms；Therefore, it is the study hotspot of the direction based on stick-slip principle, Piezoelectric Ceramic micro robot, in the prior art the polypody micro robot of Piezoelectric Ceramic and consider foot quality carried out robot modeling with analysis, using different structure design and analysis method；The novel foot of the double movement mechanisms of use driven by trip's electroceramics declines small scale robot, based on stick-slip and the double well-behaved movement mechanisms of collision movement, high-precision motion and high-speed motion are realized respectively, but its body does not analyze the motion state transfer process of robot during stick-slip.
The content of the invention
（One）The technical problem to be solved
To solve the above problems, the present invention proposes a kind of polypody micro robot, according to the robot operational mode that key-press module is determined, the infrared signal for launching specific coding by infrared transmission module is instructed, and received by robot body realize after instruction it is corresponding start/stop, turning to, the operation such as speed governing and patten transformation；Numeral method module, for showing robot current operating conditions.
（Two）Technical scheme
Polypody micro robot of the invention, including matrix, and first be fixed on below matrix is to the 3rd beams of metal, and the piezoelectric ceramic piece of the second beams of metal upper and lower surface is bonded in, and it is fixed sufficient with flexibility below the first to the 3rd beams of metal.
Further, the described first to the 3rd beams of metal is arranged in parallel.
Further, first beams of metal and the 3rd beams of metal are the short beams of metal of same model；Second beams of metal is beams of metal long.
Used as preferred embodiment, the flexible foot is arranged at the first to the 3rd beams of metal lower section composition triangle.
（Three）Beneficial effect
Compared with prior art, polypody micro robot of the invention, due to the symmetry and the uniformity of drive signal of polypody arrangement, matrix is stablized support will not topple over, and robot can only be moved in support along vertical line.
Brief description of the drawings
Fig. 1 is part-structure schematic diagram of the invention.
Specific embodiment
A kind of polypody micro robot as shown in Figure 1, including matrix 1, and the first to the 3rd beams of metal 3 of the lower section of matrix 1 is fixed on, and the piezoelectric ceramic piece 5 of the upper and lower surface of the second beams of metal 3 is bonded in, and the fixed flexibility foot 6 with first to the lower section of the 3rd beams of metal 3.
Wherein, the described first to the 3rd beams of metal 3 is arranged in parallel.
First beams of metal and the 3rd beams of metal（It is not shown）It is the short beams of metal of same model；Second beams of metal 3 is beams of metal long.
The flexible foot 6 is arranged at first to the lower section of the 3rd beams of metal 3 composition triangle.
Polypody micro robot of the invention, due to the symmetry and the uniformity of drive signal of polypody arrangement, matrix is stablized support will not topple over, and robot can only be moved in support along vertical line.
Embodiment described above is only that the preferred embodiment of the present invention is described, and not the spirit and scope of the present invention are defined.On the premise of design concept of the present invention is not departed from; the all variations and modifications that this area ordinary person makes to technical scheme; protection scope of the present invention all should be dropped into, claimed technology contents of the invention have all been recorded in detail in the claims.
Claims (4)
1. a kind of polypody micro robot, it is characterised in that：Including matrix, and first be fixed on below matrix is to the 3rd beams of metal, and is bonded in the piezoelectric ceramic piece of the second beams of metal upper and lower surface, and fixed sufficient with flexibility below the first to the 3rd beams of metal.
2. polypody micro robot according to claim 1, it is characterised in that：Described first to the 3rd beams of metal is arranged in parallel.
3. polypody micro robot according to claim 1, it is characterised in that：First beams of metal and the 3rd beams of metal are the short beams of metal of same model；Second beams of metal is beams of metal long.
4. polypody micro robot according to claim 1, it is characterised in that：The flexible foot is arranged at the first to the 3rd beams of metal lower section composition triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784807.3A CN106712573A (en) | 2015-11-16 | 2015-11-16 | Multiped micro robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784807.3A CN106712573A (en) | 2015-11-16 | 2015-11-16 | Multiped micro robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106712573A true CN106712573A (en) | 2017-05-24 |
Family
ID=58932025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510784807.3A Pending CN106712573A (en) | 2015-11-16 | 2015-11-16 | Multiped micro robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106712573A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140048A (en) * | 2017-07-12 | 2017-09-08 | 南京工程学院 | A kind of jet-propelled driving hopping robot motion structure of zero vector and its application method |
| CN108749947A (en) * | 2018-04-03 | 2018-11-06 | 上海大学 | Small-sized eight sufficient bio-robots |
| CN109617449A (en) * | 2018-12-05 | 2019-04-12 | 南京航空航天大学 | Six sufficient actuator and its working method based on Piezoelectric Driving |
-
2015
- 2015-11-16 CN CN201510784807.3A patent/CN106712573A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140048A (en) * | 2017-07-12 | 2017-09-08 | 南京工程学院 | A kind of jet-propelled driving hopping robot motion structure of zero vector and its application method |
| CN107140048B (en) * | 2017-07-12 | 2023-01-31 | 南京工程学院 | Zero-vector jet-propelled bouncing robot motion structure and application method thereof |
| CN108749947A (en) * | 2018-04-03 | 2018-11-06 | 上海大学 | Small-sized eight sufficient bio-robots |
| CN108749947B (en) * | 2018-04-03 | 2020-12-15 | 上海大学 | Small eight-foot bionic robot |
| CN109617449A (en) * | 2018-12-05 | 2019-04-12 | 南京航空航天大学 | Six sufficient actuator and its working method based on Piezoelectric Driving |
| CN109617449B (en) * | 2018-12-05 | 2020-03-17 | 南京航空航天大学 | Six-foot actuator based on piezoelectric drive and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |