CN106864771A - A kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot and its method of work - Google Patents
A kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot and its method of work Download PDFInfo
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- CN106864771A CN106864771A CN201710128349.7A CN201710128349A CN106864771A CN 106864771 A CN106864771 A CN 106864771A CN 201710128349 A CN201710128349 A CN 201710128349A CN 106864771 A CN106864771 A CN 106864771A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
Abstract
The present invention discloses a kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot and its method of work, by rectangular frame structure, drives bolt and vehicle wheel component to constitute；Rectangular frame structure is made up of two longitudinal vibration beams, two bent vibrating beams, two tie-beams and 4 installation bolts；The connection orthogonal with two bent vibrating beams of two longitudinal vibration beams is simultaneously fixed by 4 installation bolts；2 tie-beams are orthogonal to be arranged on two longitudinal vibration vibration of beam node locations.Bolt is driven to be arranged on bending vibration beam end.Vehicle wheel component is arranged on by regulating bolt and spring and driven on bolt.The second order longitudinal vibration mode of longitudinal vibration beam is motivated, the driving bolt on bent vibrating beams incites somebody to action simultaneously rigid translation forward or backward；The single order bending vibration modes of bent vibrating beams are motivated, drives bolt to be moved upwardly or downwardly simultaneously；As long as two-phase pumping signal has the phase difference of pi/2 in time, the particle on bolt is driven to do elliptic motion, rubbed driving moment rotation realizes that robot is moved forwards or backwards and turned to.
Description
Technical field：
The present invention proposes a kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot and its method of work, belongs to piezoelectricity
Actuation techniques and planetary detecting robot technical field.
Background technology：
The system that the mobile system of wheeled construction is most favored as current planetary detecting robot, always in structure design and
Various new trials are carried out in type of drive.The wheel design of hollow out topological structure, research of high performance electromagnetic machine etc. are no
It is disconnected to cause that wheeled planetary detecting robot develops towards intelligent, miniaturization direction.But, using electromagnetic machine come driving moment
All the time need to realize motion control by reducing gear, therefore redundant unit's realization light and handyization cannot be completely eliminated.China
Jade Hare lunar rover using six wheels mobile system schemes, although successfully moonfall and leave footprint in moonscape, but the
Mechanism controls exception is occurred in that before secondary moonlit night dormancy, whole lunar rover cannot all realize movement, by ground scientific research personnel
Repairing be waken up, but still cannot move, up to now untill, the mobile system of Jade Hare lunar rover is still in paralysis shape
State.Although the mobile system of six wheel constructions has mobility excellent and the good characteristic of obstacle performance, the driving of complexity
Mechanism is still the barrier of its application.If single driving source can be used to realize many wheel coordinated drives, and avoid using deceleration
The devices such as mechanism, not only substantially reduce the complex degree of structure of whole robot system, while also reducing control system
Complexity.Sandwich piezoelectric transducer is changed to the device of mechanical energy as a kind of electric energy, extensively should in actuator field
With most typical is exactly linear type ultrasound motor.The present invention is streamlining organizations, reduce control system complexity, raising system
Reliability and realization are miniaturized as target, it is proposed that based on the sandwich Piezoelectric Driving four that inverse piezoelectric effect and rubbing action drive
Wheel planetary detecting robot and its method of work, the compact conformation, the simple, control system that are capable of achieving wheeled locomotive system be simple,
Direct drive, without electromagnetic interference, be easy to miniaturization the features such as, and can be in the extreme environment work such as lunar surface or martian surface
Make.
The content of the invention：
Need the transmission of complexity and reducing gear to cause it to be difficult to miniaturization for traditional robot mobile system to set
The problem of meter, the present invention proposes a kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot and its method of work, using pressure
The inverse piezoelectric effect of electric material converts electrical energy into mechanical energy, is rotated by rubbing action direct drive of wheel, it is not necessary to complicated
Transmission and reducing gear, it is simple and compact for structure, it is easy to accomplish miniaturization.
The present invention is adopted the following technical scheme that：A kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot, including rectangle
Frame structure, driving bolt and vehicle wheel component；The rectangular frame structure includes the first longitudinal vibration beam, the second longitudinal vibration beam, first curved
Shake beam, the second bent vibrating beams, tie-beam and installation bolt, the first longitudinal vibration beam and the second longitudinal vibration beam be arranged in parallel, and two
End is with the first bent vibrating beams, the second bent vibrating beams by the orthogonal fixation of installation bolt, the first longitudinal vibration beam and the installation of the second longitudinal vibration beam
In the first bent vibrating beams and the vibration nodal point position of the second bent vibrating beams, tie-beam is arranged on the first longitudinal vibration beam and the second longitudinal vibration beam correspondence
Vibration nodal point position, it is and parallel with the first bent vibrating beams and the second bent vibrating beams；The driving bolt is connected through a screw thread setting
At the first bent vibrating beams and the two ends of the second bent vibrating beams, the driving bolt be provided with two for install and driving moment component
Driving inclined-plane；The vehicle wheel component includes two panels wheel, several regulating bolts and some springs, the regulating bolt and bullet
Two panels wheel is fixed on spring two driving inclined-planes for driving bolt, adjusts the extended length of spring to adjust two panels wheel and drive
Precompression between the driving inclined-plane of dynamic bolt.
Further, the tie-beam includes two, and the first longitudinal vibration beam and the second longitudinal vibration beam are by two one end
If be provided with continuous variable cross section, the other end be provided with the protrusion end cylinder of bolt, two ends be provided with screwed hole intermediate cylindrical and
The dry circular longitudinal vibration piezoelectric ceramic piece composition for being provided with centre bore, continuous variable cross section end and first bending vibration of one of end cylinder
Beam or the second bent vibrating beams are connected, and protrusion bolt end passes sequentially through tie-beam respectively and one group of centre bore of longitudinal vibration piezoelectric ceramic piece is consolidated
It is scheduled in the threaded one end hole of intermediate cylindrical, the protrusion bolt end of another radicle cylinder is passed sequentially through separately along opposite direction
The centre bore of an outer tie-beam and another group of longitudinal vibration piezoelectric ceramic piece is fixed in the other end screwed hole of intermediate cylindrical.
Further, the circular strip that one group of longitudinal vibration piezoelectric ceramic piece is polarized by two panels through-thickness and polarised direction is opposite
Hole piezoelectric ceramic piece composition, two groups of polarised directions of longitudinal vibration piezoelectric ceramic piece on the first longitudinal vibration beam are conversely, described second
Two groups of polarised directions of longitudinal vibration piezoelectric ceramic piece on longitudinal vibration beam are conversely, the first longitudinal vibration beam and the second longitudinal vibration beam correspondence position
The polarised direction of the longitudinal vibration piezoelectric ceramic piece of setting is identical.
Further, first bent vibrating beams or the second bent vibrating beams by end be provided with continuous variable cross section and screwed hole,
Center section upper and lower surface is provided with the rectangular beam of rectangular recess, four groups of bending vibration piezoelectric ceramic pieces and pre-tightening apparatus composition, four
Group bending vibration piezoelectric ceramic piece is fixed in rectangular recess by pre-tightening apparatus, and positioned at the two ends of rectangular recess.
Further, one group of bending vibration piezoelectric ceramic piece is polarized and the opposite rectangle of polarised direction by two panels along thickness direction
Piezoelectric ceramic piece is constituted.
Further, the pre-tightening apparatus include two pieces of through-thickness be provided with the trapezoidal wedge type block of screwed hole, four pieces
Auxiliary wedge type block and a pretension bolt composition, one of trapezoidal wedge type block and two pieces of auxiliary wedge type blocks coordinate one square of composition
Shape block；The rectangular block fills up the rectangular recess of rectangular beam with two groups of bending vibration piezoelectric ceramic pieces for being arranged on its two ends, positioned at square
The polarization of the bending vibration piezoelectric ceramic piece that the rectangular recess of ellbeam upper surface is set with the rectangular recess correspondence position for being located at lower surface
In the opposite direction.
The present invention is also adopted the following technical scheme that：A kind of work side of sandwich Piezoelectric Driving four-wheel planetary detecting robot
Method, comprises the following steps：
1) the first simple-sinusoidal voltage signal is applied to 4 groups of longitudinal vibration piezoelectric ceramic pieces and motivates the first longitudinal vibration beam and the second longitudinal vibration beam
2n (n >=1, n is integer) rank longitudinal vibration mode, i.e., the first longitudinal vibration beam and the second longitudinal vibration beam one end elongation and the other end contract
Short, now the first bent vibrating beams and the 4th bent vibrating beams are by longitudinal direction elongation or shortening with the first longitudinal vibration beam and the second longitudinal vibration beam
It is horizontal forward or backward rigid translation, i.e. end drive bolt along the first longitudinal vibration beam and the second longitudinal vibration beam elongation or
Shorten the translation of direction horizontal stiffness；
2) 8 groups of bending vibration piezoelectric ceramic pieces on the first bent vibrating beams and the second bent vibrating beams are applied with the second simple-sinusoidal voltage letter simultaneously
Number, 2n+1 (n >=0, n is integer) rank flexural vibration mode of the first bent vibrating beams and the second bent vibrating beams is motivated, direction of vibration hangs down
The straight fortune done simultaneously in the driving bolt set on horizontal plane, i.e. the first bent vibrating beams and the second bent vibrating beams perpendicular to horizontal direction
It is dynamic, thus 2n (n >=1, n is integer) rank longitudinal vibration modes and the first bent vibrating beams on the first longitudinal vibration beam and the second longitudinal vibration beam and
2n+1 (n >=0, n is integer) the rank flexural vibration modes of the second bent vibrating beams are energized out and carried out on bolt being driven simultaneously
Coupling, four drive bolt while having vibration displacement vertical in two spaces；
3) the first simple-sinusoidal voltage signal of adjustment and the second simple-sinusoidal voltage signal have the phase difference of pi/2 in time so that
Drive any particle on bolt to do direction identical elliptic motion, and then drive and drive on bolt by rubbing action
Two vehicle wheel rotations of driving inclined-plane contact, realize that sandwich Piezoelectric Driving four-wheel planetary detecting robot is moved forward；
4) phase difference of the first simple-sinusoidal voltage signal of adjustment and the second simple-sinusoidal voltage signal is-pi/2, you can realize sandwich
Piezoelectric Driving four-wheel planetary detecting robot is moved rearwards by.
Further, comprise the following steps：
1) the first simple-sinusoidal voltage signal is applied to two groups of longitudinal vibration piezoelectric ceramic pieces on the first longitudinal vibration beam, while vertical to second
The 3rd simple-sinusoidal voltage that on beam the two groups of longitudinal vibration piezoelectric ceramic pieces that shake apply the phase difference for having π with the first simple-sinusoidal voltage signal is believed
Number, motivate 2n (n >=1, n is integer) rank longitudinal vibration mode of the first longitudinal vibration beam and the second longitudinal vibration beam, the first longitudinal vibration beam and
Second longitudinal vibration beam will inspire the second order longitudinal vibration with frequency and space quadrature with π, the i.e. elongation end of the first longitudinal vibration beam and the
The shortening end correspondence of one longitudinal vibration beam, the shortening end of the first longitudinal vibration beam is corresponding with the contracting elongation end of the second longitudinal vibration beam, and now, first is curved
Shake the left end forward horizontal rigid translation of beam and the second bent vibrating beams, and right-hand member horizontal stiffness translation backward, i.e. the first bent vibrating beams and
The driving bolt forward horizontal rigid translation on the second bent vibrating beams left side, the driving bolt then horizontal stiffness translation backward on the right；
2) 8 groups of bending vibration piezoelectric ceramic pieces on the first bent vibrating beams and the second bent vibrating beams are applied with the second simple-sinusoidal voltage letter simultaneously
Number, 2n+1 (n >=0, n is integer) rank flexural vibration mode of the first bent vibrating beams and the second bent vibrating beams is motivated, direction of vibration hangs down
The straight fortune done simultaneously in the driving bolt set on horizontal plane, i.e. the first bent vibrating beams and the second bent vibrating beams perpendicular to horizontal direction
It is dynamic；If the first simple-sinusoidal voltage signal, the second simple-sinusoidal voltage signal and the 3rd simple-sinusoidal voltage signal motivate the first longitudinal vibration beam simultaneously
With 2n (n >=1, n is integer) the rank longitudinal vibration modes and the 2n+1 (n of the first bent vibrating beams and the second bent vibrating beams of the second longitudinal vibration beam
>=0, n are integer) rank flexural vibration mode, then two on same longitudinal vibration beam oval fortune for driving the surface particle on bolts
Dynamic rail mark it is in opposite direction, and two longitudinal vibration beams drive the elliptical trajectory of bolts identical with two of one side, by rubbing
Wiping effect driving moment rotation, so as to drive whole patch type piezoelectric to drive the four-wheel planetary detecting robot to carry out turning motion；
3) change the phase difference of the first simple-sinusoidal voltage signal and the second simple-sinusoidal voltage signal, realize that patch type piezoelectric drives four
Wheel planetary detecting robot carries out two-way turning.
The present invention has the advantages that：Sandwich Piezoelectric Driving four-wheel planetary detecting robot profit proposed by the present invention
Mechanical energy is converted electrical energy into the inverse piezoelectric effect of piezoelectric, rubbed direct drive of wheel is rotated, it is not necessary to complicated
Transmission and reducing gear, it is simple and compact for structure, it is easy to control, there is huge application in micro robot mobile system field
Prospect.
Brief description of the drawings：
Fig. 1 is the structural representation of sandwich Piezoelectric Driving planetary detecting robot.
Fig. 2 is the structural representation of the first longitudinal vibration beam and the second longitudinal vibration beam.
Fig. 3 is the polarised direction schematic diagram of longitudinal vibration piezoelectric ceramic piece.
Fig. 4 is the structural representation of the first bent vibrating beams and the second bent vibrating beams in XOZ planes.
Fig. 5 is the structural representation of the first bent vibrating beams and the second bent vibrating beams in ZOY planes.
Fig. 6 is the polarised direction schematic diagram of bending vibration piezoelectric ceramic piece.
Fig. 7 is the structural representation for driving bolt.
Fig. 8 is that vehicle wheel component is driving the scheme of installation on bolt.
Fig. 9 is the operation mode of the first longitudinal vibration beam and the second longitudinal vibration beam.
Figure 10 is the operation mode of the first bent vibrating beams and the second bent vibrating beams.
Figure 11 is the turning mode of the first longitudinal vibration beam and the second longitudinal vibration beam.
Wherein：
1- the first longitudinal vibration beams, 2- the second longitudinal vibration beams, the bent vibrating beams of 3- first, the bent vibrating beams of 4- second, 5- drives bolt, 6- ends
Cylinder, 7- tie-beams, 8- longitudinal vibration piezoelectric ceramic pieces, 9- intermediate cylindricals, 10- rectangular beams, 11- bending vibration piezoelectric ceramic pieces, 12- is trapezoidal
Wedge type block, 13- auxiliary wedge type blocks, 14- installation bolts, 15- pretension bolts, 16- springs, 17- wheels, 18- regulating bolts.
Specific embodiment：
A kind of structure of sandwich Piezoelectric Driving four-wheel planetary detecting robot of the present invention is as shown in figure 1, including rectangle frame
Frame structure, four drivings bolt and vehicle wheel components；Rectangular frame structure includes that the first longitudinal vibration beam 1, the second longitudinal vibration beam 2, first are curved
Shake beam 3,4, two tie-beams 7 of the second bent vibrating beams and four installation bolts 14, wherein the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2
It is arranged in parallel, and two ends pass through the orthogonal fixation of four installation bolts 14 with the first bent vibrating beams 3, the second bent vibrating beams 4；First longitudinal vibration
The longitudinal vibration beam 2 of beam 1 and second is arranged on the vibration nodal point position of the first bent vibrating beams 3 and the second bent vibrating beams 4；Two tie-beams 7 are distinguished
Installed in the first longitudinal vibration beam 1 and the corresponding vibration nodal point position of the second longitudinal vibration beam 2, and with the first bent vibrating beams 3 and the second bending vibration
Beam 4 is parallel.
First longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are provided with continuous variable cross section, the other end and are provided with protrusion by two one end
The end cylinder 6, two ends of bolt is provided with the intermediate cylindrical 9 of screwed hole and some circular longitudinal vibration piezoelectric ceramic pieces for being provided with centre bore
8 compositions, the continuous variable cross section end of one of end cylinder 6 is connected with the first bent vibrating beams 3 or the second bent vibrating beams 4, protrudes bolt
The centre bore for passing sequentially through tie-beam 7 and one group of longitudinal vibration piezoelectric ceramic piece 8 respectively is held to be fixed on the threaded one end hole of intermediate cylindrical 9
Interior, the protrusion bolt end of another radicle cylinder 6 passes sequentially through an other tie-beam 7 along opposite direction and another group vertical
The centre bore of piezoelectric ceramic piece 8 of shaking is fixed in the other end screwed hole of intermediate cylindrical 9, so as to constitute with two groups of longitudinal vibration pressures
The longitudinal vibration beam of electroceramics piece, as shown in Figure 2.
The circular strip pore pressure electricity pottery that one group of longitudinal vibration piezoelectric ceramic piece 8 is polarized by two panels through-thickness and polarised direction is opposite
Ceramics is constituted；Two groups of polarised directions of longitudinal vibration piezoelectric ceramic piece on first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are conversely, such as Fig. 3 institutes
Show.
It is upper and lower that first bent vibrating beams 3 or the second bent vibrating beams 4 are provided with continuous variable cross section and screwed hole, center section by end
Surface is provided with 10, four groups of bending vibration piezoelectric ceramic pieces 11 of rectangular beam and pre-tightening apparatus composition of rectangular recess, wherein four groups curved
The piezoelectric ceramic piece 11 that shakes is fixed in rectangular recess by pre-tightening apparatus, and positioned at the two ends of rectangular recess, such as Fig. 4 and Fig. 5
It is shown.
One group of bending vibration piezoelectric ceramic piece 11 is polarized by two panels along thickness direction and the opposite Rectangular piezoelectric of polarised direction is made pottery
Ceramics is constituted；Pre-tightening apparatus include that two pieces of through-thickness are provided with 12, four pieces of auxiliary wedge type blocks of trapezoidal wedge type block of screwed hole
13 and a pretension bolt 15 constitute, one of trapezoidal wedge type block 12 and two pieces auxiliary wedge type blocks 13 coordinate constitute a rectangles
Block；Rectangular block fills up the rectangular recess of rectangular beam 10 with two groups of bending vibration piezoelectric ceramic pieces 11 for being arranged on its two ends just, passes through
Regulation pretension bolt 15 can change the distance between trapezoidal wedge 12 and auxiliary wedge type block 13, you can regulation is applied to bending vibration pressure
Pretightning force on electroceramics piece 11；The balance of power and pretension on upper lower trapezoid wedge 12 are applied to by pretension bolt 15 to fill
The symmetrical of structure is put, the power being applied on bending vibration potsherd 11 is equal in theory, be more beneficial for the excitation of bending vibration modes；It is located at
The polarization of the bending vibration piezoelectric ceramic piece 11 that the rectangular recess of rectangular beam upper surface is set with the rectangular recess correspondence position of lower surface
In the opposite direction, as shown in Figure 6.
Bolt 5 is driven to be connected through a screw thread the two ends for being arranged on the first bent vibrating beams 3 and the second bent vibrating beams 4, wherein driving spiral shell
Bolt 5 be provided with two have certain inclination angle driving inclined-planes, for install with driving moment component, as shown in Figure 7.
Vehicle wheel component includes two panels wheel 17, several regulating bolts 18 and some springs 16；Regulating bolt 18 and bullet
Two panels wheel 17 is fixed on spring 16 two driving inclined-planes for driving bolt, and the extended length for adjusting spring 16 can be adjusted simultaneously
Precompression between two panels wheel 17 and the driving inclined-plane for driving bolt 5, as shown in Figure 8.
Applying the first simple-sinusoidal voltage signal to 4 groups of longitudinal vibration piezoelectric ceramic pieces 8 can motivate the first longitudinal vibration beam 1 and the second longitudinal vibration
2n (n >=1, n is integer) rank longitudinal vibration mode of beam 2.It is using sin (ω t) as pumping signal and vertical with the second order of longitudinal vibration beam
Illustrated as a example by shaking, i.e., one end of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 extends and the other end shortens, now the first bending vibration
Beam 3 and the 4th bent vibrating beams 4 by with the longitudinal direction elongation of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 or shorten and it is horizontal forward or
Elongation or shortening side of the driving bolt 5 of person rigid translation, i.e. end backward along the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2
Translated to horizontal stiffness, and two tie-beams 7 are located exactly at the second order longitudinal vibration node position of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2
Put, as shown in Figure 9.
8 groups of bending vibration piezoelectric ceramic pieces 11 on to the first bent vibrating beams 3 and the second bent vibrating beams 4 apply the second simple harmonic quantity electricity simultaneously
Pressure signal, can motivate 2n+1 (n >=0, n is integer) rank flexural vibration mode of the first bent vibrating beams 3 and the second bent vibrating beams 4.With
Cos (ω t) is illustrated as pumping signal by taking the single order bending vibration of bent vibrating beams as an example, the first bent vibrating beams 3 and the second bent vibrating beams
4 have with the single order bending vibration just as frequency, and direction of vibration perpendicular to horizontal plane (XOZ planes as shown in Figure 10), i.e., first is curved
The driving bolt 5 set on the bent vibrating beams 4 of beam 3 and second shake while doing the motion perpendicular to XOZ planes.Therefore the first longitudinal vibration beam 1
With 2n (n >=1, n is integer) the rank longitudinal vibration modes and the 2n of the first bent vibrating beams 3 and the second bent vibrating beams 4 on the second longitudinal vibration beam 2
+ 1 (n >=0, n is integer) rank flexural vibration mode is energized out and coupled on bolt 5 being driven, four drivings simultaneously
Bolt 5 has vibration displacement vertical in two spaces simultaneously, as long as ensureing the first simple-sinusoidal voltage signal and the second simple-sinusoidal voltage
Signal has the phase difference of pi/2 in time, may be such that and drives any particle on bolt 5 to do the oval fortune of direction identical
It is dynamic, and then the vehicle wheel rotation contacted with two driving inclined-planes on driving bolt 5 is driven by rubbing action, realize sandwich pressure
Electric drive four-wheel planetary detecting robot is moved forward；Adjust the phase of the first simple-sinusoidal voltage signal and the second simple-sinusoidal voltage signal
Difference is-pi/2, you can realize that sandwich Piezoelectric Driving four-wheel planetary detecting robot is moved rearwards by.
First simple-sinusoidal voltage signal is applied to 2 groups of longitudinal vibration piezoelectric ceramic pieces 8 on the first longitudinal vibration beam 1, while vertical to second
On beam 2 the 2 groups of longitudinal vibration piezoelectric ceramic pieces 8 that shake apply the 3rd simple-sinusoidal voltage of the phase difference for having π with the first simple-sinusoidal voltage signal
Signal, can motivate 2n (n >=1, n is integer) rank longitudinal vibration mode of described the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2.
As shown in figure 11, by taking sin (ω t) and-sin (ω t) signal as an example, the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 will be inspired with frequency
And the second order longitudinal vibration of the space quadrature with π, the i.e. elongation end of the first longitudinal vibration beam 1 are corresponding with the shortening end of the first longitudinal vibration beam 2,
First longitudinal vibration beam 1 to shorten end corresponding with the contracting elongation end of the second longitudinal vibration beam 2, now, the first bent vibrating beams 3 and the second bent vibrating beams 4
Left end forward horizontal rigid translation, and right-hand member horizontal stiffness translation backward, i.e. the first bent vibrating beams 3 and the left side of the second bent vibrating beams 4
The forward horizontal rigid translation of driving bolt 5, the then horizontal stiffness translation backward of the driving bolt 5 on the right.
If to the first bent vibrating beams 3 and the second bent vibrating beams 4 still using the energisation mode of Figure 10, when to the first bent vibrating beams 3 and the
8 groups of bending vibration piezoelectric ceramic pieces 11 on two bent vibrating beams 4 apply the second simple-sinusoidal voltage signal simultaneously, can motivate the first bent vibrating beams 3
With 2n+1 (n >=0, n is integer) rank flexural vibration mode of the second bent vibrating beams 4.Using cos (ω t) as pumping signal, and with curved
Shake beam single order bending vibration as a example by illustrate, the first bent vibrating beams 3 and the second bent vibrating beams 4 have with the single order bending vibration just as frequency, and
Driving bolt 5 that direction of vibration is set on horizontal plane, i.e. the first bent vibrating beams 1 and the second bent vibrating beams 4 do simultaneously perpendicular to
The motion of horizontal direction；If the first simple-sinusoidal voltage signal, the second simple-sinusoidal voltage signal and the 3rd simple-sinusoidal voltage signal are encouraged simultaneously
Go out 2n (n >=1, n is integer) rank longitudinal vibration mode and first of the same frequency of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 not similar shape
2n+1 (n >=0, n is integer) rank flexural vibration mode of the bent vibrating beams 4 of bent vibrating beams 3 and second, you can realize on same longitudinal vibration beam
Two elliptical trajectories for driving the surface particle on bolts it is in opposite direction, and two longitudinal vibration beams are with two of one side
Drive the elliptical trajectory of bolt identical, rotated by rubbing action driving moment, so as to drive whole patch type piezoelectric to drive
Dynamic four-wheel planetary detecting robot carries out turning motion；When the excitation letter for changing longitudinal vibration piezoelectric ceramic piece and bending vibration piezoelectric ceramic piece
Number phase difference, be capable of achieving patch type piezoelectric drive four-wheel planetary detecting robot carry out two-way turning.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as of the invention
Protection domain.
Claims (8)
1. a kind of sandwich Piezoelectric Driving four-wheel planetary detecting robot, it is characterised in that：Including rectangular frame structure, drive spiral shell
Bolt (5) and vehicle wheel component；The rectangular frame structure includes the first longitudinal vibration beam (1), the second longitudinal vibration beam (2), the first bent vibrating beams
(3), the second bent vibrating beams (4), tie-beam (7) and installation bolt (14), the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2)
It is arranged in parallel, and two ends and the first bent vibrating beams (3), the second bent vibrating beams (4) are by the orthogonal fixation of installation bolt (14), described
One longitudinal vibration beam (1) and the second longitudinal vibration beam (2) connect installed in the first bent vibrating beams (3) and the vibration nodal point position of the second bent vibrating beams (4)
Beam (7) is connect installed in the first longitudinal vibration beam (1) and the corresponding vibration nodal point position of the second longitudinal vibration beam (2), and with the first bent vibrating beams
(3) it is parallel with the second bent vibrating beams (4)；Driving bolt (5) is connected through a screw thread and is arranged on the first bent vibrating beams (3) and second curved
Shake the two ends of beam (4), the driving bolt (5) be provided with two for install and driving moment component driving inclined-plane；It is described
Vehicle wheel component includes two panels wheel (17), several regulating bolts (18) and some springs (16), the regulating bolt (18)
With spring (16) by two panels wheel (17) be fixed on drive bolt two driving inclined-planes, regulation spring (16) extended length with
Precompression between regulation two panels wheel (17) and the driving inclined-plane for driving bolt (5).
2. sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 1, it is characterised in that：The tie-beam
(7) two are included, the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) are provided with continuous variable cross section, another by two one end
One end is provided with the protrusion end cylinder (6) of bolt, two ends and is provided with the intermediate cylindrical (9) of screwed hole and some centre bores that are provided with
Circular longitudinal vibration piezoelectric ceramic piece (8) composition, the continuous variable cross section end of one of end cylinder (6) and the first bent vibrating beams (3) or
Second bent vibrating beams (4) are connected, and protrusion bolt end is passed sequentially through in tie-beam (7) and one group of longitudinal vibration piezoelectric ceramic piece (8) respectively
Heart hole is fixed in the threaded one end hole of intermediate cylindrical (9), and the protrusion bolt end of another radicle cylinder (6) is along opposite side
Intermediate cylindrical (9) is fixed on to the centre bore for passing sequentially through an other tie-beam (7) and another group of longitudinal vibration piezoelectric ceramic piece (8)
Other end screwed hole in.
3. sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 2, it is characterised in that：One group of longitudinal vibration pressure
The circular strip hole piezoelectric ceramic piece that electroceramics piece (8) is polarized by two panels through-thickness and polarised direction is opposite is constituted, and described
Two groups of polarised directions of longitudinal vibration piezoelectric ceramic piece on one longitudinal vibration beam (1) are conversely, two groups of longitudinal vibrations on the second longitudinal vibration beam (2)
The polarised direction of piezoelectric ceramic piece is conversely, the longitudinal vibration pressure of the first longitudinal vibration beam (1) and the setting of second longitudinal vibration beam (2) correspondence position
The polarised direction of electroceramics piece is identical.
4. sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 3, it is characterised in that：Described first is curved
Shake beam (3) or end is provided with continuous variable cross section to the second bent vibrating beams (4) and screwed hole, center section upper and lower surface are respectively provided with
It is made up of the rectangular beam (10) of rectangular recess, four groups of bending vibration piezoelectric ceramic pieces (11) and pre-tightening apparatus, four groups of bending vibration piezoelectric ceramics
Piece (11) is fixed in rectangular recess by pre-tightening apparatus, and positioned at the two ends of rectangular recess.
5. sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 4, it is characterised in that：One group of bending vibration pressure
Electroceramics piece (11) is polarized along thickness direction by two panels and the opposite rectangular piezoelectric ceramic piece of polarised direction is constituted.
6. sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 5, it is characterised in that：The pretension dress
Put trapezoidal wedge type block (12), four pieces of auxiliary wedge type block (13) and the pretension that screwed hole is provided with including two pieces of through-thickness
Bolt (15) is constituted, and one of trapezoidal wedge type block (12) coordinates one rectangular block of composition with two pieces of auxiliary wedge type block (13)；Institute
Rectangular block is stated and is filled up with two groups of bending vibration piezoelectric ceramic pieces (11) for being arranged on its two ends the rectangular recess of rectangular beam (10), positioned at square
The bending vibration piezoelectric ceramic piece (11) that the rectangular recess of ellbeam upper surface is set with the rectangular recess correspondence position for being located at lower surface
Polarised direction is opposite.
7. a kind of method of work of sandwich Piezoelectric Driving four-wheel planetary detecting robot, it is characterised in that：Comprise the following steps
1) the first simple-sinusoidal voltage signal is applied to 4 groups of longitudinal vibration piezoelectric ceramic pieces (8) and motivates the first longitudinal vibration beam (1) and the second longitudinal vibration
2n (n >=1, n is integer) rank longitudinal vibration mode of beam (2), i.e. one end of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) is stretched
Grow and other end shortening, now the first bent vibrating beams (3) and the 4th bent vibrating beams (4) will be with the first longitudinal vibration beam (1) and the second longitudinal vibrations
Beam (2) longitudinal direction elongation or shorten and horizontal forward or rigid translation, i.e. end backward driving bolt (5) along first
The translation of direction horizontal stiffness is shortened in the elongation of longitudinal vibration beam (1) and the second longitudinal vibration beam (2)；
2) to 8 groups of bending vibration piezoelectric ceramic pieces (11) on the first bent vibrating beams (3) and the second bent vibrating beams (4) while applying the second simple harmonic quantity
Voltage signal, motivates 2n+1 (n >=0, n is integer) rank bending mode of the first bent vibrating beams (3) and the second bent vibrating beams (4)
State, driving bolt (5) that direction of vibration is set on horizontal plane, i.e. the first bent vibrating beams (3) and the second bent vibrating beams (4) while
Do 2n (n >=1, n the is integer) rank in the motion perpendicular to horizontal direction, therefore the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2)
2n+1 (n >=0, n is integer) rank flexural vibration mode of longitudinal vibration mode and the first bent vibrating beams (3) and the second bent vibrating beams (4)
It is energized simultaneously out and coupled on bolt (5) is driven, four drives bolt (5) while having vertical in two spaces
Vibration displacement；
3) the first simple-sinusoidal voltage signal of adjustment and the second simple-sinusoidal voltage signal have the phase difference of pi/2 in time so that drive
Any particle on bolt (5) does direction identical elliptic motion, and then is driven and driven on bolt (5) by rubbing action
Two driving inclined-planes contact vehicle wheel rotation, realize sandwich Piezoelectric Driving four-wheel planetary detecting robot move forward；
4) phase difference of the first simple-sinusoidal voltage signal of adjustment and the second simple-sinusoidal voltage signal is-pi/2, you can realize sandwich piezoelectricity
Four-wheel planetary detecting robot is driven to be moved rearwards by.
8. the method for work of sandwich Piezoelectric Driving four-wheel planetary detecting robot as claimed in claim 7, it is characterised in that：
Comprise the following steps
1) the first simple-sinusoidal voltage signal is applied to two groups of longitudinal vibration piezoelectric ceramic pieces (8) on the first longitudinal vibration beam (1), while to second
Two groups of longitudinal vibration piezoelectric ceramic pieces (8) on longitudinal vibration beam (2) apply the 3rd letter of the phase difference for having π with the first simple-sinusoidal voltage signal
Humorous voltage signal, motivates 2n (n >=1, n is integer) rank extensional vibration mould of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2)
State, the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) will inspire the second order longitudinal vibration with frequency and space quadrature with π, i.e., and the
The elongation end of one longitudinal vibration beam (1) is corresponding with the shortening end of the first longitudinal vibration beam (2), and the shortening end of the first longitudinal vibration beam (1) is indulged with second
Shake the contracting elongation end correspondence of beam (2), now, the left end forward horizontal of the first bent vibrating beams (3) and the second bent vibrating beams (4) rigidity is put down
Move, and the driving bolt (5) on right-hand member horizontal stiffness translation backward, i.e. the first bent vibrating beams (3) and the second bent vibrating beams (4) left side is forward
Horizontal stiffness is translated, driving bolt (5) the then horizontal stiffness translation backward on the right；
2) to 8 groups of bending vibration piezoelectric ceramic pieces (11) on the first bent vibrating beams (3) and the second bent vibrating beams (4) while applying the second simple harmonic quantity
Voltage signal, motivates 2n+1 (n >=0, n is integer) rank bending mode of the first bent vibrating beams (3) and the second bent vibrating beams (4)
State, driving bolt (5) that direction of vibration is set on horizontal plane, i.e. the first bent vibrating beams (1) and the second bent vibrating beams (4) while
Do the motion perpendicular to horizontal direction；If the first simple-sinusoidal voltage signal, the second simple-sinusoidal voltage signal and the 3rd simple-sinusoidal voltage signal
2n (n >=1, n is integer) rank longitudinal vibration mode and first of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) is motivated simultaneously
2n+1 (n >=0, n is integer) rank flexural vibration mode of bent vibrating beams (3) and the second bent vibrating beams (4), then on same longitudinal vibration beam
Two elliptical trajectories for driving the surface particle on bolts it is in opposite direction, and two longitudinal vibration beams are with two of one side drives
The elliptical trajectory of dynamic bolt is identical, is rotated by rubbing action driving moment, so as to drive whole patch type piezoelectric to drive
Four-wheel planetary detecting robot carries out turning motion；
3) change the phase difference of the first simple-sinusoidal voltage signal and the second simple-sinusoidal voltage signal, realize that patch type piezoelectric drives four-wheel row
Star sniffing robot carries out two-way turning.
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| JP2004254381A (en) * | 2003-02-18 | 2004-09-09 | Taiheiyo Cement Corp | Drive member for ultrasonic motor |
| CN101626205A (en) * | 2009-08-25 | 2010-01-13 | 哈尔滨工业大学 | Rectangular four-pin linear ultrasonic motor vibrator |
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