CN106864771B - Sandwich type piezoelectric driving four-wheel planetary detection robot and working method thereof - Google Patents
Sandwich type piezoelectric driving four-wheel planetary detection robot and working method thereof Download PDFInfo
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Abstract
The invention discloses a sandwich type piezoelectric driving four-wheel planetary detection robot and a working method thereof, wherein the sandwich type piezoelectric driving four-wheel planetary detection robot consists of a rectangular frame structure, a driving bolt and a wheel assembly; the rectangular frame structure consists of two longitudinal vibration beams, two bending vibration beams, two connecting beams and 4 mounting bolts; the two longitudinal vibration beams are orthogonally connected with the two bending vibration beams and are fixed through 4 mounting bolts; 2 tie-beams are orthogonally installed at the vibration node position of two longitudinal vibration beams. The driving bolt is arranged at the end part of the bending vibration beam. The wheel assembly is mounted on the drive bolt by an adjusting bolt and a spring. Exciting a second-order longitudinal vibration mode of the longitudinal vibration beam, and rigidly translating the driving bolt on the flexural vibration beam forwards or backwards at the same time; exciting a first-order bending vibration mode of the bending vibration beam, and simultaneously moving the driving bolt upwards or downwards; as long as the two-phase excitation signals have a phase difference of pi/2 in time, the mass point on the driving bolt does elliptic motion, and the wheels are driven to rotate through friction, so that the robot moves forwards or backwards and turns.
Description
The technical field is as follows:
the invention provides a sandwich type piezoelectric driving four-wheel planetary detection robot and a working method thereof, belonging to the technical field of piezoelectric driving technology and planetary detection robots.
The background art comprises the following steps:
a wheel-type moving system has been variously attempted in terms of structural design and driving method as a system most favored by a planetary probe robot at present. The wheel design of the hollow topological structure, the research of the high-performance electromagnetic motor and the like continuously enable the wheel type planetary detection robot to develop towards the intelligent and miniature directions. However, the electromagnetic motor is always used to drive the wheels, and the movement control is always realized by the speed reducing mechanism, so that the lightening cannot be realized by completely eliminating a redundant mechanism. The China rabbit lunar rover adopts a six-wheel moving system scheme, although the lunar rover successfully climbs the moon and leaves footprints on the surface of the moon, the whole lunar rover cannot move due to abnormal mechanism control before the second night dormancy, the whole lunar rover is awakened through first-aid repair of ground scientific research personnel but cannot move, and the moving system of the rabbit lunar rover is still in a paralysis state up to now. Although the moving system with the six-wheel structure has the characteristics of excellent maneuvering performance and good obstacle crossing performance, a complex driving mechanism is still a barrier for the application of the moving system. If a single driving source is adopted to realize multi-wheel cooperative driving, and devices such as a speed reducing mechanism and the like are avoided, the structural complexity of the whole robot system is greatly reduced, and the complexity of a control system is also reduced. As a device for converting electric energy into mechanical energy, a sandwich piezoelectric transducer is widely used in the field of actuators, and most typically, a linear ultrasonic motor. The sandwich type piezoelectric driving four-wheel planetary detection robot aims at simplifying a mechanism, reducing the complexity of a control system, improving the reliability of the system and realizing miniaturization, and the sandwich type piezoelectric driving four-wheel planetary detection robot based on the driving of the inverse piezoelectric effect and the friction effect and the working method thereof can realize the characteristics of compact and simple structure of a wheel type mobile system, simple control system, direct driving, no electromagnetic interference, easy miniaturization and the like, and can work under the polar environment of the moon surface or the surface of a mars and the like.
The invention content is as follows:
aiming at the problem that a traditional robot moving system is difficult to realize miniaturization design due to the fact that complex transmission and speed reducing mechanisms are needed, the invention provides the sandwich type piezoelectric driving four-wheel planetary detection robot and the working method thereof.
The invention adopts the following technical scheme: a sandwich type piezoelectric drive four-wheel planetary detection robot comprises a rectangular frame structure, a drive bolt and a wheel assembly; the rectangular frame structure comprises a first longitudinal vibration beam, a second longitudinal vibration beam, a first bending vibration beam, a second bending vibration beam, a connecting beam and a mounting bolt, wherein the first longitudinal vibration beam and the second longitudinal vibration beam are arranged in parallel, two ends of the first longitudinal vibration beam and the second bending vibration beam are orthogonally fixed through the mounting bolt, the first longitudinal vibration beam and the second longitudinal vibration beam are mounted at vibration node positions of the first bending vibration beam and the second bending vibration beam, and the connecting beam is mounted at vibration node positions corresponding to the first longitudinal vibration beam and the second longitudinal vibration beam and is parallel to the first bending vibration beam and the second bending vibration beam; the driving bolt is arranged at two ends of the first bending vibration beam and the second bending vibration beam in a threaded connection mode and is provided with two driving inclined planes for mounting and driving the wheel assembly; the wheel assembly comprises two wheels, a plurality of adjusting bolts and a plurality of springs, the two wheels are fixed on two driving inclined planes of the driving bolts through the adjusting bolts and the springs, and the extension length of each spring is adjusted to adjust the pre-pressure between the two wheels and the driving inclined planes of the driving bolts.
Further, the tie-beam is including two, first indulge shake the roof beam and indulge the piezoceramics piece of shaking by two one end and be provided with the continuous variable cross section, the other end is provided with the tip cylinder of salient bolt, both ends are equipped with the middle cylinder of screw hole and a plurality of circular of being equipped with the centre bore and indulge the piezoceramics piece and constitute, one of them tip cylindrical continuous variable cross section end is connected with first bending shake roof beam or the second bending shake roof beam, the salient bolt end loops through the tie-beam respectively and a set of centre bore of indulging the piezoceramics piece of shaking is fixed in middle cylindrical one end screw hole, another tip cylindrical salient bolt end loops through another tie-beam and another set of centre bore of indulging the piezoceramics piece along opposite direction and fixes in middle cylindrical other end screw hole.
Further, a set of vertical vibration piezoceramics piece comprises two circular foraminiferous piezoceramics pieces that polarize and the opposite direction of polarization along thickness direction, the polarization direction of two sets of vertical vibration piezoceramics pieces on the first vertical vibration roof beam is opposite, the polarization direction of two sets of vertical vibration piezoceramics pieces on the second vertical vibration roof beam is opposite, the polarization direction that the vertical vibration piezoceramics piece that first vertical vibration roof beam and second vertical vibration roof beam correspond the position and set up is the same.
Furthermore, the first bending vibration beam or the second bending vibration beam is composed of a rectangular beam, four groups of bending vibration piezoelectric ceramic sheets and a pre-tightening device, wherein the end part of the rectangular beam is provided with a continuous variable cross section and a threaded hole, the upper surface and the lower surface of the middle part of the rectangular beam are respectively provided with a rectangular groove, and the four groups of bending vibration piezoelectric ceramic sheets are fixed in the rectangular grooves through the pre-tightening device and are positioned at two ends of the rectangular grooves.
Furthermore, one group of bending vibration piezoelectric ceramic plates consists of two rectangular piezoelectric ceramic plates which are polarized along the thickness direction and have opposite polarization directions.
Furthermore, the pre-tightening device comprises two trapezoidal wedge-shaped blocks, four auxiliary wedge-shaped blocks and a pre-tightening bolt, wherein threaded holes are formed in the thickness direction of the trapezoidal wedge-shaped blocks; the rectangular block and the two groups of bending vibration piezoelectric ceramic pieces arranged at the two ends of the rectangular block are filled with rectangular grooves of the rectangular beam, and the polarization directions of the bending vibration piezoelectric ceramic pieces arranged at the corresponding positions of the rectangular grooves on the upper surface and the rectangular grooves on the lower surface of the rectangular beam are opposite.
The invention also adopts the following technical scheme: a working method of a sandwich type piezoelectric drive four-wheel planetary detection robot comprises the following steps:
1) Applying a first simple resonance voltage signal to 4 groups of longitudinal vibration piezoelectric ceramic plates to excite a 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration mode of the first longitudinal vibration beam and the second longitudinal vibration beam, namely, one end of the first longitudinal vibration beam and one end of the second longitudinal vibration beam extend and the other end of the first longitudinal vibration beam and the other end of the second longitudinal vibration beam shorten, at the moment, the first flexural vibration beam and the fourth flexural vibration beam rigidly translate horizontally forwards or backwards along with the longitudinal extension or shortening of the first longitudinal vibration beam and the second longitudinal vibration beam, namely, a driving bolt at the end part rigidly translates horizontally along the extension or shortening direction of the first longitudinal vibration beam and the second longitudinal vibration beam;
2) Applying a second simple resonant voltage signal to 8 groups of bending vibration piezoelectric ceramic plates on the first bending vibration beam and the second bending vibration beam simultaneously, and exciting 2n +1 (n is more than or equal to 0 and n is an integer) order bending vibration modes of the first bending vibration beam and the second bending vibration beam, wherein the vibration direction is vertical to the horizontal plane, namely the driving bolts arranged on the first bending vibration beam and the second bending vibration beam simultaneously do the motion vertical to the horizontal direction, so that 2n (n is more than or equal to 1 and n is an integer) order longitudinal vibration modes on the first longitudinal vibration beam and the second longitudinal vibration beam and the 2n +1 (n is more than or equal to 0 and n is an integer) order bending vibration modes of the first bending vibration beam and the second bending vibration beam are excited simultaneously and coupled on the driving bolts, and the four driving bolts have two spatially vertical vibration displacements simultaneously;
3) Adjusting the first simple harmonic voltage signal and the second simple harmonic voltage signal to have a phase difference of pi/2 in time, so that any mass point on the driving bolt performs elliptic motion in the same direction, and further driving wheels in contact with two driving inclined planes on the driving bolt to rotate under the friction action, so that the sandwich type piezoelectric driving four-wheel planetary detection robot moves forwards;
4) And adjusting the phase difference between the first simple harmonic voltage signal and the second simple harmonic voltage signal to be-pi/2, so that the sandwich type piezoelectric drive four-wheel planetary detection robot can move backwards.
Further, the method comprises the following steps:
1) Applying a first simple resonance voltage signal to two groups of longitudinal vibration piezoelectric ceramic plates on a first longitudinal vibration beam, applying a third simple resonance voltage signal with a phase difference of pi with the first simple resonance voltage signal to two groups of longitudinal vibration piezoelectric ceramic plates on a second longitudinal vibration beam, and exciting a 2n (n is more than or equal to 1, and n is an integer) order longitudinal vibration mode of the first longitudinal vibration beam and the second longitudinal vibration beam, wherein the first longitudinal vibration beam and the second longitudinal vibration beam excite second-order longitudinal vibration with the same frequency and the space phase difference of pi, namely, an extension end of the first longitudinal vibration beam corresponds to a shortening end of the first longitudinal vibration beam, a shortening end of the first longitudinal vibration beam corresponds to a shortening and extension end of the second longitudinal vibration beam, at the moment, the left ends of the first longitudinal vibration beam and the second longitudinal vibration beam horizontally translate forward, the right end horizontally translates backward, namely, the left driving bolts of the first longitudinal vibration beam and the second longitudinal vibration beam horizontally translate forward, and the right driving bolts horizontally translate backward;
2) Simultaneously applying a second simple harmonic voltage signal to 8 groups of bending vibration piezoelectric ceramic plates on the first bending vibration beam and the second bending vibration beam to excite 2n +1 (n is more than or equal to 0 and n is an integer) order bending vibration modes of the first bending vibration beam and the second bending vibration beam, wherein the vibration direction is vertical to the horizontal plane, namely, the driving bolts arranged on the first bending vibration beam and the second bending vibration beam simultaneously move vertical to the horizontal direction; if the first simple harmonic voltage signal, the second simple harmonic voltage signal and the third simple harmonic voltage signal simultaneously excite a 2n (n is more than or equal to 1 and n is an integer) order longitudinal vibration mode of the first longitudinal vibration beam and the second longitudinal vibration beam and a 2n +1 (n is more than or equal to 0 and n is an integer) order bending vibration mode of the first bending vibration beam and the second bending vibration beam, the directions of elliptical motion trails of surface particles on two driving bolts on the same longitudinal vibration beam are opposite, the elliptical motion trails of two driving bolts on the same side of the two longitudinal vibration beams are the same, and wheels are driven to rotate through friction, so that the whole patch type piezoelectric driving planetary four-wheel detection robot is driven to turn;
3) And the phase difference between the first simple harmonic voltage signal and the second simple harmonic voltage signal is changed, so that the surface-mounted piezoelectric driving four-wheel planetary detection robot can turn bidirectionally.
The invention has the following beneficial effects: the sandwich type piezoelectric driving four-wheel planetary detection robot provided by the invention converts electric energy into mechanical energy by utilizing the inverse piezoelectric effect of a piezoelectric material, directly drives wheels to rotate through friction, does not need a complex transmission and speed reduction mechanism, has a simple and compact structure, is easy to control, and has a huge application prospect in the field of micro robot moving systems.
Description of the drawings:
fig. 1 is a schematic structural diagram of a sandwich type piezoelectric drive planetary exploration robot.
Fig. 2 is a schematic structural view of the first longitudinally vibrating beam and the second longitudinally vibrating beam.
Fig. 3 is a schematic view of the polarization direction of the longitudinal vibration piezoelectric ceramic plate.
Fig. 4 is a schematic structural view of the first and second flexural beams in the XOZ plane.
Fig. 5 is a schematic structural view of the first and second flexural beams in the zy plane.
Fig. 6 is a schematic view of the polarization direction of a flexural vibrating piezoelectric ceramic plate.
Fig. 7 is a schematic view of the structure of the drive bolt.
Fig. 8 is a schematic view of the mounting of the wheel assembly on the drive bolt.
Fig. 9 is an operation mode of the first and second longitudinally vibrating beams.
Fig. 10 is a mode of operation of the first and second flexural beams.
Fig. 11 is a turning mode of the first and second longitudinally vibrating beams.
Wherein:
1-a first longitudinal vibration beam, 2-a second longitudinal vibration beam, 3-a first flexural vibration beam, 4-a second flexural vibration beam, 5-a driving bolt, 6-an end cylinder, 7-a connecting beam, 8-a longitudinal vibration piezoelectric ceramic sheet, 9-a middle cylinder, 10-a rectangular beam, 11-a flexural vibration piezoelectric ceramic sheet, 12-a trapezoidal wedge block, 13-an auxiliary wedge block, 14-a mounting bolt, 15-a pre-tightening bolt, 16-a spring, 17-a wheel and 18-an adjusting bolt.
The specific implementation mode is as follows:
the structure of the sandwich type piezoelectric driving four-wheel planetary detection robot is shown in figure 1 and comprises a rectangular frame structure, four driving bolts and a wheel assembly; the rectangular frame structure comprises a first longitudinal vibration beam 1, a second longitudinal vibration beam 2, a first flexural vibration beam 3, a second flexural vibration beam 4, two connecting beams 7 and four mounting bolts 14, wherein the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are arranged in parallel, and two ends of the first longitudinal vibration beam 1 and the second flexural vibration beam 4 are orthogonally fixed through the four mounting bolts 14; the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are arranged at vibration node positions of the first flexural vibration beam 3 and the second flexural vibration beam 4; two tie-beams 7 are respectively installed at the vibration node positions corresponding to the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2, and are parallel to the first bending vibration beam 3 and the second bending vibration beam 4.
The first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are composed of two end cylinders 6 with continuously variable cross sections at one end and convex bolts at the other end, a middle cylinder 9 with threaded holes at two ends and a plurality of circular longitudinal vibration piezoelectric ceramic plates 8 with central holes, wherein the continuously variable cross section end of one end cylinder 6 is connected with the first bending vibration beam 3 or the second bending vibration beam 4, the convex bolt ends are respectively fixed in the threaded hole at one end of the middle cylinder 9 through the central holes of the connecting beam 7 and one group of longitudinal vibration piezoelectric ceramic plates 8 in sequence, the convex bolt end of the other end cylinder 6 is fixed in the threaded hole at the other end of the middle cylinder 9 through the central holes of the other connecting beam 7 and the other group of longitudinal vibration piezoelectric ceramic plates 8 in sequence in the opposite direction, and thus the longitudinal vibration beam with two groups of longitudinal vibration piezoelectric ceramic plates is formed, as shown in fig. 2.
The group of longitudinal vibration piezoelectric ceramic pieces 8 consists of two circular perforated piezoelectric ceramic pieces which are polarized along the thickness direction and have opposite polarization directions; the polarization directions of the two groups of longitudinal vibration piezoelectric ceramic plates on the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 are opposite, as shown in fig. 3.
The first bending vibration beam 3 or the second bending vibration beam 4 is composed of a rectangular beam 10, four groups of bending vibration piezoelectric ceramic sheets 11 and a pre-tightening device, wherein the end parts of the rectangular beam are provided with continuous variable cross sections and threaded holes, the upper surface and the lower surface of the middle part of the rectangular beam are provided with rectangular grooves, the four groups of bending vibration piezoelectric ceramic sheets 11 are fixed in the rectangular grooves through the pre-tightening device and are positioned at two ends of the rectangular grooves, as shown in fig. 4 and 5.
The group of bending vibration piezoelectric ceramic pieces 11 consists of two rectangular piezoelectric ceramic pieces which are polarized along the thickness direction and have opposite polarization directions; the pre-tightening device comprises two trapezoidal wedge-shaped blocks 12 provided with threaded holes along the thickness direction, four auxiliary wedge-shaped blocks 13 and a pre-tightening bolt 15, wherein one trapezoidal wedge-shaped block 12 is matched with the two auxiliary wedge-shaped blocks 13 to form a rectangular block; the rectangular block and the two groups of bending vibration piezoelectric ceramic plates 11 arranged at the two ends of the rectangular block are just filled in the rectangular groove of the rectangular beam 10, and the distance between the trapezoidal wedge-shaped block 12 and the auxiliary wedge-shaped block 13 can be changed by adjusting the pretightening bolt 15, so that the pretightening force applied to the bending vibration piezoelectric ceramic plates 11 can be adjusted; the force exerted on the bending vibration ceramic plate 11 is theoretically equal through the balance of the force exerted on the upper and lower trapezoidal wedge-shaped blocks 12 by the pre-tightening bolts 15 and the symmetry of the structure of the pre-tightening device, so that the excitation of the bending vibration mode is facilitated; the polarization directions of the bending vibration piezoelectric ceramic plates 11 arranged at the positions corresponding to the rectangular grooves on the upper surface and the lower surface of the rectangular beam are opposite, as shown in fig. 6.
The driving bolt 5 is disposed at both ends of the first and second bending vibration beams 3 and 4 by means of screw connection, wherein the driving bolt 5 is provided with two driving slopes having a certain inclination angle for mounting and driving the wheel assembly, as shown in fig. 7.
The wheel assembly comprises two wheels 17, a plurality of adjusting bolts 18 and a plurality of springs 16; the two wheels 17 are fixed on the two driving inclined surfaces of the driving bolt by the adjusting bolt 18 and the spring 16, and the pre-pressure between the two wheels 17 and the driving inclined surfaces of the driving bolt 5 can be adjusted at the same time by adjusting the extension length of the spring 16, as shown in fig. 8.
The first simple harmonic voltage signal is applied to the 4 groups of longitudinal vibration piezoelectric ceramic plates 8, so that 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 can be excited. Sin (ω t) is taken as an excitation signal, and second-order longitudinal vibration of the longitudinal vibration beam is taken as an example for explanation, that is, one end of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 is elongated and the other end is shortened, at this time, the first flexural vibration beam 3 and the fourth flexural vibration beam 4 will be horizontally and rigidly translated forwards or backwards along with the longitudinal elongation or shortening of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2, that is, the driving bolt 5 at the end is horizontally and rigidly translated along the elongation or shortening direction of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2, and the two connecting beams 7 are exactly located at the second-order longitudinal vibration node positions of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2, as shown in fig. 9.
When a second simple harmonic voltage signal is simultaneously applied to 8 groups of bending vibration piezoelectric ceramic plates 11 on the first bending vibration beam 3 and the second bending vibration beam 4, 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam 3 and the second bending vibration beam 4 can be excited. With cos (ω t) as an excitation signal and the first-order bending vibration of the bending vibration beam as an example, the first bending vibration beam 3 and the second bending vibration beam 4 have the same-shape and same-frequency first-order bending vibration, and the vibration direction is perpendicular to the horizontal plane (XOZ plane shown in fig. 10), that is, the driving bolts 5 arranged on the first bending vibration beam 3 and the second bending vibration beam 4 move perpendicular to the XOZ plane at the same time. Therefore, 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes on the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 and 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes on the first bending vibration beam 3 and the second bending vibration beam 4 are simultaneously excited and coupled on the driving bolts 5, the four driving bolts 5 simultaneously have two spatially vertical vibration displacements, as long as the first simple harmonic voltage signal and the second simple harmonic voltage signal have a phase difference of pi/2 in time, any mass point on the driving bolts 5 can be made to do elliptic motions in the same direction, and then the wheels in contact with the two driving inclined planes on the driving bolts 5 are driven to rotate through friction, so that the sandwich piezoelectric driving four-wheel planetary detection robot with four wheels moves forwards; and adjusting the phase difference between the first simple harmonic voltage signal and the second simple harmonic voltage signal to be-pi/2, so that the sandwich type piezoelectric drive four-wheel planetary detection robot can move backwards.
A first simple harmonic voltage signal is applied to 2 groups of longitudinal vibration piezoelectric ceramic pieces 8 on the first longitudinal vibration beam 1, and a third simple harmonic voltage signal with a phase difference of pi with the first simple harmonic voltage signal is applied to 2 groups of longitudinal vibration piezoelectric ceramic pieces 8 on the second longitudinal vibration beam 2, so that 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 can be excited. As shown in fig. 11, taking sin (ω t) and-sin (ω t) signals as an example, the first resonant beam 1 and the second resonant beam 2 will excite second-order longitudinal vibration with same frequency and pi spatial phase difference, that is, the extension end of the first resonant beam 1 corresponds to the shortening end of the first resonant beam 2, the shortening end of the first resonant beam 1 corresponds to the shortening end of the second resonant beam 2, at this time, the left ends of the first resonant beam 3 and the second resonant beam 4 horizontally and rigidly translate forward, the right end horizontally and rigidly translate backward, that is, the left driving bolt 5 of the first resonant beam 3 and the second resonant beam 4 horizontally and rigidly translate forward, and the right driving bolt 5 horizontally and rigidly translate backward.
If the excitation mode shown in fig. 10 is still adopted for the first bending vibration beam 3 and the second bending vibration beam 4, when a second simple harmonic voltage signal is simultaneously applied to 8 groups of bending vibration piezoelectric ceramic plates 11 on the first bending vibration beam 3 and the second bending vibration beam 4, 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam 3 and the second bending vibration beam 4 can be excited. The cos (ω t) is taken as an excitation signal, and the first-order bending vibration of the bending vibration beam is taken as an example for explanation, the first bending vibration beam 3 and the second bending vibration beam 4 have the same-shape and same-frequency first-order bending vibration, and the vibration direction is vertical to the horizontal plane, namely, the driving bolts 5 arranged on the first bending vibration beam 1 and the second bending vibration beam 4 simultaneously move in the direction vertical to the horizontal plane; if the first simple harmonic voltage signal, the second simple harmonic voltage signal and the third simple harmonic voltage signal simultaneously excite 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes of the first longitudinal vibration beam 1 and the second longitudinal vibration beam 2 with different same frequencies and different shapes and 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam 3 and the second bending vibration beam 4, the directions of elliptic motion tracks of surface particles on two driving bolts on the same longitudinal vibration beam are opposite, the elliptic motion tracks of two driving bolts on the same side of the two longitudinal vibration beams are the same, and the wheels are driven to rotate through friction, so that the whole patch type piezoelectric driving four-wheel planetary detection robot is driven to turn; when the phase difference of excitation signals of the longitudinal vibration piezoelectric ceramic piece and the bending vibration piezoelectric ceramic piece is changed, the surface mount type piezoelectric driving four-wheel planetary detection robot can perform bidirectional turning.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (7)
1. A working method of a sandwich type piezoelectric driving four-wheel planetary detection robot comprises a rectangular frame structure, a driving bolt (5) and a wheel assembly; the rectangular frame structure comprises a first longitudinal vibration beam (1), a second longitudinal vibration beam (2), a first flexural vibration beam (3), a second flexural vibration beam (4), a connecting beam (7) and a mounting bolt (14), wherein the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) are arranged in parallel, two ends of the first longitudinal vibration beam (1) and the second flexural vibration beam (4) are orthogonally fixed with the first flexural vibration beam (3) and the second flexural vibration beam (4) through the mounting bolt (14), the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) are arranged at vibration node positions of the first flexural vibration beam (3) and the second flexural vibration beam (4), and the connecting beam (7) is arranged at vibration node positions corresponding to the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) and is parallel to the first flexural vibration beam (3) and the second flexural vibration beam (4); the driving bolt (5) is arranged at two ends of the first bending vibration beam (3) and the second bending vibration beam (4) in a threaded connection mode, and two driving inclined planes used for mounting and driving the wheel assembly are arranged on the driving bolt (5); the wheel subassembly includes two wheels (17), a plurality of adjusting bolt (18) and a plurality of spring (16), adjusting bolt (18) and spring (16) are fixed two driving inclined planes at driving bolt with two wheels (17), and the extension length of adjusting spring (16) is with the precompression between the driving inclined plane of adjusting two wheels (17) and driving bolt (5), its characterized in that: comprises the following steps
1) applying a first simple resonance voltage signal to 4 groups of longitudinal vibration piezoelectric ceramic plates (8) to excite 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes of a first longitudinal vibration beam (1) and a second longitudinal vibration beam (2), namely, one ends of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) are extended and the other ends are shortened, at the moment, a first bending vibration beam (3) and a fourth bending vibration beam (4) can horizontally and rigidly translate forwards or backwards along with the longitudinal extension or shortening of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2), namely, a driving bolt (5) at the end part can horizontally and rigidly translate along the extension or shortening direction of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2);
2) Applying a second simple harmonic voltage signal to 8 groups of bending vibration piezoelectric ceramic plates (11) on the first bending vibration beam (3) and the second bending vibration beam (4) simultaneously, and exciting 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam (3) and the second bending vibration beam (4), wherein the vibration direction is vertical to the horizontal plane, namely, the driving bolts (5) arranged on the first bending vibration beam (3) and the second bending vibration beam (4) move vertically to the horizontal direction simultaneously, so that the 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration modes on the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) and the 2n 1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam (3) and the second bending vibration beam (4) are excited simultaneously and coupled on the driving bolts (5), and four driving bolts (5) have two spatially vertical vibration displacements;
3) Adjusting the phase difference of pi/2 between the first simple harmonic voltage signal and the second simple harmonic voltage signal in time, so that any mass point on the driving bolt (5) makes elliptical motion in the same direction, and further driving wheels in contact with two driving inclined planes on the driving bolt (5) to rotate through friction, so that the sandwich type piezoelectric driving four-wheel planetary detection robot moves forwards;
4) And adjusting the phase difference between the first simple harmonic voltage signal and the second simple harmonic voltage signal to be-pi/2, so that the sandwich type piezoelectric drive four-wheel planetary detection robot can move backwards.
2. The working method of the sandwich type piezoelectric drive four-wheel planetary exploration robot as claimed in claim 1, wherein: the tie-beam (7) is including two, first indulge shake roof beam (1) and second indulge shake roof beam (2) and are provided with the section of can going on in succession by two one end, the other end is provided with tip cylinder (6) of salient bolt, both ends are equipped with middle cylinder (9) of screw hole and a plurality of circular vertical vibration piezoceramics piece (8) that are equipped with the centre bore and constitute, the section of can going on in succession end of one of them tip cylinder (6) shakes roof beam (3) or second bend and shake roof beam (4) with first bending, salient bolt end loops through tie-beam (7) and a set of centre bore of indulging the piezoceramics piece (8) respectively and fixes in the threaded hole of one end of middle cylinder (9), the salient bolt end of another root end portion cylinder (6) loops through another tie-beam (7) and another set of the centre bore of indulging the piezoceramics piece (8) of shaking along opposite direction and fixes in the threaded hole of the other end of middle cylinder (9).
3. The working method of the sandwich type piezoelectric drive four-wheel planetary exploration robot as claimed in claim 2, wherein: a set of vertical vibration piezoceramics piece (8) are become by two circular foraminiferous piezoceramics pieces that polarize and polarization direction is opposite along thickness direction, the polarization direction of two sets of vertical vibration piezoceramics pieces on first vertical vibration roof beam (1) is opposite, the polarization direction of two sets of vertical vibration piezoceramics pieces on second vertical vibration roof beam (2) is opposite, the polarization direction of vertical vibration piezoceramics piece that first vertical vibration roof beam (1) and second vertical vibration roof beam (2) correspond the position setting is the same.
4. The working method of the sandwich type piezoelectric drive four-wheel planetary exploration robot as claimed in claim 3, wherein: the first bending vibration beam (3) or the second bending vibration beam (4) is composed of a rectangular beam (10) with a continuous variable cross section and a threaded hole at the end part and rectangular grooves on the upper surface and the lower surface of the middle part, four groups of bending vibration piezoelectric ceramic sheets (11) and pre-tightening devices, wherein the four groups of bending vibration piezoelectric ceramic sheets (11) are fixed in the rectangular grooves through the pre-tightening devices and are positioned at two ends of the rectangular grooves.
5. The operation method of the sandwich type piezoelectric drive four-wheel planetary exploration robot as claimed in claim 4, wherein: the group of bending vibration piezoelectric ceramic plates (11) consists of two rectangular piezoelectric ceramic plates which are polarized along the thickness direction and have opposite polarization directions.
6. The operating method of a sandwich piezoelectric four-wheel planetary probe robot as claimed in claim 5, wherein: the pre-tightening device comprises two trapezoidal wedge-shaped blocks (12) provided with threaded holes along the thickness direction, four auxiliary wedge-shaped blocks (13) and a pre-tightening bolt (15), wherein one trapezoidal wedge-shaped block (12) and the two auxiliary wedge-shaped blocks (13) are matched to form a rectangular block; the rectangular block and two groups of bending vibration piezoelectric ceramic pieces (11) arranged at two ends of the rectangular block are filled with rectangular grooves of the rectangular beam (10), and the polarization directions of the bending vibration piezoelectric ceramic pieces (11) arranged at the corresponding positions of the rectangular grooves on the upper surface and the rectangular grooves on the lower surface of the rectangular beam are opposite.
7. The working method of the sandwich type piezoelectric drive four-wheel planetary exploration robot as claimed in claim 6, wherein: comprises the following steps
1) applying a first simple harmonic voltage signal to two groups of longitudinal vibration piezoelectric ceramic plates (8) on a first longitudinal vibration beam (1), simultaneously applying a third simple harmonic voltage signal with a phase difference of pi with the first simple harmonic voltage signal to two groups of longitudinal vibration piezoelectric ceramic plates (8) on a second longitudinal vibration beam (2), and exciting a 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration mode of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2), wherein the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) excite second order longitudinal vibration with same frequency and space phase difference of pi, namely, an extension end of the first longitudinal vibration beam (1) corresponds to a shortening end of the first longitudinal vibration beam (2), a shortening end of the first longitudinal vibration beam (1) corresponds to a shortening end of the second longitudinal vibration beam (2), at the left ends of the first longitudinal vibration beam (3) and the second vibration beam (4) horizontally translate forward, and the left ends of the first longitudinal vibration beam (3) and the second vibration beam (5) horizontally translate forward and backward, and horizontally translate a bolt (5);
2) Simultaneously applying a second simple harmonic voltage signal to 8 groups of bending vibration piezoelectric ceramic plates (11) on the first bending vibration beam (3) and the second bending vibration beam (4), exciting 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration modes of the first bending vibration beam (3) and the second bending vibration beam (4), and enabling the vibration directions to be vertical to the horizontal plane, namely, driving bolts (5) arranged on the first bending vibration beam (1) and the second bending vibration beam (4) simultaneously move vertical to the horizontal direction; if the first simple harmonic voltage signal, the second simple harmonic voltage signal and the third simple harmonic voltage signal simultaneously excite a 2n (n is more than or equal to 1, n is an integer) order longitudinal vibration mode of the first longitudinal vibration beam (1) and the second longitudinal vibration beam (2) and a 2n +1 (n is more than or equal to 0, n is an integer) order bending vibration mode of the first bending vibration beam (3) and the second bending vibration beam (4), the directions of elliptical motion tracks of surface particles on two driving bolts on the same longitudinal vibration beam are opposite, the elliptical motion tracks of two driving bolts on the same side of the two longitudinal vibration beams are the same, and the wheels are driven to rotate through friction action, so that the whole patch type piezoelectric driving four-wheel planetary detection robot is driven to turn;
3) And the phase difference between the first simple harmonic voltage signal and the second simple harmonic voltage signal is changed, so that the surface-mounted piezoelectric driving four-wheel planetary detection robot can turn bidirectionally.
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