CN109334794A - A kind of mobile robot and its working method of patch type piezoelectric driving - Google Patents
A kind of mobile robot and its working method of patch type piezoelectric driving Download PDFInfo
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- CN109334794A CN109334794A CN201811349989.1A CN201811349989A CN109334794A CN 109334794 A CN109334794 A CN 109334794A CN 201811349989 A CN201811349989 A CN 201811349989A CN 109334794 A CN109334794 A CN 109334794A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000000919 ceramic Substances 0.000 claims description 30
- 238000005452 bending Methods 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 15
- 239000002245 particle Substances 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000010287 polarization Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000012913 prioritisation Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
-
- 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
-
- 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
- H02N2/12—Constructional details
Abstract
The invention discloses the mobile robot and its working method of a kind of driving of patch type piezoelectric, mobile robot includes patch type piezoelectric oscillator, two wheels, two fixed plates, two elastic webbings and crawler belt.Respectively there is an arc-shaped actuation head at the both ends of patch type piezoelectric oscillator, and upper and lower side is equipped with clamping end.Patch type piezoelectric oscillator is fixed between two fixed plates, the shaft of two wheels is stuck in the open slot of two fixed board ends, two elastic webbings are respectively fitted over the two sides of two rotation shaft of wheel, in tensional state, so that the outer propeller hub of two wheels offsets with the actuation head at piezoelectric vibrator both ends respectively.When work, piezoelectric vibrator is motivated, and the arc-shaped actuation head in both ends, which generates, turns to identical elliptic motion, is driven two vehicle wheel rotations by friction, and then drive crawler belt, is realized moveable robot movement.
Description
Technical field
The present invention relates to the moving machines that piezoelectric actuating and mobile robot field more particularly to a kind of patch type piezoelectric drive
Device people and its working method.
Background technique
Lunar rover is the indispensable master tool of lunar exploration, for traveling mode, mostly based on wheeled and crawler type.Month
Ball vehicle has the characteristics that obstacle climbing ability is strong, sedimentation is small, tractive force is big, in analysis lunar soil chemical component and collects thickness of soil
Information etc. plays important function.
Lunar gravitation is tellurian 1/6th, and this low gravitation can allow the molecule suspension stay longer time.
If actuation motor has the risk of lunar dust entrance using electromagnetic motor driver.Once motor rotation blockage, excessive electric current can make line
Circle fever, there is the possibility for burning coil and electric machine controller.In addition, the complexity of its transmission mechanism, weight also counteract greatly
Application in lunar surface detection.
Piezoelectric actuating is the micron-sized elliptic motion of surface particle generation in stator actuation head, and passes through rubbing action reality
Now determine the movement transmitting between mover.When due to piezoelectric actuator work, the opposite sliding of micron order between stator and mover can be shelled
From the molecule for entering contact interface, alleviate and get rid of constraint of the lunar dust to actuator stall；It directly drives without driver
Structure is conducive to lightweight and miniaturization.
In existing some piezoelectric actuating lunar rover scheme (publication numbers: CN101964600；CN105429508；
CN105490582 in), piezoelectric vibrator is directly contacted with metal track.Normal pressure between the two is the tensioning by metal track
Degree is adjusted, and the flexible deformation of metal track is small, and there is certain difficulties for the searching of best precompression.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of patch type for defect involved in background technique
The mobile robot and its working method of Piezoelectric Driving.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of mobile robot of patch type piezoelectric driving, includes patch type piezoelectric oscillator, the first wheel, the second wheel, first
Fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；
The metallic matrix includes the first actuation head, the second actuation head and walking beam；
The walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；The first actuation head, second
Actuation head includes to make moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；The first actuation head,
The connecting pin of second actuation head is connected with the walking beam or so two end faces respectively；
First clamping end, the second clamping end are separately positioned on the centre of the walking beam upper side, downside, and the first folder
It holds end, be equipped with the mounting hole perpendicular to walking beam leading flank on the second clamping end；
The walking beam upper side, downside post curved for generating at the peak swing of metallic matrix N rank bending vibration modes
The piezoelectric ceramic piece of vibration, the N are even number, are the bending vibration orders of preset operation mode；The leading flank of the walking beam
The piezoelectric ceramic piece for generating longitudinal vibration is posted at the node of metallic matrix longitudinal vibration mode；
The piezoelectric ceramic piece for generating bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration polarize along its thickness direction；
The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generates the piezoelectric ceramic piece of longitudinal vibration from trailing flank to front side
Surface polarization；
First fixed plate, the second fixed plate are in crosswise, include first long-armed, second long-armed, the first galianconism and second
Galianconism；Described first is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；Described
One galianconism, the second galianconism end be equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and described first
Clamping end, the corresponding fixation hole of the second clamping end upper installing hole；
The patch type piezoelectric oscillator passes through its first clamping end upper installing hole, the fixation hole of first the first galianconism of fixed plate, the
The fixation hole of two the first galianconism of fixed plate be fixed by bolts it is connected so as to be fixed on the first fixed plate first short for the first clamping end
The boss of arm, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator by its second clamping end upper installing hole,
The fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected so that
Two clamping ends are fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate；
First wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein the inner wheel hub,
Outer wheel hub is annular in shape, is arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end and
Inner wheel hub is connected, the other end and outer wheel hub are connected；The shaft and inner wheel hub rotation connection, enable inner wheel hub with respect to shaft
It is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides；
It is long-armed that first annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in first fixed plate first
Open slot, in the long-armed open slot of the second fixed plate first, form dimensional slip hinge；First ring of second rotation shaft of wheel
It is long-armed that connected in star, second annular groove are respectively placed in the long-armed open slot of first fixed plate second, the second fixed plate second
Open slot in, formed dimensional slip hinge；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first rotation shaft of wheel, the second rotation shaft of wheel, be in tensional state so that the outer surface of the first wheel outer wheel hub and
First actuation head of patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator second are made
Dynamic head offsets.
As a kind of further prioritization scheme of mobile robot of present invention patch type piezoelectric driving, the walking beam
The piezoelectric ceramic piece for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in trailing flank.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the present invention, first vehicle
In wheel, the second wheel, shaft and inner wheel hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the present invention, first vehicle
In wheel, the second wheel, shaft and inner wheel hub are rotatablely connected by bearing.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the present invention, first vehicle
Wheel, the second wheel include four spokes.
It also include crawler belt as a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the present invention,
First wheel, the second wheel are connected by the crawler haulage.Crawler belt makes robotic movement power more preferably, be more easier across
Obstacle-overpass object.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the present invention, crawler belt uses metal
Material is made.
The invention also discloses a kind of working methods of the mobile robot of patch type piezoelectric driving, include following mistake
Journey:
First signal is applied, to all piezoelectric ceramic pieces for being used to generate longitudinal vibration to all piezoelectric ceramic pieces for generating bending vibration
Apply second signal, the first signal, second signal differ pi/2 on time phase, so that patch type piezoelectric oscillator generation time
Upper single order longitudinal vibration and N rank bending vibration with pi/2 phase difference, so that the first actuation head, the second actuation head upper surface particle produce
It is raw to turn to identical elliptic motion a little；First actuation head, the second actuation head further through rubbing action respectively drive the first wheel,
Second wheel rotates in same direction；
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second actuation head
The steering of upper surface particle elliptic motion a little, and then change the direction of the first wheel, the second vehicle wheel rotation.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. using Piezoelectric Driving, the opposite sliding of the micron order of patch type piezoelectric oscillator and runner can be removed into contact interface
Constraint of the lunar dust to actuator stall is alleviated and got rid of to molecule.
2. directly driving without transmission mechanism, be conducive to lightweight and miniaturization.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the mobile robot of patch type piezoelectric driving of the present invention；
Fig. 2 is the schematic diagram that piezoelectric ceramic piece applies electric signal in patch type piezoelectric oscillator of the present invention；
Fig. 3 is the structural schematic diagram of the first fixed plate of the invention；
Fig. 4 is the structural schematic diagram that inner wheel hub, outer wheel hub, spoke match in the first wheel of the invention；
Fig. 5 is the structural schematic diagram of shaft in the first wheel of the invention；
Fig. 6 is that the first actuation of patch type piezoelectric oscillator head in the present invention, the second actuation head surface particle generate elliptic motion and show
It is intended to；
Fig. 7 is the schematic diagram that patch type piezoelectric oscillator drives the first wheel, the second wheel in the present invention.
In figure, 1- patch type piezoelectric oscillator, 1.1- metallic matrix, 1.1- the first actuation head, 1.2- walking beam, 1.3- first
Clamping end, 1.4- are used to generate the piezoelectric ceramic piece of bending vibration, and 1.5- is used to generate the piezoelectric ceramic piece of longitudinal vibration, and 2- first is fixed
Plate, the open slot on 2.1- the first fixed plate first is long-armed, the boss on 2.2- the second galianconism of the first fixed plate, the first vehicle of 3-
Wheel, the outer wheel hub of the first wheel of 3.1-, the spoke of the first wheel of 3.2-, the inner wheel hub of the first wheel of 3.3-, the first wheel of 3.4-
Shaft, the second wheel of 4-, 5- elastic webbing, 6- crawler belt.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, shaking the invention discloses a kind of mobile robot of patch type piezoelectric driving comprising patch type piezoelectric
Son, the first wheel, the second wheel, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing.
As shown in Fig. 2, patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；Metallic matrix
Include the first actuation head, the second actuation head and walking beam.
Walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；First actuation head, the second actuation
Head is comprising making moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；First actuation head, the second actuation
The connecting pin of head is connected with walking beam or so two end faces respectively.
First clamping end, the second clamping end are separately positioned on the centre of walking beam upper side, downside, and the first clamping
The mounting hole perpendicular to walking beam leading flank is equipped on end, the second clamping end.
Walking beam upper side, downside post curved for generating at the peak swing of metallic matrix N rank bending vibration modes
The piezoelectric ceramic piece of vibration, N are even number, are the bending vibration orders of preset operation mode；The leading flank of walking beam is in Metal Substrate
The piezoelectric ceramic piece for generating longitudinal vibration is posted at the node of body longitudinal vibration mode.
For generating the piezoelectric ceramic piece of bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration polarizes along its thickness direction.
The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generates the piezoelectric ceramic piece of longitudinal vibration from trailing flank to front side
Surface polarization；
As shown in figure 3, the first fixed plate, the second fixed plate are in crosswise, it include first long-armed, second long-armed, the first galianconism
With the second galianconism；First is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；First
Galianconism, the second galianconism end be equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and first clamping
End, the corresponding fixation hole of the second clamping end upper installing hole.
Patch type piezoelectric oscillator passes through its first clamping end upper installing hole, the fixation hole of first the first galianconism of fixed plate, the
The fixation hole of two the first galianconism of fixed plate be fixed by bolts it is connected so as to be fixed on the first fixed plate first short for the first clamping end
The boss of arm, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator by its second clamping end upper installing hole,
The fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected so that
Two clamping ends are fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate.
As shown in figure 4, the first wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein interior
Wheel hub, outer wheel hub are annular in shape, are arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end and
Inner wheel hub is connected, the other end and outer wheel hub are connected；Shaft and inner wheel hub rotation connection, enable inner wheel hub with respect to shaft freedom
Rotation, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides, as shown in Figure 5.
First annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in that the first fixed plate first is long-armed to be opened
In the long-armed open slot of mouth slot, the second fixed plate first, dimensional slip hinge is formed；The first annular groove of second rotation shaft of wheel,
Second annular groove is respectively placed in the long-armed open slot of the long-armed open slot of the first fixed plate second, the second fixed plate second,
Form dimensional slip hinge.
First elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first rotation shaft of wheel, the second rotation shaft of wheel, be in tensional state so that the outer surface of the first wheel outer wheel hub and
First actuation head of patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator second are made
Dynamic head offsets.
The piezoelectric ceramics for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in the trailing flank of walking beam
Piece.
In first wheel, the second wheel, shaft and inner wheel hub can be rotatablely connected by way of clearance fit, can also be with
It is rotatablely connected by bearing.
The number of the middle spoke of first wheel, the second wheel is preferably four.
The present invention can also include crawler belt, and the first wheel, the second wheel are connected by crawler haulage.Crawler belt makes robot
Action edge more preferably, is more easier across obstacle.Crawler belt is made of metal material.
The invention also discloses a kind of working methods of the mobile robot of patch type piezoelectric driving, include following mistake
Journey:
As shown in fig. 6, applying the first signal to all piezoelectric ceramic pieces for generating bending vibration, being used to generate longitudinal vibration to all
Piezoelectric ceramic piece applies second signal, and the first signal, second signal differ pi/2 on time phase, so that patch type piezoelectric shakes
With the single order longitudinal vibration and N rank bending vibration of pi/2 phase difference in sub- generation time, so that on the first actuation head, the second actuation head
Surface particle, which generates, turns to identical elliptic motion a little；First actuation head, the second actuation head respectively drive further through friction
One wheel, the second wheel rotate in same direction, as shown in Figure 7.
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second work
The steering of dynamic head upper surface particle elliptic motion a little, and then change the direction of the first wheel, the second vehicle wheel rotation.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (8)
1. a kind of mobile robot of patch type piezoelectric driving, which is characterized in that comprising patch type piezoelectric oscillator, the first wheel,
Second wheel, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；
The metallic matrix includes the first actuation head, the second actuation head and walking beam；
The walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；The first actuation head, second
Actuation head includes to make moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；The first actuation head,
The connecting pin of second actuation head is connected with the walking beam or so two end faces respectively；
First clamping end, the second clamping end are separately positioned on the centre of the walking beam upper side, downside, and the first folder
It holds end, be equipped with the mounting hole perpendicular to walking beam leading flank on the second clamping end；
The walking beam upper side, downside post curved for generating at the peak swing of metallic matrix N rank bending vibration modes
The piezoelectric ceramic piece of vibration, the N are even number, are the bending vibration orders of preset operation mode；The leading flank of the walking beam
The piezoelectric ceramic piece for generating single order longitudinal vibration is posted at the node of metallic matrix single order longitudinal vibration mode；
The piezoelectric ceramic piece for generating bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration polarize along its thickness direction；
The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generates the piezoelectric ceramic piece of longitudinal vibration from trailing flank to front side
Surface polarization；
First fixed plate, the second fixed plate are in crosswise, include first long-armed, second long-armed, the first galianconism and second
Galianconism；Described first is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；Described
One galianconism, the second galianconism end be equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and described first
Clamping end, the corresponding fixation hole of the second clamping end upper installing hole；
The patch type piezoelectric oscillator passes through its first clamping end upper installing hole, the fixation hole of first the first galianconism of fixed plate, the
The fixation hole of two the first galianconism of fixed plate be fixed by bolts it is connected so as to be fixed on the first fixed plate first short for the first clamping end
The boss of arm, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator by its second clamping end upper installing hole,
The fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected so that
Two clamping ends are fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate；
First wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein the inner wheel hub,
Outer wheel hub is annular in shape, is arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end and
Inner wheel hub is connected, the other end and outer wheel hub are connected；The shaft and inner wheel hub rotation connection, enable inner wheel hub with respect to shaft
It is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides；
It is long-armed that first annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in first fixed plate first
Open slot, in the long-armed open slot of the second fixed plate first, form dimensional slip hinge；First ring of second rotation shaft of wheel
It is long-armed that connected in star, second annular groove are respectively placed in the long-armed open slot of first fixed plate second, the second fixed plate second
Open slot in, formed dimensional slip hinge；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first rotation shaft of wheel, the second rotation shaft of wheel, be in tensional state so that the outer surface of the first wheel outer wheel hub and
First actuation head of patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator second are made
Dynamic head offsets.
2. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that after the walking beam
The piezoelectric ceramic piece for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in side.
3. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
In second wheel, shaft and inner wheel hub are rotatablely connected by way of clearance fit.
4. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
In second wheel, shaft and inner wheel hub are rotatablely connected by bearing.
5. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
Second wheel includes four spokes.
6. the mobile robot of patch type piezoelectric driving according to claim 1 or 2, which is characterized in that it also include crawler belt,
First wheel, the second wheel are connected by the crawler haulage.
7. the mobile robot of patch type piezoelectric driving according to claim 6, which is characterized in that crawler belt uses metal material
Material is made.
8. the working method of the mobile robot based on patch type piezoelectric of any of claims 1 or 2 driving, which is characterized in that
Include following procedure:
First signal is applied, to all piezoelectric ceramic pieces for being used to generate longitudinal vibration to all piezoelectric ceramic pieces for generating bending vibration
Apply second signal, the first signal, second signal differ pi/2 on time phase, so that patch type piezoelectric oscillator generation time
Upper single order longitudinal vibration and N rank bending vibration with pi/2 phase difference, so that the first actuation head, the second actuation head upper surface particle produce
It is raw to turn to identical elliptic motion a little；First actuation head, the second actuation head further through rubbing action respectively drive the first wheel,
Second wheel rotates in same direction；
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second actuation head
The steering of upper surface particle elliptic motion a little, and then change the direction of the first wheel, the second vehicle wheel rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811349989.1A CN109334794B (en) | 2018-11-14 | 2018-11-14 | Patch type piezoelectric driven mobile robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811349989.1A CN109334794B (en) | 2018-11-14 | 2018-11-14 | Patch type piezoelectric driven mobile robot and working method thereof |
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| CN109334794A true CN109334794A (en) | 2019-02-15 |
| CN109334794B CN109334794B (en) | 2023-06-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4209422A1 (en) * | 2022-01-11 | 2023-07-12 | Hamilton Sundstrand Corporation | Dust removal from a vehicle |
| CN116494277A (en) * | 2023-06-29 | 2023-07-28 | 季华实验室 | Rotary driving mechanism, mechanical clamping jaw and excitation method of mechanical clamping jaw |
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