CN111313748A - Array sucker type rigid-flexible integrated crawling actuator and working method thereof - Google Patents
Array sucker type rigid-flexible integrated crawling actuator and working method thereof Download PDFInfo
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- CN111313748A CN111313748A CN202010182958.2A CN202010182958A CN111313748A CN 111313748 A CN111313748 A CN 111313748A CN 202010182958 A CN202010182958 A CN 202010182958A CN 111313748 A CN111313748 A CN 111313748A
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- telescopic rod
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- 230000009193 crawling Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000005452 bending Methods 0.000 claims abstract description 40
- 239000000919 ceramic Substances 0.000 claims abstract description 38
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000009194 climbing Effects 0.000 claims abstract description 6
- 239000011159 matrix material Substances 0.000 claims abstract 5
- 239000000758 substrate Substances 0.000 claims description 23
- 230000005284 excitation Effects 0.000 claims description 20
- 238000004904 shortening Methods 0.000 claims description 3
- HFGPZNIAWCZYJU-UHFFFAOYSA-N lead zirconate titanate Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[Ti+4].[Zr+4].[Pb+2] HFGPZNIAWCZYJU-UHFFFAOYSA-N 0.000 claims description 2
- 230000006870 function Effects 0.000 description 6
- 241000252254 Catostomidae Species 0.000 description 2
- 241000238413 Octopus Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/003—Driving devices, e.g. vibrators using longitudinal or radial modes combined with bending modes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Micromachines (AREA)
Abstract
The invention discloses an array sucker type rigid-flexible integrated crawling actuator and a working method thereof, relates to the technical field of intelligent actuators, and can linearly move on a vertical or approximately vertical wall surface. The invention consists of a pair of crawling feet connected with a telescopic rod, wherein each crawling foot comprises a flexible array sucker, a piezoelectric ceramic piece, a cuboid matrix, a flexible bending beam and a crawling foot telescopic rod. The flexible array sucking disc openly faces the working face, and the bottom of cuboid base member is connected at the back, and piezoceramics piece, the top of cuboid base member and the inboard bottom of flexible bending beam are pasted respectively to the adjacent both sides face of cuboid base member and are connected, and in the outside of flexible bending beam, the head and the tail both ends are connected by the sufficient telescopic link of crawling. The bottom of the inner side of the flexible bending beam is connected with one end of a telescopic rod. The telescopic rod and the foot climbing telescopic rod are both made of materials which have elasticity when being stimulated by external conditions. The invention is suitable for complex bending and non-horizontal surfaces (such as the interior of an aircraft engine), and has high practical application value.
Description
Technical Field
The invention relates to the technical field of intelligent actuators, in particular to an array sucker type rigid-flexible integrated crawling actuator and a working method thereof.
Background
The actuator is a key part for implementing active vibration control and is an important link of an active control system. The actuator is used for applying control force to the control object according to the determined control rule. In recent years, many intelligent actuators, such as piezoelectric ceramic actuators, piezoelectric thin film actuators, electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators, and electrorheological fluid actuators, have been developed on the basis of conventional fluid actuators, gas actuators, and electric actuators. And the design of bionic structures of organisms in the nature is always a great research hotspot.
Most of the prior art actuators can only work on a horizontal surface, and are difficult to move on complex curved and non-horizontal surfaces.
Disclosure of Invention
The array sucker type rigid-flexible integrated crawling actuator provided by the invention can linearly move on a vertical or approximately vertical wall surface, and has high practical application value, and the actuator has flexible structural characteristics, so that the actuator has the function potential of moving on a complex bending and non-horizontal surface (such as the interior of an aeroengine) and is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme:
array sucking disc formula rigid-flexible integrative actuator of crawling comprises a pair of foot of crawling that a telescopic link is connected, and the foot of crawling includes flexible array sucking disc, two piezoceramics pieces, cuboid base member, flexible bending beam and the foot telescopic link of crawling and constitutes.
The flexible array sucking disc openly faces the working face, and the bottom of cuboid base member is connected at the back, and piezoceramics piece, the top of cuboid base member and the inboard bottom of flexible bending beam are pasted respectively to the adjacent both sides face of cuboid base member and are connected, and in the outside of flexible bending beam, the head and the tail both ends are connected by the sufficient telescopic link of crawling. The bottom of the inner side of the flexible bending beam is connected with one end of a telescopic rod.
The telescopic rod and the foot climbing telescopic rod are both made of materials which have elasticity when being stimulated by external conditions.
Furthermore, materials which are stimulated by external conditions to have elasticity include magnetostrictive materials, thermotropic telescopic materials and electrostrictive materials.
Furthermore, the piezoelectric ceramic sheet is made of PZT-8.
The invention also provides a working method of the array sucker type rigid-flexible integrated crawling actuator, which comprises the following steps:
s1, extruding and exhausting air in the flexible array sucker, and sucking the flexible array sucker on a vertical working surface;
s2, applying sinusoidal driving voltage to the piezoelectric ceramic plate on the advancing direction side crawling foot, exciting a longitudinal vibration mode of the advancing direction side cube base body, and driving the advancing direction side flexible array sucker to vibrate up and down to separate from a working surface;
s3, applying an excitation condition for extending the telescopic rod to drive the flexible bending beam on the advancing direction side to move upwards;
s4, applying an excitation condition for extending the crawling foot telescopic rod on the advancing direction side to drive the flexible bending beam on the advancing direction side to expand outwards, pressing the flexible array sucker to extrude the wall surface, removing the excitation condition applied to the crawling foot telescopic rod after the flexible array sucker is attached to the wall surface, and restoring the crawling foot telescopic rod to the original state;
s5, applying sinusoidal driving voltage to the piezoelectric ceramic plate on the rear side in the advancing direction, exciting a longitudinal vibration mode of the cuboid substrate on the rear side in the advancing direction, and driving the flexible array sucker on the rear side in the advancing direction to vibrate up and down to separate from a working plane;
s6, applying an excitation condition for shortening the telescopic rod to drive the flexible bending beam on the rear side in the advancing direction to move upwards;
s7, applying an excitation condition for enabling the crawling foot telescopic rod on the rear side of the advancing direction to extend, driving the flexible bending beam on the rear side of the advancing direction to expand outwards, pressing the flexible array sucker to extrude the wall surface, removing the excitation condition applied to the crawling foot telescopic rod after the flexible array sucker is attached to the wall surface, restoring the crawling foot telescopic rod to the original state, and circularly executing S1-S7 to realize linear crawling of the array sucker type rigid-flexible integrated crawling actuator on the wall surface.
The invention has the beneficial effects that:
the invention is formed by connecting a group of crawling feet through a telescopic rod, and the bottom of each crawling foot is provided with an array sucker simulating octopus and can be attached to a vertical or approximately vertical and complex curved surface, so that the invention is suitable for wider disclosure. Piezoelectric ceramic pieces are adhered to two side faces of each cuboid substrate on the crawling foot, and the vibration synthesis effect of the piezoelectric ceramic pieces under the action of sine voltage is utilized, so that the cuboid substrates generate longitudinal vibration to enable the flexible array suckers to be separated from the wall surface. And then, excitation conditions are respectively utilized to excite the extension and contraction functions of the telescopic rod to enable the flexible bending beam to move upwards, and the creeping foot connecting rod is excited to extrude and attach the flexible array sucker to the wall surface. And the linear wall climbing movement displacement of the actuator is finally realized by combining the above movement functions. And because the actuator has flexible structural characteristics, the actuator is ensured to have the functional potential of moving on complex bending and non-horizontal surfaces (such as the interior of an aircraft engine), and has high practical application value.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of an embodiment;
FIG. 2 is a schematic view showing the movement of the actuator in the embodiment.
The flexible array comprises 1-a first flexible array sucker, 2-a first piezoelectric ceramic piece, 3-a second piezoelectric ceramic piece, 4-a first cuboid substrate, 5-a first flexible bending beam, 6-a first telescopic rod, 7-a second telescopic rod, 8-a second flexible bending beam, 9-a third telescopic rod, 10-a third piezoelectric ceramic piece, 11-a fourth piezoelectric ceramic piece, 12-a second cuboid substrate and 13-a second flexible array sucker.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.
Array sucking disc formula rigid-flexible integrative crawling actuator, as shown in fig. 1, include: the flexible array comprises a first flexible array sucker 1, a first piezoelectric ceramic piece 2, a second piezoelectric ceramic piece 3, a first cuboid substrate 4, a first flexible bending beam 5, a first telescopic rod 6, a second telescopic rod 7, a second flexible bending beam 8, a third telescopic rod 9, a third piezoelectric ceramic piece 10, a fourth piezoelectric ceramic piece 11, a second cuboid substrate 12 and a second flexible array sucker 13.
The first crawling foot is composed of a first flexible array sucker 1, a first piezoelectric ceramic piece 2, a second piezoelectric ceramic piece 3, a first cuboid base body 4, a first flexible bending beam 5 and a first telescopic rod 6. The top of the first flexible array sucker 1 is connected with a first cuboid substrate 4, a first piezoelectric ceramic piece 2 and a second piezoelectric ceramic piece 3 are respectively stuck to two adjacent side surfaces of the first cuboid substrate 4, and the shapes and the sizes of the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 3 are the same. The top of the first cuboid base body 4 is connected with the bottom of the inner side of the first flexible bending beam 5, and the head and the tail of the outer side of the first flexible bending beam 5 are connected through a first telescopic rod 6.
And a second crawling foot is formed by a second flexible bending beam 8, a third telescopic rod 9, a third piezoelectric ceramic piece 10, a fourth piezoelectric ceramic piece 11, a second cuboid substrate 12 and a second flexible array sucker 13. The top of the second flexible array sucker 13 is connected with a second cuboid substrate 12, and the adjacent two side surfaces of the second cuboid substrate 12 are respectively stuck with a third piezoelectric ceramic piece 10, a fourth piezoelectric ceramic piece 11, and the third piezoelectric ceramic piece 10 and the fourth piezoelectric ceramic piece 11 have the same shape and size. The top of the second cuboid base body 12 is connected with the bottom of the inner side of the second flexible bending beam 8, and the head and the tail of the outer side of the second flexible bending beam 8 pass through the third telescopic rods 9. The first foot of crawling and the second foot of crawling are symmetrical structure, connect through second telescopic link 7, and the connection position is the inboard top of first flexible crooked roof beam 5 and the flexible crooked roof beam 8 of second.
The first telescopic rod 6, the second telescopic rod 7 and the third telescopic rod 9 are made of shape memory alloy materials.
The working method of the wall climbing linear motion of the embodiment is shown in fig. 2, and comprises the following steps:
firstly, before the actuator moves, the first flexible array sucker 1 and the second flexible array sucker 13 are squeezed to discharge air in the actuator, so that the pressure difference between the internal pressure and the atmospheric pressure is formed, and the whole actuator is attached to a vertical wall surface;
and step two, applying sinusoidal driving voltage with the same phase to the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 3. Therefore, a longitudinal vibration mode of the first cuboid substrate 4 is excited, and the first flexible array sucker 1 connected with the first cuboid substrate vibrates up and down along with the longitudinal vibration mode, so that the first flexible array sucker 1 is separated from the wall surface;
step three, applying an excitation condition for extending the third telescopic rod 9 to drive the first flexible bending beam 5 to move upwards;
step four, applying an excitation condition for extending the first telescopic rod 6 to drive the first flexible bending beam 5 to expand outwards, so that the first cuboid substrate 4 extrudes the first flexible array sucker 1 connected with the first cuboid substrate to the wall surface, the first flexible array sucker 1 is attached to the wall surface, and then removing the excitation condition applied to the first telescopic rod 6 to restore the first telescopic rod;
and step five, applying sinusoidal driving voltage to the third piezoelectric ceramic piece 10 and the fourth piezoelectric ceramic piece 11. Therefore, a longitudinal vibration mode of the second cuboid substrate 12 is excited, and the second flexible array sucker 13 connected with the second cuboid substrate vibrates up and down along with the longitudinal vibration mode, so that the second flexible array sucker 13 is separated from the wall surface;
step six, applying an excitation condition for shortening the third telescopic rod 9 to drive the second flexible bending beam 8 to move upwards;
and step seven, applying an excitation condition for extending the third telescopic rod 9 to drive the second flexible bending beam 8 to expand outwards, so that the second cuboid substrate 12 extrudes the second flexible array sucker 13 connected with the second cuboid substrate to the wall surface, the second flexible array sucker 13 is attached to the wall surface, and then removing the excitation condition applied to the third telescopic rod 9 to restore the original state.
And the steps are circularly executed, and the whole actuator can realize the function of linear crawling on the wall surface.
The invention has the beneficial effects that:
the invention is formed by connecting a group of crawling feet through a telescopic rod, and the bottom of each crawling foot is provided with an array sucker simulating octopus and can be attached to a vertical or approximately vertical and complex curved surface, so that the invention is suitable for wider disclosure. Piezoelectric ceramic pieces are adhered to two side faces of each cuboid substrate on the crawling foot, and the vibration synthesis effect of the piezoelectric ceramic pieces under the action of sine voltage is utilized, so that the cuboid substrates generate longitudinal vibration to enable the flexible array suckers to be separated from the wall surface. And then, excitation conditions are respectively utilized to excite the extension and contraction functions of the telescopic rod to enable the flexible bending beam to move upwards, and the creeping foot connecting rod is excited to extrude and attach the flexible array sucker to the wall surface. And the linear wall climbing movement displacement of the actuator is finally realized by combining the above movement functions. And because the actuator has flexible structural characteristics, the actuator is ensured to have the functional potential of moving on complex bending and non-horizontal surfaces (such as the interior of an aircraft engine), and has high practical application value.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The array sucker type rigid-flexible integrated crawling actuator is characterized by comprising a pair of crawling feet connected by a telescopic rod, wherein each crawling foot comprises a flexible array sucker, two piezoelectric ceramic pieces, a cuboid matrix, a flexible bending beam and a crawling foot telescopic rod;
the front surface of the flexible array sucker faces to a working surface, the back surface of the flexible array sucker is connected with the bottom of the cuboid matrix, the piezoelectric ceramic plates are respectively stuck to the two adjacent side surfaces of the cuboid matrix, the top of the cuboid matrix is connected with the bottom of the inner side of the flexible bending beam, and the head end and the tail end of the flexible bending beam are connected through the crawling foot telescopic rod;
the bottom of the inner side of the flexible bending beam is connected with one end of the telescopic rod, and the telescopic rod and the foot climbing telescopic rod are both made of materials which have elasticity when being stimulated by external conditions.
2. The array sucker type rigid-flexible integrated crawling actuator of claim 1, wherein the material with elasticity when stimulated by external conditions comprises magnetostrictive material, thermotropic telescopic material and electrostrictive material.
3. The array sucker type rigid-flexible integrated crawling actuator of claim 1, wherein the piezoelectric ceramic plate is made of PZT-8.
4. Working method of array sucker type rigid-flexible integrated crawling actuator, applicable to the array sucker type rigid-flexible integrated crawling actuator of the above claims, characterized by comprising:
s1, extruding and exhausting air in the flexible array sucker, and sucking the flexible array sucker on a vertical working surface;
s2, applying sinusoidal driving voltage to the piezoelectric ceramic plate on the advancing direction side crawling foot, exciting a longitudinal vibration mode of the advancing direction side cube base body, and driving the advancing direction side flexible array sucker to vibrate up and down to separate from a working surface;
s3, applying an excitation condition for extending the telescopic rod to drive the flexible bending beam on the advancing direction side to move upwards;
s4, applying an excitation condition for extending the crawling foot telescopic rod on the advancing direction side to drive the flexible bending beam on the advancing direction side to expand outwards, pressing the flexible array sucker to extrude the wall surface, removing the excitation condition applied to the crawling foot telescopic rod after the flexible array sucker is attached to the wall surface, and restoring the crawling foot telescopic rod to the original state;
s5, applying sinusoidal driving voltage to the piezoelectric ceramic plate on the rear side in the advancing direction, exciting a longitudinal vibration mode of the cuboid substrate on the rear side in the advancing direction, and driving the flexible array sucker on the rear side in the advancing direction to vibrate up and down to separate from a working surface;
s6, applying an excitation condition for shortening the telescopic rod to drive the flexible bending beam on the rear side in the advancing direction to move upwards;
s7, applying an excitation condition for enabling the crawling foot telescopic rod to extend to the rear side of the advancing direction, driving the flexible bending beam on the rear side of the advancing direction to expand outwards, pressing the flexible array sucker to extrude the wall surface, removing the excitation condition applied to the crawling foot telescopic rod after the flexible array sucker is attached to the wall surface, restoring the crawling foot telescopic rod to the original state, and circularly executing S1-S7 to realize linear crawling of the array sucker type rigid-flexible integrated crawling actuator on the wall surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010182958.2A CN111313748B (en) | 2020-03-16 | 2020-03-16 | Array sucker type rigid-flexible integrated crawling actuator and working method thereof |
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| CN202010182958.2A CN111313748B (en) | 2020-03-16 | 2020-03-16 | Array sucker type rigid-flexible integrated crawling actuator and working method thereof |
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| CN111313748B CN111313748B (en) | 2022-06-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211484A (en) * | 2021-05-07 | 2021-08-06 | 南通大学 | Underwater surrounding device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122901A (en) * | 2011-03-07 | 2011-07-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Precise motion driving device based on bionics principle |
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| US20160329838A1 (en) * | 2014-01-28 | 2016-11-10 | Zhejiang University | Flexible and Soft Smart Driving Device |
| CN109617449A (en) * | 2018-12-05 | 2019-04-12 | 南京航空航天大学 | Six sufficient actuator and its working method based on Piezoelectric Driving |
-
2020
- 2020-03-16 CN CN202010182958.2A patent/CN111313748B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122901A (en) * | 2011-03-07 | 2011-07-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Precise motion driving device based on bionics principle |
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| US20160329838A1 (en) * | 2014-01-28 | 2016-11-10 | Zhejiang University | Flexible and Soft Smart Driving Device |
| CN109617449A (en) * | 2018-12-05 | 2019-04-12 | 南京航空航天大学 | Six sufficient actuator and its working method based on Piezoelectric Driving |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211484A (en) * | 2021-05-07 | 2021-08-06 | 南通大学 | Underwater surrounding device |
| CN113211484B (en) * | 2021-05-07 | 2022-07-12 | 南通大学 | Underwater surrounding device |
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