CN116001947A - Four-foot piezoelectric crawling robot and control method thereof - Google Patents
Four-foot piezoelectric crawling robot and control method thereof Download PDFInfo
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- CN116001947A CN116001947A CN202310103856.0A CN202310103856A CN116001947A CN 116001947 A CN116001947 A CN 116001947A CN 202310103856 A CN202310103856 A CN 202310103856A CN 116001947 A CN116001947 A CN 116001947A
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Abstract
The invention discloses a four-foot piezoelectric crawling robot which comprises two trapezoidal metal matrixes, wherein the metal matrixes are parallel and fixedly connected through connecting pieces, the connecting pieces are fixed on the upper end surfaces of the metal matrixes, and piezoelectric ceramic copper sheets are fixed on the upper end surfaces of each metal matrix; the lower end surface of the metal matrix is horizontally fixed with a connecting plate, the bottom end of the connecting plate is fixed with two driving feet, the driving feet are arranged in parallel and incline towards the same direction, and the driving feet are of an arc body structure with hollowed-out inner parts; the piezoelectric ceramic copper sheet is communicated with a voltage amplifier through a lead, and the voltage amplifier is communicated with a signal generator; a control method of the robot is also disclosed. The piezoelectric robot is driven to stably move through the relative movement generated by the contact of the foot and the ground, so that functions which cannot be completed by some human beings can be realized, such as climbing mountain bodies or the like through a narrow passage, and compared with other piezoelectric robots, the piezoelectric robot has the advantages of faster movement speed, smaller volume requirement and better environmental adaptability.
Description
Technical Field
The invention belongs to the technical field of robots, relates to a four-foot piezoelectric crawling robot and also relates to a control method of the four-foot piezoelectric crawling robot.
Background
The robot technology integrates various subject technologies including machinery, electronics, control and computers, and has been applied to various fields such as industrial production, aerospace, home service, exploration and relief, military reconnaissance and the like for years, and has wide development prospect and social requirements. The microminiature robot is in the hot direction of the research and development of the robot technology in recent years, and can be applied to various fields such as bioengineering, military reconnaissance, energy detection, micromanipulation and the like based on the characteristics of small volume, light weight, flexible movement and the like.
Along with the rapid development of novel intelligent materials, the novel intelligent materials such as piezoelectric ceramics, shape memory alloy, dielectric elastomer and the like are gradually applied to the development of microminiature multi-legged robots, and the intelligent materials are utilized to drive the robots, so that the movement structure is simpler and the manufacturing is more convenient. The novel driving mode for converting electric energy into mechanical energy by utilizing the inverse piezoelectric effect of the piezoelectric ceramic has the advantages of high resolution, high response speed, power failure self-locking, no electromagnetic interference and the like, and is beneficial to improving the characteristics of the movement speed, resolution, response speed and the like of the robot.
The piezoelectric material is excited to vibrate slightly in the elastomer, so that the displacement of the piezoelectric material for driving the matrix to move is small, and the piezoelectric material can only reach about one percent of the piezoelectric material after mechanical amplification, and is sometimes insufficient for driving the robot to walk. Therefore, how to apply the novel driving mode of converting the electric energy into the mechanical energy by using the inverse piezoelectric effect of the piezoelectric ceramic to the microminiature robot and finally design the crawling robot with integrated piezoelectric driving and walking structure, so that the miniaturization of the robot structure and the improvement of the transmission efficiency are the problems to be solved.
Disclosure of Invention
The invention aims to provide a four-foot piezoelectric crawling robot, which solves the problems that the existing robot base body driven by the piezoelectric effect has smaller displacement and can not work in a complex environment.
The technical scheme adopted by the invention is that the four-foot piezoelectric crawling robot comprises two trapezoidal metal matrixes which are parallel and fixedly connected through connecting pieces, wherein the connecting pieces are fixed on the upper end face of the metal matrixes, and piezoelectric ceramic copper sheets are fixed on the upper end face of each metal matrix; the lower end surface of the metal matrix is horizontally fixed with a connecting plate, the bottom end of the connecting plate is fixed with two driving feet, the driving feet are arranged in parallel and incline towards the same direction, and the driving feet are of an arc body structure with hollowed-out inner parts; the piezoelectric ceramic copper sheet is communicated with a voltage amplifier through a lead, and the voltage amplifier is communicated with a signal generator.
The invention is also characterized in that:
the piezoelectric ceramic copper sheet is a buzzing round piezoelectric ceramic copper sheet.
In the piezoelectric ceramic copper sheet, the diameter of the metal sheet is 35mm, the thickness of the metal sheet is 0.13mm, and the diameter of the ceramic sheet is 25mm, and the thickness of the ceramic sheet is 0.2mm.
The piezoelectric ceramic copper sheet is fixed on the beryllium copper substrate.
The beryllium copper substrate is a round beryllium copper sheet with the diameter of 35 mm.
The beryllium copper substrate is coincident with the central axis of the piezoelectric ceramic copper sheet, the centers of the two centers are coincided, and the diameter of the beryllium copper substrate is slightly larger than that of the piezoelectric ceramic copper sheet.
The metal matrix is formed by bending a beryllium copper metal sheet with a rectangular shape of 12mm and 50 mm.
The connecting plate is formed by bending a square beryllium copper metal sheet with the thickness of 20 mm.
The upper end face of the metal matrix is 135 degrees with the bevel edge, and the lower end face of the metal matrix is 135 degrees with the bevel edge.
The invention further aims to provide a control method of the four-foot piezoelectric crawling robot, which adopts the following technical scheme: a signal source with certain frequency and voltage is generated through a signal generator, and the signal source is amplified and output to the piezoelectric ceramic copper sheet through a voltage amplifier to vibrate; when the resonance frequency of the robot is reached, the displacement change of the driving foot of the robot is the largest, and the robot starts to move along the direction with small friction force through generating asymmetric driving force by friction between the driving foot and the ground; meanwhile, different modal frequencies of the robot are tested through simulation and experiment, and when the different modal frequencies of the robot are achieved, the metal matrix and the driving feet can generate corresponding deformation, so that the robot and the ground are driven to perform relative movement, and the turning function is realized.
According to the crawling piezoelectric robot, the rigidity and the strength meet the requirements, and the material characteristics and the structural design of the metal matrix which is easy to bend are adopted, so that the micro-amplitude vibration driven by piezoelectricity is amplified into the forward and backward movement of feet relative to the ground, the feet are contacted with the ground to generate relative movement, the piezoelectric robot is driven to stably move, and in addition, the controllable movement of the robot can be realized by controlling the turning function through a control system. Meanwhile, the crawling piezoelectric robot can work in environments with complex terrain space structures and unfavorable human work, can realize functions which cannot be completed by human beings, such as climbing mountain bodies or the like through narrow channels, and has higher movement speed, smaller volume requirement and better environmental adaptability compared with other piezoelectric robots.
Drawings
FIG. 1 is a schematic structural view of a four-foot piezoelectric crawling robot;
FIG. 2 is a schematic top view of the four-foot piezoelectric crawling robot of the present invention;
fig. 3 is a schematic side view of the four-foot piezoelectric crawling robot of the present invention.
In the figure, the driving foot is 1, the connecting plate is 2, the metal matrix is 3, the piezoelectric ceramic copper sheet is 4, the connecting piece is 5, and the beryllium copper substrate is 6.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The four-foot piezoelectric crawling robot disclosed by the invention, as shown in fig. 1, comprises a piezoelectric ceramic copper sheet 4, a metal matrix 3, a driving foot 1, a connecting piece 5, a connecting plate 2, a beryllium copper substrate 6, a signal amplifier and a signal generator.
Wherein, piezoceramics copper sheet 4 is buzzing circular piezoceramics copper sheet, and piezoceramics copper sheet 4's sheetmetal diameter is 35mm, and thickness is 0.13mm, and the potsherd diameter is 25mm, and thickness is 0.2mm, and the welding of potsherd top has positive and negative pole wire.
As shown in fig. 2, the metal base 3 is made of beryllium copper, has a rectangular structure with a width of 12mm and a length of 50mm, and is formed by bending a beryllium copper metal sheet; the upper end of the device is fixed with a round substrate with the diameter of 35mm, and the bottom end is fixed with a connecting plate 2 with the diameter of 20mm multiplied by 20 mm.
As shown in fig. 3, the upper end face of the metal matrix 3 forms 135 degrees with the oblique side thereof, the lower end face of the metal matrix 3 forms 135 degrees with the oblique side thereof, namely, the rectangular metal matrix 3 forms an angle of 45 degrees with the plane of the middle circular matrix, the connecting plate 2 forms an angle of 135 degrees with the rectangular metal matrix 3 and is parallel with the middle circular matrix, and the whole metal matrix 3 is trapezoidal; the left and right sides of the bottom of the metal matrix 3 are respectively fixed with a connecting plate 2 which is of a symmetrical structure, and the two metal matrices 3 are connected together through a connecting piece 5.
A circular beryllium copper substrate 6 is fixed on the upper end surface of the metal matrix 3 and is used for bearing and transmitting the piezoelectric power generated by the piezoelectric ceramic copper sheet 4, and the piezoelectric ceramic copper sheet 4 is adhered to the metal matrix 3 by double-sided adhesive tape; the middle beryllium copper substrate 6 and the central axis of the piezoelectric ceramic copper sheet 4 are coincident and the centers of the circles are the same, and the diameter of the beryllium copper substrate 6 is slightly larger than that of the piezoelectric ceramic copper sheet 4; four drive feet 1 pass through the double-sided adhesive and are in the bottom surface of connecting plate 2, and the foot of drive foot 1 is the circular-arc cylinder of several and all inclines to a direction, and its material is PLA 3D printing and forms and the centre fretwork to realize the lightweight.
The control method of the invention comprises the following steps: the piezoelectric ceramic copper sheet 4 is connected with an external excitation source to receive a driving signal with a certain frequency and voltage generated by a signal generator, and the piezoelectric ceramic copper sheet 4 is amplified and driven by a voltage amplifier, at the moment, the piezoelectric power generated by the signal source is transmitted onto the metal base body 3 by the piezoelectric ceramic copper sheet 4, the metal base body 3 and the piezoelectric ceramic copper sheet 4 vibrate at a certain frequency, when the vibration frequency reaches the resonance frequency of the robot, the displacement of the connecting plate 2 at the tail end of the metal base body 3 reaches the maximum, the driving foot 1 connected with the piezoelectric ceramic copper sheet is driven to move forwards and backwards, and the robot moves towards the direction with small friction force due to the difference of friction forces in the front and rear directions of the foot contacted with the ground.
According to the four-foot piezoelectric crawling robot, a matrix model is firstly built through a solidwork, then beryllium copper is adopted to be processed into a shape shown in figure 1, the surfaces of a beryllium copper substrate 6 used for pasting a piezoelectric ceramic copper sheet 4 and a connecting plate 2 connected with a driving foot 1 are parallel, so that the piezoelectric ceramic copper sheet 4 can drive the middle beryllium copper substrate 6 to bend up and down, and meanwhile, the trapezoid structure is utilized to amplify the vibration displacement of the driving foot 1; asymmetric force implementation design: the most central part of the friction type driving foot 1 is in a friction driving mode, and friction is regarded as resistance under the general condition, so that energy loss is caused; however, in most cases, friction may also provide motive force for advancement.
In the symmetrical structure, the asymmetric driving force is required to be realized for movement, and the driving foot 1 shown in fig. 1 is designed by taking the change of the angle of the surface scales and the microstructure of the surface of the cocklebur fruit into consideration when the snake walks, and the asymmetric friction force is realized mainly by utilizing an asymmetric shape and utilizing a surface microstructure. Because 3D printing technology has the advantage of high accuracy, the processing and the array of micro-structure can be realized to single material 3D printer under lower cost condition and the direction and the size of micro-structure all will directly influence frictional force, consequently select the frictional force that realizes the anisotropy at the micro-structure of material surface processing slope, this drive is sufficient 1 adopts PLA material to use 30% filling degree to print and forms, and is hollow out construction in the middle of this structure, realizes the lightweight. The piezoelectric ceramic copper sheet 4 adopts a bonding wire to buzze the piezoelectric ceramic copper sheet, and the piezoelectric buzzing sheet is made of lead zirconate titanate or lead magnesium niobate piezoelectric ceramic material. Silver electrodes are plated on two sides of the ceramic sheet, and the ceramic sheet is bonded with brass sheet or stainless steel sheet after polarization and aging treatment.
The invention works by utilizing the piezoelectric effect principle, and when alternating voltage is applied to the piezoelectric transducer, the piezoelectric transducer can generate mechanical vibration, and the bearable alternating force is large and is not easy to damage; the diameter of the metal sheet of the piezoelectric ceramic copper sheet 4 is 35mm, the thickness of the metal sheet is 0.13mm, the diameter of the ceramic sheet is 25mm, and the thickness of the ceramic sheet is 0.2mm, and the ceramic sheet can be fully attached to the circular beryllium copper substrate 6 to drive the circular beryllium copper substrate to move.
The robot adopts the buzzing piezoelectric ceramic material as a power source, has simple and light structure and stable movement, can control turning and has strong adaptability to the environment. When the piezoelectric ceramic copper sheet 4 is used, the output end of the signal generator is connected to the input end of the voltage amplifier, the output channels of the signal generator are respectively corresponding to the two input channels of the voltage amplifier, then the positive electrode and the negative electrode of the output end of the voltage amplifier are connected with positive and negative 2 wires welded above the piezoelectric ceramic copper sheet 4 by using enameled wires, and the positive electrode and the negative electrode of the two output ends are respectively corresponding to the positive and negative wires of the two piezoelectric sheets; the signal source with certain frequency and voltage is generated by the signal generator, and the signal source is amplified by the voltage amplifier and output to the piezoelectric ceramic copper sheet 4, so that the piezoelectric ceramic copper sheet 4 vibrates. When the resonance frequency of the robot is reached, the displacement change of the driving foot 1 of the robot is the largest, and the driving force which is asymmetric in the front-back direction is generated by friction between the driving foot 1 and the ground, so that the robot starts to move in the direction with small friction force. Meanwhile, different modal frequencies of the robot are tested through simulation and experiment, and when the different modal frequencies of the robot are achieved, the base body and the feet of the robot deform correspondingly, so that the robot and the ground are driven to move relatively, and the turning function is realized.
In the embodiment, the signal generator generates a signal source with the frequency of 520Hz and the voltage of 4v, and the signal source is amplified by 32 times by the voltage amplifier and then is output to the piezoelectric ceramic copper sheet 4, so that the robot can be driven to turn left; when the signal generator outputs a signal source with the frequency of 940Hz and the voltage unchanged, the robot can realize the function of turning right. Meanwhile, a certain program can be built in the simulink, and the program is connected to the quaternion semi-physical simulation platform by matching with signal sources with different frequencies and voltages and some control input modules; then, the voltage amplifier is connected to the piezoelectric ceramic copper sheet 4, and the robot can be commanded to perform a series of actions such as straight running or turning by changing different instructions.
The invention aims to provide a small four-foot piezoelectric crawling robot, which aims to solve the problem that the traditional robot cannot be used for solving the limitation of various environmental factors, and aims to perform operation more efficiently than human beings. The novel driving mode for converting the electric energy into the mechanical energy by utilizing the inverse piezoelectric effect of the piezoelectric ceramic copper sheet 4 has the advantages of high resolution, high response speed, no electromagnetic interference and the like, and is beneficial to improving the characteristics of the movement speed, resolution, response speed and the like of the robot; the four-foot piezoelectric crawling robot is simple and portable in structure, can walk and turn, and is strong in environment adaptability.
Through the drive of piezoelectric material and with the design of crawling robot's combination, design into the robot of crawling of paster formula piezoelectricity drive and walking structure integration, not only can make the mechanism miniaturized, transmission efficiency improves, through with ground contact, utilizes pressure electric power and frictional force to make the robot crawl subaerial, can let the more steady reliable of robot motion moreover. Because the piezoelectric driver has the advantages, the piezoelectric driving technology provides a new direction for the further development of the micro crawling robot, and therefore, for the operation under a complex environment, the novel piezoelectric robot with various structures designed by combining the inverse piezoelectric effect and the friction driving principle has very wide research and application prospects and practical values. The following aspects are specifically shown:
(1) The piezoelectric ceramic material is used as a power source of the robot, so that the robot is driven to move, the transmission efficiency is high, and the energy loss is small;
(2) The transmission mechanism of the robot is realized through a trapezoidal beryllium copper plate amplifying mechanism with the thickness of 0.2mm, and the bottom is connected with four friction force driving feet, so that the device is stable in walking, light in structure and reliable in performance;
(3) The walking and turning control can be performed on the vehicle through a simulink construction program, and the vehicle is strong in environment adaptability.
Claims (10)
1. The four-foot piezoelectric crawling robot is characterized by comprising two trapezoid metal matrixes (3), wherein the metal matrixes (3) are parallel and fixedly connected through connecting pieces (5), the connecting pieces (5) are fixedly arranged on the upper end faces of the metal matrixes (3), and piezoelectric ceramic copper sheets (4) are fixedly arranged on the upper end faces of each metal matrix (3); the lower end face of the metal matrix (3) is horizontally fixed with a connecting plate (2), the bottom end of the connecting plate (2) is fixed with two driving feet (1), the driving feet (1) are arranged in parallel and incline towards the same direction, and the driving feet (1) are of an arc body structure with hollowed-out inner parts; the piezoelectric ceramic copper sheet (4) is communicated with a voltage amplifier through a lead, and the voltage amplifier is communicated with a signal generator.
2. The four-foot piezoelectric crawling robot according to claim 1, characterized in that the piezoelectric ceramic copper sheet (4) is a buzzing circular piezoelectric ceramic copper sheet.
3. The four-foot piezoelectric crawling robot according to claim 2, characterized in that in the piezoelectric ceramic copper sheet (4), the diameter of the metal sheet is 35mm, the thickness is 0.13mm, and the diameter of the ceramic sheet is 25mm, and the thickness is 0.2mm.
4. The four-foot piezoelectric crawling robot according to claim 1, further comprising a circular beryllium copper substrate (6) fixed on the upper end surface of the metal base (3), wherein the piezoelectric ceramic copper sheet (4) is fixed on the beryllium copper substrate (6).
5. The four-foot piezoelectric crawling robot according to claim 4, characterized in that the beryllium copper substrate (6) is a circular beryllium copper sheet with a diameter of 35 mm.
6. The four-foot piezoelectric crawling robot according to claim 4, wherein the beryllium copper substrate (6) is coincident with the central axis of the piezoelectric ceramic copper sheet (4), the centers of the two centers of circles are co-located, and the diameter of the beryllium copper substrate (6) is slightly larger than the diameter of the piezoelectric ceramic copper sheet (4).
7. The four-foot piezoelectric crawling robot according to claim 1, wherein the metal base (3) is formed by bending a beryllium copper metal sheet which is 12mm by 50mm and is rectangular.
8. The four-foot piezoelectric crawling robot according to claim 1, wherein the connecting plate (2) is formed by bending a beryllium copper metal sheet with a square shape of 20mm by 20 mm.
9. The four-foot piezoelectric crawling robot according to claim 1, characterized in that the upper end surface of the metal base (3) is 135 ° to its oblique side, and the lower end surface of the metal base (3) is 135 ° to its oblique side.
10. The control method of a four-legged piezoelectric crawling robot according to any one of claims 1 to 9, characterized by being implemented according to the following steps: a signal source with certain frequency and voltage is generated through a signal generator, and the signal source is amplified and output to a piezoelectric ceramic copper sheet (4) through a voltage amplifier so as to vibrate; when the resonance frequency of the robot is reached, the displacement change of the driving foot (1) of the robot is the largest, and asymmetric driving force is generated by friction between the driving foot (1) and the ground, so that the robot starts to move in the direction with small friction force; meanwhile, different modal frequencies of the robot are tested through simulation and experiment, and when the other modal frequencies of the robot are achieved, the metal base body (3) and the driving foot (1) can generate corresponding deformation, so that the robot and the ground are driven to generate relative motion, and the operation function is realized.
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| CN202310103856.0A CN116001947A (en) | 2023-01-16 | 2023-01-16 | Four-foot piezoelectric crawling robot and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690533A (en) * | 2023-04-26 | 2023-09-05 | 哈尔滨工业大学 | Module based on paper folding structure and bionic soft motion robot |
| CN118357946A (en) * | 2024-06-18 | 2024-07-19 | 山东大学 | Piezoelectric robot control system based on bird leg imitation configuration and control method thereof |
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2023
- 2023-01-16 CN CN202310103856.0A patent/CN116001947A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690533A (en) * | 2023-04-26 | 2023-09-05 | 哈尔滨工业大学 | Module based on paper folding structure and bionic soft motion robot |
| CN116690533B (en) * | 2023-04-26 | 2024-05-07 | 哈尔滨工业大学 | Module based on paper folding structure and bionic soft motion robot |
| CN118357946A (en) * | 2024-06-18 | 2024-07-19 | 山东大学 | Piezoelectric robot control system based on bird leg imitation configuration and control method thereof |
| CN118357946B (en) * | 2024-06-18 | 2024-09-13 | 山东大学 | Piezoelectric robot control system based on bird leg imitation configuration and control method thereof |
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