CN1544208A - Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system - Google Patents
Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system Download PDFInfo
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- CN1544208A CN1544208A CNA2003101087358A CN200310108735A CN1544208A CN 1544208 A CN1544208 A CN 1544208A CN A2003101087358 A CNA2003101087358 A CN A2003101087358A CN 200310108735 A CN200310108735 A CN 200310108735A CN 1544208 A CN1544208 A CN 1544208A
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Abstract
The invention is a micro-type multistage electromagnetic and piezoelectric peristaltic robot system, including: driving unit, elastic sealing film, front cabin, back cabin and cardan joint. The driving unit is composed of piezoelectric body, the first electromagnet, the second electromagnet and tube, the two ends of the piezoelectric body are stationarily bond with the two electromagnets, respectively to form a driver for the driving unit. The driving unit has a simple structure, and the key components only include piezoelectric device and electromagnetic coil and have very small size, the displacement transfer mainly depends on absorption force of electromagnets and tube, the requirements of cooperation, processing precision and assembly are reduced, the control is reliable, the displacement can be regulated by voltage waveform, amplitude and frequency applied on the piezoelectric body, moving direction can be changed with the control time sequence of the two electromagnets, convenient to control time sequence; the unit driver can reliably move on the interface of the ferromagnetic material, too.
Description
Technical field
What the present invention relates to is a kind of creeping motion robot system, particularly a kind of miniature more piece electromagnetism and piezoelectricity creeping motion robot system.Belong to the mechanical ﹠ electrical technology field.
Background technology
Microrobot is very little because of its overall dimension, is convenient to enter the short space implementation and operation, so can be widely used in atomic energy, petrochemical industry, the detection of tiny industrial pipeline and maintenance, fields such as the medical examination of human body intestinal canal, blood vessel etc. and treatment.Twentieth century is since the nineties, and a lot of countries are all in the research of being devoted to related fields such as micro-tube robot and Gant-robot.
At present the micro-tube robot of report and Gant-robot have multiplely, mainly concentrate on the robot of marmem, electromagnetism, motor and Piezoelectric Driving, and every kind of type of drive all has pluses and minuses separately.Marmen power to weight ratio height, but power consumption is big, response frequency is low, and the responsiveness of robot is difficult to improve.Electromagnetic Drive and motor drive mode all exist volume to be difficult to further microminiaturization, heating problem such as serious.Piezoelectric Driving has that volume is little, rigidity is big, displacement resolution and positioning accuracy height, good linearity, frequency response height, heating are little, noiseless, be easy to advantage such as control, and the deficiency of maximum is that drive displacement is too little.Find by literature search, the Chinese patent name is called: miniature multi-articulation electromagnetic creeping motion robot system, number of patent application is: 99127201.3, patent publication No.: 1257339, the miniature multi-articulation electromagnetic creeping motion robot system of this patent introduction has adopted several driver element spares and front deck, rear deck to be connected into the mode of system, between the driver element spare and with cabin, front and back and driver element spare between all adopt universal joint to be connected, formed the wriggling system of more piece, employing be moving-coil type electromagnetic drive unit spare.Devices such as this system carries optical imagery, passes picture, illumination enter body cavities automatically, to realize in the body that current biomedical engineering field advocates " Wicresoft and do not have and create " diagnosis and treatment.Though this robot motion principle has good adaptability to narrow and small, soft, crooked environment, electromagnetic drive mode exists volume to be difficult to further microminiaturization, heating, power to weight ratio aspect problem such as be difficult to further improve.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of miniature multi-articulation electromagnetic and piezoelectricity creeping motion robot system are proposed, make the advantage of its comprehensive electromagnetism and Piezoelectric Driving, can produce than large driving force and movement velocity faster, control is reliable again, motion stabilization, and it is little to generate heat, being suitable for the motion under micro-tube and soft, the crooked environment, is that autonomy enters a kind of new method that short space or microtubule are finished online and real-time detection.
The present invention realizes by following technical scheme, the present invention includes: driver element spare, elastic sealing film, front deck, rear deck and universal joint.Be connected by universal joint between the driver element spare and between front deck, rear deck and the driver element spare, and use the elastic packing film phonograph seal, driver element spare is made of piezoelectrics, first electromagnet, second electromagnet and sleeve, bonding is fixed with first electromagnet and second electromagnet respectively in the two ends of piezoelectrics, forms the driver of driver element spare.Between driver and the sleeve minim gap is arranged, make it to seesaw in sleeve, the driver of each driver element spare is connected with the cover letter or the rear deck of next joint driver element spare.
Two electromagnet of the present invention alternately are adsorbed on the sleeve under the sequential effect or loosen, piezoelectrics elongation or contraction, and the displacement of driver output single direction changes control timing, and the direction of driver output displacement changes.The driver of each driver element spare is connected with the sleeve or the rear deck of next joint driver element spare, in due course under the control signal effect of preface, robot system realizes the creeping action, change the control signal frequency, robot creeping speed changes, change the control signal sequential, robot creeping direction changes.
Therefore, as long as each parts of each driver element spare are applied certain sequencing control voltage signal, robot system just can realize the motion that requires; Change control timing, robot motion's direction changes; Change the control signal frequency within the specific limits, can realize the actuating speed that robot is different.
Compared with prior art, the present invention has adopted the driver element spare of electromagnetism and piezoelectric phase combination, and the type of drive heating is little, and noise is low, and size is little, operates steadily, and is easier to control.The present invention has following advantage: (1) driver element spare is simple in structure, and its key component only is piezoelectric device and solenoid, and is small-sized; (2) the main absorption affinity that relies on electromagnet and sleeve is transmitted in displacement, and the cooperation of system, machining accuracy and matching requirements reduce, and control is reliable; (3) displacement can be by being added in voltage waveform, amplitude and the frequency adjustment on the piezoelectrics, and the direction of motion can change by the control timing of two electromagnet, and control is convenient; (4) single driver also can be realized reliable movement on the interface of ferromagnetic material.
Description of drawings
Fig. 1 is a structure diagram of the present invention
Fig. 2 is a driver element spare structure diagram
Fig. 3 is a driver element spare motion principle schematic diagram
Fig. 4 is a driver element spare control signal oscillogram
Fig. 5 is an operation principle schematic diagram of the present invention
Embodiment
As shown in Figure 1 and Figure 2, the present invention includes: driver element spare 1, elastic sealing film 2, front deck 3, rear deck 4 and universal joint 5.Each saves between the driver element spare 1, be connected by universal joint 5 between front deck and the driver element spare 1 and between rear deck 4 and the driver element spare 1, and with elastic sealing film 2 sealing, driver element spare 1 is made of piezoelectrics 6, electromagnet 7, electromagnet 8 and sleeve 9, bonding is fixed with electromagnet 7 and electromagnet 8 respectively in the two ends of piezoelectrics 6, forms the driver 10 of driver element spare 1.Between driver 10 and the sleeve 9 minim gap is arranged, make it to seesaw in sleeve 9, the driver 10 of each driver element spare 1 is connected with the sleeve 9 or the rear deck 4 of next joint driver element spare 1.
As shown in Figure 3, the motion process of driver element spare is as follows: (0) is initial condition, and piezoelectrics 6 loosen, and electromagnet 7 and electromagnet 8 energisings are adsorbed on the sleeve 9; (1) sleeve 9 is no longer adsorbed in electromagnet 7 outages; (2) piezoelectrics 6 elongations promote electromagnet 7 and move right a micrometric displacement d; (3) after piezoelectrics 6 extend fully, electromagnet 7 absorption; (4) electromagnet 8 is decontroled; (5) piezoelectrics 6 are punctured into original state, and pulling electromagnet 7 moves right a micrometric displacement d.As seen, after a sequential, driver has moved right a micrometric displacement d in 9 li in sleeve, repeats above-mentioned control procedure, can form bigger displacement.Change control timing, promptly exchange the control signal of electromagnet 7 and electromagnet 8, can realize motion left.Fig. 4 is the control signal figure of driver element spare, V
1, V
2, V
3Be respectively electromagnet 8, the control voltage of piezoelectrics 6 and electromagnet 7, (0) to (5) step of the motion process in the corresponding diagram 3 is distinguished in 6 pulses.
As Fig. 5 is operation principle schematic diagram of the present invention, numbers A, B, C respectively for three driver element spares 1.Introduce each step respectively below in conjunction with Fig. 4 and Fig. 5:
(1) initial condition of creeping motion robot system.
(2) electromagnet 7 and the electromagnet 8 that is numbered the driver element spare 1 of B and C sucks sleeve 9.Be numbered A driver element spare 1 and add control signal shown in Fig. 4 (a), its driver micrometric displacement d that in sleeve 9, moves to right after the loop ends, and rear deck 4 dragged, remainder is motionless, and circulation repeatedly back forms the displacement of h.
(3) electromagnet 7 and the electromagnet 8 that is numbered the driver element spare 1 of C sucks sleeve 9, and the driver element spare 1 that is numbered A is increase control signal not, is in relaxation state.The driver element spare 1 that is numbered B adds control signal shown in Fig. 4 (a), its driver d that in sleeve 9, moves to right after the loop ends, and the sleeve 9 that will be numbered the driver element spare 1 of A drags, and remainder is motionless, and circulation repeatedly back forms displacement h.
(4) electromagnet 7 and the electromagnet 8 that is numbered the driver element spare 1 of A sucks sleeve 9, and the driver element spare 1 that is numbered B is increase control signal not, is in relaxation state.The driver element spare 1 that is numbered C adds control signal shown in Fig. 4 (a), loop ends rear drive device d that in sleeve 9, moves to right, and the sleeve 9 that will be numbered the driver element spare 1 of B drags, and remainder is motionless, and circulation repeatedly back forms displacement h.
(5) electromagnet 7 and the electromagnet 8 that is numbered the driver element spare 1 of A and B sucks sleeve 9, the driver element spare 1 that is numbered C adds the control signal shown in Fig. 4 (b), its sleeve 9 is driven device and promotes displacement d to the right after the loop ends, and with front deck 3 promotions, remainder is motionless, and circulation repeatedly back forms displacement h.
Through after the above-mentioned circulation, robot moves right a stroke h.If change driver element spare 1 motion sequence into C, B and A, when (1) to (3), add control signal shown in Fig. 4 (b), the driver element spare 1 that is numbered A at last adds control signal shown in Fig. 4 (a), and its sleeve 9 and rear deck 4 are promoted, and then robot forms motion left.
Claims (2)
1, a kind of miniature more piece electromagnetism and piezoelectricity creeping motion robot system, comprise: driver element spare (1), elastic sealing film (2), front deck (3), rear deck (4) and universal joint (5), it is characterized in that, each saves between the driver element spare (1), be connected by universal joint (5) between front deck (3) and the driver element spare (1) and between rear deck (4) and the driver element spare (1), and seal with elastic sealing film (2), driver element spare (1) is by piezoelectrics (6), electromagnet (7), electromagnet (8) and sleeve (9) constitute, bonding is fixed with electromagnet (7) and electromagnet (8) respectively in the two ends of piezoelectrics (6), form the driver (10) of driver element spare (1), between driver (10) and the sleeve (9) minim gap is arranged, can in sleeve (9), seesaw.
2, miniature more piece electromagnetism according to claim 1 and piezoelectricity creeping motion robot system is characterized in that, the driver (10) of each driver element spare (1) is connected with the sleeve (9) or the rear deck (4) of next joint driver element spare (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2003101087358A CN1544208A (en) | 2003-11-20 | 2003-11-20 | Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2003101087358A CN1544208A (en) | 2003-11-20 | 2003-11-20 | Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system |
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| CNA2003101087358A Pending CN1544208A (en) | 2003-11-20 | 2003-11-20 | Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100443352C (en) * | 2007-06-21 | 2008-12-17 | 上海交通大学 | Creep walking mechanism inside pipeline |
| CN100547899C (en) * | 2006-12-15 | 2009-10-07 | 中国科学技术大学 | Dual voltage electrical body nano positioning and voltage electrical driver, its control method and controller |
| CN101973320A (en) * | 2010-09-21 | 2011-02-16 | 上海大学 | Simulation wriggling walking device |
| 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 |
| CN101207344B (en) * | 2007-11-13 | 2013-07-03 | 哈尔滨工业大学深圳研究生院 | Creeping motion type piezoelectricity straight line driver |
| CN104022680A (en) * | 2014-06-03 | 2014-09-03 | 吉林大学 | Inchworm bionic device |
| CN105564522A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Arthropod type electromagnetic exploration robot |
| CN111633630A (en) * | 2020-06-10 | 2020-09-08 | 中国科学技术大学 | Precession control system and method for micro robot |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN113002739A (en) * | 2021-03-28 | 2021-06-22 | 西北工业大学 | Bionic peristaltic crawling underwater vehicle and motion control method |
-
2003
- 2003-11-20 CN CNA2003101087358A patent/CN1544208A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100547899C (en) * | 2006-12-15 | 2009-10-07 | 中国科学技术大学 | Dual voltage electrical body nano positioning and voltage electrical driver, its control method and controller |
| CN100443352C (en) * | 2007-06-21 | 2008-12-17 | 上海交通大学 | Creep walking mechanism inside pipeline |
| CN101207344B (en) * | 2007-11-13 | 2013-07-03 | 哈尔滨工业大学深圳研究生院 | Creeping motion type piezoelectricity straight line driver |
| CN101973320A (en) * | 2010-09-21 | 2011-02-16 | 上海大学 | Simulation wriggling walking device |
| 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 |
| CN104022680A (en) * | 2014-06-03 | 2014-09-03 | 吉林大学 | Inchworm bionic device |
| CN105564522A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Arthropod type electromagnetic exploration robot |
| CN111633630A (en) * | 2020-06-10 | 2020-09-08 | 中国科学技术大学 | Precession control system and method for micro robot |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN112722098B (en) * | 2020-10-28 | 2022-07-22 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN113002739A (en) * | 2021-03-28 | 2021-06-22 | 西北工业大学 | Bionic peristaltic crawling underwater vehicle and motion control method |
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