CN207328639U - A kind of jet-propelled driving hopping robot motion structure of zero vector - Google Patents
A kind of jet-propelled driving hopping robot motion structure of zero vector Download PDFInfo
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- CN207328639U CN207328639U CN201720842604.XU CN201720842604U CN207328639U CN 207328639 U CN207328639 U CN 207328639U CN 201720842604 U CN201720842604 U CN 201720842604U CN 207328639 U CN207328639 U CN 207328639U
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- energy
- storing chamber
- piezoelectric patches
- support leg
- driving
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- 239000012528 membrane Substances 0.000 claims abstract description 29
- 230000000737 periodic effect Effects 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 238000005086 pumping Methods 0.000 description 9
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- 238000005381 potential energy Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
The utility model discloses a kind of jet-propelled driving hopping robot motion structure of zero vector, including energy-storing chamber, spout, vibrating membrane, vibration piezoelectric patches, support leg and driving piezoelectric patches, energy-storing chamber is without top box body structure, top surface and energy-storing chamber composition closed cavity structure of the vibrating membrane as energy-storing chamber, spout is located at energy-storing chamber side wall, vibration piezoelectric patches is located on vibrating membrane, support leg is more than 2, it is evenly distributed on energy-storing chamber bottom surface, support leg is arcuate structure, support leg extrados is oppositely arranged, and driving piezoelectric patches is equipped with each support leg.The jet-propelled driving hopping robot motion structure of the utility model zero vector and its application method, it is not necessary to extraneous source of the gas, the hydraulic mechanical structure used relative to common bio-robot, required energy is less, easily controllable, and due to simple in structure, lighter in weight, Energy Efficiency Ratio higher.
Description
Technical field
It the utility model is related to a kind of bio-robot motion structure, more particularly to a kind of jet-propelled driving spring of zero vector
Robot motion's structure.
Background technology
The mechanical structure of existing bio-robot often using based on hydraulic structure, it is mostly important the problem of be due to
Excessively " bionical " causes motion frequency not high, and often has movement and store hypodynamic problem.The substantial amounts of time is needed to carry out
Power is stored, one-off can be completed.Power is stored in bio-robot very short time if can realize, and high frequency can be operated in and swashed
Encourage under signal, so designed bio-robot motion structure can not only greatly improve the locomitivity of bio-robot, and
And can by this model optimization improve total efficiency, and with lighter in weight, easy to control, input energy
Measure the features such as less.
Utility model content
Purpose of utility model：To overcome the shortcomings of the existing technology, the utility model purport is a kind of by jet-propulsion and bullet in providing
Jump the jet-propelled driving hopping robot motion structure of zero vector being combined.
Technical solution：In order to solve the above technical problems, the utility model adopts the following technical solution：
A kind of jet-propelled driving hopping robot motion structure of zero vector, including energy-storing chamber, spout, vibrating membrane, vibration pressure
Electric piece, support leg and driving piezoelectric patches, the energy-storing chamber are without top box body structure, top surface and energy storage of the vibrating membrane as energy-storing chamber
Chamber forms closed cavity structure, and spout is located at energy-storing chamber side wall, and vibration piezoelectric patches is located on vibrating membrane, and support leg is more than 2,
Energy-storing chamber bottom surface is evenly distributed on, support leg is arcuate structure, and support leg extrados is oppositely arranged, and is equipped with each support leg
Drive piezoelectric patches.
Operation principle：The jet-propelled driving hopping robot motion structure of the utility model zero vector, energy-storing chamber is as whole
The energy storing space of motion structure, the gas of the interior suction of each cycle temporarily store in energy-storing chamber；When the half period of ejection, energy storage
The gas of intracavitary is discharged by spout so that total produces a reverse thrust at this moment；Vibrating piezoelectric patches can be
Vibrating membrane provides pumping signal, and pumping signal is mainly the inverse piezoelectric effect of the piezoelectric utilized, and control vibrating membrane is pressed
Contracting or expansion energy storage cavity volume；On the one hand support leg plays the role of supporting structure, on the one hand will drive the deformation of piezoelectric patches
Pressure is converted into elastic potential energy, and in the energy-storing chamber jet stage, support leg discharges the energy in compression stage deposit, realizes the shape that takeoffs
State.
The vibrating membrane is elastic material vibrating membrane, and the change of volume can be realized to energy-storing chamber.
It is preferred that the spout is located at side wall of the energy-storing chamber backwards to direction of advance, spout is single round hole, square hole, bar
Shape hole, row's round hole or row's square hole.
The spout angle can be adjusted, and can facilitate controlled motion mechanism direction of advance.
The vibration piezoelectric patches and driving piezoelectric patches supply voltage are periodic AC voltage signal, can make piezoelectric patches
Cyclic deformation, and then vibrating membrane is amplified deformation signal, carry out upper and lower reciprocating motion.
The driving frequency of above-mentioned periodic AC voltage signal can be high frequency ac signal.
The support leg radian can be adjusted, and can control support leg elastic force and controlled motion mechanism spring direction.
The application method of the above-mentioned jet-propelled driving hopping robot motion structure of zero vector, comprises the following steps：
1) spout angle, is adjusted, vibration piezoelectric patches and driving piezoelectric patches are powered, and vibration piezoelectric patches and driving piezoelectric patches are in week
Under the ac voltage signal driving of phase property, generating period deformation；
2) the vibrating membrane amplification deformation signal accompanying by piezoelectric patches, is vibrated, vibrating membrane carries out upper and lower reciprocating motion；
3), the up and down motion of vibrating membrane is so that the compression of volume generating period, the expansion change of energy-storing chamber；
4), energy-storing chamber directly sucks gas in compression, in the half period expanded from spout surrounding, in half for expanding, compressing
In cycle gas is sprayed along the opening direction of spout；
5), since the gas directive property of ejection is stronger so that total produces a reverse thrust at this moment；
6) the driving piezoelectric patches pumping signal, accompanying by support leg is synchronous with the pumping signal for vibrating piezoelectric patches, support leg
Driving piezoelectric patches deformation pressure is converted into elastic potential energy, when energy-storing chamber sprays gas backward, elastic potential energy is just discharged, makes
Obtaining overall structure can upspring, and reverse thrust causes whole motion structure to travel forward.
Above-mentioned vibration piezoelectric patches and driving piezoelectric patches due to working frequency it is higher, the faint displacement of motion structure in a cycle
Obvious motion feature can macroscopically produced.
The unmentioned technology of the utility model is the prior art.
Beneficial effect：The jet-propelled driving hopping robot motion structure of the utility model zero vector and its application method, no
Extraneous source of the gas is needed, the hydraulic mechanical structure used relative to common bio-robot, required energy is less, is easy to control
System, and due to simple in structure, lighter in weight, Energy Efficiency Ratio higher.
Brief description of the drawings
Fig. 1 is the jet-propelled driving hopping robot motion structure structure diagram of the utility model zero vector；
Fig. 2 is the jet-propelled driving hopping robot motion structure operation principle schematic diagram of the utility model zero vector；
In figure, 1 be energy-storing chamber, 2 be vibrating membrane, 3 be spout, 4 be vibration piezoelectric patches, 5 be support leg, 6 be driving piezoelectricity
Piece.
Embodiment
The utility model in order to better understand, the content of the utility model is furtherd elucidate with reference to embodiment, but
The content of the utility model is not limited solely to the following examples.
Embodiment 1
As shown in Figs. 1-2, the jet-propelled driving hopping robot motion structure of a kind of zero vector, including energy-storing chamber 1, spout 3,
Vibrating membrane 2, vibration piezoelectric patches 4, support leg 5 and driving piezoelectric patches 6, the energy-storing chamber 1 are to make without top box body structure, vibrating membrane 2
Closed cavity structure is formed for the top surface and energy-storing chamber 1 of energy-storing chamber 1, spout 3 is located at 1 side wall of energy-storing chamber, and vibration piezoelectric patches 4 is located at
On vibrating membrane 2, support leg 5 is 4, is evenly distributed on 1 bottom surface of energy-storing chamber, and support leg 5 is arcuate structure, 5 extrados of support leg
It is oppositely arranged, driving piezoelectric patches 6 is equipped with each support leg 5；Vibrating membrane 2 is elastic material vibrating membrane 2；Spout 3 is located at storage
For energy chamber 1 backwards to the side wall of direction of advance, the shape of spout 3 is round hole；3 angle of spout can be adjusted；Vibrate piezoelectric patches 4 and drive
Dynamic 6 supply voltage of piezoelectric patches is periodic AC voltage signal；5 radian of support leg can be adjusted.
The jet-propelled driving hopping robot motion structure of the utility model zero vector, energy-storing chamber 1 are used as whole motion structure
Energy storing space, the gas of suction temporarily stores in energy-storing chamber 1 in each cycle；When the half period of ejection, in energy-storing chamber 1
Gas is discharged by spout 3 so that total produces a reverse thrust at this moment；It can be vibration to vibrate piezoelectric patches 4
Film 2 provides pumping signal, and pumping signal is mainly the inverse piezoelectric effect of the piezoelectric utilized, and control vibrating membrane 2 is compressed
Or expansion 1 volume of energy-storing chamber；5 one side of support leg plays the role of supporting structure, on the one hand will drive the deformation of piezoelectric patches 6
Pressure is converted into elastic potential energy, and in the 1 jet stage of energy-storing chamber, support leg 5 discharges the energy in compression stage deposit, and realization is takeoff
State.The onward impulse of total is mainly derived from the ejection backward of gas in energy-storing chamber 1.
The gas source that the utility model is sprayed is exactly the gas of external environment, without additionally introducing source of the gas.
The utility model pumping signal is mainly the inverse piezoelectric effect of the piezoelectric utilized.
The utility model vibration piezoelectric patches 4 drives the deformation that vibrating membrane 2 produces, and promotes the compression and expansion of 1 volume of energy-storing chamber
；Driving piezoelectric patches 6 affects the change of 5 shape of support leg, so as to complete the action of spring.
The course of work of the whole motion structure of the utility model is the ejection of gas and the spring of support leg 5 in energy-storing chamber 1
Act coefficient result.
Driving frequency needed for the utility model motion structure can be high frequency ac signal.
The application method of the above-mentioned jet-propelled driving hopping robot motion structure of zero vector, comprises the following steps：
1) 3 angle of spout, is adjusted, vibration piezoelectric patches 4 and driving piezoelectric patches 6 are powered, vibration piezoelectric patches 4 and driving piezoelectric patches
6 under the driving of periodic ac voltage signal, generating period deformation；
2), vibrate the vibrating membrane 2 accompanying by piezoelectric patches 4 and amplify deformation signal, vibrating membrane 2 carries out upper and lower reciprocating motion；
3), the up and down motion of vibrating membrane 2 is so that the compression of volume generating period, the expansion change of energy-storing chamber 1；
4), energy-storing chamber 1 compression, expansion half period in directly from 3 surrounding of spout suck gas, expansion, compression
In half period gas is sprayed along the opening direction of spout 3；
5), since the gas directive property of ejection is stronger so that total produces a reverse thrust at this moment；
6) driving 6 pumping signal of piezoelectric patches, accompanying by support leg 5 is synchronous with the pumping signal for vibrating piezoelectric patches 4, support
Leg 5 will drive 6 deformation pressure of piezoelectric patches to be converted into elastic potential energy, when energy-storing chamber 1 sprays gas backward, just discharge elastic potential
Can so that overall structure can upspring, and reverse thrust causes whole motion structure to travel forward.
The jet-propelled driving hopping robot motion structure of the utility model zero vector and its application method, it is not necessary to extraneous gas
Source, the hydraulic mechanical structure used relative to common bio-robot, required energy is less, easily controllable, and due to knot
Structure is simple, lighter in weight, Energy Efficiency Ratio higher.
Embodiment 2
It is substantially the same manner as Example 1, except that：The shape of spout 3 is square hole.
Embodiment 3
It is substantially the same manner as Example 1, except that：The shape of spout 3 is strip hole.
Embodiment 4
It is substantially the same manner as Example 1, except that：The shape of spout 3 is row's round hole.
Embodiment 5
It is substantially the same manner as Example 1, except that：The shape of spout 3 is square hole in a row.
It the above is only the preferred embodiment of the utility model, it should be pointed out that：For the ordinary skill people of the art
For member, on the premise of the utility model principle is not departed from, each facility locations can also be adjusted, these adjustment also should
It is considered as the scope of protection of the utility model.
Claims (2)
- A kind of 1. jet-propelled driving hopping robot motion structure of zero vector, it is characterised in that：Including energy-storing chamber, spout, vibration Film, vibration piezoelectric patches, support leg and driving piezoelectric patches, the energy-storing chamber are that vibrating membrane is as energy-storing chamber without top box body structure Top surface and energy-storing chamber composition closed cavity structure, spout are located at energy-storing chamber side wall, and vibration piezoelectric patches is located on vibrating membrane, support leg For more than 2, energy-storing chamber bottom surface is evenly distributed on, support leg is arcuate structure, and support leg extrados is oppositely arranged, each support Driving piezoelectric patches is equipped with leg；The vibrating membrane is elastic material vibrating membrane；The spout is located at the energy-storing chamber side of advance backwards To side wall, spout is single round hole, square hole, strip hole, row's round hole or row's square hole.
- 2. the jet-propelled driving hopping robot motion structure of zero vector as claimed in claim 1, it is characterised in that：The vibration Piezoelectric patches and driving piezoelectric patches supply voltage are periodic AC voltage signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842604.XU CN207328639U (en) | 2017-07-12 | 2017-07-12 | A kind of jet-propelled driving hopping robot motion structure of zero vector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842604.XU CN207328639U (en) | 2017-07-12 | 2017-07-12 | A kind of jet-propelled driving hopping robot motion structure of zero vector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207328639U true CN207328639U (en) | 2018-05-08 |
Family
ID=62427328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720842604.XU Expired - Fee Related CN207328639U (en) | 2017-07-12 | 2017-07-12 | A kind of jet-propelled driving hopping robot motion structure of zero vector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207328639U (en) |
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2017
- 2017-07-12 CN CN201720842604.XU patent/CN207328639U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 |