CN219237205U - Miniature piezoelectric bidirectional mobile robot - Google Patents

Abstract

The utility model discloses a miniature piezoelectric bidirectional mobile robot in the technical field of robots, which comprises a flexible amplifying mechanism and a piezoelectric driving part, wherein the piezoelectric driving part comprises a tightening screw, piezoelectric stacks, fixing screws and driving feet, two groups of piezoelectric stacks are symmetrically distributed in the flexible amplifying mechanism, the piezoelectric stacks are pre-tightened and fixed through the tightening screw, the driving feet are fixed on the flexible amplifying mechanism through the fixing screws, and the cantilever ends of the driving feet are provided with contact points, so that the miniature piezoelectric bidirectional mobile robot has the beneficial effects that: according to the scheme, the bridge-lever two-stage flexible amplifying mechanism is adopted by the flexible amplifying mechanism to secondarily amplify the output displacement of the piezoelectric stack, the stick-slip driving principle is combined, the robot can rapidly and greatly move, the position of the driving foot can be changed by adjusting the fixing screw, and the use scenes with different diameters and widths can be adapted.

Description

Miniature piezoelectric bidirectional mobile robot

Technical Field

The utility model relates to the technical field of robots, in particular to a miniature piezoelectric bidirectional mobile robot.

Background

Nowadays, a small robot has the advantages of small size, light weight and the like, and is an important research direction. Unlike the prior large-size robot, the driving device is not driven by a motor or air pressure, is more flexible and convenient to operate and control, and is the best choice in places such as pipelines with narrow internal space and difficult manual overhaul.

Most of the traditional small robots adopt an electromagnetic driving mode, a transmission system is required to realize speed transformation, the structure is relatively complex, the output displacement resolution is extremely small, and the application range of the small electromagnetic driving type robot is limited to a great extent. In contrast, the piezoelectric material has the advantages of quick response, high resolution, high power density, no electromagnetic interference and the like, and the characteristics of miniaturization, light weight, high displacement resolution and the like are easier to realize by utilizing the piezoelectric driving robot.

However, in general, the application research of the piezoelectric ceramic driver is mostly focused on the displacement driving stroke of a few tenths of micrometers to tens of micrometers, and the piezoelectric ceramic driver cannot be directly used for driving in the aspect of stroke driving with the displacement of more than hundreds of micrometers, so that the superior driving performance of the piezoelectric ceramic cannot be fully utilized, and the application range of the piezoelectric ceramic driver is limited.

In the driving principle commonly used nowadays, wheel type driving is difficult to multiplex a set of mechanisms with other driving principles; inchworm type, inertial friction type and resonant driving principles generally adopt functional materials as actuators, and have the premise of multiplexing the same moving mechanism; wherein the inertia friction type driving principle and the resonance type driving principle both generate motion by elastic deformation (static deformation or vibration) of an elastic mechanism, and meanwhile, the advantages of the inertia friction type driving principle and the resonance type driving principle are complementary in motion performance. Therefore, in order to solve the contradiction between miniaturization, high resolution and high speed of the moving mechanism of the microminiature robot for precision operation, the utility model utilizes the stick-slip driving principle and the bridge-lever two-stage displacement flexible amplifying mechanism to realize higher driving displacement so as to meet the requirement of larger displacement movement.

To this end, we propose a miniature piezoelectric bi-directional mobile robot.

Disclosure of Invention

The present utility model is directed to a miniature piezoelectric bi-directional mobile robot to solve the above-mentioned problems.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the miniature piezoelectric bidirectional mobile robot comprises a flexible amplifying mechanism and a piezoelectric driving part, wherein the piezoelectric driving part comprises tightening screws, piezoelectric stacks, fixing screws and driving feet, two groups of piezoelectric stacks which are symmetrically distributed are arranged in the flexible amplifying mechanism, the piezoelectric stacks are pre-tightened and fixed through the tightening screws, the driving feet are fixed on the flexible amplifying mechanism through the fixing screws, and the cantilever ends of the driving feet are provided with contact points.

Preferably, the side of flexible mechanism that enlarges all is provided with screw hole A and through-hole, screw hole A is located the outside of through-hole, screw down the screw and mesh with screw hole A, screw down the screw and run through screw hole A and through-hole and piezoelectricity stack direct contact.

Preferably, the radius of the through hole is larger than that of the threaded hole A and the tightening screw.

Preferably, the upper and lower surfaces of the flexible amplifying mechanism are provided with threaded holes B, the fixing screws are matched with the threaded holes B, and the driving feet are screwed on the threaded holes B through the fixing screws.

Preferably, the driving foot has rigidity and elasticity.

Preferably, the flexible amplifying mechanism adopts a bridge-lever two-stage flexible amplifying mechanism.

Compared with the prior art, the utility model has the beneficial effects that:

1. the device can move bidirectionally to realize multidirectional displacement;

2. the time from the establishment of the electric field to the generation of the inverse piezoelectric deformation is extremely short, and no mechanical anastomosis gap or transmission system exists;

3. the influence of an external magnetic field on the magnetic field is small, so that the magnetic field has important application value in working occasions requiring small magnetic interference influence;

4. and a transmission mechanism is not needed, and the displacement control precision is high.

Drawings

FIG. 1 is a schematic view of a robot of the present utility model in a pipe;

FIG. 2 is a schematic diagram of the overall structure of the present utility model;

FIG. 3 is a schematic view of a flexible amplifying mechanism according to the present utility model;

fig. 4 is a schematic view of a driving foot in the present utility model.

In the figure: 1. a flexible amplifying mechanism; 1-1, a threaded hole A;1-2, through holes; 1-3, a threaded hole B; 2. tightening the screw; 3. a piezoelectric stack; 4. a set screw; 5. a driving foot; 5-1, contact point.

Detailed Description

Examples

Referring to fig. 1-4, the present utility model provides a technical solution:

the miniature piezoelectric bidirectional mobile robot comprises a flexible amplifying mechanism 1 and a piezoelectric driving part, wherein the piezoelectric driving part comprises a tightening screw 2, a piezoelectric stack 3, a fixing screw 4 and a driving foot 5;

the flexible amplifying mechanism 1 adopts a bridge-lever two-stage flexible amplifying mechanism to secondarily amplify the output displacement of the piezoelectric stack 3, and combines a stick-slip driving principle to realize rapid and larger movement of the robot, and the position of the driving foot 5 can be changed by adjusting the fixing screw 4 to adapt to use scenes with different diameters and widths;

a piezoelectric driving part, wherein a piezoelectric stack 3 is placed in the flexible amplifying mechanism 1 and is pre-tightened and fixed by tightening a screw 2;

the side surfaces of the flexible amplifying mechanism 1 are respectively provided with a threaded hole A1-1 and a through hole 1-2, the threaded hole A1-1 is positioned at the outer side of the through hole 1-2, the tightening screw 2 is meshed with the threaded hole A1-1, and pre-tightening is provided by the direct contact of the tightening screw 2 penetrating the threaded hole A1-1 and the through hole 1-2 with the piezoelectric stack 3;

the radius of the through hole 1-2 is slightly larger than that of the threaded hole A1-1 and that of the tightening screw 2, so that the tightening screw 2 cannot rub against the flexible amplifying mechanism 1 at the through hole 1-2 to influence the integral movement of the device;

screw holes B1-3 are formed in the upper surface and the lower surface of the flexible amplifying mechanism 1, the fixing screw 4 is matched with the screw holes B1-3, the driving foot 5 is screwed at the screw holes B1-3 through the fixing screw 4 and can be controlled to extend out of the flexible amplifying mechanism 1 to adapt to pipelines with different diameters, and the cantilever end of the driving foot 5 is provided with a contact point 5-1 to interact with the pipe wall;

the flexible amplifying mechanism 1 is arranged in a bilateral symmetry structure, and two groups of independent piezoelectric stacks 3 are arranged on two sides of the flexible amplifying mechanism 1;

the driving foot 5 has certain rigidity and elasticity, so that the robot can move integrally.

The stick-slip driving principle is to rely on the fast and slow alternation of the movement of the mass component to switch the viscous and sliding states of the moving mechanism and the walking surface to generate movement.

Initially, the driving signal is in a low level stage, the piezoelectric stack 3 is not excited, the driving foot 5 is not changed, and the robot is in a static state relative to the pipeline;

after that, a sawtooth wave driving signal is provided for one of the piezoelectric stacks 3, when the exciting voltage signal slowly rises along with time, the piezoelectric stacks 3 slowly stretch and generate a pushing force to act on two ends of the bridge type amplifying mechanism, the driving foot 5 is pushed to deform through the amplification of the bridge type mechanism and the secondary amplification through the flexible lever mechanism, the friction force at the contact point of the contact point 5-1 and the inner wall of the tube is increased, the driving foot 5 and the tube wall are relatively static, and in order to adapt to the deformation of the driving foot 5, the main body moves leftwards for a certain distance.

In a certain time period, the voltage of the driving signal is quickly reduced to zero from the maximum value, the piezoelectric stack 3 is quickly contracted, and the driving foot 5 is restored to be deformed through the elasticity of the flexible amplifying mechanism 1 and the driving foot 5;

at this time, the friction between the contact point 5-1 and the pipe wall is reduced, and the position of the main body with respect to the pipe is maintained due to the inertial force of the main body, and the relative sliding between the driving foot 5 and the pipe wall occurs, so that the robot as a whole will move to the left.

The above procedure can be repeated to achieve continuous movement of the robot in the pipe, and at the same time, if a driving signal is given to the other piezoelectric stack 3, the robot is moved in the opposite direction to achieve bidirectional movement.

Claims (6)

1. Miniature piezoelectricity two-way mobile robot, its characterized in that: including flexible mechanism (1) and the piezoelectricity drive part of amplifying, the piezoelectricity drive part is including screwing up screw (2), piezoelectricity stack (3), fixed screw (4) and drive foot (5), the internally mounted of flexible mechanism (1) has two sets of piezoelectricity stack (3) to be symmetrical distribution, piezoelectricity stack (3) are through screwing up screw (2) pretension and fixed, drive foot (5) are fixed in on flexible mechanism (1) through fixed screw (4), the cantilever end of drive foot (5) is provided with contact point (5-1).

2. The miniature piezoelectric bi-directional mobile robot of claim 1 wherein: the side of flexible mechanism (1) that amplifies all is provided with screw hole A (1-1) and through-hole (1-2), screw hole A (1-1) is located the outside of through-hole (1-2), screw down screw (2) and screw hole A (1-1) mesh mutually, screw down screw (2) run through screw hole A (1-1) and through-hole (1-2) and piezoelectric stack (3) direct contact.

3. The miniature piezoelectric bi-directional mobile robot of claim 2 wherein: the radius of the through hole (1-2) is larger than that of the threaded hole A (1-1) and the tightening screw (2).

4. The miniature piezoelectric bi-directional mobile robot of claim 1 wherein: the upper surface and the lower surface of the flexible amplifying mechanism (1) are respectively provided with a threaded hole B (1-3), the fixed screw (4) is matched with the threaded holes B (1-3), and the driving foot (5) is screwed at the threaded holes B (1-3) through the fixed screw (4).

5. The miniature piezoelectric bi-directional mobile robot of claim 4 wherein: the driving foot (5) has rigidity and elasticity.

6. The miniature piezoelectric bi-directional mobile robot of claim 1 wherein: the flexible amplifying mechanism (1) adopts a bridge-lever two-stage flexible amplifying mechanism.

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