Sandwich type piezoelectric driving track traveling device and working method thereof

Abstract

The invention provides a sandwich type piezoelectric driving track traveling device and a working method thereof. The device comprises a metal track, two annular components and a variable cross-section sandwich type piezoelectric transducer, wherein the annular components are arranged at two ends of the variable cross-section sandwich type piezoelectric transducer; and the variable cross-section sandwich type piezoelectric transducer consists of four sets of piezoelectric ceramic components fixed between two sets of variable cross-section beams and a metal connecting block. According to the sandwich type piezoelectric driving track traveling device and the working method thereof, by stimulating piezoelectric ceramic pieces, a longitudinal vibration mode and a bending vibration mode are stimulated on the variable cross-section beams, and two in-plane bending vibration modes with pi / 2 phase difference in space are presented on the annular components respectively, so that traveling waves rotating along the peripheral direction are coupled on the annular components, mass points on the outer surfaces of the annular components carry out micro-amplitude elliptical motions and drive metal track to move through the action of friction, and the device has the advantages of compact structure, large force (torque) weight ratio, high environmental suitability, structure form flexibility, high speed, high electro-mechanical coupling efficiency and the like.

Description

technical field [0001] The invention relates to the technical field of piezoelectric actuation, in particular to a sandwich type piezoelectric drive crawler traveling device and a working method thereof. Background technique [0002] As an important part of the development of space science, interstellar exploration has always been highly valued and invested heavily by countries all over the world. As the carrier and actuator of planetary exploration missions, the development of planetary surface inspection probes is of great significance for the exploration and further development of unknown planets. The crawler driving system has a strong ability to overcome obstacles in an environment with low gravitational acceleration and a strong ability to adapt to the rough and complex shape of the lunar surface, which is very beneficial to planetary exploration missions. , high energy consumption, easy to be worn by the surface soil of the planet, and the need for lubrication and ot...

AI Technical Summary

Problems solved by technology

Although this system abandons the sprockets, idlers and road wheels necessary for traditional tracked vehicles, it has the advantages of simple structure, high mechanical integration, strong environmental adaptability and high driving efficiency, but due to the proposed piezoelectric transducer The metal elastic body is used to excite the piezoelectric ceramic sheet. This excitation method uses the vibration mode of the piezoelectric ceramic, and the electromechanical coupling efficiency of energy conversion is low. At the same time, it is limited by the strength and fatigue life of the adhesive layer. It has the disadvantages of slow movement speed, small driving force, poor stability and fragile piezoelectric ceramics

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