Unlock instant, AI-driven research and patent intelligence for your innovation.

A pipeline robot based on piezoelectric vibrator and its excitation method

A pipeline robot, piezoelectric vibrator technology, applied in the direction of piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve the problem of low positioning accuracy, complex structure, difficult miniaturization, etc. problem, to achieve the effect of high positioning accuracy, easy miniaturization and high reliability

Active Publication Date: 2019-11-05
HARBIN INST OF TECH
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a pipeline robot based on a piezoelectric vibrator and its excitation method in order to solve the shortcomings of existing pipeline robots such as complex structure, difficulty in miniaturization, electromagnetic interference, and low positioning accuracy

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A pipeline robot based on piezoelectric vibrator and its excitation method
  • A pipeline robot based on piezoelectric vibrator and its excitation method
  • A pipeline robot based on piezoelectric vibrator and its excitation method

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0015] Specific implementation mode one: refer to figure 1 and figure 2 This embodiment will be described. The piezoelectric vibrator-based pipeline robot described in this embodiment includes a piezoelectric vibrator 1 and a pipeline 2 . The cross-section of the inner wall of the pipe 2 can be a circle or a regular polygon. The piezoelectric vibrator 1 includes a bending ceramic group 1-1, a stretching ceramic group 1-2, two end covers 1-3 and four driving feet 1-4; where the bending ceramic group 1-1 and the stretching ceramic group 1-2 are set Between the two end caps 1-3, and are fixedly connected with the end caps 1-3 on both sides; the curved ceramic group 1-1 is composed of two symmetrically arranged piezoelectric ceramic half groups, and the curved ceramic group 1-1 When a DC excitation voltage is applied to the upper part, the first piezoelectric ceramic half group 1-1-1 is extended, and the second piezoelectric ceramic half group 1-1-2 is shortened; the telescopic...

specific Embodiment approach 2

[0016] Specific implementation mode two: refer to figure 2 , image 3 and Figure 4 The present embodiment is described. The excitation method of the pipeline robot based on the piezoelectric vibrator described in the present embodiment can make the piezoelectric vibrator 1 realize linear motion along the axial direction of the pipeline 2 . The excitation method only needs one excitation signal to make the piezoelectric vibrator 1 move forward and backward. In the initial state, all the driving feet 1-4 are in contact with the inner wall of the pipe 2 under the action of pre-pressure, and the piezoelectric vibrator 1 is still at this time; AC is applied to the bending ceramic group 1-1 and the stretching ceramic group 1-2 simultaneously The excitation voltage V, the AC excitation voltage V is formed by the superposition of two sinusoidal voltages with different frequencies, and the two sinusoidal voltages with different frequencies are high-frequency voltage V 2 and low fr...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a piezoelectric vibrator based pipe robot and an excitation method thereof. The piezoelectric vibrator based pipe robot comprises a piezoelectric vibrator and a pipe, wherein the piezoelectric vibrator comprises a bent ceramic group, a telescopic ceramic group, two end covers and four drive feet; the bent ceramic group and the telescopic ceramic group are arranged between the two end covers and fixedly connected with the end covers; two drive feet are arranged at the tail end of each end cover respectively, and the four drive feet make contact with the inner wall of thepipe and keep certain pre-pressure. According to an excitation method of the piezoelectric vibrator based pipe robot, only one excitation signal is needed for enabling the piezoelectric vibrator to move bidirectionally along the axis of the pipe. The piezoelectric vibrator based pipe robot has the advantages of simple structure, high reliability, low cost and the like and has good application prospect in the fields of aerospace, nano-manufacture, ultraprecision machining, biomedical engineering and the like.

Description

technical field [0001] The invention belongs to the technical field of piezoelectric precision drive, and in particular relates to a pipeline robot based on a piezoelectric vibrator and an excitation method thereof. Background technique [0002] The pipeline robot is a robot that can automatically walk along the inside of the pipeline. It has been successfully used in petroleum, chemical, nuclear industry, urban construction and other industrial fields. However, traditional pipeline robots generally require electromagnetic motors, reducers, and motion conversion devices. Their complex structure, large volume and weight, low positioning accuracy, and difficulty in miniaturization limit the expansion of the application field of pipeline robots. In particular, the electromagnetic motor used in the pipeline robot is susceptible to electromagnetic interference and is prone to electromagnetic interference to other characteristics, which limits its application in the fields of prec...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): H02N2/00
CPCH02N2/0005H02N2/001
Inventor 刘英想田鑫琦刘军考陈维山
Owner HARBIN INST OF TECH