Array sucker type rigid-flexible integrated crawling actuator and working method thereof

A suction cup type, actuator technology, applied in suction cups, generators/motors, piezoelectric effect/electrostrictive or magnetostrictive motors, etc., can solve problems such as difficulty in moving, and achieve high practical application value. Effect

Active Publication Date: 2020-06-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Most of the actuators in the prior art can only work on the horizontal p

Method used

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  • Array sucker type rigid-flexible integrated crawling actuator and working method thereof
  • Array sucker type rigid-flexible integrated crawling actuator and working method thereof

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Embodiment Construction

[0025] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with specific embodiments.

[0026] Array suction cup type rigid-flexible crawling actuator, such as figure 1 As shown, it includes: the first flexible array suction cup 1, the first piezoelectric ceramic sheet 2, the second piezoelectric ceramic sheet 3, the first cuboid base 4, the first flexible bending beam 5, the first telescopic rod 6, the second telescopic Rod 7 , second flexible bending beam 8 , third telescopic rod 9 , third piezoelectric ceramic sheet 10 , fourth piezoelectric ceramic sheet 11 , second rectangular parallelepiped base 12 , and second flexible array sucker 13 .

[0027] Among them, the first flexible array suction cup 1 , the first piezoelectric ceramic sheet 2 , the second piezoelectric ceramic sheet 3 , the first cuboid base 4 , the first flexible bendi...

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Abstract

The invention discloses an array sucker type rigid-flexible integrated crawling actuator and a working method thereof, relates to the technical field of intelligent actuators, and can linearly move ona vertical or approximately vertical wall surface. The array sucker type rigid-flexible integrated crawling actuator is composed of a pair of crawling feet connected with telescopic rods, and each crawling foot comprises a flexible array suction cup, piezoelectric ceramic pieces, a cuboid base body, a flexible bent beam and a crawling foot telescopic rod. The front face of the flexible array sucker faces the working face, the back face of the flexible array sucker is connected with the bottom of the cuboid base body, the piezoelectric ceramic pieces are pasted to the two adjacent side faces of the cuboid base body respectively, the top of the cuboid base body is connected with the bottom of the inner side of the flexible bent beam, and the head and tail ends are connected through crawlingfoot telescopic rods on the outer side of the flexible bent beam. The bottom of the inner side of the flexible bent beam is connected with one end of the telescopic rod. The telescopic rods and the crawling foot telescopic rods are all made of telescopic materials which are stimulated by external conditions. The actuator is suitable for complex bent and non-horizontal surfaces (such as the interior of an aero-engine) and has very high practical application value.

Description

technical field [0001] The invention relates to the technical field of intelligent actuators, in particular to an array suction cup type rigid-flexible crawling actuator and a working method thereof. Background technique [0002] Actuator is a key component to implement active vibration control and an important part of active control system. The role of the actuator is to exert control force on the control object according to the determined control law. In recent years, on the basis of traditional fluid actuators, gas actuators and electrical actuators, many intelligent actuators have been researched and developed, such as piezoelectric ceramic actuators, piezoelectric film actuators, Electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators and electrorheological fluid actuators, etc. And the bionic structure design of natural organisms has always been a major research hotspot. [0003] Most of the actuators in the prior art ca...

Claims

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Application Information

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IPC IPC(8): H02N2/00H02N2/06F16B47/00
CPCH02N2/003H02N2/06F16B47/00
Inventor 朱攀丞彭瀚旻王逖清
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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