Rigid-flexible integrated crawling actuator applied to narrow cavity and working method of rigid-flexible integrated crawling actuator

An actuator and cavity technology, applied in the field of piezoelectricity, can solve the problems of single application scene, lack of forward and backward movement, etc., and achieve the effect of simple and direct actuation process, large contact area and simple structure

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] However, the piezoelectric actuators in the prior art can only move back and forth in a straight narrow cavity, lacking the function of moving back and forth in a curved narrow cavity, and the application scenarios are single

Method used

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  • Rigid-flexible integrated crawling actuator applied to narrow cavity and working method of rigid-flexible integrated crawling actuator
  • Rigid-flexible integrated crawling actuator applied to narrow cavity and working method of rigid-flexible integrated crawling actuator

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Embodiment Construction

[0024] 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.

[0025] Embodiments of the present invention provide rigid-flexible crawling actuators used in narrow cavities, such as figure 1 As shown, it includes: a flexible connecting beam 1, a piezoelectric ceramic sheet 2, and a rigid foot 3. Both ends of the flexible connecting beam 1 are respectively connected to rigid feet 3 , and piezoelectric ceramic sheets 2 are arranged on the upper surface of the rigid feet 3 .

[0026] The rigid foot 3 includes a telescopic arm 31, a connecting arm 32, and a crawling foot 33, which are connected in sequence. The rigid foot 3 is a variable-section beam structure, which further amplifies the amplitude of the end of the crawling foot.

[0027] The piezoelectric ceramic sheet 2 is pasted on the upper surface of the tele...

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Abstract

The invention discloses a rigid-flexible integrated crawling actuator applied to a narrow cavity and a working method of the rigid-flexible integrated crawling actuator, relates to the technical fieldof piezoelectricity, can move forwards and backwards in a bent narrow cavity, and is high in precision and quick in response. The rigid-flexible integrated crawling actuator comprises a flexible connecting beam, piezoelectric ceramic pieces and rigid feet. The two ends of the flexible connecting beam are connected with the rigid feet respectively, and the piezoelectric ceramic pieces are arrangedon the upper surfaces of the rigid feet. According to the invention, the flexibility of the flexible connecting beam provides driving pre-pressure for the actuator in the narrow cavity and enables the actuator to move in the narrow cavity with complex bending through flexible connection; and then forward or backward movement of the actuator is achieved through asymmetric friction force generatedduring vibration driving of the rigid feet based on the inverse piezoelectric effect of the piezoelectric ceramic pieces. The actuator is simple and compact in structure, concise and direct in actuation flow, capable of shortening the time used in the actuation process and high in reaction speed, and thus the function of rapid and accurate movement of the actuator in the narrow bent cavity (such as a medical endoscope biopsy channel) can be achieved.

Description

technical field [0001] The invention relates to the field of piezoelectric technology, in particular to a rigid-flexible crawling actuator used in a narrow cavity 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. Due to the characteristics of fast response, high precision and easy miniaturization of piezoelectric drive technology, it can meet the requirements of m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02N2/02H02N2/06
CPCH02N2/02H02N2/06
Inventor 朱攀丞彭瀚旻李辰赫
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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