Novel high-maneuverability wheel type moving device based on piezoelectric driving, and control method thereof
A high-mobility, mobile device technology, applied to generators/motors, piezoelectric effect/electrostrictive or magnetostrictive motors, wheels, etc., can solve problems such as large mass, difficult device miniaturization, and complex structure , to achieve the effect of simple structure, reduced mass and size, and increased rotational speed
Pending Publication Date: 2022-01-14
JIANGXI AGRICULTURAL UNIVERSITY
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Problems solved by technology
[0003] Aiming at the problem that the current wheeled mobile system requires complex transmission and deceleration mechanisms to make it large in mass and complex in structure, it is difficult to realize the miniaturization of the device
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[0031] The present invention will be further described below in conjunction with the accompanying drawings.
[0032] The present invention is a novel high-mobility wheeled mobile device based on piezoelectric drive, which consists of two piezoelectric wheels and a connecting shaft. The two piezoelectric wheels are respectively a left piezoelectric wheel and a right piezoelectric wheel, and the two ends of the connecting shaft are Glue with the end face of the central part of the left piezoelectric wheel and the right piezoelectric wheel.
[0033] The piezoelectric wheel includes a stator 4, a rotor 2 and a tire 1. The stator 4 is composed of a circular metal matrix with a cross-shaped beam structure inside and a piezoelectric ceramic sheet 5 pasted on the central platform of the inner surface of the circular metal matrix. The central platform is located in four areas on the inner surface of the circular metal base. The four areas are caused by the space division of the cross-s...
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The invention discloses a novel high-maneuverability wheel type moving device based on piezoelectric driving, and a control method thereof. The novel high-maneuverability wheel type moving device is composed of two piezoelectric wheels and a connecting shaft, the two piezoelectric wheels are respectively a left piezoelectric wheel and a right piezoelectric wheel, and the two ends of the connecting shaft are respectively glued with the end faces of the central parts of the left piezoelectric wheel and the right piezoelectric wheel. The piezoelectric wheel comprises a stator, a rotor and a tire, the stator comprises a circular ring metal base body and a piezoelectric ceramic piece, the interior of the circular ring metal base body is of a cross-shaped beam structure, and the piezoelectric ceramic piece is pasted to a central platform of the inner surface of the circular ring metal base body. A-phase and B-phase voltage signals are applied to the piezoelectric ceramic, the out-of-plane bending vibration of the outer surface of the stator generated by the third-order bending vibration mode excited by the signal is used for pushing the rotor to rotate at a high speed, so that the piezoelectric wheel rotates at a high speed. The mobile device has the advantages of being small in size, light in weight, simple in structure, resistant to electromagnetic interference and capable of rapidly moving in a complex surface environment, and tasks such as searching, rescuing and environment monitoring can be completed in a narrow space.
Description
Technical field: [0001] The invention relates to a novel high-mobility wheeled mobile device based on piezoelectric drive and its control method, belonging to the field of piezoelectric drive technology and the field of intelligent materials and structures Background technique: [0002] In order to adapt to complex terrain environments (including sand surfaces, undulating mountains, etc.) Mobile robots are developing rapidly. At the same time, the wheeled mobile system has been actively innovating in structural design and driving mode. The wheel design of the hollow topology and the research of high-performance electromagnetic motors have continuously made the wheeled mobile system develop in the direction of light weight and miniaturization. However, the use of electromagnetic motors to drive the wheels always requires the use of a reduction mechanism to realize the speed change of the wheels, so it is impossible to completely eliminate redundant mechanisms to achieve lig...
Claims
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IPC IPC(8): B60B19/00B60B37/00H02N2/12H02N2/14H02N2/16
CPCB60B19/00B60B37/00H02N2/12H02N2/147H02N2/163
Inventor 胡捷肖志锋黎波刘仁鑫段武茂
Owner JIANGXI AGRICULTURAL UNIVERSITY