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Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system

A robot system and electromagnetic technology, applied in the direction of generator/motor, micro-manipulator, piezoelectric effect/electrostrictive or magnetostrictive motor, etc., can solve the problem of improvement, difficulty in power-to-weight ratio, difficulty in volume of electromagnetic drive, etc. low noise, reduced machining accuracy and assembly requirements, and simple structure

Inactive Publication Date: 2004-11-10
SHANGHAI JIAO TONG UNIV
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Although the robot's action principle has good adaptability to narrow, soft, and curved environments, the electromagnetic drive method has problems such as the difficulty of further miniaturization of the volume, heat generation, and difficulty in further improving the power-to-weight ratio.

Method used

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  • Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system
  • Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system
  • Minitype multi-articulation electromagnetic and piezoelectric creeping motion robot system

Examples

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Embodiment Construction

[0014] like figure 1 , figure 2 As shown, the present invention includes: a drive unit 1 , an elastic sealing membrane 2 , a front compartment 3 , a rear compartment 4 and a universal joint 5 . The joints between the drive units 1, the front cabin and the drive unit 1, and the rear cabin 4 and the drive unit 1 are connected by universal joints 5 and sealed with an elastic sealing film 2. The drive unit 1 is controlled by a piezoelectric body 6, electromagnet 7, electromagnet 8 and sleeve 9, and the two ends of the piezoelectric body 6 are fixedly bonded to the electromagnet 7 and the electromagnet 8 respectively to form the driver 10 of the driving unit 1. There is a small gap between the driver 10 and the sleeve 9, so that it can move back and forth in the sleeve 9, and the driver 10 of each drive unit 1 is connected with the sleeve 9 of the next drive unit 1 or the rear cabin 4 .

[0015] like image 3 As shown, the movement process of the driving unit is as follows: (0...

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Abstract

The invention is a micro-type multistage electromagnetic and piezoelectric peristaltic robot system, including: driving unit, elastic sealing film, front cabin, back cabin and cardan joint. The driving unit is composed of piezoelectric body, the first electromagnet, the second electromagnet and tube, the two ends of the piezoelectric body are stationarily bond with the two electromagnets, respectively to form a driver for the driving unit. The driving unit has a simple structure, and the key components only include piezoelectric device and electromagnetic coil and have very small size, the displacement transfer mainly depends on absorption force of electromagnets and tube, the requirements of cooperation, processing precision and assembly are reduced, the control is reliable, the displacement can be regulated by voltage waveform, amplitude and frequency applied on the piezoelectric body, moving direction can be changed with the control time sequence of the two electromagnets, convenient to control time sequence; the unit driver can reliably move on the interface of the ferromagnetic material, too.

Description

technical field [0001] The invention relates to a peristaltic robot system, in particular to a miniature multi-section electromagnetic and piezoelectric peristaltic robot system. It belongs to the field of electromechanical technology. Background technique [0002] Because of its small size and easy access to small spaces for operation, micro robots can be widely used in the fields of atomic energy, petrochemical industry, detection and maintenance of small industrial pipelines, medical examination and treatment of human intestines and blood vessels, etc. Since the 1990s, many countries have been devoting themselves to research on micro-pipe robots and micro-medical robots. [0003] There are many kinds of micro-pipeline robots and micro-medical robots reported so far, mainly focusing on robots driven by shape memory alloys, electromagnetics, motors, and piezoelectrics. Each driving method has its own advantages and disadvantages. The shape memory alloy driver has a high p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00H02N2/04
Inventor 颜国正卢秋红周曲丁国清颜德田
Owner SHANGHAI JIAO TONG UNIV
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