A patch-type traveling wave piezoelectric drive wheeled mobile robot and its working method

Abstract

The present invention discloses a patch-type traveling wave piezoelectric driven wheeled mobile robot and a working method thereof. The wheeled mobile robot comprises a patch-type piezoelectric vibrator and two driving wheel structures. The patch-type piezoelectric vibrator has a rectangular beam structure in the middle, on which a 2S group of piezoelectric ceramic groups are attached, and a circular ring structure is provided at each end of the piezoelectric vibrator. The hub of the driving wheel structure is pressed on the inner ring of the circular ring structure of the piezoelectric vibrator through a pre-tightening mechanism. During operation, the piezoelectric vibrator is excited, and the circular ring structures at both ends thereof excite in-plane bending traveling waves in the same direction, which drive the two wheels to rotate through friction, thereby realizing the movement of the mobile robot. The present invention adopts the principle of direct drive, does not require a transmission gear train, and solves the problem of poor passability of planetary exploration robots in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical fields of piezoelectric drive technology and planetary exploration robot, and in particular to a patch-type traveling wave piezoelectric drive wheeled mobile robot and a working method thereof. Background Art

[0002] Planetary exploration is an important topic for deep space exploration in various countries. Among them, the wheeled mobile system is the most widely used planetary robot mobile system, which has the advantages of fast movement speed and easy control. However, it also has the problem of poor obstacle crossing ability.

[0003] The diameter of lunar soil particles is mainly less than 1mm, with an average particle size of 70μm. Nearly half of the lunar soil has a diameter smaller than the naked eye can resolve. If the traditional wheeled mobile system is driven by an electromagnetic motor, there is a risk of lunar soil entering the deceleration device. Once the transmission is disturbed, the motor will be blocked and may cause a large current to burn out the motor.

[0004] Piezoelectric actuation uses piezoelectric ceramics to drive the stator surface to produce a micro-elliptical motion, and uses friction to transmit the motion to the rotor. Compared with the mobile device composed of electromagnetic motors, it has the advantage of direct actuation without the need for a complex transmission mechanism. At the same time, the high-frequency micro-vibration of the stator surface can play a role in surface cleaning to a certain extent, reducing the impact of lunar soil on the mobile system.

[0005] In the existing design of piezoelectric actuated planetary motion systems (publication numbers: CN109334794A, CN206615409U), the crawler-type structure uses the elliptical motion of the piezoelectric vibrator surface to drive the crawler in contact with it to move, but the pre-pressure between the two can only be adjusted by the tension of the crawler, which is difficult to adjust to the best. At the same time, the additional crawler will greatly increase the weight of the system. The wheeled structure has the problems of complex structure, large design weight and size, and poor passability in complex terrain. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a patch-type traveling wave piezoelectric driven wheeled mobile robot and a working method thereof in view of the defects involved in the background technology, which has the advantages of compact structure, strong passability, small size, high speed, etc.

[0007] The present invention adopts the following technical solutions to solve the above technical problems:

[0008] A patch-type traveling wave piezoelectric driven wheeled mobile robot, comprising a patch-type piezoelectric vibrator, a first wheel and a second wheel;

[0009] The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1;

[0010] The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring;

[0011] The first driving ring and the second driving ring are both hollow cylinders with openings at both ends;

[0012] The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam;

[0013] The 2S pairs of piezoelectric ceramic groups are sequentially arranged along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on a first side surface and a third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups;

[0014] The first wheel and the second wheel both comprise a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft comprises a light rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both comprise a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole along its axis that matches the square rod of the variable-section shaft, and the second wheel hub is provided with a through hole at the center of the end face of its truncated cone section away from the truncated cone section for adjusting with the The variable cross-section shaft has a blind hole with interference fit on the polished rod; the first outer wheel and the second outer wheel are both annular, wherein the inner wall of the first outer wheel and the outer wall of the cylindrical section of the first hub are interference fit, and the inner wall of the second outer wheel and the outer wall of the cylindrical section of the second hub are interference fit; the adjusting nut is provided with a polished rod with one end having an interference fit on the blind hole on the second hub, and the other end passes through the square through hole on the first hub and is connected to the adjusting nut thread, and the square rod of the adjusting screw matches the square through hole on the first hub; the adjusting spring is sleeved on the screw of the adjusting nut, with one end abutting against the adjusting nut and the other end abutting against the first hub;

[0015] The side walls of the first hub cone section of the first wheel and the side walls of the second hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first hub cone section of the second wheel and the side walls of the second hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring.

[0016] As a further optimization scheme for the patch-type traveling-wave piezoelectric-driven wheeled mobile robot of the present invention, the first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S pair of piezoelectric ceramic sheets, and the piezoelectric ceramic sheets in the 2S pair of piezoelectric ceramic sheets are glued to the rectangular beam by epoxy resin.

[0017] As a further optimization solution of the patch-type traveling-wave piezoelectric driven wheeled mobile robot of the present invention, the first wheel and the second wheel are both made of metal material.

[0018] As a further optimization solution of the patch-type traveling-wave piezoelectric driven wheeled mobile robot of the present invention, at least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel.

[0019] The present invention also discloses a working method of the patch-type traveling wave piezoelectric drive wheeled mobile robot, comprising the following steps:

[0020] A first phase driving voltage and a second phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2X+1th pair of piezoelectric ceramic groups, respectively, where X is an integer greater than or equal to 0 and less than S; a second phase driving voltage and a first phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Yth pair of piezoelectric ceramic groups, respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; the first phase driving voltage and the second phase driving voltage are adjusted so that their phase difference is π / 2, and the Nth order bending vibration and the Mth order longitudinal vibration of the rectangular beam are excited simultaneously, where N is an odd number and M is an even number, and then two same-order in-plane bending vibrations with a spatial phase difference of π / 2 of the first and second driving rings are excited simultaneously, thereby coupling out two traveling waves with the same direction, generating the same micro-elliptical motion at the inner ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction respectively through friction, so that the patch-type traveling wave piezoelectric drive wheeled mobile robot moves;

[0021] If it is necessary to make the patch-type traveling wave piezoelectric drive wheeled mobile robot move in the reverse direction, the first phase drive voltage and the second phase drive voltage are adjusted so that their phase difference is -π / 2.

[0022] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0023] The present invention avoids the shortcomings of traditional planetary exploration robot mobile systems, such as heavy weight, complex structure, and susceptibility to tiny dust. It adopts the principle of direct drive and does not require a transmission gear train, thus solving the problem of poor passability of planetary exploration robots in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the patch-type traveling wave piezoelectric drive wheeled mobile robot of the present invention;

[0025] Figure 2 It is a schematic diagram of the polarization direction and applied electrical signal of each piezoelectric ceramic sheet when S=2 in the present invention;

[0026] Figure 3 is a schematic structural diagram of the first wheel in the present invention;

[0027] Figure 4 It is a schematic diagram of the composite bending and longitudinal excitation of a rectangular beam of the present invention;

[0028] Figure 5 It is a schematic diagram of vibration modes on the first and second driving rings during bending vibration of the rectangular beam of the present invention;

[0029] Figure 6 It is a schematic diagram of vibration modes on the first and second driving rings during longitudinal vibration on the rectangular beam of the present invention;

[0030] Figure 7 It is a schematic diagram of the synthetic traveling wave of two identical fourth-order in-plane bending vibrations coupled on the first and second driving rings of the present invention.

[0031] In the figure, 1-metal substrate, 2-piezoelectric ceramic sheet, 2.1-first pair of piezoelectric ceramic groups, 2.2-second pair of piezoelectric ceramic groups, 2.3-third pair of piezoelectric ceramic groups, 2.4-fourth pair of piezoelectric ceramic groups, 3-first hub, 4-second hub, 5-variable cross-section shaft, 6-adjusting nut, 7-adjusting spring, 8-second outer wheel, 9-first outer wheel. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings:

[0033] The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0034] like Figure 1As shown, the present invention discloses a patch-type traveling wave piezoelectric driven wheeled mobile robot, comprising a patch-type piezoelectric vibrator, a first wheel and a second wheel;

[0035] The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1;

[0036] The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring;

[0037] The first driving ring and the second driving ring are both hollow cylinders with openings at both ends;

[0038] The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam.

[0039] like Figure 2 As shown, the 2S pairs of piezoelectric ceramic groups are arranged in sequence along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on the first side surface and the third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups.

[0040] The first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S piezoelectric ceramic group. The piezoelectric ceramic sheets in the 2S piezoelectric ceramic group are glued to the rectangular beam by epoxy resin.

[0041] like Figure 3As shown, the first wheel and the second wheel both include a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft includes a smooth rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both include a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole matching the square rod of the variable-section shaft along its axis, and the second wheel hub is provided with a spring at the center of the end face of its truncated cone section away from the truncated cone section for adjusting the nut. A blind hole that is interference fit with the polished rod of the variable cross-section shaft; the first outer wheel and the second outer wheel are both in the shape of a circular ring, wherein the inner wall of the first outer wheel is interference fit with the outer wall of the cylindrical section of the first hub, and the inner wall of the second outer wheel is interference fit with the outer wall of the cylindrical section of the second hub; the adjusting nut is provided with a polished rod with one end that is interference fit with the blind hole on the second hub, and the other end is threadedly connected to the adjusting nut after passing through the square through hole on the first hub, and the square rod of the adjusting screw is matched with the square through hole on the first hub; the adjusting spring is sleeved on the screw of the adjusting nut, with one end abutting against the adjusting nut and the other end abutting against the first hub. At least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel, Figure 1 , Figure 3 Six gear teeth are used.

[0042] The side walls of the first hub cone section of the first wheel and the side walls of the second hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first hub cone section of the second wheel and the side walls of the second hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring.

[0043] The first wheel and the second wheel are both made of metal material.

[0044] The present invention also discloses a working method of the patch-type traveling wave piezoelectric drive wheeled mobile robot, comprising the following steps:

[0045] Apply a first-phase driving voltage and a second-phase driving voltage to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the (2X + 1)-th pair of piezoelectric ceramic groups respectively, where X is an integer greater than or equal to 0 and less than S; apply a second-phase driving voltage and a first-phase driving voltage to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Y-th pair of piezoelectric ceramic groups respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; adjust the first-phase driving voltage and the second-phase driving voltage so that their phase difference is π / 2, and simultaneously excite the N-th order bending vibration and the M-th order longitudinal vibration of the rectangular beam, where N is an odd number and M is an even number, and then simultaneously excite two in-plane bending vibrations with the same order and a π / 2 spatial phase difference on the first and second driving rings, thereby coupling two traveling waves with the same turning direction, generating the same small-amplitude elliptical motion of the inner-ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction through frictional force, so that the patch-type traveling-wave piezoelectric-driven wheeled mobile robot moves;

[0046] If it is necessary to make the patch-type traveling-wave piezoelectric-driven wheeled mobile robot move in the reverse direction, just adjust the first-phase driving voltage and the second-phase driving voltage so that their phase difference is -π / 2.

[0047] The following takes S = 2 as an example for illustration:

[0048] As Figure 2 shown, there are a total of four groups of piezoelectric ceramic groups for exciting the bending vibration and longitudinal vibration of the rectangular beam, all of which are polarized along the thickness direction. Among them, the polarization directions of the four piezoelectric ceramic sheets in the first pair of piezoelectric ceramic groups 2.1 and the second pair of piezoelectric ceramic groups 2.2 are the same, and are opposite to the polarization directions of the four piezoelectric ceramic sheets in the third pair of piezoelectric ceramic groups 2.3 and the fourth pair of piezoelectric ceramic groups 2.4. At the same time, the voltages applied to the upper and lower piezoelectric ceramic sheets of each pair of piezoelectric ceramic groups have a time phase difference of π / 2.

[0049] As Figure 4 shown, according to the above polarization direction and excitation voltage loading method, each pair of piezoelectric ceramic groups can simultaneously excite the bending vibration and longitudinal vibration of the rectangular beam. In the first pair of piezoelectric ceramic groups, taking the first excitation electrical signal as a sine signal and the second excitation electrical signal as a cosine signal as an example, in one excitation cycle, when t = t1 and t = t5, the rectangular beam reaches the limit position of the bending vibration, and when t = t3 and t = t7, the rectangular beam reaches the limit position of the longitudinal vibration. When 0 < t < t2 and t4 < t < t6, one of the upper and lower ceramic sheets elongates while the other shrinks, exciting the rectangular beam to perform an approximate bending vibration, and this is the bending vibration time at this time. When t2 < t < t4 and t6 < t < t8, the upper and lower ceramic sheets elongate or shrink simultaneously, exciting the rectangular beam to perform an approximate longitudinal vibration, and this is the longitudinal vibration time at this time. In one excitation cycle, there is both longitudinal vibration time and bending vibration time, and the bending vibration and longitudinal vibration of the rectangular beam can be simultaneously excited.

[0050] like Figure 5 As shown in , when the rectangular beam is excited to produce bending vibration, the ring structure will present K (K ≥ 2) order in-plane vibration modes; Figure 6 As shown, when the rectangular beam is excited to vibrate longitudinally, the annular structure will present a K (K≥2) order in-plane bending vibration mode which is the same shape as the above-excited in-plane bending vibration but has a spatial phase difference of π / 2. When the four pairs of piezoelectric ceramic groups are respectively connected to the first phase and the second phase driving voltage with a time phase difference of π / 2, the rectangular beam will be excited to produce bending vibration mode and longitudinal vibration mode at the same time, and will present a K (K≥2) order bending traveling wave rotating in the same direction along the circumferential direction on the first and second driving rings, and the particles on the inner surface of the first and second driving rings will make a slight elliptical motion, driving the first wheel and the second wheel to move through friction. When the phase difference between the first phase and the second phase driving voltage is changed to -π / 2, the traveling waves on the first and second driving rings will achieve reverse rotation, realizing reverse driving of the first wheel and the second wheel.

[0051] Take k=4, the first phase driving voltage is a cosine signal, and the second phase driving voltage is a sine signal as an example. When the four pairs of piezoelectric ceramic groups are applied with Figure 2 When the voltage signal shown is applied, the 8th order bending vibration mode and the 3rd order longitudinal vibration mode of the rectangular beam are excited simultaneously, and the midpoint of the rectangular beam is located at the node; and the four pairs of piezoelectric ceramic groups are all located at the peaks and troughs of the bending vibration, the first pair of piezoelectric ceramic groups 2.1 and the fourth pair of piezoelectric ceramic groups 2.4 are located at the nodes of the longitudinal vibration, and the second pair of piezoelectric ceramic groups 2.2 and the third pair of piezoelectric ceramic groups 2.3 are located at the groove in the middle of the rectangular beam; at this time, the two isomorphic 4th order in-plane bending vibration modes of the first and second driving rings have a π / 2 phase difference in time and space, as shown in FIG. Figure 7 As shown, it can be coupled into a traveling wave rotating in the circumferential direction, and the particles on the inner surface of the first and second driving rings will make a slight elliptical motion, and the first wheel and the second wheel will rotate through friction. When the phase difference between the first phase driving voltage and the second phase driving voltage is changed to -π / 2, the traveling waves formed on the first and second driving rings will reverse at the same time, so the first wheel and the second wheel will also rotate in the opposite direction.

[0052] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0053] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A patch-type traveling wave piezoelectric drive wheeled mobile robot, characterized in that: It includes a patch-type piezoelectric vibrator, a first wheel and a second wheel; The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1; The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring; The first driving ring and the second driving ring are both hollow cylinders with openings at both ends; The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam; The 2S pairs of piezoelectric ceramic groups are sequentially arranged along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on a first side surface and a third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups; The first wheel and the second wheel both comprise a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft comprises a light rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both comprise a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole along its axis that matches the square rod of the variable-section shaft, and the second wheel hub is provided with a through hole at the center of the end face of its truncated cone section away from the truncated cone section for adjusting with the The variable cross-section shaft has a blind hole with interference fit on the polished rod; the first outer wheel and the second outer wheel are both annular, wherein the inner wall of the first outer wheel and the outer wall of the cylindrical section of the first hub are interference fit, and the inner wall of the second outer wheel and the outer wall of the cylindrical section of the second hub are interference fit; the adjusting nut is provided with a polished rod with one end having an interference fit on the blind hole on the second hub, and the other end passes through the square through hole on the first hub and is connected to the adjusting nut thread, and the square rod of the adjusting screw matches the square through hole on the first hub; the adjusting spring is sleeved on the screw of the adjusting nut, with one end abutting against the adjusting nut and the other end abutting against the first hub; The side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring; The first wheel and the second wheel are both made of metal material; At least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel.

2. The patch-type traveling wave piezoelectric drive wheeled mobile robot according to claim 1, characterized in that: The first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S piezoelectric ceramic group. The piezoelectric ceramic sheets in the 2S piezoelectric ceramic group are glued to the rectangular beam by epoxy resin.

3. The working method of the patch-type traveling wave piezoelectric driven wheeled mobile robot according to claim 1, characterized in that: The following steps are involved: Applying a first phase driving voltage and a second phase driving voltage to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2X+1th pair of piezoelectric ceramics, respectively, where X is an integer greater than or equal to 0 and less than S; A second phase driving voltage and a first phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Yth pair of piezoelectric ceramic groups, respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; the first phase driving voltage and the second phase driving voltage are adjusted so that their phase difference is π / 2, and the Nth order bending vibration and the Mth order longitudinal vibration of the rectangular beam are excited simultaneously, where N is an odd number and M is an even number, thereby simultaneously exciting two same-order in-plane bending vibrations of the first and second driving rings with a spatial phase difference of π / 2, thereby coupling out two traveling waves with the same direction, generating the same micro-elliptical motion at the inner ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction respectively through friction, thereby moving the patch-type traveling wave piezoelectric driven wheeled mobile robot; If it is necessary to make the patch-type traveling wave piezoelectric drive wheeled mobile robot move in the reverse direction, the first phase drive voltage and the second phase drive voltage are adjusted so that their phase difference is -π / 2.

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