A resonant bidirectional moving micromachine with a bistable rigid structure
Through the bistable rigid structure and resonant drive, the piezoelectric resonant single chip and electromagnetic induction are used to solve the complex structural problems of existing micro crawling robots, realize the simple drive and compact design of the micro machine, and make it suitable for a variety of environments.
Patent Information
- Application Number
- CN202310812113.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-07-04
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2043-07-04
AI Technical Summary
Existing micro-crawling robots use multiple drivers or motors in a large scale range, which has large structural size and complex drive, limiting their application.
It adopts a bistable rigid structure and resonant drive, utilizes a piezoelectric resonant single chip and electromagnetic induction, and realizes bidirectional movement of the micromachine by adjusting the steady state. It only requires a piezoelectric resonant single chip and a permanent magnet drive, and combines the 3D printing process to manufacture the structure.
It has simple drive, compact structure, small size, light weight, fast response, easy manufacturing and installation, and is suitable for small spaces and harsh environments.
Smart Images
Figure CN116853383B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of micromachines, and in particular to a resonant bidirectional moving micromachine with a bistable rigid structure. Background Art
[0002] With the continuous development of modern science and technology, higher demands are being placed on micromachines in various fields, such as aerospace, agriculture, and medicine. The continuous advancement of science and technology has led researchers to focus on the development of various types of micromachines. Micromachines offer advantages such as small size, light weight, high thrust-to-weight ratio, and high flexibility, allowing them to operate in confined spaces or harsh environments. Microcrawling robots, in particular, have garnered considerable attention due to their simple structure, simple drive methods, and high speed. They have been widely used in geotechnical applications such as geophysical exploration and pipeline inspection, and are playing an increasingly important role. However, most microcrawling robots rely on multiple actuators or motors to achieve steering and reciprocating crawling motion within a large scale. Furthermore, their large size and complex drive systems significantly limit their application. Summary of the Invention
[0003] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a resonant bidirectional mobile micromachine with a bistable rigid structure, which uses the resonant structure for mobile drive. At the same time, the micromachine has the characteristics of simple driving, small size and compact structure.
[0004] In order to achieve the above object, the technical solution adopted by the present invention is:
[0005] A resonant bidirectional moving micromachine with a bistable rigid structure comprises a housing 1, a top cover 2 fitted with an interference fit slot in the housing 1, an integrated multi-leg structure 4 fitted with a groove in the bottom of the housing 1 and extending out of the bottom of the housing 1, a bistable trigger rod 5 arranged on the upper portion of the integrated multi-leg structure 4 and connected to the housing 1, a coil 6 wound around the bistable trigger rod 5, a permanent magnet 7 mounted at the rear end of the bistable trigger rod, a piezoelectric resonant single crystal 8 adhered to the front end cavity of the top cover 2, the piezoelectric resonant single crystal 8 in contact with the integrated multi-leg structure 4, the integrated multi-leg structure 4 being a bistable rigid structure consisting of a plurality of groups of parallel legs connected in the middle by a flexible hinge group; the lower surface of the bistable trigger rod 5 is interlocked with the upper end of the integrated multi-leg structure 4, the coil 6 wound around the bistable trigger rod 5 is excited by a pulse, and the piezoelectric resonant single crystal 8 is formed by the upper end of the bistable trigger rod 5. Due to electromagnetic induction, the coil 6 wound on the bistable trigger rod 5 is driven by the electromagnetic force of the permanent magnet 7, outputting a pulse force to the bistable trigger rod 5, hitting the upper interlocking part of the integrated multi-leg structure 4. The pulse force acts on the multiple flexible hinge groups of the integrated multi-leg structure 4 to push the integrated multi-leg structure 4 to another stable state. In different stable states, the piezoelectric resonant single chip 8 is driven by a periodic voltage with the same frequency as the natural frequency of the integrated multi-leg structure 4. The piezoelectric effect causes the integrated multi-leg structure 4, which is in oblique contact with the ground, to resonate. The integrated multi-leg structure 4 has different contact angles with the ground in different stable states, and the contact angle is acute in one stable state and obtuse in the other stable state. The piezoelectric resonant single chip 8 is driven in different stable states, and the resonant bidirectional moving micromachine moves in opposite directions.
[0006] When the coil 6 wound on the bistable trigger rod 5 is not energized, the contact angle between the rear end of each set of parallel legs in the integrated multi-leg structure 4 and the ground is less than 90°. At this time, a periodic voltage excitation with a frequency equal to the structural natural frequency of the integrated multi-leg structure 4 is applied to the piezoelectric resonant single crystal 8. The integrated multi-leg structure 4 resonates with the piezoelectric resonant single crystal 8. The multiple sets of parallel legs are supported by the ground and the forward dynamic friction force, and the resonant bidirectional moving micromachine moves forward. After the coil 6 wound on the bistable trigger rod 5 is excited by a pulse current, the coil 6 is subjected to the forward electromagnetic pulse force of the permanent magnet 7. This electromagnetic pulse force acts on The multiple flexible hinge groups of the integrated multi-leg structure 4 are bent toward another structural steady state. In the other structural steady state, the contact angle between the rear end of each group of parallel legs in the integrated multi-leg structure 4 and the ground is greater than 90°. At this time, a periodic voltage excitation with a frequency equal to the structural natural frequency of the integrated multi-leg structure 4 is applied to the piezoelectric resonant single chip 8. The integrated multi-leg structure 4 resonates with the piezoelectric resonant single chip 8, and the multiple groups of parallel legs are supported by the ground and the backward dynamic friction force, and the resonant bidirectional moving micromachine moves backward; the angles between the legs of the integrated multi-leg structure 4 and the ground are different in the two stable states, and the movement directions are opposite under the resonant drive.
[0007] The integrated multi-leg structure 4 is a bistable rigid structure, consisting of five groups of parallel legs, including a first leg 9-1, a second leg 9-2, a third leg 9-3, a fourth leg 9-4, and a fifth leg 9-5. The middle part of the first leg 9-1 is connected by a first flexible hinge group 10, the middle part of the second leg 9-2 is connected by a second flexible hinge group 11, the middle part of the third leg 9-3 is connected by a third flexible hinge group 12, the middle part of the fourth leg 9-4 is connected by a fourth flexible hinge group 13, and the middle part of the fifth leg 9-5 is connected by a fifth flexible hinge group 14.
[0008] The housing 1 , the top cover 2 , the bistable trigger lever 5 , and the integrated multi-leg structure 4 are all made of lightweight additive manufacturing materials and are integrally formed using 3D printing.
[0009] The top cover 2 is connected to the housing 1 via bolts 3 .
[0010] Compared with the prior art, the present invention has the following advantages:
[0011] 1. The present invention only uses the resonance of a piezoelectric resonant single chip under alternating power to drive the movement of the integrated multi-leg structure. The physical properties of the piezoelectric resonant single chip are stable, and the natural frequency of the resonance does not change with the driving time. Therefore, the driving is simple, the driving accuracy is high, the response is fast, and the structural service life is long.
[0012] 2. The present invention relies solely on electromagnetic induction and can achieve mutual conversion between the two stable states of the integrated multi-leg structure by adjusting the bistable structure. The contact angles with the ground are different in different stable states, thereby completing movement in opposite directions in different stable states.
[0013] 3. The present invention designs a specific integrated multi-leg structure, top cover and shell through additive manufacturing and surface treatment, and adopts 3D printing technology to form them in one piece. Compared with traditional machine units, it is easier to manufacture and install.
[0014] 4. The present invention has a compact structure, small size, light weight, is easy to process and assemble, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of the present invention.
[0016] Figure 2 It is an explosion diagram of the present invention.
[0017] Figure 3 It is a partial schematic diagram of the bistable integrated multi-leg structure of the present invention. DETAILED DESCRIPTION
[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods:
[0019] like Figure 1 and Figure 2 As shown, the present invention is a resonant bidirectional moving micromachine with a bistable rigid structure, comprising a housing 1, a top cover 2 mounted in an interference fit groove of the housing 1, a bolt 3 connecting the housing and the top cover, an integrated multi-leg structure 4 assembled with a groove at the bottom of the housing 1 and extending out of the bottom of the housing 1, a bistable trigger rod 5 arranged on the upper part of the integrated multi-leg structure 4 and connected to the housing 1, a coil 6 wound around the bistable trigger rod 5, a permanent magnet 7 mounted at the rear end of the bistable trigger rod, a piezoelectric resonant single crystal 8 adhered to the front end cavity of the top cover 2, and the piezoelectric resonant single crystal 8 and the integrated multi-leg structure. Structure 4 is in contact, and the integrated multi-leg structure 4 is a bistable rigid structure. This embodiment consists of five groups of parallel legs, including a first leg 9-1, a second leg 9-2, a third leg 9-3, a fourth leg 9-4, and a fifth leg 9-5. The middle part of the first leg 9-1 is connected by a first flexible hinge group 10, the middle part of the second leg 9-2 is connected by a second flexible hinge group 11, the middle part of the third leg 9-3 is connected by a third flexible hinge group 12, the middle part of the fourth leg 9-4 is connected by a fourth flexible hinge group 13, and the middle part of the fifth leg 9-5 is connected by a fifth flexible hinge group 14.
[0020] like Figure 2 As shown, the lower surface of the bistable trigger rod 5 is interlocked with the upper end of the integrated multi-leg structure 4, and a pulse excitation is applied to the coil 6 wound on the bistable trigger rod 5. Due to electromagnetic induction, the coil 6 wound on the bistable trigger rod 5 is driven by the electromagnetic force of the permanent magnet 7, outputting a pulse force to the bistable trigger rod 5, striking the interlocking portion of the upper end of the integrated multi-leg structure 4, and pushing the integrated multi-leg structure 4 to another stable state. In different stable states, a periodic voltage with a frequency equal to the natural frequency of the integrated multi-leg structure 4 is applied to drive the piezoelectric resonant single crystal 8. The piezoelectric effect causes the integrated multi-leg structure 4, which is in oblique contact with the ground, to resonate. The integrated multi-leg structure 4 has different contact angles with the ground in different stable states, and the contact angle is acute in one stable state and obtuse in the other stable state. The piezoelectric resonant single crystal 8 is driven in different stable states, and the resonant bidirectional moving micromachine moves in opposite directions.
[0021] like Figure 3As shown, when the coil 6 wound on the bistable trigger rod 5 is not energized, the contact angle between the rear ends of the five groups of parallel legs of the integrated multi-leg structure 4 and the ground is less than 90°. At this time, a periodic voltage excitation with a frequency equal to the structural natural frequency of the integrated multi-leg structure 4 is applied to the piezoelectric resonant single crystal 8, and the integrated multi-leg structure 4 resonates with the piezoelectric resonant single crystal 8. The five groups of parallel legs 9-1, 9-2, 9-3, 9-4, and 9-5 are supported by the ground and the forward dynamic friction force, and the resonant bidirectional moving micromachine moves forward. After the coil 6 wound on the bistable trigger rod 5 is excited by a pulse current, the coil 6 is subjected to the forward electromagnetic pulse force of the permanent magnet 7. This electromagnetic pulse Force acts on the first, second, third, fourth, and fifth flexible hinge groups 10, 11, 12, 13, and 14, causing them to bend toward another structural steady state. In this steady state, the rear ends of the five parallel legs of the integrated multi-leg structure 4 all form contact angles greater than 90° with the ground. At this point, a periodic voltage excitation equal to the structural natural frequency of the integrated multi-leg structure 4 is applied to the piezoelectric resonant single crystal 8. The integrated multi-leg structure 4 resonates with the piezoelectric resonant single crystal 8, and the five parallel legs 9-1, 9-2, 9-3, 9-4, and 9-5 are supported by the ground and experience backward kinetic friction, causing the resonant bidirectional mobile micromachine to move backward. The legs of the integrated multi-leg structure 4 form different angles with the ground in the two steady states, and the resonant drive causes them to move in opposite directions.
[0022] The housing 1, top cover 2, bistable trigger lever 5, and integrated multi-leg structure 4 are all made of lightweight additive manufacturing materials and are integrally formed using 3D printing. Examples of lightweight additive manufacturing materials include carbon fiber, nylon, and ABS plastic.
Claims
1. A resonant bidirectional moving micromachine with a bistable rigid structure, characterized in that: The invention comprises a shell (1), a top cover (2) mounted in conjunction with an interference groove of the shell (1), an integrated multi-leg structure (4) assembled with a groove at the bottom of the shell (1) and passing through the bottom of the shell (1), a bistable trigger rod (5) arranged on the upper part of the integrated multi-leg structure (4) and connected to the shell (1), a coil (6) wound around the bistable trigger rod (5), a permanent magnet (7) mounted at the rear end of the bistable trigger rod, a piezoelectric resonant single crystal (8) adhered to the front end cavity of the top cover (2), the piezoelectric resonant single crystal (8) contacts the integrated multi-leg structure (4), the integrated multi-leg structure (4) is a bistable rigid structure, composed of a plurality of parallel legs, the middle parts of the legs are connected by a flexible hinge group; the lower surface of the bistable trigger rod (5) is interlocked with the upper end of the integrated multi-leg structure (4), the coil (6) wound around the bistable trigger rod (5) is pulsed excited, and due to the electromagnetic Induction, the coil (6) wound on the bistable trigger rod (5) is driven by the electromagnetic force of the permanent magnet (7), outputting a pulse force to the bistable trigger rod (5), striking the upper end interlocking part of the integrated multi-leg structure (4), and the pulse force acts on the multiple flexible hinge groups of the integrated multi-leg structure (4) to push the integrated multi-leg structure (4) to another stable state. In different stable states, a periodic voltage with the same frequency as the natural frequency of the integrated multi-leg structure (4) is respectively passed to drive the piezoelectric resonant single crystal (8), and the integrated multi-leg structure (4) in oblique contact with the ground is resonated through the piezoelectric effect. The integrated multi-leg structure (4) has different contact angles with the ground in different stable states, and the contact angle is an acute angle in one stable state and an obtuse angle in the other stable state. The piezoelectric resonant single crystal (8) is driven in different stable states, and the resonant bidirectional moving micromachine moves in opposite directions.
2. A resonant bidirectional moving micromachine with a bistable rigid structure according to claim 1, characterized in that: When the coil (6) wound on the bistable trigger rod (5) is not energized, the contact angle between the rear end of each set of parallel legs in the integrated multi-leg structure (4) and the ground is less than 90 degrees. At this time, a periodic voltage excitation with a frequency equal to the structural natural frequency of the integrated multi-leg structure (4) is applied to the piezoelectric resonant single crystal (8). The integrated multi-leg structure (4) resonates with the piezoelectric resonant single crystal (8). The multiple sets of parallel legs are supported by the ground and the forward dynamic friction force. The resonant bidirectional moving micromachine moves forward. After the coil (6) wound on the bistable trigger rod (5) is excited by a pulse current, the coil (6) is subjected to the forward electromagnetic pulse force of the permanent magnet (7). This electromagnetic pulse A force acts on multiple flexible hinge groups of the integrated multi-leg structure (4) and bends it toward another structural steady state. In the other structural steady state, the contact angle between the rear end of each group of parallel legs in the integrated multi-leg structure (4) and the ground is greater than 90 degrees. At this time, a periodic voltage excitation with a frequency equal to the structural natural frequency of the integrated multi-leg structure (4) is applied to the piezoelectric resonant single chip (8). The integrated multi-leg structure (4) resonates with the piezoelectric resonant single chip (8). The multiple groups of parallel legs are supported by the ground and the backward dynamic friction force, and the resonant bidirectional moving micromachine moves backward. The angles between the legs of the integrated multi-leg structure (4) and the ground in the two steady states are different, and the movement directions are opposite under the resonance drive.
3. The resonant bidirectional moving micromachine with a bistable rigid structure according to claim 1, characterized in that: The integrated multi-leg structure (4) is a bistable rigid structure, consisting of five groups of parallel legs, including a first leg (9-1), a second leg (9-2), a third leg (9-3), a fourth leg (9-4), and a fifth leg (9-5). The middle of the first leg (9-1) is connected by a first flexible hinge group (10), the middle of the second leg (9-2) is connected by a second flexible hinge group (11), the middle of the third leg (9-3) is connected by a third flexible hinge group (12), the middle of the fourth leg (9-4) is connected by a fourth flexible hinge group (13), and the middle of the fifth leg (9-5) is connected by a fifth flexible hinge group (14).
4. The resonant bidirectional moving micromachine with a bistable rigid structure according to claim 1, characterized in that: The housing (1), the top cover (2), the bistable trigger rod (5), and the integrated multi-leg structure (4) all use lightweight additive manufacturing materials as raw materials and are integrally formed using 3D printing.
5. The resonant bidirectional moving micromachine with a bistable rigid structure according to claim 1, characterized in that: The top cover (2) is connected to the outer shell (1) via bolts (3).
Citation Information
Patent Citations
Bidirectional bistable microdrive based on electrothermal and electromagnetic drive
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