Piezoelectric driving amphibious device based on variable frequency and variable mode regulation

Abstract

The application provides a piezoelectric driving type land-air amphibious device based on variable frequency variable modal adjustment, which comprises a body, crawling foot parts and flight wing parts connected with the body, and a control module arranged in the body, the crawling foot parts and the flight wing parts are at least provided with a pair and symmetrically distributed on both sides of the body; wherein: the flight transmission hinge converts the amplitude of the flight vibration wafer into the swing of the wing and further provides the body with flight power; the horizontal vibration wafer and the vertical vibration wafer respectively conduct the front-back or up-down swing to the sarrus hinge actuator through the walking transmission hinge, and further provide the body with walking power; the application adopts piezoelectric wafer driving, changes the traditional motor driving mode, and designs the flight transmission hinge and the walking transmission hinge, in addition, the variable frequency design of the vibration wafer can prevent the driver from resonating, increase the end amplitude of the wafer as much as possible, realize the miniaturization and light weight of the device, and improve the driving capacity of the driver.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-degree-of-freedom piezoelectric wafer driver, in particular to a piezoelectric driving amphibious device based on variable frequency and variable modal adjustment. BACKGROUND

[0002] A piezoelectric driver is a device that generates driving force using the piezoelectric effect. When an electric field is applied to a piezoelectric wafer, some crystals will deform and generate mechanical displacement or mechanical pressure. Therefore, by controlling the electric field applied to the piezoelectric crystal, the control of the driver can be achieved. Piezoelectric drivers have the advantages of simple structure, fast response speed, high precision, and high energy conversion efficiency, and have been widely used in precision positioning, control and sensing fields. At present, piezoelectric drivers have been applied in many fields. With the continuous progress and innovation of science and technology, the application field of piezoelectric drivers will be further expanded. Benefiting from the characteristics of high energy conversion rate and precision of piezoelectric drivers, it has high application prospect in the field of mechanical transmission.

[0003] In addition, piezoelectric drivers will form inherent resonance frequency in the process of inverse piezoelectric effect. When the external driving frequency is close to or equal to the resonance frequency of the piezoelectric element, resonance phenomenon will occur, which is due to the interaction between mechanical vibration and electrical signal caused by piezoelectric characteristics. At the same time, the excitation of external environment to piezoelectric driver may also cause resonance phenomenon, for example, when the external mechanical vibration frequency is close to the resonance frequency of piezoelectric driver, the resonance vibration of piezoelectric element will be caused. The above resonance phenomenon forms a certain obstacle to the research and development of existing piezoelectric drivers.

[0004] The existing insect bionic movement methods are mainly divided into two categories: one imitates flight, and the other imitates crawling. The former research mainly focuses on bionic flapping wing aircraft, and the latter mainly realizes through bionic multi-legged robot;

[0005] Among them, flapping wing aircraft has unmatched maneuvering and aerodynamic performance with general aircraft. It has small size, light weight, and is more advantageous in small space. The small size also provides good concealment for itself, and has very broad application prospects in military and civilian aspects, and is favored by famous universities and research institutions at home and abroad.

[0006] But the current ornithopter mainly adopts the traditional mechanical transmission mechanism, the reciprocating flapping motion of the wings of the aircraft is converted through the rotating motion of the motor, this kind of flapping way needs to convert chemical energy into mechanical energy of the motor, and then the motor converts the rotating kinetic energy into the kinetic energy of the flapping, due to the friction and energy loss of the motor itself and the connected transmission mechanism, and then affects the energy conversion efficiency of the device, although there are driving modes of using electromagnetic or piezoelectric chip in the prior art, but the existing device using piezoelectric driver as mechanical transmission mode is usually single in motion mode, with the field involved in scientific research and exploration becoming more and more broad, the demand of various complex tasks of robot motion is also expanding, the requirements of miniaturization, integration, light weight, high endurance and so on are constantly improved, the single function of traditional bionic robot gradually cannot meet the needs, therefore, how to expand the motion range of the existing robot, replace human to reach the area that is difficult to reach and complete the task of scientific research and exploration independently or semi-independently is the breakthrough point of the current robot research field, therefore, it is of great significance to change the single motion mode of the existing piezoelectric driven robot and research the multi-habitat bionic robot using piezoelectric driver as mechanical transmission mode to enhance its environmental adaptability.

[0007] In order to realize that the bionic robot can perform comprehensive tasks such as crawling and flying in complex environmental conditions, and use piezoelectric driver as mechanical transmission component during crawling and flying, and use variable frequency variable modal adjustment mechanism to make the driver dynamically adjust its natural frequency, so that it works in the quasi-resonance interval under the condition that the external excitation frequency changes, thereby maintaining a larger inertial force, thereby changing the flight speed of the aircraft, to meet the needs of high precision and light weight of the device, it is urgent to design a piezoelectric driving type land-air amphibian based on variable frequency variable modal adjustment to fill the gap in this field. SUMMARY

[0008] The purpose of the present application is to provide a piezoelectric driving type land-air amphibian based on variable frequency variable modal adjustment to solve the problems raised in the background art.

[0009] To achieve the above purpose, the present application provides the following technical scheme:

[0010] A piezoelectric driving type land-air amphibian based on variable frequency variable modal adjustment, comprising a body, a crawling foot part and a flying wing part connected with the body, and a control module arranged in the body, the crawling foot part and the flying wing part are at least one pair and symmetrically distributed on both sides of the body; Wherein:

[0011] The flight wing part comprises a flight transmission hinge, a flight vibration wafer and a wing, one end of the flight vibration wafer is fixedly connected with the body and the other end is suspended and connected with one connecting part of the flight transmission hinge, the flight transmission hinge is further connected with the body and the wing through the remaining connecting parts respectively, the flight transmission hinge converts the amplitude of the flight vibration wafer into the swing of the wing and further provides the body with flight power.

[0012] The crawling foot part comprises a walking transmission hinge, a horizontal vibration wafer, a vertical vibration wafer and a sarrus hinge actuator, one end of the horizontal vibration wafer and the vertical vibration wafer is fixedly connected with the side of the body and the other end is suspended and connected with the corresponding connecting part of the same walking transmission hinge respectively, the sarrus hinge actuator is movably connected at the bottom of the walking transmission hinge, the horizontal vibration wafer and the vertical vibration wafer conduct the swing in the front-back or up-down direction to the sarrus hinge actuator through the walking transmission hinge, and further provide the body with walking power.

[0013] The flight vibration wafer, the horizontal vibration wafer and the vertical vibration wafer are all provided with a variable frequency variable modal adjusting mechanism, the variable frequency variable modal adjusting mechanism changes the vibration frequency and the mode by changing the gravity distribution on the flight vibration wafer, the horizontal vibration wafer and the vertical vibration wafer.

[0014] The control module comprises a control chip, a circuit and an energy storage unit, the control module is connected with the flight vibration wafer, the horizontal vibration wafer and the vertical vibration wafer, and the control module is used to apply an electric field to the flight vibration wafer, the horizontal vibration wafer and the vertical vibration wafer to make them generate a bending amplitude of a preset angle, and further realize the flight or walking movement of the body.

[0015] Preferably, the flight wing part further comprises a pair of flight wing parts, the wing is a thin plate structure imitating the shape of butterfly wings and made of light material, the thin plate of the wing is provided with a T-shaped connecting block near the side edge close to the body, the wing is fixedly connected with the side of the flight transmission hinge through the T-shaped connecting block, the flight transmission hinge is a flexible hinge mechanism made on the basis of the four-bar mechanism principle, the flexible hinge mechanism forms a rotating fulcrum through the groove connection with the side of the body and conducts the amplitude transmission through the glue connection with the wing and the flight vibration wafer.

[0016] Preferably, the crawling foot further comprises two pairs of crawling foot, the walking transmission hinge is coupled by three sets of flexible hinge mechanism based on the principle of four-bar linkage, the horizontal vibration chip is fixedly connected to the inner side of the walking transmission hinge, the vertical vibration chip is fixedly connected to the top of the walking transmission hinge, the sarrus hinge execution mechanism comprises two L-shaped plates with obtuse angles, the short plate ends of the two L-shaped plates are fixedly connected to the two sides of the same open frame block, and the two rectangular hinge blocks at the bottom of the walking transmission hinge are respectively matched with the open frame blocks fixedly connected to the sarrus hinge execution mechanism, so that the sarrus hinge execution mechanism can slide on the walking transmission hinge.

[0017] Preferably, the body further comprises: the body is a rectangular block structure with an open bottom and a cavity, a pair of rectangular through grooves for connecting the flight transmission hinge are formed in the side surface of the body, a curved bionic head is connected to the head of the body, and the flight vibration chip and the control module are arranged on the inner side of the cavity structure of the body.

[0018] Preferably, the flight vibration chip, the horizontal vibration chip and the vertical vibration chip are all thin plate parts attached with piezoelectric ceramic materials on the surfaces of isosceles trapezoidal copper plates, and the thin plate parts generate vibration deformation when powered.

[0019] Preferably, a through hole is formed in the thin plate part and is equidistantly distributed along the center line of the thin plate part.

[0020] Preferably, the variable-frequency variable-mode adjustment mechanism comprises a mass block mounted on the thin plate part, the flight vibration chip, the horizontal vibration chip and the vertical vibration chip are respectively provided with the mass block through the through hole formed in the thin plate part, and the variable-frequency variable-mode of the thin plate part is realized by changing the mounting position of the mass block on the through hole of the thin plate part.

[0021] The flight transmission hinge comprises a four-bar linkage formed by a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the four-bar linkage of the flight transmission hinge is arranged in parallel and hinged, the first connecting rod is connected to the rectangular through groove of the body, the T-shaped connecting block is wedge-shaped matched with the second connecting rod, and the flight vibration chip is connected to the fourth connecting rod.

[0022] The walking transmission hinge comprises two sets of four-bar linkages combined by a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod, the two sets of four-bar linkages are connected by a pair of flexible hinges, the sarrus hinge execution mechanism is slidingly installed on the sixth connecting rod of the walking transmission hinge, the horizontal vibration chip is connected to one side of the flexible hinge close to the body in a suspended manner at the end away from the body, and the vertical vibration chip is connected to the upper end of the flexible hinge away from the body in a suspended manner at the end away from the body.

[0023] Preferably, the sixth connecting rod arranged in parallel on both sides of the walking transmission hinge is further provided with a limiting hinge mechanism.

[0024] Preferably, the top of the machine body is further fixedly provided with a solar panel, and the solar panel is electrically connected with the control module.

[0025] Compared with the prior art, the present application has the following advantages:

[0026] 1. The piezoelectric wafer driving is adopted, the traditional motor driving mode is changed, the wafer amplitude input is directly converted into rotary output through the wafer and flexible hinge mechanism connection mode, a large amount of space is saved due to the absence of traditional gear rack, worm gear and worm transmission mechanism, thereby realizing the miniaturization of the device, and the energy conversion rate of the device is improved.

[0027] 2. The miniaturization of the overall device is realized, and the flight and walking hinge transmission mechanisms are integrated into the machine body, thereby realizing the flight and crawling functions of the device.

[0028] 3. The flight transmission hinge and the walking transmission hinge are designed based on the four-pole flexible hinge mechanism, the hinge mechanism based on the sarrus mechanism principle is innovatively adopted to overcome the problem of regular change of the walking hinge transmission mechanism spacing, and the stability of the device in the walking and flight process is ensured.

[0029] 4. The vibration wafer can realize frequency conversion and mode conversion, and the purpose of frequency conversion and mode conversion adjustment is to avoid resonance of the driver, and to increase the end vibration of the wafer to provide greater driving inertia force and improve the driving capacity of the driver.

[0030] The piezoelectric wafer driving is adopted, the traditional motor driving mode is changed, the flight and walking functions are integrated, the flight transmission hinge and the walking transmission hinge are designed, the frequency conversion design of the vibration wafer can prevent the driver from resonating, and the end amplitude of the wafer is increased as much as possible, thereby realizing the miniaturization and light weight of the device, and improving the driving capacity of the driver. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a three-dimensional schematic view of the overall structure of the present application.

[0032] Figure 2 is a schematic diagram of the overall structure of the present application;

[0033] Figure 3 is a schematic diagram of the overall structure of the present application;

[0034] Figure 4 is a schematic diagram of the enlarged structure of area A of the present application;

[0035] Figure 5 is a schematic diagram of the walking transmission hinge connection structure of the present application;

[0036] Figure 6 is a schematic diagram of the overall structure of the flight wing of the present application;

[0037] Figure 7 is a schematic diagram of the flight transmission hinge structure of the present application;

[0038] Figure 8 is a schematic diagram of the walking transmission hinge structure of the present application;

[0039] Figure 9 is a schematic diagram of the walking transmission hinge structure of the present application;

[0040] Figure 10 is a schematic diagram of the overall structure of the vertical vibration wafer of the present application;

[0041] Figure 11 is a schematic diagram of the sarrus hinge actuator installation structure of the present application.

[0042] In the figure: 1 body, 2 crawling foot, 3 flight wing, 4 control module, 5 flight transmission hinge, 6 flight vibration wafer, 7 wing, 8 walking transmission hinge, 9 horizontal vibration wafer, 10 vertical vibration wafer, 11 sarrus hinge actuator, 12 T-shaped connecting block, 13 mass block, 14 limit hinge mechanism, 15 flexible hinge, 16 rectangular through slot, 17 bionic head, 18 thin plate part, 19 through hole, 20 solar panel, 21 first connecting rod, 22 second connecting rod, 23 third connecting rod, 24 fourth connecting rod, 25 fifth connecting rod, 26 sixth connecting rod, 27 seventh connecting rod, 28 eighth connecting rod. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] Please refer to Figures 1-11 The present application provides a technical solution:

[0045] Embodiment one:

[0046] A piezoelectric drive amphibious device based on variable frequency variable modal adjustment, comprising a body 1, a crawling foot part 2 and a flight wing part 3 connected with the body 1, and a control module 4 arranged in the body 1, the crawling foot part 2 and the flight wing part 3 are at least one pair and symmetrically distributed on both sides of the body 1; wherein:

[0047] The flight wing part 3 comprises a flight transmission hinge 5, a flight vibration wafer 6 and a wing 7, one end of the flight vibration wafer 6 is fixedly connected with the body 1 and the other end is suspended and connected with one connecting part of the flight transmission hinge 5, the flight transmission hinge 5 is further connected with the body 1 and the wing 7 through the remaining connecting parts, respectively, the flight transmission hinge 5 converts the amplitude of the flight vibration wafer 6 into the swing of the wing 7 and further provides flight power for the body 1;

[0048] The crawling foot part 2 comprises a walking transmission hinge 8, a horizontal vibration wafer 9, a vertical vibration wafer 10 and a sarrus hinge actuator 11, one end of the horizontal vibration wafer 9 and the vertical vibration wafer 10 is fixedly connected with the side of the body 1 at the same time the other end is suspended and connected with the corresponding connecting part of the same walking transmission hinge 8, respectively, the sarrus hinge actuator 11 is movably connected at the bottom of the walking transmission hinge 8, the horizontal vibration wafer 9 and the vertical vibration wafer 10 conduct the front and back or up and down swing to the sarrus hinge actuator 11 through the walking transmission hinge 8, respectively, and further provide power for the body 1 to walk;

[0049] The control module 4 comprises a control chip, a circuit and an energy storage unit, the control module 4 is connected with the flight vibration wafer 6, the horizontal vibration wafer 9 and the vertical vibration wafer 10, the control module 4 is used to apply electric field to the flight vibration wafer 6, the horizontal vibration wafer 9 and the vertical vibration wafer 10 to make them generate a preset angle of bending amplitude, and further realize the flight or walking movement of the body 1.

[0050] In this embodiment, the body 1 is provided with the crawling foot 2 and the flight wing 3, and the crawling foot 2 and the flight wing 3 are sent with working instructions and power by the control module 4, so as to realize the crawling and flight operation of the body 1, wherein the driving mechanism of the flight wing 3 and the crawling foot 2 is a piezoelectric wafer, based on the inverse piezoelectric effect of the piezoelectric wafer, a certain voltage is applied on the piezoelectric wafer to make one end of the piezoelectric wafer produce regular deformation, the size of the piezoelectric wafer is designed, and a mass block 13 is fixedly installed on the piezoelectric wafer, so as to change the amplitude and frequency of the piezoelectric wafer, and the amplitude is conducted to the crawling foot 2 or the flight wing 3 through the transmission hinge connected to the piezoelectric wafer, and finally the flight or walking of the body 1 is realized. Compared with the traditional motor driving mode, the driving mechanism based on the piezoelectric wafer has the advantages of small volume, stable structure, adjustable amplitude and frequency, easy control, large amplitude range, low driving voltage and the like, and the energy conversion rate is improved compared with the motor driving mode. Specifically, the flight function is conducted to the wing 7 through the flight vibration wafer 6, the walking function includes the horizontal vibration wafer 9 and the vertical vibration wafer 10, the horizontal vibration wafer 9 generates the amplitude in the front and back directions, the vertical vibration wafer 10 generates the amplitude in the up and down directions, and the crawling function is realized by the cooperation of the two. Further, in order to improve the walking stability of the body 1, the sarrus hinge actuator 11 is used to act on the crawling foot, the horizontal vibration wafer 9 and the vertical vibration wafer 10 swing to the front and back and up and down swing power of the sarrus hinge actuator, the sarrus hinge actuator includes two parallelly arranged L-shaped plates with an obtuse angle, the short plate ends of the two L-shaped plates are respectively glued and fixed to the two sides of the rectangular hinge blocks formed at the bottom of the walking transmission hinge 8, and the L-shaped plates are connected and fixed through the flexible hinge mechanism. The two rectangular hinge blocks 15 at the bottom of the walking transmission hinge 8 are respectively sleeved and matched with the opening frame blocks glued on the sarrus hinge actuator 11, so that the sarrus hinge actuator 11 can slide on the walking transmission hinge 8. Referring to the description of the drawings Figure 5 、 11 During the front and back swinging of the horizontal vibration wafer 9, the parallelly arranged L-shaped plates in the sarrus hinge actuator 11 synchronously move reversely on the two rectangular hinge blocks at the bottom of the walking transmission hinge 8 without interference, and the stability of the crawling process is ensured through this walking mode. Further, in order to limit the excessive sliding of the opening frame blocks on both sides of the sarrus hinge actuator 11, the limiting hinge mechanism 14 is further arranged between the two rectangular hinge blocks.

[0051] In addition, the flight vibration wafer 6, the horizontal vibration wafer 9 and the vertical vibration wafer 10 are all thin plate parts 18 with piezoelectric ceramic material attached to the surface of an isosceles trapezoidal copper plate, which generates vibration deformation when energized; the thin plate parts 18 are all provided with through holes 19 distributed equidistantly along the center line; the flight vibration wafer 6, the horizontal vibration wafer 9 and the vertical vibration wafer 10 are respectively provided with mass blocks 13 through the through holes 19 of the thin plate parts 18, and the frequency and mode of the thin plate parts 18 are changed by changing the installation position of the mass blocks 20 on the through holes 19 of the thin plate parts 18.

[0052] By adjusting the position of the mass blocks 20 on the through holes of the flight vibration wafer 6, the horizontal vibration wafer 9 and the vertical vibration wafer 10, the amplitude and frequency of the thin plate parts 18 in the process of inverse piezoelectric effect can be controlled, and the frequency and mode changing function is realized. This adjustment method is simple and efficient.

[0053] Embodiment Two:

[0054] The flight wing part 3 further comprises: the flight wing part 3 is provided with a pair of thin plate structures imitating the shape of butterfly wings and made of light material, and the thin plate of the wing 7 is provided with a T-shaped connecting block 12 near the side edge close to the body 1, the wing 7 is fixedly connected with the side surface of the flight transmission hinge 5 through the T-shaped connecting block 12, the flight transmission hinge 5 is a flexible hinge mechanism made on the basis of the four-bar mechanism principle, the flexible hinge mechanism forms a rotating fulcrum by being fixedly connected with the side surface of the body 1, and the amplitude is transmitted through the fixed connection with the wing 7 and the flight vibration wafer 6.

[0055] The flight transmission hinge 5 comprises a four-bar mechanism formed by the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the fourth connecting rod 24, the four-bar mechanism of the flight transmission hinge 5 is arranged in parallel and hinged, the first connecting rod 21 is fixedly connected with the rectangular through slot 16 of the body 1, the T-shaped connecting block 12 is wedge-shaped matched with the side surface of the second connecting rod 22, and the flight vibration wafer 6 is fixedly connected with the fourth connecting rod 24.

[0056] In this embodiment, the specific structure of the flight wing part 3 and the corresponding connection relationship are further limited, wherein the flight transmission hinge 5 is combined to form a four-bar mechanism by the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the fourth connecting rod 24, the four-bar mechanism forms four installation planes, the first connecting rod 21 is fixedly connected on the body 1, the wing 7 is connected on the second connecting rod 22, and the flight vibration wafer 6 is connected on the fourth connecting rod 24.

[0057] Embodiment Three:

[0058] The crawling foot 2 further comprises two pairs of walking transmission hinges 8 coupled by three sets of flexible hinge mechanisms based on the principle of four-bar linkage, a horizontal vibration wafer 9 fixedly connected to the inner side of the walking transmission hinge 8, a vertical vibration wafer 10 fixedly connected to the top of the walking transmission hinge 8, and a sarrus hinge actuator 11 including two L-shaped plates with obtuse angles, the short plate ends of the two L-shaped plates fixedly connected to the two sides of the same open frame block, and two rectangular hinge blocks 15 at the bottom of the walking transmission hinge 8 respectively sleeved with the open frame blocks fixedly connected to the sarrus hinge actuator 11, so that the sarrus hinge actuator 11 can slide on the walking transmission hinge 8.

[0059] The walking transmission hinge 8 includes two sets of four-bar linkages formed by a fifth connecting rod 25, a sixth connecting rod 26, a seventh connecting rod 27 and an eighth connecting rod 28, and the two sets of four-bar linkages are connected by a pair of flexible hinges 15, the sarrus hinge actuator 11 is slidingly installed on the sixth connecting rod 26 of the walking transmission hinge 8, the horizontal vibration wafer 9 is suspendedly connected to one side of the flexible hinge 15 close to the body 1 at the end away from the body 1, and the vertical vibration wafer 10 is suspendedly connected to the upper end of the flexible hinge 15 away from the body 1 at the end away from the body 1.

[0060] In this embodiment, the specific structure of the crawling foot 2 and the assembly connection relationship therebetween are further limited, and the specific structure of the crawling foot 2 and the assembly connection relationship therebetween are further limited. Figure 5 、 7 -9、11, the walking transmission hinge 8 is composed of two four-bar linkages arranged in parallel on the two sides, the two four-bar linkages arranged in parallel are connected by a pair of flexible hinges 15, the horizontal vibration wafer 9 is connected to the flexible hinge 15 close to the body 1, the vertical vibration wafer 10 is connected to the flexible hinge 15 away from the body 1, the horizontal vibration wafer 9 drives the two four-bar linkages arranged in parallel to swing, the two four-bar linkages arranged in parallel make the rectangular hinge block at the bottom deviate during the swinging process, the rectangular hinge block is composed of the sixth connecting rod 26, the sixth connecting rod 26 makes the two L-shaped plates of the sarrus hinge actuator 11 deviate in the horizontal direction during the deviation process, and then the walking in the front-back direction is completed, in the vertical direction, in order to realize that the crawling foot 2 supports the body 1, the vertical vibration wafer 10 drives the walking transmission hinge 8 to move up and down and then drives the sarrus hinge actuator 11 to swing up and down through the swinging in the up-down direction, and through the cooperation of the swinging in the up-down and front-back directions, the crawling action of insects is simulated.

[0061] Embodiment four:

[0062] The body 1 further comprises: the body 1 is a cuboid block structure with an open bottom and a cavity, a pair of rectangular through grooves 16 for connecting the flight transmission hinge 5 are formed on the side surface of the body 1, a curved bionic head 17 is connected to the head of the body 1, and the flight vibration chip 6 and the control module 4 are arranged inside the cavity structure of the body 1.

[0063] The internal structure of the body 1 is further limited in the embodiment. In order to achieve the bionics and aesthetics of the overall structure, the bionic head 17 is arranged at the front end of the body 1, the control module 4 is arranged in the cavity structure of the body 1, the control module 4 comprises a control circuit board, a power supply module, a wireless signal transceiver module and the like, and is convenient for information exchange with an operator and control of flight and crawling actions. In order to further improve the energy utilization rate of the bionic device, a solar panel 20 is further fixedly installed on the top of the body 1, the solar panel 20 is electrically connected with the control module 4, light energy is converted into electric energy by the solar panel 20 and stored in the control module 4, and finally the swing amplitude of the piezoelectric chip is converted to realize the flight or crawling function.

[0064] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A piezoelectric driving amphibious vehicle based on frequency and mode variation adjustment, characterized in that, The application relates to a flying and crawling robot, which comprises a body, crawling foot parts and flying wing parts connected with the body, and a control module arranged in the body, wherein at least one pair of the crawling foot parts and the flying wing parts are symmetrically arranged on both sides of the body. The flying wing part comprises a flying transmission hinge, a flying vibration chip and a wing, one end of the flying vibration chip is fixedly connected with the body, the other end is suspended and connected with one connecting part of the flying transmission hinge, the flying transmission hinge is connected with the body and the wing through the other connecting parts, the flying transmission hinge converts the vibration amplitude of the flying vibration chip into the swing of the wing, and further provides flying power for the body. The crawling foot part comprises a walking transmission hinge, a horizontal vibration chip, a vertical vibration chip and a sarrus hinge actuator, one end of the horizontal vibration chip and the vertical vibration chip is fixedly connected with the side of the body, the other end is suspended and connected with the corresponding connecting part of the same walking transmission hinge, the sarrus hinge actuator is movably connected at the bottom of the walking transmission hinge, the horizontal vibration chip and the vertical vibration chip conduct the front-back or up-down swing to the sarrus hinge actuator through the walking transmission hinge, and further provide power for the body to walk. The flying vibration chip, the horizontal vibration chip and the vertical vibration chip are all provided with a variable-frequency variable-mode adjusting mechanism, the variable-frequency variable-mode adjusting mechanism changes the equivalent stiffness and equivalent mass distribution of the flying vibration chip, the horizontal vibration chip and the vertical vibration chip, and further changes the vibration frequency and mode. The variable-frequency variable-mode adjusting mechanism comprises a mass block mounted on a thin plate part, the thin plate part is provided with through holes equidistantly distributed along the center line, the flying vibration chip, the horizontal vibration chip and the vertical vibration chip are respectively provided with the mass block through the through holes of the thin plate part, the variable-frequency variable-mode of the thin plate part is realized by changing the mass size and mounting position of the mass block on the through hole of the thin plate part. The control module comprises a control chip, a circuit and an energy storage unit, the control module is connected with the flying vibration chip, the horizontal vibration chip and the vertical vibration chip, and is used for applying an electric field to the flying vibration chip, the horizontal vibration chip and the vertical vibration chip to make them generate a preset bending amplitude, and further realize the flying or walking movement of the body.

2. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 1, characterized in that, The flying wing part further comprises a pair of wings, the wing is a thin plate structure made of light material and imitates the shape of a butterfly wing, a T-shaped connecting block is arranged on the side edge of the thin plate close to the body, the wing is fixedly connected with the side slot of the flying transmission hinge through the T-shaped connecting block, the flying transmission hinge is a flexible hinge mechanism made based on the four-bar mechanism principle, the flexible hinge mechanism forms a rotating fulcrum through the slot connection with the side of the body, and the amplitude is transmitted through the connection with the wing and the flying vibration chip.

3. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 1, characterized in that, The crawling foot specifically further comprises two pairs of crawling feet, the walking transmission hinge is coupled by three sets of flexible hinge mechanisms based on the principle of four-bar linkage, the horizontal vibration wafer is fixedly glued to the inner side of the walking transmission hinge, the vertical vibration wafer is fixedly glued to the top of the walking transmission hinge, the sarrus hinge execution mechanism comprises two L-shaped plates with obtuse angles, the short plate ends of the two L-shaped plates are fixedly glued to the two sides of the same open frame block, respectively, the two rectangular hinge blocks at the bottom of the walking transmission hinge are matched with the open frame blocks fixedly glued to the sarrus hinge execution mechanism, so that the sarrus hinge execution mechanism can slide on the walking transmission hinge.

4. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 2, characterized in that, The body specifically further comprises a cuboid block structure with an open bottom and a cavity, a pair of rectangular through grooves for gluing the flight transmission hinge are processed on the side surface of the body, the head of the body is connected with a curvedly shaped bionic head, and the flight vibration wafer and the control module are arranged on the inner side of the cavity structure of the body.

5. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 1, characterized in that: The flight vibration wafer, the horizontal vibration wafer and the vertical vibration wafer are all thin plate parts of piezoelectric ceramic material attached to the surface of an isosceles trapezoidal copper plate, and the thin plate parts generate vibration deformation when electrified.

6. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 2, characterized in that: The flight transmission hinge comprises a four-bar linkage formed by a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the four-bar linkage of the flight transmission hinge is arranged in parallel and hinged, the first connecting rod is glued to the rectangular through groove of the body, the T-shaped connecting block is wedge-shapedly matched with the second connecting rod, and the flight vibration wafer is glued to the fourth connecting rod.

7. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 3, characterized in that: The walking transmission hinge comprises two sets of four-bar linkages combined by a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod, the two sets of four-bar linkages are connected by a pair of flexible hinges, the sarrus hinge execution mechanism is slidingly installed on the sixth connecting rod of the walking transmission hinge, the horizontal vibration wafer is suspendedly connected to one side of the flexible hinge close to the body at the end away from the body, and the vertical vibration wafer is suspendedly connected to the upper end of the flexible hinge away from the body.

8. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to claim 7, characterized in that: Limiting hinge mechanisms are further arranged between the sixth connecting rods arranged in parallel on the two sides of the walking transmission hinge.

9. The piezoelectric driving amphibious vehicle based on variable frequency and variable mode adjustment according to any one of claims 1-8, characterized in that: A solar panel is further fixedly installed on the top of the body, and the solar panel is electrically connected with the control module.

Images