Amphibious crawling robot based on piezoelectric driving and crawling method

Abstract

The amphibious crawling robot comprises a robot trunk, a piezoelectric block is arranged at the front end of the upper surface of the robot trunk, and at least one set of driving feet are arranged on the lower surface of the robot trunk; conical surfaces are arranged on the two sides of the front end of the robot trunk, and the direction of the conical surfaces is consistent with the length direction of the robot trunk. Different single-phase excitation signals are applied to the piezoelectric blocks to excite different vibration modes of the robot trunk and the driving feet respectively, and when the robot is in water, jet flow is formed on the conical surface of the robot trunk by exciting a high-order surface external bending vibration mode of the robot trunk, so that the robot is propelled to move towards one side; on a land plane, turning crawling and forward crawling actions of the robot are achieved by exciting different first-order outer bending vibration modes of the driving feet in the x direction and the y direction. The amphibious unmanned aerial vehicle is light in weight, small in size, simple in structure and capable of achieving amphibious.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-robots, and in particular to an amphibious crawling robot and a crawling method based on piezoelectric drive. Background Art

[0002] Crawling robots based on piezoelectric drive generally use multiple groups of piezoelectric ceramics to excite the vibration of the driving feet, and then drive through contact friction. This type of robot mostly adopts a patch or sandwich structure, which requires multiple excitation signals to drive. The advantages are compact structure, flexible design, high power density, etc., but it does not have amphibious functions. The Chinese invention utility model with announcement number CN204935633U discloses a miniature piezoelectric driven translational quadruped robot, including a piezoelectric stack left leg, a piezoelectric stack hind leg, a piezoelectric stack front leg, a piezoelectric stack right leg, a piezoelectric stack front beam, a piezoelectric stack rear beam, a piezoelectric stack left beam, a piezoelectric stack right beam and a connecting aluminum block. The piezoelectric stack left leg, the piezoelectric stack hind leg, the piezoelectric stack front leg, and the piezoelectric stack right leg respectively constitute the four feet of the robot, and the inverse piezoelectric effect of the piezoelectric drive element excites the telescopic deformation of the piezoelectric stack to achieve the movement of the robot in any direction. The above robot has a complex overall structure, requires multiple control signals, is large in size and weight, and cannot achieve underwater movement and reconstruction functions. Summary of the invention

[0003] The purpose of the present invention is to provide an amphibious crawling robot and a crawling method based on piezoelectric drive. The present invention is not only light in weight, small in size, and simple in structure, but also can achieve amphibious operation in water and on land.

[0004] The technical solution of the present invention is: an amphibious crawling robot based on piezoelectric drive, comprising a robot trunk, a piezoelectric block is arranged at the front end of the upper surface of the robot trunk, and at least one group of driving feet is arranged on the lower surface of the robot trunk; conical surfaces are arranged on both sides of the front end of the robot trunk, and the direction of the conical surfaces is consistent with the length direction of the robot trunk.

[0005] In the above-mentioned piezoelectrically driven amphibious crawling robot, the conical surface includes at least one conical unit; the conical unit is composed of a corner portion and a flat portion, and the flat portion is respectively connected to both ends of the corner portion.

[0006] In the aforementioned piezoelectrically driven amphibious crawling robot, adjacent conical units are connected via a planar portion.

[0007] In the aforementioned piezoelectrically driven amphibious crawling robot, the conical surface is connected to the robot trunk via a plug-in socket.

[0008] In the aforementioned piezoelectrically driven amphibious crawling robot, the conical surface is formed by machining conical cuts on both side surfaces of the front end of the robot trunk.

[0009] The aforementioned piezoelectrically driven amphibious crawling robot has a permanent magnet disposed at the tail of the robot's trunk.

[0010] The aforementioned piezoelectrically driven amphibious crawling robot, wherein the robot trunk is a non-metallic thin plate.

[0011] In the aforementioned piezoelectrically driven amphibious crawling robot, the non-metallic thin plate is made of carbon fiber or acrylic.

[0012] In the aforementioned piezoelectrically driven amphibious crawling robot, the piezoelectric block is a piezoelectric ceramic.

[0013] The aforementioned piezoelectric-driven amphibious crawling robot excites different vibration modes of the robot trunk and driving feet by applying different single-phase excitation signals to the piezoelectric block, wherein:

[0014] When in water, the robot is driven to move to one side by exciting the high-order out-of-plane bending vibration mode of the robot's trunk, so that a jet is formed on the conical surface of the robot's trunk.

[0015] When on a flat land surface, the robot's turning and forward crawling actions are achieved by exciting different first-order external bending vibration modes of the driving foot in the x-direction and the y-direction, and then through the contact friction between the driving foot and the plane.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention has the advantages of simple structure, light weight and small size, and the control signal only requires a single-phase signal, without multiple control signals, and the control is simpler and more convenient.

[0018] 2. The present invention adopts a piezoelectric drive method, which can stimulate the out-of-plane bending vibration of the driving foot in the x direction and the y direction respectively, and can realize different motion trajectories of the robot on the plane. The driving foot can also amplify the amplitude of the robot's trunk and improve the robot's movement ability.

[0019] 3. The present invention excites high-order bending vibration of the robot trunk through piezoelectric ceramics to form a jet at the conical surface, which can realize the propulsion of the robot in one direction, enable the robot to move in water, and have amphibious movement capabilities.

[0020] 4. The present invention only requires one piece of piezoelectric ceramic and can realize the amphibious function of the robot by applying a single-phase signal excitation, and the excitation mode and control method are simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is an exploded schematic diagram of the overall structure of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the conical surface of the present invention.

[0024] The markings in the accompanying drawings are:

[0025] 1. Conical surface; 2. Piezoelectric block; 3. Robot body; 4. Driving foot; 5. Permanent magnet; 11. Corner; 12. Plane part. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and examples, but they are not intended to limit the present invention.

[0027] Embodiment: An amphibious crawling robot based on piezoelectric drive, such as Figure 1 and Figure 2 As shown, it includes a robot trunk 3, and a piezoelectric block 2 is arranged at the front end of the upper surface of the robot trunk 3; the piezoelectric block 2 is a piezoelectric ceramic, and the piezoelectric ceramic is a single-partition excitation structure. The piezoelectric ceramic is pasted to the front end of the robot trunk 3 by epoxy resin, and retains a certain size with the edge of the robot trunk 3; when the piezoelectric ceramic applies a single-phase excitation signal, it can excite the high-order out-of-plane bending vibration of the robot trunk 33; three groups of driving feet 4 are arranged on the lower surface of the robot trunk 3, and the driving feet 4 can be integrally formed with the robot trunk 3, or multiple groups of metal wires are pasted on both sides of the robot trunk 3 by epoxy resin as robot driving feet 4, and the driving feet 4 are arranged at an acute angle to the robot trunk 3. When the piezoelectric ceramic applies a single-phase excitation electrical signal of different frequencies, the driving feet 4 are excited to the first-order out-of-plane bending vibration mode in the x direction and the y direction; conical surfaces 1 are arranged on both sides of the front end of the robot trunk 3, and the direction of the conical surface 1 is consistent with the length direction of the robot trunk 3. As shown Figure 3 As shown, the conical surface 1 includes two conical units; the conical unit is composed of a corner portion 11 and a flat portion 12, the flat portion 12 is respectively connected to the two ends of the corner portion 11, and adjacent conical units are connected via the flat portion 12. In this embodiment, the conical surface 1 is connected to the robot trunk 3 by interference fit in the form of a plug-in socket; in other embodiments, the conical surface 1 can also be formed by processing conical cuts on the two side surfaces of the front end of the robot trunk 3.

[0028] Preferably, a permanent magnet 5 is provided at the tail of the robot trunk 3, and the permanent magnet 5 can be installed by pasting or embedding. The permanent magnet 5 can realize the series or parallel assembly of multiple robots, realize the reconstruction function, and improve their movement ability.

[0029] Preferably, the robot trunk 3 is a non-metallic thin plate, and the material of the non-metallic thin plate is carbon fiber or acrylic. The non-metallic thin plate material is lighter than the metal material, less prone to short circuit, and has a larger amplitude.

[0030] Furthermore, this embodiment also provides a crawling method of an amphibious crawling robot, by applying different single-phase excitation signals to the piezoelectric block 2 to respectively excite different vibration modes of the robot trunk 3 and the driving foot 4, wherein:

[0031] When in water, when the piezoelectric ceramic applies a phase excitation signal, it can stimulate the high-order out-of-plane bending vibration of the robot trunk 3. Due to the effect of water surface tension, negative pressure is achieved on one side of the conical surface 1, thereby realizing the jet phenomenon, so that the robot can be propelled by the jet to move quickly to the other side, thereby realizing the underwater movement of the robot. This method can make up for the fact that the existing piezoelectric multi-legged crawling robot does not have the ability to move both on land and in water.

[0032] When on a land plane, the piezoelectric ceramic applies single-phase excitation electrical signals of different frequencies. When the driving foot 4 is excited to produce the first-order external bending vibration mode in the x-direction, the robot's turning and crawling action can be realized by connecting the contact friction between the driving foot 4 and the plane; when the driving foot 44 is excited to produce the first-order out-of-plane bending vibration mode in the y-direction, the robot's forward crawling action can be realized by connecting the contact friction between the driving foot 4 and the plane.

[0033] In summary, compared with the previous piezoelectric crawling robot, the present invention omits the structure of multiple groups of piezoelectric ceramic excitations, and the structure and control method are simpler. The design of the conical surface 1 realizes the underwater jet, so that the robot can be quickly propelled in the water and has the ability of amphibious movement. At the same time, the present invention has the advantages of simple structure, light weight and small size.

Claims

1. An amphibious crawling robot based on piezoelectric drive, comprising a robot trunk (3), characterized in that: A piezoelectric block (2) is arranged at the front end of the upper surface of the robot trunk (3), and at least one group of driving feet (4) is arranged on the lower surface of the robot trunk (3); conical surfaces (1) are arranged on both sides of the front end of the robot trunk (3), and the direction of the conical surfaces (1) is consistent with the length direction of the robot trunk (3).

2. The piezoelectric driven amphibious crawling robot according to claim 1, characterized in that: The conical surface (1) comprises at least one conical unit; the conical unit is composed of a corner portion (11) and a flat portion (12), and the flat portion (12) is respectively connected to both ends of the corner portion (11).

3. The piezoelectrically driven amphibious crawling robot according to claim 2, characterized in that: Adjacent conical units are connected via a plane portion (12).

4. The piezoelectrically driven amphibious crawling robot according to claim 1, characterized in that: The conical surface (1) is connected to the robot trunk (3) via a plug-in socket.

5. The piezoelectrically driven amphibious crawling robot according to claim 1, characterized in that: The conical surface (1) is formed by machining conical cuts on the two side surfaces of the front end of the robot trunk (3).

6. The piezoelectrically driven amphibious crawling robot according to claim 1, characterized in that: A permanent magnet (5) is arranged at the tail of the robot trunk (3).

7. The piezoelectric driven amphibious crawling robot according to claim 1, characterized in that: The robot trunk (3) is a non-metallic thin plate.

8. The piezoelectrically driven amphibious crawling robot according to claim 7, characterized in that: The non-metallic thin plate is made of carbon fiber or acrylic.

9. The piezoelectrically driven amphibious crawling robot according to claim 1, characterized in that: The piezoelectric block (2) is piezoelectric ceramic.

10. The crawling method of the piezoelectric-driven amphibious crawling robot according to claim 1, characterized in that: By applying different single-phase excitation signals to the piezoelectric block, different vibration modes of the robot trunk and driving foot are excited respectively, where: When in water, the robot is driven to move to one side by exciting the high-order out-of-plane bending vibration mode of the robot's trunk, so that a jet is formed on the conical surface of the robot's trunk. When on a flat land surface, the robot's turning and forward crawling actions are achieved by exciting different first-order external bending vibration modes of the driving foot in the x-direction and the y-direction, and then through the contact friction between the driving foot and the plane.

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