Plane omnidirectional three-legged stepping robot based on piezoelectric wafer driving

Abstract

The invention discloses a planar omnidirectional three-legged stepping robot based on piezoelectric wafer driving, and relates to the technical field of robots, the planar omnidirectional three-legged stepping robot comprises a base, a driving mechanism A, a driving mechanism B, a driving mechanism C and three actuating mechanisms, the three driving mechanisms are uniformly distributed on the outer side of the base at an angle of 120 degrees, each actuating mechanism is connected with any driving mechanism, and the driving mechanism A, the driving mechanism B, the driving mechanism C and the three actuating mechanisms are arranged on the base. The driving mechanism A comprises a driving hinge, a radial outer foot and a plurality of piezoelectric crystal plates, the driving hinge comprises an assembling end A and a driving end A, the radial outer foot comprises an assembling end B and a driving end B, and the piezoelectric crystal plates are used for enabling the driving end A and the driving end B to generate periodic deformation under the driving of control voltage and driving the driving hinge and the radial outer foot to generate deformation; the three driving mechanisms are arranged, only one driving mechanism is driven each time, all the driving mechanisms move in the same direction and then are powered off at the same time, and then plane omni-directional stepping output of the robot is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a planar omnidirectional three-legged stepping robot driven by a piezoelectric chip. Background Art

[0002] In the field of modern robotics research, the development of micro-robots has attracted much attention, and they have shown great application potential in many fields such as medical treatment, industrial testing, and environmental monitoring. The driving method based on the inverse piezoelectric effect of piezoelectric materials has become a research hotspot in micro-robot driving technology because of its significant advantages such as compact structure, rapid response, high precision, and no electromagnetic interference.

[0003] However, most of the existing planar mobile robots have some limitations. Some robots are driven by traditional motors, which results in a complex overall structure and large size, making it difficult to meet the needs of miniaturization; while some piezoelectric-driven robots can only achieve movement in a single direction, have poor movement flexibility, and cannot operate efficiently in complex planar environments. At the same time, the existing multi-degree-of-freedom piezoelectric-driven robots usually have more complicated driving mechanisms and control methods, which not only increases the manufacturing cost, but also places high demands on the accuracy and stability of the control system, limiting their wide application in actual scenarios. Summary of the invention

[0004] In view of the problems of existing planar mobile robots, such as complex structure, limited freedom of movement, and difficult control, the present invention proposes a planar omnidirectional three-legged stepping robot driven by a piezoelectric chip, which aims to realize omnidirectional movement of the robot on a plane and has the advantages of simple structure, flexible movement, and easy control.

[0005] A planar omnidirectional three-legged stepping robot based on piezoelectric chip drive, comprising a base, a driving mechanism A, a driving mechanism B, a driving mechanism C and three actuators, the three driving mechanisms are evenly distributed on the outside of the base at 120 degrees, and each actuator is respectively connected to any one of the driving mechanisms; The driving mechanism A includes a driving hinge, a radially outer foot and a plurality of piezoelectric chips; The driving hinge comprises an assembly end A and a driving end A, the head end of the driving end A is fixedly connected to the base, the tail end of the driving end A is fixedly connected to the assembly end A, and both sides of the driving end A are connected to piezoelectric chips; The radial outer foot includes an assembly end B and a driving end B. The end of the driving end B is provided with a bottom threaded hole. The head end of the driving end B is connected to the assembly end B. Both sides of the driving end B are connected to piezoelectric chips. The assembly end A is fixedly connected to the assembly end B; The actuator is a ball screw, which is threaded into the bottom threaded hole; The piezoelectric chip is used to cause periodic deformation of the driving end A and the driving end B respectively under the control voltage drive, driving the driving hinge and the radial outer foot to deform, thereby driving the driving mechanism to move. There are three driving mechanisms, and only one driving mechanism is driven at a time. Each driving mechanism moves in the same direction and then cuts off the power at the same time, thereby realizing the robot's planar omnidirectional stepping output.

[0006] Preferably, the piezoelectric wafer includes piezoelectric wafer a, piezoelectric wafer b, piezoelectric wafer c, piezoelectric wafer d, piezoelectric wafer e, piezoelectric wafer f, piezoelectric wafer g, piezoelectric wafer h, piezoelectric wafer i, piezoelectric wafer j, piezoelectric wafer k, and piezoelectric wafer l; The piezoelectric chip c and the piezoelectric chip d are symmetrically mounted on both sides of the driving hinge of the driving mechanism A; The piezoelectric chip e and the piezoelectric chip f are symmetrically mounted on both sides of the driving hinge of the driving mechanism B; The piezoelectric chip a and the piezoelectric chip b are symmetrically mounted on both sides of the driving hinge of the driving mechanism C; The piezoelectric chip k and the piezoelectric chip l are symmetrically mounted on both sides of the radial outer foot of the driving mechanism A; The piezoelectric chip h and the piezoelectric chip i are symmetrically mounted on both sides of the radial outer foot of the driving mechanism B; The piezoelectric chip g and the piezoelectric chip j are symmetrically installed on both sides of the radial outer foot of the driving mechanism C.

[0007] Preferably, the material of the driving mechanism is 65Mn spring steel after heat treatment.

[0008] Preferably, the base and the driving hinge are integrally formed.

[0009] Preferably, a center hole is provided at the center of the base, and three through holes distributed at 120 degrees are provided on the base on the periphery of the axis of the center hole.

[0010] Compared with the prior art, the invention has the following beneficial effects: the invention adopts a driving method based on a piezoelectric chip and a simple tripod structure, abandons the traditional complex transmission mechanism, makes the overall structure of the robot more compact, and reduces the manufacturing and maintenance costs; The present invention realizes omnidirectional movement of the robot on a plane, including forward, backward, left turn, right turn and linear movement in any direction, through the coordinated operation of three driving mechanisms distributed at 120 degrees, which greatly improves the movement flexibility and adaptability of the robot in a complex plane environment. The present invention utilizes the high-precision driving characteristics of the piezoelectric chip and combines it with a precise actuator to achieve precise control of the robot's motion and meet the application requirements in high-precision operation scenarios, such as micro-assembly, micro-manipulation and other fields; The rapid response characteristics of the piezoelectric chip of the present invention enable the robot to respond quickly to control instructions, which has obvious advantages in scenarios requiring rapid action, such as emergency detection, rapid positioning and other tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a left side view of the present invention; Figure 4 It is a schematic diagram of the overall structure of the base and the driving hinge of the present invention; Figure 5 It is a schematic diagram of the radial outer foot structure of the present invention; Figure 6 This is a waveform diagram of a linear displacement driving signal along the X-axis direction of the present invention; Figure 7 This is a waveform diagram of a linear displacement driving signal along the Y-axis direction of the present invention; Figure 8 It is a waveform diagram of the driving signal for angular displacement around the Z axis of the present invention; Fig. 9 It is a driving principle diagram of the driving mechanism A of the present invention; Fig.10 This is a driving principle diagram of the present invention when the linear displacement output is along the X-axis direction.

[0013] Fig.11 This is a driving principle diagram of the present invention when the linear displacement output is along the Y-axis direction.

[0014] Fig.12 This is a driving principle diagram of the present invention when the angular displacement output is rotated around the Z-axis direction.

[0015] Among them, the figures in the figure are as follows: 1: Assembly screw A; 2: Ball screw; 3: Radial outer foot; 4: Assembly screw B; 5: Driving mechanism A; 6: Driving mechanism B; 7: Driving mechanism C; 8: Piezoelectric chip; 9: Driving hinge; 10: Base; 11: Assembly threaded hole A; 12: Driving end A; 13: Assembly threaded hole B; 14: Assembly end A; 15: Center hole; 16: Bottom threaded hole; 17: Driving end B; 18: Assembly threaded hole C; 19: Assembly end B; 20: Assembly threaded hole D; 1-1: piezoelectric chip a; 1-2: piezoelectric chip b; 1-3: piezoelectric chip c; 1-4: piezoelectric chip d; 1-5: piezoelectric chip e; 1-6: piezoelectric chip f; 2-1: piezoelectric chip g; 2-2: piezoelectric chip h; 2-3: piezoelectric chip i; 2-4: piezoelectric chip j; 2-5: piezoelectric chip k; 2-6: piezoelectric chip l; DETAILED DESCRIPTION

[0016] Embodiment 1 of the present invention: See also Figure 1-Figure 5 As shown, a planar omnidirectional three-legged stepping robot based on piezoelectric chip drive includes a base 10, a driving mechanism A5, a driving mechanism B6, a driving mechanism C7 and three actuators. The three driving mechanisms are evenly distributed at 120 degrees outside the base 10, and each actuator is respectively connected to any one of the driving mechanisms; A center hole 15 is provided at the center of the base 10. Three through holes distributed at 120 degrees are provided on the base 10 at the periphery of the axis of the center hole 15. The center hole 15 and the through holes are used to connect other external loads. The driving mechanism A5 comprises a driving hinge 9, a radially outer foot 3 and a plurality of piezoelectric chips 8; The driving hinge 9 includes an assembly end A14 and a driving end A12. The head end of the driving end A12 is fixedly connected to the base 10, and the tail end of the driving end A12 is fixedly connected to the assembly end A14. The assembly end A14 is provided with an assembly threaded hole A11 and an assembly threaded hole B13. A piezoelectric chip 8 is adhered to both sides of the driving end A12 by epoxy resin. The radial outer foot 3 includes an assembly end B19 and a driving end B17. The driving end B17 has a bottom threaded hole 16 at its end. The driving end B17 is connected to the assembly end B19 at its head. The assembly end B19 has an assembly threaded hole C18 and an assembly threaded hole D20. A piezoelectric chip 8 is adhered to both sides of the driving end B17 by epoxy resin. The assembly screw A1 passes through the assembly threaded hole C18 and the assembly threaded hole A11, and the assembly screw B4 passes through the assembly threaded hole D20 and the assembly threaded hole B13, so as to realize the connection between the assembly end A14 and the assembly end B19; The actuator is a ball screw 2, which is threadedly connected in the bottom threaded hole 16; The piezoelectric chip 8 is used to cause the driving end A12 and the driving end B17 to produce periodic deformation under the control voltage drive, thereby driving the driving hinge 9 and the radial outer foot 3 to deform, thereby driving the driving mechanism to move. There are three driving mechanisms, and only one driving mechanism is driven at a time. Each driving mechanism moves in the same direction and then cuts off the power at the same time, thereby realizing the robot's planar omnidirectional stepping output.

[0017] Furthermore, the piezoelectric chip 8 includes a piezoelectric chip a1-1, a piezoelectric chip b1-2, a piezoelectric chip c1-3, a piezoelectric chip d1-4, a piezoelectric chip e1-5, a piezoelectric chip f1-6, a piezoelectric chip g2-1, a piezoelectric chip h2-2, a piezoelectric chip i2-3, a piezoelectric chip j2-4, a piezoelectric chip k2-5, and a piezoelectric chip l2-6; The piezoelectric chip c1-3 and the piezoelectric chip d1-4 are symmetrically mounted on both sides of the driving hinge 9 of the driving mechanism A5; The piezoelectric chip e1-5 and the piezoelectric chip f1-6 are symmetrically mounted on both sides of the driving hinge 9 of the driving mechanism B6; The piezoelectric chip a1-1 and the piezoelectric chip b1-2 are symmetrically mounted on both sides of the driving hinge 9 of the driving mechanism C7; The piezoelectric chip k2-5 and the piezoelectric chip l2-6 are symmetrically mounted on both sides of the radial outer foot 3 of the driving mechanism A5; The piezoelectric chip h2-2 and the piezoelectric chip i2-3 are symmetrically mounted on both sides of the radial outer foot of the driving mechanism B6; The piezoelectric chip g2-1 and the piezoelectric chip j2-4 are symmetrically installed on both sides of the radial outer foot of the driving mechanism C7.

[0018] Furthermore, the material of the driving mechanism is 65Mn spring steel after heat treatment; Furthermore, the base 10 and the driving hinge 9 are integrally formed.

[0019] Working principle of the present invention: Reference Figures 1 to 5 , Fig. 9 In this embodiment 1, a single driving mechanism A5 is taken as an example; Fig. 9As shown in a, the left side of the driving mechanism A5 is fixed on the base 10, and only the right side driving hinge 9 and the radial outer foot 3 can move. The radial outer foot 3 is fixed to the driving hinge 9 by the assembly screws A1 and B4. Voltage is applied to the piezoelectric chip k2-5 and the piezoelectric chip l2-6 on both sides of the radial outer foot 3. The piezoelectric chip l2-6 is applied with a voltage -U1 (not shown in the figure, -U1 only represents the voltage value), and the piezoelectric chip k2-5 is applied with a voltage U1 (not shown in the figure, U1 only represents the voltage value). Under the inverse piezoelectric effect, the piezoelectric chip l2-6 and the piezoelectric chip k2-5 are bent in the positive direction of the X-axis, thereby driving the radial outer foot 3 to bend in the positive direction of the X-axis, thereby driving the ball head screw 2 at the bottom of the driving mechanism A5 to move in the positive direction of the X-axis; like Fig. 9 As shown in b, voltage is applied to the piezoelectric chip d1-4 and the piezoelectric chip c1-3 on both sides of the driving hinge 9, the voltage -U1 is applied to the piezoelectric chip d1-4, and the voltage U1 is applied to the piezoelectric chip c1-3. Under the action of the inverse piezoelectric effect, the piezoelectric chip d1-4 and the piezoelectric chip c1-3 bend in the positive direction of the Y axis, thereby driving the driving hinge 9 to bend in the positive direction of the Y axis, thereby driving the ball head screw 2 at the bottom of the driving mechanism A5 to move in the positive direction of the Y axis; When power is supplied to the piezoelectric chips 8 on both sides of the radial outer foot 3 and the driving hinge 9 at the same time, and voltages U1~-U1 are applied to the piezoelectric chips k2-5 and l2-6, and the piezoelectric chips c1-3 and d1-4 respectively, under the action of the reverse piezoelectric effect, the driving hinge 9 is driven to bend in the positive direction of the Y axis, and the radial outer foot 3 is bent in the positive direction of the X axis, thereby driving the ball head screw 2 at the bottom of the driving mechanism A5 to move in the direction of the angle of 45° between the X axis and the Y axis; By adjusting the positive and negative voltage and the magnitude of the voltage applied to the piezoelectric chip 8, the ball screw 2 at the bottom of the driving mechanism A5 can be driven to move in a circular trajectory; like Fig. 9 As shown in c, when voltages U2~-U2 (not shown in the figure, U2 and -U2 only represent voltage values) are applied to piezoelectric chips c1-3, piezoelectric chips k2-5, piezoelectric chips d1-4 and piezoelectric chips l2-6 respectively, under the action of the inverse piezoelectric effect, the driving hinge 9 is driven to bend in the positive direction of the Y axis, and the radial outer foot 3 is bent in the positive direction of the X axis, thereby driving the ball head screw 2 at the bottom of the driving mechanism A5 to move to an angle of 45° between the X and Y axes, and finally fall on a circular trajectory.

[0020] like Figure 1-Figure 12 As shown, the specific working process of the present invention is as follows: 1. As Figures 1 to 5 , Figure 6 and Fig.10As shown, when the radial outer foot 3 of the driving mechanism A5 is bent and deformed in the X-axis direction, it is the positive direction, and when the driving mechanism B6 and the driving mechanism C7 drive the bottom ball head screw 2 to bend and deform in the X-axis direction, it is the positive direction. The robot can generate a linear displacement output along the positive direction of the X-axis; At time 0, the piezoelectric chip 8 is not powered on, at which time all radial outer feet 3 and all driving hinges 9 are in the original length state, and the robot has no displacement output; In the 0~T / 4 stage, the piezoelectric chips 8 on both sides of the radial outer foot 3 of the driving mechanism A5 are simultaneously applied Figure 6 In the voltage signal shown in a, during the process that the voltage of the piezoelectric chip k2-5 slowly increases to U and the voltage of the piezoelectric chip l2-6 slowly decreases to -U, under the inverse piezoelectric effect, the piezoelectric chips l2-6 and k2-5 bend toward the outside of the robot, driving the radial outer foot 3 of the driving mechanism A5 to bend along the positive direction of the X-axis, thereby driving the bottom ball head screw 2 of the driving mechanism A5 to move a distance L in the positive direction of the X-axis, and the driving mechanism A5 moves a distance L in the positive direction of the X-axis. In the 0~T / 4 stage, when the driving mechanism A5 drives the bottom ball screw 2 to move along the positive direction of the X-axis, the ground provides the driving mechanism A5 with a friction force in the positive direction of the X-axis, so that the robot tends to move in the positive direction of the X-axis, and the driving mechanism B6 and the driving mechanism C7 remain stationary, so that the ground provides the driving mechanism B6 and the driving mechanism C7 with a friction force in the negative direction of the X-axis, and the friction force provided by the ground to the driving mechanism B6 and the driving mechanism C7 in the negative direction of the X-axis is greater than the friction force provided by the ground to the driving mechanism A5 in the positive direction of the X-axis, the position of the base 10 remains unchanged, and the robot has no displacement output; During the T / 4~T / 2 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism C7 are simultaneously applied Figure 6 When the voltage signal is shown in b, the voltage of the piezoelectric chip b1-2 slowly increases to U3 and the voltage of the piezoelectric chip a1-1 slowly decreases to -U3, and the piezoelectric chips 8 on both sides of the radial outer foot 3 of the driving mechanism C7 are simultaneously applied. Figure 6When the voltage signal is shown in c, when the voltage of the piezoelectric chip j2-4 slowly increases to U4 and the voltage of the piezoelectric chip g2-1 slowly decreases to -U4, under the inverse piezoelectric effect, the piezoelectric chip a1-1 and the piezoelectric chip b1-2 bend and deform counterclockwise around the Z axis, and the piezoelectric chip g2-1 and the piezoelectric chip j2-4 bend and deform toward the inside of the robot, driving the driving hinge 9 of the driving mechanism C7 and the radial outer foot 3 of the driving mechanism C7 to bend. The two bends are combined, thereby driving the bottom ball head screw 2 of the driving mechanism C7 to move a distance L along the positive direction of the X axis, T / In the 4~T / 2 stage, when the driving mechanism C7 drives the ball screw 2 at its bottom to move along the positive direction of the X-axis, the ground provides the driving mechanism C7 with a friction force in the positive direction of the X-axis, so that the robot tends to move in the positive direction of the X-axis, and the driving mechanism A5 and the driving mechanism B6 remain stationary, so that the ground provides the driving mechanism A5 and the driving mechanism B6 with a friction force in the negative direction of the X-axis, and the friction force provided by the ground to the driving mechanism A5 and the driving mechanism B6 in the negative direction of the X-axis is greater than the friction force provided by the ground to the driving mechanism C7 in the positive direction of the X-axis, the position of the base 10 remains unchanged, and the robot has no displacement output; During the T / 2~3T / 4 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism B6 are simultaneously applied Figure 6 When the voltage signal shown in d is displayed, the voltage of the piezoelectric chip e1-5 slowly increases to U5 and the voltage of the piezoelectric chip f1-6 slowly decreases to -U5, and the piezoelectric chips 8 on both sides of the radial outer foot 3 of the driving mechanism B6 are simultaneously applied Figure 6 When the voltage signal is shown in e, the voltage of the piezoelectric chip i2-3 slowly increases to U6 and the voltage of the piezoelectric chip h2-2 slowly decreases to -U6. Under the inverse piezoelectric effect, the piezoelectric chip f1-6 and the piezoelectric chip e1-5 bend and deform clockwise around the Z axis, and the piezoelectric chip h2-2 and the piezoelectric chip i2-3 bend and deform toward the inside of the robot, driving the driving hinge 9 of the driving mechanism B6 and the radial outer foot 3 of the driving mechanism B6 to bend. The two bends are combined, thereby driving the ball head screw 2 at the bottom of the driving mechanism B6 to move a distance L, T / 2 along the positive direction of the X axis. ~3T / 4 stage, when the drive mechanism B6 drives the ball screw 2 at its bottom to move along the positive direction of the X-axis, the ground provides the drive mechanism B6 with a friction force in the positive direction of the X-axis, so that the robot tends to move in the positive direction of the X-axis, and the drive mechanism A5 and the drive mechanism C7 remain stationary, so that the ground provides the drive mechanism A5 and the drive mechanism C7 with a friction force in the negative direction of the X-axis, and the friction force provided by the ground to the drive mechanism A5 and the drive mechanism C7 in the negative direction of the X-axis is greater than the friction force provided by the ground to the drive mechanism B6 in the positive direction of the X-axis, the position of the base 10 remains unchanged, and the robot has no displacement output; In the 3T / 4~T stage, the voltage of the piezoelectric chip 8 is slowly reduced to 0. Under the inverse piezoelectric effect, the length of the piezoelectric chip 8 is restored to its original length. The radial outer foot 3 of the driving mechanism A5, the driving hinge 9 of the driving mechanism C7, the driving hinge 9 of the driving mechanism B6, the radial outer foot 3 of the driving mechanism B6, and the radial outer foot 3 of the driving mechanism C7 all have a tendency to return to their original positions, and all provide a force in the negative direction of the X-axis to the three driving mechanisms. The ground provides a friction force in the positive direction of the X-axis to the three driving mechanisms, and the force in the negative direction of the X-axis provided to the three driving mechanisms is smaller than the friction force in the positive direction of the X-axis provided to the three driving mechanisms by the ground, thereby driving the base 10 to move a distance L in the positive direction of the X-axis, and the robot displacement output is L; If this process is repeated continuously, the robot can achieve large-stroke step linear displacement output along the positive direction of the X-axis. By applying a reverse driving signal to each piezoelectric chip 8, the robot can achieve large-stroke step linear displacement output along the negative direction of the X-axis.

[0021] 2. If Figures 1 to 5 , Figure 7 and Fig.11 As shown, when the driving hinge 9 of the driving mechanism A5 is bent and deformed in the positive direction of the Y axis, it is the positive direction; when the driving mechanism B6 and the driving mechanism C7 drive the bottom ball screw 2 to bend and deform in the positive direction of the Y axis, it is the positive direction. The robot can generate a linear displacement output along the positive direction of the Y axis; At time 0, all piezoelectric chips 8 are not powered on, all radial outer feet 3 and all driving hinges 9 are in their original length, and the robot has no displacement output; In the 0~T / 4 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism A5 are simultaneously applied Figure 7 When the voltage signal is shown in a, the voltage of the piezoelectric chip c1-3 slowly increases to U and the voltage of the piezoelectric chip d1-4 slowly decreases to -U. Under the inverse piezoelectric effect, the piezoelectric chips d1-4 and c1-3 bend and deform in the positive direction of the Y-axis, driving the driving hinge 9 of the driving mechanism A5 to bend in the positive direction of the Y-axis, thereby driving the bottom ball screw 2 of the driving mechanism A5 to move a distance L in the positive direction of the Y-axis. In the 0~T / 4 stage, when the driving mechanism A5 drives its bottom ball screw 2 to move in the positive direction of the Y-axis, the ground provides the driving mechanism A5 with a friction force in the positive direction of the Y-axis, so that the robot has a tendency to move in the positive direction of the Y-axis, and the driving mechanism B6 and the driving mechanism C7 remain stationary, so that the ground provides the driving mechanism B6 and the driving mechanism C7 with a friction force in the negative direction of the Y-axis. The friction force provided by the ground to the driving mechanism B6 and the driving mechanism C7 in the negative direction of the Y-axis is greater than the friction force provided by the ground to the driving mechanism A5 in the positive direction of the Y-axis. The position of the base 10 remains unchanged, and the robot has no displacement output. During the T / 4~T / 2 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism C7 are simultaneously applied Figure 7 When the voltage signal shown in b is displayed, the voltage of the piezoelectric chip a1-1 is slowly increased to U7 and the voltage of the piezoelectric chip b1-2 is slowly decreased to -U7, and the piezoelectric chips 8 on both sides of the radial outer foot 3 of the driving mechanism C7 are simultaneously applied. Figure 7 When the voltage signal is shown in c, when the voltage of the piezoelectric chip j2-4 slowly increases to U8 and the voltage of the piezoelectric chip g2-1 slowly decreases to -U8, under the inverse piezoelectric effect, the piezoelectric chip a1-1 and the piezoelectric chip b1-2 bend and deform clockwise around the Z axis, and the piezoelectric chip g2-1 and the piezoelectric chip j2-4 bend and deform toward the inside of the robot, driving the driving hinge 9 of the driving mechanism C7 and the radial outer foot 3 of the driving mechanism C7 to bend. The two bends are combined, thereby driving the bottom ball head screw 2 of the driving mechanism C7 to move a distance L along the positive direction of the Y axis, T / In the 4~T / 2 stage, when the driving mechanism C7 drives the ball screw 2 at its bottom to move along the positive direction of the Y axis, the ground provides the driving mechanism C7 with a friction force in the positive direction of the Y axis, so that the robot tends to move in the positive direction of the Y axis, and the driving mechanism A5 and the driving mechanism B6 remain stationary, so that the ground provides the driving mechanism A5 and the driving mechanism B6 with a friction force in the negative direction of the Y axis, and the friction force provided by the ground to the driving mechanism A5 and the driving mechanism B6 in the negative direction of the Y axis is greater than the friction force provided by the ground to the driving mechanism C7 in the positive direction of the Y axis, the position of the base 10 remains unchanged, and the robot has no displacement output; In the T / 2 ~ 3T / 4 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism B6 are simultaneously applied Figure 7 When the voltage signal shown in d is displayed, the voltage of the piezoelectric chip e1-5 slowly increases to U9 and the voltage of the piezoelectric chip f1-6 slowly decreases to -U9, and the piezoelectric chips 8 on both sides of the radial outer foot 3 of the driving mechanism B6 are simultaneously applied Figure 7When the voltage signal is shown in e, the voltage of the piezoelectric chip h2-2 slowly increases to U10 and the voltage of the piezoelectric chip i2-3 slowly decreases to -U10. Under the inverse piezoelectric effect, the piezoelectric chip f1-6 and the piezoelectric chip e1-5 bend and deform clockwise around the Z axis, and the piezoelectric chip h2-2 and the piezoelectric chip i2-3 bend and deform toward the outside of the robot, driving the driving hinge 9 of the driving mechanism B6 and the radial outer foot 3 of the driving mechanism B6 to bend. The two bends are combined, thereby driving the bottom ball head screw 2 to move a distance L, T / 2 along the positive direction of the Y axis. In the ~3T / 4 stage, when the drive mechanism B6 drives the ball screw 2 at its bottom to move along the positive direction of the Y axis, the ground provides the drive mechanism B6 with a friction force in the positive direction of the Y axis, so that the robot tends to move in the positive direction of the Y axis, and the drive mechanism A5 and the drive mechanism C7 remain stationary, so that the ground provides the drive mechanism A5 and the drive mechanism C7 with a friction force in the negative direction of the Y axis, and the friction force provided by the ground to the drive mechanism A5 and the drive mechanism C7 in the negative direction of the Y axis is greater than the friction force provided by the ground to the drive mechanism B6 in the positive direction of the X axis, the position of the base 10 remains unchanged, and the robot has no displacement output; In the stage 3T / 4~T, the voltage of the piezoelectric chip 8 is slowly reduced to 0. Under the inverse piezoelectric effect, the piezoelectric chip 8 returns to its original length. The radial outer foot 3 of the drive mechanism B6, the radial outer foot 3 of the drive mechanism C7, the drive hinge 9 of the drive mechanism A5, the drive hinge 9 of the drive mechanism B6, and the drive hinge 9 of the drive mechanism C7 all have a tendency to return to their original positions, and all give the three drive mechanisms a force to move in the negative direction of the Y axis. The ground gives the three drive mechanisms a friction force in the positive direction of the Y axis, and the force to move in the negative direction of the Y axis is less than the friction force given by the ground to the three drive mechanisms in the positive direction of the Y axis, thereby driving the base 10 to move a distance L in the positive direction of the Y axis, and the robot displacement output is L; If this process is repeated continuously, the robot can achieve large-stroke step linear displacement output along the positive direction of the Y-axis. By applying a reverse drive signal to each piezoelectric chip 8, the robot can achieve large-stroke step linear displacement output along the negative direction of the Y-axis.

[0022] 3. Such as Figures 1 to 5 , Figure 8 and Fig.12 As shown, when the driving hinge 9 of the driving mechanism A5 is bent and deformed in the positive direction of the Y axis, it is the positive direction; when the driving mechanism B6 and the driving mechanism C7 drive the ball screw 2 at the bottom to bend and deform in the positive direction of the Y axis, it is the positive direction. In this process, the robot can generate a rotational angular displacement output in the clockwise direction around the Z axis; At time 0, all piezoelectric chips 8 are not powered on, all radial outer feet 3 and all driving hinges 9 are in their original length, and the robot has no rotational angular displacement output; In the 0~T / 4 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism A5 are simultaneously applied Fig. 9 When the voltage signal is shown, the voltage of the piezoelectric chip c1-3 slowly increases to U and the voltage of the piezoelectric chip d1-4 slowly decreases to -U. Under the inverse piezoelectric effect, the piezoelectric chip d1-4 and the piezoelectric chip c1-3 bend and deform counterclockwise along the Z axis, driving the driving hinge 9 of the driving mechanism A5 to rotate counterclockwise along the Z axis by θ, thereby driving the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. In the 0~T / 4 stage, the driving mechanism A5 drives the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. The ground provides a friction torque for driving mechanism A5 to rotate counterclockwise around the Z axis, so that the robot tends to rotate counterclockwise around the Z axis. Driving mechanism B6 and driving mechanism C7 remain stationary, so that the ground provides a friction torque for driving mechanism B6 and driving mechanism C7 to rotate clockwise around the Z axis. The friction torque provided by the ground to driving mechanism B6 and driving mechanism C7 to rotate clockwise around the Z axis is greater than the friction torque provided by the ground to driving mechanism A5 to rotate counterclockwise around the Z axis. The position of the base 10 remains unchanged, and the robot has no angular displacement output. During the T / 4~T / 2 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism B6 are simultaneously applied Fig. 9 When the voltage signal is shown, the voltage of the piezoelectric chip f1-6 slowly increases to U and the voltage of the piezoelectric chip e1-5 slowly decreases to -U. Under the inverse piezoelectric effect, the piezoelectric chip f1-6 and the piezoelectric chip e1-5 bend and deform counterclockwise along the Z axis, driving the driving hinge 9 of the driving mechanism B6 to rotate counterclockwise along the Z axis by θ, thereby driving the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. During the T / 4~T / 2 stage, the driving mechanism B6 drives the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. , the ground provides a friction torque for driving mechanism B6 to rotate counterclockwise around the Z axis, so that the robot tends to rotate counterclockwise around the Z axis, and driving mechanism A5 and driving mechanism C7 remain stationary, so that the ground provides a friction torque for driving mechanism A5 and driving mechanism C7 to rotate clockwise around the Z axis, and the friction torque provided by the ground to driving mechanism A5 and driving mechanism C7 to rotate clockwise around the Z axis is greater than the friction torque provided by the ground to driving mechanism B6 to rotate counterclockwise around the Z axis, and the position of the base 10 remains unchanged, then the robot has no angular displacement output; In the T / 2~3T / 4 stage, the piezoelectric chips 8 on both sides of the driving hinge 9 of the driving mechanism C7 are simultaneously applied Fig. 9When the voltage signal is shown, the voltage of the piezoelectric chip b1-2 slowly increases to U and the voltage of the piezoelectric chip a1-1 slowly decreases to -U. Under the inverse piezoelectric effect, the piezoelectric chips a1-1 and b1-2 bend and deform counterclockwise along the Z axis, driving the driving hinge 9 of the driving mechanism C7 to rotate counterclockwise along the Z axis by θ, thereby driving the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. During the T / 2~3T / 4 stage, the driving mechanism C7 drives the bottom ball head screw 2 to rotate counterclockwise along the Z axis by θ. , the ground provides a friction torque for driving mechanism C7 to rotate counterclockwise around the Z axis, so that the robot tends to rotate counterclockwise around the Z axis, and driving mechanism A5 and driving mechanism B6 remain stationary, so that the ground provides a friction torque for driving mechanism A5 and driving mechanism B6 to rotate clockwise around the Z axis, and the friction torque provided by the ground to driving mechanism A5 and driving mechanism B6 to rotate clockwise around the Z axis is greater than the friction torque provided by the ground to driving mechanism C7 to rotate counterclockwise around the Z axis, and the position of the base 10 remains unchanged, then the robot has no angular displacement output; In the 3T / 4~T stage, the voltage of the piezoelectric chip 8 is slowly reduced to 0. Under the inverse piezoelectric effect, the piezoelectric chip 8 returns to its original length. The driving hinge 9 of the driving mechanism A5, the driving hinge 9 of the driving mechanism B6, and the driving hinge 9 of the driving mechanism C7 all have a tendency to return to their original positions, providing the three driving mechanisms with a clockwise rotation torque around the Z axis. The ground provides the driving mechanism A5, the driving mechanism B6, and the driving mechanism C7 with a counterclockwise rotation torque around the Z axis. The clockwise rotation torque around the Z axis provided by the ground to the driving mechanism A5, the driving mechanism B6, and the driving mechanism C7 is smaller than the counterclockwise rotation torque around the Z axis provided by the ground to the driving mechanism A5, the driving mechanism B6, and the driving mechanism C7, thereby driving the base 10 to rotate θ along the Z axis, and the robot angular displacement output is θ; If this process is repeated continuously, the robot can achieve large-stroke step rotation angular displacement output in the clockwise direction around the Z axis. By applying a reverse drive signal to each piezoelectric chip 8, the robot can achieve large-stroke step rotation angular displacement output in the counterclockwise direction around the Z axis.

[0023] Driven by three drive mechanisms, the robot can generate linear displacement output along the X-axis or Y-axis direction and rotational angular displacement output around the Z-axis direction. By repeating this process, the robot can achieve planar three-degree-of-freedom motion output.

Claims

1. A planar omnidirectional three-legged stepping robot driven by a piezoelectric chip, characterized in that: It comprises a base (10), a driving mechanism A (5), a driving mechanism B (6), a driving mechanism C (7) and three actuators, wherein the three driving mechanisms are evenly distributed at 120 degrees outside the base (10), and each actuator is connected to any one of the driving mechanisms; The driving mechanism A (5) comprises a driving hinge (9), a radial outer foot (3) and a plurality of piezoelectric chips (8); The driving hinge (9) comprises an assembly end A (14) and a driving end A (12), wherein the front end of the driving end A (12) is fixedly connected to the base (10), the rear end of the driving end A (12) is fixedly connected to the assembly end A (14), and both sides of the driving end A (12) are connected to piezoelectric chips (8); The radial outer foot (3) comprises an assembly end B (19) and a driving end B (17), a bottom threaded hole (16) is provided at the end of the driving end B (17), a head end of the driving end B (17) is connected to the assembly end B (19), and piezoelectric chips (8) are connected to both sides of the driving end B (17); The assembly end A (14) is fixedly connected to the assembly end B (19); The actuator is a ball screw (2) which is threadedly connected in the bottom threaded hole (16); The piezoelectric chip (8) is used to cause the driving end A (12) and the driving end B (17) to produce periodic deformation respectively under the control voltage drive, thereby driving the driving hinge (9) and the radial outer foot (3) to produce deformation, thereby driving the driving mechanism to produce movement. There are three driving mechanisms, and only one driving mechanism is driven at a time. Each driving mechanism moves in the same direction and then cuts off the power at the same time, thereby realizing the planar omnidirectional stepping output of the robot.

2. A planar omnidirectional three-legged stepping robot based on piezoelectric chip drive according to claim 1, characterized in that: The piezoelectric chip (8) includes a piezoelectric chip a (1-1), a piezoelectric chip b (1-2), a piezoelectric chip c (1-3), a piezoelectric chip d (1-4), a piezoelectric chip e (1-5), a piezoelectric chip f (1-6), a piezoelectric chip g (2-1), a piezoelectric chip h (2-2), a piezoelectric chip i (2-3), a piezoelectric chip j (2-4), a piezoelectric chip k (2-5), and a piezoelectric chip l (2-6); The piezoelectric chip c (1-3) and the piezoelectric chip d (1-4) are symmetrically mounted on both sides of the driving hinge (9) of the driving mechanism A (5); The piezoelectric chip e (1-5) and the piezoelectric chip f (1-6) are symmetrically mounted on both sides of the driving hinge (9) of the driving mechanism B (6); The piezoelectric chip a (1-1) and the piezoelectric chip b (1-2) are symmetrically mounted on both sides of a driving hinge (9) of a driving mechanism C (7); The piezoelectric chip k (2-5) and the piezoelectric chip l (2-6) are symmetrically mounted on both sides of the radial outer foot (3) of the driving mechanism A (5); The piezoelectric chip h (2-2) and the piezoelectric chip i (2-3) are symmetrically mounted on both sides of the radial outer foot of the driving mechanism B (6); The piezoelectric chip g (2-1) and the piezoelectric chip j (2-4) are symmetrically mounted on both sides of the radial outer foot of the driving mechanism C (7).

3. The planar omnidirectional three-legged stepping robot driven by a piezoelectric chip according to claim 1, characterized in that: The material of the driving mechanism is 65Mn spring steel after heat treatment.

4. The planar omnidirectional three-legged stepping robot driven by a piezoelectric chip according to claim 1, characterized in that: The base (10) and the driving hinge (9) are designed to be integrally formed.

5. The planar omnidirectional three-legged stepping robot driven by a piezoelectric chip according to claim 1, characterized in that: A center hole (15) is provided at the center of the base (10), and three through holes distributed at 120 degrees are provided on the base (10) on the periphery of the axis of the center hole (15).

Images