Piezoelectric bionic hexapod robot

Abstract

The invention discloses a piezoelectric bionic hexapod robot. The device comprises six piezoelectric multi-dimensional deformation actuators, a moving structure, a fixed structure and a control system, the piezoelectric multi-dimensional deformation actuator is fixedly connected to the motion structure, and the control system is used for driving and controlling the state of the piezoelectric multi-dimensional deformation actuator; in the working process, the piezoelectric multi-dimensional deformation actuator makes contact with or is separated from the fixed structure in the deformation process, and the moving structure generates displacement due to deformation of the piezoelectric multi-dimensional deformation actuator and moves in the designated direction. According to the robot, the multi-foot movement mode of a hexapod crawling insect is highly simulated structurally, the obstacle that a current piezoelectric actuation robot cannot conduct continuous linear movement is broken through, and meanwhile the movement of the robot obtains smaller vibration and higher resolution. The invention is a research and development achievement of piezoelectric leading edge direction, bionics and practicability, and has instructive significance for discipline cross application in the field.

Description

Technical Field

[0001] The present invention relates to the technical field of mechatronics, and in particular to a piezoelectric bionic hexapod robot. Background Art

[0002] Bionic robots have structures that imitate biological characteristics to move and work, and are a hot topic in the field of robotics. Piezoelectric actuation has many advantages, such as fast response, nanometer precision, low heat and no magnetism. The combination of the two has given rise to piezoelectric bionic robot technology. This technology not only meets its needs for high-precision movement, but also realizes the transformation of bionic robots to small size and low energy consumption. Therefore, this type of piezoelectric product has a good market prospect in the future.

[0003] However, the shortcomings of existing piezoelectric bionic robots mainly lie in the gap between theory and practice. From a design perspective, although traditional piezoelectric bionic robots have high-precision output capabilities, most of them act on fine-tuning of the mechanism and have a small range of travel; from a control perspective, although a small number of inchworm-type and quadruped-type robots have temporarily met the theory of alternating movement through structural design and increased their travel, they cannot output continuous linear motion. Therefore, it is necessary to further develop piezoelectric bionic robot technology, while considering optimization and upgrading of the design and control levels, so as to form an overall system that meets the needs of long travel, high precision, and continuous linear motion, and accelerate its popularization in practical applications. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a piezoelectric bionic hexapod robot. The present invention includes six piezoelectric multi-dimensional deformation actuators and a motion structure; each piezoelectric multi-dimensional deformation actuator has nano-scale multi-dimensional deformation capability, and by controlling the state, the motion structure is driven to produce step-by-step displacement. The six piezoelectric multi-dimensional deformation actuators can be divided into one to six groups, and can achieve continuous pushing under the matching drive control method. The present invention highly simulates the multi-legged movement mode of six-legged crawling insects in structure. Compared with the current piezoelectric actuated robots that can only move alternately with two legs at most, it breaks through the obstacle that the current piezoelectric actuated robots cannot move continuously in a straight line, and at the same time, its movement also obtains smaller vibration and higher resolution. The present invention is a research and development result of the frontier direction of piezoelectricity, bionics and practicality, and has guiding significance for the interdisciplinary application in this field.

[0005] The technical solution of the present invention is specifically described as follows.

[0006] The present invention provides a piezoelectric bionic hexapod robot, which comprises: 6 piezoelectric multi-dimensional deformation actuators, a motion structure, a fixed structure and a control system; wherein: The piezoelectric multi-dimensional deformation actuator is fixedly connected to the motion structure; The piezoelectric multi-dimensional deformation actuator can contact or detach from the fixed structure during deformation, that is, the distance between the fixed structure and the moving structure is greater than that of the piezoelectric multi-dimensional deformation actuator that has not been deformed, and is smaller than that of the piezoelectric multi-dimensional deformation actuator that has been deformed; When the piezoelectric multi-dimensional deformation actuator contacts the fixed structure, the moving structure is displaced due to the deformation of the piezoelectric multi-dimensional deformation actuator, and is caused to move in a specified direction due to the thrust; The control system is used to control the state of the piezoelectric multi-dimensional deformation actuator. When it is specifically implemented, its functions include voltage driving and changing the control strategy.

[0007] In the present invention, the piezoelectric multi-dimensional deformation actuator includes at least two types of piezoelectric stacks. The piezoelectric multi-dimensional deformation actuator uses a piezoelectric stack as the main actuator and mainly relies on the piezoelectric actuation principle. The piezoelectric actuation principle is specifically: the piezoelectric material produces micro-deformation due to the inverse piezoelectric effect under the condition of loaded voltage, and its deformation scale is nanometer level. The piezoelectric stack integrates polarized piezoelectric materials of specific sizes from a technological perspective, so that it can produce more linear micro-deformation in a specified direction. Among them, different types of piezoelectric stacks have different deformation modes, and their deformation states do not interfere with each other.

[0008] In the present invention, the piezoelectric stack selects two types of piezoelectric ceramic materials, namely, forward polarization and tangential polarization, so that the piezoelectric multi-dimensional deformation actuator can greatly reduce the tangential force it is subjected to and increase its service life.

[0009] In the present invention, when the number of the piezoelectric stack types is 2 or 3, the deformation directions of the piezoelectric stacks are orthogonal.

[0010] In the present invention, the motion structure includes a slider and a guiding device. The slider serves as the abdomen of the piezoelectric bionic hexapod robot and undertakes the motion function. The piezoelectric multi-dimensional deformation actuator is fixedly connected to the slider, and the displacement caused by the slider is the displacement output of the whole machine. The contact between the slider and the piezoelectric multi-dimensional deformation actuator is flexible, providing a certain preload force for the piezoelectric stack. The guiding device is a component that guides the movement direction of the slider. The specified movement direction of the guiding device is consistent with the effective deformation direction of the piezoelectric multi-dimensional deformation actuator.

[0011] In the present invention, when the slider does not include a flexible structure, a material such as a spring or elastic rubber is used as a substitute at the contact position with the piezoelectric multi-dimensional deformation actuator.

[0012] In the present invention, the guiding device uses a linear guide rail when the motion direction is a single degree of freedom, and the slider is fixedly connected to the sliding end of the linear guide rail. Optionally, the guiding device and the slider are not used in the motion structure, and are replaced by a suspended platform.

[0013] In the present invention, the fixed structure remains stationary relative to the slider. When the piezoelectric multi-dimensional deformation actuator contacts the fixed structure, its deformation will generate thrust on the slider, so the fixed structure must have a stable overall structure, and the deformation in all directions after being subjected to force is negligible. The contact surface between it and the piezoelectric multi-dimensional deformation actuator meets the requirements of a higher strength surface to ensure the service life of the contact surface. In addition, the fixed structure should be a relatively static connector for other components, such as a guide device, hardware of a control system, etc., and a reasonable assembly position should be reserved.

[0014] In the present invention, the control system, its voltage driving function can provide control voltage for the piezoelectric multi-dimensional deformation actuator, and its control strategy change function can select to execute a step-by-step driving algorithm or a continuous driving algorithm. The hardware of the control system is connected to the piezoelectric multi-dimensional deformation actuator through a wire, and its wiring does not interfere with the deformation of the piezoelectric multi-dimensional deformation actuator.

[0015] In the present invention, the step-by-step driving algorithm drives at least one group of piezoelectric multi-dimensional deformation actuators to make the slider meet the condition of being pushed one by one, and finally makes the motion structure output stepping motion.

[0016] In the present invention, the step-by-step driving algorithm drives two groups of piezoelectric multi-dimensional deformation actuators to make the slider meet the condition of being alternately pushed by the two groups of piezoelectric multi-dimensional deformation actuators, and finally makes the motion structure output periodic stepping motion.

[0017] In the present invention, the continuous driving algorithm drives and controls at least three groups of the piezoelectric multi-dimensional deformation actuators, so that the piezoelectric bionic hexapod robot meets the following conditions during the movement: at least one group of the piezoelectric multi-dimensional deformation actuators is in contact with the fixed structure and is in a state of pushing the slider. Finally, the motion structure can output continuous linear motion.

[0018] The working principle of the present invention is: a piezoelectric bionic hexapod robot simulates biological movement patterns by controlling the coordination of 6 piezoelectric multi-dimensional deformation actuators. Each piezoelectric multi-dimensional deformation actuator includes at least two types of piezoelectric stacks, one type of piezoelectric stack can complete the contact or separation of the piezoelectric multi-dimensional deformation actuator and the fixed structure at 6 positions, and the other type of piezoelectric stack produces deformation in the direction of movement when the piezoelectric multi-dimensional deformation actuator contacts the fixed structure, and uses the thrust generated between the two to push the slider fixed to the piezoelectric multi-dimensional deformation actuator to make it slide along the guide device. Under a reasonable control strategy, the motion structure can output long-stroke displacement, especially when using a continuous drive algorithm, it can obtain continuous linear motion capabilities that no current piezoelectric bionic robot has.

[0019] Embodiments 1, 2, and 3 of the present invention each provide a piezoelectric bionic hexapod robot. Among them, the motion structure of embodiment 1 is a slider and a guide device with a flexible structure, specifically a linear guide rail is used, and each of the six piezoelectric multi-dimensional deformation actuators has the same two types of piezoelectric stacks, which are distributed in a line at symmetrical positions on both sides of the slider, and the fixed structure is an integral component, and the reserved wire holes and wires of the control system are not shown in the figure; the motion structure of embodiment 2 is a suspended platform without a guide rail, and each of the six piezoelectric multi-dimensional deformation actuators has the same three types of piezoelectric stacks, which are distributed in symmetrical positions on both sides in an equilateral triangle, and the connection of the platform uses rubber as a flexible part, and the fixed structure is two separate components, and the control system is not shown in the figure; the motion structure of embodiment 3 is a slider and a guide device with a flexible structure, specifically a linear guide rail, and each of the six piezoelectric multi-dimensional deformation actuators has the same two types of piezoelectric stacks, which are distributed on the lower side of the slider on both sides in an equidistant arrangement of 2×3, and the fixed structure is an integral component, and the control system is assembled on the fixed structure. In the first embodiment, two step-by-step driving algorithms and one continuous driving algorithm are illustrated, and the execution results thereof are simulated and shown. The control principles of the second and third embodiments are the same as those of the first embodiment, and therefore are not presented repeatedly.

[0020] Compared with the existing piezoelectric bionic robots, the beneficial effect of the present invention is that it fully continues the piezoelectric bionic robot technology and retains its advantage of high resolution. At the same time, the structure and drive control method are innovated, a new motion mode is developed in the designed environment with motion ability, and it is integrated into a mechatronics system to meet more advanced continuous linear motion indicators. In addition, the present invention fully considers the processing cost to design the structure, and fully considers the motion coordination to use the control strategy, which improves the poor practical effect, narrow application scenarios and difficult technology promotion of piezoelectric bionic robots. It is the current optimal result after a comprehensive analysis of technology and the market, and has good guiding significance for the future application of piezoelectric actuation technology in bionic robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in Example 1 of the present invention.

[0022] Figure 2 It is a schematic diagram of a step-by-step driving algorithm provided in the first embodiment of the present invention.

[0023] Figure 3 It is a schematic diagram of a step-by-step driving algorithm provided in the first embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of a continuous driving algorithm provided in Embodiment 1 of the present invention.

[0025] Figure 5This is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in Example 2 of the present invention.

[0026] Figure 6 This is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0028] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, for example, the terms "connected", "connected", and "fixed" should be understood in a broad sense, and may be fixedly connected, detachably connected, or integrated; may be mechanically connected, or electrically connected; may be directly connected, or indirectly connected through an intermediate medium, and may be internal communication between two elements or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] In the description of the embodiments of the present invention, the terms "upper", "lower", "right", "inner", "outer" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0031] Embodiment 1

[0032] Figure 1This is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in the first embodiment of the present invention, which shows important structures mainly including six piezoelectric multi-dimensional deformation actuators 10, a motion structure 20 and a fixed structure 30. Among them, the motion structure 20 is composed of a slider 21 and a guide device 22. The control system 40 is not shown in the first embodiment, and the connecting parts are not marked in the figure. Figure 1 The upper left is a three-dimensional appearance diagram, showing the appearance features of the first embodiment; Figure 1 The upper right is a top view of the first embodiment; Figure 1 The lower right side is the front view of the first embodiment. Figure 1 The lower left is a three-dimensional image and a deformation image of a single piezoelectric multi-dimensional deformation actuator 10, to show the three-dimensional appearance features and the deformation directions of the two types of piezoelectric stacks 11 and 12; Figure 1 The purpose is to make the structure and function of the first embodiment clearly visible.

[0033] Specifically, the six piezoelectric multi-dimensional deformation actuators 10 are bilaterally symmetrical, with three on one side distributed on the same line and fixed to the slider 21 in a fixed fit manner, and each fixed position is an equal-sized flexible mechanism generated by wire cutting. Figure 1 The top view is numbered 10(1), 10(2), 10(3), 10(4), 10(5), 10(6) from left to right and from top to bottom. The mutually symmetrical piezoelectric multi-dimensional deformation actuators are 10(1) / 10(2), 10(3) / 10(4), 10(5) / 10(6). Each piezoelectric multi-dimensional deformation actuator 10 is composed of a piezoelectric stack 11 and a piezoelectric stack 12, which correspond to two deformation directions, respectively. Figure 1 In the first embodiment, the piezoelectric stack 11 and the piezoelectric stack 12 are made of forward polarized and tangentially polarized lead zirconate titanate PZT materials, respectively, and the deformation directions correspond to the three-dimensional appearance diagram. y Xiang and x Towards. Figure 1 The deformation in the figure is an exaggerated schematic diagram, while the actual deformation is only at the nanometer level.

[0034] The motion structure 20 is composed of a slider 21 and a guide device 22. In the first embodiment, the guide device 22 is a ball linear guide, the fixed end of the guide is fixed to the fixed structure 30, and the sliding end is connected to the slider 21. Therefore, when the slider 21 is displaced by the piezoelectric multi-dimensional deformation actuator 10, the guide device 22 can guide its direction. In the first embodiment, the slider 21 is made of 7075 aluminum material, and the fixed structure 30 is made of 17-4PH stainless steel material.

[0035] The control system 40 is not fixed to the fixed structure 30, so it is not shown in the first embodiment. In actual use, the power supply in the control system provides the operating voltage for the controller and the driver; the controller can change the algorithm to the driver, and the driver amplifies the control voltage signal to the required loading voltage of the six piezoelectric multi-dimensional deformation actuators 10; the piezoelectric multi-dimensional deformation actuator 10 is deformed due to the loading voltage, and the slider 21 is actuated according to the established strategy, and its output displacement is caused.

[0036] The assembly sequence of the first embodiment is: ① assemble the guide device 22 on the fixed structure 30; ② complete the control wiring of the six piezoelectric multi-dimensional deformation actuators 10; ③ fix the six piezoelectric multi-dimensional deformation actuators 10 on the slider 21; ④ assemble the slider 21 on the guide device 22, and ensure that the wires of the piezoelectric multi-dimensional deformation actuator 10 do not affect the deformation of the piezoelectric stack 11 / 12 and the displacement of the slider 21; ⑤ debug until the piezoelectric multi-dimensional deformation actuator 10 is in a suitable position, that is, it can switch between the two states of contacting and disengaging from the fixed structure 30.

[0037] Figure 2 Schematic diagram of a step-by-step driving algorithm provided in Embodiment 1 of the present invention. The algorithm adopts a successive driving strategy. Figure 2 The top shows the four steps of a cycle, and the vertical Figure 2 The displacement values ​​of the following three figures. Among them, the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10(1)-10(6) is y The piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10(1)-10(6) is x Group. y In the figure, the black solid line represents the piezoelectric stack 11. y Changes in direction, positive values ​​represent elongation; x In the figure, the light grey solid line represents the piezoelectric stack 12. x Change in direction, positive values ​​represent x The above displacement is achieved by applying a driving voltage to the piezoelectric multi-dimensional deformation actuator 10, with a total of two sets of driving voltage signals. In this way, a total of four steps are repeated, and a total of one set of piezoelectric multi-dimensional deformation actuators 10 (1)-10 (6) successively push the slider 21 along the guide device 22 to x Direction of positive movement, such as s The dark grey solid line in the figure shows the displacement of the slider 21 within the period.

[0038] Figure 3 Schematic diagram of a step-by-step driving algorithm provided in Embodiment 1 of the present invention. The algorithm adopts an alternating driving strategy. Figure 3 The top shows the four steps of a cycle, and the vertical Figure 3The displacement values ​​of the following three figures. Among them, the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10(1), 10(2), 10(5) and 10(6) is y 1 group, the piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10(1), 10(2), 10(5) and 10(6) is x 1 group; the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10 (3) and 10 (4) is y 2 groups, the piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10 (3) and 10 (4) is x 2 groups. y In the figure, the black solid line and the light gray solid line represent y 1 group and y 2 sets of piezoelectric stacks 11 in y Changes in direction, positive values ​​represent elongation; x In the figure, the black solid line and the light gray solid line represent x 1 group and x 2 sets of piezoelectric stacks 12 in x Change in direction, positive values ​​represent x The above displacement is achieved by applying a driving voltage to the piezoelectric multi-dimensional deformation actuator 10, with a total of four sets of driving voltage signals. In this way, four steps are repeated, and a total of two sets of piezoelectric multi-dimensional deformation actuators 10(1) / 10(2) / 10(5) / 10(6) and 10(3) / 10(4) alternately push the slider 21 along the guide device 22 to x Direction of positive movement, such as s The dark grey solid line in the figure shows the displacement of the slider 21 within the period.

[0039] Figure 4 Schematic diagram of a continuous driving algorithm provided in Embodiment 1 of the present invention. The algorithm adopts a continuous driving strategy. Figure 4 The top shows the three steps of a cycle, and the vertical Figure 4 The displacement values ​​of the following three figures. Among them, the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10 (1) and 10 (2) is y 1 group, the piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10 (1) and 10 (2) is x 1 group; the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10 (3) and 10 (4) is y 2 groups, the piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10 (3) and 10 (4) is x 2 groups; the piezoelectric stack 11 in the piezoelectric multi-dimensional deformation actuator 10 (5) and 10 (6) is y 3. The piezoelectric stack 12 in the piezoelectric multi-dimensional deformation actuator 10(5) and 10(6) is x 3 groups.y In the figure, the black solid line, light gray solid line and black dotted line represent y 1 group, y 2 groups and y 3 groups of piezoelectric stacks 11 in y Changes in direction, positive values ​​represent elongation; x In the figure, the black solid line and the light gray solid line represent x 1 group, x 2 groups and x 3 groups of piezoelectric stacks 12 in x Change in direction, positive values ​​represent x The above displacement is achieved by applying a driving voltage to the piezoelectric multi-dimensional deformation actuator 10, with a total of six sets of driving voltage signals. After three steps are repeated, a total of three sets of piezoelectric multi-dimensional deformation actuators 10(1) / 10(2) and 10(3) / 10(4) and 10(5) / 10(6) continuously push the slider 21 along the guide device 22 to x Direction of positive movement, such as s The dark grey solid line in the figure shows the displacement of the slider 21 within the period.

[0040] Note that the above three driving algorithms are only reasonable examples of the use of the first embodiment of the present invention. Those skilled in the art will understand that in other bionic structures such as four-legged or eight-legged piezoelectric robots, or other six-legged structure robots that are not piezoelectrically driven, the above strategies are basic common sense in control engineering and can be generated based on common control logic. They are not exclusive incidental protection items of the claims of the present invention. The first embodiment can adopt, including but not limited to Figures 2 to 4 Different methods are shown to output the desired displacement under the control strategy. The displacement of the present invention is usually cyclical, and its hexapod symmetrical structure enhances the stability of movement while retaining the inherent advantages of piezoelectric actuation such as high precision, fast response, low heat and no magnetism.

[0041] Embodiment 2

[0042] Figure 5 This is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in the second embodiment of the present invention, which shows the important structures mainly including six piezoelectric multi-dimensional deformation actuators 10, a motion structure 20 and a fixed structure 30. Among them, the motion structure 20 does not use a guiding device. The control system 40 is not shown in the second embodiment, and the connecting parts are not marked in the figure. Figure 5 From left to right: top view, three-dimensional appearance view, front view, and structure diagram of the piezoelectric multi-dimensional deformation actuator; Figure 5 The purpose is to make the structure and function of the second embodiment clearly visible.

[0043] Specifically, the six piezoelectric multi-dimensional deformation actuators 10 are bilaterally symmetrical, with three piezoelectric multi-dimensional deformation actuators 10 on each side distributed at the position of an equilateral triangle connecting the two sides, and fixed to the moving structure 20 via rubber. All piezoelectric multi-dimensional deformation actuators 10 are numbered 10(1), 10(2), 10(3), 10(4), 10(5), and 10(6) from left to right. Among them, the mutually symmetrical piezoelectric multi-dimensional deformation actuators 10 are 10(1) / 10(2), 10(3) / 10(4), and 10(5) / 10(6). Each piezoelectric multi-dimensional deformation actuator 10 is composed of a piezoelectric stack 11, a piezoelectric stack 12, and a piezoelectric stack 13, which correspond to three mutually orthogonal deformation directions, such as Figure 5 In the first embodiment, the piezoelectric stack 11 is made of forward-polarized PZT material, and the deformation corresponds to the three-dimensional appearance diagram. y piezoelectric stack 12 and piezoelectric stack 13 are selected tangentially polarized PZT material, the deformation corresponds to the three-dimensional appearance of the figure x Xianghe z Towards.

[0044] The moving structure 20 is in the shape of a disk and is clamped between the fixed structures by six piezoelectric multi-dimensional deformation actuators 10. Since the piezoelectric multi-dimensional deformation actuators 10 can provide thrust in two directions, the moving structure 20 can move in a plane. In the second embodiment, the moving structure 20 is made of 6061 aluminum material.

[0045] In the second embodiment, the fixing structure 30 is divided into two parts: a left fixing structure 30 (1) and a right fixing structure 30 (2). The two parts have symmetrical structural features and are parallel to the contact surface with the piezoelectric multi-dimensional deformation actuator 10. The fixing structure 30 is made of 17-4PH stainless steel.

[0046] The control system 40 is not fixed to the fixed structure 30, so it is not shown in the second embodiment. In actual use, the power supply in the control system provides the operating voltage for the controller and the driver; the controller can change the algorithm to the driver, and the driver amplifies the control voltage signal to the required loading voltage of the 6 piezoelectric multi-dimensional deformation actuators 10; the piezoelectric multi-dimensional deformation actuator 10 is deformed due to the loading voltage, and the slider 21 is actuated according to the established strategy, and its output displacement is caused. Since the movement of the second embodiment is multi-degree-of-freedom, the control system 40 also uses sensors to monitor its position. The sensors are located outside the mechanical structure and are not connected to the fixed structure 30, so they are not shown.

[0047] The assembly sequence of the second embodiment is as follows: ① complete the control wiring of the six piezoelectric multi-dimensional deformation actuators 10; ② fix the six piezoelectric multi-dimensional deformation actuators 10 on the moving structure 20; ③ assemble the fixed structure 30 (1) and the fixed structure 30 (2) according to the position, and use a protective device to lift the moving structure 20 to keep it within two contact planes during the process; ⑤ debug the piezoelectric multi-dimensional deformation actuator 10 to be in a suitable position.

[0048] The second embodiment of the present invention is used in the same manner as the first embodiment Figure 3 of Figure 4 The control strategy shown. Note that Figure 2 The reason why the control strategy cannot be used is that the second embodiment requires that at any time at least one group of symmetrical piezoelectric multi-dimensional deformation actuators 10 complete the clamping action to prevent the motion structure 20 from sliding to the ground.

[0049] The difference from the first embodiment is that the second embodiment adopts a structure without a guide device and a piezoelectric multi-dimensional deformation actuator 10 in three deformation directions, and uses a sensor as a detection device. Its advantage is that it satisfies the movement of the motion structure 20 in two degrees of freedom and can provide timely feedback; its disadvantage is that once the second embodiment starts to move, it must be ensured that it cannot stop in the middle, and the preload provided by the non-flexible hinge cannot be applied to scenes with heavy loads or limited amplitudes.

[0050] Embodiment 3

[0051] Figure 6 It is a schematic diagram of the structure of a piezoelectric bionic hexapod robot provided in the third embodiment of the present invention, including 6 piezoelectric multi-dimensional deformation actuators 10, a motion structure 20, a fixed structure 30 and a control system 40. Figure 6 The upper left, upper right and lower left are three-dimensional views, and the lower right is a three-dimensional appearance view. The upper and lower legends are the numbering sequence of the six piezoelectric multi-dimensional deformation actuators 10 and the axis coordinate direction of the three-dimensional view.

[0052] Specifically, the six piezoelectric multi-dimensional deformation actuators 10 are bilaterally symmetrical and are distributed on the 2×3 array connection line on the bottom surface of the slider 21. They are fixed to the slider 21 in a fixed fitting manner. Each fixed position is y The flexible hinge structure is generated by upward wire cutting. Figure 1The top view is numbered 10(1), 10(2), 10(3), 10(4), 10(5), 10(6) from left to right and from top to bottom. The mutually symmetrical piezoelectric multi-dimensional deformation actuators 10 are 10(1) / 10(2), 10(3) / 10(4), 10(5) / 10(6). Similar to the first embodiment, each piezoelectric multi-dimensional deformation actuator 10 is composed of a piezoelectric stack 11 and a piezoelectric stack 12, which correspond to two deformation directions respectively. In the third embodiment, the piezoelectric stack 11 and the piezoelectric stack 12 are respectively made of forward polarized and tangentially polarized PZT materials, and the deformation directions correspond to those in the three-dimensional appearance diagram. z Xiang and x Towards.

[0053] The motion structure 20 is composed of a slider 21 and a guide device 22. The guide device 22 used in the third embodiment is a ball linear guide rail, the fixed end of the guide rail is fixed to the fixed structure 30, and the sliding end is connected to the slider 21. Therefore, when the slider 21 is displaced by the piezoelectric multi-dimensional deformation actuator 10, the guide device 22 can guide its direction. In the third embodiment, the slider 21 is made of 7075 aluminum material, and the fixed structure 30 is made of 17-4PH stainless steel material.

[0054] The main hardware of the control system 40 is fixed to the fixed structure 30, and the figure shows a power supply 41, a controller 42 and a driver 43. In actual use, the power supply 41 in the control system provides working voltage for the controller 42 and the driver 43; the controller 42 can change the algorithm to the driver, and the driver 43 amplifies the control voltage signal to the required loading voltage of the six piezoelectric multi-dimensional deformation actuators 10; the piezoelectric multi-dimensional deformation actuator 10 is deformed due to the loading voltage, and the slider 21 is actuated according to the established strategy, and its output displacement is caused.

[0055] The assembly sequence of embodiment three is: ① Assemble the main hardware power supply 41, controller 42 and driver 43 of the control system 40 on the fixed structure 30; ② Fix 6 piezoelectric multi-dimensional deformation actuators 10 on the slider 21; ③ Complete the control wiring of the 6 piezoelectric multi-dimensional deformation actuators 10; ④ Assemble the slider 21 to the sliding end of the guide device 22, and ensure that the wires between the control system 40 and the piezoelectric multi-dimensional deformation actuator 10 do not affect the deformation of the piezoelectric stack 11 / 12 and the displacement of the slider 21; ⑤ Debug the piezoelectric multi-dimensional deformation actuator 10 to the zero position.

[0056] The difference between the first and second embodiments is that the third embodiment adopts a single-side support method to arrange the piezoelectric multi-dimensional deformation actuator 10, and changes the elongation method of the forward polarized piezoelectric ceramics used in the first and second embodiments, replacing the shortening deformation of the piezoelectric stack 11 with a "leg lifting" action to complete the separation from the fixed structure 30. Its advantage is that it increases the zThe load-bearing capacity of the invention is improved, and the movement capacity of the invention is retained while meeting the requirements of special working conditions; its disadvantage is that the weight of the slider 21 is used as the preload, and the guide device is affected by the changes. z The axial force produces load-dependent nonlinearity.

[0057] In summary, the first embodiment can be regarded as a spider-like six-legged creature moving along the direction of spider silk, with the force points on both sides of the abdomen; the second embodiment can be regarded as a worm-like creature moving in a rock crevice, with three contact points on each side as a plane; the third embodiment can be regarded as a reptile-like six-legged creature moving along a straight line, with the force points on the lower side of the abdomen. All three embodiments well express the characteristics of bionics, and their structures have the movement advantages possessed by each type of creature.

[0058] In addition, the positioning accuracy of the first, second and third embodiments all reaches the nanometer level, and can ensure that the thrust of the piezoelectric actuation is sufficient to drive the mass of the main body. At the same time, the symmetrical structure compensates for the center of gravity of the platform, enhances the motion stability, and finally realizes the functions of stepping motion and continuous linear motion. The three embodiments are both novel and practical, and are superior to the existing piezoelectric robots that use piezoelectric actuation as actuators.

[0059] It should be noted that the piezoelectric multi-dimensional deformation actuator in other embodiments may be composed of other reasonable piezoelectric materials and structures; the moving structure, fixed structure, etc. may also be of other reasonable sizes and shapes; the control system hardware and connectors used in other embodiments may also be replaced by other products with the same functions, as long as they meet the functions that match the structure and follow the principle of interchangeability.

[0060] Note that the above are only reasonable embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A piezoelectric bionic hexapod robot, characterized in that: It includes six piezoelectric multi-dimensional deformation actuators, a moving structure, a fixed structure and a control system; the piezoelectric multi-dimensional deformation actuator is fixedly connected to the moving structure, and the control system is used to drive the state of the piezoelectric multi-dimensional deformation actuator; when working, the piezoelectric multi-dimensional deformation actuator contacts or separates from the fixed structure during the deformation process, and the moving structure is displaced due to the deformation of the piezoelectric multi-dimensional deformation actuator and moves in a specified direction.

2. The piezoelectric bionic hexapod robot according to claim 1, characterized in that: The piezoelectric multi-dimensional deformation actuator includes at least two types of piezoelectric stacks, one type of piezoelectric stack is used to complete the contact or separation of the piezoelectric multi-dimensional deformation actuator with a fixed structure at 6 positions, and the other type of piezoelectric stack produces deformation in the direction of movement when the piezoelectric multi-dimensional deformation actuator contacts the fixed structure, and uses the thrust generated between the two to push the motion mechanism fixed to the piezoelectric multi-dimensional deformation actuator to produce displacement; the piezoelectric stack has different deformation modes, and their deformation states do not interfere with each other.

3. The piezoelectric bionic hexapod robot according to claim 2, characterized in that: When the number of the piezoelectric stack types is 2 or 3, the deformation directions of the piezoelectric stacks are orthogonal.

4. The piezoelectric bionic hexapod robot according to claim 1, characterized in that: The motion structure includes a slider and a guide device; the contact between the slider and the piezoelectric multi-dimensional deformation actuator presents flexible characteristics, and the specified motion direction of the guide device is consistent with the effective deformation direction of the piezoelectric multi-dimensional deformation actuator.

5. The piezoelectric bionic hexapod robot according to claim 4, characterized in that: When the slider does not include a flexible structure, a spring or elastic rubber is used as a substitute for the contact surface with the piezoelectric multi-dimensional deformation actuator.

6. The piezoelectric bionic hexapod robot according to claim 4, characterized in that: When the piezoelectric bionic hexapod robot has a single degree of freedom, the guiding device uses a linear guide rail, and the sliding block is fixedly connected to the sliding end of the linear guide rail.

7. The piezoelectric bionic hexapod robot according to claim 1, characterized in that: The motion structure adopts a suspended platform.

8. The piezoelectric bionic hexapod robot according to claim 1, characterized in that: The control system provides a control voltage for the piezoelectric multi-dimensional deformation actuator, and selects to execute a step-by-step driving algorithm or a continuous driving algorithm, and its wiring does not interfere with the deformation of the piezoelectric multi-dimensional deformation actuator.

9. The piezoelectric bionic hexapod robot according to claim 8, characterized in that: The step-by-step driving algorithm drives at least one group of piezoelectric multi-dimensional deformation actuators to make the motion structure output step-by-step motion.

10. The piezoelectric bionic hexapod robot according to claim 8, characterized in that: The continuous driving algorithm drives at least three groups of piezoelectric multi-dimensional deformation actuators to make the motion structure output scanning motion.

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