Piezoelectric and electromagnetic composite driving microminiature jumping robot structure

Abstract

The invention relates to a piezoelectric and electromagnetic composite driving microminiature jumping robot structure. The two Z-shaped piezoelectric legs are symmetrically installed on the bottom face of the platform, the fan-shaped foot soles are arranged at the bottoms of the Z-shaped piezoelectric legs respectively, the electromagnetic driving device is located between the two Z-shaped piezoelectric legs, the vertical energy storage springs are located on the two sides of the electromagnetic driving device, and the direction adjusting legs are arranged at the bottom of the electromagnetic driving device. Each Z-shaped piezoelectric leg is provided with an electric ceramic piece polarized in the thickness direction. According to the invention, the Z-shaped piezoelectric legs cooperate with the attraction / repulsive force generated by the electromagnetic device through the bending deformation of the piezoelectric ceramic piece in a d31 mode to cooperatively compress the vertical energy storage spring to realize energy storage; and during release, spring energy and electromagnetic thrust are superposed to push the robot to realize high-energy-density jumping, so that the problem of low energy storage density of the miniature jumping robot is solved, and the miniature jumping robot has the characteristics of compact structure, strong obstacle crossing ability and high motion controllability.

Description

Technical Field

[0001] The present invention relates to the technical field of microrobots, and in particular to a micro jumping robot structure driven by a piezoelectric and electromagnetic composite drive. Background Art

[0002] Robotics has experienced rapid development in recent years, and complex terrain has placed higher demands on robots' mobility. Hopping robots, particularly micro-jumping robots, have become a key development area in the robotics field due to their powerful obstacle-crossing capabilities and rapid response. Micro-jumping robots have broad application prospects in areas such as rescue, military reconnaissance, and geological exploration.

[0003] There are also micro-legged jumping robots on the current market. For example, the prior art CN202411605606.8 discloses a new type of piezoelectric three-legged jumping robot, which only uses piezoelectric ceramic sheets to drive the three-legged structure and realizes jumping movement by controlling the contraction and elongation deformation of the legs through periodic voltage. However, the structure has the problems of low energy storage density and weak obstacle crossing ability. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a piezoelectric and electromagnetic composite driven micro-jumping robot structure to solve the problems of low energy storage density and weak obstacle crossing ability.

[0005] To achieve the above-mentioned object, the technical solution adopted by the present invention is: a piezoelectric and electromagnetic composite driven micro-jumping robot structure, comprising a platform, Z-shaped piezoelectric legs, fan-shaped feet, an electromagnetic drive device, a vertical energy storage spring, and a direction adjustment leg;

[0006] There are two Z-shaped piezoelectric legs, which are symmetrically mounted on both sides of the bottom surface of the platform; each Z-shaped piezoelectric leg is provided with an electric ceramic sheet polarized along the thickness direction, and bending deformation is achieved through the d31 mode of the piezoelectric ceramic;

[0007] There are two fan-shaped feet, each located at the bottom of the Z-shaped piezoelectric leg;

[0008] The electromagnetic drive device is located between the two Z-shaped piezoelectric legs and is divided into two symmetrical parts, the upper structure is located at the bottom of the platform, and the lower structure is located on the two fan-shaped feet;

[0009] There are two vertical energy storage springs, one on each side of the electromagnetic drive device;

[0010] The direction adjustment leg is located at the bottom of the lower structure, and includes a vertically placed servo motor and a reversing leg driven by the servo motor to adjust the jumping direction.

[0011] Preferably, the Z-shaped piezoelectric leg is formed by bending a rectangular thin steel sheet as a whole, including an upper horizontal part and a lower horizontal part placed horizontally and parallel, an inclined part arranged at an angle for connecting the upper horizontal part and the lower horizontal part, and a "7"-shaped connecting part that allows the upper horizontal part and the platform to be suspended in the air; electric ceramic sheets are provided on both sides of the upper horizontal part and the inclined part.

[0012] Preferably, it further comprises two inclined energy storage springs; the two inclined energy storage springs are both placed obliquely, and their two ends are respectively connected to the inclined portion and the lower horizontal portion of the Z-shaped piezoelectric leg.

[0013] Preferably, the fan-shaped sole includes an outer sole and an inner sole respectively arranged on the inner and outer sides of the lower horizontal portion; the lower horizontal portion and the bottom surfaces of the outer sole and the inner sole are located in the same plane.

[0014] Preferably, the outer sole is larger than the inner sole.

[0015] Preferably, notches are provided on both the outer sole and the inner sole.

[0016] Preferably, the upper structure and the lower structure both include a trapezoidal support frame, an iron core vertically arranged on the trapezoidal support frame, and a coil wound on the iron core; the trapezoidal support frame of the upper structure is installed at the bottom of the platform; and the two ends of the trapezoidal support frame of the lower structure are respectively installed on the lower horizontal part.

[0017] Preferably, both ends of the vertical energy storage spring are respectively connected to the trapezoidal support frames of the upper structure and the lower structure.

[0018] Preferably, the driving end of the servo motor is connected to the trapezoidal support frame of the lower structure, and a mounting seat is provided at the bottom; a support spring is provided between the mounting seat and the reversing leg.

[0019] Preferably, the reversing leg is hemispherical, with its plane facing upward and connected to the support spring.

[0020] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0021] In the present invention, the Z-shaped piezoelectric legs are bent and deformed through the d31 mode of the piezoelectric ceramic sheet, and the attraction / repulsion force generated by the electromagnetic device is coordinated to compress the vertical and inclined energy storage springs to achieve energy storage; when released, the spring energy is superimposed on the electromagnetic thrust, pushing the robot to achieve high-energy-density jumping. At the same time, the posture is adjusted by the servo motor when taking off, and the jumping direction can be accurately controlled, which solves the problem of low energy storage density of the micro jumping robot. It has the characteristics of compact structure, strong obstacle-crossing ability and high motion controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0023] Attachment Figure 1 This is a schematic structural diagram of the piezoelectric and electromagnetic composite driven micro-jumping robot structure of the present invention;

[0024] Attachment Figure 2 A side view of the structure of the piezoelectric and electromagnetic composite driven micro-jumping robot according to the present invention;

[0025] Attachment Figure 3 This is a schematic structural diagram of the fan-shaped sole of the present invention;

[0026] Attachment Figure 4 This is a schematic structural diagram of the direction adjustment leg in the present invention;

[0027] Attachment Figure 5 Schematic diagram of the excitation of the piezoelectric ceramic on the upper horizontal part of the present invention;

[0028] Attachment Figure 6 This is the periodic square wave signal diagram of the present invention

[0029] Attachment Figure 7 Schematic diagram of the excitation of the piezoelectric ceramic on the inclined portion of the present invention.

[0030] Among them: 1. Platform; 2. Z-shaped piezoelectric leg; 21. Upper horizontal part; 22. Lower horizontal part; 23. Inclined part; 24. "7"-shaped connecting part; 3. Fan-shaped foot; 31. Outer foot; 32. Inner foot; 33. Notch; 4. Electromagnetic drive device; 41. Trapezoidal support frame; 42. Iron core; 43. Coil; 5. Vertical energy storage spring; 6. Inclined energy storage spring; 7. Direction adjustment leg; 71. Servo motor; 72. Reversing leg; 73. Mounting seat; 74. Support spring; 8. Electric ceramic sheet. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Attachment Figure 1-4 The micro-sized jumping robot structure driven by piezoelectric and electromagnetic composite drive according to the present invention comprises a platform 1, a Z-shaped piezoelectric leg 2, a fan-shaped foot 3, an electromagnetic drive device 4, a vertical energy storage spring 5, an inclined energy storage spring 6, and a direction adjustment leg 7;

[0033] The platform 1 is used to install circuit boards, cameras and other accessories;

[0034] Two Z-shaped piezoelectric legs 2 are provided, and their structures are exactly the same. They are symmetrically mounted on both sides of the bottom surface of the platform 1. In order to improve the strength and rigidity of the Z-shaped piezoelectric legs 2, the Z-shaped piezoelectric legs 2 are formed by bending a rectangular thin steel sheet as a whole. The material is stainless steel, and includes an upper horizontal portion 21 and a lower horizontal portion 22 arranged horizontally and parallel to each other, an inclined portion 23 arranged at an angle to connect the upper horizontal portion 21 and the lower horizontal portion 22, and a "7"-shaped connecting portion 24 that allows the upper horizontal portion 21 to be suspended from the platform 1. Both surfaces of the upper horizontal portion 21 and the inclined portion 23 are provided with an electric ceramic sheet 8 polarized in the thickness direction, and bending deformation is achieved through the d31 mode of the piezoelectric ceramic.

[0035] Two fan-shaped soles 3 are provided, each located at the bottom of the Z-shaped piezoelectric leg 2; the fan-shaped soles 3 include an outer sole 31 and an inner sole 32, respectively provided on the inner and outer sides of the lower horizontal portion 22, i.e., the lower horizontal portion 22 is part of the fan-shaped sole 3; the bottom surfaces of the lower horizontal portion 22 and the outer soles 31 and the inner soles 32 are located in the same plane, making the support more stable; the outer sole 31 is larger than the inner sole 32 to increase the force on the outer side; both the outer sole 31 and the inner sole 32 are provided with a notch 33, which not only increases the contact range but also reduces the contact area, thereby maximizing the stability of the support;

[0036] The electromagnetic drive device 4 is located between the two Z-shaped piezoelectric legs 2 and is divided into two symmetrical upper and lower structures, wherein the upper structure is located at the bottom of the platform 1, and the lower structure is located on the two fan-shaped feet 3; the upper and lower structures each include a trapezoidal support frame 41, an iron core 42 vertically arranged on the trapezoidal support frame 41, and a coil 43 wound around the iron core 42; the trapezoidal support frame 41 of the upper structure is installed at the bottom of the platform 1; the two ends of the trapezoidal support frame 41 of the lower structure are respectively installed on the lower horizontal portion 22; the iron core 42 is placed in the coil 43 in the upper and lower structures to further increase the electromagnetic force between the coils 43;

[0037] The vertical energy storage springs 5 are provided with two, respectively located on both sides of the electromagnetic drive device 4; the two ends of the vertical energy storage spring 5 are respectively connected to the trapezoidal support frame 41 of the upper structure and the lower structure;

[0038] The inclined energy storage springs 6 are provided with two; the two inclined energy storage springs 6 are placed obliquely, and their two ends are respectively connected to the inclined portion 23 and the lower horizontal portion 22 of the Z-shaped piezoelectric leg 2;

[0039] The direction-adjusting leg 7 is located at the bottom of the lower structure, and includes a vertically placed servo motor 71 and a reversing leg 72 driven by the servo motor 71 to adjust the jumping direction; the driving end of the servo motor 71 is connected to the trapezoidal support frame 41 of the lower structure, and a mounting seat 73 is provided at the bottom; a support spring 74 is provided between the mounting seat 73 and the reversing leg 72; when the robot is in a stationary state on the ground, the support spring 74 is slightly compressed under the action of the robot's gravity, so that the reversing leg 72 just contacts the bottom surface, thereby improving the stability of the robot by adding an intermediate support point; the reversing leg 72 is hemispherical, and its flat surface is connected to the support spring 74 facing upward. By designing the reversing leg 72 into a semicircle, the adaptability to the shape of the contact ground can be improved. When the ground is uneven, the semicircular reversing leg 72 can be appropriately rotated and adjusted according to the shape of the ground under the support of the support spring 74, thereby maintaining contact with the ground.

[0040] When the robot is working, the electric ceramic sheets 8 on both sides of the upper horizontal portion 21 and the inclined portion 23 of the two Z-shaped piezoelectric legs 2 can achieve bending deformation through the d31 mode of the piezoelectric ceramic. The specific structure and excitation scheme are as follows: Figure 5 As shown, the excitation signal is a periodic square wave signal, such as Figure 6 As shown;

[0041] The bending deformation of the horizontal portion is achieved by lateral elongation and shortening of the piezoelectric ceramic sheet 8. Specifically, since the piezoelectric ceramic sheets 8 are symmetrically mounted on the upper and lower sides of the horizontal portion, when the pair of piezoelectric ceramic sheets 8 mounted on the upper and lower sides are polarized along the thickness direction with the same polarization direction, they produce lateral deformations in opposite directions within the time range of 0 to t1 of the periodic square wave excitation signal, causing the upper half of the horizontal portion to laterally elongate and the lower half to shorten, thereby achieving downward bending deformation.

[0042] The bending deformation of the inclined portion 23 is also achieved through the d31 mode of the piezoelectric ceramic. The excitation scheme is as follows Figure 7 Similarly, the piezoelectric ceramic piece 8 on the inclined portion 23 achieves downward bending deformation of the inclined portion 23 by deforming in a lateral manner by stretching and shortening;

[0043] When the robot is in a stationary state, the vertical energy storage spring 5 and the inclined energy storage spring 6 are in an undeformed state; however, as the bending deformation of the horizontal portion and the inclined portion 23 causes the overall height to decrease, both the vertical energy storage spring 5 and the inclined energy storage spring 6 are compressed;

[0044] At the same time, during the period 0 to t1 of the periodic square wave excitation signal, current is respectively passed through the coils 43 in the upper and lower structures of the electromagnetic drive device 4, causing the opposing polarities of the coils 43 in the upper and lower structures to be opposite. Opposite polarities attract each other, causing the coils 43 in the upper and lower structures to generate an attractive force. This force further reduces the height of the Z-shaped piezoelectric leg 2, thereby further compressing the vertical energy storage spring 5 and the inclined energy storage spring 6. At this point, the robot is ready to jump.

[0045] Within the time range of t1 to t2 of the periodic square wave excitation signal, lateral deformation in the opposite direction is also generated, causing the upper half of the horizontal part and the inclined part 23 to be laterally shortened and the lower half to be elongated, thereby achieving upward bending deformation, causing the overall height to rise, and the vertical energy storage spring 5 and the inclined energy storage spring 6 to release the compressed energy and restore to their original length; at the same time, the opposite surfaces of the coils 43 in the upper structure and the lower structure have the same polarity, and the coils 43 in the upper structure and the lower structure generate a repulsive force through the repulsion of like charges, which further increases the overall height, thereby further releasing the vertical energy storage spring 5 and the inclined energy storage spring 6; wherein, since the inclined energy storage spring 6 is set to be inclined in the jumping direction, when the inclined energy storage spring 6 restores its original length and releases the compressed energy, it will generate an upward and jumping direction thrust on the inclined part 23, causing the robot to jump up to a height while also jumping a certain distance in the forward direction; at this time, the robot can achieve a rapid forward jump;

[0046] When the robot lands, the periodic square wave excitation signal is repeatedly applied to make the robot jump continuously in the specified direction.

[0047] Before the robot takes off, the reversing leg 72 in the direction-adjusting leg 7 maintains contact with the ground under the action of the support spring 74; if the robot's jumping direction needs to be changed, when the robot takes off, the reversing leg 72 is driven to rotate by the servo motor 71, and the reversing leg 72 is in contact with the ground to achieve the change of jumping direction; the servo motor 71 receives a pulse signal instruction from the controller to drive the servo motor 71 to rotate, and when the servo motor 71 receives 1 pulse, it will drive the reversing leg 72 to rotate by an angle corresponding to 1 pulse; compared with surface contact, the hemispherical reversing leg 72 is in point contact with the ground. When the robot rotates as a whole, the point contact between the circular reversing leg 72 and the ground reduces the friction of the ground and improves the flexibility of the robot's rotation.

[0048] The above are only specific application examples of the present invention and do not constitute any limitation on the scope of protection of the present invention. Any technical solutions formed by equivalent transformation or equivalent replacement shall fall within the scope of protection of the present invention.

Claims

1. A piezoelectric and electromagnetic composite driven micro-jumping robot structure, characterized by: It includes a platform, Z-shaped piezoelectric legs, fan-shaped feet, electromagnetic drive device, vertical energy storage spring, and direction adjustment legs; There are two Z-shaped piezoelectric legs, which are symmetrically mounted on both sides of the bottom surface of the platform; each Z-shaped piezoelectric leg is provided with an electric ceramic sheet polarized along the thickness direction, and bending deformation is achieved through the d31 mode of the piezoelectric ceramic; There are two fan-shaped feet, each located at the bottom of the Z-shaped piezoelectric leg; The electromagnetic drive device is located between the two Z-shaped piezoelectric legs and is divided into two symmetrical parts, the upper structure is located at the bottom of the platform, and the lower structure is located on the two fan-shaped feet; There are two vertical energy storage springs, one on each side of the electromagnetic drive device; The direction adjustment leg is located at the bottom of the lower structure, and includes a vertically placed servo motor and a reversing leg driven by the servo motor to adjust the jumping direction.

2. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 1 is characterized in that: The Z-shaped piezoelectric leg is formed by bending a rectangular thin steel sheet as a whole, and includes an upper horizontal part and a lower horizontal part placed horizontally and parallel to each other, an inclined part arranged at an angle to connect the upper horizontal part and the lower horizontal part, and a "7"-shaped connecting part that allows the upper horizontal part to be suspended from the platform; both sides of the upper horizontal part and the inclined part are provided with electric ceramic sheets.

3. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 2 is characterized in that: It also includes two inclined energy storage springs; the two inclined energy storage springs are both placed obliquely, and their two ends are respectively connected to the inclined part and the lower horizontal part of the Z-shaped piezoelectric leg.

4. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 2, characterized in that: The fan-shaped sole includes an outer sole and an inner sole respectively arranged on the inner and outer sides of the lower horizontal part; the lower horizontal part and the bottom surfaces of the outer sole and the inner sole are located in the same plane.

5. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 4 is characterized in that: The outer sole is larger than the inner sole.

6. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 4, characterized in that: Notches are provided on the outer sole and the inner sole.

7. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 2, characterized in that: The upper structure and the lower structure both include a trapezoidal support frame, an iron core vertically arranged on the trapezoidal support frame, and a coil wound on the iron core; the trapezoidal support frame of the upper structure is installed at the bottom of the platform; the two ends of the trapezoidal support frame of the lower structure are respectively installed on the lower horizontal part.

8. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 7 is characterized in that: The two ends of the vertical energy storage spring are respectively connected to the trapezoidal support frames of the upper structure and the lower structure.

9. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 2, characterized in that: The driving end of the servo motor is connected to the trapezoidal support frame of the lower structure, and a mounting seat is provided at the bottom; a support spring is provided between the mounting seat and the reversing leg.

10. The piezoelectric and electromagnetic composite driven micro jumping robot structure according to claim 9, characterized in that: The reversing leg is hemispherical, with its plane facing upward and connected to the supporting spring.

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