CN205430090U - Piezoelectricity vibrating running gear - Google Patents

Abstract

The utility model relates to a piezoelectric vibrating walking mechanism, comprising: a base body and four piezoelectric vibrators of the same size, wherein: the base body is a rectangular thin plate structure, and four mounting grooves of the same size piezoelectric vibrator are arranged on the lower bottom surface The depth direction of the mounting groove of the piezoelectric vibrator forms a certain angle with the lower surface of the substrate but is not perpendicular; the piezoelectric vibrator is composed of an elastic substrate and a piezoelectric sheet material pasted on its upper and lower surfaces; the four piezoelectric vibrator The vibrators are respectively installed in the four piezoelectric vibrator installation grooves. The driver is placed on the working plane, the piezoelectric vibrator applies an AC voltage to undergo reciprocating bending deformation, and the reaction force generated by the working plane drives the mechanism forward. The device is mainly used in the fields of bionic robots, detection and rescue, etc., and has the advantages of simple structure and adjustable movement direction.

Description

A Piezoelectric Vibration Traveling Mechanism

technical field

The invention belongs to the field of piezoelectric drive, and in particular relates to a piezoelectric vibrating traveling mechanism.

Background technique

With the development of science and technology, micro-drive technology occupies an increasingly important position in the fields of ultra-precision machinery and its manufacturing, bionic robots, detection and rescue, and biomedicine. developed. With the development of piezoelectric drive technology, the drive with piezoelectric ceramics as the core functional material stands out in the field of ultra-precision positioning drives. Piezoelectric ceramic drivers have the advantages of high energy density, fast response, high resolution, anti-electromagnetic interference, and low-temperature vacuum environment resistance. However, the existing piezoelectric micro-actuators are complex in structure, difficult in processing, and high in cost. Most of them are rotary or linear motion mechanisms, and their strokes are limited, which seriously limits their application in actual production. In order to meet the needs of work, multi-directional motion output is often required, which determines that multiple single-degree-of-freedom drive units need to be assembled and used, resulting in complex structures and large sizes, and the overall assembly error accumulation is too high. Therefore, it is very important to design a micro-miniature driver with a simple structure and a function of adjusting the direction of motion.

Contents of the invention

In order to solve the problems of complex structure, high cost, poor driving ability and single motion direction of the current general micro piezoelectric actuator, a piezoelectric vibrating traveling mechanism is proposed, which consists of a base body and four piezoelectric actuators of the same size. The piezoelectric vibrator is composed of a vibrator, and the piezoelectric vibrator is energized to undergo reciprocating bending deformation. Since the piezoelectric vibrator is arranged obliquely, the horizontal component of the reaction force in contact with the working surface will make the traveling mechanism form a horizontal driving capacity. When applied to When the driving control signals on the four piezoelectric vibrators are different, the traveling mechanism can realize curved motion. Compared with the existing piezoelectric driver, the present invention has simple structure, low cost and has the function of adjusting the moving direction.

In order to achieve the above object, the present invention adopts the following technical solutions:

A piezoelectric vibrating traveling mechanism of the present invention includes: a base body and four piezoelectric vibrators of the same size, wherein: the base body is a rectangular thin plate structure, and four mounting grooves of the piezoelectric vibrator of the same size are arranged on the lower bottom surface; The depth direction of the piezoelectric vibrator installation groove is at a certain angle but not perpendicular to the lower surface of the base body; the inclination direction and inclination angle of the four piezoelectric vibrator installation grooves are the same; the piezoelectric vibrator is made of an elastic substrate and pasted on top and bottom The piezoelectric sheet material on the surface; the cross-sectional dimension of the piezoelectric vibrator installation groove is the same as the cross-sectional dimension of the elastic substrate; the four piezoelectric vibrators are respectively arranged in the four piezoelectric vibrator installation grooves by bonding Inside.

The four piezoelectric vibrators can apply the same drive signal to make the traveling mechanism move forward in a straight line, and the direction of motion is the direction in which the free ends of the piezoelectric vibrators are inclined; or the piezoelectric vibrators on the left and right sides of the moving direction can apply different The driving signal, that is, applying different voltages and frequencies, enables the traveling mechanism to realize the steering function.

M rows and N columns of piezoelectric vibrator mounting grooves and a corresponding number of piezoelectric vibrators are arranged on the lower surface of the base body, wherein M is greater than or equal to 1, and N is greater than or equal to 1, and the inclination direction and inclination angle of each piezoelectric vibrator mounting groove are the same .

When working, the piezoelectric vibrating traveling mechanism is placed on a working plane, and the free end of the piezoelectric vibrator is in contact with the working plane. Apply an AC voltage to the piezoelectric vibrator to cause reciprocating bending deformation. Since the piezoelectric vibrator is arranged obliquely, the horizontal component of the reaction force in contact with the working surface will make the traveling mechanism form a horizontal driving capability. Its motion direction is the opening direction of the acute angle formed by the piezoelectric vibrator and the substrate; when different control signals (voltage, frequency, etc.) are applied to the piezoelectric vibrator on the left and right sides of the motion direction, the piezoelectric vibrator on the left and right sides When the vibrator is subjected to different horizontal component forces, the walking mechanism can realize curved motion.

Description of drawings

Fig. 1 is a structural schematic diagram of a piezoelectric vibrating traveling mechanism of the present invention.

Fig. 2 is a schematic diagram of components and installation relationship of a piezoelectric vibrating traveling mechanism of the present invention.

detailed description

Referring to Fig. 1 and Fig. 2, a piezoelectric vibrating traveling mechanism of the present invention is composed of a base body 1 and four piezoelectric vibrators 2 of the same size, wherein:

The substrate 1 has a rectangular thin plate structure, and four piezoelectric vibrator installation grooves 11 of the same size are arranged on the lower bottom surface; the depth direction of the piezoelectric vibrator installation grooves 11 forms a certain angle with the lower surface of the substrate 1 but is not perpendicular; The four piezoelectric vibrator installation grooves 11 have the same inclination direction and inclination angle; the piezoelectric vibrator 2 is composed of an elastic substrate 21 and a piezoelectric sheet material 22 pasted on its upper and lower surfaces; the piezoelectric vibrator installation groove 11 has a cross section The size is the same as the cross-sectional size of the elastic substrate 21 ; the four piezoelectric vibrators 2 are respectively installed in the four piezoelectric vibrator installation grooves 11 .

The four piezoelectric vibrators 2 can apply the same driving signal to make the traveling mechanism move forward in a straight line, and the direction of motion is the opening direction of the acute angle formed by the piezoelectric vibrator 2 and the base body 1; or the left and right sides of the motion direction The piezoelectric vibrator 2 applies different driving signals, that is, different voltages and frequencies, so that the traveling mechanism can realize the function of adjusting the direction of motion.

The piezoelectric vibrator mounting grooves 11 on the lower surface of the base body 1 are arranged in two rows and two columns, and four piezoelectric vibrators 2 are arranged therein.

When working, the piezoelectric vibrating traveling mechanism is placed on a working plane, and the free end of the piezoelectric vibrator 2 is in contact with the working plane. Apply an AC voltage to the piezoelectric vibrator 2 to cause it to undergo reciprocating bending deformation. Since the piezoelectric vibrator 2 is arranged obliquely, the horizontal component force of the reaction force in contact with the working surface will cause the traveling mechanism to form a horizontal drive. Ability, that is, to achieve step-by-step forward motion.

Claims (3)

1. a piezoelectric vibration formula walking mechanism, including: the piezoelectric vibrator (2) that matrix (1) is identical with four sizes, it is characterized in that described piezoelectric vibrator (2) and matrix (1) be angled but out of plumb, wherein: described matrix (1) is rectangular thin plate structure, bottom surface is disposed with four identical piezoelectric vibrator mounting grooves (11) of size；Described piezoelectric vibrator mounting groove (11) depth direction and described matrix (1) lower surface be angled but out of plumb；Described four piezoelectric vibrator mounting groove (11) incline directions are identical with angle of inclination；Described piezoelectric vibrator (2) is by elastic base plate (21) and is pasted onto the piezoelectric sheet material (22) of its upper and lower surface and forms；Described piezoelectric vibrator mounting groove (11) cross sectional dimensions is identical with described elastic base plate (21) cross sectional dimensions；Described four piezoelectric vibrators (2) are separately mounted in four piezoelectric vibrator mounting grooves (11).

Piezoelectric vibration formula walking mechanism the most according to claim 1, it is characterized in that: described four piezoelectric vibrators (2) can apply identical driving signal, this walking mechanism is made to realize straight ahead motion, the opening direction that its direction of motion is acutangulated by piezoelectric vibrator (2) and matrix (1)；Or the piezoelectric vibrator (2) of the direction of motion left and right sides applies different driving signals, i.e. apply different voltage and frequency, make this walking mechanism realize the direction of motion and adjust function.

Piezoelectric vibration formula walking mechanism the most according to claim 1, it is characterized in that: the lower surface arrangement of described matrix (1) has M row N row piezoelectric vibrator mounting groove (11) and the piezoelectric vibrator (2) of respective amount, wherein M is more than or equal to 1, N is more than or equal to 1, and each piezoelectric vibrator mounting groove (11) incline direction is identical with angle of inclination.