CN103465250A - Micro-robot and micro mobile mechanism - Google Patents
Micro-robot and micro mobile mechanism Download PDFInfo
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- CN103465250A CN103465250A CN2013104121782A CN201310412178A CN103465250A CN 103465250 A CN103465250 A CN 103465250A CN 2013104121782 A CN2013104121782 A CN 2013104121782A CN 201310412178 A CN201310412178 A CN 201310412178A CN 103465250 A CN103465250 A CN 103465250A
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Abstract
The invention discloses a micro-robot and a micro mobile mechanism. Specifically, the micro-robot structurally comprises a soft resonance body, piezoelectric ceramics arranged on one side of the soft resonance body, and a plurality of micro-feet which are arranged on the other side of the soft resonance body, correspond to the piezoelectric ceramics and are distributed in arrays. The micro-robot is simple in structure, small in size, low in energy consumption, high in energy use ratio and electromagnetic interference free and wide in excitation frequency adjustable range.
Description
Technical field
The present invention relates to the Robotics field, particularly relate to a kind of microrobot, reach the mini mobile mechanism based on this microrobot.
Background technology
The advantages such as micro robot is little with its volume, maneuverability and the saving energy, have broad application prospects in fields such as industrial detection, MEMS assembling, micro-operation, bioengineering and optical engineering, and become gradually the hot fields of robot research.
Existing micro robot generally includes and drives foot and for driving sufficient motion that the motor of power is provided.But the defect of this micro robot is, its energy consumption is high, easily heating, and the adjustable frequency scope is little, has the problems such as electromagnetic interference.Simultaneously, above-mentioned micro robot it drive foot mostly to adopt the flexible foot of metal species and burr, like this contact face easily caused to certain damage.
Therefore, be necessary to provide a kind of microrobot that overcomes the problems referred to above.
Summary of the invention
In view of this, the invention provides a kind of microrobot, reach mini mobile mechanism.
One of to achieve these goals, technical scheme provided by the invention is as follows:
A kind of microrobot, it comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that is enough to are arranged, described piezoelectric ceramics can drive described flexible resonant body and produce resonance, under condition of resonance, produce standing wave on described flexible resonant body, and make to be positioned at described some micro-sufficient vibration-generating of one side, produce the active force that drives described microrobot motion.
As a further improvement on the present invention, in described micro-sufficient array, micro-sufficient material is non-metallic material.
As a further improvement on the present invention, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
As a further improvement on the present invention, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
For realizing above-mentioned another goal of the invention, technical scheme provided by the invention is as follows:
A kind of mini mobile mechanism, it comprises some microrobots, described microrobot comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that is enough to are arranged, and the flexible resonant body of described some microrobots is connected to an integral body.
As a further improvement on the present invention, described flexible resonant body is one " returning " font, and the equal symmetry of the piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
As a further improvement on the present invention, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
As a further improvement on the present invention, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
As a further improvement on the present invention, described mini mobile mechanism also comprises power supply and controls drive circuit, and described power supply is described piezoelectric ceramics power supply.
As a further improvement on the present invention, in described micro-sufficient array, micro-sufficient material is non-metallic material.
Compared with prior art, the invention has the beneficial effects as follows: microrobot of the present invention is simple in structure, volume is little, energy consumption is low, capacity usage ratio is high, and it is large without electromagnetic interference, driving frequency adjustable extent.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, the accompanying drawing the following describes is only some embodiment that put down in writing in the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The floor map of the specific embodiment that Fig. 1 is microrobot of the present invention;
The piezoelectric ceramics that Fig. 2 is microrobot of the present invention has the motion state schematic diagram in the first driving frequency situation.Wherein in order clearly to show the motion conditions of microrobot, also show the state of microrobot when static in figure.Particularly, the A view is the state of microrobot when static, and the B view is the motion state of microrobot under the first driving frequency effect.And in figure, the direction of arrow has represented the direction of motion of microrobot;
The piezoelectric ceramics that Fig. 3 is microrobot of the present invention has the motion state schematic diagram in the second driving frequency situation, wherein in order clearly to show the motion conditions of microrobot, also shows the state of microrobot when static in figure.Particularly, the A view is the state of microrobot when static, and the C view is the motion state of microrobot under the second driving frequency effect.And in figure, the direction of arrow has represented the direction of motion of microrobot;
The schematic perspective view of the specific embodiment that Fig. 4 is mini mobile of the present invention mechanism.
In figure, the corresponding relation of correlation module and its label is as follows:
Flexible resonant body-10; Piezoelectric ceramics-20; Micro-foot-30; The flexible resonant body-201 connected as one.
The specific embodiment
The technical scheme of the microrobot that the embodiment of the present invention provides is as follows:
A kind of microrobot, it comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that are enough to are arranged.
Preferably, in described micro-sufficient array, micro-sufficient material is non-metallic material.
Preferably, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
Preferably, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
The technical scheme of the mini mobile mechanism that the embodiment of the present invention provides is as follows:
A kind of mini mobile mechanism, it comprises some microrobots, described microrobot comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that is enough to are arranged, and the flexible resonant body of described some microrobots is connected to an integral body.
Preferably, described flexible resonant body is one " returning " font, and the equal symmetry of the piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
Preferably, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
Preferably, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
Preferably, described mini mobile mechanism also comprises power supply and controls drive circuit, and described power supply is described piezoelectric ceramics power supply.
Preferably, in described micro-sufficient array, micro-sufficient material is non-metallic material.
In order to make those skilled in the art person understand better the technical scheme in the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment obtained, should belong to the scope of protection of the invention.
As shown in Figure 1, the position some micro-foot 30 corresponding with piezoelectric ceramics 20 that microrobot 100 of the present invention comprises flexible resonant body 10, is arranged at the piezoelectric ceramics 20 of above-mentioned flexible resonant body 10 1 sides and is arranged at above-mentioned flexible resonant body 10 opposite sides.Piezoelectric ceramics in the present invention separates setting with micro-foot, thereby the structure of microrobot is easy to miniaturization.
As a kind of embodiment, above-mentioned some micro-foots 30 are divided into two groups, have a determining deviation between two groups of micro-foots, and are relatively arranged on flexible resonant body 10.Correspondingly, every group of micro-foot is corresponding with a piezoelectric ceramics 20.In present embodiment, when the flexible resonant body 10 that drives the one side as driving source when above-mentioned piezoelectric ceramics 20 carries out resonance, flexible resonant body 10, under the drive of excitation, produces standing wave thereon.Standing wave further drives two groups of micro-foots that are arranged at flexible resonant body 10 opposite sides and knocks contact-making surface, thereby microrobot 100 moves.When above-mentioned micro-foot knocks contact-making surface, there is an angle between micro-foot and contact-making surface.According to the difference of the microrobot direction of motion, above-mentioned angle has different angle values.Simultaneously, the difference of the occasion of microrobot application, contact-making surface can be the tissue surface in human body etc.
Preferably, above-mentioned micro-foot 30 is arranged with regular array format, so is conducive to the motion of micro-foot 30.Simultaneously, the material of micro-foot 30 is non-metallic material, such as photosensitive resin, ABS plastic etc.So, when micro-foot contacts with contact-making surface, can not scratch contact-making surface.
Above-mentioned piezoelectric ceramics 20 can be specifically double piezoelectric plates structure, and above-mentioned bimorph specifically comprises piezoelectric and the metal material between above-mentioned two piezoelectrics of two sheet.Above-mentioned metal material, both as electrode, has increased again the intensity of bimorph simultaneously.When above-mentioned bimorph is arranged in electric field, wherein a slice piezoelectric elongation, another sheet piezoelectric shortens, thereby produces crooked.
As a kind of alternate embodiments, piezoelectric ceramics 20 can also be earthenware, and this earthenware is tubular structure axisymmetricly, and it is divided into three parts or four parts, and after the electric field that applies an external world, every part can correspondingly produce the bending in space.
Below in conjunction with specific embodiment, the motion process of microrobot of the present invention is set forth.
As shown in Figure 2, above-mentioned piezoelectric ceramics 20 has the first driving frequency, when piezoelectric ceramics 20 drives flexible resonant body 10 resonance with above-mentioned the first driving frequency, produce standing wave on flexible resonant body 10, under the effect of standing wave, micro-foot 30 knocks contact-making surface, and and contact-making surface between tool the first angle α.Now, after micro-foot 30 is positioned at the corresponding crest location of standing wave of generation, thereby micro-foot knocks ground to oblique rear, and corresponding promotion robot travels forward.It should be noted that, above-mentioned in the present embodiment " tiltedly rear ", " forward " etc. take scheme in the direction of motion shown in arrow be normative reference, in definition figure, the direction of motion shown in arrow is the place ahead, correspondingly, the opposite direction of arrow is rear.
As shown in Figure 3, change the driving frequency of piezoelectric ceramics 20, above-mentioned piezoelectric ceramics 20 has the second driving frequency, when piezoelectric ceramics 20 drives flexible resonant body 10 resonance with above-mentioned the second driving frequency, produce standing wave on flexible resonant body 10, under the effect of standing wave, micro-foot 30 knocks contact-making surface, and and contact-making surface between tool the second angle β.Now, before micro-foot 30 is positioned at the corresponding crest location of standing wave of generation, thereby micro-foot knocks ground to oblique the place ahead, and corresponding promotion robot moves backward.In the present embodiment, in definition figure, the direction of motion shown in arrow is rear, and correspondingly, the opposite direction of arrow is the place ahead.
As shown in Figure 4, the present invention also provides a kind of mini mobile mechanism 200, and this mini mobile mechanism 200 comprises above-mentioned some microrobots 100.As a kind of embodiment, the flexible resonant body 10 of above-mentioned some microrobots 100 is connected to an integral body 201, and be connected to holistic flexible resonant body 201 and be one " returning " font, in present embodiment, the piezoelectric ceramics 20 of some microrobots 100 is symmetrically distributed in the both sides of above-mentioned flexible resonant body 201, correspondingly, the micro-foot 30 corresponding with piezoelectric ceramics 20 positions is positioned at the opposite side of flexible resonant body 201.
As mentioned above, by flexible resonant body being applied to the excitation of different frequencies, can realize advancing or retreating of microrobot.Therefore, in an embodiment of mini mobile of the present invention mechanism 200, when the piezoelectric ceramics 20 of microrobot 100 drives flexible resonant body 201 resonance with the first driving frequency, micro-foot 30 has the first angle with contact-making surface, now can realize advancing of mini mobile mechanism 200; When the piezoelectric ceramics 20 of microrobot 100 drives flexible resonant body 201 resonance with the second driving frequency, micro-foot 30 has the second angle with contact-making surface, now can realize retreating of mini mobile mechanism 200.Its movement mechanism is above being set forth, herein repeated description no longer.
Because above-mentioned microrobot 100 is symmetrically distributed in the both sides of above-mentioned flexible resonant body 201, thereby the microrobot motion of working as a side, when the microrobot of opposite side is static, can realize turning to of mini mobile mechanism 200.In order to realize turning function, mini mobile mechanism also comprises power supply (not shown) and controls drive circuit (not shown), wherein, power supply is that piezoelectric ceramics 20 is powered, control drive circuit for controlling the motion state of microrobot, its optionally control section microrobot motion, and remaining microrobot maintenance is static.In other embodiments, above-mentioned some microrobots can have different arrangement modes, and are not limited to be symmetrically distributed in the both sides of flexible resonant body.Control the mode arranged evenly that drive circuit coordinates different microrobots, can realize the motion mode that mini mobile mechanism is different.
Preferably, the micro-foot in mini mobile of the present invention mechanism 200 30 adopts non-metallic materials, such as photosensitive resin, ABS plastic etc.
In sum, microrobot of the present invention is simple in structure, volume is little, energy consumption is low, capacity usage ratio is high, and it is large without electromagnetic interference, driving frequency adjustable extent.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and in the situation that do not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims rather than above-mentioned explanation, therefore is intended to include in the present invention dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limit related claim.
In addition, be to be understood that, although this specification is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should make specification as a whole, and the technical scheme in each embodiment also can, through suitably closing, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (10)
1. a microrobot, it is characterized in that, described microrobot comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that is enough to are arranged
Described piezoelectric ceramics can drive described flexible resonant body and produce resonance, under condition of resonance, on described flexible resonant body, produces standing wave, and makes to be positioned at described some micro-sufficient vibration-generating of one side, produces the active force that drives described microrobot motion.
2. microrobot according to claim 1, is characterized in that, in described micro-sufficient array, micro-sufficient material is non-metallic material.
3. microrobot according to claim 1, is characterized in that, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
4. microrobot according to claim 1, is characterized in that, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
5. a mini mobile mechanism, it is characterized in that, described mini mobile mechanism comprises some microrobots, described microrobot comprises: flexible resonant body, the position some micro-foot corresponding with described piezoelectric ceramics that is arranged at the piezoelectric ceramics of described flexible resonant body one side and is arranged at described flexible resonant body opposite side, described some micro-array formats that is enough to are arranged, and the flexible resonant body of described some microrobots is connected to an integral body.
6. mini mobile according to claim 5 mechanism, is characterized in that, described flexible resonant body is one " returning " font, and the equal symmetry of the piezoelectric ceramics of described some microrobots is distributed in the both sides of described flexible resonant body.
7. mini mobile according to claim 5 mechanism, is characterized in that, described piezoelectric ceramics has the first driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the first driving frequency, between described micro-foot and contact-making surface, has the first angle.
8. mini mobile according to claim 5 mechanism, is characterized in that, described piezoelectric ceramics has the second driving frequency, when described piezoelectric ceramics drives flexible resonant body resonance with described the second driving frequency, between described micro-foot and contact-making surface, has the second angle.
9. mini mobile according to claim 5 mechanism, is characterized in that, described mini mobile mechanism also comprises power supply and control drive circuit, and described power supply is described piezoelectric ceramics power supply.
10. mini mobile according to claim 5 mechanism, is characterized in that, in described micro-sufficient array, micro-sufficient material is non-metallic material.
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| CN107986230A (en) * | 2017-12-07 | 2018-05-04 | 天津大学 | A kind of graphical bionical micro-nano robot preparation method of magnetism |
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| CN109848957A (en) * | 2019-03-20 | 2019-06-07 | 清华大学深圳研究生院 | A kind of flexible miniature robot |
| CN113602466A (en) * | 2021-04-28 | 2021-11-05 | 电子科技大学 | Waterborne miniature flexible robot and control method |
| CN116442253A (en) * | 2023-02-13 | 2023-07-18 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
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| CN116442253B (en) * | 2023-02-13 | 2024-04-16 | 山东大学 | Cable-free tethered ultrasonic robot working in resonance state and control method |
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Effective date of registration: 20170908 Address after: Suzhou City, Jiangsu province 215123 Xiangcheng District Ji Road No. 8 Patentee after: Soochow University Address before: Zhangjiagang mayor Jingyang Road Suzhou City, Jiangsu province 215600 No. 10 Patentee before: Zhangjiagang Institute of Industrial Technologies Soochow University |