CN111994303B - A sandwich type longitudinal bending composite piezoelectric driven crawler device and its use method - Google Patents
A sandwich type longitudinal bending composite piezoelectric driven crawler device and its use method Download PDFInfo
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- CN111994303B CN111994303B CN202010981202.4A CN202010981202A CN111994303B CN 111994303 B CN111994303 B CN 111994303B CN 202010981202 A CN202010981202 A CN 202010981202A CN 111994303 B CN111994303 B CN 111994303B
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- 239000000919 ceramic Substances 0.000 claims abstract description 92
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- 239000002184 metal Substances 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 13
- 150000001875 compounds Chemical class 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 10
- 230000010287 polarization Effects 0.000 claims description 6
- 239000003822 epoxy resin Substances 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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Abstract
本发明公开了一种夹心式纵弯复合型压电驱动履带装置及其使用方法，包括纵弯复合型压电驱动器、驱动器固定底座和一套履带，所述压电驱动器包含弯振压电陶瓷组、纵振压电陶瓷组、驱动圆环、变幅杆、双头螺柱和后端盖，所述压电驱动器呈旋转对称布设，所述驱动器固定底座能够调整压电驱动器沿轴向的位置，进而调整履带的张紧程度。该使用方法包括以下步骤：一、纵弯复合型压电驱动器的装配与调节；步骤二、压电驱动器施加两相相位差为90°的正弦激励电压在圆环上形成行波并通过摩擦耦合作用驱动履带装置运动。本发明把传统履带行驶机构的优点和压电驱动器具有的结构紧凑、直接驱动的特点相结合，具有结构简单紧凑、速度快、能量密度大等优点。
The present invention discloses a sandwich-type longitudinal-bending composite piezoelectric driven crawler device and a method for using the same, including a longitudinal-bending composite piezoelectric driver, a driver fixing base and a set of crawlers, wherein the piezoelectric driver includes a bending vibration piezoelectric ceramic group, a longitudinal vibration piezoelectric ceramic group, a driving ring, an amplitude rod, a double-headed stud and a rear end cover, and the piezoelectric driver is arranged in rotational symmetry, and the driver fixing base can adjust the position of the piezoelectric driver along the axial direction, thereby adjusting the tension of the crawler. The method for using the device includes the following steps: 1. Assembling and adjusting the longitudinal-bending composite piezoelectric driver; 2. The piezoelectric driver applies a sinusoidal excitation voltage with a two-phase phase difference of 90° to form a traveling wave on the ring and drives the crawler device to move through friction coupling. The present invention combines the advantages of a traditional crawler travel mechanism with the characteristics of a compact structure and direct drive of a piezoelectric driver, and has the advantages of a simple and compact structure, a high speed, and a high energy density.
Description
Technical Field
The invention belongs to the technical field of piezoelectric ultrasonic drivers, and particularly relates to a sandwich type longitudinal bending composite piezoelectric driving crawler device and a use method thereof.
Background
The first Mars detection task of China, namely "Tian Huo Yi" detector in 2020, successfully goes up in the Wenchang space launching field in China, and formally starts the autonomous detection of Mars travel by Chinese. The requirements for special robots in the aspects of star detection, disaster relief exploration, military explosion prevention reconnaissance and the like are increasing. In order to meet the operation requirements of unstructured terrain environments, various foot-type, wheel-type, crawler-type and composite-structure mobile robots are developed and developed at home and abroad in recent years.
The crawler robot can be well adapted to complex terrains, has excellent obstacle crossing performance and adaptability, has large crawler support area and small ground specific pressure, and is suitable for operation on soft terrains or muddy places.
The crawler robot can be well adapted to complex terrains, has excellent obstacle crossing performance and adaptability, has large crawler support area and small ground specific pressure, and is suitable for operation on soft terrains or muddy places. However, the driving running systems such as chain wheels, idle wheels, bogie wheels, transmission systems and lubrication systems of the traditional crawler cause the defects of heavy weight, complex structure, low mechanical integration level, low driving efficiency and the like of the crawler. The piezoelectric driver does not need a speed reducing system, a complicated transmission system is avoided, and in addition, the piezoelectric driver does not need a lubricating system, so that the crawler device driven by the piezoelectric driver has potential application prospects in special fields such as planet exploration and the like.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides a sandwich type longitudinal-bending composite piezoelectric driving crawler device and a using method thereof, which combine the advantages of a traditional crawler running mechanism with the characteristics of compact structure, direct driving of a piezoelectric driver, and have the advantages of simple and compact structure, flexible and changeable design, high speed, high energy density and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
The sandwich type longitudinal bending composite piezoelectric driving crawler device comprises a driver mounting base, a metal crawler and three identical longitudinal bending composite piezoelectric drivers, wherein the driver mounting base is arranged on the inner side of the metal crawler, and the three longitudinal bending composite piezoelectric drivers are symmetrically arranged on the periphery of the driver mounting base in a rotating manner and are in contact with the inner side of the metal crawler;
one end of each longitudinal bending composite piezoelectric driver is provided with a rear end cover on the driver installation base, the other end of each longitudinal bending composite piezoelectric driver is a piezoelectric driver ring contacted with the inner side of the metal track, and the relative position of the metal track and the piezoelectric driver ring can be adjusted through the relative position of the rear end cover and the installation base, so that the tension force of the metal track is changed.
The invention is further improved in that the drive mounting base comprises a fixed base and three movable bases which are arranged in a rotationally symmetrical manner along the circumferential direction of the fixed base.
The invention is further improved in that the fixed base is provided with a T-shaped groove for the rear end cover to move towards or away from the metal-transferring crawler belt, and the movable base can be arranged in the corresponding T-shaped groove.
The invention is further improved in that each longitudinal bending composite piezoelectric driver comprises a rear end cover, a piezoelectric driver circular ring, a longitudinal vibration piezoelectric ceramic group, a bending vibration piezoelectric ceramic group, a double-end stud and an amplitude transformer integrated with the piezoelectric driver circular ring, wherein the longitudinal vibration piezoelectric ceramic group and the bending vibration piezoelectric ceramic group are clamped between the amplitude transformer and the rear end cover, each longitudinal vibration ceramic of the longitudinal vibration piezoelectric ceramic group is a whole ceramic, the polarization directions of two adjacent piezoelectric ceramics are opposite, each longitudinal vibration ceramic of the bending vibration piezoelectric ceramic group is a whole ceramic, and the polarization directions of the two adjacent piezoelectric ceramics are opposite.
The invention is further improved in that each piece of ceramic of the longitudinal vibration piezoelectric ceramic group and the bending vibration piezoelectric ceramic group is annular ceramic, and the ceramic penetrates through the double-end stud and is clamped between the rear end cover and the amplitude transformer through screw thread pre-tightening.
The application method of the sandwich type longitudinal bending composite piezoelectric driving crawler device is based on the sandwich type longitudinal bending composite piezoelectric driving crawler device and comprises the following steps of:
Step one, assembling and adjusting a sandwich type longitudinal bending composite piezoelectric driver:
Step 101, clamping a longitudinal vibration piezoelectric ceramic group between an amplitude transformer and a stud through threaded connection, clamping a bending vibration piezoelectric ceramic group between the stud and a rear end cover through threaded connection, and bonding each ceramic of the longitudinal vibration piezoelectric ceramic group and the bending vibration piezoelectric ceramic group through epoxy resin glue respectively;
102, installing a movable base on a fixed base of an installation base, and installing a sandwich type longitudinal bending composite piezoelectric driver on the movable base;
Step 103, adjusting the position between the sandwich type longitudinal bending composite piezoelectric driver and the driver mounting base to adjust the pretightening force between the contact surfaces of the rings of the piezoelectric driver and the metal crawler, wherein the three sandwich type longitudinal bending composite piezoelectric drivers are arranged in a rotationally symmetrical manner, and the rings of the piezoelectric driver are tangent to and contacted with the metal crawler;
Step two, a sandwich type longitudinal bending compound piezoelectric driving crawler device applies two-phase sinusoidal excitation voltage and crawler motion:
Step 201, applying sine excitation voltage to a longitudinal vibration piezoelectric ceramic group of a sandwich type longitudinal bending composite piezoelectric driver, enabling the longitudinal vibration piezoelectric ceramic group to stretch along the axial direction of the sandwich type longitudinal bending composite piezoelectric driver, exciting the sandwich type longitudinal bending composite piezoelectric driver to generate longitudinal vibration, and exciting a circular ring to generate an in-plane bending vibration mode, wherein the contact position of an amplitude transformer and the circular ring is the node position of the circular ring bending vibration mode;
step 202, applying another sinusoidal excitation voltage with 90 DEG phase difference to a bending piezoelectric ceramic group of a sandwich type longitudinal bending composite piezoelectric driver, alternately stretching the bending piezoelectric ceramic group, and exciting the sandwich type longitudinal bending composite piezoelectric driver to generate bending vibration so as to excite a circular ring to generate an in-plane bending vibration mode, wherein the contact position of an amplitude transformer and the circular ring is the wave crest or wave trough position of the circular ring bending vibration mode;
In step 203, the phase difference of the two phase in-plane bending vibration modes of the circular ring in time and space is 90 degrees, so that in-plane bending traveling waves are formed after superposition, the mass points on the surface of the circular ring are elliptical motion tracks, and the circular ring and the metal crawler belt are in friction contact to drive the crawler belt to move.
The invention is further improved in that the sine excitation voltage V (t) =V pp sin (2pi ft), and the sine excitation voltage V (t) =V pp sin (2pi ft+pi/2) of the other phase;
Wherein, V pp represents the peak value of the voltage, f represents the frequency, t represents the time, f has the value range of more than 20kHz, omega pp has the value range of more than or equal to 10 and less than or equal to omega pp and less than or equal to 300, and the motion direction of the metal track can be changed by changing the phase difference of the two-phase sine excitation voltage to minus pi/2.
The invention has at least the following beneficial technical effects:
The sandwich type longitudinal-bending composite piezoelectric driving crawler device provided by the invention has the advantages that a piezoelectric driver does not need a speed reduction system, a complicated transmission system is avoided, and in addition, the piezoelectric driver does not need a lubrication system, so that the crawler device driven by the piezoelectric driver has potential application prospects in special fields such as planet exploration and the like. The longitudinal vibration ceramic group and the bending vibration ceramic group are all made of integral ceramic, the bending vibration ceramic plate is divided into a left area and a right area, the middle separation area is unpolarized, the assembly complexity of half ceramic plates is avoided, and the structure of the piezoelectric driver is simplified. The longitudinal bending composite piezoelectric driver can adjust the relative position of the metal crawler belt and the piezoelectric driver ring through the relative position of the rear end cover and the mounting base, so that the tensioning force of the metal crawler belt can be changed conveniently.
According to the application method of the sandwich type longitudinal bending composite piezoelectric driving crawler device, resonance frequencies of two-phase bending vibration modes of the circular ring are consistent, phase differences in time and space are 90 degrees, in-plane bending traveling waves are formed after superposition, surface particles of the circular ring are elliptical motion tracks, and further the crawler motion is driven through friction contact between the circular ring and the metal crawler, driving is simple, and principles are easy to understand. The phase difference of the two-phase sine excitation voltage is changed from pi/2 to pi/2, and the traveling wave formed on the circular ring runs reversely, so that the movement direction of the metal crawler belt can be conveniently changed.
In conclusion, the invention avoids the structures of a gear transmission system, a lubrication system, a chain wheel, an idler wheel, a loading wheel and the like used in the traditional crawler traveling system, and the piezoelectric driving crawler device has the advantages of simple and compact structure, high traveling speed, flexible design, high energy density, strong environment adaptability, high driving efficiency and the like based on the unique advantages of sandwich type longitudinal-bending composite piezoelectric driving.
Drawings
Fig. 1 is a schematic structural view of a sandwich-type buckling compound piezoelectric driving crawler device of the present invention.
Fig. 2 is a schematic structural diagram of a sandwich-type buckling compound piezoelectric actuator according to the present invention.
Fig. 3 is a schematic structural view of the fixing base of the present invention.
Fig. 4 is a schematic view of the structure of the crawler belt of the present invention.
Fig. 5 is a schematic diagram of a longitudinal vibration and bending vibration ceramic set of the sandwich type longitudinal bending composite piezoelectric actuator according to the present invention, wherein fig. 5 (a) is a longitudinal vibration piezoelectric ceramic set, and fig. 5 (b) is a bending vibration piezoelectric ceramic set.
Fig. 6 is a schematic diagram of a method of using the sandwich-type buckling compound piezoelectric driven crawler device of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
The sandwich type longitudinal bending composite piezoelectric driving crawler device comprises a driver mounting base 2, a metal crawler 3 and three identical longitudinal bending composite piezoelectric drivers 1, wherein the driver mounting base 2 is arranged on the inner side of the metal crawler 3, the three longitudinal bending composite piezoelectric drivers are symmetrically arranged on the periphery of the driver mounting base 2 and are in contact with the inner side of the metal crawler 3, one end of each longitudinal bending composite piezoelectric driver 1 is arranged on a rear end cover 1-1 on the driver mounting base 2, the other end of each longitudinal bending composite piezoelectric driver is a piezoelectric driver circular ring 1-2 in contact with the inner side of the metal crawler 3, and the longitudinal bending composite piezoelectric drivers 1 can adjust the relative positions of the metal crawler 3 and the piezoelectric driver circular rings 1-2 through the relative positions of the rear end cover 1-1 and the mounting base 2, so that the tension of the metal crawler 3 is changed.
As shown in fig. 3, the drive mounting base 2 includes a fixed base 2-1, and three movable bases 2-2 arranged in rotational symmetry along the circumferential direction of the fixed base 2-1. The fixed base 2-1 is provided with a T-shaped groove 2-1-1 for the rear end cover 1-1 to move towards or away from the metal-transferring crawler belt 3, and the movable base 2-2 can be arranged in the corresponding T-shaped groove 2-1-1.
As shown in FIG. 2, each longitudinal bending composite piezoelectric actuator 1 comprises a rear end cover 1-1, a piezoelectric actuator circular ring 1-2, a longitudinal vibration piezoelectric ceramic group 1-4, a bending vibration piezoelectric ceramic group 1-5, a double-ended stud 1-6 and an amplitude transformer 1-3 integrated with the piezoelectric actuator circular ring 1-2, wherein the longitudinal vibration piezoelectric ceramic group 1-4 and the bending vibration piezoelectric ceramic group 1-5 are clamped between the amplitude transformer 1-3 and the rear end cover 1-1, each longitudinal vibration ceramic of the longitudinal vibration piezoelectric ceramic group 1-4 is a whole ceramic, the polarization directions of two adjacent piezoelectric ceramics 1-4 are opposite, each longitudinal vibration ceramic of the bending vibration piezoelectric ceramic group 1-5 is a whole ceramic, and the polarization directions of the two adjacent piezoelectric ceramics 1-5 are opposite. Each piece of ceramic of the longitudinal vibration piezoelectric ceramic group 1-4 and the bending vibration piezoelectric ceramic group 1-5 is annular ceramic, and the ceramic penetrates through the double-end stud 1-6 and is clamped between the rear end cover 1-1 and the amplitude transformer 1-3 through screw thread pre-tightening.
The invention provides a using method of a sandwich type longitudinal bending composite piezoelectric driving crawler device, which comprises the following steps:
Step one, assembling and adjusting a sandwich type longitudinal bending composite piezoelectric driver:
Step 101, clamping a longitudinal vibration piezoelectric ceramic group 1-4 between an amplitude transformer 1-3 and a stud 1-6 through threaded connection, clamping a bending vibration piezoelectric ceramic group 1-5 between the stud 1-6 and a rear end cover 1-1 through threaded connection, and bonding each ceramic of the longitudinal vibration piezoelectric ceramic group 1-4 and the bending vibration piezoelectric ceramic group 1-5 through epoxy resin glue respectively;
102, installing a movable base 2-2 on a fixed base 2-1 of an installation base 2, and installing a sandwich type longitudinal bending composite piezoelectric driver on the movable base 2-2;
step 103, adjusting the position between the sandwich type longitudinal bending composite piezoelectric driver and the driver mounting base 2 to adjust the pretightening force between the contact surfaces of the piezoelectric driver circular rings 1-2 and the metal crawler belt 3, wherein the three sandwich type longitudinal bending composite piezoelectric drivers 1 are arranged in a rotationally symmetrical manner, and the piezoelectric driver circular rings 1-2 are tangent to and contact with the metal crawler belt 3;
Step two, a sandwich type longitudinal bending compound piezoelectric driving crawler device applies two-phase sinusoidal excitation voltage and crawler motion:
Step 201, applying sine excitation voltage to a longitudinal vibration piezoelectric ceramic group 1-4 of a sandwich type longitudinal bending composite piezoelectric driver 1, enabling the longitudinal vibration piezoelectric ceramic group 1-4 to stretch along the axial direction of the sandwich type longitudinal bending composite piezoelectric driver 1, exciting the sandwich type longitudinal bending composite piezoelectric driver 1 to generate longitudinal vibration, and exciting a circular ring to generate an in-plane bending vibration mode, wherein the contact position of an amplitude transformer and the circular ring is the node position of the circular ring bending vibration mode;
Step 202, applying another sinusoidal excitation voltage with 90 DEG phase difference to the bending piezoelectric ceramic groups 1-5 of the sandwich type longitudinal bending composite piezoelectric driver 1, alternately stretching the bending piezoelectric ceramic groups 1-5, and exciting the sandwich type longitudinal bending composite piezoelectric driver 1 to generate bending vibration so as to excite the ring to generate an in-plane bending vibration mode, wherein the contact position of the amplitude transformer and the ring is the wave crest or wave trough position of the ring bending vibration mode;
In step 203, the phase difference of the two phase in-plane bending vibration modes of the circular ring in time and space is 90 degrees, so that in-plane bending traveling waves are formed after superposition, the mass points on the surface of the circular ring are elliptical motion tracks, and the circular ring and the metal crawler belt are in friction contact to drive the crawler belt to move.
The sine excitation voltage V (t) =V pp sin (2 pi ft), the sine excitation voltage V (t) =V pp sin (2 pi ft+pi/2), wherein V pp represents the peak-to-peak value of the voltage, f represents the frequency, t represents the time, the value range of f is larger than 20kHz, the value range of omega pp is 10-omega pp -300, and the motion direction of the metal track can be changed by changing the phase difference of the two-phase sine excitation voltages to-pi/2.
Examples
As shown in fig. 6, taking n=5, the first electrical signal is a cosine signal, and the second electrical signal is a sine signal as an example.
The modification supplement is as follows:
As shown in fig. 6, taking n=5, the first electrical signal is a sine signal, and the second electrical signal is a cosine signal as an example.
Applying sine excitation voltage to a longitudinal vibration piezoelectric ceramic group of the sandwich type longitudinal bending composite piezoelectric driver, enabling the longitudinal vibration piezoelectric ceramic group to stretch along the axial direction of the sandwich type longitudinal bending composite piezoelectric driver, exciting the piezoelectric driver to generate longitudinal vibration, and exciting the circular ring to generate an in-plane 5-order bending vibration mode, wherein the contact position of the amplitude transformer and the circular ring is positioned at the node position of the 5-order bending vibration mode of the circular ring;
The method comprises the steps of applying another cosine excitation voltage with 90-degree phase difference to a bending piezoelectric ceramic group of a sandwich type longitudinal bending composite piezoelectric driver, alternately stretching the bending piezoelectric ceramic group, exciting the sandwich type longitudinal bending composite piezoelectric driver to generate bending vibration, and exciting a ring to generate an in-plane 5-order bending vibration mode, wherein the contact position of an amplitude transformer and the ring is the wave crest or wave trough position of the 5-order bending vibration mode of the ring.
The phase difference of the 5-order bending vibration modes in the two phase surfaces of the circular ring is 90 degrees in time and space, so that in-plane bending traveling waves are formed after superposition, the mass points on the surfaces of the circular ring are elliptical motion tracks, and the circular ring and the metal crawler belt are in friction contact to drive the crawler belt to move.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (3)
1. A sandwich type longitudinal bending composite piezoelectric driving crawler device is characterized by comprising a driver mounting base (2), a metal crawler belt (3) and three identical longitudinal bending composite piezoelectric drivers (1), wherein,
The driver installation base (2) is arranged at the inner side of the metal crawler belt (3), and three longitudinal bending composite piezoelectric drivers are arranged in the circumferential direction of the driver installation base (2) in a rotationally symmetrical manner and are contacted with the inner side of the metal crawler belt (3);
One end of each buckling compound piezoelectric driver (1) is provided with a rear end cover (1-1) arranged on the driver installation base (2), the other end is provided with a piezoelectric driver circular ring (1-2) contacted with the inner side of the metal crawler belt (3), and the buckling compound piezoelectric driver (1) can adjust the relative position of the metal crawler belt (3) and the piezoelectric driver circular ring (1-2) through the relative position of the rear end cover (1-1) and the installation base (2), so as to change the tension force of the metal crawler belt (3);
The driver installation base (2) comprises a fixed base (2-1) and three movable bases (2-2) which are symmetrically arranged along the circumferential direction of the fixed base (2-1) in a rotating way;
The fixed base (2-1) is provided with a T-shaped groove (2-1-1) for the rear end cover (1-1) to move towards or away from the metal rotating crawler belt (3), and the movable base (2-2) can be arranged in the corresponding T-shaped groove (2-1-1);
each longitudinal and bending composite piezoelectric driver (1) comprises a rear end cover (1-1), a piezoelectric driver circular ring (1-2), a longitudinal vibration piezoelectric ceramic group (1-4), a bending vibration piezoelectric ceramic group (1-5), a double-end stud (1-6) and an amplitude transformer (1-3) integrated with the piezoelectric driver circular ring (1-2), wherein the longitudinal vibration piezoelectric ceramic group (1-4) and the bending vibration piezoelectric ceramic group (1-5) are clamped between the amplitude transformer (1-3) and the rear end cover (1-1), each longitudinal vibration ceramic of the longitudinal vibration piezoelectric ceramic group (1-4) is a whole ceramic, the polarization directions of two adjacent longitudinal vibration piezoelectric ceramics are opposite, each longitudinal vibration ceramic of the bending vibration piezoelectric ceramic group (1-5) is a whole ceramic, and the polarization directions of the two adjacent bending vibration piezoelectric ceramics are opposite;
Each piece of ceramic of the longitudinal vibration piezoelectric ceramic group (1-4) and the bending vibration piezoelectric ceramic group (1-5) is circular ceramic, and the ceramic penetrates through the double-end stud (1-6) and is clamped between the rear end cover (1-1) and the amplitude transformer (1-3) through screw thread pre-tightening.
2. A method of using a sandwich buckling compound piezoelectric driven crawler device, characterized in that the method is based on the sandwich buckling compound piezoelectric driven crawler device of claim 1, comprising the steps of:
Step one, assembling and adjusting a sandwich type longitudinal bending composite piezoelectric driver:
Step 101, clamping a longitudinal vibration piezoelectric ceramic group (1-4) between an amplitude transformer (1-3) and a stud (1-6) through threaded connection, clamping a bending vibration piezoelectric ceramic group (1-5) between the stud (1-6) and a rear end cover (1-1) through threaded connection, and bonding each ceramic of the longitudinal vibration piezoelectric ceramic group (1-4) and the bending vibration piezoelectric ceramic group (1-5) through epoxy resin glue respectively;
102, installing a movable base (2-2) on a fixed base (2-1) of an installation base (2), and installing a sandwich type longitudinal bending composite piezoelectric driver on the movable base (2-2);
Step 103, adjusting the position between the sandwich type longitudinal bending composite piezoelectric driver and the driver mounting base (2) so as to adjust the pretightening force between the contact surfaces of the piezoelectric driver rings (1-2) and the metal crawler belt (3), wherein the three sandwich type longitudinal bending composite piezoelectric drivers (1) are arranged in a rotationally symmetrical manner, and the piezoelectric driver rings (1-2) are tangent to and contact with the metal crawler belt (3);
Step two, a sandwich type longitudinal bending compound piezoelectric driving crawler device applies two-phase sinusoidal excitation voltage and crawler motion:
step 201, applying sine excitation voltage to a longitudinal vibration piezoelectric ceramic group (1-4) of a sandwich type longitudinal bending composite piezoelectric driver (1), enabling the longitudinal vibration piezoelectric ceramic group (1-4) to stretch along the axial direction of the sandwich type longitudinal bending composite piezoelectric driver (1), exciting the sandwich type longitudinal bending composite piezoelectric driver (1) to generate longitudinal vibration, and exciting a circular ring to generate an in-plane bending vibration mode, wherein the contact position of an amplitude transformer and the circular ring is the node position of the circular ring bending vibration mode;
Step 202, applying another sinusoidal excitation voltage with 90 DEG phase difference to a bending piezoelectric ceramic group (1-5) of a sandwich type longitudinal bending composite piezoelectric driver (1), alternately stretching the bending piezoelectric ceramic group (1-5), and exciting the sandwich type longitudinal bending composite piezoelectric driver (1) to generate bending vibration so as to excite a circular ring to generate an in-plane bending vibration mode, wherein the contact position of an amplitude transformer and the circular ring is the crest or trough position of the circular ring bending vibration mode;
In step 203, the phase difference of the two phase in-plane bending vibration modes of the circular ring in time and space is 90 degrees, so that in-plane bending traveling waves are formed after superposition, the mass points on the surface of the circular ring are elliptical motion tracks, and the circular ring and the metal crawler belt are in friction contact to drive the crawler belt to move.
3. The method of using a sandwich buckling compound piezoelectric driven crawler apparatus according to claim 2, wherein the sinusoidal excitation voltage V (t) =v pp sin (2ρt), another phase sinusoidal excitation voltage V (t) =v pp sin (2ρt+ρ/2);
Wherein, V pp represents the peak value of the voltage, f represents the frequency, t represents the time, f has the value range of more than 20kHz, omega pp has the value range of more than or equal to 10 and less than or equal to omega pp and less than or equal to 300, and the motion direction of the metal track can be changed by changing the phase difference of the two-phase sine excitation voltage to minus pi/2.
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| CN212556854U (en) * | 2020-09-17 | 2021-02-19 | 中煤能源研究院有限责任公司 | Sandwich type longitudinal-bending composite piezoelectric driving crawler device |
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| CN111994303A (en) | 2020-11-27 |
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