The invention discloses a patch type traveling wave piezoelectric driving wheel type mobile robot and a working method thereof. The wheel type mobile robot comprises a patch type piezoelectric vibrator and two driving wheel structures. The middle of the patch type piezoelectric vibrator is of a rectangular beam structure, 2S piezoelectric ceramic sets are attached, and the two ends of the piezoelectric vibrator are each provided with an annular structure. A hub of the driving wheel structure is pressed on an inner ring of the annular structure of the piezoelectric vibrator through a pre-tightening mechanism. During work, the piezoelectric vibrator is excited, the annular structures at the two ends of the piezoelectric vibrator excite in-plane bending traveling waves in the same direction,the two wheels are driven to rotate through the friction effect, and therefore movement of the mobile robot is achieved. The direct drive principle is adopted, a transmission gear train is not needed,and the problem that in the prior art, a planet detection robot is poor in trafficability is solved.

    本发明公开了一种贴片式行波型压电驱动轮式移动机器人及其工作方法,轮式移动机器人包含贴片式压电振子和两个驱动轮结构。贴片式压电振子中间为矩形梁结构,贴有2S组压电陶瓷组,压电振子的两端各有一个圆环形结构。驱动轮结构的轮毂通过预紧机构压在压电振子圆环形结构的内环上。工作时,压电振子被激励,其两端的圆环形结构激发出同向的面内弯曲行波,通过摩擦作用带动两个车轮转动,从而实现移动机器人运动。本发明采用直接驱动的原理,无需传动轮系,解决了现有技术中行星探测机器人通过性差的问题。


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    Title :

    Patch type traveling wave piezoelectric driving wheel type mobile robot and working method thereof


    Additional title:

    一种贴片式行波型压电驱动轮式移动机器人及其工作方法


    Contributors:
    WANG LIANG (author) / JIA BOTAO (author) / FENG HAOREN (author) / WANG RUIFENG (author) / JIN JIAMEI (author) / WU DAWEI (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / H02N Elektrische Maschinen, soweit nicht anderweitig vorgesehen , ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR



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