1 Introduction 3 Piezoelectric small pipe micro-robot structure \ production 4 raw 2 force relatively small laminated piezoelectric small pipe micro-robot structure chart 1 laminated small pipe micro-robot main performance parameters pipe diameter Y10mm climbing ability (h90 . Overall size Y9. 8mm [15mm maximum speed 6mm / s3.2 double diaphragm type piezoelectric small pipe micro-robot in the nuclear power generation, petrochemical and refrigeration industries use a large number of small pipes due to the operation The influence of factors such as small space and harsh working environment makes the inspection and maintenance operations very difficult. Developed a micro-robot device that can detect and maintain in small tubes, which is an effective way to solve the problem. Piezoelectric small pipes The robot is a newly developed special robot that uses piezoelectric ceramic drive and uses the principle of inertial impact to run vertically (or horizontally) in the track. After further improvement, it can become a small pipeline in the nuclear industry and petrochemical industry. Maintain the carrier of the robot.
This paper will introduce its driving method, structural characteristics and motion bifurcation. 2 Piezoelectric driving principle Lead piezoelectric ceramics, codenamed PZT piezoelectric ceramic actuator is driven by the displacement and force generated by the inverse piezoelectric effect of piezoelectric ceramics. Sources are generally classified into stacked piezoelectric actuators and dual diaphragm piezoelectric actuators. The main features of the cascading type: good response characteristics, large generating force, small deformation displacement, double diaphragm type, main features: large bending deformation, thermal piezoelectric small-sized pipe micro-robot mainly by moving bulk piezoelectric ceramic (PZT) driver and balance Block (mass) and other components of the piezoelectric small pipe micro-robot work principle by using the inverse piezoelectric effect of the piezoelectric ceramic to induce rapid expansion and bending) deformation, causing the balance block to produce inertial impact on the walking body, in the elastic support leg and Under the interaction of the friction between the pipe walls, the moving body is pushed to move along the pipe wall. The moving speed and direction are controlled by the out-of-pipe control system, and the elastic support legs can accommodate the progressive change of the pipe diameter.
3.1 Laminated piezoelectric small-tube micro-robot pzt A robotic device consisting of a laminated piezoelectric actuator is called a laminated piezoelectric small-tube micro-robot, which has a simple structure and a small volume.
The structure is as shown, the main performance parameters are shown in Table 1. mj ton m block pzt is driven by double-moon type piezoelectric drive =) is a double diaphragm type piezoelectric small tube % track micro-robot, its moving speed configuration is as shown, The main double diaphragm type piezoelectric small tube energy parameters are shown in Table 2. The micro-robot structure is shown in Table 2. The double diaphragm type piezoelectric small pipe micro-robot main performance parameters pipe diameter climbing ability overall size movement speed 4 motion analysis pipeline The robot must have the ability to support the adsorption of a certain posture on the pipe wall to complete the operation of the pipeline under the driving force. Through the decomposition and analysis of the walking action of the piezoelectric small-tube micro-robot, the walking principle of such a robot is more clearly displayed, laying the foundation for further research. 4.1 Laminated piezoelectric small-scale pipe micro-robot motion decomposition laminated piezoelectric Small pipe micro-robot motion decomposition. 2 double diaphragm type piezoelectric small pipe micro-robot motion decomposition into a double diaphragm type piezoelectric small pipe micro-robot motion decomposition diagram, which is the step of forward motion (the reverse order of reverse action) analysis: (a) The above motion decomposition diagram is the motion state at no load, and the motion step at the load is the same as the no-load motion step, and each step has a 嗓 > 9 negative. Therefore, the movement speed at the time of the load is lower than the no-load motion speed (b), and the movement is performed. The step motion is the same, and the microscopic performance is the repetition of the forward and the stop. Due to the high frequency, the macroscopically appears as a uniform linear motion or continuous motion. (c) The impact is generated by using the mass as a counterweight. In theory, the greater the mass of the mass, the greater the inertial force generated and the faster the moving speed of the moving body. However, due to the limitation of the size of the pipe and the influence of the bending moment caused by the mass (when horizontally crawling) on ​​the friction of the supporting leg, the quality of the mass cannot be blindly large, and its size and shape are 5 Pipeline robot is a newly developed special robot which adopts piezoelectric ceramic drive. It can operate vertically (or horizontally) in ☆10--20mm pipe by inertial impact principle, and can adapt to the progressive change of pipe diameter. The more important the impactor is, the greater the mass, the greater the inertial force generated, the faster the moving body moves, but the size of the pipe, and the bending moment caused by the mass (horizontal crawling) The influence of the friction of the leg makes the quality of the mass not easy to be large, and should be reasonably configured. Due to the limitation of the deformation of the piezoelectric element, the moving speed and the stability of the movement of the small pipe robot need to be improved.
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