CN100436081C - Plane paralled piezoelectric intelligent bar mechanism - Google Patents
Plane paralled piezoelectric intelligent bar mechanism Download PDFInfo
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- CN100436081C CN100436081C CNB031114415A CN03111441A CN100436081C CN 100436081 C CN100436081 C CN 100436081C CN B031114415 A CNB031114415 A CN B031114415A CN 03111441 A CN03111441 A CN 03111441A CN 100436081 C CN100436081 C CN 100436081C
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- line slideway
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Abstract
The present invention relates to a plane paralleled piezoelectric intelligent bar mechanism which relates to a manipulator at the tail end of a high-speed high-accuracy industrial robot, particularly to a two-freedom degree piezoelectric intelligent bar mechanism. The upper end of a left bar (5) of the present invention is movably connected with a left mobile platform (2) through a left rotation pair (3). The upper end of a right bar (10) is movably connected with a right mobile platform (7) through a right rotation pair (8). The lower end of the left bar (5) is movably connected with the lower end of the right bar (10) through a rotation pair (11) at the tail end. The left bar (5) is affixed with a left piezoelectric ceramic (4), and the right bar (10) is affixed with a right piezoelectric ceramic (9). The present invention can automatically control vibration and can intelligently compensate an error. The performance that the rigidity of a paralleled bar mechanism is high, a bending moment which is endured is small, and the piezoelectric ceramic can carry out inching compensation and can inhibit vibration is fully exerted. The present invention has the advantages of compact structure, high positioning accuracy, light weight, strong load capacity, and short time required by stability.
Description
Technical field
The present invention relates to the end-effector of high-speed, high precision industrial robot, be specifically related to two-freedom piezoelectric intelligent linkage.
Background technology
Existing piezoelectric intelligent linkage is general to exist following several forms: the one, and the girder construction of forming by piezoelectric merely, and adopt cantilevered fashion, though be convenient to control, it is higher to exist cost, load capacity is very poor, stablize required time than deficiencies such as length; For the three layers of intelligent bar or the structure of pasting some piezoelectric patches, under existing technical situation, general employing intermediate host structure is a metal material, outer structure of pasting piezoelectric unit, and adopt the open chain form more, flexibility is bigger, causes that its bearing capacity is weak, positioning accuracy is low, it is long to stablize required time.Granted publication number be DE20101628U patent disclosure " a kind of plane-parallel type piezoelectric intelligent linkage ", there are problems such as positioning accuracy is low, cost is high, load capacity is little in this mechanism.
Summary of the invention
For solving the deficiency that prior art exists, the invention provides a kind of plane-parallel type piezoelectric intelligent linkage, it should have the positioning accuracy height, cost is low, load capacity is big, stablizes the short characteristics of required time.The present invention comprises left line slideway 1, right line slideway 6, moves left platform 2, the platform 7 that moves right, left revolute pair 3, right revolute pair 8, left piezoelectric ceramics 4, right piezoelectric ceramics 9, left bar 5, right bar 10 and terminal revolute pair 11; Moving left platform 2 is arranged on the left line slideway 1, the platform 7 that moves right is arranged on the right line slideway 6, the upper end of left side bar 5 is by left revolute pair 3 and move left platform 2 flexible connections, the upper end of right bar 10 flexibly connects by the right revolute pair 8 and the platform 7 that moves right, the lower end of left side bar 5 flexibly connects by the lower end of terminal revolute pair 11 with right bar 10, it also comprise left linear motor rotor 1 ' and right linear motor rotor 6 ', be pasted with left piezoelectric ceramics 4 on the bar 5 of a left side, be pasted with right piezoelectric ceramics 9 on the right bar 10, move left platform 2 be fixed on left linear motor rotor 1 ' on, left side linear motor rotor 1 ' be arranged on the left line slideway 1, the platform 7 that moves right be fixed on right linear motor rotor 6 ' on, right linear motor rotor 6 ' be arranged on the right line slideway 6.A left side bar 5 and right bar 10 are the finite stiffness bar, and another kind of technical scheme of the present invention is: it comprises left line slideway 1, right line slideway 6, moves left platform 2, the platform 7 that moves right, left revolute pair 3, right revolute pair 8, left piezoelectric ceramics 4, right piezoelectric ceramics 9, left bar 5, right bar 10, terminal revolute pair 11; Moving left platform 2 is arranged on the left line slideway 1, the platform 7 that moves right is arranged on the right line slideway 6, the upper end of left side bar 5 is by left revolute pair 3 and move left platform 2 flexible connections, the upper end of right bar 10 flexibly connects by the right revolute pair 8 and the platform 7 that moves right, the lower end of left side bar 5 flexibly connects by the lower end of terminal revolute pair 11 with right bar 10, it also comprises the left slider 12 that ball is installed, the right slide block 13 of ball is installed, left side leading screw 14 and right leading screw 15, be pasted with left piezoelectric ceramics 4 on the bar 5 of a left side, be pasted with right piezoelectric ceramics 9 on the right bar 10, moving left platform 2 is fixed on the left slider 12 that ball is installed, the platform 7 that moves right is fixed on the right slide block 13 that ball is installed, left side leading screw 14 is connected with left slider 12 rolling friction that ball is installed, and right leading screw 15 is connected with right slide block 13 rolling friction that ball is installed.Be pasted with left piezoelectric ceramics 4 and right piezoelectric ceramics 9 on left bar 5 of the present invention and the right bar 10 respectively, can carry out Active Vibration Control and error intelligent compensation, give full play to and link mechanism rigidity big, little and the piezoelectric ceramics of the moment of flexure of bearing can carry out the fine motion compensation, suppress vibration, have compact conformation, positioning accuracy height, in light weight, load capacity strong, stablize the advantage of required time weak point.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention, and Fig. 2 is the structural representation of the specific embodiment two, and Fig. 3 is the structural representation of the specific embodiment three.
The specific embodiment one: the (see figure 1) present embodiment by left line slideway 1, right line slideway 6, move left platform 2, the platform 7 that moves right, left revolute pair 3, right revolute pair 8, left piezoelectric ceramics 4, right piezoelectric ceramics 9, left bar 5, right bar 10, terminal revolute pair 11 form; Moving left platform 2 is arranged on the left line slideway 1, the platform 7 that moves right is arranged on the right line slideway 6, the upper end of left side bar 5 is by left revolute pair 3 and move left platform 2 flexible connections, the upper end of right bar 10 flexibly connects by the right revolute pair 8 and the platform 7 that moves right, the lower end of left side bar 5 flexibly connects by the lower end of terminal revolute pair 11 with right bar 10, be pasted with left piezoelectric ceramics 4 on the bar 5 of a left side, be pasted with right piezoelectric ceramics 9 on the right bar 10, form intelligence and link mechanism, left bar 5 and right bar 10 are finite stiffness bar, thin walled bar or hollow stem.
The specific embodiment two: the difference of the (see figure 2) present embodiment and the specific embodiment one is, move left platform 2 be fixed on the left linear motor rotor 1 of increase ' on, left side linear motor rotor 1 ' be arranged on the left line slideway 1, the platform 7 that moves right be fixed on the right linear motor rotor 6 of increase ' on, right linear motor rotor 6 ' be arranged on the right line slideway 6.Other composition is identical with the specific embodiment one with annexation.To move left platform 2 in the present embodiment and the platform 7 that moves right be separately fixed at the mover 1 of left linear electric motors ' and the mover 6 of right linear electric motors ' on, drive lower edge left side line slideway 1 and 6 motions of right line slideway at linear electric motors, the one dimension rectilinear motion of two platforms is transformed into the two-dimensional plane motion of bar end.
The specific embodiment three: the difference of the (see figure 3) present embodiment and the specific embodiment one is, moving left platform 2 is fixed on the left slider that ball is installed 12 of increase, the platform 7 that moves right is fixed on the right slide block 13 that ball is installed of increase, the left leading screw 14 that increases is connected with left slider 12 rolling friction, and the right leading screw 15 of increase is connected with right slide block 13 rolling friction.Other composition is identical with the specific embodiment one with annexation.Left leading screw 14 and 15 rotations of right leading screw drive left slider 12 and 13 motions of right slide block in the present embodiment, the one dimension rectilinear motion of two platforms are transformed into the two-dimensional plane motion of bar end.
Claims (3)
1, a kind of plane-parallel type piezoelectric intelligent linkage, it comprises left line slideway (1), right line slideway (6), moves left platform (2), the platform that moves right (7), left revolute pair (3), right revolute pair (8), left piezoelectric ceramics (4), right piezoelectric ceramics (9), left bar (5), right bar (10) and terminal revolute pair (11); Moving left platform (2) is arranged on the left line slideway (1), the platform (7) that moves right is arranged on the right line slideway (6), the upper end of left side bar (5) is by left revolute pair (3) and move left platform (2) flexible connection, the upper end of right bar (10) flexibly connects by the right revolute pair (8) and the platform (7) that moves right, the lower end of left side bar (5) flexibly connects by the lower end of terminal revolute pair (11) with right bar (10), it is characterized in that it also comprises left linear motor rotor (1 ') and right linear motor rotor (6 '), be pasted with left piezoelectric ceramics (4) on the left side bar (5), be pasted with right piezoelectric ceramics (9) on the right bar (10), moving left platform (2) is fixed on the left linear motor rotor (1 '), left side linear motor rotor (1 ') is arranged on the left line slideway (1), the platform (7) that moves right is fixed on the right linear motor rotor (6 '), and right linear motor rotor (6 ') is arranged on the right line slideway (6).
2, a kind of plane-parallel type piezoelectric intelligent linkage according to claim 1 is characterized in that left bar (5) and right bar (10) are the finite stiffness bars.
3, a kind of plane-parallel type piezoelectric intelligent linkage, it comprises left line slideway (1), right line slideway (6), moves left platform (2), the platform that moves right (7), left revolute pair (3), right revolute pair (8), left piezoelectric ceramics (4), right piezoelectric ceramics (9), left bar (5), right bar (10), terminal revolute pair (11); Moving left platform (2) is arranged on the left line slideway (1), the platform (7) that moves right is arranged on the right line slideway (6), the upper end of left side bar (5) is by left revolute pair (3) and move left platform (2) flexible connection, the upper end of right bar (10) flexibly connects by the right revolute pair (8) and the platform (7) that moves right, the lower end of left side bar (5) flexibly connects by the lower end of terminal revolute pair (11) with right bar (10), it is characterized in that it also comprises the left slider (12) that ball is installed, the right slide block (13) of ball is installed, left side leading screw (14) and right leading screw (15), be pasted with left piezoelectric ceramics (4) on the left side bar (5), be pasted with right piezoelectric ceramics (9) on the right bar (10), moving left platform (2) is fixed on the left slider (12) that ball is installed, the platform (7) that moves right is fixed on the right slide block (13) that ball is installed, left side leading screw (14) is connected with the left slider that ball is installed (12) rolling friction, and right leading screw (15) is connected with right slide block (13) rolling friction that ball is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031114415A CN100436081C (en) | 2003-04-10 | 2003-04-10 | Plane paralled piezoelectric intelligent bar mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031114415A CN100436081C (en) | 2003-04-10 | 2003-04-10 | Plane paralled piezoelectric intelligent bar mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1535799A CN1535799A (en) | 2004-10-13 |
| CN100436081C true CN100436081C (en) | 2008-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031114415A Expired - Fee Related CN100436081C (en) | 2003-04-10 | 2003-04-10 | Plane paralled piezoelectric intelligent bar mechanism |
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| CN (1) | CN100436081C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085660A (en) * | 2011-02-23 | 2011-06-08 | 常州大学 | Three-degree-of-freedom decoupling hybrid robot |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN104760039B (en) * | 2015-03-16 | 2016-07-06 | 华南理工大学 | Parallel connection platform vibration detection based on laser displacement sensor controls apparatus and method |
| CN109732563B (en) * | 2019-03-20 | 2021-12-28 | 哈尔滨工业大学 | Piezoelectric-driven passive flexible micro clamp |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20101628U1 (en) * | 2001-01-29 | 2001-05-03 | Vector Verpackungstechnik Gmbh | Industrial robots |
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
-
2003
- 2003-04-10 CN CNB031114415A patent/CN100436081C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| DE20101628U1 (en) * | 2001-01-29 | 2001-05-03 | Vector Verpackungstechnik Gmbh | Industrial robots |
Non-Patent Citations (2)
| Title |
|---|
| 两自由度柔性臂压电陶瓷抑振方案优化设计. 王洪福等.压电与声光，第25卷第2期. 2003 |
| 两自由度柔性臂压电陶瓷抑振方案优化设计. 王洪福等.压电与声光，第25卷第2期. 2003 * |
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| CN1535799A (en) | 2004-10-13 |
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Granted publication date: 20081126 Termination date: 20110410 |