CN106078769B - A kind of micro angular displacement rotary machine people - Google Patents
A kind of micro angular displacement rotary machine people Download PDFInfo
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- CN106078769B CN106078769B CN201610715902.2A CN201610715902A CN106078769B CN 106078769 B CN106078769 B CN 106078769B CN 201610715902 A CN201610715902 A CN 201610715902A CN 106078769 B CN106078769 B CN 106078769B
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- China
- Prior art keywords
- tentacle
- disk
- piezoelectric ceramic
- base shaft
- ceramic actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The present invention discloses a kind of micro angular displacement rotary machine people, including tentacle disk and friction base shaft, and there are two the base shafts that rubs, and is arranged symmetrically on the both sides of tentacle disk；The first piezoelectric ceramic actuator (14) is equipped in tentacle disk, when applying excitation to the first piezoelectric ceramic actuator in tentacle disk, first piezoelectric ceramic actuator (14) will generate inverse piezoelectric effect, so that the radius of tentacle disk is expanded, and contacted with the friction base shaft of both sides；The friction base shaft of both sides drives parallel feed reversing by being arranged in internal the second piezoelectric ceramic actuator (24), generates torque using stiction, driving tentacle disk generates angular displacement.This kind of micro angular displacement rotary machine people with above structure breaks through MEMS research fields and the routine of looper effect is applied, after inchworm motion mechanism modification, and it is applied to rotary motion, the movement mechanism for promoting high-precision angular displacement resolving power is the breakthrough to tradition rotation type of drive limitation.
Description
Technical field
Robot field of the present invention, more particularly, to a kind of micro angular displacement rotary machine people.
Background technology
Realize that the type of drive of fine motion has magnetostriction type, electrostriction formula, electrostatic drive formula, electric current to become driving at present
Formula, marmem, driving type piezoelectric actuator.Wherein Piezoelectric Driving is to realize that fine motion is transported using the inverse piezoelectric effect of piezoelectric material
It is dynamic.Have the characteristics that driving force is big, positioning accuracy is high, fast response time, no magnetic field that do not generate heat, simple in structure, therefore application is more
It is extensive.Inchworm type Piezoelectric Driving is to be based on bionics, the wriggling posture of mimic biology looper is handed over both tentacle and basal disc
For for attachment point, body is bent-stretches the movement mechanism realized and advanced successively.Associated mechanisms will " looper be imitated both at home and abroad at present
Answer " research work that applies to micro-nano field operation is just gradually unfolded.
In external related research institutes, in the walking looper driver of the developments such as U.S. Zhang B, piezoelectric element is put
It sets in the flexible structure of an entirety, function directional stiffness is 90N/m, and work output loading is 200N, maximum static defeated
Output can reach lk N, and non-loaded actuating speed reaches 6mm/s；Canadian Suleman A etc. have developed clamping institution and use bridge
The looper piezoelectric actuator of formula flexible hinge enlarger, the driver maximum output power are 15.1N, and maximum drive speed is
0.33mm/s；South Korea Chanwoo M etc. have developed the looper piezoelectric actuator that clamping institution uses primary lever enlarger, drive
Dynamic device stroke is 100 mm, maximum speed 10mm/s, power output 10N；The developments such as Canadian University of Waterloo (CA) Waterloo, Ontario, N2L3GI Canada Behjat S
Inchworm piezoelectric actuator in, intervening drive mechanisms are made of piezoelectric element and a hydraulic intensifier, hydraulic intensifier be used for increase
The stroke of big driver；The walking looper piezoelectric actuator that the state Polytechnics in Virginia develops, in-between mechanism use
Flexible amplification mechanism amplifies the step pitch of intervening drive mechanisms, improves the speed of driver with this；South Korea Jachwan K and
Lee J H have developed a kind of novel walking looper piezoelectric actuator jointly, and the intervening drive mechanisms of piezoelectric actuator are adopted
With ellipse mechanism.
In domestic related research institutes, the Guangdong University of Technology Yang Yi people take the lead in having developed walking looper piezoelectric actuator.
Yang Yimin has developed the walking looper piezoelectric actuator of two kinds of configurations, range 1000mm, maximum output power 3500N；Clearly
Hua Da Li Yong has developed the looper type piezoelectric actuator of the circumferential formula lever clamping institution constituted using flexible hinge, and stroke is
60mm, maximum output thrust are 200N；Tsinghua University Dong another name for Sichuan Province Hunan etc. has developed clamping institution and uses new function material current unsteady flow
The inchworm piezoelectric actuator of body；In the walking inchworm piezoelectric actuator of the developments such as Wuhan University of Technology Lu whole nation, the clamp machine of both sides
Structure uses lever amplification, stroke 1mm, driving force 14N；The walking for having developed integrated symmetric structure such as high of Liu state of Jilin University
Formula looper driver is made of, range 18mm, actuating speed 0.1mm/s main body, piezoelectric stack and accurate adjustment skewback,
The load of 150g can be drawn；In the walking looper driver of Xi'an Communications University's Zhang Zhijun development, the clamping institution of both sides is adopted
It is pre-tightened instead of holding screw with clamp block, stroke 8mm, speed 0.8mm/s, power output 4N；Harbin work
Zhang Zhaocheng, Hu Hong etc. that sparetime university is learned have developed walking looper driver, traditional to replace using two parallel guiding axis
Guide rail structure, stroke 20mm, maximum drive speed are 1.18mm/s.
The achievement in research majority about " looper effect " tends to solve the linear movement appearance of micro robot both at home and abroad
State, and the achievement in research about rotation attitude is very few.Its difficulty is that tradition machinery often uses motor+gear reduction unit or V belt translation
Mechanism driving machinery rotation.Due to structural limitation, angular displacement is difficult to realize small stepping；Furthermore the arbitrary transient motion in space is equal
The synthesis for being considered as straight line, rotating two kinds of basic poses only moves along a straight line and cannot achieve the athletic posture of robot complexity.Therefore
" looper effect " is applied into rotary motion, first can carry out the research work of micro angular displacement rotation attitude, second for complete
The operating system for being integrated into micro robot has very important research significance and necessity.
Invention content
The technical problem to be solved by the present invention is to be directed to problems of the prior art to provide a kind of micro angular displacement
Rotary machine people, it is external the purpose is to which by being optimized to water seal slot structure and internal pipeline, built-in pipe is changed to, it can
It thoroughly solves the problems, such as water seal trench bottom fouling, reduces water sealed tank cracking phenomena, extend water sealed tank service life, connect for dry coke quenching
Continue stable production to provide safeguard.
The technical scheme is that this kind of micro angular displacement rotary machine people includes tentacle disk and friction base shaft, rub base
There are two bars, is arranged symmetrically on the both sides of tentacle disk；The first piezoelectric ceramic actuator is equipped in tentacle disk, in tentacle disk
The first piezoelectric ceramic actuator apply excitation when, the first piezoelectric ceramic actuator will generate inverse piezoelectric effect, make tentacle disk
Radius is expanded, and is contacted with the friction base shaft of both sides；The friction base shaft of both sides is driven by being arranged in the second internal piezoelectric ceramics
Dynamic device drives parallel feed reversing, generates torque using stiction, driving tentacle disk generates angular displacement.
The entire motion period of the rotary machine people is：First piezoelectric ceramic actuator is activated → tentacle
Disk radius expansion → tentacle disk contacted with friction base shaft the → the second piezoelectric ceramic actuator be activated → tentacle disk both sides rub
It wipes the parallel feed reversing of base shaft and generates the piezoelectric ceramic actuator excitation disappearance → tentacle disk half of torque → tentacle disc spins → first
Diameter recovery → tentacle disk is detached with the both sides friction base shaft → base shaft that rubs encourages disappearance → both sides friction base shaft to restore initial position.
As a kind of specific implementation mode of the present invention, the tentacle disk includes that several are pacified by first straight line guide rail
Tentacle on chassis, and when several tentacles are in initial position be combined 360 ° of composition, the first Piezoelectric Ceramic
Device is located at the position between each tentacle and central shaft, and first piezoelectric ceramic actuator generates inverse pressure upon actuation
Electrical effect, triggering tentacle is along the outside straight line expansion of radial direction, until contact friction base shaft；The friction base shaft includes base
Seat, pedestal are equipped with second straight line guide rail, and second straight line guide rail is equipped with sliding block, and friction lever is mounted on sliding block, and described
The both ends of friction lever are mounted on the second piezoelectric ceramic actuator, and one end of the second piezoelectric ceramic actuator is mounted on friction lever
On, the other end is mounted on pedestal baffle, and the pedestal baffle plate setting is on the pedestal, and the pedestal baffle is symmetrical arranged
In the both sides of the second straight line guide rail.
When the opposite excitation in equal directions, the second piezoelectric ceramic actuator drives friction lever that position occurs along second straight line guide rail
It moves, the friction lever of tentacle disk both sides will generate parallel reversed dual force between tentacle disk.
This kind of micro angular displacement rotary machine people with above structure has the following advantages：
The routine of looper effect is applied 1. this kind of micro angular displacement rotary machine people breaks through MEMS research fields, by ruler
After earwig movement mechanism modification, and it is applied to rotary motion, the movement mechanism for promoting high-precision angular displacement resolving power is revolved to tradition
Turn the breakthrough of type of drive limitation.
2. tradition rotation type of drive drives Pivot axle to generate with motor+gear (or V belt translation) deceleration mechanism
Angular displacement, and such movement mechanism can not improve the high-precision resolving power of rotational angle displacement.The present invention is based on inverse piezoelectric effect generations
While miniature linear displacement, the symmetrical both sides of tentacle disk circumference are acted on by stiction, the small angle position of tentacle disk is realized with torque
Shifting movement breaches conventional ADS driving mode, and promotes high-precision angular displacement resolving power for micro robot and provide fundamental basis.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the structural schematic diagram of tentacle disk in the present invention.
Fig. 2 is the structural schematic diagram of friction base shaft in the present invention.
Fig. 3 is that movement mechanism of the present invention models original state schematic diagram.
The positions Fig. 4 movement mechanism modeling work status diagram of the present invention.
In figures 1-4,11：Chassis；12:First straight line guide rail；3：Tentacle；4：First piezoelectric ceramic actuator；15：Center
Axis；21：Pedestal；22：Second straight line guide rail；23：Sliding block；24：Second piezoelectric ceramic actuator；25：Friction lever；26：Pedestal is kept off
Plate.
Specific implementation mode
Fig. 1 is the structural schematic diagram of tentacle disk in micro angular displacement rotary machine people of the present invention, and Fig. 2 is present invention friction base
The structural schematic diagram of bar, the schematic diagram of the original state and working condition of the movement mechanism modeling of the present invention of the positions Fig. 3 and Fig. 4.
It is combined by Fig. 3 and Fig. 4 it is found that abnormal inchworm motion mechanism and theoretical modeling, with analysis conventional inchworm motion posture
For Research foundation, linear motion is deformed into rotary motion, original tentacle is changed into tentacle disk, basic point is changed into friction
Base shaft.14 applications excitation is applied to the first piezoelectric ceramics in tentacle disk, so that it is generated inverse piezoelectric effect and radius and expands, and with rub
Pole 25 contacts.Both sides friction base shaft drives parallel feed reversing by the second piezoelectric ceramic actuator 24, utilizes stiction
Torque is generated, driving tentacle disk generates angular displacement.As shown in figure 4, the friction base shaft on the left side is fed up, the friction base shaft on the right
It feeds down, the two direction of motion is mutually parallel, and on the contrary, turning moment T therefore can be generated.
Wherein, Fig. 3 is the original state of robot.The non-excited target of piezoelectric ceramics of tentacle disk and friction base shaft at this time,
The two position keeps separation；Fig. 4 is the working condition of robot.Abnormal inchworm motion mechanism is decomposed as follows：First piezoelectric ceramics
Driver 14 is activated → tentacle disk radius expansion → tentacle disk contacts the → the second piezoelectric ceramic actuator 24 with friction base shaft
Be activated → the parallel feed reversing of the friction base shafts of tentacle disk both sides generates the piezoelectric ceramics of torque → tentacle disc spins → first
Driver excitation disappearance → tentacle disk radius recovery → tentacle disk is detached with the both sides friction base shaft → base shaft that rubs excitation disappearance →
Both sides friction base shaft restores initial position.Constitute a period of motion.
The structure shown in Fig. 1 and Fig. 2 it is found that this kind of micro angular displacement rotary machine people include tentacle disk and friction base shaft,
There are two the base shafts that rubs, and is arranged symmetrically on the both sides of tentacle disk；The first piezoelectric ceramic actuator 14 is equipped in tentacle disk, when right
When the first piezoelectric ceramic actuator 14 in tentacle disk applies excitation, the first piezoelectric ceramic actuator 14 will generate inverse piezoelectricity and imitate
It answers, so that the radius of tentacle disk is expanded, and contacted with the friction base shaft of both sides；The friction base shaft of both sides is by being arranged internal the
Two piezoelectric ceramic actuators 24 drive parallel feed reversing, generate torque using stiction, driving tentacle disk generates angular displacement.
Tentacle disk includes four tentacles 13 being mounted on by first straight line guide rail 12 on chassis 11, and at four tentacles 13
Be combined 360 ° of composition when initial position, the first piezoelectric ceramic actuator 14 be located at each tentacle 13 and central shaft 15 it
Between position, and the first piezoelectric ceramic actuator 14 generates inverse piezoelectric effect upon actuation, triggering tentacle 13 along radial direction to
Outer straight line expansion, until contact friction base shaft；The friction base shaft includes pedestal 21, and pedestal 21 is equipped with second straight line guide rail
22, second straight line guide rail 22 is equipped with sliding block 23, and friction lever 25 is mounted on sliding block 23, and the both ends of the friction lever 25
It is mounted on the second piezoelectric ceramic actuator 24, one end of the second piezoelectric ceramic actuator 24 is mounted on friction lever 25, another
End is mounted on pedestal baffle 26, and the pedestal baffle 26 is arranged on the pedestal 21, and the pedestal baffle 26 is symmetrically set
It sets in the both sides of the second straight line guide rail 22.
The entire motion period of the rotary machine people is that the first piezoelectric ceramic actuator 14 is activated → touches
Setting stick radius expansion → tentacle disk contacts the → the second piezoelectric ceramic actuator 24 with friction base shaft and is activated → tentacle disk both sides
The parallel feed reversing of friction base shaft generate the piezoelectric ceramic actuator of torque → tentacle disc spins → first and encourage disappearance → tentacle
Disk radius recovery → tentacle disk is detached with the both sides friction base shaft → base shaft that rubs encourages disappearance → both sides friction base shaft to restore initial
Position.When two second piezoelectric ceramic actuators 24 in each friction base shaft are by the opposite excitation in direction equal in magnitude,
Second piezoelectric ceramic actuator 24 driving friction lever 25 is subjected to displacement in the same direction along second straight line guide rail 22, and tentacle disk both sides are rubbed
Pole 25 will generate parallel reversed dual force between tentacle disk." dual force " refers to, the friction levers (25) of tentacle disk both sides will be with
Positive pressure is generated due to squeezing between tentacle disk, during exercise, the left sides stiction f of generation and f are right, the left sides f and the right sides f
Between relationship be equal in magnitude, parallel reversed.
Research and development demand of the present invention towards the fields MEMS micro robot athletic posture proposes micro angular displacement whirler
Device people, and theory analysis and experimental study are made to its mechanism and characteristic, innovation is：
1) innovation proposes that " abnormal looper effect " is theoretical.
It breaks through MEMS research fields to apply the routine of looper effect, after inchworm motion mechanism modification, and be applied to
Rotary motion, the present invention are known as " abnormal looper effect ".
2) movement mechanism for promoting high-precision angular displacement resolving power is the breakthrough to tradition rotation type of drive limitation.
Tradition rotation type of drive drives Pivot axle to generate angle with motor+gear (or V belt translation) deceleration mechanism
Displacement, and such movement mechanism can not improve the high-precision resolving power of rotational angle displacement.The present invention is based on inverse piezoelectric effect generation is micro-
While small displacement of the lines, the symmetrical both sides of tentacle disk circumference are acted on by stiction, tentacle disk micro angular displacement is realized with torque
Movement breaches conventional ADS driving mode, and promotes high-precision angular displacement resolving power for micro robot and provide fundamental basis.
Claims (4)
1. a kind of micro angular displacement rotary machine people, it is characterised in that：The robot includes tentacle disk and friction base shaft, is rubbed
It wipes there are two base shafts, is arranged symmetrically on the both sides of tentacle disk；The first piezoelectric ceramic actuator (14) is equipped in tentacle disk, when right
When the first piezoelectric ceramic actuator in tentacle disk applies excitation, the first piezoelectric ceramic actuator (14) will generate inverse piezoelectricity and imitate
It answers, so that the radius of tentacle disk is expanded, and contacted with the friction base shaft of both sides；The friction base shaft of both sides is by being arranged internal the
Two piezoelectric ceramic actuators (24) drive parallel feed reversing, generate torque using stiction, driving tentacle disk generates angle position
It moves.
2. a kind of micro angular displacement rotary machine people according to claim 1, it is characterised in that：The rotary machine people
An entire motion period be that the first piezoelectric ceramic actuator (14) is activated → tentacle disk radius expansion → tentacle disk with
Friction base shaft contact the → the second piezoelectric ceramic actuator (24) be activated → the friction base shafts of tentacle disk both sides it is parallel reversely into
To generate the piezoelectric ceramic actuator of torque → tentacle disc spins → first excitation disappearance → tentacle disk radius recovery → tentacle disk with
Both sides friction base shaft detaches → rubs base shaft excitation disappearance → both sides friction base shaft and restores initial position.
3. a kind of micro angular displacement rotary machine people according to claim 1 or 2, it is characterised in that：The tentacle disk
Tentacle (13) on chassis (11) is mounted on by first straight line guide rail (12) including several, and several tentacles (13) are in
360 ° of composition is combined when initial position, the first piezoelectric ceramic actuator (14) is located at each tentacle (13) and central shaft
(15) position between, and first piezoelectric ceramic actuator (14) generates inverse piezoelectric effect upon actuation, triggers tentacle
(13) along the outside straight line expansion of radial direction, until contact friction base shaft；The friction base shaft includes pedestal (21), pedestal
(21) it is equipped with second straight line guide rail (22), second straight line guide rail (22) is equipped with sliding block (23), and friction lever (25), which is mounted on, to be slided
On block (23), and the both ends of the friction lever (25) are mounted on the second piezoelectric ceramic actuator (24), the second piezoelectric ceramics
One end of driver (24) is mounted on friction lever (25), and the other end is mounted on pedestal baffle (26), the pedestal baffle
(26) it is arranged on the pedestal (21), and the pedestal baffle (26) is symmetricly set on the two of the second straight line guide rail (22)
Side.
4. a kind of micro angular displacement rotary machine people according to claim 3, it is characterised in that：When in each friction base shaft
Two second piezoelectric ceramic actuators (24) by the opposite excitation in direction equal in magnitude when, the second piezoelectric ceramic actuator
(24) driving friction lever (25) is subjected to displacement along second straight line guide rail (22), and the friction lever (25) of tentacle disk both sides will be with tentacle disk
Between generate parallel reversed dual force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610715902.2A CN106078769B (en) | 2016-08-24 | 2016-08-24 | A kind of micro angular displacement rotary machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610715902.2A CN106078769B (en) | 2016-08-24 | 2016-08-24 | A kind of micro angular displacement rotary machine people |
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| Publication Number | Publication Date |
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| CN106078769A CN106078769A (en) | 2016-11-09 |
| CN106078769B true CN106078769B (en) | 2018-10-16 |
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| CN108742847B (en) * | 2018-06-12 | 2021-04-27 | 天津大学 | Four-degree-of-freedom flexible needle puncture platform combining macro motion and micro motion |
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| JPH08115128A (en) * | 1993-07-15 | 1996-05-07 | Agency Of Ind Science & Technol | Parallel link mechanism |
| CN102729173A (en) * | 2012-06-05 | 2012-10-17 | 江苏大学 | Friction inertial type microscale angular displacement positioning device |
| CN103916045B (en) * | 2014-02-21 | 2015-02-25 | 西安交通大学 | Stepping type rotation driving device and method on basis of piezoelectric ceramics |
| CN104467532A (en) * | 2014-12-12 | 2015-03-25 | 扬州大学 | Double-side driving rotating type traveling wave ultrasonic motor |
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