CN106549601B - Mechanical hand and its working method based on ultrasonic start principle - Google Patents
Mechanical hand and its working method based on ultrasonic start principle Download PDFInfo
- Publication number
- CN106549601B CN106549601B CN201611120058.5A CN201611120058A CN106549601B CN 106549601 B CN106549601 B CN 106549601B CN 201611120058 A CN201611120058 A CN 201611120058A CN 106549601 B CN106549601 B CN 106549601B
- Authority
- CN
- China
- Prior art keywords
- bending vibration
- ceramic element
- piezo ceramic
- ring
- vibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 121
- 239000000919 ceramic Substances 0.000 claims abstract description 103
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000010287 polarization Effects 0.000 claims description 28
- 230000009471 action Effects 0.000 claims description 10
- 239000002245 particle Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000005526 G1 to G0 transition Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012913 prioritisation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention discloses a kind of mechanical hand and its working method based on ultrasonic start principle, mechanical hand includes palm platform and at least two fingers, and every finger includes a fixing joint and at least one turning joint；Palm platform is equipped with and the one-to-one mounting hole of the finger；In the finger, fixing joint mounting hole corresponding with its is fixedly linked, and turning joint is sequentially connected, and the turning joint of root is connected with the fixing joint；Fixing joint includes oscillator module；Turning joint includes oscillator module and contact module；Oscillator module includes start head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element and pretension bolt；It contacts module and includes collet, bottom cover, spring and contact block.Present invention response is fast, precision is high, simple in structure, has bright prospects.
Description
Technical field
The present invention relates to mechanical hand field more particularly to a kind of mechanical hands and its work side based on ultrasonic start principle
Formula.
Background technology
With the rapid development of deep-sea detecting, space technology, mechanical-assisted medical technology and automatic manufacturing technology, to machinery
The demand of hand is increasingly urgent, and traditional manipulator uses traditional servo motor and cable structure, there is easily affected by magnetic fields, knot
The shortcomings of structure is complicated, and cable is easily wound.Ultrasound electric machine has response fast compared to traditional servo motor, and precision is high, easily minimizes,
Not by magnetic interference the advantages that.
Invention content
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, are provided a kind of based on super
The mechanical hand and its working method of sound start principle.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of mechanical hand based on ultrasonic start principle is included including palm platform and at least two fingers, every finger
One fixing joint and at least one turning joint；
The palm platform is equipped with and the one-to-one mounting hole of the finger；
In the finger, fixing joint mounting hole corresponding with its is fixedly linked, and turning joint is sequentially connected, and root
Turning joint is connected with the fixing joint；
The fixing joint includes oscillator module；
The turning joint includes oscillator module and contact module；
The oscillator module includes start head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element and pretension bolt；
The start head includes driving head, connecting portion, ring flange and cylinder, wherein, the driving head is spherical shape；The company
Socket part is continuous variable cross section structure, and section is circle, and the lower end of its smallest cross-sectional and driving head is fixedly linked, maximum cross-section
It is fixedly linked with the upper end of cylinder；The ring flange is arranged on the junction of the connecting portion and cylinder；
The axis of the start head is equipped with and the matched threaded hole of the pretension bolt；
The pedestal includes main body, the first retainer ring and the second retainer ring, wherein, the main body is upper end opening, lower end
The cylinder of closing；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the half of first retainer ring
Diameter is more than second retainer ring；The equal bottom surface stationary phase with the main body in the upper end of first retainer ring and the second retainer ring
Even, and main body, the first retainer ring, the second retainer ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component is cylinder, is arranged on from top to bottom in the main body of the pedestal successively；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component, base body bottom surface coaxial arrangement and be equipped with the through-hole passed through for pretension bolt in axle center；Pretension bolt is worn successively
Cross the bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration pressure
Threaded hole on electroceramics component and start head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration pressure
Electroceramics component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body；
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element be used to generate bending vibration propagate to it is described
Driving head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate is in space
On it is poor there are pi/2 phase；
The contact module includes collet, bottom cover, spring and contact block；
The collet is upper end opening, the cylinder of inner hollow, and lower end is equipped with to lock the driving head
Circular hole；
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylinder of upper and lower opening, described convex
Ring is arranged on the upper end of the first socket ring and the first socket ring is fixedly linked；
The bulge loop of the bottom cover is arranged between the first retainer ring, the second retainer ring and the first retainer ring, the second retainer ring
Between groove interference connection；
The contact block includes connecting plate, the second socket ring and contact ring, wherein, the second socket ring, contact ring are equal
Hollow cylinder for upper and lower opening；The upper end stationary phase that the lower end of the second socket ring passes through connecting plate and the contact ring
Even, and the second socket ring, contact ring are coaxially disposed；
The first socket ring and the second socket ring carry out clearance fit by socket so that energy between contact block and bottom cover
Enough slide up and down；
The spring pocket is outside the described first socket ring and the second socket ring, and the bulge loop of one end and the bottom cover offsets, separately
The connecting plate of one end and the contact block offsets；
The ring flange of start head is fixedly linked in the oscillator module of the collet upper end and its affiliated turning joint, under
The circular hole at end locks the driving head of coupled turning joint；
The lower end of ring is contacted in the contact block and the driving head of collet latching offsets；
The pedestal of the fixing joint is arranged in the corresponding mounting hole of its affiliated finger and ring flange and the institute of start head
Palm platform is stated to be fixedly linked.
As the present invention is based on the further prioritization scheme of mechanical hand of ultrasonic start principle, the longitudinal vibration piezoelectric ceramics groups
Part includes two panels longitudinal vibration potsherd and a piece of electrode slice, and electrode slice is clipped in the middle by the two panels longitudinal vibration potsherd, the two panels
Longitudinal vibration potsherd is single polarization subregion, and it is outside that polarization direction is respectively perpendicular to electrode slice.
As the present invention is based on the further prioritization scheme of mechanical hand of ultrasonic start principle, the first bending vibration piezoelectricity potteries
Porcelain component, the second bending vibration piezo ceramic element are comprising two panels bending vibration potsherd and a piece of electrode slice, the two panels bending vibration ceramics
Electrode slice is clipped in the middle by piece, and every bending vibration piezoelectric ceramic piece has the opposite polarization subregion of two polarization directions in left and right, and two
Piece bending vibration potsherd is opposite in the polarization direction of the polarization subregion of the same end.
The invention also discloses a kind of working methods for being somebody's turn to do the mechanical hand based on ultrasonic start principle, comprise the steps of：
For each fixing joint or turning joint, the centre of sphere for enabling its driving head be origin, start head axis be Z
Axis crosses origin and the boundary being parallel between two polarization subregions of any bending vibration potsherd in its first bending vibration piezo ceramic element
The straight line of limit is Y-axis, crosses origin and is parallel to two polarization of any bending vibration potsherd in its second bending vibration piezo ceramic element
The straight line of boundary between subregion is X-axis；
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in XOZ planes in oscillator module, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in XOZ planes, and driving head is driven by rubbing action to be made
Dynamic head is rotated around Y-axis；
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in YOZ planes in oscillator module, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in YOZ planes, and driving head is driven by rubbing action to be made
Dynamic head is rotated around X-axis；
It is poor with pi/2 phase to apply on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Electric signal, will be inspired in oscillator module respectively two spatially have pi/2 phase difference flexural vibration modes so that
Particle on driving head makees elliptic motion in XOY plane, and driving head drives start head to make 360 ° of rotations about the z axis by rubbing action
Turn.
The present invention compared with prior art, has following technique effect using above technical scheme：
1. simple in structure, response is fast；
2. precision is high, convenient for micromation, skill is manufactured in deep-sea detecting, space technology, mechanical-assisted medical technology and automatically
There are bright prospects in art field.
Description of the drawings
Fig. 1 is that the present invention is based on the structure diagrams of the mechanical hand of ultrasonic start principle；
Fig. 2 is the structure diagram of palm platform in the present invention；
Fig. 3 is the fixing joint of finger and the connection diagram of turning joint in the present invention；
Fig. 4 is the cooperation schematic diagram of bottom cover, spring and contact block in present invention contact module；
Fig. 5 is the structure diagram of collet in the present invention；
Fig. 6 is the structure diagram of start head in the present invention；
Fig. 7 is the polarization mode schematic diagram of potsherd in longitudinal vibration piezo ceramic element；
Fig. 8 is the polarization mode schematic diagram of potsherd in the first bending vibration piezo ceramic element；
Fig. 9 is the polarization mode schematic diagram of potsherd in the second bending vibration piezo ceramic element；
Figure 10 is the bending vibration bending vibation mode picture of oscillator module；
Figure 11 is the extensional vibration bending vibation mode picture of oscillator module.
Wherein, 1- fingers, 2- palm platforms, 3- start heads, 3.1- driving heads, 3.2- connecting portions, 3.3- ring flanges, 3.4-
Cylinder, 4- metallic gauge blocks, 5- pedestals, 6- pretension bolts, 7- collets, 8- bottom covers, 9- springs, 10- contact blocks, 11- are indulged
Shake piezoelectric ceramic piece component, 12- the first bending vibration piezoelectric ceramic piece components, 13- the second bending vibration piezoelectric ceramic piece components, and 14- is fixed
Bolt, 15- electrode slices.
Specific embodiment
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1, the invention discloses a kind of mechanical hand based on ultrasonic start principle, including palm platform and at least
Two fingers, every finger include a fixing joint and at least one turning joint.
The palm platform is equipped with and the one-to-one mounting hole of the finger.
In the finger, fixing joint mounting hole corresponding with its is fixedly linked, and turning joint is sequentially connected, and root
Turning joint is connected with the fixing joint.
As shown in figure 3, the fixing joint includes oscillator module；The turning joint includes oscillator module and contact mould
Block.
The oscillator module includes start head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element and pretension bolt.
As shown in fig. 6, the start head includes driving head, connecting portion, ring flange and cylinder, wherein, the driving head is
It is spherical；The connecting portion is continuous variable cross section structure, and section is round, and its smallest cross-sectional and the lower end stationary phase of driving head
Even, maximum cross-section and the upper end of cylinder are fixedly linked；The ring flange is arranged on the junction of the connecting portion and cylinder.
The axis of the start head is equipped with and the matched threaded hole of the pretension bolt.
The pedestal includes main body, the first retainer ring and the second retainer ring, wherein, the main body is upper end opening, lower end
The cylinder of closing；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the half of first retainer ring
Diameter is more than second retainer ring；The equal bottom surface stationary phase with the main body in the upper end of first retainer ring and the second retainer ring
Even, and main body, the first retainer ring, the second retainer ring are coaxially disposed.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component is cylinder, is arranged on from top to bottom in the main body of the pedestal successively.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component, base body bottom surface coaxial arrangement and be equipped with the through-hole passed through for pretension bolt in axle center；Pretension bolt is worn successively
Cross the bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration pressure
Threaded hole on electroceramics component and start head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration pressure
Electroceramics component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body.
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element be used to generate bending vibration propagate to it is described
Driving head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate is in space
On it is poor there are pi/2 phase.
The contact module includes collet, bottom cover, spring and contact block.
As shown in figure 5, the collet is upper end opening, the cylinder of inner hollow, lower end is equipped with to lock
The circular hole of the driving head.
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylinder of upper and lower opening, described convex
Ring is arranged on the upper end of the first socket ring and the first socket ring is fixedly linked.
The bulge loop of the bottom cover is arranged between the first retainer ring, the second retainer ring and the first retainer ring, the second retainer ring
Between groove interference connection.
The contact block includes connecting plate, the second socket ring and contact ring, wherein, the second socket ring, contact ring are equal
Hollow cylinder for upper and lower opening；The upper end stationary phase that the lower end of the second socket ring passes through connecting plate and the contact ring
Even, and the second socket ring, contact ring are coaxially disposed.
The first socket ring and the second socket ring carry out clearance fit by socket so that energy between contact block and bottom cover
Enough slide up and down.
As shown in figure 4, the spring pocket is outside the described first socket ring and the second socket ring, one end and the bottom cover it is convex
Ring offsets, and the connecting plate of the other end and the contact block offsets.
The ring flange of start head is fixedly linked in the oscillator module of the collet upper end and its affiliated turning joint, under
The circular hole at end locks the driving head of coupled turning joint.
The lower end of ring is contacted in the contact block and the driving head of collet latching offsets.
As shown in Fig. 2, the pedestal of the fixing joint is arranged in the corresponding mounting hole of its affiliated finger and start head
Ring flange and the palm platform are fixedly linked, and the ring flange of start head and the palm platform for fixing bolt may be used
It is fixedly linked.
As shown in fig. 7, the longitudinal vibration piezo ceramic element includes two panels longitudinal vibration potsherd and a piece of electrode slice, the two panels
Electrode slice is clipped in the middle by longitudinal vibration potsherd, and the two panels longitudinal vibration potsherd is single polarization subregion, and polarization direction is hung down respectively
It is directly outside in electrode slice.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and one
Electrode slice is clipped in the middle by plate electrode piece, the two panels bending vibration potsherd, and every bending vibration piezoelectric ceramic piece has two poles in left and right
Change the opposite polarization subregion in direction, and two panels bending vibration potsherd is opposite in the polarization direction of the polarization subregion of the same end.
The first bending vibration piezo ceramic element, the polarization subregion of the second bending vibration piezo ceramic element and polarization direction difference
As shown in Figure 8, Figure 9.
The invention also discloses a kind of working methods for being somebody's turn to do the mechanical hand based on ultrasonic start principle, comprise the steps of：
For each fixing joint or turning joint, the centre of sphere for enabling its driving head be origin, start head axis be Z
Axis crosses origin and the boundary being parallel between two polarization subregions of any bending vibration potsherd in its first bending vibration piezo ceramic element
The straight line of limit is Y-axis, crosses origin and is parallel to two polarization of any bending vibration potsherd in its second bending vibration piezo ceramic element
The straight line of boundary between subregion is X-axis.
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in XOZ planes in oscillator module, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in XOZ planes, and driving head is driven by rubbing action to be made
Dynamic head is rotated around Y-axis；
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in YOZ planes in oscillator module, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in YOZ planes, and driving head is driven by rubbing action to be made
Dynamic head is rotated around X-axis；
It is poor with pi/2 phase to apply on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Electric signal, will be inspired in oscillator module respectively two over time and space all have pi/2 phase difference bending vibrations
Mode so that the particle on driving head makees elliptic motion in XOY plane, and driving head drives start head around Z by rubbing action
Axis makees 360 ° of rotations.
Fixing joint and the bending vibation mode picture of turning joint bending vibration are as shown in Figure 10 in the present invention as known from the above（With second order
For bending vibration）, the bending vibation mode picture of extensional vibration is as shown in figure 11（By taking single order longitudinal vibration as an example）.
The joint on finger top can install disparate modules to realize different function, and each joint has that there are three freely
Degree allows mechanical hand to make various and complicated action to meet the realization of the function under complex environment.It is proposed by the present invention
Mechanical hand is simple in structure, and response is fast, and precision is high, convenient for micromation, in deep-sea detecting, space technology, mechanical-assisted medical technology
And automatic manufacturing technology field has bright prospects.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With the identical meaning of the general understanding with the those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or too formal.
Above-described specific embodiment has carried out the purpose of the present invention, technical solution and advantageous effect further
It is described in detail, it should be understood that the foregoing is merely the specific embodiment of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (4)
1. a kind of mechanical hand based on ultrasonic start principle, which is characterized in that including palm platform and at least two fingers, every
Finger includes a fixing joint and at least one turning joint；
The palm platform is equipped with and the one-to-one mounting hole of the finger；
In the finger, fixing joint mounting hole corresponding with its is fixedly linked, and turning joint is sequentially connected, and the activity of root
Joint is connected with the fixing joint；
The fixing joint includes oscillator module；
The turning joint includes oscillator module and contact module；
The oscillator module includes start head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element and pretension bolt；
The start head includes driving head, connecting portion, ring flange and cylinder, wherein, the driving head is spherical shape；The connecting portion
For continuous variable cross section structure, section is circle, and the lower end of its smallest cross-sectional and driving head is fixedly linked, maximum cross-section and circle
The upper end of column is fixedly linked；The ring flange is arranged on the junction of the connecting portion and cylinder；
The axis of the start head is equipped with and the matched threaded hole of the pretension bolt；
The pedestal includes main body, the first retainer ring and the second retainer ring, wherein, the main body is upper end opening, lower end closed
Cylinder；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the radius of first retainer ring is big
In second retainer ring；The upper end of first retainer ring and the second retainer ring is fixedly linked with the bottom surface of the main body,
And main body, the first retainer ring, the second retainer ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element
It is cylinder, is arranged on from top to bottom in the main body of the pedestal successively；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics group
Part, base body bottom surface coaxial arrangement and be equipped with the through-hole passed through for pretension bolt in axle center；Pretension bolt sequentially passes through
The bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration piezoelectricity
Threaded hole on ceramic component and start head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body；
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element are used to generation bending vibration and propagate to the driving
Head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate spatially is deposited
It is poor in pi/2 phase；
The contact module includes collet, bottom cover, spring and contact block；
The collet is upper end opening, the cylinder of inner hollow, and lower end is equipped with the circle for lockking the driving head
Hole；
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylinder of upper and lower opening, and the bulge loop is set
It puts and is fixedly linked in the upper end of the described first socket ring and the first socket ring；
The bulge loop of the bottom cover is arranged between the first retainer ring, the second retainer ring；
The contact block include connecting plate, second socket ring and contact ring, wherein, it is described second socket ring, contact ring be on
The hollow cylinder of under shed；The lower end of the second socket ring is fixedly linked by the upper end of connecting plate and the contact ring, and
The second socket ring, contact ring coaxial arrangement；
It is described first socket ring and second socket ring pass through socket carry out clearance fit so that between contact block and bottom cover can on
Lower slider；
The spring pocket is outside the described first socket ring and the second socket ring, and the bulge loop of one end and the bottom cover offsets, the other end
It offsets with the connecting plate of the contact block；
The ring flange of start head is fixedly linked in the oscillator module of the collet upper end and its affiliated turning joint, lower end
Circular hole locks the driving head of coupled turning joint；
The lower end of ring is contacted in the contact block and the driving head of collet latching offsets；
The pedestal of the fixing joint is arranged in the corresponding mounting hole of its affiliated finger and the ring flange of start head and the hand
Palm platform is fixedly linked.
2. the mechanical hand according to claim 1 based on ultrasonic start principle, which is characterized in that the longitudinal vibration piezoelectric ceramics
Component includes two panels longitudinal vibration potsherd and a piece of electrode slice, and electrode slice is clipped in the middle by the two panels longitudinal vibration potsherd, and described two
Piece longitudinal vibration potsherd is single polarization subregion, and it is outside that polarization direction is respectively perpendicular to electrode slice.
3. the mechanical hand according to claim 1 based on ultrasonic start principle, which is characterized in that the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element are comprising two panels bending vibration potsherd and a piece of electrode slice, the two panels bending vibration pottery
Electrode slice is clipped in the middle by tile, and every bending vibration piezoelectric ceramic piece has the opposite polarization subregion of two polarization directions in left and right, and
Two panels bending vibration potsherd is opposite in the polarization direction of the polarization subregion of the same end.
4. the working method based on the mechanical hand based on ultrasonic start principle described in claim 3, which is characterized in that comprising with
Lower step：
For each fixing joint or turning joint, the centre of sphere for enabling its driving head be origin, start head axis be Z axis, mistake
Origin and the boundary that is parallel between two of any bending vibration potsherd in its first bending vibration piezo ceramic element polarization subregions
Straight line is Y-axis, crosses origin and is parallel to two polarization subregions of any bending vibration potsherd in its second bending vibration piezo ceramic element
Between boundary straight line be X-axis；
Apply the electric signal with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively,
The extensional vibration along Z-direction and the bending vibration in XOZ planes are inspired in oscillator module, extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in XOZ planes, and driving head drives start head around Y by rubbing action
Axis rotates；
Apply the electric signal with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively,
The extensional vibration along Z-direction and the bending vibration in YOZ planes are inspired in oscillator module, extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in YOZ planes, and driving head drives start head around X by rubbing action
Axis rotates；
Apply the electricity with pi/2 phase difference on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Signal will inspire two flexural vibration modes all over time and space with pi/2 phase difference in oscillator module respectively,
So that the particle on driving head makees elliptic motion in XOY plane, driving head drives start head to make about the z axis by rubbing action
360 ° of rotations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611120058.5A CN106549601B (en) | 2016-12-08 | 2016-12-08 | Mechanical hand and its working method based on ultrasonic start principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611120058.5A CN106549601B (en) | 2016-12-08 | 2016-12-08 | Mechanical hand and its working method based on ultrasonic start principle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106549601A CN106549601A (en) | 2017-03-29 |
| CN106549601B true CN106549601B (en) | 2018-06-26 |
Family
ID=58396677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611120058.5A Active CN106549601B (en) | 2016-12-08 | 2016-12-08 | Mechanical hand and its working method based on ultrasonic start principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106549601B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514591A (en) * | 2018-11-29 | 2019-03-26 | 南京航空航天大学 | A kind of sandwich piezo mechanical hand and its control method based on spherical joint |
| CN109980989B (en) * | 2019-04-09 | 2020-04-24 | 哈尔滨工业大学 | Two-degree-of-freedom ultra-precise fine object manipulator and excitation method thereof |
| CN109889085B (en) * | 2019-04-09 | 2020-08-07 | 哈尔滨工业大学 | Piezoelectric-driven ultra-precise three-degree-of-freedom planar motion platform and excitation method thereof |
| CN110165933A (en) * | 2019-05-30 | 2019-08-23 | 扬州大学 | A kind of mechanical finger joint piezoelectric motor support and mechanical finger joint |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| CN1388637A (en) * | 2002-06-14 | 2003-01-01 | 南京航空航天大学 | Monostator three-freedon supersonic motor |
| DE10346271A1 (en) * | 2002-10-07 | 2004-04-22 | Harmonic Drive Systems Inc. | Hand surface mechanism for robot hand for catching objects flying at high speed has actuators driven to enable main finger body bending from central position to bring joint regions to defined angle |
| CN102067435A (en) * | 2008-07-17 | 2011-05-18 | 株式会社丰田自动织机 | Vibration actuator |
| CN202364155U (en) * | 2011-12-15 | 2012-08-01 | 郑州大学 | Multi-degree-of-freedom ultrasonic motor with spherical-crown-shaped rotor |
| CN206294101U (en) * | 2016-12-08 | 2017-06-30 | 南京航空航天大学 | Mechanical hand based on ultrasonic start principle |
-
2016
- 2016-12-08 CN CN201611120058.5A patent/CN106549601B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| CN1388637A (en) * | 2002-06-14 | 2003-01-01 | 南京航空航天大学 | Monostator three-freedon supersonic motor |
| DE10346271A1 (en) * | 2002-10-07 | 2004-04-22 | Harmonic Drive Systems Inc. | Hand surface mechanism for robot hand for catching objects flying at high speed has actuators driven to enable main finger body bending from central position to bring joint regions to defined angle |
| CN102067435A (en) * | 2008-07-17 | 2011-05-18 | 株式会社丰田自动织机 | Vibration actuator |
| CN202364155U (en) * | 2011-12-15 | 2012-08-01 | 郑州大学 | Multi-degree-of-freedom ultrasonic motor with spherical-crown-shaped rotor |
| CN206294101U (en) * | 2016-12-08 | 2017-06-30 | 南京航空航天大学 | Mechanical hand based on ultrasonic start principle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106549601A (en) | 2017-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106549601B (en) | Mechanical hand and its working method based on ultrasonic start principle | |
| CN106533248B (en) | Monostator three-freedon supersonic motor and its working method | |
| CN106514699B (en) | A kind of Three Degree Of Freedom machine swivel of hand and its working method | |
| WO2015161670A1 (en) | Micro inchworm-type piezoelectric-driven rotating joint mechanism | |
| CN100581041C (en) | Spherical multi-freedom altrasonic electric machine of single vibrator longtitude bend sandwich changer type | |
| CN112678136B (en) | Piezoelectric-driven machine pectoral fin posture adjusting system and working method thereof | |
| CN206294101U (en) | Mechanical hand based on ultrasonic start principle | |
| CN206317094U (en) | A kind of Three Degree Of Freedom machine swivel of hand | |
| Wu et al. | A two-DOF linear ultrasonic motor with high thrust force density and high power density utilizing torsional/centrosymmetric-bending/symmetric-bending modes | |
| CN206294099U (en) | Monostator three-freedon supersonic motor | |
| JPH0287981A (en) | Piezoelectric actuator | |
| CN109514591A (en) | A kind of sandwich piezo mechanical hand and its control method based on spherical joint | |
| Wen et al. | A low-voltage cylindrical traveling wave ultrasonic motor incorporating multilayered piezoelectric ceramics | |
| Ci et al. | A square-plate piezoelectric linear motor operating in two orthogonal and isomorphic face-diagonal-bending modes | |
| Wang et al. | A novel two-degree-of-freedom spherical ultrasonic motor using three travelling-wave type annular stators | |
| CN203596765U (en) | Longitudinal oscillation and bending oscillation composite mode supersonic wave motor | |
| Oh et al. | Development of robot finger using ultrasonic motors driven by superimposed signal input | |
| CN111251285B (en) | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof | |
| CN203596763U (en) | Longitudinal-bending-torsional composite rotary supersonic wave motor piezoelectric oscillator | |
| CN108111056A (en) | Rotary ultrasonic motor and operation mode based on the driving of four tuning-fork type piezoelectric vibrators | |
| CN209919919U (en) | Piezoelectric manipulator based on spherical joint | |
| Yao et al. | Development and applications of linear ultrasonic motors | |
| Fang et al. | Dual-arm robot modular joint design and error analysis | |
| CN103032254B (en) | A kind of method of floating resonant mode seawave power generation simulation experiment study device | |
| CN111015625A (en) | Micro gripper with twisting function and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |