CN108436965A - A kind of underwater full open model articulation mechanism and its working method - Google Patents
A kind of underwater full open model articulation mechanism and its working method Download PDFInfo
- Publication number
- CN108436965A CN108436965A CN201810301115.2A CN201810301115A CN108436965A CN 108436965 A CN108436965 A CN 108436965A CN 201810301115 A CN201810301115 A CN 201810301115A CN 108436965 A CN108436965 A CN 108436965A
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- China
- Prior art keywords
- full open
- open model
- circular ring
- ring structure
- piezoelectric vibrator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Transducers For Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of underwater full open model articulation mechanism and its working method, underwater full open model articulation mechanism includes the full open model joint that several are sequentially connected；Full open model joint includes piezoelectric vibrator and connection component；Piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt.Two link blocks clamp circular ring structure from the both sides of piezoelectric vibrator circular ring structure respectively, are connected using bolt and are kept to the contact on the inside of circular ring structure by built-in elastic element.By encouraging the piezoelectric ceramic piece in overarm arm, particle on the inside of its circular ring structure is set to do elliptic motion a little, rubbed effect is drivingly connected component and is rotated around the axis of circular ring structure, realizes the rotation in joint.The present invention can realize the driving of two degree of freedom.
Description
Technical field
The present invention relates to ultrasonic start and robot field more particularly to a kind of underwater full open model articulation mechanism and its works
Make method.
Background technology
Existing fluid pressure type underwater hand volume is big, seal request is high, it is difficult to adapt to AUV miniaturization trend；In recent years
Come develop oil-filled balance deep sea hydraulic, brshless DC motor type of drive, need to also in sealing, deepen in terms of pressure compensation and grind
Study carefully, further decrease oil liquid leakage, seawater invasion risk.
Invention content
The technical problem to be solved by the present invention is to for defect involved in background technology, provide a kind of underwater complete
Open articulation mechanism and its working method.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of underwater full open model articulation mechanism, including several full open model joints for being sequentially connected；
The full open model joint includes piezoelectric vibrator and connection component；
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；
The overarm arm includes root and gradual change portion, wherein root is in cuboid, and gradual change portion is variable section structure, and gradual change portion is horizontal
The larger one end in section and one end of the cuboid are connected, the outer wall of the smaller one end and the circular ring structure in cross section is solid
Even；
Parallel between the root of described two overarm arms, the distance between two overarm arm gradual change portions are from the larger one end in cross section
One end smaller to cross section is gradually reduced；
It is correspondingly provided on the root of described two overarm arms logical for what is be connected with the connection component in adjacent full open model joint
Hole；
Described two piezoelectric ceramic pieces are correspondingly arranged at the inside in described two overarm arm gradual changes portion respectively；
The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt；
The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt, compared with
The center of large end face is equipped with through-hole for being put into the elastic ring and gasket, and its compared with being set on large end face, there are two be mutually parallel
Installation foot；
The small end face of described two link blocks offsets, the outer walls of two link blocks respectively with the both sides phase of the circular ring structure
It supports, be clipped in the circular ring structure between two link blocks；
Described two elastic rings are respectively placed in two link blocks, and described two gaskets are correspondingly arranged at two elastic rings respectively
Outside；
The fixing bolt sequentially passes through after one of gasket, two elastic rings, another gasket and the hold-doun nut spiral shell
Line connects；
The link block is formed compared between two installation foots on large end face for placing other full open model joint overarm arm roots
The rectangular channel in portion, and leading to of corresponding to that the through-hole in overarm arm matches with adjacent full open model joint is equipped on two installation foots
Hole, described two installations correspond to overarm arm with adjacent full open model joint and are connected by bolt enough；
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively；
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
As a kind of underwater further optimal way of full open model articulation mechanism of the present invention, described two piezoelectric ceramic pieces
The inside in described two overarm arm gradual changes portion is correspondingly arranged at by the way of epoxy resin glue glued adhesion.
As a kind of underwater further optimal way of full open model articulation mechanism of the present invention, described two piezoelectric ceramic pieces
Be rectangular sheet, and outer wall does insulation processing, along vertically with itself and far from another piezoelectric ceramic piece direction polarization.
The invention also discloses a kind of working methods of the underwater full open model articulation mechanism, comprise the steps of：
For each full open model joint, two piezoelectric ceramic pieces in its piezoelectric vibrator are encouraged respectively, make two cantilever beam
Two identical n ranks bending vibration vibration shapes with pi/2 phase difference in upper generation time respectively, to make the circular ring structure of piezoelectric vibrator
Generating two, all the homotype mode of oscillation with pi/2 phase difference, the coupling formation for passing through two mode are revolved over time and space
It changes one's profession wave so that particle generates elliptic motion a little on the inside of the circular ring structure of piezoelectric vibrator, and rubbed drives connection component rotates,
And then the movement in the full open model joint.
The present invention has the following technical effects using above technical scheme is compared with the prior art：
1. the problem of the bottleneck that for underwater hydraulic pressure adaptability, it is contemplated that friction-driven allows seawater to enter, and proposes to utilize piezoelectricity
The working method of conversion and friction-driven principle structure full open model joint, releases restriction of the underwater hydraulic pressure to drive system.
2. a rotary freedom in full open model joint is by the frictional force drives between piezoelectric vibrator and switch block, mutually just
Concatenation is handed over, realizes displacement spatially, it is simple in structure, while the response for playing Piezoelectric Driving is rapid, the features such as cutting off self-lock.
Description of the drawings
Fig. 1 is a kind of underwater full open model joint structure schematic diagram；
Fig. 2 is piezoelectric vibrator and connection component combining structure schematic diagram；
Fig. 3 is connecting component structure decomposition diagram；
Fig. 4 is connection component and piezoelectric vibrator connection diagram；
Fig. 5 is polarization and the application signal schematic representation of piezoelectric ceramics；
Fig. 6 is piezoelectric vibrator mode of oscillation and particle elliptic motion schematic diagram；
Wherein, 1- piezoelectric vibrators, 1-1- circular ring structures, 1-2- cantilever fine strains of millet, what 1-3- was used to connect with other full open model joints
Through-hole, 2- connection components, 3- piezoelectric ceramic pieces, 4- hold-doun nuts, 5- gaskets, 6- elastic rings, 7- connectors, 7-1- installation foots,
7-2- rectangular channels, 8- fixing bolts.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments will give full expression to the scope of the present invention to keep the disclosure thoroughly and complete to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, the invention discloses a kind of underwater full open model articulation mechanisms, including several be sequentially connected it is complete
Open joint.
As shown in Fig. 2, the full open model joint includes piezoelectric vibrator and connection component.
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；Institute
State overarm arm include root and gradual change portion, wherein root be in cuboid, gradual change portion be variable section structure, gradual change cross section compared with
One end of big one end and the cuboid is connected, the outer wall of the smaller one end and the circular ring structure in cross section is connected；It is described
Parallel between the root of two overarm arms, the distance between two overarm arm gradual change portions are from cross section larger one end to cross section
Smaller one end is gradually reduced；It is correspondingly provided on the root of described two overarm arms for the company with adjacent full open model joint
The connected through-hole of connected components；Described two piezoelectric ceramic pieces are correspondingly arranged at the inside in described two overarm arm gradual changes portion respectively.
The mode that epoxy resin glue glued adhesion may be used in described two piezoelectric ceramic pieces is correspondingly arranged at described two overarms
The inside in arm gradual change portion.
As shown in figure 3, the connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and consolidates
Determine bolt；The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt,
Be equipped with through-hole for being put into the elastic ring and gasket compared with the center of large end face, and its compared with being set on large end face, there are two mutually flat
Capable installation foot.
As shown in figure 4, the small end face of described two link blocks offsets, the outer walls of two link blocks respectively with the annulus
The both sides of structure offset, are clipped in the circular ring structure between two link blocks；Described two elastic rings are respectively placed in two companies
It connects in block, described two gaskets are correspondingly arranged at the outside of two elastic rings respectively；The fixing bolt sequentially passes through wherein one
It is threadedly coupled with the hold-doun nut after a gasket, two elastic rings, another gasket.
The link block is formed compared between two installation foots on large end face for placing the overarm of other full open model joints
The rectangular channel of arm roots, and be equipped on two installation foots and correspond to the through-hole in overarm arm with adjacent full open model joint and match
Through-hole, it is connected by bolt that described two installations correspond to overarm arm with adjacent full open model joint enough.
Two link blocks on the inside of the both ends of first piezoelectric vibrator circular ring structure insertion annulus, are passed through respectively using bolt
Two link blocks of the elastic ring pair being separately positioned in two rectangular channels are attached, and form the contact to being applied on the inside of circular ring structure
Pressure；The connection of piezoelectric vibrator circular ring structure and connection component, in the annulus inner circle side of piezoelectric vibrator and link block circular cone
Face side contacts with each other connection, for providing the active force needed for friction-driven.Purpose using elastic ring is to realize that piezoelectricity shakes
Precompression continuously adjusts between son and connection component.
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively.
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
The outer wall of two piezoelectric ceramic pieces is handled by insulated with material such as epoxy resin, and two piezoelectric ceramic pieces are rectangle
Piece.
Described two piezoelectric ceramic pieces along vertically with its own and far from another piezoelectric ceramic piece direction polarization, two
The use of piece piezoelectric ceramics is as shown in Figure 5.
The invention also discloses a kind of working methods of the underwater full open model articulation mechanism, comprise the steps of：
For each full open model joint, two piezoelectric ceramic pieces in its piezoelectric vibrator are encouraged respectively, make two cantilever beam
Two identical n ranks bending vibration vibration shapes with pi/2 phase difference in upper generation time respectively, to make the circular ring structure of piezoelectric vibrator
Generating two, all the homotype mode of oscillation with pi/2 phase difference, the coupling formation for passing through two mode are revolved over time and space
It changes one's profession wave so that particle generates elliptic motion a little on the inside of the circular ring structure of piezoelectric vibrator, and rubbed drives connection component rotates,
And then the movement in the full open model joint.
When to two piezoelectric ceramics pumping signals as shown in Figure 5, to have in piezoelectric vibrator cantilever beam generation time
It is coupled that piezoelectric vibrator circular ring structure is made to generate B03 plane modals for two three rank bending vibrations of pi/2 phase difference, it shakes in piezoelectricity
Rotary traveling wave is generated on the inside of sub- circular ring structure, in a cycle, the particle on the inside of annulus does elliptic motion a little, rubbed work
With driving, keep driven structure rotation direction identical as traveling wave locomotion direction is generated in circular ring structure face, patch type piezoelectric energy converter
Mode of oscillation it is as shown in Figure 6.
Driven joint structure can be dynamic by shaft rotation of link block central axes, and each piezoelectric vibrator is by the pressure on two cantilever beams
Electroceramics piece acts on driving simultaneously, because the link block central axes in connection component are mutually orthogonal, cascaded structure interval row
The driven joint structure rotation direction of row be orthogonal, it can be achieved that two degree of freedom driving.
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 meaning identical with the general understanding of 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 implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode 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 underwater full open model articulation mechanism, which is characterized in that the full open model joint being sequentially connected comprising several；
The full open model joint includes piezoelectric vibrator and connection component；
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；
The overarm arm includes root and gradual change portion, wherein root is in cuboid, and gradual change portion is variable section structure, and gradual change portion is horizontal
The larger one end in section and one end of the cuboid are connected, the outer wall of the smaller one end and the circular ring structure in cross section is solid
Even；
Parallel between the root of described two overarm arms, the distance between two overarm arm gradual change portions are from the larger one end in cross section
One end smaller to cross section is gradually reduced；
It is correspondingly provided on the root of described two overarm arms logical for what is be connected with the connection component in adjacent full open model joint
Hole；
Described two piezoelectric ceramic pieces are correspondingly arranged at the inside in described two overarm arm gradual changes portion respectively；
The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt；
The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt, compared with
The center of large end face is equipped with through-hole for being put into the elastic ring and gasket, and its compared with being set on large end face, there are two be mutually parallel
Installation foot；
The small end face of described two link blocks offsets, the outer walls of two link blocks respectively with the both sides phase of the circular ring structure
It supports, be clipped in the circular ring structure between two link blocks；
Described two elastic rings are respectively placed in two link blocks, and described two gaskets are correspondingly arranged at two elastic rings respectively
Outside；
The fixing bolt sequentially passes through after one of gasket, two elastic rings, another gasket and the hold-doun nut spiral shell
Line connects；
The link block is formed compared between two installation foots on large end face for placing other full open model joint overarm arm roots
The rectangular channel in portion, and leading to of corresponding to that the through-hole in overarm arm matches with adjacent full open model joint is equipped on two installation foots
Hole, described two installations correspond to overarm arm with adjacent full open model joint and are connected by bolt enough；
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively；
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
2. the working method of underwater full open model articulation mechanism according to claim 1, which is characterized in that described two pressures
Electroceramics piece is correspondingly arranged at the inside in described two overarm arm gradual changes portion by the way of epoxy resin glue glued adhesion.
3. the working method of underwater full open model articulation mechanism according to claim 1, which is characterized in that described two pressures
Electroceramics piece is rectangular sheet, and outer wall does insulation processing, along perpendicular to the side of itself and another separate piezoelectric ceramic piece
To polarization.
4. the working method based on underwater full open model articulation mechanism described in claim 1, which is characterized in that include following step
Suddenly：
For each full open model joint, two piezoelectric ceramic pieces in its piezoelectric vibrator are encouraged respectively, make two cantilever beam
Two identical n ranks bending vibration vibration shapes with pi/2 phase difference in upper generation time respectively, to make the circular ring structure of piezoelectric vibrator
Generating two, all the homotype mode of oscillation with pi/2 phase difference, the coupling formation for passing through two mode are revolved over time and space
It changes one's profession wave so that particle generates elliptic motion a little on the inside of the circular ring structure of piezoelectric vibrator, and rubbed drives connection component rotates,
And then drive the movement in the full open model joint.
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| CN201810301115.2A CN108436965B (en) | 2018-04-04 | 2018-04-04 | Underwater full-open joint mechanism and working method thereof |
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| CN201810301115.2A CN108436965B (en) | 2018-04-04 | 2018-04-04 | Underwater full-open joint mechanism and working method thereof |
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| CN108436965B CN108436965B (en) | 2023-06-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352671A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of manipulator joint and its working method of patch type piezoelectric driving |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN111152187A (en) * | 2020-02-24 | 2020-05-15 | 南京航空航天大学 | Joint locking mechanism based on piezoelectric drive and working method thereof |
| CN111251284A (en) * | 2020-03-25 | 2020-06-09 | 南京航空航天大学 | Piezoelectric-driven deep sea mechanical arm and driving method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352671A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of manipulator joint and its working method of patch type piezoelectric driving |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN110238873B (en) * | 2019-04-25 | 2023-12-08 | 浙江师范大学 | Orthogonal piezoelectric joint mechanism and control method thereof |
| CN111152187A (en) * | 2020-02-24 | 2020-05-15 | 南京航空航天大学 | Joint locking mechanism based on piezoelectric drive and working method thereof |
| CN111251284A (en) * | 2020-03-25 | 2020-06-09 | 南京航空航天大学 | Piezoelectric-driven deep sea mechanical arm and driving method thereof |
| CN111251284B (en) * | 2020-03-25 | 2023-10-27 | 南京航空航天大学 | Piezoelectric driving deep sea mechanical arm and driving method thereof |
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