CN108656102B - Hydraulic-driven multi-degree-of-freedom deep sea mechanical arm and control method thereof - Google Patents
Hydraulic-driven multi-degree-of-freedom deep sea mechanical arm and control method thereof Download PDFInfo
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- CN108656102B CN108656102B CN201810575600.9A CN201810575600A CN108656102B CN 108656102 B CN108656102 B CN 108656102B CN 201810575600 A CN201810575600 A CN 201810575600A CN 108656102 B CN108656102 B CN 108656102B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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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
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- 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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- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention discloses a hydraulic-driven multi-degree-of-freedom deep sea mechanical arm and a control method thereof, wherein the multi-degree-of-freedom deep sea mechanical arm comprises a plurality of joints; the joint comprises two deformation units; the deformation units comprise a piezoelectric pump and two silicon rubber telescopic pipes; the piezoelectric pump is plate-shaped and comprises a first inlet and a second outlet which are positioned at two ends, wherein the first inlet and the second inlet are positioned at the upper end face, and the second inlet and the second outlet are positioned at the lower end face; the two silicon rubber telescopic pipes are open at one end and closed at one end, and liquid is contained in the two silicon rubber telescopic pipes; the piezoelectric pumps of the two deformation units are fixedly connected and are arranged in cross quadrature. The adjacent joints are correspondingly connected through the silicon rubber telescopic pipes of the two deformation units. When the mechanical arm works, the multi-degree-of-freedom movement and positioning of the deep-sea mechanical arm are realized by adjusting the lengths of the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe in the first deformation unit and the second deformation unit of each joint.
Description
Technical Field
The invention relates to the fields of piezoelectric actuators, piezoelectric pumps and robots, in particular to a hydraulic-driven multi-degree-of-freedom deep sea mechanical arm and a control method thereof.
Background
The existing hydraulic underwater robot has complex structure and high power requirement, and is difficult to adapt to the development trend of AUV microminiaturization; in the recent development of the oil-filled and deep-sea water pressure balancing and brushless direct current motor driving mode, further research is needed in the aspects of sealing and pressure compensation so as to reduce energy consumption, oil leakage and sea water invasion risks, and the oil-filled and deep-sea water pressure balancing and brushless direct current motor driving mode still has the defect of adaptability to the deep-sea water pressure.
Disclosure of Invention
The invention aims to solve the technical problem of providing a hydraulic-driven multi-degree-of-freedom deep sea mechanical arm and a control method thereof aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a hydraulic-driven multi-degree-of-freedom deep sea mechanical arm comprises a plurality of joints;
the joint comprises a first deformation unit and a second deformation unit;
the first deformation unit and the second deformation unit comprise a piezoelectric pump, a first silicon rubber telescopic pipe and a second silicon rubber telescopic pipe;
the piezoelectric pump is plate-shaped and comprises a first inlet and a second outlet which are positioned at two ends, wherein the first inlet and the second inlet are positioned at the upper end face, and the second inlet and the second outlet are positioned at the lower end face;
the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe are open at the uniform end and closed at one end, and liquid is contained in the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe;
the opening end of the first silicon rubber extension tube is connected with the second inlet and outlet of the piezoelectric pump, and the closed end of the second silicon rubber extension tube is fixedly connected with the back surface of the first inlet and outlet of the piezoelectric pump;
the piezoelectric pump of the first deformation unit is fixedly connected with the piezoelectric pump of the second deformation unit and is arranged in a cross orthogonal mode;
the closed end of the first silicon rubber telescopic pipe of the first deformation unit of the joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the open end of the second silicon rubber telescopic pipe of the first deformation unit of the first joint is connected with the first inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the closed end of the first silicon rubber telescopic pipe of the second deformation unit of the second joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint, and the open end of the second silicon rubber telescopic pipe of the second deformation unit of the second joint is connected with the first inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint.
As a further optimization scheme of the hydraulic-driven multi-degree-of-freedom deep sea mechanical arm, the piezoelectric pump comprises a substrate, a first silicon rubber layer, a second silicon rubber layer, a first piezoelectric vibrator, a second piezoelectric vibrator and a first pre-pressure top plate;
the substrate is of a rectangular sheet structure, and wrapping plates are arranged on four sides of the substrate, so that a cuboid cavity without an upper end face is formed on the upper side of the substrate, and a cuboid cavity without a lower end face is formed on the lower side of the substrate;
the first and second silicone rubber layers are of rectangular sheet structures, wherein the short side and the two long sides of the left side of the first silicone rubber layer are respectively provided with a silicone rubber sheet which is upward and vertical to the first silicone rubber layer, so that a cuboid cavity with an upper end face and a right side face open is formed on the upper side of the first silicone rubber layer; the right short side and the two long sides of the second silicon rubber layer are respectively provided with a silicon rubber sheet which is downward and vertical to the second silicon rubber layer, so that a cuboid cavity with an opening lower end face and a left side face is formed at the lower side of the second silicon rubber layer;
the first silicon rubber layer is arranged on the upper end face of the substrate, and the left short side and the two long sides of the first silicon rubber layer are in interference fit with the cavity of the upper end face of the substrate; the second silicon rubber layer is arranged on the lower end face of the substrate, and the right short side and the two long sides of the second silicon rubber layer are in interference fit with the cavity of the lower end face of the substrate;
the first piezoelectric vibrator and the second piezoelectric vibrator both comprise rectangular bearing plates and a plurality of piezoelectric ceramic plates, wherein the bearing plates of the first piezoelectric vibrator are arranged in a cavity at the upper side of the first silicon rubber layer, the short side and the two long sides at the left side of the bearing plates of the first piezoelectric vibrator are respectively in interference fit with the cavity at the upper side of the first silicon rubber layer correspondingly, and the piezoelectric ceramic plates of the first piezoelectric vibrator are arranged on the upper surfaces of the bearing plates of the first piezoelectric vibrator and are used for exciting bending vibration modes of the bearing plates of the first piezoelectric vibrator; the bearing plate of the second piezoelectric vibrator is arranged in the cavity at the lower side of the second silicon rubber layer, the short side and the two long sides at the right side of the bearing plate are respectively in interference fit with the cavity at the lower side of the second silicon rubber layer correspondingly, and the plurality of piezoelectric ceramic plates of the second piezoelectric vibrator are arranged on the lower surface of the bearing plate and used for exciting the bending vibration mode of the bearing plate;
the first pre-pressure top plate is arranged on the first piezoelectric vibrator, the lower end face of the first pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the first piezoelectric vibrator bearing plate, and the pressing blocks of the first pre-pressure top plate are all arranged at the node line position of the standing wave on the first piezoelectric vibrator bearing plate; the two sides of the first pre-pressure top plate are respectively provided with a side plate for wrapping the wrapping plates at the two long sides of the base plate, and the side plates at the two sides of the first pre-pressure top plate are respectively provided with a fixing plate which is vertical to the side plates and faces outwards;
the second pre-pressure top plate is arranged below the second piezoelectric vibrator, the upper end face of the second pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the second piezoelectric vibrator bearing plate, and the pressing blocks of the second pre-pressure top plate are all arranged at the node line position of the standing wave on the second piezoelectric vibrator bearing plate; the two sides of the first pre-pressure top plate are respectively provided with a side plate for wrapping the wrapping plates at the two long sides of the base plate, and the side plates at the two sides of the second pre-pressure top plate are respectively provided with a fixing plate which is vertical to the side plates and faces outwards;
the fixing plates on the side plates on the two sides of the first pre-pressure top plate are respectively and correspondingly fixedly connected with the fixing plates on the side plates on the two sides of the second pre-pressure top plate;
the substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to a straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the first piezoelectric vibrator;
the substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to a straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the second piezoelectric vibrator;
the first piezoelectric vibrator generates standing waves and the second piezoelectric vibrator generates standing waves which are identical but are staggered, the dislocation distance is greater than zero and smaller than 1/2 of the wavelength of the standing waves, a first inlet and a second inlet are formed between the right short side of the first piezoelectric vibrator bearing plate and the wrapping plate on the right side of the upper end face of the substrate, and a second inlet and a second outlet are formed between the left short side of the second piezoelectric vibrator bearing plate and the wrapping plate on the left side of the lower end face of the substrate.
As a further optimization scheme of the hydraulic-driven multi-degree-of-freedom deep sea mechanical arm, at least two positioning columns for positioning are arranged on the upper end face and the lower end face of the base plate;
positioning holes which are in one-to-one correspondence with the positioning columns on the upper end face of the substrate are formed in the first silicon rubber layer and the bearing plate of the first piezoelectric vibrator, and the positioning columns on the upper end face of the substrate sequentially penetrate through the first silicon rubber layer and the bearing plate of the first piezoelectric vibrator and the corresponding positioning holes;
and the bearing plates of the second silicon rubber layer and the second piezoelectric vibrator are respectively provided with positioning holes corresponding to the positioning columns on the lower end surface of the substrate one by one, and the positioning columns on the lower end surface of the substrate sequentially penetrate through the second silicon rubber layer and the bearing plates of the second piezoelectric vibrator and the corresponding positioning holes.
As a further optimization scheme of the hydraulic-driven multi-degree-of-freedom deep sea mechanical arm, grooves are formed in the outer walls of wrapping plates at two long edges of the substrate;
protrusions matched with grooves on the outer walls of the wrapping plates at the two long sides of the base plate are arranged on the side plates at the two sides of the first pre-pressure top plate and the second pre-pressure top plate, so that the base plate is prevented from moving relative to the first pre-pressure top plate and the second pre-pressure top plate.
The invention also discloses a control method of the multi-degree-of-freedom deep sea mechanical arm based on the hydraulic drive, which comprises the following steps:
for each piezoelectric pump, sinusoidal signals with pi/2 difference in time are applied to the first piezoelectric vibrator and the second piezoelectric vibrator, so that a plurality of cavities which change with time are formed between the first piezoelectric vibrator and the first silicon rubber layer and between the second piezoelectric vibrator and the second silicon rubber layer, meanwhile, the trough of the first piezoelectric vibrator is attached to a gap on the first silicon rubber layer, the crest of the second piezoelectric vibrator is attached to a gap on the second silicon rubber layer, so that the corresponding gap is closed, the rest gaps are opened, and the trough of the crest is changed with time, so that the gap is correspondingly opened and closed; the change of the volume and the position of the cavity is matched with the opening and closing of gaps on the first silicon rubber layer and the second silicon rubber layer, so that liquid is pumped from the first inlet and outlet to the second inlet and outlet or from the second inlet and outlet to the first inlet and outlet; changing the flowing direction of the liquid by changing the sequence of the phase differences of sinusoidal signals of the first piezoelectric vibrator and the second piezoelectric vibrator;
the multi-degree-of-freedom motion and positioning of the deep-sea mechanical arm are realized by adjusting the lengths of the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe in the first deformation unit and the second deformation unit of each joint.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. the piezoelectric pump has simple structure, low power requirement and small amplitude of the piezoelectric vibrator, and can realize pumping out of extremely small flow, thereby accurately controlling the movement of the arm;
2. the working is that the inner cavity and the runner are filled with seawater, thereby meeting the requirement of high water pressure resistance required by deep sea water operation and realizing the multi-degree-of-freedom directional movement in space.
Drawings
FIG. 1 is an isometric view of a hydraulically driven multi-degree of freedom deep sea robotic arm of the present invention;
FIG. 2 is an isometric view of a piezoelectric pump of the present invention;
FIG. 3 is an exploded view of the structure of the piezoelectric pump of the present invention;
FIG. 4 is a cross-sectional view of a piezoelectric pump according to the present invention;
FIG. 5 is a schematic view of a substrate according to the present invention;
FIG. 6 is a schematic structural view of a first silicone rubber layer according to the present invention;
fig. 7 is a schematic structural view of a first piezoelectric vibrator according to the present invention;
FIG. 8 is a schematic view of a second pre-stressed top plate according to the present invention;
fig. 9 is a schematic diagram of the operation of the working part of the piezoelectric pump of the present invention;
FIG. 10 is a schematic illustration of the assembly between two joints according to the present invention;
FIG. 11 is a schematic diagram showing the comparison of the I-shaped, C-shaped, S-shaped and inverted S-shaped motions of the multi-degree-of-freedom deep sea mechanical arm in one plane.
In the figure, a 1-piezoelectric pump; 2-a substrate; 2-1-positioning columns; a gap on the 2-2-substrate; 2-3-cladding; 2-4, discharging the long side of the base plate from the groove on the outer wall of the wrapping plate; 3-a first silicone rubber layer; 3-1-a positioning column on the first silicone rubber layer; 3-2-gaps on the first silicone rubber layer; 3-3-silicone rubber sheet; 4-a first piezoelectric vibrator; 4-1-a positioning hole on the first piezoelectric vibrator; 4-2-piezoelectric ceramic plates; 5-a second pre-stressed top plate; 5-1-protrusions on the side plates on two sides of the second precompression top plate; 5-2-bolt holes; 5-3-briquetting; 6-a bolt; 7-a silicon rubber telescopic pipe and 8-a second inlet and outlet.
Description of the embodiments
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the components are exaggerated for clarity.
The invention discloses a hydraulic-driven multi-degree-of-freedom deep sea mechanical arm, which comprises a plurality of joints, as shown in figure 1.
As shown in fig. 10, the joint includes a first deforming unit and a second deforming unit. The first deformation unit and the second deformation unit comprise a piezoelectric pump, a first silicon rubber telescopic pipe and a second silicon rubber telescopic pipe. The piezoelectric pump is plate-shaped and comprises a first inlet and a second outlet which are positioned at two ends, wherein the first inlet and the second inlet are positioned at the upper end face, and the second inlet and the second outlet are positioned at the lower end face. The first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe are open at the uniform end and closed at the uniform end, and liquid is contained in the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe. The opening end of the first silicon rubber extension tube is connected with the second inlet and outlet of the piezoelectric pump, and the closed end of the second silicon rubber extension tube is fixedly connected with the back surface of the first inlet and outlet of the piezoelectric pump. The piezoelectric pump of the first deformation unit is fixedly connected with the piezoelectric pump of the second deformation unit, and the piezoelectric pumps are arranged in a cross-shaped orthogonal mode. The closed end of the first silicon rubber telescopic pipe of the first deformation unit of the joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the open end of the second silicon rubber telescopic pipe of the first deformation unit of the first joint is connected with the first inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the closed end of the first silicon rubber telescopic pipe of the second deformation unit of the second joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint, and the open end of the second silicon rubber telescopic pipe of the second deformation unit of the second joint is connected with the first inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint.
As shown in fig. 2,3 and 4, as a further optimization scheme of the hydraulic-driven multi-degree-of-freedom deep sea mechanical arm of the present invention, the piezoelectric pump includes a substrate, first to second silicone rubber layers, first to second piezoelectric vibrators, and first to second pre-compression top plates.
As shown in fig. 5, the substrate is in a rectangular sheet structure, and the four sides of the substrate are all provided with wrapping plates, so that a cuboid cavity without an upper end face is formed on the upper side of the substrate, and a cuboid cavity without a lower end face is formed on the lower side of the substrate.
As shown in fig. 6, the first and second silicone rubber layers are both rectangular sheet structures, wherein the short side and the two long sides of the left side of the first silicone rubber layer are both provided with silicon rubber sheets which are upward and perpendicular to the first silicone rubber layer, so that a cuboid cavity with an upper end face and a right side face open is formed on the upper side of the first silicone rubber layer. The short side and the two long sides on the right side of the second silicon rubber layer are respectively provided with a silicon rubber sheet which is downward and vertical to the second silicon rubber layer, so that a cuboid cavity with an opening on the lower end face and the left side face is formed on the lower side of the second silicon rubber layer.
The first silicon rubber layer is arranged on the upper end face of the base plate, and the left short side and the two long sides of the first silicon rubber layer are in interference fit with the cavity of the upper end face of the base plate. The second silicon rubber layer is arranged on the lower end face of the base plate, and the right short side and the two long sides of the second silicon rubber layer are in interference fit with the cavity of the lower end face of the base plate.
As shown in fig. 7, the first piezoelectric vibrator and the second piezoelectric vibrator both include a rectangular bearing plate and a plurality of piezoelectric ceramic plates, where the bearing plate of the first piezoelectric vibrator is disposed in a cavity on the upper side of the first silicone rubber layer, and the short side and the two long sides on the left side of the bearing plate are respectively in interference fit with the cavity on the upper side of the first silicone rubber layer, and the plurality of piezoelectric ceramic plates of the first piezoelectric vibrator are disposed on the upper surface of the bearing plate and are used for exciting the bending vibration mode of the bearing plate. The bearing plate of the second piezoelectric vibrator is arranged in the cavity at the lower side of the second silicon rubber layer, the short side at the right side and the two long sides of the bearing plate are respectively in corresponding interference fit with the cavity at the lower side of the second silicon rubber layer, and a plurality of piezoelectric ceramic plates of the second piezoelectric vibrator are arranged on the lower surface of the bearing plate and used for exciting the bending vibration mode of the bearing plate.
As shown in fig. 8, the first pre-pressure top plate is disposed on the first piezoelectric vibrator, the lower end surface of the first pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the first piezoelectric vibrator bearing plate, and the pressing blocks of the first pre-pressure top plate are all disposed at the node line position of the standing wave on the first piezoelectric vibrator bearing plate. The two sides of the first pre-pressure top plate are respectively provided with a side plate for wrapping the wrapping plates at the two long edges of the base plate, and the side plates at the two sides of the first pre-pressure top plate are respectively provided with a fixing plate which is perpendicular to the side plates and faces outwards.
The second pre-pressure top plate is arranged below the second piezoelectric vibrator, the upper end face of the second pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the second piezoelectric vibrator bearing plate, and the pressing blocks of the second pre-pressure top plate are all arranged at the node line positions of standing waves on the second piezoelectric vibrator bearing plate. The first pre-compression top plate is provided with side plates which are used for wrapping the wrapping plates at the two long edges of the base plate at two sides of the first pre-compression top plate, and the side plates at two sides of the second pre-compression top plate are provided with fixing plates which are perpendicular to the side plates and face outwards.
The fixing plates on the side plates on the two sides of the first precompression top plate are respectively and correspondingly fixedly connected with the fixing plates on the side plates on the two sides of the second precompression top plate.
The substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to a straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the first piezoelectric vibrator.
The substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to the straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the second piezoelectric vibrator.
The first piezoelectric vibrator generates standing waves and the second piezoelectric vibrator generates standing waves which are identical but are staggered, the dislocation distance is larger than zero and smaller than 1/2 of the wavelength of the standing waves, a first inlet and a second inlet are formed between the right short side of the first piezoelectric vibrator bearing plate and the wrapping plate on the right side of the upper end face of the substrate, and a second inlet and a second outlet are formed between the left short side of the second piezoelectric vibrator bearing plate and the wrapping plate on the left side of the lower end face of the substrate.
At least two positioning columns for positioning are arranged on the upper end face and the lower end face of the base plate.
The first silicon rubber layer and the bearing plate of the first piezoelectric vibrator are respectively provided with a positioning hole corresponding to the positioning columns on the upper end face of the base plate one by one, and the positioning columns on the upper end face of the base plate sequentially penetrate through the first silicon rubber layer and the bearing plate of the first piezoelectric vibrator and the corresponding positioning holes.
And the second silicon rubber layer and the bearing plate of the second piezoelectric vibrator are respectively provided with positioning holes corresponding to the positioning columns on the lower end surface of the substrate one by one, and the positioning columns on the lower end surface of the substrate sequentially penetrate through the second silicon rubber layer and the bearing plate of the second piezoelectric vibrator and the corresponding positioning holes.
Grooves are arranged on the outer walls of the wrapping plates at the two long sides of the base plate.
Protrusions matched with grooves on the outer walls of the wrapping plates at the two long sides of the base plate are arranged on the side plates at the two sides of the first pre-pressure top plate and the second pre-pressure top plate, so that the base plate is prevented from moving relative to the first pre-pressure top plate and the second pre-pressure top plate.
The working principle of the piezoelectric pump is as follows: for each piezoelectric pump, a sinusoidal signal with a pi/2 difference in time is applied to the first piezoelectric vibrator and the second piezoelectric vibrator, so that a plurality of cavities which change along with time are formed between the first piezoelectric vibrator and the first silicon rubber layer and between the second piezoelectric vibrator and the second silicon rubber layer, meanwhile, the trough of the first piezoelectric vibrator is attached to a gap on the first silicon rubber layer, the crest of the second piezoelectric vibrator is attached to a gap on the second silicon rubber layer, so that the corresponding gap is closed, the rest gaps are opened, and the trough of the crest is changed along with time, so that the gap is correspondingly opened and closed. The change of the volume and the position of the cavity is matched with the opening and closing of gaps on the first silicon rubber layer and the second silicon rubber layer, so that liquid is pumped from the first inlet and outlet to the second inlet and outlet or from the second inlet and outlet to the first inlet and outlet. The flowing direction of the liquid is changed by changing the sequence of the phase differences of the sinusoidal signals of the first piezoelectric vibrator and the second piezoelectric vibrator.
The specific description is given with reference to fig. 9: in one vibration period of the first piezoelectric vibrator and the second piezoelectric vibrator, defining the time when the position of the first piezoelectric vibrator close to one end of the inlet is the maximum displacement as the 0 time of the motion period of the two piezoelectric vibrators, wherein the second piezoelectric vibrator is not deformed; after that, the deformation of the first piezoelectric vibrator is reduced, the second piezoelectric vibrator starts to deform, the gap A at the inlet is opened, and the liquid enters the cavity a; when t=T/4, the first piezoelectric vibrator is free from deformation, the second piezoelectric vibrator is deformed to reach the maximum value, and the liquid volume in the cavity a reaches the maximum value; after that, the deformation of the first piezoelectric vibrator enables the gap A and the gap B to be opened at the same time, the volume of the cavity a is reduced, the volume of the cavity B is increased, and liquid enters the cavity B from the cavity a through the gap A and the gap B; when t=T/2, the second piezoelectric vibrator is not deformed, the deformation of the first piezoelectric vibrator reaches the maximum value, and the liquid volume in the cavity b reaches the maximum value; after that, the deformation of the second piezoelectric vibrator causes the gap B and the gap C to be opened, the gap A is in a closed state, the volume of the cavity B is reduced, the volume of the cavity C is increased, and liquid enters the cavity C from the cavity B through the gap B and the gap C; when t=3t/4, the first piezoelectric vibrator is not deformed, the second piezoelectric vibrator is deformed to reach the maximum value, and the liquid volume in the cavity c reaches the maximum value; after that, the deformation of the first piezoelectric vibrator causes the gap C and the gap D to be opened, the gap B is in a closed state, the volume of the cavity C is reduced, the volume of the cavity D is increased, and liquid enters the cavity D from the cavity C through the gap C and the gap D; when t=T, the second piezoelectric vibrator is free from deformation, the deformation of the first piezoelectric vibrator reaches the maximum value, and the liquid volume in the cavity d reaches the maximum value; at this time, the liquid moves from the inlet to the cavity d in a single direction, the vibration cycle of the first piezoelectric vibrator and the second piezoelectric vibrator is continued, and the liquid continues to move until flowing out from the outlet.
FIG. 11 is a schematic diagram showing a comparison of I-shaped, C-shaped, S-shaped and inverted S-shaped movements of a multi-degree-of-freedom deep sea mechanical arm in a plane according to the present invention: the multi-degree-of-freedom motion and positioning of the deep-sea mechanical arm are realized by adjusting the lengths of the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe in the first deformation unit and the second deformation unit of each joint.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (5)
1. A hydraulic-driven multi-degree-of-freedom deep sea mechanical arm is characterized by comprising a plurality of joints;
the joint comprises a first deformation unit and a second deformation unit;
the first deformation unit and the second deformation unit comprise a piezoelectric pump, a first silicon rubber telescopic pipe and a second silicon rubber telescopic pipe;
the piezoelectric pump is plate-shaped and comprises a first inlet and a second outlet which are positioned at two ends, wherein the first inlet and the second inlet are positioned at the upper end face, and the second inlet and the second outlet are positioned at the lower end face;
the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe are open at the uniform end and closed at one end, and liquid is contained in the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe;
the opening end of the first silicon rubber extension tube is connected with the second inlet and outlet of the piezoelectric pump, and the closed end of the second silicon rubber extension tube is fixedly connected with the back surface of the first inlet and outlet of the piezoelectric pump;
the piezoelectric pump of the first deformation unit is fixedly connected with the piezoelectric pump of the second deformation unit and is arranged in a cross orthogonal mode;
the closed end of the first silicon rubber telescopic pipe of the first deformation unit of the joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the open end of the second silicon rubber telescopic pipe of the first deformation unit of the first joint is connected with the first inlet and outlet of the piezoelectric pump of the first deformation unit of the adjacent joint, the closed end of the first silicon rubber telescopic pipe of the second deformation unit of the second joint is fixedly connected with the back surface of the second inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint, and the open end of the second silicon rubber telescopic pipe of the second deformation unit of the second joint is connected with the first inlet and outlet of the piezoelectric pump of the second deformation unit of the adjacent joint.
2. The hydraulically driven multiple degree of freedom deep sea mechanical arm of claim 1 wherein the piezoelectric pump comprises a base plate, first to second silicone rubber layers, first to second piezoelectric vibrators, and first to second pre-stressed top plates;
the substrate is of a rectangular sheet structure, and wrapping plates are arranged on four sides of the substrate, so that a cuboid cavity without an upper end face is formed on the upper side of the substrate, and a cuboid cavity without a lower end face is formed on the lower side of the substrate;
the first and second silicone rubber layers are of rectangular sheet structures, wherein the short side and the two long sides of the left side of the first silicone rubber layer are respectively provided with a silicone rubber sheet which is upward and vertical to the first silicone rubber layer, so that a cuboid cavity with an upper end face and a right side face open is formed on the upper side of the first silicone rubber layer; the right short side and the two long sides of the second silicon rubber layer are respectively provided with a silicon rubber sheet which is downward and vertical to the second silicon rubber layer, so that a cuboid cavity with an opening lower end face and a left side face is formed at the lower side of the second silicon rubber layer;
the first silicon rubber layer is arranged on the upper end face of the substrate, and the left short side and the two long sides of the first silicon rubber layer are in interference fit with the cavity of the upper end face of the substrate; the second silicon rubber layer is arranged on the lower end face of the substrate, and the short side and the two long sides of the second silicon rubber layer are in interference fit with the cavity of the lower end face of the substrate;
the first piezoelectric vibrator and the second piezoelectric vibrator both comprise rectangular bearing plates and a plurality of piezoelectric ceramic plates, wherein the bearing plates of the first piezoelectric vibrator are arranged in a cavity at the upper side of the first silicon rubber layer, the short side and the two long sides at the left side of the bearing plates of the first piezoelectric vibrator are respectively in interference fit with the cavity at the upper side of the first silicon rubber layer correspondingly, and the piezoelectric ceramic plates of the first piezoelectric vibrator are arranged on the upper surfaces of the bearing plates of the first piezoelectric vibrator and are used for exciting bending vibration modes of the bearing plates of the first piezoelectric vibrator; the bearing plate of the second piezoelectric vibrator is arranged in the cavity at the lower side of the second silicon rubber layer, the short side and the two long sides at the right side of the bearing plate are respectively in interference fit with the cavity at the lower side of the second silicon rubber layer correspondingly, and the plurality of piezoelectric ceramic plates of the second piezoelectric vibrator are arranged on the lower surface of the bearing plate and used for exciting the bending vibration mode of the bearing plate;
the first pre-pressure top plate is arranged on the first piezoelectric vibrator, the lower end face of the first pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the first piezoelectric vibrator bearing plate, and the pressing blocks of the first pre-pressure top plate are all arranged at the node line position of the standing wave on the first piezoelectric vibrator bearing plate; the two sides of the first pre-pressure top plate are respectively provided with a side plate for wrapping the wrapping plates at the two long sides of the base plate, and the side plates at the two sides of the first pre-pressure top plate are respectively provided with a fixing plate which is vertical to the side plates and faces outwards;
the second pre-pressure top plate is arranged below the second piezoelectric vibrator, the upper end face of the second pre-pressure top plate is provided with a plurality of strip-shaped pressing blocks for pressing the second piezoelectric vibrator bearing plate, and the pressing blocks of the second pre-pressure top plate are all arranged at the node line position of the standing wave on the second piezoelectric vibrator bearing plate; the two sides of the first pre-pressure top plate are respectively provided with a side plate for wrapping the wrapping plates at the two long sides of the base plate, and the side plates at the two sides of the second pre-pressure top plate are respectively provided with a fixing plate which is vertical to the side plates and faces outwards;
the fixing plates on the side plates on the two sides of the first pre-pressure top plate are respectively and correspondingly fixedly connected with the fixing plates on the side plates on the two sides of the second pre-pressure top plate;
the substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to a straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the first piezoelectric vibrator;
the substrate, the first silicon rubber layer and the second silicon rubber layer are respectively provided with a slit perpendicular to a straight line where the long side of the substrate is located at the wave crest and the wave trough of the standing wave generated by the second piezoelectric vibrator;
the first piezoelectric vibrator generates standing waves and the second piezoelectric vibrator generates standing waves which are identical but are staggered, the dislocation distance is greater than zero and smaller than 1/2 of the wavelength of the standing waves, a first inlet and a second inlet are formed between the right short side of the first piezoelectric vibrator bearing plate and the wrapping plate on the right side of the upper end face of the substrate, and a second inlet and a second outlet are formed between the left short side of the second piezoelectric vibrator bearing plate and the wrapping plate on the left side of the lower end face of the substrate.
3. The hydraulically driven multi-degree-of-freedom deep sea mechanical arm according to claim 2, wherein at least two positioning columns for positioning are arranged on the upper end face and the lower end face of the base plate;
positioning holes which are in one-to-one correspondence with the positioning columns on the upper end face of the substrate are formed in the first silicon rubber layer and the bearing plate of the first piezoelectric vibrator, and the positioning columns on the upper end face of the substrate sequentially penetrate through the first silicon rubber layer and the bearing plate of the first piezoelectric vibrator and the corresponding positioning holes;
and the bearing plates of the second silicon rubber layer and the second piezoelectric vibrator are respectively provided with positioning holes corresponding to the positioning columns on the lower end surface of the substrate one by one, and the positioning columns on the lower end surface of the substrate sequentially penetrate through the second silicon rubber layer and the bearing plates of the second piezoelectric vibrator and the corresponding positioning holes.
4. The hydraulically driven multi-degree-of-freedom deep sea mechanical arm according to claim 2, wherein grooves are formed in the outer walls of the wrapping plates at the two long sides of the base plate;
protrusions matched with grooves on the outer walls of the wrapping plates at the two long sides of the base plate are arranged on the side plates at the two sides of the first pre-pressure top plate and the second pre-pressure top plate, so that the base plate is prevented from moving relative to the first pre-pressure top plate and the second pre-pressure top plate.
5. The control method of the multi-degree-of-freedom deep sea mechanical arm based on the hydraulic drive of claim 2 is characterized by comprising the following steps:
for each piezoelectric pump, sinusoidal signals with pi/2 difference in time are applied to the first piezoelectric vibrator and the second piezoelectric vibrator, so that a plurality of cavities which change with time are formed between the first piezoelectric vibrator and the first silicon rubber layer and between the second piezoelectric vibrator and the second silicon rubber layer, meanwhile, the trough of the first piezoelectric vibrator is attached to a gap on the first silicon rubber layer, the crest of the second piezoelectric vibrator is attached to a gap on the second silicon rubber layer, so that the corresponding gap is closed, the rest gaps are opened, and the trough of the crest is changed with time, so that the gap is correspondingly opened and closed; the change of the volume and the position of the cavity is matched with the opening and closing of gaps on the first silicon rubber layer and the second silicon rubber layer, so that liquid is pumped from the first inlet and outlet to the second inlet and outlet or from the second inlet and outlet to the first inlet and outlet; changing the flowing direction of the liquid by changing the sequence of the phase differences of sinusoidal signals of the first piezoelectric vibrator and the second piezoelectric vibrator;
the multi-degree-of-freedom motion and positioning of the deep-sea mechanical arm are realized by adjusting the lengths of the first silicon rubber telescopic pipe and the second silicon rubber telescopic pipe in the first deformation unit and the second deformation unit of each joint.
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| JP5249176B2 (en) * | 2009-11-14 | 2013-07-31 | サンポート設計有限会社 | Hydraulic driving actuator, hydraulic driving actuator unit incorporating the same, and hydraulic driving robot incorporating them |
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