CN109352671B - Patch type piezoelectric driven manipulator joint and working method thereof - Google Patents
Patch type piezoelectric driven manipulator joint and working method thereof Download PDFInfo
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- CN109352671B CN109352671B CN201811350160.3A CN201811350160A CN109352671B CN 109352671 B CN109352671 B CN 109352671B CN 201811350160 A CN201811350160 A CN 201811350160A CN 109352671 B CN109352671 B CN 109352671B
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a patch type piezoelectric driven manipulator joint and a working method thereof, wherein the manipulator joint comprises a plurality of movable units and a plurality of driving units, the movable units and the driving units are sequentially and alternately arranged, and the movable units and the driving units are connected through two elastic belts; the driving unit comprises a patch type piezoelectric vibrator, a first fixing plate, a second fixing plate, a first connecting shaft and a second connecting shaft; the patch type piezoelectric vibrator comprises a metal matrix and four piezoelectric ceramic plates; the metal matrix comprises a first actuating head, a second actuating head, a first vibrating beam, a second vibrating beam and a clamping mechanism; the movable unit comprises a first rotor and a second rotor; the first rotor and the second rotor are in a ship anchor shape and comprise a retaining plate and a cross beam. When the patch type piezoelectric vibrator of the driving unit works, the patch type piezoelectric vibrator is excited, the arc-shaped actuating heads at the two ends of the patch type piezoelectric vibrator generate elliptical motion with opposite steering directions, and the movable unit is driven to rotate through friction.
Description
Technical Field
The invention relates to the field of piezoelectric actuation and robots, in particular to a patch type piezoelectric driven manipulator joint and a working method thereof.
Background
Underwater robots have evolved greatly due to the need for marine resource exploration and exploitation. The autonomous underwater robot is one of the underwater robots, and is widely concerned due to high intelligent degree, small volume and good concealment. However, the existing autonomous underwater robot is not provided with a manipulator and can only perform limited underwater observation tasks.
The existing underwater manipulator is driven by hydraulic and electromagnetic motors. The submergence depth is increased continuously, the underwater robot is difficult to adapt to high water pressure conditions, and intensive researches on sealing, pressure compensation and the like are needed. Meanwhile, the efficiency of the electromagnetic motor is drastically reduced after the size is reduced, so that the miniaturization requirement is difficult to meet; the hydraulic device has a large weight, and is difficult to meet the requirement of light weight.
The piezoelectric actuation is to generate micron-sized elliptical motion on surface particles of the stator actuating head, and realize motion transmission between stator movers through friction. The mechanical arm is designed into an open structure by adopting a piezoelectric actuation technology, so that the pressure difference of all parts of the underwater mechanical arm in a high water pressure environment is avoided, and the structure is not damaged. The direct driving does not need a transmission mechanism, thereby being beneficial to light weight and miniaturization. An autonomous underwater robot equipped with a piezo-electrically driven fully open manipulator will have a certain underwater working capacity.
Disclosure of Invention
The invention aims to solve the technical problem of providing a patch type piezoelectric driven manipulator joint and a working method thereof aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the patch type piezoelectric driven manipulator joint comprises a plurality of movable units and a plurality of driving units, wherein the movable units and the driving units are sequentially and alternately arranged, and the movable units and the driving units are connected through two elastic belts;
the driving unit comprises a patch type piezoelectric vibrator, a first fixing plate, a second fixing plate, a first connecting shaft and a second connecting shaft;
the patch type piezoelectric vibrator comprises a metal matrix and four piezoelectric ceramic plates;
the metal matrix comprises a first actuating head, a second actuating head, a first vibrating beam, a second vibrating beam and a clamping mechanism;
the first vibration beam and the second vibration beam are cuboid and comprise first to fourth side surfaces; the first side surface of the first vibration beam, the third side surface of the first vibration beam, the first side surface of the second vibration beam and the third side surface of the second vibration beam are parallel to each other; the second side surface of the first vibration beam and the second side surface of the second vibration beam are on the same plane, and the fourth side surface of the first vibration beam and the fourth side surface of the second vibration beam are on the same plane;
the first actuating head and the second actuating head are in a single-hole arch bridge shape; two ends of the first actuating head are respectively fixedly connected with one end of the first vibrating beam and one end of the second vibrating beam; two ends of the second actuating head are respectively and fixedly connected with the other end of the first vibrating beam and the other end of the second vibrating beam;
the clamping mechanism is arranged between the third side surface of the first vibrating beam and the first side surface of the second vibrating beam, is cross-shaped and comprises a first panel and a second panel which are mutually perpendicular; two ends of the first panel are respectively and vertically fixedly connected with the third side surface of the first vibration beam and the first side surface of the second vibration beam; the second panel is provided with two mounting holes with axes perpendicular to the second side surface of the first vibrating beam;
the metal matrix is centrosymmetric with respect to the center of the clamping mechanism;
the four piezoelectric ceramic plates are respectively stuck to the second side surface of the first vibration beam, the fourth side surface of the first vibration beam, the second side surface of the second vibration beam and the fourth side surface of the second vibration beam, and are polarized along the thickness direction, and the polarization directions of the piezoelectric ceramic plates positioned on the same vibration beam are opposite and the polarization directions of the piezoelectric ceramic plates positioned on the same plane are the same;
the first fixing plate and the second fixing plate are both in strip shapes, and a first open slot and a second open slot are respectively arranged at two ends along the length direction of the first fixing plate and the second fixing plate;
a boss is arranged between the first fixing plate and the second fixing plate, and fixing holes corresponding to the two mounting holes on the clamping mechanism are arranged on the boss;
the first fixing plate and the second fixing plate are respectively provided with a first connecting hole and a second connecting hole which are symmetrical to each other at two sides of a boss of the first fixing plate and the second fixing plate, and the first connecting holes and the second connecting holes are respectively used for installing the first connecting shaft and the second connecting shaft;
the patch type piezoelectric vibrator is fixedly connected with the two fixing holes in the middle of the first fixing plate and the two fixing holes in the middle of the second fixing plate through bolts on the clamping mechanism, so that the patch type piezoelectric vibrator is fixed between the boss of the first fixing plate and the boss of the second fixing plate;
threads are arranged at two ends of the first connecting shaft and the second connecting shaft, wherein the two ends of the first connecting shaft are fixed in the first connecting holes of the first fixing plate and the second fixing plate through nuts; two ends of the second connecting shaft are fixed in the second connecting holes of the first fixing plate and the second fixing plate through nuts; the two ends of the first connecting shaft and the second connecting shaft extend out of the first fixing plate and the second fixing plate respectively;
the movable unit comprises a first rotor and a second rotor;
the first rotor and the second rotor are in a ship anchor shape and comprise a retaining plate and a cross beam, wherein the retaining plate is in an arc shape; one end of the cross beam is fixedly connected with the middle point of the inner wall of the retaining plate, and the two sides of the cross beam are respectively provided with a first rotating shaft and a second rotating shaft which are perpendicular to the plane of the retaining plate at the center of the retaining plate;
the other end of the first rotor beam is fixedly connected with the other end of the second rotor beam, so that the plane of the first rotor abutment plate is vertical to the plane of the second rotor abutment plate;
the first rotating shaft and the second rotating shaft of the first rotor of the movable unit are respectively arranged in the first opening grooves of the first fixed plate and the second fixed plate of the adjacent driving unit at one side of the movable unit to form a space sliding hinge, and the first rotating shaft and the second rotating shaft of the first rotor are correspondingly connected with the two ends of the first connecting shaft of the adjacent driving unit through elastic belts, so that the bearing plate of the first rotor of the movable unit is propped against the first actuating head of the adjacent driving unit;
the first rotating shaft and the second rotating shaft of the second rotor of the movable unit are respectively arranged in the first opening grooves of the first fixed plate and the second fixed plate of the adjacent driving unit at the other side of the movable unit to form a space sliding hinge, and the two ends of the first rotating shaft and the second rotating shaft of the second rotor and the two ends of the second connecting shaft of the adjacent driving unit are correspondingly connected through elastic belts, so that the abutting plate of the second rotor of the movable unit abuts against the second actuating head of the adjacent driving unit.
As a further optimization scheme of the patch type piezoelectric driven manipulator joint, a plurality of symmetrical adjusting holes for installing a first connecting shaft and a second connecting shaft are further formed in two sides of a boss of a first fixing plate and a second fixing plate of the driving unit, and the pretightening force of an elastic band between the movable unit and the driving unit is adjusted by adjusting the positions of the first connecting shaft and the second connecting shaft.
As a further optimization scheme of the patch type piezoelectric driven manipulator joint, limiting protrusions are arranged at two ends of the retaining plates of the first rotor and the second rotor of the movable unit, so that the maximum rotation angle of the retaining plates of the first rotor and the second rotor is limited.
As a further optimization scheme of the patch type piezoelectric driving manipulator joint, silicon rubber or DP460 epoxy glue is coated on all four piezoelectric ceramic plates of the driving unit.
The invention also discloses a further optimization scheme of the working method of the patch type piezoelectric driven manipulator joint, and the specific process of driving the adjacent movable units by the driving unit is as follows:
applying a first signal to two piezoelectric ceramic plates on a first vibration beam of a driving unit and applying a second signal to two piezoelectric ceramic plates on a second vibration beam of the driving unit, wherein the first signal and the second signal differ by pi/2 in time phase, so that a longitudinal vibration mode and a transverse vibration mode with 90-degree phase difference in time are generated by a first actuating head and a second actuating head, and further, micro-amplitude elliptical motion with opposite directions is generated by mass points on the upper surfaces of the first actuating head and the second actuating head; the first actuating head and the second actuating head respectively drive the adjacent movable units at two sides to rotate reversely;
the sequence of the time phase difference of the first signal and the second signal is changed, so that the steering direction of the micro elliptical motion of the particles on the upper surfaces of the first actuating head and the second actuating head of the driving unit is changed, and the rotating direction of the adjacent movable units on two sides is further changed.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. open structure increases the submergence depth of the manipulator. The underwater manipulator is designed into an open structure by adopting a piezoelectric driving technology, so that the underwater submergence depth of the manipulator is increased, and the constraint of the seawater pressure is relieved and eliminated.
2. The water-proof mode is simple and reliable. In water, the closed structure is watertight and the open structure is waterproof. The patch type piezoelectric vibrator for generating driving force is composed of a metal matrix and a piezoelectric ceramic piece, wherein one surface of the piezoelectric ceramic piece is stuck on the metal matrix, and the other surface of the piezoelectric ceramic piece is applied with an alternating current signal. The metal matrix can be exposed to seawater, and the surface of the piezoelectric ceramic plate, to which the alternating current signal is applied, needs to be subjected to water-proof treatment. The silicon rubber or DP460 epoxy glue is smeared on the piezoelectric ceramic plate, so that the isolation between seawater and the piezoelectric ceramic plate is realized, and the water-proof mode is simple and reliable.
3. Light weight and miniaturization. The piezoelectric actuation technology is an actuation mode utilizing the inverse piezoelectric effect and the friction driving principle, can directly drive without a transmission mechanism, has the piezoelectric actuation efficiency insensitive to the size and is beneficial to the weight reduction and the miniaturization of the robot.
4. And the adjustment of the pre-pressure is facilitated. The first fixing plate and the second fixing plate of the driving unit are further provided with a plurality of symmetrical adjusting holes for installing the first connecting shaft and the second connecting shaft on two sides of the boss, and the deformation amount of the elastic belt is variable and the precompression is adjustable by adjusting the positions of the first connecting shaft and the second connecting shaft, so that the best precompression is conveniently searched.
Drawings
FIG. 1 is a schematic view of a patch-type piezoelectric-driven manipulator joint according to the present invention;
fig. 2 is a schematic diagram of the structure of the driving unit in the present invention;
fig. 3 is a schematic structural view of a piezoelectric vibrator in a driving unit according to the present invention;
FIG. 4 is a schematic view of the structure of a metal substrate in the piezoelectric vibrator according to the present invention;
FIG. 5 is a schematic diagram of polarization direction of piezoelectric ceramic wafer group and applied electric signal in the piezoelectric vibrator according to the present invention;
FIG. 6 is a schematic view of the structure of the first fixing plate in the driving unit of the present invention;
FIG. 7 is a schematic view of the structure of the movable unit in the present invention;
FIG. 8 is a schematic view of the longitudinal vibration mode of the actuator head of the patch-type piezoelectric vibrator in the driving unit of the present invention;
FIG. 9 is a schematic view of the lateral vibration mode of the actuator head of the patch-type piezoelectric vibrator in the driving unit of the present invention;
FIG. 10 is a schematic diagram of elliptical motion generated by mass points on the surface of a circular arc-shaped actuator head of a patch-type piezoelectric vibrator in a driving unit according to the present invention;
fig. 11 is a schematic diagram of the principle of motion of the present invention.
In the figure, the device comprises a 1-movable unit, a 2-driving unit, a 3-elastic belt, a 2.1-metal matrix, a 2.2-piezoelectric ceramic plate, a 2.3-first fixed plate, a 2.4-first connecting shaft, a 2.5-second connecting shaft, a 2.1.1-first actuating head, a 2.1.2-second vibrating beam, a 2.1.3-clamping mechanism, a 2.3.1-first opening slot of the first fixed plate, a boss of the 2.3.2-first fixed plate, a fixed hole on the 2.3.3-first fixed plate, a second connecting hole on the 2.3.4-first fixed plate, an adjusting hole on the 2.3.5-first fixed plate, a retaining plate of the 1.1-first rotor, a first rotating shaft of the 1.2-first rotor, a retaining plate of the 1.3-second rotor, a first rotating shaft of the 1.4-second rotor, a second rotating shaft of the 1.5-second rotor and a limit boss on the 1.6-first rotating shaft of the retaining plate.
Detailed Description
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.
As shown in fig. 1, the invention discloses a patch type piezoelectric driven manipulator joint, which comprises a plurality of movable units and a plurality of driving units, wherein the movable units and the driving units are sequentially and alternately arranged, and the movable units and the driving units are connected through two elastic belts.
As shown in fig. 2, the driving unit includes a patch type piezoelectric vibrator, a first fixing plate, a second fixing plate, a first connection shaft, and a second connection shaft.
As shown in fig. 3 and 4, the patch type piezoelectric vibrator includes a metal substrate and four piezoelectric ceramic pieces; the metal matrix comprises a first actuating head, a second actuating head, a first vibrating beam, a second vibrating beam and a clamping mechanism; the first vibration beam and the second vibration beam are cuboid and comprise first to fourth side surfaces; the first side surface of the first vibration beam, the third side surface of the first vibration beam, the first side surface of the second vibration beam and the third side surface of the second vibration beam are parallel to each other; the second side surface of the first vibration beam and the second side surface of the second vibration beam are on the same plane, and the fourth side surface of the first vibration beam and the fourth side surface of the second vibration beam are on the same plane; the first actuating head and the second actuating head are in a single-hole arch bridge shape; two ends of the first actuating head are respectively fixedly connected with one end of the first vibrating beam and one end of the second vibrating beam; two ends of the second actuating head are respectively and fixedly connected with the other end of the first vibrating beam and the other end of the second vibrating beam; the clamping mechanism is arranged between the third side surface of the first vibrating beam and the first side surface of the second vibrating beam and is cross-shaped and comprises a first panel and a second panel which are mutually perpendicular; two ends of the first panel are respectively and vertically fixedly connected with the third side surface of the first vibration beam and the first side surface of the second vibration beam; the second panel is provided with two mounting holes with axes perpendicular to the second side surface of the first vibrating beam; the metal matrix is centrosymmetric with respect to the centre of the clamping mechanism.
The four piezoelectric ceramic plates are respectively stuck to the second side surface of the first vibration beam, the fourth side surface of the first vibration beam, the second side surface of the second vibration beam and the fourth side surface of the second vibration beam, and are polarized along the thickness direction, and the polarization directions of the piezoelectric ceramic plates positioned on the same vibration beam are opposite, and the polarization directions of the piezoelectric ceramic plates positioned on the same plane are the same, as shown in fig. 5.
As shown in fig. 6, the first fixing plate and the second fixing plate are both elongated, and a first open slot and a second open slot are respectively arranged at two ends along the length direction of the first fixing plate and the second fixing plate; the middle of the first fixing plate and the middle of the second fixing plate are respectively provided with a boss, and fixing holes corresponding to the two mounting holes on the clamping mechanism are respectively arranged on the bosses; the first fixing plate and the second fixing plate are respectively provided with a first connecting hole and a second connecting hole which are symmetrical to each other at two sides of the boss of the first fixing plate and the second fixing plate, and the first connecting holes and the second connecting holes are respectively used for installing the first connecting shaft and the second connecting shaft.
The patch type piezoelectric vibrator is fixedly connected with the two fixing holes in the middle of the first fixing plate and the two fixing holes in the middle of the second fixing plate through the two mounting holes in the clamping mechanism of the patch type piezoelectric vibrator through bolts, so that the patch type piezoelectric vibrator is fixed between the boss of the first fixing plate and the boss of the second fixing plate.
Threads are arranged at two ends of the first connecting shaft and the second connecting shaft, wherein the two ends of the first connecting shaft are fixed in first connecting holes of the first fixing plate and the second fixing plate through nuts; two ends of the second connecting shaft are fixed in the second connecting holes of the first fixing plate and the second fixing plate through nuts; and two ends of the first connecting shaft and the second connecting shaft extend out of the first fixing plate and the second fixing plate respectively.
As shown in fig. 7, the movable unit includes a first rotor and a second rotor; the first rotor and the second rotor are in a ship anchor shape and comprise a retaining plate and a cross beam, wherein the retaining plate is in an arc shape; one end of the cross beam is fixedly connected with the middle point of the inner wall of the retaining plate, and a first rotating shaft and a second rotating shaft which are perpendicular to the plane where the retaining plate is positioned are respectively arranged at the center of the retaining plate at two sides of the cross beam; the other end of the first rotor beam is fixedly connected with the other end of the second rotor beam, so that the plane of the first rotor abutment plate is vertical to the plane of the second rotor abutment plate.
The first rotating shaft and the second rotating shaft of the first rotor of the movable unit are respectively arranged in the first opening grooves of the first fixed plate and the second fixed plate of the adjacent driving unit at one side of the movable unit to form a space sliding hinge, and the first rotating shaft and the second rotating shaft of the first rotor are correspondingly connected with the two ends of the first connecting shaft of the adjacent driving unit through elastic belts, so that the bearing plate of the first rotor of the movable unit is propped against the first actuating head of the adjacent driving unit;
the first rotating shaft and the second rotating shaft of the second rotor of the movable unit are respectively arranged in the first opening grooves of the first fixed plate and the first opening grooves of the second fixed plate of the adjacent driving unit at the other side of the movable unit to form a space sliding hinge, and the two ends of the first rotating shaft and the second rotating shaft of the second rotor and the two ends of the second connecting shaft of the adjacent driving unit are correspondingly connected through elastic belts, so that the bearing plate of the second rotor of the movable unit and the second actuating head of the adjacent driving unit are propped against each other.
The first fixing plate and the second fixing plate of the driving unit are further provided with a plurality of symmetrical adjusting holes for installing the first connecting shaft and the second connecting shaft on two sides of the boss, and the pretightening force of the elastic band between the movable unit and the driving unit is adjusted by adjusting the positions of the first connecting shaft and the second connecting shaft.
Limiting protrusions are arranged at two ends of the retaining plates of the first rotor and the second rotor of the movable unit so as to limit the maximum rotation angle of the retaining plates of the first rotor and the second rotor.
The four piezoelectric ceramic plates of the driving unit are coated with silicon rubber or DP460 epoxy glue.
The invention also discloses a further optimization scheme of the working method of the patch type piezoelectric driven manipulator joint, and the specific process of driving adjacent movable units by the driving unit is as follows:
as shown in fig. 8, 9 and 10, a first signal is applied to two piezoelectric ceramic plates on a first vibration beam and a second signal is applied to two piezoelectric ceramic plates on a second vibration beam of a driving unit, and the first signal and the second signal are different by pi/2 in time phase, so that a longitudinal vibration mode and a transverse vibration mode with 90-degree phase difference in time are generated by a first actuator head and a second actuator head, and further, micro elliptical motion with opposite directions is generated by mass points on the upper surfaces of the first actuator head and the second actuator head. The first actuating head and the second actuating head respectively drive the adjacent movable units at two sides to rotate reversely, as shown in fig. 11.
The sequence of the time phase difference of the first signal and the second signal is changed, so that the steering direction of the micro elliptical motion of the particles on the upper surfaces of the first actuating head and the second actuating head of the driving unit is changed, and the rotating direction of the adjacent movable units on two sides is further changed.
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. The patch type piezoelectric driven manipulator joint is characterized by comprising a plurality of movable units and a plurality of driving units, wherein the movable units and the driving units are sequentially and alternately arranged, and the movable units and the driving units are connected through two elastic belts;
the driving unit comprises a patch type piezoelectric vibrator, a first fixing plate, a second fixing plate, a first connecting shaft and a second connecting shaft;
the patch type piezoelectric vibrator comprises a metal matrix and four piezoelectric ceramic plates;
the metal matrix comprises a first actuating head, a second actuating head, a first vibrating beam, a second vibrating beam and a clamping mechanism;
the first vibration beam and the second vibration beam are cuboid and comprise first to fourth side surfaces; the first side surface of the first vibration beam, the third side surface of the first vibration beam, the first side surface of the second vibration beam and the third side surface of the second vibration beam are parallel to each other; the second side surface of the first vibration beam and the second side surface of the second vibration beam are on the same plane, and the fourth side surface of the first vibration beam and the fourth side surface of the second vibration beam are on the same plane;
the first actuating head and the second actuating head are in a single-hole arch bridge shape; two ends of the first actuating head are respectively fixedly connected with one end of the first vibrating beam and one end of the second vibrating beam; two ends of the second actuating head are respectively and fixedly connected with the other end of the first vibrating beam and the other end of the second vibrating beam;
the clamping mechanism is arranged between the third side surface of the first vibrating beam and the first side surface of the second vibrating beam, is cross-shaped and comprises a first panel and a second panel which are mutually perpendicular; two ends of the first panel are respectively and vertically fixedly connected with the third side surface of the first vibration beam and the first side surface of the second vibration beam; the second panel is provided with two mounting holes with axes perpendicular to the second side surface of the first vibrating beam;
the metal matrix is centrosymmetric with respect to the center of the clamping mechanism;
the four piezoelectric ceramic plates are respectively stuck to the second side surface of the first vibration beam, the fourth side surface of the first vibration beam, the second side surface of the second vibration beam and the fourth side surface of the second vibration beam, and are polarized along the thickness direction, and the polarization directions of the piezoelectric ceramic plates positioned on the same vibration beam are opposite and the polarization directions of the piezoelectric ceramic plates positioned on the same plane are the same;
the first fixing plate and the second fixing plate are both in strip shapes, and a first open slot and a second open slot are respectively arranged at two ends along the length direction of the first fixing plate and the second fixing plate;
a boss is arranged between the first fixing plate and the second fixing plate, and fixing holes corresponding to the two mounting holes on the clamping mechanism are arranged on the boss;
the first fixing plate and the second fixing plate are respectively provided with a first connecting hole and a second connecting hole which are symmetrical to each other at two sides of a boss of the first fixing plate and the second fixing plate, and the first connecting holes and the second connecting holes are respectively used for installing the first connecting shaft and the second connecting shaft;
the patch type piezoelectric vibrator is fixedly connected with the two fixing holes in the middle of the first fixing plate and the two fixing holes in the middle of the second fixing plate through bolts on the clamping mechanism, so that the patch type piezoelectric vibrator is fixed between the boss of the first fixing plate and the boss of the second fixing plate;
threads are arranged at two ends of the first connecting shaft and the second connecting shaft, wherein the two ends of the first connecting shaft are fixed in the first connecting holes of the first fixing plate and the second fixing plate through nuts; two ends of the second connecting shaft are fixed in the second connecting holes of the first fixing plate and the second fixing plate through nuts; the two ends of the first connecting shaft and the second connecting shaft extend out of the first fixing plate and the second fixing plate respectively;
the movable unit comprises a first rotor and a second rotor;
the first rotor and the second rotor are in a ship anchor shape and comprise a retaining plate and a cross beam, wherein the retaining plate is in an arc shape; one end of the cross beam is fixedly connected with the middle point of the inner wall of the retaining plate, and the two sides of the cross beam are respectively provided with a first rotating shaft and a second rotating shaft which are perpendicular to the plane of the retaining plate at the center of the retaining plate;
the other end of the first rotor beam is fixedly connected with the other end of the second rotor beam, so that the plane of the first rotor abutment plate is vertical to the plane of the second rotor abutment plate;
the first rotating shaft and the second rotating shaft of the first rotor of the movable unit are respectively arranged in the first opening grooves of the first fixed plate and the second fixed plate of the adjacent driving unit at one side of the movable unit to form a space sliding hinge, and the first rotating shaft and the second rotating shaft of the first rotor are correspondingly connected with the two ends of the first connecting shaft of the adjacent driving unit through elastic belts, so that the bearing plate of the first rotor of the movable unit is propped against the first actuating head of the adjacent driving unit;
the first rotating shaft and the second rotating shaft of the second rotor of the movable unit are respectively arranged in the second opening grooves of the first fixed plate and the second fixed plate of the adjacent driving unit at the other side of the movable unit to form a space sliding hinge, and the two ends of the first rotating shaft and the second rotating shaft of the second rotor and the two ends of the second connecting shaft of the adjacent driving unit are correspondingly connected through elastic belts, so that the bearing plate of the second rotor of the movable unit and the second actuating head of the adjacent driving unit are propped against each other.
2. The patch-type piezoelectric-driven manipulator joint according to claim 1, wherein the first fixing plate and the second fixing plate of the driving unit are further provided with a plurality of symmetrical adjusting holes for installing the first connecting shaft and the second connecting shaft on two sides of the boss, and the pretightening force of the elastic band between the movable unit and the driving unit is adjusted by adjusting the positions of the first connecting shaft and the second connecting shaft.
3. The patch-type piezoelectric-driven manipulator joint according to claim 1, wherein limiting protrusions are arranged at two ends of the retaining plates of the first rotor and the second rotor of the movable unit, so as to limit the maximum rotation angle of the retaining plates of the first rotor and the second rotor.
4. The patch-type piezoelectric-driven manipulator joint of claim 1, wherein silicone rubber or DP460 epoxy glue is coated on each of the four piezoelectric ceramic plates of the driving unit.
5. The working method of the patch-type piezoelectric driven manipulator joint according to claim 1, wherein the specific process of driving the adjacent movable units by the driving unit is as follows:
applying a first signal to two piezoelectric ceramic plates on a first vibration beam of a driving unit and applying a second signal to two piezoelectric ceramic plates on a second vibration beam of the driving unit, wherein the first signal and the second signal differ by pi/2 in time phase, so that a longitudinal vibration mode and a transverse vibration mode with 90-degree phase difference in time are generated by a first actuating head and a second actuating head, and further, micro-amplitude elliptical motion with opposite directions is generated by mass points on the upper surfaces of the first actuating head and the second actuating head; the first actuating head and the second actuating head respectively drive the adjacent movable units at two sides to rotate reversely;
the sequence of the time phase difference of the first signal and the second signal is changed, so that the steering direction of the micro elliptical motion of the particles on the upper surfaces of the first actuating head and the second actuating head of the driving unit is changed, and the rotating direction of the adjacent movable units on two sides is further changed.
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| CN110519679A (en) * | 2019-10-11 | 2019-11-29 | 安徽奥飞声学科技有限公司 | A kind of MEMS structure |
| CN111181435B (en) * | 2020-02-24 | 2024-05-28 | 南京航空航天大学 | Track carrying system based on patch type frame actuator and working method thereof |
| CN111283669B (en) * | 2020-03-27 | 2022-04-22 | 南京航空航天大学 | Sandwich type piezoelectric two-degree-of-freedom mechanical arm and driving method thereof |
| CN111726034B (en) * | 2020-05-25 | 2021-05-25 | 南京航空航天大学 | Surface-mounted piezoelectric rotating mechanism and driving method thereof |
| CN114872872B (en) * | 2022-05-19 | 2023-05-23 | 南京航空航天大学 | Piezoelectric driving reciprocating swing type deep sea propulsion device and method thereof |
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| JP5978907B2 (en) * | 2012-10-12 | 2016-08-24 | セイコーエプソン株式会社 | Piezoelectric actuator, robot hand, robot, electronic component transport device, electronic component inspection device, liquid feed pump, printing device, electronic watch, projection device, transport device |
| CN104858892B (en) * | 2015-06-11 | 2017-03-01 | 佛山市南海区广工大数控装备协同创新研究院 | Modularization robot based on intelligent machine arm |
| CN106956284B (en) * | 2017-04-28 | 2023-07-21 | 南京航空航天大学 | Deep sea full-open type mechanical finger structure and working mode thereof |
| CN108436965B (en) * | 2018-04-04 | 2023-06-09 | 南京航空航天大学 | Underwater full-open joint mechanism and working method thereof |
| CN209273460U (en) * | 2018-11-14 | 2019-08-20 | 南京航空航天大学 | A kind of manipulator joint of patch type piezoelectric driving |
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