CN111152187B - Joint locking mechanism based on piezoelectric driving and working method thereof - Google Patents
Joint locking mechanism based on piezoelectric driving and working method thereof Download PDFInfo
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- CN111152187B CN111152187B CN202010111261.6A CN202010111261A CN111152187B CN 111152187 B CN111152187 B CN 111152187B CN 202010111261 A CN202010111261 A CN 202010111261A CN 111152187 B CN111152187 B CN 111152187B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a joint locking mechanism based on piezoelectric driving and a working method thereof, wherein the joint locking mechanism comprises a first locking piece, a second locking piece and a threaded locking rod; the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence; the first locking piece comprises a balancing weight, a plurality of annular piezoelectric elements, a connecting column, countersunk bolts, a flange plate and a threaded pipe; the second lock member includes a drive stator and first to fourth rectangular piezoelectric elements. The invention converts electric energy into mechanical energy by utilizing the inverse piezoelectric effect of the piezoelectric material, pushes the screw to screw in, realizes accurate butt joint of the rails, does not need complex transmission and speed reduction mechanisms, has simple and compact structure, is easy to realize miniaturization, and can work in a strong magnetic field and vacuum environment.
Description
Technical Field
The invention relates to a piezoelectric driving technology, in particular to a joint locking mechanism based on piezoelectric driving and a working method thereof.
Background
The robot maintenance system of the tokamak device is characterized in that a plurality of sections of tracks are paved in a suspended manner, adjacent tracks are required to be matched and fixed, and the tokamak device runs under extreme working conditions such as strong magnetism, ultra-large current, ultra-low temperature, ultra-high temperature and the like, and a device driven by an electromagnetic motor cannot run with high precision under the environment. Many maintenance systems consider that track butt joint is performed in a tokamak device to form a detection track, but the problems of inaccurate butt joint, complex structure and the like still exist.
Disclosure of Invention
The invention aims to overcome the defects in the background art and provides a joint locking mechanism based on piezoelectric driving and a working method thereof.
The invention adopts the following technical scheme for solving the technical problems:
a joint locking mechanism based on piezoelectric driving comprises a first locking piece, a second locking piece and a threaded locking rod;
the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence, the radiuses of the bottoms of the stud and the light column are the same, and the radius of the bottom of the limiting disc is larger than that of the light column;
the first locking piece comprises a balancing weight, first to fourth annular piezoelectric elements, first to third electrode plates, a connecting column, a countersunk bolt, a flange plate and a threaded pipe;
the balancing weight is a cylinder, and a countersunk through hole is formed along the axis of the balancing weight; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolts sequentially pass through countersunk head through holes of the balancing weights, the first annular piezoelectric elements, the first electrode plates, the second annular piezoelectric elements, the second electrode plates, the third annular piezoelectric elements, the third electrode plates and the fourth annular piezoelectric elements and then are connected with screw threads of screw holes of the connecting columns, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weights and the connecting columns;
the threaded pipe is a hollow cylinder with openings at two ends, and threads matched with the studs of the threaded lock rod are arranged on the inner wall of the threaded pipe;
one end of the flange plate is fixedly connected with one end of the threaded pipe, the other end of the flange plate is fixedly connected with one end of the connecting column, which is far away from the balancing weight, and a plurality of through holes for fixing the first locking piece are uniformly formed in the circumferential direction of the flange plate;
the second lock piece comprises a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded lock rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are arranged on the first to fourth side surfaces of the driving stator in a one-to-one correspondence manner;
the length of the threaded through hole of the driving stator is smaller than that of the threaded lock rod light column, the length of the threaded pipe is larger than that of the threaded lock rod stud, and the length difference of the threaded pipe and the threaded lock rod stud is larger than that of the threaded through hole of the driving stator and that of the threaded lock rod light column;
the first to fourth annular piezoelectric elements are polarized along the thickness direction of the first to fourth annular piezoelectric elements, two partitions are divided along the diameter of the first to fourth annular piezoelectric elements as dividing lines, and the polarization directions of the two partitions are opposite; the partition boundaries of the first annular piezoelectric element and the second annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite; the partition boundaries of the third annular piezoelectric element and the second annular piezoelectric element are perpendicular to each other; the partition boundaries of the fourth annular piezoelectric element and the third annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite;
the first rectangular piezoelectric element, the second rectangular piezoelectric element and the fourth rectangular piezoelectric element are polarized in the thickness direction of the first rectangular piezoelectric element, the third rectangular piezoelectric element and the fourth rectangular piezoelectric element.
The invention also discloses a second locking piece driving method of the joint locking mechanism based on piezoelectric driving, which comprises the following steps:
step A.1), a first phase simple harmonic voltage signal is applied to the first rectangular piezoelectric element and the third rectangular piezoelectric element, a second phase simple harmonic voltage signal is applied to the second rectangular piezoelectric element and the fourth rectangular piezoelectric element, a conformal bending vibration mode of which the driving stator has pi/2 phase difference in space is excited, the phase difference of the first and second simple harmonic voltage signals in time is regulated to pi/2, the coupling of the two modes enables the threaded through hole to present rotary bending vibration, and the threaded locking rod is driven to rotate in or out under the engagement of threads;
and (A.2) if the screw thread locking rod is required to move reversely, adjusting the phase difference of two simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the engagement of the screw thread by performing opposite rotation bending vibration on the screw thread through hole.
The invention also discloses a first locking piece driving method of the joint locking mechanism based on piezoelectric driving, which comprises the following steps:
step B.1), simultaneously respectively applying two-phase simple harmonic voltage signals to the first electrode plate and the third electrode plate, exciting a conformal bending vibration mode of the threaded pipe with pi/2 phase difference in space, adjusting the phase difference of the two-phase simple harmonic voltage signals in time to pi/2, enabling the threaded pipe to present rotary bending vibration by coupling of the two modes, and driving the threaded locking rod to rotate in or out under the engagement of threads;
and B.2), if the screw thread locking rod is required to move reversely, adjusting the phase difference of the two simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the meshing of the screw threads by performing opposite rotary bending vibration on the screw thread pipe.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
under the condition that the preparation and processing technology of the piezoelectric ceramic material is further developed, the piezoelectric driving mode based on the inverse piezoelectric effect can realize the characteristics of compact structure, direct driving, no electromagnetic interference, easy miniaturization and the like of a driving structure, and has wide application prospects in extreme working environments. The joint locking mechanism provided by the invention has the characteristics of being capable of realizing rapid and accurate butt joint of rails, simple and miniaturized in mechanism and the like, and can work in extreme environments such as a vacuum strong magnetic field and the like.
Drawings
FIG. 1 is a schematic illustration of a piezo-electric drive based articulation locking mechanism of the present invention;
FIG. 2 is a schematic view of a first lock according to the present invention;
FIG. 3 is a schematic view of a second lock according to the present invention;
FIG. 4 is a schematic view of the structure of the threaded locking bar of the present invention;
FIG. 5 is a schematic view of a track for securing a first lock;
FIG. 6 is a schematic view of the track and first locking element mated configuration;
FIG. 7 is a schematic view of a track for securing a second lock;
FIG. 8 is a schematic view of the track and second locking element mated configuration;
FIG. 9 is a schematic view of two rails prior to docking;
FIG. 10 is a schematic view of the two rails after docking is completed by the articulation locking mechanism;
fig. 11 is a schematic view of the polarization modes of the first to fourth annular piezoelectric elements and the application modes of the first to third electrode sheet electric signals;
fig. 12 is a schematic diagram of the polarization modes and the electric signal application modes of the first to fourth rectangular piezoelectric elements.
In the figure, a first locking piece, a second locking piece, a 3-thread locking rod, a 4-balancing weight, a 5-annular piezoelectric element, a 6-connecting column, a 7-flange plate, an 8-thread pipe, a 9-driving stator, a 10-first rectangular piezoelectric element, a 11-first end face of the driving stator, a 12-stud, a 13-light column and a 14-limiting disc are arranged.
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 joint locking mechanism based on piezoelectric driving, which comprises a first locking piece, a second locking piece and a threaded locking rod.
As shown in fig. 4, the threaded lock rod comprises a stud, a light beam and a limiting disc which are coaxially and fixedly connected in sequence, the bottom radii of the stud and the light beam are the same, and the bottom radius of the limiting disc is larger than the bottom radius of the light beam.
As shown in fig. 2, the first locking member comprises a balancing weight, first to fourth annular piezoelectric elements, first to third electrode plates, a connecting column, a countersunk bolt, a flange plate and a threaded pipe;
the balancing weight is a cylinder, and a countersunk through hole is formed along the axis of the balancing weight; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolts sequentially pass through countersunk head through holes of the balancing weights, the first annular piezoelectric elements, the first electrode plates, the second annular piezoelectric elements, the second electrode plates, the third annular piezoelectric elements, the third electrode plates and the fourth annular piezoelectric elements and then are connected with screw threads of screw holes of the connecting columns, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weights and the connecting columns;
the threaded pipe is a hollow cylinder with openings at two ends, and threads matched with the studs of the threaded lock rod are arranged on the inner wall of the threaded pipe;
one end of the flange plate is fixedly connected with one end of the threaded pipe, the other end of the flange plate is fixedly connected with one end of the connecting column, which is far away from the balancing weight, and a plurality of through holes for fixing the first locking piece are uniformly formed in the circumferential direction of the flange plate.
As shown in fig. 3, the second locking member includes a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded lock rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are disposed on the first to fourth sides of the driving stator in one-to-one correspondence.
The length of the threaded through hole of the driving stator is smaller than that of the threaded lock rod light column, the length of the threaded pipe is larger than that of the threaded lock rod stud, and the length difference of the threaded pipe and the threaded lock rod stud is larger than that of the threaded through hole of the driving stator and that of the threaded lock rod light column;
as shown in fig. 11, the first to fourth annular piezoelectric elements are polarized along the thickness direction thereof, and are divided into two areas with dividing lines along the diameter thereof, and the polarization directions of the two areas are opposite; the partition boundaries of the first annular piezoelectric element and the second annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite; the partition boundaries of the third annular piezoelectric element and the second annular piezoelectric element are perpendicular to each other; the partition boundaries of the fourth annular piezoelectric element and the third annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite;
as shown in fig. 12, the first to fourth rectangular piezoelectric elements are each polarized in the thickness direction thereof, the first rectangular piezoelectric element and the third rectangular piezoelectric element are identical in polarization direction, and the second rectangular piezoelectric element and the fourth rectangular piezoelectric element are identical in polarization direction.
The invention also discloses a second locking piece driving method of the joint locking mechanism based on piezoelectric driving, which comprises the following steps:
step A.1), a first phase simple harmonic voltage signal is applied to the first rectangular piezoelectric element and the third rectangular piezoelectric element, a second phase simple harmonic voltage signal is applied to the second rectangular piezoelectric element and the fourth rectangular piezoelectric element, a conformal bending vibration mode of which the driving stator has pi/2 phase difference in space is excited, the phase difference of the first and second simple harmonic voltage signals in time is regulated to pi/2, the coupling of the two modes enables the threaded through hole to present rotary bending vibration, and the threaded locking rod is driven to rotate in or out under the engagement of threads;
and (A.2) if the screw thread locking rod is required to move reversely, adjusting the phase difference of two simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the engagement of the screw thread by performing opposite rotation bending vibration on the screw thread through hole.
The invention also discloses a first locking piece driving method of the joint locking mechanism based on piezoelectric driving, which comprises the following steps:
step B.1), simultaneously respectively applying two-phase simple harmonic voltage signals to the first electrode plate and the third electrode plate, exciting a conformal bending vibration mode of the threaded pipe with pi/2 phase difference in space, adjusting the phase difference of the two-phase simple harmonic voltage signals in time to pi/2, enabling the threaded pipe to present rotary bending vibration by coupling of the two modes, and driving the threaded locking rod to rotate in or out under the engagement of threads;
and B.2), if the screw thread locking rod is required to move reversely, adjusting the phase difference of the two simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the meshing of the screw threads by performing opposite rotary bending vibration on the screw thread pipe.
The application of the invention is further explained below with the interfacing of the first and second tracks.
One end of the first rail is provided with a first fixing piece which is used for being matched with a flange plate of the first locking piece, as shown in fig. 5, and the first locking piece is used for fixing one end of the first rail through the flange plate, as shown in fig. 6.
One end of the second rail is provided with a second fixing disc which is used for being matched with the threaded hole of the first end face of the second locking piece, as shown in fig. 7, and the second locking piece is fixed at one end of the second rail through a screw, as shown in fig. 8.
When the first and second rails are not docked, as shown in fig. 9.
When the butt joint is needed to be fixed, aligning a threaded pipe of a first locking piece on a first track with a threaded through hole of a second locking piece of a second track, and screwing a stud of a threaded lock rod into the threaded through hole of a second locking piece driving stator from a second end surface of the second locking piece driving stator; firstly, driving a second locking piece, so that a stud of a threaded lock rod penetrates through a first end face of a stator driven by the second locking piece and then is screwed into a threaded pipe of a first locking piece; and then driving the first locking piece to enable the stud of the threaded locking rod to be continuously screwed into the threaded pipe, and when no stud exists in the second locking piece driving stator and the limiting disc abuts against the second end face of the second locking piece driving stator, the limiting disc of the threaded locking rod enables the second track to be continuously close to the first track until the first track and the second track are completely abutted and locked, as shown in fig. 10.
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 (3)
1. The joint locking mechanism based on piezoelectric driving is characterized by comprising a first locking piece, a second locking piece and a threaded locking rod;
the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence, the radiuses of the bottoms of the stud and the light column are the same, and the radius of the bottom of the limiting disc is larger than that of the light column;
the first locking piece comprises a balancing weight, first to fourth annular piezoelectric elements, first to third electrode plates, a connecting column, a countersunk bolt, a flange plate and a threaded pipe;
the balancing weight is a cylinder, and a countersunk through hole is formed along the axis of the balancing weight; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolts sequentially pass through countersunk head through holes of the balancing weights, the first annular piezoelectric elements, the first electrode plates, the second annular piezoelectric elements, the second electrode plates, the third annular piezoelectric elements, the third electrode plates and the fourth annular piezoelectric elements and then are connected with screw threads of screw holes of the connecting columns, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weights and the connecting columns;
the threaded pipe is a hollow cylinder with openings at two ends, and threads matched with the studs of the threaded lock rod are arranged on the inner wall of the threaded pipe;
one end of the flange plate is fixedly connected with one end of the threaded pipe, the other end of the flange plate is fixedly connected with one end of the connecting column, which is far away from the balancing weight, and a plurality of through holes for fixing the first locking piece are uniformly formed in the circumferential direction of the flange plate;
the second lock piece comprises a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded lock rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are arranged on the first to fourth side surfaces of the driving stator in a one-to-one correspondence manner;
the length of the threaded through hole of the driving stator is smaller than that of the threaded lock rod light column, the length of the threaded pipe is larger than that of the threaded lock rod stud, and the length difference of the threaded pipe and the threaded lock rod stud is larger than that of the threaded through hole of the driving stator and that of the threaded lock rod light column;
the first to fourth annular piezoelectric elements are polarized along the thickness direction of the first to fourth annular piezoelectric elements, two partitions are divided along the diameter of the first to fourth annular piezoelectric elements as dividing lines, and the polarization directions of the two partitions are opposite; the partition boundaries of the first annular piezoelectric element and the second annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite; the partition boundaries of the third annular piezoelectric element and the second annular piezoelectric element are perpendicular to each other; the partition boundaries of the fourth annular piezoelectric element and the third annular piezoelectric element are parallel, and the polarization directions of the partitions at the same side are opposite;
the first rectangular piezoelectric element, the second rectangular piezoelectric element and the fourth rectangular piezoelectric element are polarized in the thickness direction of the first rectangular piezoelectric element, the third rectangular piezoelectric element and the fourth rectangular piezoelectric element.
2. The second locking piece driving method based on the joint locking mechanism driven by piezoelectricity according to claim 1, comprising the following steps:
step A.1), a first phase simple harmonic voltage signal is applied to the first rectangular piezoelectric element and the third rectangular piezoelectric element, a second phase simple harmonic voltage signal is applied to the second rectangular piezoelectric element and the fourth rectangular piezoelectric element, a conformal bending vibration mode with a pi/2 phase difference in space of a driving stator is excited, the phase difference of the two phase simple harmonic voltage signals in time is regulated to pi/2, the coupling of the two modes enables a threaded through hole to present rotary bending vibration, and a threaded locking rod is driven to be screwed in or screwed out under the meshing of threads;
and (A.2) if the screw thread locking rod is required to move reversely, adjusting the phase difference of the first and second simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the meshing of the screw threads by performing opposite rotation bending vibration on the screw thread through hole.
3. The first locking member driving method based on the piezoelectric driving-based joint locking mechanism according to claim 1, comprising the steps of:
step B.1), simultaneously respectively applying two-phase simple harmonic voltage signals to the first electrode plate and the third electrode plate, exciting a conformal bending vibration mode of the threaded pipe with pi/2 phase difference in space, adjusting the phase difference of the two-phase simple harmonic voltage signals in time to pi/2, enabling the threaded pipe to present rotary bending vibration by coupling of the two modes, and driving the threaded locking rod to rotate in or out under the engagement of threads;
and B.2), if the screw thread locking rod is required to move reversely, adjusting the phase difference of the two simple harmonic voltage signals in time to be-pi/2, and driving the screw thread locking rod to move reversely under the meshing of the screw threads by performing opposite rotary bending vibration on the screw thread pipe.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111261.6A CN111152187B (en) | 2020-02-24 | 2020-02-24 | Joint locking mechanism based on piezoelectric driving and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010111261.6A CN111152187B (en) | 2020-02-24 | 2020-02-24 | Joint locking mechanism based on piezoelectric driving and working method thereof |
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| CN111152187A CN111152187A (en) | 2020-05-15 |
| CN111152187B true CN111152187B (en) | 2023-05-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB0920646D0 (en) * | 2009-11-25 | 2010-01-13 | Magna Parva Ltd | Release mechanism |
| CN103133488B (en) * | 2013-03-12 | 2015-04-08 | 哈尔滨工业大学 | Sandwich type free beam torsional vibration operating mode unlockable nut |
| CN103326615B (en) * | 2013-06-09 | 2016-01-13 | 上海大学 | Based on the triangular prism shaped linear ultrasonic motor of asymmetric mode of oscillation |
| CN103303500A (en) * | 2013-07-04 | 2013-09-18 | 中国科学院长春光学精密机械与物理研究所 | Piezoelectric ceramic-driven spatial payload unlocking and separating mechanism |
| CN107386815B (en) * | 2017-08-17 | 2023-06-30 | 深圳市三阶微控实业有限公司 | Intelligent door lock device driven by piezoelectric actuator |
| 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 |
| CN211967514U (en) * | 2020-02-24 | 2020-11-20 | 南京航空航天大学 | Joint locking mechanism based on piezoelectric drive |
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