CN111251285A - Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof - Google Patents
Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof Download PDFInfo
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- CN111251285A CN111251285A CN202010216103.7A CN202010216103A CN111251285A CN 111251285 A CN111251285 A CN 111251285A CN 202010216103 A CN202010216103 A CN 202010216103A CN 111251285 A CN111251285 A CN 111251285A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and a driving method thereof, wherein the mechanical arm comprises a plurality of unit arm sections which are sequentially connected; each unit arm section comprises a piezoelectric vibrator, a positioning assembly and a joint assembly; the spatial positions of the piezoelectric vibrators of each unit arm section and the adjacent unit arm section are mutually orthogonal; applying a driving signal with a pi/2 phase difference to the piezoelectric vibrator to excite a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of the piezoelectric vibrator, so that interface particles in contact with the joint component generate micro-amplitude elliptical motion, and force is generated through friction to drive the rotary joint to rotate; the adjacent unit arm sections are orthogonal in space, and two-degree-of-freedom motion of the unit arm sections in an orthogonal plane can be realized; the piezoelectric friction driving principle enables the invention to adopt a fully open structure in a deep sea environment, does not need a huge sealing device required by an electromagnetic and hydraulic driving mechanical arm, has simple and compact structure and has important application prospect in the deep sea detection field.
Description
Technical Field
The invention relates to the field of piezoelectric drive and robots, in particular to a piezoelectric drive two-degree-of-freedom deep sea mechanical arm and a driving method thereof.
Background
The deep sea manipulator is an important device of a deep sea operation technology, and light weight, precision and intellectualization are future development trends of the deep sea manipulator. The existing deep sea mechanical arm is driven by adopting a hydraulic lever structure, the seawater pressure is balanced by internal hydraulic pressure, the structure is huge, and the risks of ocean pollution and device failure caused by oil leakage and seawater invasion are accompanied. The driving mode of utilizing brushless motor and oil charge compensation sea water pressure can reduce structure size and weight by a wide margin, improves the flexibility, nevertheless must thoroughly eliminate fluid leakage, the sea water invasion leads to the motor inefficacy risk and still has a lot of work to do. How to relieve and get rid of the restriction of deep sea high water pressure constructs a manipulator driver that can adapt to deep sea water pressure, has large power density and simple structure, and is the basic work of light weight, precision and intelligent design of deep sea manipulators.
The piezoelectric actuator is a novel actuator utilizing piezoelectric intelligent materials and a friction driving principle, has the advantages of high precision, light weight, high power density, low-speed direct drive and the like, becomes a preferred actuator with high-end equipment in light weight, intelligent promotion and replacement, and has wide application and development prospects. For example, the type TRUM-30A piezoelectric actuator used in Chang' e III is only one-tenth the weight of other alternative drive motors. For the deep sea detection field, each link of an electric-micro vibration-friction-macro motion driving mechanism chain of a piezoelectric actuator has deep sea environment compatibility, namely, the micro vibration-macro motion friction coupling process has no dynamic sealing problem, the piezoelectric actuator can work in the deep sea environment in a direct immersion mode, only simple and reliable static sealing is needed to be carried out on an electric interface part, a pressure-resistant bin, a dynamic sealing ring, a pressure balancing device and a transmission mechanism are not needed, and the piezoelectric actuator can be used as a driver for the light weight design of a deep sea manipulator.
Aiming at the defects of the direct current motor and the hydraulic drive mechanical arm and the compatibility of the piezoelectric drive principle to the deep sea environment, the invention provides the piezoelectric drive two-degree-of-freedom deep sea mechanical arm, which is expected to be improved in power-weight ratio and deep sea environment adaptability compared with the conventional drive form.
Disclosure of Invention
The invention aims to solve the technical problem of providing a piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and a driving method thereof aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a piezoelectric-driven two-degree-of-freedom deep sea mechanical arm comprises a plurality of connected unit arm sections;
the unit arm section comprises a piezoelectric vibrator, a set of joint components and a set of positioning components;
the piezoelectric vibrator comprises a metal substrate, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the metal matrix comprises a first trapezoidal beam, a second trapezoidal beam and a connecting beam;
the first ladder-shaped beam and the second ladder-shaped beam are both right-angle ladder-shaped beams and comprise upper end faces, lower end faces, inclined planes and first to fourth side faces which are sequentially and vertically fixedly connected, wherein the upper end faces and the lower end faces are parallel to each other, and the area of the upper end faces is larger than that of the lower end faces; the upper end of the first side face is vertically and fixedly connected with the upper end face, and the lower end of the first side face is connected with the lower end face through the inclined face; the upper ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the upper end surface, and the lower ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the lower end surface;
the first ladder-shaped beam and the second ladder-shaped beam are symmetrically arranged, and the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner sides and are parallel to each other;
the connecting beam is arc-shaped, two ends of the connecting beam are fixedly connected with the lower end faces of the first trapezoidal beam and the second trapezoidal beam, the opening is upward, and a convex driving foot is arranged at the midpoint of the inner side of the connecting beam;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically arranged on the third side surfaces of the first trapezoidal beam and the second trapezoidal beam, and the polarization direction is from outside to inside;
the joint assembly comprises a rotary joint, a joint clamp and a fixed shaft;
the rotary joint comprises an outer wheel, an inner wheel and a plurality of spokes, wherein the outer wheel is a hollow cylinder with openings at two ends; the inner wheel cylinder is provided with a first square through hole along the axis; the spokes are uniformly arranged between the outer wheel and the inner wheel, and one end of each spoke is fixedly connected with the inner wall of the outer wheel while the other end of each spoke is fixedly connected with the outer wall of the inner wheel;
the joint clamp is U-shaped and comprises a bottom plate, a first joint side plate and a second joint side plate; the first joint side plate and the second joint side plate are fixedly connected with two ends of the bottom plate respectively; a second square through hole is formed in the center of the bottom plate;
the fixed shaft is a cylinder which is matched with the first square through hole and has a square cross section, one end of the fixed shaft is fixedly connected with one end of the first joint side plate, which is far away from the bottom plate, the other end of the fixed shaft penetrates through the first square through hole in the center of the inner wheel and is fixedly connected with one end of the second joint side plate, which is far away from the bottom plate, and the rotary joint is fixed between the first joint side plate and the second joint side plate;
the connecting beam is arranged among the outer wheel, the bottom plate, the first joint side plate and the second joint side plate, and the driving feet on the connecting beam are abutted against the outer wall of the outer wheel;
the positioning assembly comprises a leg clamp, a bearing assembly and a pretightening force assembly;
the legged clamp includes a fixing plate and first to fourth connecting legs; the fixing plate is rectangular; one end of each of the first connecting leg, the second connecting leg, the third connecting leg and the fourth connecting leg is fixedly connected with four corners of the fixing plate correspondingly, the other end of each of the first connecting leg, the second connecting leg and the fourth connecting leg is fixedly connected with the second side surface of the first trapezoidal beam, the fourth side surface of the first trapezoidal beam, the second side surface of the second trapezoidal beam and the fourth side surface of the second trapezoidal beam correspondingly, and the fixing plate is fixed between the first side surfaces of the first trapezoidal beam and the second trapezoidal beam; a third square through hole with the same size as the second square through hole is formed in the center of the fixing plate;
the bearing assembly comprises a bearing clamp, a first connecting shaft, a second connecting shaft and 2N bearings, wherein N is a natural number which is more than or equal to 1; the bearing clamp comprises a connecting plate, a first bearing side plate and a second bearing side plate, wherein two ends of the connecting plate are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate to form an inverted U shape; the first connecting shaft and the second connecting shaft are arranged in parallel, and two ends of the first connecting shaft and the second connecting shaft are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate; n bearings in the 2N bearings are uniformly arranged on the first connecting shaft, inner rings of the N bearings are fixedly connected with the first connecting shaft, the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings of the N bearings are fixedly connected with the second connecting shaft; a fourth square through hole is formed in the center of the connecting plate;
the pretightening force component comprises a fixed nut, an adjusting column and an adjusting spring; the adjusting column comprises a first stud matched with the fixing nut, a first square boss matched with the second square through hole, a second stud matched with the adjusting nut, and a second square boss matched with the fourth square through hole, the first stud, the first square boss, the second stud and the second square boss are coaxially and fixedly connected in sequence, and the side length of the cross section of the first square boss is smaller than the diameter of the cross section of the second stud;
the first stud penetrates through the third square through hole, so that the first square boss is in interference fit with the third square through hole, and the second stud is abutted to the fixing plate; the adjusting nut is in threaded connection with the second stud, and the second square boss is in clearance fit with the fourth square through hole; the dispensing spring is sleeved on the second stud, one end of the dispensing spring is abutted against the adjusting nut, and the other end of the dispensing spring is abutted against the connecting plate, so that the outer rings of the 2N bearings are abutted against the outer wall of the outer wheel of the rotary joint;
when the unit arm sections are not connected with the adjacent unit arm sections, the fixing nuts are in threaded connection with the first studs, and the fixing plates are fixed between the fixing nuts and the second studs;
when the unit arm section is connected with the adjacent unit arm section, the first stud of the unit arm section penetrates through the second square through hole in the base plate of the joint clamp of the adjacent arm section and then is in threaded connection with the fixing nut of the unit arm section, and the fixing plate of the unit arm section and the base plate of the joint clamp of the adjacent arm section are fixed between the fixing nut and the second stud of the unit arm section.
The invention also discloses a driving method of the unit arm section of the piezoelectric driving two-degree-of-freedom deep sea mechanical arm, which is characterized in that a driving signal with a phase difference of pi/2 is applied to the first piezoelectric ceramic piece and the second piezoelectric ceramic piece of the unit arm section to excite a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of a piezoelectric vibrator of the unit arm section, so that mass points of a driving foot of the unit arm section generate a micro-amplitude elliptical motion track, and force is generated through friction to drive a rotary joint to rotate.
Because the unit arm sections are orthogonal to the adjacent unit arm sections in space, and simultaneously drive signals are applied to the adjacent unit arm sections, the two-degree-of-freedom motion of the two unit arm sections in an orthogonal plane can be realized.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention adopts the technical scheme and the traditional electromagnetic and hydraulic press driving mechanical arm, has simple structure, light weight, no need of mechanisms such as gear reduction and the like, easy sealing, easy miniaturization, low operation noise and high control precision, can be used as a tail end execution device of a deep sea robot, and has important application prospect in the deep sea detection field, in particular to the application occasions with higher control precision on the tail end executor, such as deep sea biological sample sampling and the like.
Drawings
FIG. 1 is a schematic structural diagram of a piezoelectric-driven two-degree-of-freedom deep sea mechanical arm of the present invention;
FIG. 2 is a schematic structural diagram of a unit arm segment according to the present invention;
fig. 3 is a schematic structural view of a piezoelectric vibrator according to the present invention;
FIG. 4 is a schematic structural view of the joint assembly of the present invention;
FIG. 5 is a schematic view of the construction of the joint jig of the present invention;
FIG. 6 is a schematic structural view of a positioning assembly of the present invention;
FIG. 7 is a schematic view of the leg clamp of the present invention;
FIG. 8 is a schematic view of the construction of a bearing assembly of the present invention;
FIG. 9 is a schematic diagram of the pretensioning assembly of the present invention;
FIG. 10 is a schematic view of the structure of the conditioning column of the present invention;
FIG. 11 is a schematic view of the assembly of the components of the positioning assembly of the present invention;
FIG. 12 is a schematic diagram of a first-order asymmetric bending mode of the piezoelectric vibrator according to the present invention;
fig. 13 is a schematic view of a first-order symmetric bending mode of the piezoelectric vibrator according to the present invention.
In the figure, 1-piezoelectric vibrator, 2-joint component, 3-positioning component, 4-first ladder beam, 5-second ladder beam, 6-connecting beam, 7-driving foot, 8-first piezoelectric ceramic piece, 9-second piezoelectric ceramic piece, 10-outer wheel, 11-fixed shaft, 12-spoke, 13-rotating joint, 14-bottom plate, 15-first joint side plate, 16-second joint side plate, 17-second square through hole, 18-leg clamp, 19-bearing component, 20-pre-tightening force component, 21-fixed plate, 22-first connecting leg, 23-third square through hole, 24-bearing clamp, 25-first connecting shaft, 26-second connecting shaft, 27-bearing, 28-fourth square through hole, 29-adjusting nut, 30-adjusting column, 31-adjusting spring, 32-first stud, 33-first square boss, 34-second stud and 35-second square boss.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present 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, components are exaggerated for clarity.
As shown in FIG. 1, the invention discloses a piezoelectric-driven two-degree-of-freedom deep sea mechanical arm, which comprises a plurality of connected unit arm sections.
As shown in fig. 2, the unit arm segment includes a piezoelectric vibrator, a set of joint components and a set of positioning components.
As shown in fig. 3, the piezoelectric vibrator includes a metal substrate, a first piezoelectric ceramic piece, and a second piezoelectric ceramic piece;
the metal matrix comprises a first trapezoidal beam, a second trapezoidal beam and a connecting beam;
the first ladder-shaped beam and the second ladder-shaped beam are both right-angle ladder-shaped beams and comprise upper end faces, lower end faces, inclined planes and first to fourth side faces which are sequentially and vertically fixedly connected, wherein the upper end faces and the lower end faces are parallel to each other, and the area of the upper end faces is larger than that of the lower end faces; the upper end of the first side face is vertically and fixedly connected with the upper end face, and the lower end of the first side face is connected with the lower end face through the inclined face; the upper ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the upper end surface, and the lower ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the lower end surface;
the first ladder-shaped beam and the second ladder-shaped beam are symmetrically arranged, and the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner sides and are parallel to each other;
the connecting beam is arc-shaped, two ends of the connecting beam are fixedly connected with the lower end faces of the first trapezoidal beam and the second trapezoidal beam, the opening is upward, and a convex driving foot is arranged at the midpoint of the inner side of the connecting beam;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically arranged on the third side surfaces of the first trapezoidal beam and the second trapezoidal beam, and the polarization direction is from outside to inside.
As shown in fig. 4, the joint assembly includes a rotary joint, a joint jig, and a fixed shaft.
The rotary joint comprises an outer wheel, an inner wheel and a plurality of spokes, wherein the outer wheel is a hollow cylinder with openings at two ends; the inner wheel cylinder is provided with a first square through hole along the axis; the spokes are uniformly arranged between the outer wheel and the inner wheel, one end of each spoke is fixedly connected with the inner wall of the outer wheel, and the other end of each spoke is fixedly connected with the outer wall of the inner wheel.
As shown in fig. 5, the joint clamp is U-shaped and includes a bottom plate, a first joint side plate and a second joint side plate; the first joint side plate and the second joint side plate are fixedly connected with two ends of the bottom plate respectively; a second square through hole is formed in the center of the bottom plate;
the fixed shaft is a cylinder which is matched with the first square through hole and has a square cross section, one end of the fixed shaft is fixedly connected with one end of the first joint side plate, which is far away from the bottom plate, the other end of the fixed shaft penetrates through the first square through hole in the center of the inner wheel and is fixedly connected with one end of the second joint side plate, which is far away from the bottom plate, and the rotary joint is fixed between the first joint side plate and the second joint side plate;
the connecting beam is arranged among the outer wheel, the bottom plate, the first joint side plate and the second joint side plate, and the driving feet of the connecting beam are abutted to the outer wall of the outer wheel.
As shown in FIG. 6, the positioning assembly includes a leg clamp, a bearing assembly, and a pretensioning assembly.
As shown in fig. 7, the leg jig includes a fixing plate and first to fourth connecting legs; the fixing plate is rectangular; one end of each of the first connecting leg, the second connecting leg, the third connecting leg and the fourth connecting leg is fixedly connected with four corners of the fixing plate correspondingly, the other end of each of the first connecting leg, the second connecting leg and the fourth connecting leg is fixedly connected with the second side surface of the first trapezoidal beam, the fourth side surface of the first trapezoidal beam, the second side surface of the second trapezoidal beam and the fourth side surface of the second trapezoidal beam correspondingly, and the fixing plate is fixed between the first side surfaces of the first trapezoidal beam and the second trapezoidal beam; a third square through hole with the same size as the second square through hole is formed in the center of the fixing plate;
as shown in fig. 8, the bearing assembly includes a bearing holder, a first connecting shaft, a second connecting shaft, and 2N bearings, where N is a natural number greater than or equal to 1; the bearing clamp comprises a connecting plate, a first bearing side plate and a second bearing side plate, wherein two ends of the connecting plate are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate to form an inverted U shape; the first connecting shaft and the second connecting shaft are arranged in parallel, and two ends of the first connecting shaft and the second connecting shaft are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate; n bearings in the 2N bearings are uniformly arranged on the first connecting shaft, inner rings of the N bearings are fixedly connected with the first connecting shaft, the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings of the N bearings are fixedly connected with the second connecting shaft; a fourth square through hole is formed in the center of the connecting plate;
as shown in fig. 9, the pretension assembly comprises a fixing nut, an adjusting post and an adjusting spring.
As shown in fig. 10, the adjusting column includes a first stud matched with the fixing nut, a first square boss matched with the second square through hole, a second stud matched with the adjusting nut, and a second square boss matched with the fourth square through hole, the first stud, the first square boss, the second stud, and the second square boss are coaxially and fixedly connected in sequence, and the side length of the cross section of the first square boss is smaller than the diameter of the cross section of the second stud.
As shown in fig. 11, the first stud penetrates through the third square through hole, so that the first square boss is in interference fit with the third square through hole, and the second stud abuts against the fixing plate; the adjusting nut is in threaded connection with the second stud, and the second square boss is in clearance fit with the fourth square through hole; the dispensing spring is sleeved on the second stud, one end of the dispensing spring is abutted against the adjusting nut, and the other end of the dispensing spring is abutted against the connecting plate, so that the outer rings of the 2N bearings are abutted against the outer wall of the outer wheel of the rotary joint.
When the unit arm sections are not connected with the adjacent unit arm sections, the fixing nuts are in threaded connection with the first studs, and the fixing plates are fixed between the fixing nuts and the second studs;
when the unit arm section is connected with the adjacent unit arm section, the first stud of the unit arm section penetrates through the second square through hole in the base plate of the joint clamp of the adjacent arm section and then is in threaded connection with the fixing nut of the unit arm section, and the fixing plate of the unit arm section and the base plate of the joint clamp of the adjacent arm section are fixed between the fixing nut and the second stud of the unit arm section.
Two groups of N bearings of the bearing assembly and the driving foot of the piezoelectric vibrator are in contact with the rotating joint to form three contact lines, and the three contact lines limit the translation of the rotating joint in an XY plane, so that the rotating joint can only generate rotary motion under the driving action of the driving foot, and further the joint assembly is driven to rotate stably.
As shown in fig. 2, the first square boss on the adjusting column and the third square through hole on the leg clamp are in interference fit, so that the first square boss and the third square through hole are spatially and solidly connected into a whole without relative sliding and rotation; the second square boss on the adjustment post and the fourth square through hole on the bearing assembly are in clearance fit, and the fit enables the bearing assembly to have only freedom of movement in the Y direction.
The adjusting spring of the pretightening force component is compressed between the adjusting nut and the connecting plate of the bearing component; when the position of the adjusting nut is adjusted to adjust the compression amount of the adjusting spring, the pressure between the adjusting spring and the bearing assembly connecting plate can be adjusted, and further the pre-pressure on three contact lines among the 2N bearings, the driving feet and the rotating joints is adjusted.
The invention also discloses a driving method of the unit arm section of the piezoelectric driving two-degree-of-freedom deep sea mechanical arm, which is characterized in that a driving signal with a phase difference of pi/2 is applied to the first piezoelectric ceramic piece and the second piezoelectric ceramic piece of the unit arm section to excite a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of a piezoelectric vibrator of the unit arm section, so that mass points of a driving foot of the unit arm section generate a micro-amplitude elliptical motion track, and force is generated through friction to drive a rotary joint to rotate.
As shown in fig. 12, a first-order asymmetric bending vibration mode of the piezoelectric vibrator can be excited by applying a simple harmonic excitation signal with a certain frequency to the first piezoelectric ceramic piece on the piezoelectric vibrator, and a mass point at a driving foot will generate left-right vibration displacement along the X direction; as shown in fig. 13, by applying a simple harmonic excitation signal with a certain frequency to the second piezoelectric ceramic plate, the mass point at the driving foot will generate up-and-down vibration displacement along the Y direction; adjusting the geometric dimension of the piezoelectric vibrator to adjust the frequency of the two simple harmonic signals to be consistent; on the basis, simple harmonic signals with the same frequency and the phase difference of pi/2 are applied to the first piezoelectric ceramic piece and the second piezoelectric ceramic piece, a first-order asymmetric bending vibration mode and a first-order symmetric longitudinal vibration mode of the piezoelectric vibrator can be excited simultaneously, the coupling action of the two modes enables micro-amplitude elliptical motion tracks of mass points on the surface of the driving foot to generate force through friction to drive the rotating joint to rotate.
Because the unit arm sections are orthogonal to the adjacent unit arm sections in space, and simultaneously drive signals are applied to the adjacent unit arm sections, the two-degree-of-freedom motion of the two unit arm sections in an orthogonal plane can be realized.
By adopting the technical scheme, the deep sea robot can adopt a fully-open structure in a deep sea environment due to the fact that friction force is utilized for driving, compared with the traditional electromagnetic and hydraulic machine driven deep sea mechanical arm, the deep sea robot is simple in structure, light in weight, free of mechanisms such as gear reduction and the like, easy to seal, easy to realize miniaturization, low in operation noise and high in control precision, can be used as a tail end execution device of a deep sea robot, and has important application prospects in the field of deep sea detection, particularly in application occasions with higher control precision on a tail end actuator such as deep sea biological sample sampling and the like.
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.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A piezoelectric-driven two-degree-of-freedom deep sea mechanical arm is characterized by comprising a plurality of connected unit arm sections;
the unit arm section comprises a piezoelectric vibrator, a set of joint components and a set of positioning components;
the piezoelectric vibrator comprises a metal substrate, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the metal matrix comprises a first trapezoidal beam, a second trapezoidal beam and a connecting beam;
the first ladder-shaped beam and the second ladder-shaped beam are both right-angle ladder-shaped beams and comprise upper end faces, lower end faces, inclined planes and first to fourth side faces which are sequentially and vertically fixedly connected, wherein the upper end faces and the lower end faces are parallel to each other, and the area of the upper end faces is larger than that of the lower end faces; the upper end of the first side face is vertically and fixedly connected with the upper end face, and the lower end of the first side face is connected with the lower end face through the inclined face; the upper ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the upper end surface, and the lower ends of the second side surface, the second side surface and the third side surface are vertically and fixedly connected with the lower end surface;
the first ladder-shaped beam and the second ladder-shaped beam are symmetrically arranged, and the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner sides and are parallel to each other;
the connecting beam is arc-shaped, two ends of the connecting beam are fixedly connected with the lower end faces of the first trapezoidal beam and the second trapezoidal beam, the opening is upward, and a convex driving foot is arranged at the midpoint of the inner side of the connecting beam;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically arranged on the third side surfaces of the first trapezoidal beam and the second trapezoidal beam, and the polarization direction is from outside to inside;
the joint assembly comprises a rotary joint, a joint clamp and a fixed shaft;
the rotary joint comprises an outer wheel, an inner wheel and a plurality of spokes, wherein the outer wheel is a hollow cylinder with openings at two ends; the inner wheel cylinder is provided with a first square through hole along the axis; the spokes are uniformly arranged between the outer wheel and the inner wheel, and one end of each spoke is fixedly connected with the inner wall of the outer wheel while the other end of each spoke is fixedly connected with the outer wall of the inner wheel;
the joint clamp is U-shaped and comprises a bottom plate, a first joint side plate and a second joint side plate; the first joint side plate and the second joint side plate are fixedly connected with two ends of the bottom plate respectively; a second square through hole is formed in the center of the bottom plate;
the fixed shaft is a cylinder which is matched with the first square through hole and has a square cross section, one end of the fixed shaft is fixedly connected with one end of the first joint side plate, which is far away from the bottom plate, the other end of the fixed shaft penetrates through the first square through hole in the center of the inner wheel and is fixedly connected with one end of the second joint side plate, which is far away from the bottom plate, and the rotary joint is fixed between the first joint side plate and the second joint side plate;
the connecting beam is arranged among the outer wheel, the bottom plate, the first joint side plate and the second joint side plate, and the driving feet on the connecting beam are abutted against the outer wall of the outer wheel;
the positioning assembly comprises a leg clamp, a bearing assembly and a pretightening force assembly;
the legged clamp includes a fixing plate and first to fourth connecting legs; the fixing plate is rectangular; one end of each of the first connecting leg, the second connecting leg, the third connecting leg and the fourth connecting leg is fixedly connected with four corners of the fixing plate correspondingly, the other end of each of the first connecting leg, the second connecting leg and the fourth connecting leg is fixedly connected with the second side surface of the first trapezoidal beam, the fourth side surface of the first trapezoidal beam, the second side surface of the second trapezoidal beam and the fourth side surface of the second trapezoidal beam correspondingly, and the fixing plate is fixed between the first side surfaces of the first trapezoidal beam and the second trapezoidal beam; a third square through hole with the same size as the second square through hole is formed in the center of the fixing plate;
the bearing assembly comprises a bearing clamp, a first connecting shaft, a second connecting shaft and 2N bearings, wherein N is a natural number which is more than or equal to 1; the bearing clamp comprises a connecting plate, a first bearing side plate and a second bearing side plate, wherein two ends of the connecting plate are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate to form an inverted U shape; the first connecting shaft and the second connecting shaft are arranged in parallel, and two ends of the first connecting shaft and the second connecting shaft are respectively and vertically fixedly connected with the first bearing side plate and the second bearing side plate; n bearings in the 2N bearings are uniformly arranged on the first connecting shaft, inner rings of the N bearings are fixedly connected with the first connecting shaft, the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings of the N bearings are fixedly connected with the second connecting shaft; a fourth square through hole is formed in the center of the connecting plate;
the pretightening force component comprises a fixed nut, an adjusting column and an adjusting spring; the adjusting column comprises a first stud matched with the fixing nut, a first square boss matched with the second square through hole, a second stud matched with the adjusting nut, and a second square boss matched with the fourth square through hole, the first stud, the first square boss, the second stud and the second square boss are coaxially and fixedly connected in sequence, and the side length of the cross section of the first square boss is smaller than the diameter of the cross section of the second stud;
the first stud penetrates through the third square through hole, so that the first square boss is in interference fit with the third square through hole, and the second stud is abutted to the fixing plate; the adjusting nut is in threaded connection with the second stud, and the second square boss is in clearance fit with the fourth square through hole; the dispensing spring is sleeved on the second stud, one end of the dispensing spring is abutted against the adjusting nut, and the other end of the dispensing spring is abutted against the connecting plate, so that the outer rings of the 2N bearings are abutted against the outer wall of the outer wheel of the rotary joint;
when the unit arm sections are not connected with the adjacent unit arm sections, the fixing nuts are in threaded connection with the first studs, and the fixing plates are fixed between the fixing nuts and the second studs;
when the unit arm section is connected with the adjacent unit arm section, the first stud of the unit arm section penetrates through the second square through hole in the base plate of the joint clamp of the adjacent arm section and then is in threaded connection with the fixing nut of the unit arm section, and the fixing plate of the unit arm section and the base plate of the joint clamp of the adjacent arm section are fixed between the fixing nut and the second stud of the unit arm section.
2. The method for driving the unit arm section of the piezoelectrically-driven two-degree-of-freedom deep sea mechanical arm according to claim 1, wherein a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of the unit arm section piezoelectric vibrator are excited by applying a driving signal with a phase difference of pi/2 to the first piezoelectric ceramic piece and the second piezoelectric ceramic piece of the unit arm section, so that mass points of a driving foot of the unit arm section piezoelectric vibrator generate a micro-amplitude elliptical motion track, and a force is generated through friction to drive a rotary joint to rotate.
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| CN113783465A (en) * | 2021-08-25 | 2021-12-10 | 南京航空航天大学 | Piezoelectric driving deep sea release system and working method thereof |
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