CN111251285B - 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
- Publication number
- CN111251285B CN111251285B CN202010216103.7A CN202010216103A CN111251285B CN 111251285 B CN111251285 B CN 111251285B CN 202010216103 A CN202010216103 A CN 202010216103A CN 111251285 B CN111251285 B CN 111251285B
- Authority
- CN
- China
- Prior art keywords
- square
- joint
- plate
- ladder
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000005452 bending Methods 0.000 claims abstract description 9
- 239000000919 ceramic Substances 0.000 claims description 24
- 239000002184 metal Substances 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000010287 polarization Effects 0.000 claims description 3
- 239000002245 particle Substances 0.000 abstract description 6
- 238000007789 sealing Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000013535 sea water Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000012472 biological sample Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The invention discloses a piezoelectric driving 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 connected in sequence; each unit arm section comprises a piezoelectric vibrator, a positioning component and a joint component; the space positions of the piezoelectric vibrators of each unit arm section and the adjacent unit arm sections are mutually orthogonal; applying a driving signal with 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 contacted with the joint assembly generate micro elliptical motion, and generating force to drive the rotation joint to rotate through friction; adjacent unit arm sections are orthogonal in space, so that 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 full-open structure in a deep sea environment, does not need a huge sealing device required by an electromagnetic and hydraulic driving mechanical arm, has a simple and compact structure, and has important application prospect in the field of deep sea detection.
Description
Technical Field
The invention relates to the field of piezoelectric driving and robots, in particular to a piezoelectric driving two-degree-of-freedom deep sea mechanical arm and a driving method thereof.
Background
The deep sea manipulator is an important device for deep sea operation technology, and light weight, precision and intellectualization are the development trend in the future. The existing deep sea manipulators are driven by hydraulic lever structures, the internal hydraulic pressure is used for balancing the sea water pressure, the structure is huge, and the risk of sea pollution and device failure caused by oil leakage and sea water invasion is accompanied. The driving mode of compensating the sea water pressure by using the brushless motor and the oil filling can greatly reduce the structural size and weight and improve the flexibility, but the risk of motor failure caused by oil leakage and sea water invasion is thoroughly eliminated. How to alleviate and get rid of the limitation of deep sea high water pressure, a manipulator driver which can adapt to deep sea water pressure, has large power density and simple structure is constructed, and is the basic work of light weight, precision and intelligent design of the deep sea manipulator.
The piezoelectric actuator is a novel driver utilizing the piezoelectric intelligent material and the friction driving principle, has the advantages of high precision, light weight, high power density, low-speed direct driving and the like, becomes a first-choice actuator of high-end equipment in light weight and intelligent lifting and updating, and has wide application and development prospects. For example, the TRUM-30A type piezoelectric actuator used in goddess Chang E III is only one tenth of the weight of the other alternative drive motor. For the deep sea detection field, all links of an electric-micro vibration-friction-macro motion driving mechanism chain of the piezoelectric actuator have deep sea environment compatibility, namely dynamic sealing problems do not exist in a micro vibration-macro motion friction coupling process, the piezoelectric actuator can directly operate in a deep sea environment in a dipping mode, simple and reliable static sealing is only needed for an electric interface part, and a pressure-resistant bin, a movable sealing ring, a pressure balancing device and a transmission mechanism are not needed, so that the piezoelectric actuator can be used as a driver for a lightweight design of a deep sea manipulator.
Aiming at the defects of the direct current motor and the hydraulic driving mechanical arm and the compatibility of the piezoelectric driving principle to the deep sea environment, the invention provides the piezoelectric driving two-degree-of-freedom deep sea mechanical arm, and the piezoelectric driving two-degree-of-freedom deep sea mechanical arm is expected to be improved in terms of power weight ratio and the adaptive capacity of the deep sea environment compared with the existing driving mode.
Disclosure of Invention
The invention aims to solve the technical problem of providing a piezoelectric driving 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 driving 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 matrix, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the metal matrix comprises a first ladder-shaped beam, a second ladder-shaped beam and a connecting beam;
the first and second ladder beams are right-angle ladder beams and comprise an upper end face, a lower end face, an inclined plane and first to fourth side faces which are vertically and fixedly connected in sequence, wherein the upper end face and the lower end face are parallel to each other, and the area of the upper end face is larger than that of the lower end face; the upper end of the first side surface is vertically and fixedly connected with the upper end surface, and the lower end of the first side surface is connected with the lower end surface through the inclined surface; the upper ends of the second side surface to the third side surface are vertically fixedly connected with the upper end surface, and the lower ends of the second side surface to the third side surface are vertically fixedly connected with the lower end surface;
the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner side 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 surfaces of the first ladder-shaped beam and the second ladder-shaped beam, the opening is upward, and a convex driving foot is arranged at the middle point 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 ladder-shaped beam and the second ladder-shaped 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 two open 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;
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 respectively and fixedly connected with the two ends of the bottom plate; the center of the bottom plate is provided with a second square through hole;
the fixed shaft is a column body 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 far away from the bottom plate, and the other end of the fixed shaft is fixedly connected with one end of the second joint side plate far away from the bottom plate after passing through the first square through hole in the center of the inner wheel, so that 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 upper driving foot of the connecting beam is propped against the outer wall of the outer wheel;
the positioning assembly comprises a leg clamp, a bearing assembly and a pretightening force assembly;
the leg jig includes a fixing plate and first to fourth connection legs; the fixing plate is rectangular; one ends of the first to fourth connecting legs are correspondingly and fixedly connected with four corners of the fixing plate respectively, and the other ends of the first to fourth connecting legs are correspondingly and fixedly connected with the second side face of the first ladder-shaped beam, the fourth side face of the first ladder-shaped beam, the second side face of the second ladder-shaped beam and the fourth side face of the second ladder-shaped beam respectively, so that the fixing plate is fixed between the first side faces of the first ladder-shaped beam and the second ladder-shaped beam; the center of the fixed plate is provided with a third square through hole with the same size as the second square through hole;
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 both 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, the inner rings are fixedly connected with the first connecting shaft, and the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings 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 assembly 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 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 adjusting spring is sleeved on the second stud, one end of the adjusting spring abuts against the adjusting nut, the other end of the adjusting spring abuts against the connecting plate, and therefore outer rings of the 2N bearings abut 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 connected with the first studs in a threaded manner, and the fixing plate is fixed between the fixing nuts and the second studs;
when the unit arm sections are connected with the adjacent unit arm sections, the first studs of the unit arm sections penetrate through the second square through holes on the bottom plates of the adjacent arm section joint clamps and then are connected with the fixing nuts of the unit arm sections in a threaded mode, and the fixing plates of the unit arm sections and the bottom plates of the adjacent arm section joint clamps are fixed between the fixing nuts of the unit arm sections and the second studs.
The invention also discloses a method for driving the unit arm section of the two-degree-of-freedom deep sea mechanical arm by piezoelectricity, which comprises the steps of applying driving signals with pi/2 phase difference to the first piezoelectric ceramic plate and the second piezoelectric ceramic plate of the unit arm section to excite a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of the unit arm section piezoelectric vibrator, so that particles of the driving foot generate a micro-amplitude elliptical motion track, and generating force to drive the rotation joint to rotate through friction.
Because the unit arm sections are orthogonal with the adjacent unit arm sections in space, and 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 technical scheme provided by the invention has the following technical effects:
the technical scheme adopted by the invention has the advantages of simple structure, light weight, no need of mechanisms such as gear reduction and the like, easy sealing, easy realization of micromation, low operation noise and high control precision compared with the traditional electromagnetic and hydraulic machine driving mechanical arm, can be used as an end execution device of a deep sea robot, and has important application prospect in the field of deep sea detection, especially in the application occasions with higher control precision of an end executor such as deep sea biological sample sampling and the like.
Drawings
FIG. 1 is a schematic diagram of a piezo-driven two-degree-of-freedom deep sea mechanical arm according to the present invention;
FIG. 2 is a schematic view of the construction 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 view of the structure of the joint assembly of the present invention;
FIG. 5 is a schematic view of the structure of the articulating jig of the invention;
FIG. 6 is a schematic view of a positioning assembly according to the present invention;
FIG. 7 is a schematic view of the leg clamp of the present invention;
FIG. 8 is a schematic view of a bearing assembly of the present invention;
FIG. 9 is a schematic diagram of the pretension assembly of the present invention;
FIG. 10 is a schematic view of the structure of the adjusting 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 view of a first-order asymmetric flexural vibration mode of a piezoelectric vibrator according to the present invention;
fig. 13 is a schematic diagram of a first-order symmetric bending vibration mode of the piezoelectric vibrator in the present invention.
In the figure, the piezoelectric vibrator comprises a 1-piezoelectric vibrator, a 2-joint component, a 3-positioning component, a 4-first ladder-shaped beam, a 5-second ladder-shaped beam, a 6-connecting beam, a 7-driving foot, an 8-first piezoelectric ceramic plate, a 9-second piezoelectric ceramic plate, a 10-outer wheel, an 11-fixed shaft, a 12-spoke, a 13-rotating joint, a 14-bottom plate, a 15-first joint side plate, a 16-second joint side plate, a 17-second square through hole, a 18-leg clamp, a 19-bearing component, a 20-pretightening force component, a 21-fixed plate, a 22-first connecting leg, a 23-third square through hole, a 24-bearing clamp, a 25-first connecting shaft, a 26-second connecting shaft, a 27-bearing, a 28-fourth square through hole, a 29-adjusting nut, a 30-adjusting column, a 31-adjusting spring, a 32-first stud, a 33-first square boss, a 34-second stud and a 35-second square boss.
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 piezoelectric driving 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 ladder-shaped beam, a second ladder-shaped beam and a connecting beam;
the first and second ladder beams are right-angle ladder beams and comprise an upper end face, a lower end face, an inclined plane and first to fourth side faces which are vertically and fixedly connected in sequence, wherein the upper end face and the lower end face are parallel to each other, and the area of the upper end face is larger than that of the lower end face; the upper end of the first side surface is vertically and fixedly connected with the upper end surface, and the lower end of the first side surface is connected with the lower end surface through the inclined surface; the upper ends of the second side surface to the third side surface are vertically fixedly connected with the upper end surface, and the lower ends of the second side surface to the third side surface are vertically fixedly connected with the lower end surface;
the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner side 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 surfaces of the first ladder-shaped beam and the second ladder-shaped beam, the opening is upward, and a convex driving foot is arranged at the middle point of the inner side of the connecting beam;
the first piezoelectric ceramic plates and the second piezoelectric ceramic plates are polarized along the thickness direction and are symmetrically arranged on the third side surfaces of the first ladder-shaped beam and the second ladder-shaped beam, and the polarization direction is from outside to inside.
As shown in fig. 4, the joint assembly includes a revolute 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 two open 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 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 respectively and fixedly connected with the two ends of the bottom plate; the center of the bottom plate is provided with a second square through hole;
the fixed shaft is a column body 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 far away from the bottom plate, and the other end of the fixed shaft is fixedly connected with one end of the second joint side plate far away from the bottom plate after passing through the first square through hole in the center of the inner wheel, so that the rotary joint is fixed between the first joint side plate and the second joint side plate;
the connecting beam is arranged between the outer wheel, the bottom plate, the first joint side plate and the second joint side plate, and the upper driving foot of the connecting beam is propped against the outer wall of the outer wheel.
As shown in fig. 6, the positioning assembly includes a leg clamp, a bearing assembly, and a pretension assembly.
As shown in fig. 7, the leg type clamp includes a fixing plate and first to fourth connection legs; the fixing plate is rectangular; one ends of the first to fourth connecting legs are correspondingly and fixedly connected with four corners of the fixing plate respectively, and the other ends of the first to fourth connecting legs are correspondingly and fixedly connected with the second side face of the first ladder-shaped beam, the fourth side face of the first ladder-shaped beam, the second side face of the second ladder-shaped beam and the fourth side face of the second ladder-shaped beam respectively, so that the fixing plate is fixed between the first side faces of the first ladder-shaped beam and the second ladder-shaped beam; the center of the fixed plate is provided with a third square through hole with the same size as the second square through hole;
as shown in fig. 8, the bearing assembly includes a bearing fixture, a first connecting shaft, a second connecting shaft, and 2N bearings, N being a natural number of 1 or more; 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 both 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, the inner rings are fixedly connected with the first connecting shaft, and the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings 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 includes a fixing nut, an adjusting post, and an adjusting spring.
As shown in fig. 10, the adjusting post 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.
As shown in fig. 11, the first stud passes through the third square through hole, so that the first square boss and the square through hole are in interference fit, 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 adjusting spring is sleeved on the second stud, one end of the adjusting spring abuts against the adjusting nut, the other end of the adjusting spring abuts against the connecting plate, and therefore outer rings of the 2N bearings abut 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 connected with the first studs in a threaded manner, and the fixing plate is fixed between the fixing nuts and the second studs;
when the unit arm sections are connected with the adjacent unit arm sections, the first studs of the unit arm sections penetrate through the second square through holes on the bottom plates of the adjacent arm section joint clamps and then are connected with the fixing nuts of the unit arm sections in a threaded mode, and the fixing plates of the unit arm sections and the bottom plates of the adjacent arm section joint clamps are fixed between the fixing nuts of the unit arm sections and the second studs.
The two groups of N bearings of the bearing assembly and the driving foot of the piezoelectric vibrator are contacted with the rotary joint to form three contact lines, and the three contact lines limit the translation of the rotary joint in the XY plane, so that the rotary 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 is in interference fit with the third square through hole on the leg clamp, so that the first square boss and the third square through hole are fastened and connected into a whole in space without relative sliding and rotation; the second square boss on the adjustment post is in clearance fit with the fourth square through hole on the bearing assembly, which allows the bearing assembly freedom of movement only in the Y direction.
The adjusting spring of the pretightening force assembly is compressed between the adjusting nut and the connecting plate of the bearing assembly; 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 to adjust the pre-pressure on three contact lines among the 2N bearings, the driving foot and the rotating joint.
The invention also discloses a method for driving the unit arm section of the two-degree-of-freedom deep sea mechanical arm by piezoelectricity, which comprises the steps of applying driving signals with pi/2 phase difference to the first piezoelectric ceramic plate and the second piezoelectric ceramic plate of the unit arm section to excite a first-order asymmetric bending vibration mode and a first-order symmetric bending vibration mode of the unit arm section piezoelectric vibrator, so that particles of the driving foot generate a micro-amplitude elliptical motion track, and generating force to drive the rotation joint to rotate through friction.
As shown in fig. 12, a first-order asymmetric flexural vibration mode of the piezoelectric vibrator can be excited by applying a simple harmonic excitation signal with a certain frequency to a first piezoelectric ceramic plate on the piezoelectric vibrator, so that left-right vibration displacement along the X direction can be generated when the particles at the feet are driven; as shown in fig. 13, by applying a simple harmonic excitation signal with a certain frequency to the second piezoelectric ceramic plate, the particles at the driving feet generate up-and-down vibration displacement along the Y direction; the geometric dimension of the piezoelectric vibrator is regulated to regulate the frequency of the two simple harmonic signals to be consistent; on the basis, simple harmonic signals with pi/2 phase difference with the same frequency are applied to the first piezoelectric ceramic plate and the second piezoelectric ceramic plate, so that a first-order asymmetric flexural 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 particles on the surface of the driving foot to slightly move along an elliptical motion track, and force is generated through friction action to drive the rotation joint to rotate.
Because the unit arm sections are orthogonal with the adjacent unit arm sections in space, and 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 full-open structure can be adopted under the deep sea environment due to the driving by friction force, and compared with the traditional electromagnetic and hydraulic machine driving deep sea mechanical arm, the full-open structure is simple in structure, light in weight, free of gear reduction and other mechanisms, easy to seal, easy to realize micromation, low in operation noise and high in control precision, can be used as an end execution device of a deep sea robot, and has important application prospects in the field of deep sea detection, especially in the application occasions with higher control precision of an end executor, such as deep sea biological sample sampling.
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 changes, substitutions, or alterations herein fall within the spirit and principles of the invention.
Claims (2)
1. A piezoelectric driving 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 matrix, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the metal matrix comprises a first ladder-shaped beam, a second ladder-shaped beam and a connecting beam;
the first and second ladder beams are right-angle ladder beams and comprise an upper end face, a lower end face, an inclined plane and first to fourth side faces which are vertically and fixedly connected in sequence, wherein the upper end face and the lower end face are parallel to each other, and the area of the upper end face is larger than that of the lower end face; the upper end of the first side surface is vertically and fixedly connected with the upper end surface, and the lower end of the first side surface is connected with the lower end surface through the inclined surface; the upper ends of the second side surface to the third side surface are vertically and fixedly connected with the upper end surface, and the lower ends of the second side surface to the third side surface are vertically and fixedly connected with the lower end surface;
the first side surfaces of the first ladder-shaped beam and the second ladder-shaped beam are positioned on the inner side 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 surfaces of the first ladder-shaped beam and the second ladder-shaped beam, the opening is upward, and a convex driving foot is arranged at the middle point 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 ladder-shaped beam and the second ladder-shaped 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 two open ends; the inner wheel is a cylinder and 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;
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 respectively and fixedly connected with the two ends of the bottom plate; the center of the bottom plate is provided with a second square through hole;
the fixed shaft is a column body 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 far away from the bottom plate, and the other end of the fixed shaft is fixedly connected with one end of the second joint side plate far away from the bottom plate after passing through the first square through hole in the center of the inner wheel, so that 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 upper driving foot of the connecting beam is propped against the outer wall of the outer wheel;
the positioning assembly comprises a leg clamp, a bearing assembly and a pretightening force assembly;
the leg jig includes a fixing plate and first to fourth connection legs; the fixing plate is rectangular; one ends of the first to fourth connecting legs are correspondingly and fixedly connected with four corners of the fixing plate respectively, and the other ends of the first to fourth connecting legs are correspondingly and fixedly connected with the second side face of the first ladder-shaped beam, the fourth side face of the first ladder-shaped beam, the second side face of the second ladder-shaped beam and the fourth side face of the second ladder-shaped beam respectively, so that the fixing plate is fixed between the first side faces of the first ladder-shaped beam and the second ladder-shaped beam; the center of the fixed plate is provided with a third square through hole with the same size as the second square through hole;
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 both 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, the inner rings are fixedly connected with the first connecting shaft, and the other N bearings are uniformly arranged on the second connecting shaft, and the inner rings 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 assembly 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 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 adjusting spring is sleeved on the second stud, one end of the adjusting spring abuts against the adjusting nut, the other end of the adjusting spring abuts against the connecting plate, and therefore outer rings of the 2N bearings abut 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 connected with the first studs in a threaded manner, and the fixing plate is fixed between the fixing nuts and the second studs;
when the unit arm sections are connected with the adjacent unit arm sections, the first studs of the unit arm sections penetrate through the second square through holes on the bottom plates of the adjacent arm section joint clamps and then are connected with the fixing nuts of the unit arm sections in a threaded mode, and the fixing plates of the unit arm sections and the bottom plates of the adjacent arm section joint clamps are fixed between the fixing nuts of the unit arm sections and the second studs.
2. The method for driving the unit arm section of the two-degree-of-freedom deep sea mechanical arm based on the piezoelectric driving method is characterized in that 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 driving signals with pi/2 phase difference to a first piezoelectric ceramic plate and a second piezoelectric ceramic plate of the unit arm section, so that micro elliptical motion tracks are generated by mass points of the driving foot, and the rotation joint is driven to rotate by friction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010216103.7A CN111251285B (en) | 2020-03-25 | 2020-03-25 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010216103.7A CN111251285B (en) | 2020-03-25 | 2020-03-25 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111251285A CN111251285A (en) | 2020-06-09 |
| CN111251285B true CN111251285B (en) | 2023-10-27 |
Family
ID=70947995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010216103.7A Active CN111251285B (en) | 2020-03-25 | 2020-03-25 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111251285B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113783465B (en) * | 2021-08-25 | 2022-07-12 | 南京航空航天大学 | Piezoelectric driving deep sea release system and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610475A (en) * | 1984-09-06 | 1986-09-09 | Microflex Technology, Inc. | Piezoelectric polymer micromanipulator |
| JPH11220892A (en) * | 1997-11-27 | 1999-08-10 | Canon Inc | Vibration-type actuator and vibration-type drive unit |
| CN109245605A (en) * | 2018-08-21 | 2019-01-18 | 南京航空航天大学 | A kind of two degrees of freedom piezoelectric driven mechanical arm and its driving method |
| CN109245604A (en) * | 2018-08-08 | 2019-01-18 | 南京航空航天大学 | A kind of sandwich piezo mechanical arm and its driving method |
| CN209970737U (en) * | 2019-04-25 | 2020-01-21 | 浙江师范大学 | Piezoelectric joint mechanism of mechanical arm |
| CN212372180U (en) * | 2020-03-25 | 2021-01-19 | 南京航空航天大学 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm |
-
2020
- 2020-03-25 CN CN202010216103.7A patent/CN111251285B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610475A (en) * | 1984-09-06 | 1986-09-09 | Microflex Technology, Inc. | Piezoelectric polymer micromanipulator |
| JPH11220892A (en) * | 1997-11-27 | 1999-08-10 | Canon Inc | Vibration-type actuator and vibration-type drive unit |
| CN109245604A (en) * | 2018-08-08 | 2019-01-18 | 南京航空航天大学 | A kind of sandwich piezo mechanical arm and its driving method |
| CN109245605A (en) * | 2018-08-21 | 2019-01-18 | 南京航空航天大学 | A kind of two degrees of freedom piezoelectric driven mechanical arm and its driving method |
| CN209970737U (en) * | 2019-04-25 | 2020-01-21 | 浙江师范大学 | Piezoelectric joint mechanism of mechanical arm |
| CN212372180U (en) * | 2020-03-25 | 2021-01-19 | 南京航空航天大学 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111251285A (en) | 2020-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109682563B (en) | Five-degree-of-freedom metamorphic electromagnetic vibration test bed | |
| CN1058165A (en) | The coupling arrangement of robot | |
| KR20110061026A (en) | 3 degrees of freedom parallel link platform to be able to change singularity | |
| CN109352671B (en) | Patch type piezoelectric driven manipulator joint and working method thereof | |
| CN111251285B (en) | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof | |
| CN108436965B (en) | Underwater full-open joint mechanism and working method thereof | |
| CN212372180U (en) | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm | |
| Deng et al. | Development and experiment evaluation of a compact inchworm piezoelectric actuator using three-jaw type clamping mechanism | |
| CN106828644B (en) | Patch type piezoelectric driving four-wheel planetary detection robot and working method thereof | |
| EP3092710A1 (en) | Positioning device | |
| Li et al. | A miniature impact drive mechanism with spatial interdigital structure | |
| CN116388609B (en) | Flat-rotary two-degree-of-freedom piezoelectric actuator driven based on inertial stepping principle | |
| CN109514594A (en) | A kind of piezo mechanical hand and its control method based on spherical joint | |
| Reinecke et al. | A robotic torso joint with adjustable linear spring mechanism for natural dynamic motions in a differential-elastic arrangement | |
| CN109514591A (en) | A kind of sandwich piezo mechanical hand and its control method based on spherical joint | |
| CN212372181U (en) | Piezoelectric drive deep sea mechanical arm | |
| CN111251284B (en) | Piezoelectric driving deep sea mechanical arm and driving method thereof | |
| CN111313749A (en) | Surface-mounted piezoelectric-driven two-degree-of-freedom underwater mechanical arm and driving method thereof | |
| Lu et al. | Examination of an outer-rotor-type multidegree-of-freedom spherical ultrasonic motor | |
| CN206294101U (en) | Mechanical hand based on ultrasonic start principle | |
| CN209919919U (en) | Piezoelectric manipulator based on spherical joint | |
| CN210389221U (en) | Sandwich type piezoelectric manipulator based on spherical joint | |
| CN116073697A (en) | Four-foot multi-freedom-degree ultrasonic motor composited by longitudinal bending modes and excitation method thereof | |
| CN211720482U (en) | Rail carrying system based on sandwich type frame actuator | |
| CN111645104A (en) | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |