CN114083574A - Vibration suppression actuator of cantilever beam type robot tail end actuating mechanism - Google Patents
Vibration suppression actuator of cantilever beam type robot tail end actuating mechanism Download PDFInfo
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- CN114083574A CN114083574A CN202111472497.3A CN202111472497A CN114083574A CN 114083574 A CN114083574 A CN 114083574A CN 202111472497 A CN202111472497 A CN 202111472497A CN 114083574 A CN114083574 A CN 114083574A
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- wedge
- cantilever beam
- actuator
- piezoelectric stack
- vibration suppression
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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
Abstract
The invention discloses a vibration suppression actuator of a cantilever beam type robot end actuating mechanism, belongs to the technical field of vibration suppression, and aims to solve the problem that the positioning accuracy is influenced by bending vibration generated when the robot end actuating mechanism simplified into a cantilever beam structure is excited externally and performs actions. Two ends of a piezoelectric stack of a driving element of the actuator are connected with the wedge-shaped block, under the driving of a control system, the output force of the piezoelectric stack converts the axial force into bending moment for the tail end executing mechanism through the support, so that the vibration suppression for the tail end executing mechanism is realized, and the problem of the hysteresis nonlinearity of the low-frequency vibration of the cantilever beam is solved through the high response characteristic of the piezoelectric material. The vibration suppression actuator for the cantilever robot end actuating mechanism has the advantages of novel structure and flexible design, and provides a structure combining a wedge-shaped block and a support, wherein a d33 mode piezoelectric stack with a higher piezoelectric coefficient is applied to cantilever vibration suppression for the first time, so that the bending vibration of a cantilever can be effectively suppressed.
Description
Technical Field
The invention relates to a cantilever beam vibration suppression actuator, in particular to a vibration suppression actuator of a cantilever beam robot tail end actuating mechanism, and belongs to the technical field of vibration suppression.
Background
In recent years, from advanced manufacturing to robot automation, the mechanical structure and industrial products are increasingly high-speed, intelligent and flexible, so as to meet the market demands of high efficiency, comfort, energy conservation and environmental protection. Therefore, vibration control is an important consideration in operation of a device having a complicated operation or a device requiring precision and stability. The end executing mechanism of the robot mainly based on the cantilever beam structure generates forced vibration due to the change of the motion state of the end executing mechanism in the motion process or at the motion end, and generates redundant vibration due to the flexibility of the structure, thereby causing motion failure or potential safety hazard.
In the prior art, the vibration of the end actuator is difficult to be inhibited through closed-loop control under the influence of the working environment of the end actuator. And the track planning can only suppress the vibration of the robot to a certain extent, and the vibration suppression of the tail end actuating mechanism of the cantilever beam structure is difficult to realize. Meanwhile, the end actuator is directly contacted with the component, so that the nonlinear vibration suppression of the structure is difficult to realize on the basis of not damaging the structure of the end actuator in a passive vibration isolation mode. According to the invention, the d33 mode piezoelectric stack with higher piezoelectric coefficient is applied to cantilever beam vibration suppression for the first time through the structure of the additional actuator, and the vibration suppression of the cantilever beam type robot tail end execution structure with larger size and certain thickness is effectively carried out by utilizing the characteristics of high response and large output force of the piezoelectric material.
Disclosure of Invention
The invention provides a vibration suppression actuator of an end actuating mechanism of a cantilever beam type robot, aiming at solving the problem that the positioning precision is influenced by bending vibration generated when the end actuating mechanism is excited externally and performs actions by using a piezoelectric stack as an actuator on the basis of not damaging the structure of the end actuating mechanism.
A vibration suppression actuator of an end actuating mechanism of a cantilever beam type robot comprises a piezoelectric stack, a wedge-shaped block, a pressure plate, a support and an outer frame.
The two output ends of the piezoelectric stack are connected with the plane side of the wedge-shaped block through the limiting holes, and the upper surfaces of the two wedge-shaped blocks are provided with limiting grooves with the diameter depth smaller than the wide edges of the wedge-shaped blocks for installing and fixing the pressing plate. The pressing plate is in interference fit with the limiting groove, and the upper surface of the pressing plate is connected with the short edge of the bracket. The lower surface of the pre-tightening bolt is in contact with the upper surface of the pressure plate through the threaded hole fixing support. When the pretension bolt is tightened down the thread, a downward pressure is generated on the pressure plate. When the pressure plate is stressed, the wedge-shaped blocks are extruded to slide downwards along the inclined surface of the support, the distance between the two wedge-shaped blocks is reduced, and the piezoelectric stack is pre-tensioned. The outer frame cover is at the support skin, and is fixed through fixing bolt installation, plays the guard action.
Preferably: the support includes two L shape structures and a sleeve structure, and three structure processing is as an organic whole structure.
Preferably: the slope of the wedge-shaped block slope is the same as that of the L-shaped structure slope, the wedge-shaped block slope is in tight contact with the L-shaped structure slope, the surface machining precision is high, and when the wedge-shaped block slides along the surface, the friction resistance is small.
Preferably: the piezoelectric stack adopts a polarization mode of d33 mode, and the output direction is the axial direction of the support and the axial direction of the end actuator.
Compared with the existing product, the invention has the following effects:
1. the actuator is driven by using the d33 mode with a large piezoelectric coefficient, so that the actuator can rapidly respond and the maximum output force under the same driving voltage is ensured.
2. The cantilever beam vibration suppression actuator has a novel structure and flexible design, and the vibration suppression actuator of the cantilever beam robot end actuating mechanism can be used for suppressing vibration on the basis of not damaging the structure of the end actuating mechanism;
3. aiming at complex and nonlinear forced vibration and redundant vibration of a cantilever beam structure, the vibration suppression actuator utilizes the high response characteristic of the piezoelectric stack and converts the output force along the axial direction into bending moment to the cantilever beam structure through the ingenious mechanical structure of the actuator. The vibration suppression is performed by a bending moment opposite to the vibration direction without changing the structure of the end actuator. Meanwhile, due to the quick response of the piezoelectric material, the low-frequency nonlinear vibration of the tail end actuating mechanism can be solved through a control system. The problems of structural change and response delay of the end actuating mechanism in the current research are avoided.
Drawings
FIG. 1 is a schematic diagram of a vibration-damping actuator for an end effector of an cantilever beam robot;
FIG. 2 is an external view of a vibration suppressing actuator of an end effector of an cantilever beam type robot;
FIG. 3 is a three-dimensional block diagram of a vibration-damping actuator of an end effector of an cantilever beam robot;
FIG. 4 is an exploded view of a vibration suppression actuator of an end effector of an cantilever beam robot;
in the figure: 1-pretightening bolt, 2-clamp plate, 3-pretightening bolt, 4-outer frame, 5-fixing bolt, 6-right wedge block, 7-piezoelectric stack, 8-left wedge block, 9-support, 10-wire, 11-L-shaped structure, 12-sleeve.
Detailed Description
Preferred embodiments of the present invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a vibration suppressing actuator for an end effector of an cantilever beam type robot according to the present invention includes: d33 piezoelectric stack (7), wedge blocks (6) and (8), bracket (9) and pressure plate (2);
two output ends of the piezoelectric stack (7) are connected with the plane sides of the wedge blocks (6) and (8) through limiting holes, and limiting grooves with the diameter depth smaller than the width edges of the wedge blocks are formed in the upper surfaces of the two wedge blocks (6) and (8) and used for installing and fixing the pressing plate (2).
Further: the pressing plate (2) is in interference fit with the limiting groove, and the upper surface of the pressing plate (2) is connected with the short edge of the bracket (9). The lower surface of the pre-tightening bolt (1) is fixed on the support through the threaded hole and is in contact with the upper surface of the pressure plate (2). When the pretension bolt (1) is screwed down along the thread, downward pressure is generated on the pressure plate (2). When the pressure plate (2) is stressed, the wedge-shaped blocks (6) and (8) are extruded to slide downwards along the inclined surface of the support (2), the distance between the two wedge-shaped blocks (6) and (8) is reduced, the piezoelectric stack (7) is pre-tightened, and two ends of the lead (10) are connected with a driver.
Further: the outer frame (4) is sleeved on the outer layer of the support (2) and is fixedly installed through the fixing bolt (5), so that the protective effect is achieved.
The present embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (6)
1. A vibration suppressing actuator of an end effector of an cantilever beam type robot, characterized in that: comprises a d33 piezoelectric stack (7), wedge blocks (6) and (8), a bracket (9) and a pressure plate (2);
one end of the piezoelectric stack (7) in the d33 mode is connected with the bracket (9) through the wedge block (6) and the wedge block (8). The pressing plate (2) is arranged on the wedge-shaped block (6) and the wedge-shaped block (9), and the upper surface of the pressing plate (2) is in contact with the pre-tightening bolt (1) and the pre-tightening bolt (3). The support (9) consists of two L-shaped structures (11) and a rectangular hollow sleeve structure (12). The actuator is mounted on the end effector by means of the sleeve of the holder (9). The lead (10) is connected with the controller, and the other side of the lead is connected with the two sides of the piezoelectric stack (7). The outer frame (4) is arranged on the outer sides of two L-shaped structures (11) of the bracket (9) and is positioned and fastened through mounting bolts (5).
2. The vibration suppressing actuator of an end effector of an cantilever beam type robot according to claim 1, wherein: the working mode of the piezoelectric stack is a d33 mode, the polarization direction is parallel to the axial direction of the end actuating mechanism, and the installation mode is that the output force of the piezoelectric stack is perpendicular to one side of the planes of the wedge-shaped block (6) and the wedge-shaped block (8) and is positioned through the limiting hole.
3. The vibration suppressing actuator of an end effector of an cantilever beam type robot according to claim 1, wherein: in the d33 mode, the piezoelectric stack (7) is fixed in two L-shaped structures (11) of the bracket (9) through the wedge-shaped blocks (6, 8) and the pressure plate (2).
4. The vibration suppressing actuator of an end effector of an cantilever beam type robot according to claim 1, wherein: the component consisting of the piezoelectric stack, the wedge-shaped block and the pressing plate can be screwed by the pre-tightening bolt (1) and the pre-tightening bolt (3), so that the structure can slide up and down along the inclined surface of the bracket (2).
5. The vibration suppressing actuator of an end effector of an cantilever beam type robot according to claim 1, wherein: the inner surface of the outer frame (4) is in surface contact with the two L-shaped structures (11) of the support (9) and exerts no force on the rectangular hollow sleeve structure (12) of the support (9).
6. The vibration suppressing actuator of an end effector of an cantilever beam type robot according to claim 5, wherein: the support (9) consists of two L-shaped structures (11) and a rectangular hollow sleeve structure (12), and the two structures are integrated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111472497.3A CN114083574B (en) | 2021-12-06 | 2021-12-06 | Vibration suppression actuator of cantilever beam type robot end actuating mechanism |
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| CN202111472497.3A CN114083574B (en) | 2021-12-06 | 2021-12-06 | Vibration suppression actuator of cantilever beam type robot end actuating mechanism |
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| CN114083574A true CN114083574A (en) | 2022-02-25 |
| CN114083574B CN114083574B (en) | 2023-07-07 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102497129A (en) * | 2011-12-06 | 2012-06-13 | 浙江大学 | Multi-degree-of-freedom micromanipulator driven by multi-polarization mode piezoelectric actuator |
| CN110282070A (en) * | 2019-06-28 | 2019-09-27 | 哈尔滨工业大学 | A kind of integrated form piezoelectric vibration resistance absorber of embeddable wall surface |
| CN111525838A (en) * | 2020-05-25 | 2020-08-11 | 中国计量大学 | Cantilever beam type vibration road energy collecting device based on piezoelectric stack |
| CN112421985A (en) * | 2020-12-10 | 2021-02-26 | 哈尔滨工业大学 | Sectional type bimorph piezoelectricity-electromagnetism complex energy accumulator |
| US20210088103A1 (en) * | 2019-09-23 | 2021-03-25 | Chongqing University | Piezoelectric Self-Powered Combination Beam Vibration Damper And Control Method Thereof |
-
2021
- 2021-12-06 CN CN202111472497.3A patent/CN114083574B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102497129A (en) * | 2011-12-06 | 2012-06-13 | 浙江大学 | Multi-degree-of-freedom micromanipulator driven by multi-polarization mode piezoelectric actuator |
| CN110282070A (en) * | 2019-06-28 | 2019-09-27 | 哈尔滨工业大学 | A kind of integrated form piezoelectric vibration resistance absorber of embeddable wall surface |
| US20210088103A1 (en) * | 2019-09-23 | 2021-03-25 | Chongqing University | Piezoelectric Self-Powered Combination Beam Vibration Damper And Control Method Thereof |
| CN111525838A (en) * | 2020-05-25 | 2020-08-11 | 中国计量大学 | Cantilever beam type vibration road energy collecting device based on piezoelectric stack |
| CN112421985A (en) * | 2020-12-10 | 2021-02-26 | 哈尔滨工业大学 | Sectional type bimorph piezoelectricity-electromagnetism complex energy accumulator |
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