CN208392069U - A kind of underwater full open model articulation mechanism - Google Patents
A kind of underwater full open model articulation mechanism Download PDFInfo
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- CN208392069U CN208392069U CN201820476283.0U CN201820476283U CN208392069U CN 208392069 U CN208392069 U CN 208392069U CN 201820476283 U CN201820476283 U CN 201820476283U CN 208392069 U CN208392069 U CN 208392069U
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- full open
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Abstract
The utility model discloses a kind of underwater full open model articulation mechanism, the full open model joint being sequentially connected comprising several；Full open model joint includes piezoelectric vibrator and connection component；Piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt.Two link blocks clamp circular ring structure from the two sides of piezoelectric vibrator circular ring structure respectively, and being connected using bolt and passing through built-in elastic element is kept to the contact pressure on the inside of circular ring structure.By the piezoelectric ceramic piece in excitation overarm arm, particle on the inside of its circular ring structure is made to do elliptic motion a little, rubbed effect is drivingly connected component and rotates around the axis of circular ring structure, realizes the rotation in joint.The utility model can be realized the driving of two freedom degrees.
Description
Technical field
The utility model relates to ultrasonic actuation and robot field more particularly to a kind of underwater full open model articulation mechanisms.
Background technique
Existing fluid pressure type underwater hand volume is big, seal request is high, it is difficult to adapt to AUV miniaturization trend；In recent years
Come develop oil-filled balance deep sea hydraulic, brshless DC motor driving method, need to also in sealing, deepen in terms of pressure compensation and grind
Study carefully, further decreases the risk of oil liquid leakage, seawater invasion.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of water for defect involved in background technique
Lower full open model articulation mechanism.
The utility model uses following technical scheme to solve above-mentioned technical problem:
A kind of underwater full open model articulation mechanism, the full open model joint being sequentially connected comprising several；
The full open model joint includes piezoelectric vibrator and connection component；
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；
The overarm arm includes root and gradual change portion, wherein root is in cuboid, and gradual change portion is variable section structure, gradual change
The biggish one end of cross section and one end of the cuboid be connected, the outer wall of cross section lesser one end and the circular ring structure
It is connected；
Parallel between the root of described two overarm arms, the distance between two overarm arm gradual change portions are biggish from cross section
One end is gradually reduced to the lesser one end in cross section；
It is correspondingly provided on the root of described two overarm arms for being connected with the connection component in adjacent full open model joint
Through-hole；
Described two piezoelectric ceramic pieces respectively correspond the inside that described two overarm arm gradual changes portion is arranged in；
The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt；
The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt,
It is equipped with through-hole for being put into the elastic ring and gasket compared with the center of large end face, and its compared with setting on large end face, there are two mutually
Parallel installation foot；
The small end face of described two link blocks offsets, the outer wall of two link blocks two sides with the circular ring structure respectively
It offsets, be clipped in the circular ring structure between two link blocks；
Described two elastic rings are respectively placed in two link blocks, and described two gaskets, which respectively correspond, to be arranged in two elasticity
The outside of ring；
The fixing bolt sequentially passes through after one of gasket, two elastic rings, another gasket and the fixed spiral shell
Cap thread connection；
The link block is compared with formation between two installation foots on large end face for placing the overarm of other full open model joints
The rectangular channel of arm roots, and be equipped on two installation foots and correspond to the through-hole in overarm arm with adjacent full open model joint and match
Through-hole, it is connected by bolt that described two installations correspond to overarm arm with adjacent full open model joint enough；
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively；
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
As a kind of underwater further optimal way of full open model articulation mechanism of the utility model, described two piezoelectricity potteries
Tile is correspondingly arranged at the inside in described two overarm arm gradual changes portion by the way of epoxy resin glue glued adhesion.
As a kind of underwater further optimal way of full open model articulation mechanism of the utility model, described two piezoelectricity potteries
Tile is rectangular sheet, and outer wall does insulation processing, along vertically with itself and far from another piezoelectric ceramic piece direction pole
Change.
The invention also discloses a kind of working methods of underwater full open model articulation mechanism comprising the steps of:
For each full open model joint, two piezoelectric ceramic pieces in its piezoelectric vibrator are motivated respectively, keep two outstanding
Two identical n rank bending vibration vibration shapes in generation time with pi/2 phase difference are distinguished on arm beam, to make the annulus of piezoelectric vibrator
Structure generates two over time and space all with the homotype mode of oscillation of pi/2 phase difference, passes through the coupling shape of two mode
At rotary traveling wave, so that particle generates elliptic motion a little, rubbed drive connection component on the inside of the circular ring structure of piezoelectric vibrator
Rotation, and then the movement in the full open model joint.
The utility model compared with the prior art by using the above technical solution, has following technical effect that
1. the bottleneck that being directed to underwater hydraulic pressure adaptability problem, it is contemplated that friction-driven allows seawater to enter, and proposes to utilize
The working method of piezoelectricity conversion and friction-driven principle building full open model joint, releases underwater hydraulic pressure to the system of drive system
About.
2. a rotary freedom in full open model joint is by the frictional force drives between piezoelectric vibrator and switch block, mutually just
Hand over concatenation, realize displacement spatially, structure is simple, while play the response of Piezoelectric Driving rapidly, the features such as cutting off self-lock.
Detailed description of the invention
Fig. 1 is a kind of underwater full open model joint structure schematic diagram；
Fig. 2 is piezoelectric vibrator and connection component combining structure schematic diagram；
Fig. 3 is connecting component structure decomposition diagram；
Fig. 4 is connection component and piezoelectric vibrator connection schematic diagram；
Fig. 5 is polarization and the application signal schematic representation of piezoelectric ceramics；
Fig. 6 is piezoelectric vibrator mode of oscillation and particle elliptic motion schematic diagram；
Wherein, 1- piezoelectric vibrator, 1-1- circular ring structure, 1-2- cantilever fine strain of millet, 1-3- is used for and other full open model joints connect
The through-hole connect, 2- connection component, 3- piezoelectric ceramic piece, 4- hold-doun nut, 5- gasket, 6- elastic ring, 7- connector, 7-1- installation
Foot, 7-2- rectangular channel, 8- fixing bolt.
Specific embodiment
The technical solution of the utility model is described in further detail with reference to the accompanying drawing:
The utility model can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.
On the contrary, it is thorough and complete to these embodiments are provided so that the disclosure, and this reality will be given full expression to those skilled in the art
With novel range.In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, being sequentially connected the utility model discloses a kind of underwater full open model articulation mechanism comprising several
Full open model joint.
As shown in Fig. 2, the full open model joint includes piezoelectric vibrator and connection component.
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；Institute
State overarm arm include root and gradual change portion, wherein root be in cuboid, gradual change portion be variable section structure, gradual change cross section compared with
One end of big one end and the cuboid is connected, the outer wall of the lesser one end in cross section and the circular ring structure is connected；It is described
Parallel between the root of two overarm arms, the distance between two overarm arm gradual change portions are from cross section biggish one end to cross section
Lesser one end is gradually reduced；It is correspondingly provided on the root of described two overarm arms for the company with adjacent full open model joint
The connected through-hole of connected components；Described two piezoelectric ceramic pieces respectively correspond the inside that described two overarm arm gradual changes portion is arranged in.
Described two piezoelectric ceramic pieces can be correspondingly arranged at described two overarms by the way of epoxy resin glue glued adhesion
The inside in arm gradual change portion.
As shown in figure 3, the connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and consolidates
Determine bolt；The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt,
Be equipped with through-hole for being put into the elastic ring and gasket compared with the center of large end face, and its compared with setting on large end face, there are two mutually flat
Capable installation foot.
As shown in figure 4, the small end face of described two link blocks offsets, the outer wall of two link blocks respectively with the annulus
The two sides of structure offset, are clipped in the circular ring structure between two link blocks；Described two elastic rings are respectively placed in two companies
It connects in block, described two gaskets respectively correspond the outside that two elastic rings are arranged in；The fixing bolt sequentially passes through wherein one
It is threadedly coupled after a gasket, two elastic rings, another gasket with the hold-doun nut.
The link block is compared with formation between two installation foots on large end face for placing the overarm of other full open model joints
The rectangular channel of arm roots, and be equipped on two installation foots and correspond to the through-hole in overarm arm with adjacent full open model joint and match
Through-hole, it is connected by bolt that described two installations correspond to overarm arm with adjacent full open model joint enough.
Two link blocks on the inside of the both ends of first piezoelectric vibrator circular ring structure insertion annulus, are passed through respectively using bolt
The elastic ring being separately positioned in two rectangular channels is attached two link blocks, forms the contact to applying on the inside of circular ring structure
Pressure；The connection of piezoelectric vibrator circular ring structure and connection component, in the annulus inner circle side of piezoelectric vibrator and link block circular cone
Face side contacts with each other connection, for active force needed for providing friction-driven.Purpose using elastic ring is to realize piezoelectricity vibration
Precompression continuously adjusts between son and connection component.
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively.
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
The outer wall of two piezoelectric ceramic pieces is handled by insulated with material such as epoxy resin, and two piezoelectric ceramic pieces are rectangle
Piece.
Described two piezoelectric ceramic pieces along vertically with its own and far from another piezoelectric ceramic piece direction polarization, two
The use of piece piezoelectric ceramics is as shown in Figure 5.
The invention also discloses a kind of working methods of underwater full open model articulation mechanism comprising the steps of:
For each full open model joint, two piezoelectric ceramic pieces in its piezoelectric vibrator are motivated respectively, keep two outstanding
Two identical n rank bending vibration vibration shapes in generation time with pi/2 phase difference are distinguished on arm beam, to make the annulus of piezoelectric vibrator
Structure generates two over time and space all with the homotype mode of oscillation of pi/2 phase difference, passes through the coupling shape of two mode
At rotary traveling wave, so that particle generates elliptic motion a little, rubbed drive connection component on the inside of the circular ring structure of piezoelectric vibrator
Rotation, and then the movement in the full open model joint.
When giving two piezoelectric ceramics pumping signals as shown in Figure 5, to have in piezoelectric vibrator cantilever beam generation time
It is coupled that piezoelectric vibrator circular ring structure is made to generate B03 plane modal for two three rank bending vibrations of pi/2 phase difference, it shakes in piezoelectricity
Rotary traveling wave is generated on the inside of sub- circular ring structure, in a cycle, the particle on the inside of annulus does elliptic motion a little, rubbed work
With driving, keep driven structure rotation direction identical as traveling wave locomotion direction is generated in circular ring structure face, patch type piezoelectric energy converter
Mode of oscillation it is as shown in Figure 6.
Driven joint structure can be rotated by axis of link block central axes, and each piezoelectric vibrator is by the pressure on two cantilever beams
Electroceramics piece acts on driving simultaneously, because the link block central axes in connection component are mutually orthogonal, cascaded structure interval row
The driven joint structure rotation direction of column be orthogonal, it can be achieved that two freedom degrees driving.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in the utility model fields
Justice.It should also be understood that those terms such as defined in the general dictionary should be understood that with upper with the prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or meaning too formal come
It explains.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
The utility model processed, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done,
It should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of underwater full open model articulation mechanism, which is characterized in that the full open model joint being sequentially connected comprising several；
The full open model joint includes piezoelectric vibrator and connection component；
The piezoelectric vibrator includes overarm arm, two piezoelectric ceramic pieces and a circular ring structure for two metal materials；
The overarm arm includes root and gradual change portion, wherein root is in cuboid, and gradual change portion is variable section structure, and gradual change portion is horizontal
The biggish one end in section and one end of the cuboid be connected, the outer wall of the lesser one end in cross section and the circular ring structure is solid
Even；
Parallel between the root of described two overarm arms, the distance between two overarm arm gradual change portions are from the biggish one end in cross section
It is gradually reduced to the lesser one end in cross section；
It is correspondingly provided on the root of described two overarm arms logical for what is be connected with the connection component in adjacent full open model joint
Hole；
Described two piezoelectric ceramic pieces respectively correspond the inside that described two overarm arm gradual changes portion is arranged in；
The connection component includes hold-doun nut, two gaskets, two elastic rings, two link blocks and fixing bolt；
The link block is in shaped hollow round table, and the center in small end face is provided with the through-hole passed through for the fixing bolt, compared with
The center of large end face is equipped with through-hole for being put into the elastic ring and gasket, and its compared with setting on large end face, there are two be parallel to each other
Installation foot；
The small end face of described two link blocks offsets, the outer wall of two link blocks respectively with the two sides phase of the circular ring structure
It supports, be clipped in the circular ring structure between two link blocks；
Described two elastic rings are respectively placed in two link blocks, and described two gaskets, which respectively correspond, is arranged in two elastic rings
Outside；
The fixing bolt sequentially passes through after one of gasket, two elastic rings, another gasket and the hold-doun nut spiral shell
Line connection；
The link block is formed compared between two installation foots on large end face for placing other full open model joint overarm arm roots
The rectangular channel in portion, and leading to of correspond to that the through-hole in overarm arm matches with adjacent full open model joint is equipped on two installation foots
Hole, described two installations correspond to overarm arm with adjacent full open model joint enough and are connected by bolt；
Two overarm arms in the piezoelectric vibrator are grounded, and two piezoelectric ceramic pieces connect external drive signal respectively；
Plane where plane full open model adjacent with its joint where the full open model joint is orthogonal.
2. underwater full open model articulation mechanism according to claim 1, which is characterized in that described two piezoelectric ceramic pieces are adopted
The inside in described two overarm arm gradual changes portion is correspondingly arranged at the mode of epoxy resin glue glued adhesion.
3. underwater full open model articulation mechanism according to claim 1, which is characterized in that described two piezoelectric ceramic pieces are equal
For rectangular sheet, and outer wall does insulation processing, along perpendicular to itself and the direction polarization far from another piezoelectric ceramic piece.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820476283.0U CN208392069U (en) | 2018-04-04 | 2018-04-04 | A kind of underwater full open model articulation mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820476283.0U CN208392069U (en) | 2018-04-04 | 2018-04-04 | A kind of underwater full open model articulation mechanism |
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| CN201820476283.0U Expired - Fee Related CN208392069U (en) | 2018-04-04 | 2018-04-04 | A kind of underwater full open model articulation mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436965A (en) * | 2018-04-04 | 2018-08-24 | 南京航空航天大学 | A kind of underwater full open model articulation mechanism and its working method |
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2018
- 2018-04-04 CN CN201820476283.0U patent/CN208392069U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436965A (en) * | 2018-04-04 | 2018-08-24 | 南京航空航天大学 | A kind of underwater full open model articulation mechanism and its working method |
| CN108436965B (en) * | 2018-04-04 | 2023-06-09 | 南京航空航天大学 | Underwater full-open joint mechanism and working method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |