CN208392072U - A kind of submarine mechanical arm based on piezoelectric, screws pump - Google Patents
A kind of submarine mechanical arm based on piezoelectric, screws pump Download PDFInfo
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- CN208392072U CN208392072U CN201820754167.0U CN201820754167U CN208392072U CN 208392072 U CN208392072 U CN 208392072U CN 201820754167 U CN201820754167 U CN 201820754167U CN 208392072 U CN208392072 U CN 208392072U
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Abstract
The utility model discloses a kind of submarine mechanical arms based on piezoelectric, screws pump, including several joints；Joint includes two deformation units；Deformation unit includes piezoelectric, screws pump, two T shape bend pipes and two bellows；Transverse tube of the both ends of piezoelectric, screws pump respectively with two T shape bend pipes is connected, and one end of two T shape bend pipe standpipe bubbler openings is corresponding with one end of two bellows respectively to be connected, and the other end of two bellows is all closed.Piezoelectric, screws pump forwards/reverse pump is defeated, and the wrinkle hose of output liquid shortens, the wrinkle hose of input liquid extends, the bending module formation bending deformation for making deformation unit be connected in series.Achievable two bendings module shape control is adjusted to each deformation unit pump throughput rate, forms the movement and positioning of two orthogonal directions of submarine mechanical arm.Pumping defeated setting specific time sequence to each deformation unit can make submarine mechanical arm realize wriggling movement, obtain propulsive force.
Description
Technical field
The utility model relates to piezoelectric pump and robot field more particularly to a kind of submarine mechanicals based on piezoelectric, screws pump
Arm.
Background technique
There are many circumstances not knowns and resource to need to explore and develop in ocean, the exploitation of "Oceanic" strategy resource will be to the mankind
The development of social economy plays an important role.Autonomous underwater robot (AUV) is the important equipment for developing ocean.Submarine mechanical arm
It is the important component of underwater robot, performance determines the work capacity of underwater robot.Regrettably, most
AUV is not equipped with mechanical arm, this makes the work capacity of AUV have a greatly reduced quality.
Traditional submarine mechanical arm is divided into hydraulic manipulator and motor machine arm, underwater hydraulic mechanical arm hair by driving method
Comparative maturity is opened up, but its volume weight is big, hydraulic system is complicated, supports system huge, can not be applied to autonomous underwater machine
On people (AUV)；Motor machine arm is not possible to meet the working environment of the high hydraulic pressure in deep-sea, need to also do in terms of sealing, pressure compensation
In-depth research.
Utility model content
Technical problem to be solved in the utility model is to provide one kind for the defect being related to described in background technique
Submarine mechanical arm based on piezoelectric, screws pump.
The utility model uses following technical scheme to solve above-mentioned technical problem:
A kind of submarine mechanical arm based on piezoelectric, screws pump, including several joints, the joint include the first deformation unit
With the second deformation unit；
First deformation unit, the second deformation unit include piezoelectric, screws pump, the first to the 2nd T shape bend pipe and
The first to the second bellows；
The first, second T shape bend pipe includes vertical tube and transverse tube, wherein transverse tube perpendicular to vertical tube and in vertical tube
It is connected at point, vertical tube both ends are closed at one end, open at one end；
Transverse tube of the both ends of the piezoelectric, screws pump respectively with the first, second T shape bend pipe is connected, first, second T
One end of shape bend pipe standpipe bubbler openings is corresponding with one end of first, second bellows respectively to be connected, first, second wrinkle
The other end of line pipe is all closed；
First, second bellows is made of elastic material, inside fills liquid, when in it is hydraulic change when energy
It is enough to elongate or shorten accordingly；
Piezoelectric, screws pump is for by the liquid pump in the first bellows to the second bellows or will be in the second bellows
Liquid pump to the first bellows；
In first deformation unit piezoelectric, screws pump midpoint and second deformation unit in piezoelectric, screws pump
Midpoint is connected, so that piezoelectric, screws pump shaft line is vertical in piezoelectric, screws pump shaft line and the second deformation unit in the first deformation unit
Directly；
The first deformation unit of closed end and adjacent segment of first, second T shape bend pipe in first deformation unit of joint
In the first, second bellows open end be connected, the closed end of the first, second T shape bend pipe in second deformation unit of joint
It is connected with the open end of the first, second bellows in the second deformation unit of adjacent segment.
As a kind of further prioritization scheme of submarine mechanical arm based on piezoelectric, screws pump of the utility model, the piezoelectricity
Screw pump includes rubber bushing and piezoelectric, screws；
The rubber bushing is hollow circuit cylinder, and inner wall is equipped with screw thread；
The piezoelectric, screws include screw rod, the first to the second gasket, first to fourth piezoelectric ceramic piece, first to third electricity
Pole piece and bolt；
The screw thread that the screw rod outer wall is equipped with and the rubber bushing inner thread matches, screw rod and rubber bushing screw thread
Connection and sealed engagement；
The screw rod has blind hole and tapped through hole at both ends along its central axes；The blind hole, tapped through hole and
The screw coaxial, the radius of blind hole is greater than the radius of tapped through hole, and blind hole and tapped through hole are connected；
It is the first to the second gasket, first to fourth piezoelectric ceramic piece, first annular in shape to third electrode slice；
The screw rod sequentially passes through the first gasket, the first piezoelectric ceramic piece, first electrode sheet, the second piezoelectric ceramic piece,
It is threadedly coupled after two electrode slices, third piezoelectric ceramic piece, third electrode slice, the second gasket with the tapped through hole, by described the
One to the second gasket, first to fourth piezoelectric ceramic piece, first to third electrode slice are fixed in the blind hole；
First to fourth piezoelectric ceramic piece along its thickness direction polarize, be respectively formed polarization line of demarcation be its diameter,
Two opposite subregions of polarization direction；The polarization line of demarcation of first piezoelectric ceramic piece and the second piezoelectric ceramic piece is parallel, together
The polarization direction of side subregion is opposite；It mutually hangs down in the polarization line of demarcation of second piezoelectric ceramic piece and third piezoelectric ceramic piece
Directly；The polarization line of demarcation of the third piezoelectric ceramic piece and the 4th piezoelectric ceramic piece is parallel, the polarization direction phase of the same side subregion
Instead；
The second electrode sheet ground connection, first electrode sheet, third electrode slice connect external drive signal respectively.
As a kind of further prioritization scheme of submarine mechanical arm based on piezoelectric, screws pump of the utility model, described the
One, the liquid filled in the second bellows is incompressible liquid.
The control method of the piezoelectric, screws pump is as follows:
The sinusoidal signal of pi/2 is differed in application time phase by distinguishing on first electrode sheet, third electrode slice, so that
Screw rod generation time and spatially all with two similar shape bending vibration modes of pi/2 phase difference, the coupling of two mode makes the screw rod be in
Existing rotoflector vibration realizes liquid in cavity to make it generate the cavity of screw in one direction between rubber bushing
The pump of body is defeated；
By changing the sequencing of the time phase difference of first electrode sheet, the sinusoidal signal applied on third electrode slice,
Change the defeated direction of pump of liquid, realizes that two-way pump is defeated.
The utility model compared with the prior art by using the above technical solution, has following technical effect that
1. structure is simple, easy to use；
2. volume weight is small, can freely in the high operated by water pressure in deep-sea.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the submarine mechanical arm based on piezoelectric, screws pump of the utility model；
Fig. 2 is the structural schematic diagram after first deformation unit in two joints in the utility model is connected；
Fig. 3 is the structural schematic diagram of the first deformation unit in the utility model；
Fig. 4 is the diagrammatic cross-section that piezoelectric, screws pump in the utility model；
Fig. 5 is the diagrammatic cross-section of rubber bushing in the utility model；
Fig. 6 is the diagrammatic cross-section of piezoelectric, screws in the utility model；
Fig. 7 is the diagrammatic cross-section of screw rod in the utility model；
Fig. 8 is the polarization situation and application electric signal schematic diagram of first to fourth piezoelectric ceramic piece in the utility model；
Fig. 9 is the diagrammatic cross-section of T shape bend pipe in the utility model；
Figure 10 is the structural schematic diagram of the first bellows in the utility model；
Figure 11 is the structural schematic diagram of plug in the utility model；
Figure 12, Figure 13 are the structural schematic diagram of the first deformation unit deformation when piezoelectric, screws pump is positive, reversing pump is defeated respectively；
Figure 14 is a kind of bending motion schematic diagram in each joint after the first deformation unit connection；
Figure 15 is another bending motion schematic diagram in each joint after the first deformation unit connection；
Figure 16 is relative positional relationship schematic diagram of the back lash a ~ e on helix；
Figure 17 is the operation principle schematic diagram that liquid is pumped a defeated screw pitch in piezoelectric, screws pump.
In figure, 1: joint；2: deformation unit；3: piezoelectric, screws pump；3-1: rubber bushing；3-2: piezoelectric, screws；3-1-1:
Screw thread；3-2-1: screw rod；3-2-2: annulus gasket；3-2-3: piezoelectric ceramics group: 3-2-4: bolt；3-2-1-1: blind hole；3-2-
1-2: tapped through hole；4:T shape bend pipe；4-1: transverse tube；4-2: vertical tube；5: bellows；6: plug.
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.
The utility model discloses a kind of submarine mechanical arms based on piezoelectric, screws pump, including several joints, such as Fig. 1 institute
Show.Joint includes the first deformation unit and the second deformation unit, as depicted in figs. 1 and 2.First deformation unit, the second deformation are single
Member is including piezoelectric, screws pump, the first to the 2nd T shape bend pipe and the first to the second bellows, as shown in Figure 3.
Piezoelectric, screws pump includes rubber bushing and piezoelectric, screws, as shown in Figure 4.Rubber bushing is hollow circuit cylinder, inner wall
Equipped with screw thread, as shown in Figure 5.Piezoelectric, screws include screw rod, the first to the second gasket, first to fourth piezoelectric ceramic piece, first
To third electrode slice and bolt；The screw thread that screw rod outer wall is equipped with and rubber bushing inner thread matches, screw rod and rubber bushing
It is threadedly coupled and sealingly engages, as shown in Figure 6.Screw rod has blind hole and tapped through hole at both ends along its central axes；Blind hole,
And screw coaxial, the radius of blind hole is greater than the radius of tapped through hole to tapped through hole, and blind hole and tapped through hole are connected, and such as schemes
Shown in 7.
It is the first to the second gasket, first to fourth piezoelectric ceramic piece, first annular in shape to third electrode slice；Screw rod according to
It is secondary to pass through the first gasket, the first piezoelectric ceramic piece, first electrode sheet, the second piezoelectric ceramic piece, second electrode sheet, third piezoelectricity pottery
It is threadedly coupled after tile, third electrode slice, the second gasket with tapped through hole, by the first to the second gasket, first to fourth piezoelectricity
Potsherd, first to third electrode slice are fixed in blind hole, as shown in Figure 6.
First to fourth piezoelectric ceramic piece polarizes along its thickness direction, and being respectively formed polarization line of demarcation is its diameter, polarization
Two contrary subregions；The polarization line of demarcation of first piezoelectric ceramic piece and the second piezoelectric ceramic piece is parallel, the same side subregion
Polarization direction it is opposite；The polarization line of demarcation of second piezoelectric ceramic piece and third piezoelectric ceramic piece is mutually perpendicular to；Third piezoelectricity pottery
The polarization line of demarcation of tile and the 4th piezoelectric ceramic piece is parallel, and the polarization direction of the same side subregion is opposite；Second electrode sheet ground connection,
First electrode sheet, third electrode slice connect external drive signal respectively, as shown in Figure 8.
First, second T shape bend pipe includes vertical tube and transverse tube, wherein transverse tube perpendicular to vertical tube and with the midpoint of vertical tube
It is connected, vertical tube both ends are closed at one end, open at one end, as shown in Figure 9.
As shown in Figure 10, the first, second bellows is made of elastic material, inside fills liquid, when generation hydraulic in it
It can be elongated or shortened accordingly when variation, as shown in Figure 12,13.
Transverse tube of the both ends of piezoelectric, screws pump respectively with the first, second T shape bend pipe is connected, and the first, second T shape bend pipe is perpendicular
One end of tube opening is corresponding with one end of the first, second bellows respectively to be connected, and the other end of the first, second bellows seals
It closes, as shown in Figure 3.
Piezoelectric, screws pump is for by the liquid pump in the first bellows to the second bellows or by the liquid in the second bellows
Body is pumped to the first bellows.
The midpoint of piezoelectric, screws pump is solid in piezoelectric, screws pump in first deformation unit midpoint and the second deformation unit
Even, so that piezoelectric, screws pump shaft line is vertical with piezoelectric, screws pump shaft line in the second deformation unit in the first deformation unit.
In the first deformation unit of joint in the first deformation unit of closed end and adjacent segment of the first, second T shape bend pipe
One, the open end of the second bellows is connected, the closed end and adjacent pass of the first, second T shape bend pipe in the second deformation unit of joint
The open end for saving the first, second bellows in the second deformation unit is connected.
When specific implementation, the cooperation of rubber bushing one end of T shape bend pipe transverse tube and piezoelectric, screws pump can be designed as interference
Cooperation, the through-hole of vertical tube and the cooperation of corresponding bellows may be designed in interference fit, and the closed end of bellows passes through in joint
It is interference fitted with the closed end of vertical tube in adjacent segment to be closed, first, second deformation unit in the last one joint
The closed end of bellows can be closed with the form of plug, as shown in figs. 2 and 11.
The control method of piezoelectric, screws pump is as follows:
The sinusoidal signal of pi/2 is differed in application time phase by distinguishing on first electrode sheet, third electrode slice, so that
Screw rod generation time and spatially all with two similar shape bending vibration modes of pi/2 phase difference, the coupling of two mode makes the screw rod be in
Existing rotoflector vibration realizes liquid in cavity to make it generate the cavity of screw in one direction between rubber bushing
The pump of body is defeated；
By changing the sequencing of the time phase difference of first electrode sheet, the sinusoidal signal applied on third electrode slice,
Change the defeated direction of pump of liquid, realizes that two-way pump is defeated.
A bending module is constituted after the first deformation unit connection in each joint, is formed after the connection of the second deformation unit
Another bending module, when mechanical arm works, the piezoelectric, screws pump forwards/reverse pump in deformation unit is defeated, output liquid
Bellows shortens, the bellows of input liquid extends, and so that two bending modules is formed bending deformations, as shown in Figure 14,15.To each
Deformation unit pump throughput rate is adjusted achievable two bendings module shape control, forms two orthogonal directions of submarine mechanical arm
Movement and positioning.Pumping defeated setting specific time sequence to each deformation unit can make submarine mechanical arm realize wriggling movement, obtain propulsive force.
By motivating first to fourth piezoelectric ceramic piece, piezoelectric, screws generation time and spatially all have pi/2 phase poor
Two similar shape bending vibration modes, the coupling of two mode makes piezoelectric, screws that rotoflector vibration be presented to making itself and rubber bushing
Sealed engagement screw thread between generate the cavity of screw in one direction, realize that the pump of liquid in cavity is defeated.With first to
4th piezoelectric ceramic piece is inspired for first-order flexure resonance mode, and the vibration of single order rotoflector is presented in piezoelectric, screws at this time,
Remember by piezoelectric, screws without the bending vibration in yoz in-plane bending vibration, the only face xoy and at the time of bending to the negative direction of x-axis
Volume for 0 moment, that is, t=0, back lash a gradually increases to maximum, pressure reduction from zero, and liquid is entered between engagement by water inlet
In gap a.As t=T/4, piezoelectric, screws are without the bending vibration in the face xoy, the bending vibration only in the face yoz and to the negative of z-axis
Direction bending, the volume of back lash a are gradually decrease to zero, pressure rise, and the volume of back lash b gradually increases to most from zero
Greatly, pressure reduction, the liquid in a of back lash enter in the b of back lash along helicla flute.As t=T/2, piezoelectric, screws without
Yoz in-plane bending vibration only has the bending vibration in the face xoy and is bent to the positive direction of x-axis, and the volume of back lash b is gradually
It is decreased to zero, pressure rise, the volume of back lash c gradually increases to maximum, pressure reduction from zero, the liquid in the b of back lash
It is entered in the c of back lash along helicla flute.As t=3T/4, piezoelectric, screws without in the face xoy bending vibration, only the face yoz
It interior bending vibration and is bent to the positive direction of z-axis, back lash c volume is gradually decrease to zero, pressure rise, back lash d
Volume gradually increase to maximum, pressure reduction from zero, the liquid in the c of back lash can enter back lash d along helicla flute
In.As t=T, piezoelectric, screws without the bending vibration in the face yoz, the bending vibration only in the face xoy and to the negative direction of x-axis it is curved
Song, the volume of back lash d are gradually decrease to zero, pressure rise, and the volume of back lash e gradually increases to maximum, pressure from zero
It reduces, the liquid in the d of back lash enters in the e of back lash along helicla flute.This makes liquid move one in helicla flute
A screw pitch, as shown in Figure 16 and Figure 17.Over time, the liquid of water inlet can be pumped defeated to discharge outlet.
Deformation unit injects incompressible liquid and bellows is deformable, and mechanical arm can be used for underwater environment.
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 submarine mechanical arm based on piezoelectric, screws pump, including several joints, which is characterized in that the joint includes first
Deformation unit and the second deformation unit；
First deformation unit, the second deformation unit include piezoelectric, screws pump, the first to the 2nd T shape bend pipe and first
To the second bellows；
The first, second T shape bend pipe includes vertical tube and transverse tube, wherein transverse tube perpendicular to vertical tube and with the midpoint of vertical tube
It is connected, vertical tube both ends are closed at one end, open at one end；
Transverse tube of the both ends of the piezoelectric, screws pump respectively with the first, second T shape bend pipe is connected, and the first, second T shape is curved
One end of pipe standpipe bubbler openings is corresponding with one end of first, second bellows respectively to be connected, first, second bellows
The other end be all closed；
First, second bellows is made of elastic material, inside fills liquid, when in it is hydraulic change when being capable of phase
That answers elongates or shortens；
Piezoelectric, screws pump is for by the liquid pump in the first bellows to the second bellows or by the liquid in the second bellows
Body is pumped to the first bellows；
In first deformation unit piezoelectric, screws pump midpoint and second deformation unit in piezoelectric, screws pump midpoint
Place is connected, so that piezoelectric, screws pump shaft line is vertical with piezoelectric, screws pump shaft line in the second deformation unit in the first deformation unit；
In first deformation unit of joint in the first deformation unit of closed end and adjacent segment of the first, second T shape bend pipe
One, the open end of the second bellows is connected, the closed end of the first, second T shape bend pipe and phase in second deformation unit of joint
The open end of the first, second bellows is connected in adjacent the second deformation unit of joint.
2. the submarine mechanical arm according to claim 1 based on piezoelectric, screws pump, which is characterized in that the piezoelectric, screws pump
Include rubber bushing and piezoelectric, screws；
The rubber bushing is hollow circuit cylinder, and inner wall is equipped with screw thread；
The piezoelectric, screws include screw rod, the first to the second gasket, first to fourth piezoelectric ceramic piece, first to third electrode slice
And bolt；
The screw thread that the screw rod outer wall is equipped with and the rubber bushing inner thread matches, screw rod and rubber bushing are threadedly coupled
And it sealingly engages；
The screw rod has blind hole and tapped through hole at both ends along its central axes；The blind hole, tapped through hole are equal and described
Screw coaxial, the radius of blind hole is greater than the radius of tapped through hole, and blind hole and tapped through hole are connected；
It is the first to the second gasket, first to fourth piezoelectric ceramic piece, first annular in shape to third electrode slice；
The screw rod sequentially passes through the first gasket, the first piezoelectric ceramic piece, first electrode sheet, the second piezoelectric ceramic piece, the second electricity
After pole piece, third piezoelectric ceramic piece, third electrode slice, the second gasket with the tapped through hole be threadedly coupled, by described first to
Second gasket, first to fourth piezoelectric ceramic piece, first to third electrode slice are fixed in the blind hole；
First to fourth piezoelectric ceramic piece polarizes along its thickness direction, and being respectively formed polarization line of demarcation is its diameter, polarization
Two contrary subregions；The polarization line of demarcation of first piezoelectric ceramic piece and the second piezoelectric ceramic piece is parallel, the same side
The polarization direction of subregion is opposite；The polarization line of demarcation of second piezoelectric ceramic piece and third piezoelectric ceramic piece is mutually perpendicular to；Institute
The polarization line of demarcation for stating third piezoelectric ceramic piece and the 4th piezoelectric ceramic piece is parallel, and the polarization direction of the same side subregion is opposite；
The second electrode sheet ground connection, first electrode sheet, third electrode slice connect external drive signal respectively.
3. the submarine mechanical arm according to claim 1 based on piezoelectric, screws pump, which is characterized in that described first, second
The liquid filled in bellows is incompressible liquid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820754167.0U CN208392072U (en) | 2018-05-21 | 2018-05-21 | A kind of submarine mechanical arm based on piezoelectric, screws pump |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820754167.0U CN208392072U (en) | 2018-05-21 | 2018-05-21 | A kind of submarine mechanical arm based on piezoelectric, screws pump |
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| Publication Number | Publication Date |
|---|---|
| CN208392072U true CN208392072U (en) | 2019-01-18 |
Family
ID=65135810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820754167.0U Withdrawn - After Issue CN208392072U (en) | 2018-05-21 | 2018-05-21 | A kind of submarine mechanical arm based on piezoelectric, screws pump |
Country Status (1)
| Country | Link |
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| CN (1) | CN208392072U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422441A (en) * | 2018-05-21 | 2018-08-21 | 南京航空航天大学 | A kind of submarine mechanical arm and its control method based on piezoelectric, screws pump |
| CN113238254A (en) * | 2021-04-12 | 2021-08-10 | 上海卫星工程研究所 | Piezoelectric hydraulic high-precision positioning platform device |
-
2018
- 2018-05-21 CN CN201820754167.0U patent/CN208392072U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422441A (en) * | 2018-05-21 | 2018-08-21 | 南京航空航天大学 | A kind of submarine mechanical arm and its control method based on piezoelectric, screws pump |
| CN108422441B (en) * | 2018-05-21 | 2023-05-09 | 南京航空航天大学 | Underwater mechanical arm based on piezoelectric screw pump and control method thereof |
| CN113238254A (en) * | 2021-04-12 | 2021-08-10 | 上海卫星工程研究所 | Piezoelectric hydraulic high-precision positioning platform device |
| CN113238254B (en) * | 2021-04-12 | 2022-12-13 | 上海卫星工程研究所 | Piezoelectric hydraulic high-precision positioning platform device |
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