CN209919919U - Piezoelectric manipulator based on spherical joint - Google Patents
Piezoelectric manipulator based on spherical joint Download PDFInfo
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- CN209919919U CN209919919U CN201821983620.1U CN201821983620U CN209919919U CN 209919919 U CN209919919 U CN 209919919U CN 201821983620 U CN201821983620 U CN 201821983620U CN 209919919 U CN209919919 U CN 209919919U
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Abstract
The utility model discloses a piezoelectric manipulator based on spherical joints, which comprises a palm platform and at least two fingers, wherein each finger consists of a first joint, a first phalanx, a second joint and a terminal phalanx; the palm platform is provided with fixing holes corresponding to the fingers; the first joint and the second joint have the same structure and consist of a first annular vibrator, a second annular vibrator, a support frame, a plurality of springs and bolts; the first phalanx is a long rod with spherical structures arranged at two ends, and the spherical structures at the two ends are respectively nested in the two annular vibrators of the first joint and the second joint in a spherical hinge mode and are in close contact with the inner ring of the annular vibrator. By applying a specific excitation signal, the first phalanx may be caused to rotate in two degrees of freedom about the first joint, or the second joint may be caused to rotate the second phalanx in two degrees of freedom about the ball-shaped end of the first phalanx. The utility model discloses simple structure is compact, need not have extra drive mechanism, the miniaturization of being convenient for.
Description
Technical Field
The utility model provides a pair of piezoelectric manipulator based on spherical joint relates to the manipulator field.
Background
Existing manipulators place the drive in the palm or arm, using motion transfer elements such as gears, pulleys, etc. to transfer the motion of the drive to the drive joints. Because the traditional driving technology is difficult to provide a driver with simple and compact structure and high power density, a larger space is required to be arranged in the palm or the arm for installing the driver, the whole miniaturization design is difficult to realize, and the further application of the driver in the fields of deep space exploration and the like with strict requirements on quality, volume and the like is restricted.
In addition, the actuator of the conventional robot generally uses a pneumatic actuator, a hydraulic actuator or a dc motor as the actuator, and usually a single actuator can only provide one degree of freedom of movement, and if a multi-degree-of-freedom robot is designed, a plurality of actuators are required, which is also disadvantageous to miniaturization of the structure.
To the problem that current manipulator is difficult to realize miniaturized design, the utility model provides an utilize piezoelectricity excitation and friction drive principle to establish a piezoelectricity manipulator and working method based on spherical joint, the piezoceramics piece excitation vibration of joint self, rely on the frictional force drive not to need built-in driver, single joint can provide the degree of freedom motion of two directions simultaneously, do not have the motion transmission chain, simplify the structure, combine piezoelectric material quality small, the advantage that power density is high, can realize miniaturized design, and have piezoelectricity driven quick response, advantages such as outage auto-lock.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
a piezoelectric manipulator based on spherical joints comprises a palm platform and at least two fingers;
each finger consists of a first joint, a first phalanx, a second joint and a terminal phalanx;
the first joint and the second joint have the same structure and consist of a first annular vibrator, a second annular vibrator, a support frame, a plurality of springs and bolts;
the first annular vibrator and the second annular vibrator are identical in structure and consist of four beam annular metal blocks and eight piezoelectric ceramic pieces, one piezoelectric ceramic piece is respectively adhered to the upper surface and the lower surface of each beam, and a circular through hole is formed in the outermost end of each beam;
the supporting frame is a circular ring-shaped metal block, four symmetrical rectangular grooves are formed in each end of the supporting frame and correspond to beams of the four-beam circular metal block one by one, circular through holes are formed in the rectangular grooves, and four circular through holes are formed in the two ends of the supporting frame;
the first annular vibrator and the second annular vibrator are arranged in the rectangular groove, and four groups of bolts respectively penetrate through the first annular vibrator, the support frame, the second annular vibrator and the spring and are pre-tightened by nuts;
the first phalanx is a metal long rod with spherical structures arranged at two ends, the spherical structures and the metal long rod are connected together in a threaded fit mode, and the spherical structures are respectively nested between a first annular vibrator and a second annular vibrator of a first joint and a second joint in a spherical hinge mode;
the palm platform and the support frame of the first joint of each finger are fixed together through bolts;
the tail end phalanx is of a cone-like structure, and the root part of the tail end phalanx is fixed with the support frame of the second joint through a bolt;
each joint of the piezoelectric manipulator based on the spherical joint has two rotational degrees of freedom, the first joint can drive the spherical end of the first phalanx to rotate with two degrees of freedom, and the second joint can drive the spherical end of the first phalanx to rotate with two degrees of freedom, so that the second phalanx rotates around two specific axes of the spherical end of the first phalanx.
The working mode of the piezoelectric manipulator based on the spherical joint is characterized in that when four piezoelectric ceramic pieces on a pair of opposite beams of a first annular vibrator of a first joint are excited, eight piezoelectric ceramic pieces of a second vibrator are excited simultaneously to enable the two vibrators to generate ultrasonic standing wave vibration respectively, the first annular vibrator is in a B11 vibration mode, the second annular vibrator is in a B12 vibration mode, standing wave peaks of the two vibrators are in contact with the spherical tail end of the first phalanx, and a rotating moment is generated on the spherical tail end under the action of friction force, so that the rotating motion of a first degree of freedom is realized; if the other pair of the four piezoelectric ceramic pieces on the opposite beams of the first annular vibrator of the first joint is excited, the eight piezoelectric ceramic pieces of the second vibrator are excited simultaneously, so that the second rotary motion orthogonal to the previous direction can be realized;
the two-degree-of-freedom motion principle of the second joint is the same as that of the first joint, and the difference is that when excitation is independently applied to the two annular vibrators of the second joint, the second joint can rotate around the other spherical tail end of the first phalanx under the reaction force of the driving force because one end of the first phalanx and the first joint are in friction self-locking and cannot rotate.
The utility model adopts the above technical scheme and prior art contrast, have following technological effect:
1. no additional transmission chain is provided, the structure is simple and compact, and the miniaturization is facilitated;
2. each joint has two rotational degrees of freedom, smart function, quick response, high precision and no influence of electromagnetic interference.
Drawings
Fig. 1 is a schematic structural diagram of a piezoelectric manipulator based on a spherical joint of the present invention;
fig. 2 is a schematic view of the finger structure of the present invention;
fig. 3 is a schematic sectional view of a first joint of the present invention;
FIG. 4 is a schematic view of a four-beam ring metal block structure according to the present invention;
fig. 5 is a schematic view of the supporting frame of the present invention;
fig. 6 is a schematic view of a first phalanx structure in accordance with the present invention;
fig. 7 is a schematic view of the structure of the distal phalanx of the present invention;
fig. 8 shows a polarization mode and a signal applying method of a piezoelectric ceramic plate group in the first ring oscillator according to the present invention;
fig. 9 shows a polarization mode and a signal application mode of the piezoelectric ceramic plate group in the second ring oscillator according to the present invention;
fig. 10 is a mode vibration pattern diagram of the first ring oscillator B11 according to the present invention;
fig. 11 is a mode vibration pattern diagram of the second ring oscillator B12 according to the present invention;
wherein, 1-palm platform, 2-finger; 3-a first joint; 4-first phalanx; 5-a second joint; 6-terminal phalanx; 7-a second ring oscillator; 8-a support frame; 9-a first ring oscillator; 10-a first bolt; 11-piezoelectric ceramic plate; 12-a second bolt; 13-a spring; 14-nut.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
as shown in fig. 1, the utility model discloses a piezoelectric manipulator based on spherical joint, including palm platform 1 and at least two fingers 2.
As shown in fig. 2, each finger consists of a first joint 3, a first phalanx 4, a second joint 5, and a distal phalanx 6; the first joint 3 of each finger is fixedly connected with the palm platform 1 through a first bolt 10.
As shown in fig. 3, the first joint 3 and the second joint 5 have the same structure, and are composed of a first ring-shaped vibrator 9, a second ring-shaped vibrator 7, a support frame 8, a plurality of springs 13, bolts 12, and nuts 14.
As shown in fig. 4, the first ring oscillator 9 is the same as the second ring oscillator structure 7, and is composed of four beam ring-shaped metal blocks and eight piezoelectric ceramic plates 11, one piezoelectric ceramic plate 11 is respectively adhered to the upper and lower surfaces of each beam, and a circular through hole is formed at the outermost end of each beam.
As shown in fig. 5, the support frame is a circular metal block, each end of the support frame is provided with four symmetrical rectangular grooves which correspond to beams of the four-beam circular metal block one by one, circular through holes are formed in the rectangular grooves, and four circular through holes are formed in the two ends of the support frame; the first annular vibrator and the second annular vibrator are arranged in the rectangular groove, and four groups of bolts respectively penetrate through the first annular vibrator, the support frame, the second annular vibrator and the spring and are pre-tightened by nuts.
As shown in fig. 6, the first phalanx is a metal long rod with spherical structures at two ends, the spherical structures are connected with the metal long rod in a threaded fit manner, and the spherical structures at the tail ends of the first phalanx are respectively nested between the first ring-shaped vibrator and the second ring-shaped vibrator of the first joint and the second joint in a spherical hinge manner.
As shown in fig. 7, the terminal phalanx is a long metal rod with a cone-like structure, and the root part of the terminal phalanx and the support frame of the second joint are fixed together through bolts.
As shown in fig. 8 and 9, the polarization of the piezoelectric ceramic plates of the first ring oscillator and the second piezoelectric ring oscillator and the electrical signal can be applied in the same manner as shown in the figures, and the first ring oscillator B11 vibration mode and the second ring oscillator B12 vibration mode can be excited, respectively, as shown in fig. 10 and 11.
In combination with the application mode of the piezoelectric ceramic piece, the working mode of the piezoelectric manipulator based on the spherical joint is as follows:
when four piezoelectric ceramic pieces on the beam of the XOZ plane of the first ring oscillator of the first joint are excited, eight piezoelectric ceramic pieces of the second oscillator are excited simultaneously to enable the two oscillators to generate ultrasonic standing wave vibration respectively, the first ring oscillator is in a B11 vibration mode, the second ring oscillator is in a B12 vibration mode, standing wave peaks of the two oscillators are in contact with the spherical tail end of the first phalanx, and a rotating moment is generated on the spherical tail end under the action of friction force, so that the rotating motion around the Y axis is realized; if four piezoelectric ceramic pieces on two beams of the YOZ plane of the first annular vibrator of the first joint are excited, eight piezoelectric ceramic pieces of the second vibrator are excited simultaneously, and the rotary motion around the X axis can be realized;
the two-degree-of-freedom motion principle of the second joint is the same as that of the first joint, and the difference is that when excitation is independently applied to the two annular vibrators of the second joint, because one end of the first phalanx and the first joint are in friction self-locking and cannot rotate, the second joint can rotate around the other spherical tail end of the first phalanx under the reaction force of the driving force, and can rotate around an X axis or a Y axis in the same way.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The piezoelectric manipulator based on the spherical joint is characterized by comprising a palm platform and at least two fingers;
the finger comprises a first joint, a first phalanx, a second joint and a tail end phalanx which are connected in sequence;
the first joint and the second joint are identical in structure and comprise two annular vibrators which are symmetrically arranged, the two annular vibrators are coaxially fixed on the upper side and the lower side of the support frame, each annular vibrator consists of four beam annular metal blocks and a piezoelectric ceramic piece, the upper surface and the lower surface of each beam are respectively adhered with one piezoelectric ceramic piece, and the deformation of the annular vibrators is realized by loading electric signals on the piezoelectric ceramic pieces in a set polarization mode so as to drive the motion change of the phalanges;
the support frame in the first joint and the second joint is connected with the connecting ends at two ends of the first phalanx, the connecting ends are spherical, and the connecting ends are nested in the joints.
2. The piezoelectric manipulator based on the spherical joint as claimed in claim 1, wherein the support frame is a circular ring-shaped metal block, each end of the support frame is provided with four symmetrical rectangular grooves corresponding to beams of the four-beam circular metal block one by one, and through holes are arranged in the rectangular grooves and correspond to the beams of the circular vibrator for fixing the circular vibrator;
the bolt penetrates through the first annular vibrator, the support frame, the second annular vibrator and the spring and is pre-tightened by the nut;
the supporting frame groove round holes are used for fixing the upper annular vibrator and the lower annular vibrator, and the supporting frame end face round holes are used for fixing the tail end phalanx.
3. The piezoelectric manipulator based on the spherical joint as claimed in claim 1, wherein the first phalanx is a long metal rod with spherical structures at two ends, the connecting end is a spherical structure, the spherical structure and the long metal rod are connected together in a screw fit manner, and the spherical structure is respectively nested between the first ring-shaped vibrator and the second ring-shaped vibrator of the first joint and the second joint in a spherical hinge manner;
the palm platform and the support frame of the first joint of each finger are fixed together through bolts;
the tail end phalanx is of a cone-like structure, and the root part of the tail end phalanx is fixed with the support frame of the second joint through a bolt.
4. The piezoelectric manipulator based on the spherical joint as claimed in claim 2, wherein the four-beam annular metal block is of an annular structure, two pairs of vertical beams are arranged on the outer circumference of the annular structure, the beams protrude towards the outside of the annular structure, and the upper surface and the lower surface of each beam are provided with piezoelectric ceramic plates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821983620.1U CN209919919U (en) | 2018-11-29 | 2018-11-29 | Piezoelectric manipulator based on spherical joint |
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| CN201821983620.1U CN209919919U (en) | 2018-11-29 | 2018-11-29 | Piezoelectric manipulator based on spherical joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514594A (en) * | 2018-11-29 | 2019-03-26 | 南京航空航天大学 | A kind of piezo mechanical hand and its control method based on spherical joint |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514594A (en) * | 2018-11-29 | 2019-03-26 | 南京航空航天大学 | A kind of piezo mechanical hand and its control method based on spherical joint |
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