CN209970737U - Piezoelectric joint mechanism of mechanical arm - Google Patents
Piezoelectric joint mechanism of mechanical arm Download PDFInfo
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- CN209970737U CN209970737U CN201920574218.6U CN201920574218U CN209970737U CN 209970737 U CN209970737 U CN 209970737U CN 201920574218 U CN201920574218 U CN 201920574218U CN 209970737 U CN209970737 U CN 209970737U
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Abstract
The utility model discloses an arm piezoelectricity joint mechanism, single stator quadrature dicyclo two degree of freedom piezoelectricity actuator includes piezoelectric vibrator, conical rotor and coupling assembling, piezoelectric vibrator includes two first metal base members, a third metal base member, two second metal base members, be equipped with one between second metal base member and the third metal base member and indulge the piezoceramics piece that shakes, be equipped with a curved piezoceramics piece that shakes between first metal base member and the second metal base member, two connecting axle quadrature that two adjacent single stator quadrature dicyclo two degree of freedom piezoelectricity actuators connect the end just connect through quadrature coupling assembling. The utility model adopts a single stator orthogonal double-ring structure, which can realize two-degree-of-freedom rotation of a single piezoelectric actuator; the joint is directly driven to rotate by means of friction force, the advantages of small size and high power density of piezoelectric materials are combined, the miniaturization design of the whole structure is achieved, and the advantages of quick response, power failure self-locking and the like of piezoelectric driving are exerted.
Description
Technical Field
The utility model relates to a robotics, concretely relates to arm.
Background
Most of the existing mechanical arms adopt the traditional driving technology, drivers such as electromagnetic motors and the like are arranged at joints, and the motion of the drivers is transmitted to the driving joints by utilizing motion transmission elements such as gears, belt wheels and the like. If multiple degrees of freedom motion is achieved, the number of drives must be increased. The traditional driving technology makes the whole mechanical arm huge in volume, low in power density and difficult to realize overall miniaturization, and further application of the mechanical arm in fields with strict requirements on mass and volume, such as deep space, deep sea exploration, medical treatment and the like is restricted.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a mechanical arm piezoelectricity joint mechanism is provided, compact structure can be miniaturized not only, can exert the characteristics of piezoelectricity drive response rapidly, outage auto-lock moreover.
In order to solve the technical problem, the utility model adopts the following technical scheme: a piezoelectric joint mechanism of a mechanical arm comprises at least two single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators which are sequentially connected, wherein each single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator comprises a piezoelectric vibrator, conical rotors and a connecting assembly, each piezoelectric vibrator comprises two first metal substrates positioned at two ends of the piezoelectric vibrator, a third metal substrate positioned in the middle of the piezoelectric vibrator and two second metal substrates positioned at two sides of the third metal substrate, a longitudinal vibration piezoelectric ceramic piece is arranged between each second metal substrate and the third metal substrate, a bending vibration piezoelectric ceramic piece is arranged between each first metal substrate and the corresponding second metal substrate, a circular ring part is arranged at the head end of each first metal substrate, the two conical rotors are clamped at two sides of the circular ring part through conical surfaces respectively, each conical rotor is provided with a central through hole, each connecting assembly comprises a connecting shaft and an orthogonal connector, the middle part of the connecting shaft is fixedly connected with the central through hole of the two conical rotors, the axes of the circular ring parts of the two first metal substrates at the two ends of the piezoelectric vibrator are orthogonal, and the two connecting shafts of the two adjacent single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators are orthogonal and connected through an orthogonal connector.
Optionally, the orthogonal connector includes four long connecting pieces, long connecting piece includes mutually perpendicular's head and afterbody, and four long connecting piece's afterbody are cross distribution and are together fixed through the connecting block, and two adjacent long connecting piece head extending direction are opposite, the head is the ring structure, and the ring structure hole is used for passing the connecting axle, and the fastener is connected at the both ends of connecting axle.
Optionally, the tail part is in a convex shape, and the tail parts of the four long connecting pieces are spliced to form a plane.
Optionally, the tail portion is provided with a plane through hole, the connecting block is provided with a threaded shaft, and the threaded shaft penetrates through the plane through hole and is connected with the nut.
Optionally, the conical rotor is in the shape of a hollow circular truncated cone, a circular truncated cone center hole is formed in the center of the end with the smaller diameter, a key groove is formed in the circular truncated cone center hole, and the connecting shaft is connected with a key matched with the key groove.
Optionally, the conical rotor is provided with a counter bore in the center of the larger end face, the fastener comprises a silica gel ring, a metal gasket and a snap ring which are located in the counter bore, and the end of the connecting shaft penetrates through the silica gel ring, the head of the long connecting piece, the metal gasket and the snap ring to perform axial limiting.
Optionally, the head and the tail of the long connecting piece are connected through a rectangular stretching body, and the side wall of the counter bore is provided with a limiting groove matched with the rectangular stretching body of the connecting piece.
Optionally, the third metal substrate includes a middle cylindrical portion and threaded shaft portions at two ends, and the longitudinal vibration piezoelectric ceramic piece, the second metal substrate, and the bending vibration piezoelectric ceramic piece are cylindrical and have a threaded hole in the center thereof, the threaded hole being matched with the threaded shaft portion.
Optionally, the first metal base further includes a connection portion and a gradual change portion connecting the circular ring portion and the connection portion, and the connection portion is of a cylindrical structure and has a threaded hole tapped on an end face thereof, the threaded hole being connected with the threaded shaft portion.
Optionally, the gradual change portion is of a variable cross-section structure, the cross section is a circle, the end with the small cross section of the gradual change portion is fixedly connected with the outer wall of the circular ring portion, and the end with the large cross section is fixedly connected with the connecting portion.
The utility model adopts the above technical scheme, following beneficial effect has:
1. the utility model adopts a single stator orthogonal double-ring structure, which can realize two-degree-of-freedom rotation of a single piezoelectric actuator, thereby solving the defect of single-degree-of-freedom of a single motor in the traditional drive;
2. the utility model discloses rely on frictional force direct drive joint to rotate, do not need any motion transmission chain, simplify the structure, combine piezoelectric material small, advantage that power density is high, realized overall structure's miniaturized design, exert advantages such as piezoelectricity driven response rapidly, outage auto-lock simultaneously.
3. The utility model discloses a novel piezoelectric drive has abandoned traditional electromagnetic drive, makes the utility model discloses can use the occasion of traditional electromagnetic drive unable work such as deep sea, nuclear magnetic resonance.
The specific technical solution and the advantages of the present invention will be described in detail in the following detailed description with reference to the accompanying drawings.
Drawings
The invention will be further described with reference to the accompanying drawings and specific embodiments:
FIG. 1 is a schematic structural diagram of an orthogonal piezoelectric joint;
FIG. 2 is a schematic structural diagram of a single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator;
FIG. 3 is a schematic exploded view of a piezoelectric vibrator;
FIG. 4 is an exploded view of the conical rotor and coupling assembly;
FIG. 5 is a schematic view of a piezoelectric actuator ring partially assembled;
FIG. 6 is a schematic view of the structure of the connecting shaft;
FIG. 7 is a schematic view of a conical rotor configuration;
FIG. 8 is a schematic view of an assembly of long connectors;
FIG. 9 is a schematic view of a diamond-shaped connecting block structure;
FIG. 10 is a schematic view of piezoelectric ceramic wafer polarization;
FIG. 11 is a schematic diagram of a piezoelectric vibrator configuration and signal application;
FIG. 12 is a schematic diagram of the vibration mode and the mass elliptic motion of the piezoelectric vibrator;
in the figure: 1. a first piezoelectric actuator; 2. a first set of long connectors; 2-1, a first long connecting piece; 2-2, a second long connecting piece; 3. a second set of long connectors; 3-1, a third long connecting piece; 3-2, a fourth long connecting piece; 4. connecting blocks; 5. a second piezoelectric actuator; 6-1, a first metal substrate; 6-2, a second metal substrate; 6-3, a third metal matrix; 7-1, bending and vibrating the piezoelectric ceramic plate; 7-2, longitudinally vibrating piezoelectric ceramic plates; 8. a conical rotor; 8-1, conical surface; 8-2, a central hole of the circular truncated cone; 8-3, a key groove; 8-4, counter bores; 8-5, a limiting groove; 9. a connecting shaft; 10. a silica gel ring; 11. a metal washer; 12. and E-shaped snap rings.
Detailed Description
Example one
As shown in fig. 1, an orthogonal piezoelectric joint mechanism includes a plurality of single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators connected in sequence; for the purpose of illustration, the orthogonal piezoelectric joint mechanism including two piezoelectric actuators is exemplified, and the two piezoelectric actuators included are the first piezoelectric actuator 1 and the second piezoelectric actuator 5, respectively.
As shown in fig. 2, the single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator includes a piezoelectric vibrator, a conical rotor 8, and a connecting assembly.
As shown in fig. 3, the piezoelectric vibrator includes five metal substrates and four piezoelectric ceramic sheets. The gold body matrix comprises two first metal matrixes 6-1 positioned at two ends of the piezoelectric vibrator, a third metal matrix 6-3 positioned in the middle of the piezoelectric vibrator and two second metal matrixes 6-2 positioned at two sides of the third metal matrix, namely the two first metal matrixes 6-1 and the two second metal matrixes 6-2 are symmetrically arranged at two sides of the third metal matrix 6-3.
The first metal matrix 6-1 comprises a circular ring part, a gradual change part and a connecting part, wherein chamfers are arranged at two ends of the circular ring part to increase the contact area with the conical rotor 8; gradual change portion is the variable cross section structure, and the cross-section is the circle, and the one end that the gradual change part cross section is little links firmly with ring portion outer wall, and the great one end of cross section links firmly with connecting portion, and connecting portion are the cylinder structure, and threaded hole is attacked to the terminal surface.
The middle part of the third metal matrix 6-3 is a cylinder, and two ends of the third metal matrix extend to form threaded shaft parts. The second metal matrix 6-2 is a cylinder, and a threaded hole matched with the threaded shaft part is formed in the center of the cylinder. The longitudinal vibration piezoelectric ceramic piece and the bending vibration piezoelectric ceramic piece are cylindrical, and threaded holes matched with the threaded shaft portions are formed in the centers of the longitudinal vibration piezoelectric ceramic piece and the bending vibration piezoelectric ceramic piece. And sequentially penetrating the longitudinal vibration piezoelectric ceramic piece, the second metal substrate and the bending vibration piezoelectric ceramic piece into the threaded shaft part of the third metal substrate, and fastening the end part of the shaft and the threaded hole of the first metal substrate in a matching manner. The first metal substrates on two sides of the piezoelectric vibrator are assembled in an orthogonal mode according to the axis of the circular ring part of the first metal substrates.
As shown in fig. 4 to 7, the ring mounting portion of the piezoelectric actuator has a symmetrical structure, and is described in detail with a side structure:
referring to fig. 4 to 6, the connecting assembly includes a connecting shaft 9, a silicone ring 10, an orthogonal connector, a metal washer 11, and an E-shaped snap ring 12. The connecting shaft is provided with a connected key which can be printed by 3D, and the shaft end is provided with a circular groove.
As shown in fig. 7, the conical rotor is in the shape of a hollow truncated cone and has a conical surface 8-1, a truncated cone center hole 8-2 for the connecting shaft to pass through is formed in the center of the small circular end surface, a key groove 8-3 is formed in the through hole, a counter bore 8-4 for placing a silica gel ring, a long connecting piece and a metal washer is formed in the center of the large circular end surface, and a limit groove 8-5 is formed in one side of the large circular end surface.
Referring to fig. 8, the orthogonal connector includes four long connecting members, wherein a first long connecting member 2-1 and a second long connecting member 2-2 form a first group of long connecting members 2, a third long connecting member 3-1 and a fourth long connecting member 3-2 form a second group of long connecting members 3, and the first group of long connecting members 2 and the second group of long connecting members 3 have opposite length extending directions and are orthogonally connected.
The long connecting pieces comprise mutually perpendicular heads and tails, the heads and the tails are connected through a rectangular stretching body, the tails of the four long connecting pieces are in cross distribution and are fixed together through a connecting block 4, the extending directions of the heads of the two adjacent long connecting pieces are opposite, the heads are of ring structures, inner holes of the ring structures are used for penetrating through connecting shafts, and fasteners are connected at two ends of the connecting shafts. The tail part is in a convex shape and is provided with a plane through hole, and the tail parts of the four long connecting pieces are spliced to form a seamless plane. Referring to fig. 9, the connecting block is a diamond shape, and four corner portions are provided with threaded shafts, and the four threaded shafts penetrate through the plane through holes of the four long connecting pieces and are connected with nuts.
As shown in fig. 5, the conical surface of the conical rotor is closely attached to the conical surface of the inner circle of the circular ring of the first metal base, the connecting shaft passes through the center hole of the circular table of the conical rotor, and the key on the connecting shaft is matched with the key slot on the inner circle of the conical rotor. The silica gel ring, the long connecting piece and the metal washer at the left end penetrate into the connecting shaft in sequence, the silica gel ring is arranged at the bottom of the counter bore of the conical rotor, and the rectangular stretching part of the long connecting piece is tightly matched with the limiting groove of the conical rotor, so that the conical rotor and the long connecting piece synchronously rotate. The right end configuration and the assembly mode are completely the same as the left end. And finally, clamping the E-shaped clamping ring 12 in an annular groove of the connecting shaft, and adjusting the pre-pressure by adjusting the thickness and the number of the silica gel rings so as to realize the tight fit of the conical surface of the conical rotor and the conical surface of the circular structure of the metal base body.
The first piezoelectric actuator 1 and the second piezoelectric actuator 5 are orthogonally connected through the first group of long connecting pieces 2 and the second group of long connecting pieces 3. And simultaneously penetrating four threaded shafts on the diamond-shaped connecting block into four matched plane through holes, and fastening by using nuts.
As shown in fig. 10, both the bending vibration piezoelectric ceramic sheet and the longitudinal vibration piezoelectric ceramic sheet are polarized in the thickness direction. The bending vibration ceramic plate is used for exciting the bending vibration mode of the piezoelectric vibrator; the longitudinal vibration ceramic plate is used for exciting the longitudinal vibration mode of the piezoelectric vibrator. The bending vibration piezoelectric ceramic piece adopts a two-region polarization annular piezoelectric ceramic piece, and the longitudinal vibration piezoelectric ceramic piece adopts a single-region polarization annular piezoelectric ceramic piece. The outer wall of the piezoelectric ceramic piece is subjected to insulation treatment by materials such as epoxy resin. The bending vibration piezoelectric ceramic pieces at the two ends of the piezoelectric vibrator are orthogonally arranged according to polarization partition lines, and the polarization partition lines of the bending vibration piezoelectric ceramic pieces at the ends are perpendicular to the neutral plane of the circular ring part of the first metal base body.
The metal matrix of the piezoelectric vibrator is grounded, and the three piezoelectric ceramic pieces are respectively connected with external driving signals. The axis of the circular ring part at one end of the piezoelectric vibrator is orthogonal to the axis of the circular ring part of the adjacent piezoelectric vibrator.
The control driving method of the orthogonal piezoelectric joint mechanism comprises the following steps:
for each single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator, two groups of simple harmonic drive signals with specific frequency and pi/2 phase difference are applied to one end of a flexural vibration piezoelectric ceramic piece and one longitudinal vibration piezoelectric ceramic piece to excite a first-order longitudinal vibration mode and a second-order flexural vibration mode of a piezoelectric vibrator, the two modes are of the same type and have the pi/2 phase difference in time and space, a rotary traveling wave is formed by coupling of the two modes, so that mass points on the inner side of a ring structure of the piezoelectric vibrator generate micro-amplitude elliptical motion, and a rotor and a connecting assembly are driven to rotate through friction, so that the motion of an orthogonal piezoelectric joint is driven.
When excitation signals shown in fig. 11 are applied to the one-end bending vibration piezoelectric ceramic sheet and the longitudinal vibration piezoelectric ceramic sheet, taking the first-order longitudinal vibration and the second-order bending vibration which have pi/2 phase difference in time and are generated by the piezoelectric vibrator metal matrix as an example, the piezoelectric vibrator circular structure generates a B03 mode through coupling, a rotating traveling wave is generated inside the piezoelectric vibrator circular structure, in a period, mass points inside the circular ring do micro-amplitude elliptical motion and are driven through friction, the rotating direction of the conical rotor is the same as the moving direction of the traveling wave generated in the circular structure surface, and the piezoelectric vibrator vibration mode is shown in fig. 12.
The single piezoelectric vibrator adopts a single-stator orthogonal double-ring structure, so that single-stator two-degree-of-freedom rotation can be realized, when two groups of simple harmonic driving signals with specific frequency and pi/2 phase difference are applied to the bending vibration piezoelectric ceramic piece and the longitudinal vibration piezoelectric ceramic piece at the other end of the piezoelectric vibrator, the rotary motion of a corresponding rotor and a corresponding connecting assembly is realized, and the rotary axis at the position of a ring is orthogonal to the rotary axis at the position of a ring at the other end of the piezoelectric vibrator, namely the two-degree-of-freedom rotation is realized.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. The utility model provides a mechanical arm piezoelectricity joint mechanism which characterized in that: the piezoelectric actuator comprises at least two single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators which are sequentially connected, each single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator comprises a piezoelectric vibrator, conical rotors and a connecting assembly, each piezoelectric vibrator comprises two first metal substrates positioned at two ends of each piezoelectric vibrator, a third metal substrate positioned in the middle of each piezoelectric vibrator, and two second metal substrates positioned at two sides of each third metal substrate, a longitudinal vibration piezoelectric ceramic piece is arranged between each second metal substrate and the corresponding third metal substrate, a bending vibration piezoelectric ceramic piece is arranged between each first metal substrate and each second metal substrate, the head end of each first metal substrate is provided with a circular ring part, the two conical rotors are clamped at two sides of the circular ring part through conical surfaces respectively, each conical rotor is provided with a central through hole, each connecting assembly comprises a connecting shaft and an orthogonal connector, and the middle part of each connecting shaft is fixedly connected with the central through holes of the, the axes of the circular ring parts of the two first metal substrates at the two ends of the piezoelectric vibrator are orthogonal, and two connecting shafts of the connected end of the two adjacent single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators are orthogonal and connected through an orthogonal connector.
2. The piezoelectric joint mechanism of the mechanical arm according to claim 1, wherein: the orthogonal connector comprises four long connecting pieces, each long connecting piece comprises a head and a tail which are perpendicular to each other, the tails of the four long connecting pieces are distributed in a cross shape and fixed together through a connecting block, the extending directions of the heads of the two adjacent long connecting pieces are opposite, the heads are of a ring structure, inner holes of the ring structure are used for penetrating through a connecting shaft, and fasteners are connected at two ends of the connecting shaft.
3. The piezoelectric joint mechanism of the mechanical arm according to claim 2, wherein: the tail part is convex, and the tail parts of the four long connecting pieces are spliced to form a plane.
4. The piezoelectric joint mechanism of the mechanical arm according to claim 3, wherein: the afterbody is equipped with the plane through-hole, the connecting block is equipped with the screw thread axle, and the screw thread axle passes plane through-hole and connects the nut.
5. The piezoelectric joint mechanism of the mechanical arm according to claim 4, wherein: the conical rotor is in a hollow round platform shape, a round platform center hole is formed in the center of the end with the smaller diameter, a key groove is formed in the round platform center hole, and the connecting shaft is connected with a key matched with the key groove.
6. The piezoelectric joint mechanism of the mechanical arm according to claim 5, wherein: the conical rotor is provided with a counter bore in the center of the end face of the larger end, the fastener comprises a silica gel ring, a metal gasket and a clamping ring which are positioned in the counter bore, and the end part of the connecting shaft penetrates through the silica gel ring, the head part of the long connecting piece, the metal gasket and the clamping ring to perform axial limiting.
7. The piezoelectric joint mechanism of the mechanical arm according to claim 6, wherein: the head part and the tail part of the long connecting piece are connected through a rectangular stretching body, and the side wall of the counter bore is provided with a limit groove matched with the rectangular stretching body of the connecting piece.
8. The piezoelectric joint mechanism of the mechanical arm according to claim 1, wherein: the third metal substrate comprises a cylindrical part in the middle and threaded shaft parts at two ends, and the longitudinal vibration piezoelectric ceramic piece, the second metal substrate and the bending vibration piezoelectric ceramic piece are cylindrical and are provided with threaded holes in the centers matched with the threaded shaft parts.
9. The piezoelectric joint mechanism of mechanical arm according to claim 8, wherein: the first metal base body further comprises a connecting portion and a gradual change portion for connecting the circular ring portion and the connecting portion, and the connecting portion is of a cylindrical structure and the end face of the connecting portion is provided with a threaded hole connected with the threaded shaft portion.
10. The piezoelectric joint mechanism of mechanical arm according to claim 9, wherein: gradual change portion is the variable cross section structure, and the cross-section is the circle, and the one end that the gradual change portion cross section is little links firmly with ring portion outer wall, and the one end that the cross section is big links firmly with connecting portion.
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| CN201920574218.6U CN209970737U (en) | 2019-04-25 | 2019-04-25 | Piezoelectric joint mechanism of mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN111251285A (en) * | 2020-03-25 | 2020-06-09 | 南京航空航天大学 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
-
2019
- 2019-04-25 CN CN201920574218.6U patent/CN209970737U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN110238873B (en) * | 2019-04-25 | 2023-12-08 | 浙江师范大学 | Orthogonal piezoelectric joint mechanism and control method thereof |
| CN111251285A (en) * | 2020-03-25 | 2020-06-09 | 南京航空航天大学 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
| CN111251285B (en) * | 2020-03-25 | 2023-10-27 | 南京航空航天大学 | Piezoelectric-driven two-degree-of-freedom deep sea mechanical arm and driving method thereof |
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