CN210041673U

CN210041673U - Piezoelectric motor support for mechanical finger joint and mechanical finger joint

Info

Publication number: CN210041673U
Application number: CN201920798418.XU
Authority: CN
Inventors: 莫岳平; 梁可; 王玉龙; 林蕾; 刘志伟
Original assignee: Yangzhou University
Current assignee: Yangzhou University
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-02-07
Anticipated expiration: 2029-05-30

Abstract

The utility model discloses a mechanical finger joint supports with piezoelectric motor in the motor manufacturing technology field, including a pair of rotor, a pair of stator, a pair of piezoceramics piece, three electrode slices and shafting subassembly, the shafting subassembly includes pivot, bearing and jump ring, and piezoceramics piece and electrode slice are in proper order with the electrode slice, piezoceramics piece, the structural style suit of electrode slice at the pivot middle part, and compress tightly between a pair of stator through the stator, and a pair of rotor is established in the pivot through the rotatable cover of bearing, and the interior terminal surface laminating of rotor is on the outer terminal surface of stator, the utility model discloses simple structure, easy preparation, easy assembly can not disturb mechanical finger and piezoelectric motor's operation, can be used to in the robot.

Description

Piezoelectric motor support for mechanical finger joint and mechanical finger joint

Technical Field

The utility model relates to a mechanical finger joint, in particular to piezoelectric motor supports for mechanical finger joint.

Background

Robots have been the top technology developed in this century, and in the research of robots, mechanical fingers are the research difficulty. The mechanical finger joint driving has various methods, namely pneumatic/hydraulic driving, functional material driving and electromagnetic motor driving. The above driving modes have their own advantages and disadvantages, wherein the most widely used mode is the electromagnetic motor driving, but the electromagnetic motor has a large size due to its structure, and can only be placed in the mechanical palm to indirectly drive the finger joints through tendons, connecting rods or ropes. And because the electromagnetic motor needs to be equipped with a speed reducer due to the rotation characteristic, the structure of the mechanical finger is undoubtedly complicated. The cylinder piezoelectric motor can be applied to mechanical finger joints due to the reasons of large torque, strong anti-interference capability, simple structure and the like.

The piezoelectric motor drives the moving part to rotate or do linear motion by utilizing the vibration of the piezoelectric body under the action of voltage. The piezoelectric motor consists of two parts, i.e. a moving part and a vibrating part, and has no winding, magnet and insulating structure. Generally, there are two types of piezoelectric motors, alternating current and direct current, which include a piezoelectric element using a high-frequency voltage as a driving voltage and having a driving force generated by friction between a stator and a rotor, in a principle of operating the piezoelectric motor, the high-frequency voltage is applied to the piezoelectric element to vibrate the piezoelectric element. The piezoelectric motor obtains a driving force in one direction due to vibration of the piezoelectric element to obtain rotation of the rotor.

The piezoelectric motor has a much higher power density than a general motor, but the mechanical structure is limited. Because the energy conversion efficiency of the general piezoelectrics is low and the amplitude of vibration or expansion is very small, only special motors with special requirements can be manufactured to obtain the creep of tiny displacement. And in the occasions with limited space positions such as mechanical fingers, the torque, the size, the structure and the application mode of the piezoelectric motor have higher requirements. Particularly, in the aspect of supporting, the driving capability of the piezoelectric motor and the control effect of the fingers can be effectively improved by a proper supporting mode.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a piezoelectric motor supports and mechanical finger joint for mechanical finger joint, its simple structure, easy preparation, easy assembly can not disturb mechanical finger and piezoelectric motor's operation.

The purpose of the utility model is realized like this: the utility model provides a piezoelectric motor supports for manipulator knuckle, includes a pair of rotor, a pair of stator, a pair of piezoceramics piece, three electrode slices and shafting subassembly, the shafting subassembly includes pivot, bearing and jump ring, piezoceramics piece and electrode slice are in proper order with the structural style suit of electrode slice, piezoceramics piece, electrode slice at the pivot middle part, and compress tightly between a pair of stator through the stator, a pair of rotor overlaps in the pivot through the rotatable cover of bearing, and the bearing is in the pivot through the jump ring joint, the laminating of the interior terminal surface of rotor is in on the outer terminal surface of stator.

As the utility model discloses a further inject, the inner circle of rotor is fixed in the pivot as axle installation end, warp bearing, and the outer lane of rotor is as rotating the end, and the interior terminal surface laminating of outer lane is on the outer terminal surface of stator, link to each other through the conical surface between the inner circle of rotor and the outer lane.

As the utility model discloses a further inject, the rotor includes supports and the bearing frame through rotor ring, conical surface, support through the conical surface between rotor ring and the bearing frame and link to each other, the conical surface supports the outer peripheral face that is located the bearing frame with the junction of bearing frame, the toper supports the junction that is located the rotor ring with the rotor ring on the terminal surface of top, the thickness of bearing frame is greater than the thickness that the conical surface supported, and the conical surface supports and is 45-70 with the axial contained angle of bearing frame between, the toper supports the bottom and links to each other with the outside of rotor ring top terminal surface, form annular groove between the inboard and the toper support of rotor ring top terminal surface, the top that the toper supported links to each other with bearing frame outer peripheral face middle part.

A mechanical finger comprises a finger moving joint, a rotating support, a piezoelectric motor support, a fixed support and a finger base joint, wherein the finger moving joint is connected to the piezoelectric motor support through the rotating support; the both ends of the interior axle of piezoelectric motor support are all fixedly connected with fixed stay, and the other end fixed connection of two fixed stays is on the finger base festival.

As a further limitation of the present invention, the rotation support and the finger moving section, and the fixed support and the finger base section are connected by the screw fixation.

Compared with the prior art, the beneficial effects of the utility model are that: the mechanical finger joint provided by the utility model is supported by the piezoelectric motor, has novel structure and convenient use, and can well ensure the operation effect of the piezoelectric motor and the operation state of the mechanical finger base joint and the movable joint; the utility model relates to a mechanical finger joint which comprises a fixed support and a rotary support; the two fixed supports can fix the piezoelectric motor on the base section of the mechanical finger and ensure the running state of the piezoelectric motor, wherein the inner ring of the shaft fixed end at the upper end of the fixed support is provided with threads which can be matched with the threads at the two ends of the shaft of the piezoelectric motor to form a whole; a round hole is formed in the fixed end of the base section at the lower end of the fixed support, and screws penetrate through the round hole to enable the two fixed supports to be fixed on the mechanical finger base section; the middle end is a base section support, the elasticity is large, the piezoelectric motor and the overhead piezoelectric motor are supported, so that the stator part of the motor is in a free vibration state, the vibration mode of the piezoelectric motor is ensured, and the operation effect of the motor is ensured; the rotary support and the rotors are integrated, two sides of the rotary support are tangent to the rotors at a certain included angle, a round hole is formed in the top end of the square, and a screw penetrates through the round hole to enable the manipulator finger joint to be fixed on the two rotors; the utility model discloses a piezoelectric motor supports and supports through epaxial fixed stay and the epaxial rotation of rotor, couples together the festival of moving of mechanical finger and base festival through piezoelectric motor, and fixed stay has certain elasticity, can guarantee that the vibration mode to piezoelectric motor can not cause the interference, the utility model discloses the structure is more simple, and preparation and assembly are more easy, and double rotor structure has also further increased the moment of torsion, is a very strong support of practicality.

Drawings

Fig. 1 is an application schematic diagram of the piezoelectric motor support for mechanical finger joint of the present invention.

Fig. 2 is the structural schematic diagram of the middle piezoelectric motor of the present invention.

Fig. 3 is a schematic view of the supporting structure for middle rotation of the present invention.

Fig. 4 is a schematic view of the middle fixing and supporting structure of the present invention.

Fig. 5 is a schematic view of the structure of the middle rotor of the present invention.

In fig. 1: the device comprises a finger moving joint a, a rotating support b, a piezoelectric motor c, a fixed support d, a screw e and a finger base joint f.

In fig. 2: the motor comprises a shaft 1, a clamp spring 2, a bearing 3, an upper rotor 4, an upper stator 5, an electrode plate 6, a piezoelectric ceramic piece 7, a lower stator 8 and a lower rotor 9.

In fig. 3: a movable joint fixing end 10 and a movable joint connecting part 11.

In fig. 4: a shaft fixing end 12, a base joint support 13 and a base joint fixing end 14.

In fig. 5: rotor ring 15, cone support 16, bearing seat 17, annular groove 18.

Detailed Description

The present invention will be further described with reference to the following specific embodiments.

The mechanical finger joint shown in fig. 1 is composed of a finger moving joint a, a rotating support b, a dual-rotor short-column type piezoelectric motor c, a fixed support d, a screw e and a finger base joint f; the finger movable joint a is fixed on the rotor of the piezoelectric motor c by two screws e respectively penetrating through round holes arranged on the movable joint fixing ends 10 of the two rotary supports b; threads are arranged at two ends of a shaft 1 of the piezoelectric motor c and can be matched with the inner ring threads of a shaft fixing end 12 of the fixed support d, so that the two fixed supports d are fixed at two ends of the shaft 1; the base section fixing ends 14 of the two fixing supports d are provided with round holes, screws penetrate through the round holes to be fixed on two sides of the finger base section f, and the base section supports 13 support the dual-rotor short-column type piezoelectric motor c in an overhead mode.

As shown in fig. 2, the dual-rotor short-column piezoelectric motor is composed of a rotor, a stator and a shaft system, wherein the rotor is composed of an upper rotor 4 and a lower rotor 9, the stator is composed of an upper stator 5, a lower stator 8, a piezoelectric ceramic piece 7 and an electrode plate 6, and the shaft system is composed of a shaft 1, a bearing 3 and a clamp spring 2; the shaft 1 is provided with external threads, and the positions of the external threads are shown in the figure. Internal threads are arranged inside the upper stator 5 and the lower stator 8 and can be connected with the shaft 2 through the internal threads and the external threads and fixed on the shaft 1, the electrode plate 6 and the piezoelectric ceramic plate 7 are sleeved between the upper stator 5 and the lower stator 8, the upper rotor 4 is arranged above the upper stator 5, the lower end face of the upper rotor 4 is contacted with the upper end face of the upper stator 5, the outer ring of the bearing 3 is in interference fit with the inner ring of the upper rotor 4, and the inner ring of the bearing 3 is in interference fit with the shaft 1; the lower rotor 9 is arranged below the lower stator 8, the upper end face of the lower rotor 9 is in contact with the lower end face of the lower stator 8, the outer circle of the bearing 3 is in interference fit with the inner circle of the lower rotor 9, and the inner circle of the bearing 3 is in interference fit with the shaft 1. The upper and lower sides of the bearing 3 at the two ends of the shaft 1 are fixed by a clamp spring 2.

As shown in fig. 3, for the rotating support b, two sides of the rotating support b are tangent to the rotor at a certain angle to form a movable joint connecting portion 11, the thickness of the movable joint connecting portion is consistent with that of a rotor ring of the rotor, and a circular hole is formed in the middle of a fixed end 10 of the movable joint.

As shown in fig. 4, the fixed support structure is schematically illustrated, and the fixed support d structure is divided into 3 parts: a shaft fixing end 12, a base section support 13 and a base section fixing end 14; a round hole is turned in the middle of the shaft fixing end 12, the diameter of the round hole is consistent with that of the shaft 1, and threads are arranged on the inner ring and can be matched with threads at two ends of the shaft 1; the base section support 13 is wider and thinner, and can support the birotor short column type piezoelectric motor c; the middle of the base section fixing end 14 is provided with a round hole, and the round hole can be fixed on two sides of the finger base section f through screws e.

As shown in fig. 5, the rotor includes a rotor ring 15, a conical surface support 16 and a bearing seat 17, the rotor ring 15 is connected with the bearing seat 17 through the conical surface support 16, the joint of the conical surface support 16 and the bearing seat 17 is located on the outer circumferential surface of the bearing seat 17, the joint of the conical surface support and the rotor ring 15 is located on the top end surface of the rotor ring 15, the thickness of the bearing seat 17 is greater than that of the conical surface support 16, the axial included angle between the conical surface support 16 and the bearing seat 17 is 45-70 degrees, the bottom end of the conical support is connected with the outer side of the top end surface of the rotor ring 15, an annular groove 18 is formed between the inner side of the top end surface of the rotor ring 15 and the conical support.

The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.

Claims

1. The utility model provides a piezoelectric motor supports for manipulator finger joint, its characterized in that, includes a pair of rotor, a pair of stator, a pair of piezoceramics piece, three electrode slices and shafting subassembly, the shafting subassembly includes pivot, bearing and jump ring, piezoceramics piece and electrode slice are in proper order with the structural style suit of electrode slice, piezoceramics piece, electrode slice at the pivot middle part, and compress tightly between a pair of stator through the stator, a pair of rotor is in the pivot through the rotatable cover of bearing, and the bearing is in the pivot through the jump ring joint, the laminating of the interior terminal surface of rotor is in on the outer terminal surface of stator.

2. The piezoelectric motor support for a mechanical finger joint according to claim 1, wherein the inner ring of the rotor is used as a shaft mounting end and fixed to the rotating shaft through a bearing, the outer ring of the rotor is used as a rotating end, the inner end face of the outer ring is attached to the outer end face of the stator, and the inner ring and the outer ring of the rotor are connected through a conical surface.

3. The piezoelectric motor support for mechanical finger joint according to claim 2, wherein the rotor includes rotor ring, conical surface support and bearing seat, the rotor ring and the bearing seat are connected through conical surface support, the conical surface support is located the outer peripheral face of bearing seat with the junction of bearing seat, the conical surface support is located the top end face of rotor ring with the junction of rotor ring, the thickness of bearing seat is greater than the thickness that the conical surface supported, and the conical surface support is 45-70 degrees with the axial contained angle of bearing seat between, the conical surface supports the outside that bottom and rotor ring top end face and links to each other, form annular groove between rotor ring top end face inboard and the conical surface support, the top that the conical surface supported links to each other with bearing seat outer peripheral face middle part.

4. A mechanical finger joint is characterized by comprising a finger movable joint, a rotating support, a piezoelectric motor support, a fixed support and a finger base joint, wherein the finger movable joint is connected to the piezoelectric motor support through the rotating support; the both ends of the interior axle of piezoelectric motor support are all fixedly connected with fixed stay, and the other end fixed connection of two fixed stays is on the finger base festival.

5. The mechanical finger joint according to claim 4, wherein the rotating support and the finger moving joint and the fixed support and the finger base joint are fixedly connected through screws.