CN211967514U - Joint locking mechanism based on piezoelectric drive - Google Patents
Joint locking mechanism based on piezoelectric drive Download PDFInfo
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- CN211967514U CN211967514U CN202020199313.5U CN202020199313U CN211967514U CN 211967514 U CN211967514 U CN 211967514U CN 202020199313 U CN202020199313 U CN 202020199313U CN 211967514 U CN211967514 U CN 211967514U
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Abstract
The utility model discloses a joint locking mechanism based on piezoelectric drive, which comprises a first locking piece, a second locking piece and a threaded locking rod; the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence; the first locking piece comprises a balancing weight, a plurality of annular piezoelectric elements, a connecting column, a countersunk head bolt, a flange plate and a threaded pipe; the second lock includes a driving stator and first to fourth rectangular piezoelectric elements. The utility model discloses utilize piezoelectric material's inverse piezoelectric effect to convert the electric energy into mechanical energy, promote the spiral precession, realize orbital accurate butt joint, do not need complicated transmission and reduction gears, simple structure is compact, easily realizes the miniaturization, and can work under strong magnetic field and the vacuum environment.
Description
Technical Field
The utility model relates to a piezoelectricity drive technique especially relates to a joint locking mechanism based on piezoelectricity drive.
Background
In the robot maintenance system of the Tokamak device, a plurality of sections of rails are laid in a suspended manner, and adjacent rails need to be matched and fixed, and because the Tokamak device operates under the extreme working conditions of strong magnetism, super-high current, ultralow temperature, extremely high temperature and the like, the device driven by an electromagnetic motor cannot operate in high precision under the environment. In many maintenance systems, rail butt joint is considered in a tokamak device to form a detection rail, but the problems of inaccurate butt joint, complex structure and the like still exist.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the defect that involves in the background art, provide a joint locking mechanism based on piezoelectricity drive.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
a joint locking mechanism based on piezoelectric drive comprises a first locking piece, a second locking piece and a threaded locking rod;
the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence, the bottom surface radiuses of the stud and the light column are the same, and the bottom surface radius of the limiting disc is larger than that of the light column;
the first locking piece comprises a balancing weight, first to fourth annular piezoelectric elements, first to third electrode plates, a connecting column, a countersunk head bolt, a flange plate and a threaded pipe;
the balancing weight is a cylinder and is provided with a countersunk through hole along the axis; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolt sequentially penetrates through the countersunk head through hole of the balancing weight, the first annular piezoelectric element, the first electrode plate, the second annular piezoelectric element, the second electrode plate, the third annular piezoelectric element, the third electrode plate and the fourth annular piezoelectric element and then is in threaded connection with the threaded hole of the connecting column, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weight and the connecting column;
the threaded pipe is a hollow cylinder with openings at two ends, and the inner wall of the threaded pipe is provided with threads matched with the stud of the threaded locking rod;
one end of the flange plate is fixedly connected with one end of the threaded pipe, the other end of the flange plate is fixedly connected with one end of the connecting column far away from the balancing weight, and a plurality of through holes for fixing the first locking piece are uniformly arranged in the circumferential direction of the flange plate;
the second lock includes a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are both square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded locking rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are arranged on the first to fourth side faces of the driving stator in a one-to-one correspondence manner;
the length of the threaded through hole of the driving stator is smaller than that of the threaded locking rod light post, the length of the threaded pipe is larger than that of the threaded locking rod stud, and the length difference between the threaded pipe and the threaded locking rod stud is larger than that between the threaded through hole of the driving stator and the threaded locking rod light post;
the first to fourth annular piezoelectric elements are polarized along the thickness direction of the first to fourth annular piezoelectric elements, two partitions are arranged along the diameter of the first to fourth annular piezoelectric elements, and the polarization directions of the two partitions are opposite; the partition dividing lines of the first circular ring-shaped piezoelectric element and the second circular ring-shaped piezoelectric element are parallel, and the polarization directions of the partitions on the same side are opposite; the partition dividing lines of the third annular piezoelectric element and the second annular piezoelectric element are mutually vertical; the partition dividing lines of the fourth circular piezoelectric element and the third circular piezoelectric element are parallel, and the polarization directions of partitions on the same side are opposite;
the first to fourth rectangular piezoelectric elements are polarized along the thickness direction thereof, the polarization direction of the first rectangular piezoelectric element is the same as that of the third rectangular piezoelectric element, and the polarization direction of the second rectangular piezoelectric element is the same as that of the fourth rectangular piezoelectric element.
The utility model also discloses a second latch fitting drive method of this joint locking mechanism based on piezoelectricity drive contains following step:
step A.1), simultaneously applying a first phase simple harmonic voltage signal to the first rectangular piezoelectric element and the third rectangular piezoelectric element, applying a second phase simple harmonic voltage signal to the second rectangular piezoelectric element and the fourth rectangular piezoelectric element, exciting a isomorphic bending vibration mode that a driving stator has a pi/2 phase difference in space, adjusting the phase difference of the first simple harmonic voltage signal and the second simple harmonic voltage signal in time to be pi/2, enabling a threaded through hole to present rotary bending vibration through the coupling of the two modes, and driving a threaded locking rod to screw in or screw out under the meshing of threads;
and step A.2), if the threaded locking rod needs to move reversely, adjusting the phase difference of two simple harmonic voltage signals in time to be-pi/2, making the threaded through hole perform reverse rotation bending vibration, and driving the threaded locking rod to move reversely under the engagement of threads.
The utility model also discloses a this first locking piece driving method based on piezoelectricity driven joint locking mechanism contains following step:
step B.1), simultaneously applying two-phase simple harmonic voltage signals to the first electrode plate and the third electrode plate respectively, exciting a conformal bending vibration mode of the threaded pipe with a pi/2 phase difference in space, adjusting the phase difference of the two-phase simple harmonic voltage signals in time to be pi/2, enabling the threaded pipe to present rotary bending vibration through the coupling of the two modes, and driving the threaded locking rod to screw in or screw out under the meshing of threads;
and B.2), if the threaded locking rod needs to move reversely, adjusting the phase difference of the two simple harmonic voltage signals in time to be-pi/2, making the threaded pipe perform reverse rotation bending vibration, and driving the threaded locking rod to move reversely under the engagement of threads.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
the piezoelectric driving mode based on the inverse piezoelectric effect can realize the characteristics of compact structure, direct driving, no electromagnetic interference, easy miniaturization and the like of a driving structure under the condition that the preparation and processing technology of the piezoelectric ceramic material is further developed, and has wide application prospect in an extreme working environment. The utility model provides a joint locking mechanism can realize characteristics such as orbital quick accurate butt joint and mechanism are simple, miniaturized, can work under extreme environment such as vacuum high-intensity magnetic field.
Drawings
Fig. 1 is a schematic structural diagram of a joint locking mechanism based on piezoelectric driving of the present invention;
FIG. 2 is a schematic view of a first locking member of the present invention;
FIG. 3 is a schematic view of a second locking element of the present invention;
FIG. 4 is a schematic view of the threaded locking bar of the present invention;
FIG. 5 is a schematic view of a track for securing a first lock;
FIG. 6 is a schematic view of the mating of the rail and the first locking member;
FIG. 7 is a schematic view of a track for securing a second lock;
FIG. 8 is a schematic view of the mating configuration of the rail and the second lock;
FIG. 9 is a schematic illustration of two rails prior to docking;
FIG. 10 is a schematic view of two rails after docking by a knuckle locking mechanism;
fig. 11 is a schematic view of the polarization modes of the first to fourth annular piezoelectric elements and the application modes of the electric signals of the first to third electrode pads;
fig. 12 is a schematic view of the polarization mode and the electric signal application mode of the first to fourth rectangular piezoelectric elements.
In the figure, 1-a first locking piece, 2-a second locking piece, 3-a threaded locking rod, 4-a balancing weight, 5-a circular piezoelectric element, 6-a connecting column, 7-a flange plate, 8-a threaded pipe, 9-a driving stator, 10-a first rectangular piezoelectric element, 11-a first end face of the driving stator, 12-a stud, 13-a light column and 14-a limiting disc.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the utility model discloses a joint locking mechanism based on piezoelectricity drive contains first latch fitting, second latch fitting and screw thread locking lever.
As shown in fig. 4, the threaded lock rod comprises a stud, a light pillar and a limiting disc which are coaxially and fixedly connected in sequence, the bottom surface radiuses of the stud and the light pillar are the same, and the bottom surface radius of the limiting disc is larger than that of the light pillar.
As shown in fig. 2, the first locking member includes a weight block, first to fourth annular piezoelectric elements, first to third electrode pieces, a connecting column, a countersunk head bolt, a flange plate, and a threaded pipe;
the balancing weight is a cylinder and is provided with a countersunk through hole along the axis; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolt sequentially penetrates through the countersunk head through hole of the balancing weight, the first annular piezoelectric element, the first electrode plate, the second annular piezoelectric element, the second electrode plate, the third annular piezoelectric element, the third electrode plate and the fourth annular piezoelectric element and then is in threaded connection with the threaded hole of the connecting column, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weight and the connecting column;
the threaded pipe is a hollow cylinder with openings at two ends, and the inner wall of the threaded pipe is provided with threads matched with the stud of the threaded locking rod;
the ring flange one end with the one end of screwed pipe links firmly, the other end with the spliced pole is kept away from the one end of balancing weight and is linked firmly, and ring flange circumference evenly is equipped with a plurality of through-holes that are used for fixed first latch fitting.
As shown in fig. 3, the second lock includes a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are both square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded locking rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are arranged on the first to fourth side faces of the driving stator in a one-to-one correspondence.
The length of the threaded through hole of the driving stator is smaller than that of the threaded locking rod light post, the length of the threaded pipe is larger than that of the threaded locking rod stud, and the length difference between the threaded pipe and the threaded locking rod stud is larger than that between the threaded through hole of the driving stator and the threaded locking rod light post;
as shown in fig. 11, the first to fourth circular ring-shaped piezoelectric elements are polarized along the thickness direction thereof, and have two divisions along the diameter thereof, the polarization directions of the two divisions being opposite; the partition dividing lines of the first circular ring-shaped piezoelectric element and the second circular ring-shaped piezoelectric element are parallel, and the polarization directions of the partitions on the same side are opposite; the partition dividing lines of the third annular piezoelectric element and the second annular piezoelectric element are mutually vertical; the partition dividing lines of the fourth circular piezoelectric element and the third circular piezoelectric element are parallel, and the polarization directions of partitions on the same side are opposite;
as shown in fig. 12, the first to fourth rectangular piezoelectric elements are all polarized in the thickness direction thereof, the first rectangular piezoelectric element and the third rectangular piezoelectric element are polarized in the same direction, and the second rectangular piezoelectric element and the fourth rectangular piezoelectric element are polarized in the same direction.
The utility model also discloses a second latch fitting drive method of this joint locking mechanism based on piezoelectricity drive contains following step:
step A.1), simultaneously applying a first phase simple harmonic voltage signal to the first rectangular piezoelectric element and the third rectangular piezoelectric element, applying a second phase simple harmonic voltage signal to the second rectangular piezoelectric element and the fourth rectangular piezoelectric element, exciting a isomorphic bending vibration mode that a driving stator has a pi/2 phase difference in space, adjusting the phase difference of the first simple harmonic voltage signal and the second simple harmonic voltage signal in time to be pi/2, enabling a threaded through hole to present rotary bending vibration through the coupling of the two modes, and driving a threaded locking rod to screw in or screw out under the meshing of threads;
and step A.2), if the threaded locking rod needs to move reversely, adjusting the phase difference of two simple harmonic voltage signals in time to be-pi/2, making the threaded through hole perform reverse rotation bending vibration, and driving the threaded locking rod to move reversely under the engagement of threads.
The utility model also discloses a this first locking piece driving method based on piezoelectricity driven joint locking mechanism contains following step:
step B.1), simultaneously applying two-phase simple harmonic voltage signals to the first electrode plate and the third electrode plate respectively, exciting a conformal bending vibration mode of the threaded pipe with a pi/2 phase difference in space, adjusting the phase difference of the two-phase simple harmonic voltage signals in time to be pi/2, enabling the threaded pipe to present rotary bending vibration through the coupling of the two modes, and driving the threaded locking rod to screw in or screw out under the meshing of threads;
and B.2), if the threaded locking rod needs to move reversely, adjusting the phase difference of the two simple harmonic voltage signals in time to be-pi/2, making the threaded pipe perform reverse rotation bending vibration, and driving the threaded locking rod to move reversely under the engagement of threads.
The application of the present invention will be further explained with the butt joint of the first and second rails.
One end of the first rail is provided with a first securing tab for engaging the flange of the first lock member as shown in fig. 5, and the first lock member is secured to the one end of the first rail by its flange as shown in fig. 6.
One end of the second rail is provided with a second fixing plate for being matched with the threaded hole of the first end surface of the second locking piece, as shown in fig. 7, and the second locking piece is fixed at one end of the second rail through a screw, as shown in fig. 8.
When the first and second rails are not butted, as shown in fig. 9.
When butt joint and fixation are needed, aligning a threaded pipe of a first locking piece on the first track with a threaded through hole of a second locking piece on the second track, and screwing a stud of a threaded locking rod into the threaded through hole of the second locking piece driving stator from a second end face of the second locking piece driving stator; firstly, driving a second locking piece to enable a stud of the threaded locking rod to penetrate through a first end face of a driving stator of the second locking piece and then to be screwed into a threaded pipe of the first locking piece; then, the first locking piece is driven, so that the stud of the threaded locking rod is continuously screwed into the threaded pipe, when the second locking piece drives the stator to have no stud and only a polished rod, and the limiting disc abuts against the second end face of the second locking piece driving stator, the limiting disc of the threaded locking rod enables the second track to be continuously close to the first track until the first track and the second track are completely butted and locked, as shown in fig. 10.
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 (1)
1. A joint locking mechanism based on piezoelectric driving is characterized by comprising a first locking piece, a second locking piece and a threaded locking rod;
the threaded lock rod comprises a stud, a light column and a limiting disc which are coaxially and fixedly connected in sequence, the bottom surface radiuses of the stud and the light column are the same, and the bottom surface radius of the limiting disc is larger than that of the light column;
the first locking piece comprises a balancing weight, first to fourth annular piezoelectric elements, first to third electrode plates, a connecting column, a countersunk head bolt, a flange plate and a threaded pipe;
the balancing weight is a cylinder and is provided with a countersunk through hole along the axis; the connecting column is a cylinder, and a threaded hole matched with the countersunk head bolt is formed in the center line of one end face of the connecting column; the countersunk head bolt sequentially penetrates through the countersunk head through hole of the balancing weight, the first annular piezoelectric element, the first electrode plate, the second annular piezoelectric element, the second electrode plate, the third annular piezoelectric element, the third electrode plate and the fourth annular piezoelectric element and then is in threaded connection with the threaded hole of the connecting column, and the first to fourth annular piezoelectric elements and the first to third electrode plates are fixed between the balancing weight and the connecting column;
the threaded pipe is a hollow cylinder with openings at two ends, and the inner wall of the threaded pipe is provided with threads matched with the stud of the threaded locking rod;
one end of the flange plate is fixedly connected with one end of the threaded pipe, the other end of the flange plate is fixedly connected with one end of the connecting column far away from the balancing weight, and a plurality of through holes for fixing the first locking piece are uniformly arranged in the circumferential direction of the flange plate;
the second lock includes a driving stator and first to fourth rectangular piezoelectric elements;
the driving stator is a cuboid and comprises a first end face, a second end face and first to fourth side faces, wherein the first end face and the second end face are both square, the first to fourth side faces are sequentially connected, the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the driving stator is provided with a threaded through hole matched with the stud of the threaded locking rod along the axis;
the first end face is provided with a plurality of threaded holes for fixing the second locking piece;
the first to fourth rectangular piezoelectric elements are arranged on the first to fourth side faces of the driving stator in a one-to-one correspondence manner;
the length of the threaded through hole of the driving stator is smaller than that of the threaded locking rod light post, the length of the threaded pipe is larger than that of the threaded locking rod stud, and the length difference between the threaded pipe and the threaded locking rod stud is larger than that between the threaded through hole of the driving stator and the threaded locking rod light post;
the first to fourth annular piezoelectric elements are polarized along the thickness direction of the first to fourth annular piezoelectric elements, two partitions are arranged along the diameter of the first to fourth annular piezoelectric elements, and the polarization directions of the two partitions are opposite; the partition dividing lines of the first circular ring-shaped piezoelectric element and the second circular ring-shaped piezoelectric element are parallel, and the polarization directions of the partitions on the same side are opposite; the partition dividing lines of the third annular piezoelectric element and the second annular piezoelectric element are mutually vertical; the partition dividing lines of the fourth circular piezoelectric element and the third circular piezoelectric element are parallel, and the polarization directions of partitions on the same side are opposite;
the first to fourth rectangular piezoelectric elements are polarized along the thickness direction thereof, the polarization direction of the first rectangular piezoelectric element is the same as that of the third rectangular piezoelectric element, and the polarization direction of the second rectangular piezoelectric element is the same as that of the fourth rectangular piezoelectric element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020199313.5U CN211967514U (en) | 2020-02-24 | 2020-02-24 | Joint locking mechanism based on piezoelectric drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020199313.5U CN211967514U (en) | 2020-02-24 | 2020-02-24 | Joint locking mechanism based on piezoelectric drive |
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| CN211967514U true CN211967514U (en) | 2020-11-20 |
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| CN202020199313.5U Withdrawn - After Issue CN211967514U (en) | 2020-02-24 | 2020-02-24 | Joint locking mechanism based on piezoelectric drive |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152187A (en) * | 2020-02-24 | 2020-05-15 | 南京航空航天大学 | Joint locking mechanism based on piezoelectric drive and working method thereof |
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2020
- 2020-02-24 CN CN202020199313.5U patent/CN211967514U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152187A (en) * | 2020-02-24 | 2020-05-15 | 南京航空航天大学 | Joint locking mechanism based on piezoelectric drive and working method thereof |
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