CN103753603A - Single-freedom-degree rotating mechanical arm driven by piezoelectric ultrasonic vibrator - Google Patents
Single-freedom-degree rotating mechanical arm driven by piezoelectric ultrasonic vibrator Download PDFInfo
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- CN103753603A CN103753603A CN201410043680.5A CN201410043680A CN103753603A CN 103753603 A CN103753603 A CN 103753603A CN 201410043680 A CN201410043680 A CN 201410043680A CN 103753603 A CN103753603 A CN 103753603A
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Abstract
The invention provides a single-freedom-degree rotating mechanical arm driven by a piezoelectric ultrasonic vibrator, and relates to the technical field of robots. The single-freedom-degree rotating mechanical arm driven by the piezoelectric ultrasonic vibrator solves the problems that an existing mechanical arm driven by an electromagnetic motor is complex in structure and is affected by electromagnetic interference easily. According to the single-freedom-degree rotating mechanical arm driven by the piezoelectric ultrasonic vibrator, the section of a front end cover is a gradually decreasing block body, the bottom surface of the front end cover is fixedly connected with one face of a rear end cover, four side faces of the rear end cover are fixedly provided with a piezoelectric ceramic respectively, the vibrator generates resonance by applying alternating voltage to the piezoelectric ceramics, further elliptical orbit vibration is formed at the position of a driving foot, rotational motion output of the vibrator is achieved through frictional coupling between the driving foot and the vibrator, and the vibrator drives a rotating arm to achieve rotation of the mechanical arm. When voltage signals applied to the piezoelectric vibrator are cut off, self-locking of the mechanical arm can be achieved through the static friction force between the driving foot and the vibrator, and direct driving of the mechanical arm is achieved.
Description
Technical field
The present invention relates to Robotics field, be specifically related to the rotating mechanical arm technical field in Robotics.
Background technology
Mechanical arm correlation technique is core and the key in Robotics field always, and its most basic drive form comprises rotary-type and linear pattern.Existing rotating mechanical arm generally all adopts rotating electromagnetic motor as driving element, because electromagnetic machine output speed is higher, it is little to exert oneself, generally need to coordinate decelerator to realize the object of deceleration, reinforcement, and this makes the mechanism of mechanical arm very complicated, and cost is high; Because electromagnetic machine is without auto-lock function, realizing mechanical arm self-locking one method is to keep a kind of power-up state to motor, and this mode can be brought unnecessary energy loss; Another kind method is to increase the external agency that has auto-lock function, and this mode can make mechanical arm structure become more complicated; In addition, in the electromagnetic machine course of work, exist and can produce electromagnetic interference, for the existence of external electrical field, also can affect the normal work of motor, this makes the driving mechanical arm of electromagnetic machine for example, when being applied to the occasion of electromagnetic susceptibility (semiconductor manufacturing industry), need to carry out electromagnetic isolation design, this also can make mechanical arm system become complicated and huge.
Summary of the invention
The present invention, in order to solve the driving mechanical arm complex structure of existing electromagnetic machine and the problem that is subject to electromagnetic interference influence, has proposed the single-degree-of-freedom rotating mechanical arm that adopts piezoelectric supersonic oscillator to drive.
The single-degree-of-freedom rotating mechanical arm that adopts piezoelectric supersonic oscillator to drive, it is characterized in that, it comprises piezoelectric supersonic oscillator, rotor, central shaft, cursor, fixed arm, butterfly spring, thrust bearing and pre-load nut, described piezoelectric supersonic oscillator comprises n rear end cap, n drive end bearing bracket, n drives foot, n mount pad and 4n piezoelectric ceramics, n is more than or equal to 3 positive integer, described rear end cap is cube structure, and be along the circumferential direction uniformly distributed, drive end bearing bracket is the tapered block in cross section, the bottom surface of drive end bearing bracket is fixedly connected with the one side of rear end cap, a piezoelectric ceramics is fixed respectively in four sides of rear end cap, the end face of drive end bearing bracket is fixedly connected with driving foot, between every two adjacent rear end caps, be all fixed with mount pad, on fixed arm, be processed with through hole, central shaft is through described through hole, and be rotationally connected by bearing and fixed arm, piezoelectric supersonic oscillator is enclosed within the outside of central shaft, and by mount pad, be fixed on the upper surface of fixed arm, the center of rotor has through hole, described through hole is enclosed within the outside, top of central shaft, the lower surface of rotor contacts with driving foot, cursor is fixed on the upper surface of rotor, butterfly spring is enclosed within the outside, bottom of central shaft, and the upper surface of described butterfly spring contacts with the lower surface of fixed arm, the bottom of central shaft is combined with pre-load nut, and be fixed with thrust bearing between butterfly spring and pre-load nut.
Beneficial effect: the single-degree-of-freedom rotating mechanical arm that the employing piezoelectric supersonic oscillator that the present invention proposes drives, by applying alternating voltage to piezoelectric ceramics, make oscillator produce resonance, and then driving foot place to form elliptical orbit vibration, further, by driving friction between foot and rotor coupling to realize the output that rotatablely moves of rotor, rotor drive cursor is realized the rotation of mechanical arm; When the voltage signal that applies to piezoelectric vibrator disconnects, owing to driving stiction between foot and rotor can realize the self-locking of mechanical arm.
The advantage that the single-degree-of-freedom rotating mechanical arm that the employing piezoelectric supersonic oscillator that the present invention proposes drives takes full advantage of piezoelectric supersonic oscillator low speed, large torque has realized the direct driving of mechanical arm, the intermediate modules such as decelerator have been omitted, make mechanism very simple, be conducive to improve functional reliability, reduce costs, reduce mechanical arm deadweight, simplify processing and assembly technology; Ultrasound electric machine, owing to adopting friction-driven, without electromagnetic interference, is not subject to electronic interferences yet, effectively customer service the existing electromagnetic interference problem of the driving mechanical arm of traditional electrical magneto.In addition, the self-lock force of this mechanical arm depends on the stiction driving between foot and guide rail, there is no energy consumption in self-locking process.
By the direct driving of piezoelectric supersonic Harmonic Oscillators mechanical arm, have simple in structure, cost is low, weight is little, process and assemble is very easy, cut off self-lock, without electromagnetic interference, safe and be easy to realize the outstanding advantages of seriation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the single-degree-of-freedom rotating mechanical arm of the employing piezoelectric supersonic oscillator driving described in the specific embodiment one;
Fig. 2 is the structural representation of the piezoelectric supersonic oscillator described in the specific embodiment one;
Fig. 3 is the top view that n rear end cap 1-1, n drive end bearing bracket 1-3, n described in the specific embodiment three drives the integral piece of sufficient 1-4, n mount pad 1-5 and thin walled beam 1-6 composition.
The specific embodiment
The specific embodiment one, in conjunction with Fig. 1, Fig. 2 and Fig. 3 illustrate this specific embodiment, the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator described in this specific embodiment drives comprises piezoelectric supersonic oscillator 1, rotor 2, central shaft 3, cursor 4, fixed arm 5, butterfly spring 7, thrust bearing 8 and pre-load nut 9, described piezoelectric supersonic oscillator 1 comprises n rear end cap 1-1, n drive end bearing bracket 1-3, n drives sufficient 1-4, n mount pad 1-5 and 4n piezoelectric ceramics 1-2, n is more than or equal to 3 positive integer, described rear end cap 1-1 is cube structure, and be along the circumferential direction uniformly distributed, drive end bearing bracket 1-3 is the tapered block in cross section, the bottom surface of drive end bearing bracket 1-3 is fixedly connected with the one side of rear end cap 1-1, a piezoelectric ceramics 1-2 is fixed respectively in four sides of rear end cap 1-1, the end face of drive end bearing bracket 1-3 is fixedly connected with driving sufficient 1-4, between every two adjacent rear end cap 1-1, be all fixed with mount pad 1-5, on fixed arm 5, be processed with through hole, central shaft 3 is through described through hole, and be rotationally connected by bearing 6 and fixed arm 5, piezoelectric supersonic oscillator 1 is enclosed within the outside of central shaft 3, and by mount pad 1-5, be fixed on the upper surface of fixed arm 5, the center of rotor 2 has through hole, described through hole is enclosed within the outside, top of central shaft 3, the lower surface of rotor 2 contacts with driving sufficient 1-4, cursor 4 is fixed on the upper surface of rotor 2, butterfly spring 7 is enclosed within the outside, bottom of central shaft 3, and the upper surface of described butterfly spring 7 contacts with the lower surface of fixed arm 5, the bottom of central shaft 3 is combined with pre-load nut 9, and be fixed with thrust bearing 8 between butterfly spring 7 and pre-load nut 9.
The single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator described in present embodiment drives is in application, rear end cap 1-1 is connected with the common port of driving power, on two sides, rear end cap 1-1 left and right, the outer surface and of fixing piezoelectric ceramics 1-2 drives signal to be connected mutually, on upper and lower two sides of rear end cap 1-1, the outer surface and other of fixing piezoelectric ceramics 1-2 drives signal to be connected mutually, finally realizes the output that rotatablely moves of mechanical arm; If will drive signal to disconnect, mechanical arm is realized and being cut off self-lock.
The specific embodiment two, in conjunction with Fig. 2, this specific embodiment is described, the difference of the single-degree-of-freedom rotating mechanical arm that the employing piezoelectric supersonic oscillator described in this specific embodiment and the specific embodiment one drives is, described every two adjacent rear end cap 1-1 are fixedly connected with mount pad 1-5 by thin walled beam 1-6.
The difference of the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator described in the specific embodiment three, this specific embodiment and the specific embodiment one drives is, sufficient 1-4, n mount pad 1-5 of described n rear end cap 1-1, n drive end bearing bracket 1-3, n driving and thin walled beam 1-6 are integrated part.
The difference of the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator described in the specific embodiment four, this specific embodiment and the specific embodiment one drives is, it also described piezoelectric ceramics 1-2 through-thickness polarize.
The difference of the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator described in the specific embodiment five, this specific embodiment and the specific embodiment three drives is, the polarised direction of two piezoelectric ceramics 1-2 sheets installing on two sides that are parallel to each other of rear end cap 1-1 is identical.
The difference of the single-degree-of-freedom rotating mechanical arm that the employing piezoelectric supersonic oscillator described in the specific embodiment six, this specific embodiment and the specific embodiment one drives is, it also comprises upside outer cover 11, there is hollow region described upside outer cover 11 inside, piezoelectric supersonic oscillator 1 is arranged in described hollow region, and the lower surface of upside outer cover 11 is fixed on the upper surface of fixed arm 5.
The difference of the single-degree-of-freedom rotating mechanical arm that the employing piezoelectric supersonic oscillator described in the specific embodiment seven, this specific embodiment and the specific embodiment one drives is, it also comprises downside outer cover 10, there is hollow region described downside outer cover 10 inside, butterfly spring 7, thrust bearing 8 and pre-load nut 9 are all arranged in described hollow region, and the lower surface of downside outer cover 10 is fixed on the lower surface of fixed arm 5.
By increasing upside outer cover 11 and downside outer cover 10, realize encapsulation and the protection to piezoelectric supersonic oscillator 1, butterfly spring 7, thrust bearing 8 and pre-load nut 9.
Claims (7)
1. the single-degree-of-freedom rotating mechanical arm that adopts piezoelectric supersonic oscillator to drive, it is characterized in that, it comprises piezoelectric supersonic oscillator (1), rotor (2), central shaft (3), cursor (4), fixed arm (5), butterfly spring (7), thrust bearing (8) and pre-load nut (9), described piezoelectric supersonic oscillator (1) comprises n rear end cap (1-1), n drive end bearing bracket (1-3), n drives foot (1-4), n mount pad (1-5) and 4n piezoelectric ceramics (1-2), n is more than or equal to 3 positive integer, described rear end cap (1-1) is cube structure, and be along the circumferential direction uniformly distributed, drive end bearing bracket (1-3) is the tapered block in cross section, the bottom surface of drive end bearing bracket (1-3) is fixedly connected with the one side of rear end cap (1-1), a piezoelectric ceramics (1-2) is fixed respectively in four sides of rear end cap (1-1), the end face of drive end bearing bracket (1-3) is fixedly connected with driving foot (1-4), between every two adjacent rear end caps (1-1), be all fixed with mount pad (1-5), fixed arm is processed with through hole on (5), central shaft (3) is through described through hole, and be rotationally connected by bearing (6) and fixed arm (5), piezoelectric supersonic oscillator (1) is enclosed within the outside of central shaft (3), and by mount pad (1-5), be fixed on the upper surface of fixed arm (5), the center of rotor (2) has through hole, described through hole is enclosed within the outside, top of central shaft (3), the lower surface of rotor (2) contacts with driving foot (1-4), cursor (4) is fixed on the upper surface of rotor (2), butterfly spring (7) is enclosed within the outside, bottom of central shaft (3), and the upper surface of described butterfly spring (7) contacts with the lower surface of fixed arm (5), the bottom of central shaft (3) is combined with pre-load nut (9), and be fixed with thrust bearing (8) between butterfly spring (7) and pre-load nut (9).
2. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 1 drives, is characterized in that, described every two adjacent rear end caps (1-1) are fixedly connected with mount pad (1-5) by thin walled beam (1-6).
3. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 1 drives, it is characterized in that, a described n rear end cap (1-1), a n drive end bearing bracket (1-3), n drive foot (1-4), a n mount pad (1-5) and thin walled beam (1-6) to be integrated part.
4. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 1 drives, is characterized in that, its also described piezoelectric ceramics (1-2) through-thickness polarization.
5. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 3 drives, is characterized in that, the polarised direction of two piezoelectric ceramics (1-2) sheet of installing on two sides that are parallel to each other of rear end cap (1-1) is identical.
6. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 1 drives, it is characterized in that, it also comprises upside outer cover (11), there is hollow region described upside outer cover (11) inside, piezoelectric supersonic oscillator (1) is arranged in described hollow region, and the lower surface of upside outer cover (11) is fixed on the upper surface of fixed arm (5).
7. the single-degree-of-freedom rotating mechanical arm that employing piezoelectric supersonic oscillator according to claim 1 drives, it is characterized in that, it also comprises downside outer cover (10), there is hollow region described downside outer cover (10) inside, butterfly spring (7), thrust bearing (8) and pre-load nut (9) are all arranged in described hollow region, and the lower surface of downside outer cover (10) is fixed on the lower surface of fixed arm (5).
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| CN201410043680.5A CN103753603B (en) | 2014-01-29 | 2014-01-29 | Adopt the single-degree-of-freedom rotating mechanical arm that piezoelectric ultrasonic vibrator drives |
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| CN201410043680.5A CN103753603B (en) | 2014-01-29 | 2014-01-29 | Adopt the single-degree-of-freedom rotating mechanical arm that piezoelectric ultrasonic vibrator drives |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104038100A (en) * | 2014-06-25 | 2014-09-10 | 哈尔滨工业大学 | Multi-foot rotational piezoelectric actuator and excitation method for implementing cross-scale actuation therefor |
| CN105416614A (en) * | 2016-01-08 | 2016-03-23 | 哈尔滨工业大学 | Piezoelectric driving type sleeve folding and unfolding mechanism |
| CN109126230A (en) * | 2018-09-28 | 2019-01-04 | 湖南娄底泰阳科技有限公司 | A kind of rotary dirty material situ regeneration device of integrated-type |
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
| CN112964352A (en) * | 2021-03-22 | 2021-06-15 | 天津大学 | Ultrasonic elliptical vibration device measuring system and method based on mechanical arm |
| CN115890748A (en) * | 2023-02-20 | 2023-04-04 | 季华实验室 | Ultrasonic motor, clamping manipulator and excitation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104038100A (en) * | 2014-06-25 | 2014-09-10 | 哈尔滨工业大学 | Multi-foot rotational piezoelectric actuator and excitation method for implementing cross-scale actuation therefor |
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| CN109126230B (en) * | 2018-09-28 | 2023-11-24 | 湖南娄底泰阳科技有限公司 | Integrated rotary type sewage in-situ regeneration device |
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
| CN112964352A (en) * | 2021-03-22 | 2021-06-15 | 天津大学 | Ultrasonic elliptical vibration device measuring system and method based on mechanical arm |
| CN115890748A (en) * | 2023-02-20 | 2023-04-04 | 季华实验室 | Ultrasonic motor, clamping manipulator and excitation method thereof |
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| CN103753603B (en) | 2016-06-22 |
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