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Single-degree-of-freedom rotary manipulator driven by piezoelectric ultrasonic vibrator

A piezoelectric ultrasonic and rotating machinery technology, applied in the direction of generator/motor, piezoelectric effect/electrostrictive or magnetostrictive motor, manipulator, etc. Achieve the effect of improving work reliability, simple structure and reducing cost

Active Publication Date: 2016-06-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a single-degree-of-freedom rotating mechanical arm driven by a piezoelectric ultrasonic vibrator in order to solve the problems of the existing electromagnetic motor-driven mechanical arm with complex structure and the influence of electromagnetic interference.

Method used

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  • Single-degree-of-freedom rotary manipulator driven by piezoelectric ultrasonic vibrator
  • Single-degree-of-freedom rotary manipulator driven by piezoelectric ultrasonic vibrator
  • Single-degree-of-freedom rotary manipulator driven by piezoelectric ultrasonic vibrator

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specific Embodiment approach 1

[0012] Specific implementation mode 1. Combination figure 1 , figure 2 and image 3 Describe this specific embodiment. The single-degree-of-freedom rotating mechanical arm driven by a piezoelectric ultrasonic vibrator described in this specific embodiment includes a piezoelectric ultrasonic vibrator 1, a rotor 2, a central shaft 3, a rotating arm 4, a fixed arm 5, a butterfly Spring 7, thrust bearing 8 and preload nut 9, the piezoelectric ultrasonic vibrator 1 includes n rear end covers 1-1, n front end covers 1-3, n driving feet 1-4, and n mounting seats 1 - 5 and 4n piezoelectric ceramics 1-2, n is a positive integer greater than or equal to 3, the rear end cover 1-1 is a cube structure, and is evenly distributed along the circumferential direction, and the front end cover 1-3 is a cross-section gradually changing A thin block, the bottom surface of the front end cover 1-3 is fixedly connected to one side of the rear end cover 1-1, and the four sides of the rear end cover...

specific Embodiment approach 2

[0014] Specific embodiment two, combine figure 2 This specific embodiment is described. The difference between this specific embodiment and the single-degree-of-freedom rotating mechanical arm driven by piezoelectric ultrasonic vibrators described in the first specific embodiment is that every two adjacent rear end caps 1-1 pass through The thin-walled beam 1-6 is fixedly connected with the mounting base 1-5.

specific Embodiment approach 3

[0015] Specific Embodiment 3. The difference between this specific embodiment and the single-degree-of-freedom rotating mechanical arm driven by a piezoelectric ultrasonic vibrator described in specific embodiment 1 is that the n rear end covers 1-1 and the n front end covers 1 -3. n driving legs 1-4, n mounting bases 1-5 and thin-walled beams 1-6 are integrated.

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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 [0001] The invention relates to the technical field of robots, in particular to the technical field of rotating mechanical arms in robotics. Background technique [0002] The related technology of the mechanical arm has always been the core and key in the field of robot technology, and its most basic driving forms include rotary and linear. Existing rotating manipulators generally use a rotating electromagnetic motor as the drive element. Due to the high output speed and small output of the electromagnetic motor, it is generally necessary to cooperate with a reducer to achieve the purpose of deceleration and force increase, which makes the mechanism of the manipulator very complicated and costly. High; since the electromagnetic motor itself has no self-locking function, one way to realize the self-locking of the manipulator is to keep the motor in a power-on state, which will bring unnecessary energy loss; another way is to increase the self-locking This met...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00H02N2/12
Inventor 刘英想陈维山冯培连刘军考石胜君
Owner HARBIN INST OF TECH