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Two-freedom-degree precision control robot used for forming of surface tiny structure and excitation method of two-freedom-degree precision control robot

A micro-structure and robot technology, applied in the direction of program-controlled manipulators, manipulators, chucks, etc., can solve problems such as polluted environment, limited molding objects, and poor surface quality

Active Publication Date: 2019-06-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of high processing cost, environmental pollution, large material loss, poor surface quality and limited molding objects, etc. For technical issues, a two-degree-of-freedom precision control robot and its excitation method for surface microstructure forming are proposed

Method used

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  • Two-freedom-degree precision control robot used for forming of surface tiny structure and excitation method of two-freedom-degree precision control robot
  • Two-freedom-degree precision control robot used for forming of surface tiny structure and excitation method of two-freedom-degree precision control robot
  • Two-freedom-degree precision control robot used for forming of surface tiny structure and excitation method of two-freedom-degree precision control robot

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specific Embodiment approach 1

[0061] Specific implementation mode one: combine Figure 1 to Figure 7 This embodiment will be described. This embodiment provides a two-degree-of-freedom precision control robot for surface microstructure forming; the robot includes a precision attitude adjustment mechanism 1, a piezoelectric micro-spray mechanism 2 and a contact target surface 3; the precision attitude adjustment mechanism 1 It is connected and fixed with the piezoelectric micro-spray mechanism 2; the piezoelectric micro-spray mechanism 2 is separated from the contact target surface 3, and the distance between the piezoelectric micro-spray mechanism 2 and the contact target surface 3 can be adjusted by the precision attitude adjustment mechanism 1 to make adjustments.

[0062] The precision attitude adjustment mechanism 1 includes an installation base 1-1, a support body 1-2, a cover plate 1-3, a curved piezoelectric ceramic assembly 1-4, a driving foot 1-5, a terminal output device 1-6, a connecting Compo...

specific Embodiment approach 2

[0065] Specific implementation mode two: combination Figure 1 to Figure 8 This specific embodiment will be described. This embodiment provides an implementation scheme of a precision attitude adjustment mechanism. Under the excitation of this scheme, the terminal output devices 1-6 of the precision attitude adjustment mechanism 1 can respectively realize a clockwise rotation around the X axis by an angle;

[0066] In order to facilitate the description of the excitation method, the following regulations are firstly made. When a rising AC voltage excitation signal is applied to the polarization region I1-4-1 and the polarization region III1-4-3 of the curved piezoelectric ceramic component 1-4, the drive The feet 1-5 can deflect an angle clockwise around the X-axis, and when a decreasing AC voltage excitation signal is applied to the polarization zone I1-4-1 and the polarization zone III1-4-3 of the curved piezoelectric ceramic component 1-4 , produce an angle of anticlockwis...

specific Embodiment approach 3

[0071] Specific implementation mode three: combination Figure 1 to Figure 7 , Figure 9 This specific embodiment will be described. This embodiment provides an implementation scheme of a precision attitude adjustment mechanism. Under the excitation of this scheme, the terminal output device 1-6 of the precision attitude adjustment mechanism 1 can realize a counterclockwise rotation around the X axis by an angle;

[0072] The driving method to realize the counterclockwise rotation of the terminal output device 1-6 around the X axis is as follows:

[0073] Step 21: Apply a slowly decreasing AC voltage excitation signal to the polarization region I1-4-1 and the polarization region III1-4-3 of the curved piezoelectric ceramic component 1-4, and its deformation drives the driving foot 1-5 to wind around X The shaft slowly rotates counterclockwise to the limit position. Under the action of static friction between the driving foot 1-5 and the terminal output device 1-6, the termin...

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Abstract

The invention provides a two-freedom-degree precision control robot used for forming of a surface tiny structure and an excitation method of the two-freedom-degree precision control robot, and belongsto the technical field of rapid forming. The robot comprises a precision posture adjusting mechanism, a piezoelectric micro spray mechanism and a contact target face. The precision posture adjustingmechanism is fixedly connected with the piezoelectric micro spray mechanism. The piezoelectric micro spray mechanism and the contact target face are in a separated state, and the distance between thepiezoelectric micro spray mechanism and the contact target face can be adjusted through the precision posture adjusting mechanism. According to the robot, the thought of combining the piezoelectric micro spray mechanism with a multi-freedom-degree motion mechanism is adopted for integrated design, and the robot has the advantages of being simple in structure, low in price, low in equipment use andmaintenance cost and the like; and meanwhile, the forming speed is high, the forming resolution ratio is high, the device work noise is low, and the requirements of injection forming of multiple materials are met. The robot has wide application prospects to the biomedical field, the aerospace field, the material field, the chemical field, the microelectronic device field and other fields.

Description

technical field [0001] The invention belongs to the technical field of rapid prototyping, and in particular relates to a two-degree-of-freedom precision control robot and an excitation method for forming surface microstructures. Background technique [0002] Rapid prototyping technology is a "growth" manufacturing method based on the idea of ​​"discrete / stacking". It usually integrates computer-aided design and computer-aided manufacturing with the help of modern means such as computers, lasers, micro-injection, precision transmission and numerical control. The 3D data model designed on the above can directly manufacture products or samples in a very short time. Rapid prototyping technology is a new manufacturing concept, that is, additive manufacturing. Compared with the traditional subtractive material removal method, the additive additive manufacturing method has obvious advantages of high processing accuracy, high material utilization rate and the ability to manufacture...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/10B25J15/00
Inventor 刘英想李恒禹陈维山刘军考李锴
Owner HARBIN INST OF TECH