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Variable stiffness device controlled by piezoelectric ceramics and its control method

A technology of piezoelectric ceramics and stiffness, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of large-scale commercialization, change of stiffness, and inability to realize intelligence, etc., and achieve large stiffness adjustment range, coarse stiffness, The effect of precise and controllable stiffness

Active Publication Date: 2022-05-13
FUJIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is impossible to intelligently change the stiffness according to different working environments or working goals
[0005] However, the method of using smart materials such as artificial muscles cannot be commercialized on a large scale due to cost and output reasons.

Method used

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  • Variable stiffness device controlled by piezoelectric ceramics and its control method
  • Variable stiffness device controlled by piezoelectric ceramics and its control method
  • Variable stiffness device controlled by piezoelectric ceramics and its control method

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Embodiment Construction

[0044] In order to make the features and advantages of this patent more obvious and easy to understand, the following specific examples are given together with the accompanying drawings and described in detail as follows:

[0045] Such as Figure 1-Figure 14 As shown, the device in this embodiment mainly includes: a torque speed input part and a torque speed output part.

[0046] Wherein, the torque speed input part includes a cylindrical ring 110 with 8 spline grooves 111 on the inner wall and 8 fine-tuning blocks 120 . Such as Figure 11 , Figure 12 As shown, the eight spline grooves 111 are symmetrically distributed in pairs. In the solution provided by this embodiment, the length of the key is 50mm, the width is 10mm, and the distance from the bottom to the center of the circle is 55mm. Such as Figure 13 , Figure 14 As shown, the fine-tuning block 120 includes an upper flat key 122 (or a key close to the shape of the flat key 122) and a lower contact portion 121, t...

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Abstract

The present invention proposes a variable stiffness device controlled by piezoelectric ceramics and its control method, including: a torque speed input part and a torque speed output part; the torque speed input part includes a cylindrical ring with multiple spline grooves on the inner wall and a plurality of fine adjustment block; the top of the flat key of the fine-tuning block is pasted with a piezoelectric ceramic sheet, and has an arc surface with a slope; the torque and speed output part includes a circular frustum and a screw hole on the side of the small bottom of the circular frustum. Connect the shaft and the output shaft on the side of the large bottom of the conical frustum; the inclination of the inclination of the conical frustum is the same as that of the bottom surface of the contact part; the fine-tuning block and the conical frustum pass through the positioning bolts and the mounting plate on the side of the connecting shaft, and the input shaft The cover plate on one side maintains limited contact; the first stacked piezoelectric ceramic group, the second stacked piezoelectric ceramic group and thrust ball bearings are arranged sequentially between the positioning bolts and the mounting plate. Compared with conventional methods, it has a larger stiffness adjustment range, and the stiffness is precisely controllable.

Description

technical field [0001] The invention relates to the field of transmission devices, in particular to a variable stiffness device controlled by piezoelectric ceramics and a control method thereof. Background technique [0002] The shock absorber in the automobile chassis is a typical variable stiffness device. [0003] In the current industrial robots, most of the robot's arms use a whole rigid body structure to transmit motion and force, which can move accurately and transmit large force under the premise of clear work goals. However, in some special occasions, such as extracting soft objects, medical manipulators, etc., it is necessary to use flexible mechanisms to operate according to different objects, and these flexible mechanisms can be realized by variable stiffness mechanisms. [0004] At present, there are methods of variable stiffness, mostly using springs or damping blocks (which can be hydraulic or pneumatic damping cylinders and rubber blocks, etc.) , the value ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/12
CPCB25J9/10B25J9/12
Inventor 郑伟罗敏峰周景亮余罗兼阮玉镇周方张铭玉
Owner FUJIAN UNIV OF TECH
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