Smooth tooth transverse vibration bionic shaker

Abstract

The present application relates to a kind of smooth tooth transverse vibration bionic scratcher, comprising: elastic vibration component, multiple-tooth exciting component, adjustable clamping component, integral connecting component;Adjustable clamping component is assembled on integral connecting component;Elastic vibration component is assembled on integral connecting component by adjustable clamping component;Multiple-tooth exciting component is directly assembled on integral connecting component;The spatial position of elastic vibration component is adjusted by adjustable clamping component, to realize the adjustment of exciting power;During operation, the exciting tooth of multiple-tooth exciting component is engaged with the scratcher tooth of elastic vibration component exciting part;Engagement relationship can generate nonlinear one-sided constraint condition to exciting part, so that elastic vibration component forms the vibration with nonlinear characteristics.The bionic scratcher provided by the present application can realize the miniaturization of structure under the condition of ensuring larger output power, and can be applied to some space-limited situations.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bionic scratch, and particularly relates to a smooth-tooth transverse-vibration bionic scratcher. BACKGROUND

[0002] High-frequency and high-power vibration has important application value in the fields of industry, medical treatment and aerospace, and even has an indispensable position in some occasions. Generally, high-frequency and high-power elastic vibration refers to elastic vibration with a frequency range of about 1-100 kHz, including acoustic frequency and ultrasonic frequency range, and a power of not less than 1 W. Due to the characteristics of high frequency and high power, high-frequency and high-power elastic vibration can produce obvious mechanical effects on the target, such as changing the motion state, generating internal stress, generating motion friction heat and impact breaking, etc. In the field of mechanical processing, ultrasonic vibration cutting is a method of using high-power ultrasonic vibration to assist the cutting tool to cut; on the one hand, high-power ultrasonic vibration can effectively reduce the cutting force and cutting heat, thereby improving the machining quality and tool life, and in specific applications, ultrasonic vibration turning, ultrasonic vibration milling, ultrasonic vibration deep hole drilling, etc. are developed; on the other hand, high-power ultrasonic vibration can assist in realizing efficient machining of difficult-to-machine materials and parts, such as high-temperature alloy ultrasonic vibration milling, ultrasonic vibration grinding of optical glass, ultrasonic vibration grinding of composite materials, machining of resonant gyro thin-walled resonator, etc. In the field of clinical medical treatment, the ultrasonic scalpel using high-power ultrasonic vibration has the effect of coagulation while cutting tissues, effectively improving the operation conditions, reducing tissue damage, and being beneficial to postoperative wound healing; the ultrasonic bone cutting knife can realize efficient cutting of bone tissue, reduce bone tissue cutting force, relieve medical staff fatigue, and also has the characteristics of small cutting damage. In addition, with the strengthening of human exploration in deep space, high-frequency mechanical vibration assisted celestial body sampling device has attracted in-depth research of relevant technical personnel and has been applied in practice; China, the United States and the European Union have launched their own celestial body probes equipped with acoustic / ultrasonic vibration assisted rock and soil sampling device for analysis and research.

[0003] Currently, known high-frequency mechanical vibration generating devices mainly include hydrodynamic, piezoelectric, and magnetostrictive types. Hydrodynamic devices primarily use high-speed fluid (airflow or liquid flow) to excite vibrating components and generate high-frequency mechanical vibration. These devices are relatively large and are mainly used to generate acoustic / ultrasonic vibration waves within excitation fluids; no application cases have been found for exciting elastic vibrations within solids. Piezoelectric devices generate mechanical vibration by exciting an electroceramic element with alternating voltage, and then amplify the amplitude using an amplitude transformer before output. Magnetostrictive devices generate a changing magnetic field through an alternating current flowing through a coil, causing the magnetic material within the magnetic field to vibrate mechanically; similarly, the amplitude is amplified by an amplitude transformer before output. Piezoelectric and magnetostrictive devices, as two main high-frequency exciter modes, are widely used due to their simple structure, stability, reliability, and high load-carrying capacity. However, these two types of high-frequency vibration excitation devices are relatively large, making miniaturization difficult and hindering their application in some specialized fields. For example, ultrasonic scalpels used in minimally invasive surgery employ a sandwich-structured piezoelectric exciter to generate high-power ultrasonic vibrations, which are then transmitted to the tip of the scalpel via a slender transmission rod for tissue cutting. However, the high-power ultrasonic vibrations are easily suppressed after transmission through this slender rod, resulting in power attenuation and poor application performance. Furthermore, the inflexible nature of the transmission rod prevents its application in flexible surgical robots. Another type of micro-piezoelectric ultrasonic scalpel, currently under research, suffers from insufficient output power and weak load-bearing capacity. It also generates significant heat during operation, leading to excessively high scalpel temperatures and tissue burns. Additionally, this type of micro-piezoelectric ultrasonic scalpel requires power to be introduced into the patient's body, compromising surgical safety. Therefore, a novel, miniaturized high-frequency, high-power ultrasonic exciter is urgently needed. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the existing technical problems, this invention provides a smooth tooth transverse vibration bionic scraper that can achieve miniaturization of the structure while ensuring a large output power, and can be applied to some situations where the working space is limited.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] A smooth-tooth transverse vibration biomimetic scraper includes: an elastic vibration component, a multi-tooth excitation component, an adjustable clamping component, and an integral connecting component;

[0009] This invention is designed by mimicking the structure of the vibration organ of leafcutter ants. (See attached image) Figure 1A Leafcutter ants ( Atta cephalotes) is a species living in South America, which can produce vibration by relative movement between tail and post handle. The vibration is transmitted to head teeth, helping leaf-cutting ants cut plant leaves. As shown in the attached Figure 1B and 1C , the tail of leaf-cutting ant has a file structure, which is driven by muscle to move and stimulate the elastic vibration of post handle.

[0010] The invention imitates the vibration exciting organ of leaf-cutting ant, and the multi-tooth exciting part corresponds to the tail, which is designed with exciting teeth; the elastic vibration part corresponds to the post handle, which can produce elastic vibration. The contact engagement relationship between the elastic vibration part and the multi-tooth exciting part is shown in the attached Figure 2 , the multi-tooth exciting part moves along the direction of speed v, and when the multi-tooth exciting part is at positions 1, 2, 3, it corresponds to the elastic vibration part at positions 1, 2, 3, respectively, and the vibration excitation is formed by engagement contact between the two. The elastic vibration part and the multi-tooth exciting part have a pre-pressure P. Assuming that the tip of the elastic vibration part and the multi-tooth exciting part continuously maintain contact during the working process, the contact engagement between the two causes the tip of the elastic vibration part to produce displacement S, which is expanded into a Fourier series as follows:

[0011] ;

[0012] The frequency response function of a point on the tip of the elastic vibration part is H(ω) by finite element simulation or modal test measurement.

[0013] Then the pre-pressure P should satisfy the following formula:

[0014] ;

[0015] Satisfying this condition, the elastic vibration part and the multi-tooth exciting part can form intermittent contact and form a nonlinear unilateral constraint condition during the working process.

[0016] The adjustable clamping part is assembled on the integral connecting part;

[0017] The elastic vibration part is assembled on the integral connecting part through the adjustable clamping part;

[0018] The multi-tooth exciting part is directly assembled on the integral connecting part;

[0019] The spatial position of the elastic vibration part is adjusted through the adjustable clamping part to realize the adjustment of the exciting power;

[0020] During the working process, the exciting teeth of the multi-tooth exciting part engage with the scraper teeth of the exciting part of the elastic vibration part;

[0021] The engagement relationship can produce a nonlinear unilateral constraint condition on the exciting part, so that the elastic vibration part forms a vibration with nonlinear characteristics.

[0022] Preferably, the vibration is excited by the engagement of the excitation teeth with the scraper teeth.

[0023] The excitation vibration is a mechanical geometric constraint.

[0024] The geometric constraint has the characteristics of unilateralism and periodic time variability.

[0025] Unilateralism means that the excitation teeth and the scraper teeth can be in contact or separated from each other.

[0026] Periodic time variability means that the engagement contact point changes periodically due to the movement of the excitation teeth, which is a strong nonlinear constraint condition.

[0027] The nonlinear constraint condition makes the entire smooth tooth transverse vibration bionic scraper a nonlinear vibration system.

[0028] Preferably, the working mode of the nonlinear vibration system includes at least frequency excitation, frequency multiplication excitation, and frequency division excitation.

[0029] Preferably, the multi-tooth excitation component simulates the file organ of the leaf-cutting ant, and has a strip shape or a disc shape for reciprocating motion and rotary motion, respectively.

[0030] The power source of the disc-shaped multi-tooth excitation component for rotary motion is any one of an electric motor, a pneumatic turbine, or a hydraulic motor.

[0031] The power source of the strip-shaped multi-tooth excitation component for reciprocating motion is any one of an electric reciprocating push rod, a linear motor, a pneumatic cylinder, a hydraulic cylinder, or a power source for outputting rotary motion.

[0032] Preferably, the elastic vibration component includes an excitation part, an output part, and a support arm.

[0033] The front end of the excitation part has scraper teeth.

[0034] The excitation part has scraper teeth, and the displacement excitation is formed by the engagement of the scraper teeth with the excitation teeth of the multi-tooth excitation component.

[0035] The number of support arms is one pair or multiple pairs.

[0036] The support arm is used for the connection and assembly of the elastic vibration component and the adjustable clamping component.

[0037] The assembly mode is a clamping type installation that can be disassembled multiple times or a welding type installation that cannot be disassembled.

[0038] Preferably, the profile curve of the excitation teeth of the multi-tooth excitation component and the scraper teeth of the elastic vibration component is any one of a circular arc, an involute, a parabola, and a cycloid.

[0039] Preferably, the adjustable clamping component comprises a special support and a damping spring.

[0040] The special support and the damping spring form a mass-spring-damper system.

[0041] During operation, the adjustable clamping component can ensure that an adaptive contact force is formed between the excitation tooth and the scraper tooth.

[0042] The size of the adaptive contact force is changed by adjusting the pre-pressing amount of the damping spring, so that the power is adjusted.

[0043] The damping spring is made of a material that has both elastic effect and damping effect.

[0044] (Three) beneficial effects

[0045] The beneficial effects of the present application are:

[0046] 1. The bionic scraper provided in the present application can generate high-frequency and high-power elastic vibration by using a simple mechanical structure device, and is a new type of high-frequency vibration excitation device with the characteristic of large power per unit volume. This mechanical vibration excitation method is beneficial to the miniaturization or micro-miniaturization of the device, and can also ensure sufficient output power.

[0047] 2. The bionic scraper provided in the present application adopts the mode of contact engagement between the excitation tooth and the scraper to form a nonlinear periodic constraint condition, introduces a nonlinear factor to the system, and can broaden the vibration bandwidth. At the same time, by utilizing the rich dynamic phenomena of the nonlinear vibration system, various working modes can be realized, such as an equal-frequency vibration mode, a double-frequency vibration mode, a half-frequency vibration mode, a triple-frequency vibration mode, a one-third frequency vibration mode, etc.

[0048] 3. The power source of the bionic scraper provided in the present application can be direct driving in the form of electric driving, pneumatic driving, hydraulic driving, etc., or can be transmitted through a mechanical rotating device, such as gear transmission, steel wire flexible shaft transmission, etc. The power form is various, and can be suitable for various working conditions.

[0049] 4. Compared with piezoelectric and magnetostrictive types, piezoelectric materials or magnetostrictive materials need to be used, and the performance of these two special materials is sensitive to temperature, and it is difficult to work under some high or low temperature conditions. The bionic scraper provided in the present application is excited to vibrate by mechanical parts, and only needs the mechanical properties of the part materials to remain at different temperatures, and is easy to use in different temperature working conditions.

[0050] 5. The bionic scraper provided in the present application is excited to vibrate by mechanical movement, and can not involve the factor of electric driving, and can be suitable for occasions with special requirements in electromagnetic environment. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1A is a picture of a leaf-cutting ant;

[0052] Figure 1B is a picture of a leaf-cutting ant's stridulating organ;

[0053] Figure 1C is a schematic diagram of the structure of a leaf-cutting ant's stridulating organ;

[0054] Figure 2 is a schematic diagram of the contact engagement of a stridulating tooth and a scraper tooth;

[0055] Figure 3A is a schematic diagram of a rotary motion type stridulating device mechanism;

[0056] Figure 3B is a schematic diagram of a linear reciprocating motion type stridulating device mechanism;

[0057] Figure 4A is a schematic diagram of the elastic vibration member of a pair of support arms;

[0058] Figure 4B is a schematic diagram of the elastic vibration member of two pairs of support arms;

[0059] Figure 5A is an assembly diagram of the stridulating device of Example 1;

[0060] Figure 5B is a parts diagram of the elastic vibration member of Example 1;

[0061] Figure 5C is a profile diagram of the scraper tooth of Example 1;

[0062] Figure 5D is a profile diagram of the stridulating tooth of Example 1;

[0063] Figure 6A is a time domain and frequency domain diagram of the vibration displacement of the stridulating end of the elastic vibration member of Example 1;

[0064] Figure 6B is a time domain and frequency domain diagram of the vibration displacement of the output end of the elastic vibration member of Example 1;

[0065]

BRIEF DESCRIPTION OF THE DRAWINGS

[0066] 11: multi-tooth stridulating member; 12: elastic vibration member; 13: adjustable clamping member; 14: integral connecting member; 131: dedicated clamping piece; 132: damping spring; 15: rotary shaft; 16: pin. DETAILED DESCRIPTION

[0067] In order to better explain the present application, so as to be understood, the present application is described in detail below by means of specific embodiments, in conjunction with the accompanying drawings.

[0068] As Figures 2-6BThe embodiment discloses a smooth-tooth transverse vibration bionic scraper, which comprises an elastic vibration component, a multi-tooth excitation component, an adjustable clamping component and an integral connecting component.

[0069] In detail, the adjustable clamping component is assembled on the integral connecting component; the elastic vibration component is assembled on the integral connecting component through the adjustable clamping component; the multi-tooth excitation component is directly assembled on the integral connecting component; and the spatial position of the elastic vibration component is adjusted through the adjustable clamping component, so that the excitation power is adjusted.

[0070] During operation, the excitation teeth of the multi-tooth excitation component are engaged with the scraper teeth of the excitation part of the elastic vibration component; the engagement relationship can generate a nonlinear one-sided constraint condition for the excitation part, so that the elastic vibration component forms a vibration with a nonlinear characteristic.

[0071] In the embodiment, the excitation teeth and the scraper teeth are engaged in contact to excite vibration; the excitation vibration is a mechanical geometric relationship constraint; the geometric relationship constraint has the characteristics of one-sidedness and periodic time variability; the one-sidedness means that the excitation teeth and the scraper teeth can be in contact or separated from each other; the periodic time variability means that the engagement contact point changes periodically due to the movement of the excitation teeth, which is a constraint condition with strong nonlinear characteristics; the nonlinear constraint condition makes the whole smooth-tooth transverse vibration bionic scraper form a nonlinear vibration system.

[0072] The working mode of the nonlinear vibration system in the embodiment at least includes frequency excitation, frequency multiplication excitation and frequency division excitation.

[0073] In the embodiment, the multi-tooth excitation component simulates the file organ of leaf-cutting ants, and has a strip shape or a disc shape and is applied to reciprocating motion and rotary motion respectively.

[0074] The power source of the disc-shaped multi-tooth excitation component for rotary motion is any one of an electric motor, a pneumatic turbine or a hydraulic motor; the power source of the strip-shaped multi-tooth excitation component for reciprocating motion is any one of an electric reciprocating push rod, a linear motor, a pneumatic cylinder, a hydraulic cylinder or a power source outputting rotary motion.

[0075] In the embodiment, the elastic vibration component comprises an excitation part, an output part and a support arm; the front end of the excitation part has scraper teeth; displacement excitation is formed through engagement of the scraper teeth and the excitation teeth of the multi-tooth excitation component; the number of the support arm is one or more pairs; the support arm is used for connecting and assembling the elastic vibration component and the adjustable clamping component; the assembling mode is clamping type installation which can be disassembled multiple times or welding type installation which cannot be disassembled.

[0076] In the embodiment, the profile curves of the excitation teeth of the multi-tooth excitation component and the scraper teeth of the elastic vibration component are any one of a circular arc, an involute, a parabola and a cycloid.

[0077] The adjustable clamping component in the embodiment comprises a special support and a damping spring; the special support and the damping spring form a mass-spring-damping system; during operation, the adjustable clamping component can ensure that self-adaptive contact force is formed between the exciting teeth and the scraper teeth; the size of the self-adaptive contact force is changed by adjusting the pre-pressing amount of the damping spring, so that the power is adjusted; wherein the damping spring is made of a material that has both elastic effect and damping effect.

[0078] As shown in Figures 1A-6B , 11 elastic vibration component; 12 elastic vibration component, 13 adjustable clamping component, 14 integral connecting component, 131 special clamping part, 132 damping spring, 15 rotating shaft, 16 pin.

[0079] Figure 5B In the embodiment, the elastic vibration component adopts Figure 4A cross structure, and the specific size is shown in Figure 5B , the thickness h = 0.6mm; the material is 6065 spring steel.

[0080] Figure 5C In the embodiment, the front end of the exciting part of the elastic vibration component is provided with scraper teeth, and the cross-sectional profile of the scraper teeth is a circular arc, and the radius r1 = 1mm.

[0081] Figure 5D In the embodiment, the multi-tooth exciting component is a disc, the disc radius R = 9.6mm, and the exciting teeth are uniformly distributed on the outer cylindrical surface of the disc, the cross-sectional profile of the exciting teeth is a circular arc, the circular arc radius r2 = 0.5mm, and the number of the exciting teeth is 120.

[0082] During operation, the rotating speed of the multi-tooth exciting component is 5500rpm, which can be directly input by the motor or input through the steel wire flexible shaft. The vibration displacement of the exciting part of the elastic vibration component is shown in Figure 6A , the vibration frequency is 11kHz, and the amplitude is about 80μm. The vibration displacement of the output part of the elastic vibration component is shown in Figure 6B , the vibration frequency is 22kHz, and the amplitude is about 45μm. The embodiment adopts a frequency doubling working mode to generate ultrasonic frequency vibration output, and can be used as a new type of ultrasonic device.

[0083] The technical principles of the present application are described above in combination with specific embodiments, and these descriptions are only for explaining the principles of the present application, and cannot be explained as limitations on the protection scope of the present application in any way. Based on the explanations herein, other specific embodiments of the present application can be conceived by those skilled in the art without creative labor, and these embodiments will fall within the protection scope of the present application.

Claims

1. A smooth tooth transverse vibration bionic wiper, characterized in that, Comprise: Elastic vibration component, multi-tooth excitation component, adjustable clamping component, integral connecting component; The adjustable clamping component is assembled on the integral connecting component; The elastic vibration component is assembled on the integral connecting component through the adjustable clamping component; The multi-tooth excitation component is directly assembled on the integral connecting component; The spatial position of the elastic vibration component is adjusted through the adjustable clamping component to achieve the adjustment of the excitation power; During the operation, the excitation teeth of the multi-tooth excitation component mesh with the scraper teeth of the excitation part of the elastic vibration component; The meshing relationship can generate a nonlinear one-sided constraint condition on the excitation part, so that the elastic vibration component forms a vibration with nonlinear characteristics.

2. The smooth-tooth transverse vibration bionic scraper according to claim 1, wherein the excitation teeth and the scraper teeth are in contact and meshing to excite the vibration; the excitation of the vibration is a mechanical geometric relationship constraint; the geometric relationship constraint has the characteristics of one-sidedness and periodic time variability; the one-sidedness means that the excitation teeth and the scraper teeth can be in contact or separated from each other without contact; the periodic time variability means that the meshing contact points change periodically due to the movement of the excitation teeth, which is a constraint condition with strong nonlinear characteristics; and the nonlinear constraint condition makes the entire smooth-tooth transverse vibration bionic scraper form a nonlinear vibration system.

3. The smooth-tooth transverse vibration bionic scraper according to claim 2, wherein the working mode of the nonlinear vibration system at least includes frequency excitation, frequency multiplication excitation, and frequency division excitation.

4. The smooth-tooth transverse vibration bionic scraper according to claim 3, wherein the multi-tooth excitation component simulates the file organ of the leaf-cutting ant, and has a strip shape or a disc shape, which is respectively applied to reciprocating motion and rotary motion; the power source of the disc-shaped multi-tooth excitation component for rotary motion is any one of an electric motor, a pneumatic turbine, or a hydraulic motor; and the power source of the strip-shaped multi-tooth excitation component for reciprocating motion is any one of an electric reciprocating push rod, a linear motor, a pneumatic cylinder, a hydraulic cylinder, or a power source outputting rotary motion.

5. The smooth-tooth transverse vibration bionic scraper according to claim 1, wherein the elastic vibration component comprises an excitation part, an output part, and a support arm; the front end of the excitation part has scraper teeth; the excitation part has the scraper teeth, which form displacement excitation by meshing with the excitation teeth of the multi-tooth excitation component; the number of the support arms is one or more pairs; the support arms are used for the connection and assembly of the elastic vibration component and the adjustable clamping component; and the assembly mode is clamping installation which can be disassembled multiple times or welding installation which cannot be disassembled.

6. The smooth-tooth transverse vibration bionic scraper according to claim 5, wherein the profile curves of the excitation teeth of the multi-tooth excitation component and the scraper teeth of the elastic vibration component are any one of a circular arc, an involute, a parabola, and a cycloid.

7. The smooth-tooth transverse vibration bionic scraper according to claim 6, wherein the adjustable clamping component comprises a special support and a damping spring; the special support and the damping spring form a mass-spring-damper system; and during the operation, the adjustable clamping component can ensure that the self-adaptive contact force is formed between the excitation teeth and the scraper teeth. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The size of the self-adaptive contact force is changed by adjusting the pre-pressing amount of the damping spring, so that the power is regulated. The damping spring is made of a material with both elastic effect and damping effect.

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