Robot arm structure based on piezoelectric ceramics

Abstract

The utility model discloses a manipulator structure based on piezoelectric ceramics, and belongs to the technical field of manipulator devices. Comprising a support plate; the driving air cylinder is fixedly connected to the supporting plate; the driving rod is fixedly connected to the driving end of the driving air cylinder; the driving part is fixedly connected to the bottom of the driving rod; the piezoelectric ceramic is fixedly connected to the driving end of the driving part; the piezoelectric ceramic is arranged at the bottom of the driving part, the inverse piezoelectric effect of the piezoelectric ceramic is utilized, high-precision micro-displacement control can be achieved, the micro-displacement control device is suitable for operation scenes with high precision requirements, meanwhile, the sliding rod and the limiting plate are arranged on the supporting plate, guiding and limiting can be provided for movement of the driving part, and the operation efficiency is improved. The stability of the whole structure in the movement process is enhanced, shaking and deviation are reduced, and the operation accuracy is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm structure based on piezoelectric ceramics. Background Technology

[0002] In the fields of automated production and robotic operation, traditional robotic arms are insufficient in terms of precision to meet the high-precision requirements of tasks such as electronic chip mounting and precision instrument assembly. Even minor errors can lead to product quality issues. In terms of stability, common robotic arms are easily affected by external forces or their own structure during movement, which can cause wobbling and reduce operational accuracy. In terms of flexibility, most robotic arms have fixed structures, making it difficult to adapt to diverse work scenarios and installation space requirements. Therefore, a high-precision and high-stability robotic arm structure is particularly important. Utility Model Content

[0003] The purpose of this invention is to solve the problems mentioned in the background art and to propose a robotic arm structure based on piezoelectric ceramics.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robotic arm structure based on piezoelectric ceramics includes:

[0006] Support plate;

[0007] The drive cylinder is fixedly connected to the support plate;

[0008] The drive rod is fixedly connected to the drive end of the drive cylinder;

[0009] The drive unit is fixedly connected to the bottom of the drive rod;

[0010] The piezoelectric ceramic is fixedly connected to the drive end of the drive unit.

[0011] Preferably, a connecting plate is connected to the side wall of the drive unit by a first bolt, and the first bolt is connected to the connecting plate.

[0012] Furthermore, the connecting plate is provided with adjustment holes.

[0013] Preferably, a mounting plate is fixedly connected to the drive unit, a limit plate is fixedly connected to the bottom of the support plate by a second bolt, a slide rod is slidably connected to the support plate, and a third bolt is threadedly connected to the mounting plate, the third bolt being threadedly connected to the slide rod.

[0014] Preferably, a mounting base is fixedly connected to the top of the support plate, and a suction cup is fixedly connected to the mounting base.

[0015] Furthermore, the adjustment hole is an oblong hole.

[0016] Compared with the prior art, this utility model provides a robotic arm structure based on piezoelectric ceramics, which has the following beneficial effects:

[0017] The parts of this device not described herein are the same as or can be implemented using existing technologies. This utility model uses piezoelectric ceramics set at the bottom of the drive unit and utilizes the inverse piezoelectric effect of the piezoelectric ceramics to achieve high-precision micro-displacement control, which is suitable for operation scenarios with high precision requirements. At the same time, this application uses slide rods and limit plates set on the support plate to provide guidance and limit for the movement of the drive unit, which enhances the stability of the overall structure during movement, reduces shaking and deviation, and improves operational accuracy. Attached Figure Description

[0018] Figure 1 This invention presents a schematic diagram of a robotic arm structure based on piezoelectric ceramics. Figure 1 ;

[0019] Figure 2 This invention presents a schematic diagram of a robotic arm structure based on piezoelectric ceramics. Figure 2 ;

[0020] Figure 3 This invention presents a schematic diagram of a robotic arm structure based on piezoelectric ceramics. Figure 3 ;

[0021] Figure 4 This invention proposes a robotic arm structure based on piezoelectric ceramics. Figure 3 Enlarged view of section A in the middle.

[0022] In the diagram: 1. Support plate; 101. Fourth bolt; 102. Mounting base; 103. Limiting plate; 1031. Third bolt; 1032. Second bolt; 104. Sliding rod; 2. Suction cup; 3. Drive cylinder; 301. Fifth bolt; 302. Drive rod; 4. Drive unit; 401. Piezoelectric ceramic; 402. Mounting plate; 5. Connecting plate; 501. Adjustment hole; 5011. First bolt. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Example 1:

[0025] Reference Figures 1-4 This embodiment of a piezoelectric ceramic-based robotic arm structure includes:

[0026] Support plate 1 with fourth bolt 101;

[0027] The drive cylinder 3 is fixedly connected to the support plate 1 by the fifth bolt 301;

[0028] The drive rod 302 is fixedly connected to the drive end of the drive cylinder 3;

[0029] Drive unit 4 is fixedly connected to the bottom of drive rod 302;

[0030] The piezoelectric ceramic 401 is fixedly connected to the drive end of the drive unit 4.

[0031] When the drive cylinder 3 is energized, the internal gas pressure changes, pushing the drive rod 302 at the drive end to move linearly. The drive rod 302 drives the drive part 4, which is fixedly connected to it, to move. The drive part 4 then drives the piezoelectric ceramic 401 to the designated position. Under the action of the electric field, the piezoelectric ceramic 401 uses the inverse piezoelectric effect to generate precise micro-displacement, realizing fine operations such as grasping and placing.

[0032] It should be noted that the drive cylinder 3 is a commercially available FESTO cylinder.

[0033] A connecting plate 5 is connected to the side wall of the drive unit 4 by a first bolt 5011, and the first bolt 5011 is connected to the connecting plate 5.

[0034] An adjustment hole 501 is provided on the connecting plate 5.

[0035] A mounting plate 402 is fixedly connected to the drive unit 4. A limit plate 103 is fixedly connected to the bottom of the support plate 1 by a second bolt 1032. A slide rod 104 is slidably connected to the support plate 1. A third bolt 1031 is threadedly connected to the mounting plate 402. The third bolt 1031 is threadedly connected to the slide rod 104.

[0036] During the movement of the drive unit 4, the mounting plate 402 slides along the slide bar 104, which plays a guiding and stabilizing role. The limiting plate 103 can limit the sliding range of the mounting plate 402 and ensure the movement accuracy.

[0037] In actual operation, the robot arm is installed and debugged to ensure that all components are securely connected. For example, the drive cylinder 3 is fixed on the support plate 1 and the piezoelectric ceramic 401 is fixed on the drive end of the drive unit 4. A control signal is input to the drive cylinder 3 to extend or retract the drive rod 302 at its drive end, which drives the drive unit 4 to move. When the drive unit 4 reaches the target position, a suitable electric field is applied to the piezoelectric ceramic 401, which generates a micro-displacement to perform the grasping or operation task. After the task is completed, the drive cylinder 3 moves in the opposite direction, and the drive unit 4 drives the piezoelectric ceramic 401 back to the initial position to wait for the next instruction.

[0038] It should be noted that the drive unit 4 is a commercially available piezoelectric ceramic actuator. When an alternating electric field is applied to the piezoelectric ceramic 401, the piezoelectric ceramic 401 will undergo mechanical deformation, thereby achieving precise displacement output.

[0039] A mounting base 102 is fixedly connected to the top of the support plate 1, and a suction cup 2 is fixedly connected to the mounting base 102.

[0040] The adjustment hole 501 is an oblong hole.

[0041] The installation length of the connecting plate 5 can be adjusted by the waist-shaped adjustment hole 501, which allows for flexible adjustment of the robot's structural parameters according to different work requirements and installation space, thus expanding its applicability.

[0042] This invention utilizes a piezoelectric ceramic 401 located at the bottom of the drive unit 4 and leverages the inverse piezoelectric effect of the piezoelectric ceramic 401 to achieve high-precision micro-displacement control, making it suitable for operation scenarios requiring high precision. Furthermore, the slide rod 104 and limiting plate 103 on the support plate 1 provide guidance and limitation for the movement of the drive unit 4, enhancing the stability of the overall structure during movement, reducing swaying and offset, and improving operational accuracy.

[0043] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm structure based on piezoelectric ceramics, characterized in that, include: Support plate (1); The drive cylinder (3) is fixedly connected to the support plate (1); The drive rod (302) is fixedly connected to the drive end of the drive cylinder (3); The drive unit (4) is fixedly connected to the bottom of the drive rod (302); The piezoelectric ceramic (401) is fixedly connected to the drive end of the drive unit (4).

2. The robotic arm structure based on piezoelectric ceramics according to claim 1, characterized in that, A connecting plate (5) is connected to the side wall of the drive unit (4) by a first bolt (5011), and the first bolt (5011) is connected to the connecting plate (5).

3. The robotic arm structure based on piezoelectric ceramics according to claim 2, characterized in that, The connecting plate (5) is provided with an adjustment hole (501).

4. The robotic arm structure based on piezoelectric ceramics according to claim 1, characterized in that, A mounting plate (402) is fixedly connected to the drive unit (4). A limit plate (103) is fixedly connected to the bottom of the support plate (1) by a second bolt (1032). A slide rod (104) is slidably connected to the support plate (1). A third bolt (1031) is threadedly connected to the mounting plate (402). The third bolt (1031) is threadedly connected to the slide rod (104).

5. The robotic arm structure based on piezoelectric ceramics according to claim 1, characterized in that, The top of the support plate (1) is fixedly connected to a mounting base (102), and a suction cup (2) is fixedly connected to the mounting base (102).

6. The robotic arm structure based on piezoelectric ceramics according to claim 3, characterized in that, The adjustment hole (501) is an oblong hole.

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