CN106514699B - A kind of Three Degree Of Freedom machine swivel of hand and its working method - Google Patents
A kind of Three Degree Of Freedom machine swivel of hand and its working method Download PDFInfo
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- CN106514699B CN106514699B CN201611120079.7A CN201611120079A CN106514699B CN 106514699 B CN106514699 B CN 106514699B CN 201611120079 A CN201611120079 A CN 201611120079A CN 106514699 B CN106514699 B CN 106514699B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 122
- 239000000919 ceramic Substances 0.000 claims abstract description 106
- 230000009471 action Effects 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000002245 particle Substances 0.000 claims abstract description 10
- 230000010287 polarization Effects 0.000 claims description 27
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000004044 response Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 8
- 230000005526 G1 to G0 transition Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012913 prioritisation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a kind of Three Degree Of Freedom machine swivel of hand and its working method, Three Degree Of Freedom machine swivel of hand includes at least at least two joint units；Joint unit includes actuation head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom cover, spring and contact block.Upper end joint unit locks the driving head of the actuation head of lower end joint unit by contact block and collet, and applies certain precompression to the driving head of lower end joint unit by spring and collet.By motivating any two groups of generations two-phase vibration shape, the two-phase vibration shape in three groups of ceramic components of joint unit to couple on the driving head of actuation head respectively, so that particle is done elliptic motion, so that front end joint unit is realized the rotation around X, Y and Z axis by rubbing action.Present invention response is fast, and precision is high, and structure is simple, has bright prospects.
Description
Technical field
The present invention relates to ultrasonic actuation field more particularly to a kind of Three Degree Of Freedom machine swivel of hand and its working methods.
Background technique
With deep-sea detecting, the rapid development of space technology, mechanical-assisted medical technology and automatic manufacturing technology, to machinery
The demand of hand is increasingly urgent to, and traditional manipulator uses traditional servo motor and cable structure, there is easily affected by magnetic fields, knot
The disadvantages of structure is complicated, and cable is easy winding.
Summary of the invention
The technical problem to be solved by the present invention is to provide one kind three freely for defect involved in background technique
Spend machine swivel of hand and its working method.
The present invention uses following technical scheme to solve above-mentioned technical problem
A kind of Three Degree Of Freedom machine swivel of hand, includes at least two joint units, and the joint unit is sequentially connected；
The joint unit includes actuation head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom cover, spring and contact block；
The actuation head includes driving head, interconnecting piece, ring flange and cylinder, wherein the driving head is spherical shape；The company
Socket part is continuous variable cross section structure, and section is circle, and the lower end of its smallest cross-sectional and driving head is fixedly linked, maximum cross-section
It is fixedly linked with the upper end of cylinder；The junction of the interconnecting piece and cylinder is arranged in the ring flange；
The threaded hole that the axis of the actuation head is equipped with and the pretension bolt matches；
The collet is the cylindrical body of upper end opening, inner hollow, and lower end is equipped with for lockking the driving head
Circular hole；
The pedestal includes main body, the first fixed ring and the second fixed ring, wherein the main body is upper end opening, lower end
Closed cylindrical body；First fixed ring, the second fixed ring are the cylindrical body of upper and lower opening, and the half of first fixed ring
Diameter is greater than second fixed ring；The equal bottom surface stationary phase with the main body in the upper end of first fixed ring and the second fixed ring
Even, and main body, the first fixed ring, the second fixed ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component is cylinder, is successively arranged in from top to bottom in the main body of the pedestal；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component, base body bottom surface coaxial arrangement and the through-hole passed through for pretension bolt is equipped in axle center；Pretension bolt is successively worn
Cross bottom surface, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration pressure of base body
Threaded hole on electroceramics component and actuation head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration pressure
Electroceramics component, the second bending vibration piezo ceramic element are clamped between actuation head and the bottom surface of base body；
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylindrical body of upper and lower opening, described convex
The upper end of the first socket ring is arranged in ring and the first socket ring is fixedly linked；
The bulge loop of the bottom cover is arranged between the first fixed ring, the second fixed ring and the first fixed ring, the second fixed ring
Between groove interference connection；
The contact block includes connecting plate, the second socket ring and contact ring, wherein the second socket ring, contact ring are equal
For the hollow cylinder of upper and lower opening；The upper end stationary phase that the lower end of the second socket ring passes through connecting plate and the contact ring
Even, and the second socket ring, contact ring are coaxially disposed；
The first socket ring and the second socket ring are by socket progress clearance fit, so that energy between contact block and bottom cover
Enough slide up and down；
The spring pocket is outside the first socket ring and the second socket ring, and the bulge loop of one end and the bottom cover offsets, separately
The connecting plate of one end and the contact block offsets；
The ring flange of the collet upper end and the actuation head is fixedly linked, and the circular hole of lower end locks coupled
The driving head of joint unit；
The driving head that the lower end and the collet that ring is contacted in the contact block are lockked offsets；
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element be used to generate bending vibration propagate to it is described
Driving head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate is in space
On that there are pi/2 phases is poor.
As a kind of further prioritization scheme of Three Degree Of Freedom machine swivel of hand of the present invention, the longitudinal vibration piezo ceramic element
Comprising two panels longitudinal vibration potsherd and a piece of electrode slice, electrode slice is clipped in the middle by the two panels longitudinal vibration potsherd, and the two panels is vertical
The potsherd that shakes is single polarization subregion, and it is outside that polarization direction is respectively perpendicular to electrode slice.
As a kind of further prioritization scheme of Three Degree Of Freedom machine swivel of hand of the present invention, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and a piece of electrode slice, the two panels bending vibration potsherd
Electrode slice is clipped in the middle, the polarization subregion that every bending vibration piezoelectric ceramic piece has two polarization directions in left and right opposite, and two panels
Bending vibration potsherd is opposite in the polarization direction of the polarization subregion of the same end.
The invention also discloses a kind of working methods based on the Three Degree Of Freedom machine swivel of hand, comprise the steps of：
For each joint unit, enable that the centre of sphere of its driving head is origin, to enable the centre of sphere of its driving head be origin, actuation
The axis of head is Z axis, crosses origin and is parallel to two polarization of any bending vibration potsherd in its first bending vibration piezo ceramic element
The straight line of boundary between subregion is Y-axis, crosses origin and is parallel to any bending vibration ceramics in its second bending vibration piezo ceramic element
The straight line of boundary between two polarization subregions of piece is X-axis；
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in XOZ plane on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in XOZ plane, and driving head is turned by rubbing action driving
Submodule is rotated around Y-axis；
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in YOZ plane on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in YOZ plane, and driving head is turned by rubbing action driving
Submodule is rotated around X-axis；
Applying on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively has pi/2 phase poor
Electric signal, will be inspired on stator modules respectively two spatially with pi/2 phase difference flexural vibration modes so that
Particle on driving head makees elliptic motion in XOY plane, and driving head drives rotor module to make 360 ° about the z axis by rubbing action
Rotation.
The invention adopts the above technical scheme compared with prior art, has the following technical effects：
1. structure is simple, response is fast, and precision is high；
2. easily miniaturization, not by magnetic interference, in deep-sea detecting, space technology, mechanical-assisted medical technology and automatic system
Making technical field has bright prospects.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of Three Degree Of Freedom machine swivel of hand of the present invention；
Fig. 2 is the structural schematic diagram of actuation head in the present invention；
Fig. 3 is the structural schematic diagram of collet in the present invention；
Fig. 4 is the cooperation figure of bottom cover in the present invention, spring and contact block；
Fig. 5 is the polarization mode schematic diagram of potsherd in longitudinal vibration piezo ceramic element in the present invention；
Fig. 6 is the polarization mode schematic diagram of potsherd in the first bending vibration piezo ceramic element in the present invention；
Fig. 7 is the polarization mode schematic diagram of potsherd in the second bending vibration piezo ceramic element in the present invention；
Fig. 8 is bending vibration bending vibation mode picture of the invention；
Fig. 9 is extensional vibration bending vibation mode picture of the invention.
Wherein, 1- actuation head, 1.1- driving head, 1.2- interconnecting piece, 1.3- ring flange, 1.4- cylinder, 2- metallic gauge block,
3- pedestal, 4- pretension bolt, 5- collet, 6- bottom cover, 7- spring, 8- contact block, 9- longitudinal vibration piezo ceramic element, 10-
One bending vibration piezo ceramic element, 11- and the second bending vibration piezoelectric ceramic piece group, 12- fixing bolt, 13- electrode slice.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing：
As shown in Figure 1, including at least two joint units, institute the invention discloses a kind of Three Degree Of Freedom machine swivel of hand
Joint unit is stated to be sequentially connected.
The joint unit includes actuation head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom cover, spring and contact block.
As shown in Fig. 2, the actuation head includes driving head, interconnecting piece, ring flange and cylinder, wherein the driving head is
It is spherical；The interconnecting piece is continuous variable cross section structure, and section is round, and the lower end stationary phase of its smallest cross-sectional and driving head
Even, maximum cross-section and the upper end of cylinder are fixedly linked；The junction of the interconnecting piece and cylinder is arranged in the ring flange.
The threaded hole that the axis of the actuation head is equipped with and the pretension bolt matches.
As shown in figure 3, the collet is the cylindrical body of upper end opening, inner hollow, lower end is equipped with for lockking
The circular hole of the driving head.
The pedestal includes main body, the first fixed ring and the second fixed ring, wherein the main body is upper end opening, lower end
Closed cylindrical body；First fixed ring, the second fixed ring are the cylindrical body of upper and lower opening, and the half of first fixed ring
Diameter is greater than second fixed ring；The equal bottom surface stationary phase with the main body in the upper end of first fixed ring and the second fixed ring
Even, and main body, the first fixed ring, the second fixed ring are coaxially disposed.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component is cylinder, is successively arranged in from top to bottom in the main body of the pedestal.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component, base body bottom surface coaxial arrangement and the through-hole passed through for pretension bolt is equipped in axle center；Pretension bolt is successively worn
Cross bottom surface, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration pressure of base body
Threaded hole on electroceramics component and actuation head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration pressure
Electroceramics component, the second bending vibration piezo ceramic element are clamped between actuation head and the bottom surface of base body.
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylindrical body of upper and lower opening, described convex
The upper end of the first socket ring is arranged in ring and the first socket ring is fixedly linked.
The bulge loop of the bottom cover is arranged between the first fixed ring, the second fixed ring.
The contact block includes connecting plate, the second socket ring and contact ring, wherein the second socket ring, contact ring are equal
For the hollow cylinder of upper and lower opening；The upper end stationary phase that the lower end of the second socket ring passes through connecting plate and the contact ring
Even, and the second socket ring, contact ring are coaxially disposed.
The first socket ring and the second socket ring are by socket progress clearance fit, so that energy between contact block and bottom cover
Enough slide up and down.
As shown in figure 4, the spring pocket is outside the first socket ring and the second socket ring, one end and the bottom cover it is convex
Ring offsets, and the connecting plate of the other end and the contact block offsets.
The ring flange of the collet upper end and the actuation head is fixedly linked, can be using fixing bolt come stationary phase
Even.The circular hole of the collet lower end locks the driving head of coupled joint unit, and in the drive of the joint unit
Without departing from collet when dynamic head stress.
The driving head that the lower end and the collet that ring is contacted in the contact block are lockked offsets.
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element be used to generate bending vibration propagate to it is described
Driving head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate is in space
On that there are pi/2 phases is poor.
As shown in figure 5, the longitudinal vibration piezo ceramic element includes two panels longitudinal vibration potsherd and a piece of electrode slice, the two panels
Electrode slice is clipped in the middle by longitudinal vibration potsherd, and the two panels longitudinal vibration potsherd is single polarization subregion, and polarization direction is hung down respectively
It is directly outside in electrode slice.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and one
Electrode slice is clipped in the middle by plate electrode piece, the two panels bending vibration potsherd, and every bending vibration piezoelectric ceramic piece has two poles in left and right
Change contrary polarization subregion, and two panels bending vibration potsherd is opposite in the polarization direction of the polarization subregion of the same end.
The first bending vibration piezo ceramic element, the polarization direction of the second bending vibration piezo ceramic element and combination difference
As shown in Figure 6, Figure 7.
For each joint unit, enable that the centre of sphere of its driving head is origin, to enable the centre of sphere of its driving head be origin, actuation
The axis of head is Z axis, crosses origin and is parallel to two polarization of any bending vibration potsherd in its first bending vibration piezo ceramic element
The straight line of boundary between subregion is Y-axis, crosses origin and is parallel to any bending vibration ceramics in its second bending vibration piezo ceramic element
The straight line of boundary between two polarization subregions of piece is X-axis.
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in XOZ plane on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in XOZ plane, and driving head is turned by rubbing action driving
Submodule is rotated around Y-axis.
Apply the electricity with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively
Signal, inspires the extensional vibration along Z-direction and the bending vibration in YOZ plane on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in YOZ plane, and driving head is turned by rubbing action driving
Submodule is rotated around X-axis.
Applying on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively has pi/2 phase poor
Electric signal, will be inspired on stator modules respectively two over time and space all with pi/2 phase difference bending vibrations
Mode so that the particle on driving head makees elliptic motion in XOY plane, driving head by rubbing action drive rotor module around
Z axis makees 360 ° of rotations.
Between three vibration shapes that joint unit is motivated by three groups of ceramic components in the present invention as known from the above two-by-two
Combination, it can be achieved that three degree of freedom movement, when bending vibration makes the junction of spherical drive head and interconnecting piece be located at the vibration shape
At node, so that spherical drive head obtains maximum amplitude, the bending vibation mode picture of bending vibration is as shown in Figure 8（It is with second order bending vibration
Example）.Make ring flange be located at node of vibration mode prescription when extensional vibration just to clamp, is located at the junction of spherical drive head and interconnecting piece
Amplitude maximum, so that spherical drive head obtains maximum pitch amplitude, the bending vibation mode picture of extensional vibration is as shown in Figure 9（With single order
For longitudinal vibration）.
The present invention has structure simple, and response is fast, and precision is high, convenient for micromation, in deep-sea detecting, space technology, machinery
Medical assistance technology and automatic manufacturing technology field have bright prospects.
Those skilled in the art can understand that unless otherwise defined, all terms used herein（Including skill
Art term and scientific term）With meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. a kind of Three Degree Of Freedom machine swivel of hand, which is characterized in that include at least two joint units, the joint unit is successively
It is connected；
The joint unit includes actuation head, metallic gauge block, pedestal, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom cover, spring and contact block；
The actuation head includes driving head, interconnecting piece, ring flange and cylinder, wherein the driving head is spherical shape；The interconnecting piece
For continuous variable cross section structure, section is circle, and the lower end of its smallest cross-sectional and driving head is fixedly linked, maximum cross-section and circle
The upper end of column is fixedly linked；The junction of the interconnecting piece and cylinder is arranged in the ring flange；
The threaded hole that the axis of the actuation head is equipped with and the pretension bolt matches；
The collet is the cylindrical body of upper end opening, inner hollow, and lower end is equipped with the circle for lockking the driving head
Hole；
The pedestal includes main body, the first fixed ring and the second fixed ring, wherein the main body is upper end opening, lower end closed
Cylindrical body；First fixed ring, the second fixed ring are the cylindrical body of upper and lower opening, and the radius of first fixed ring is big
In second fixed ring；The upper end of first fixed ring and the second fixed ring is fixedly linked with the bottom surface of the main body,
And main body, the first fixed ring, the second fixed ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element
It is cylinder, is successively arranged in from top to bottom in the main body of the pedestal；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics group
Part, base body bottom surface coaxial arrangement and the through-hole passed through for pretension bolt is equipped in axle center；Pretension bolt sequentially passes through
The bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration piezoelectricity
Threaded hole on ceramic component and actuation head is threadedly coupled, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element are clamped between actuation head and the bottom surface of base body；
The bottom cover includes the first socket ring and bulge loop, and the first socket ring is the cylindrical body of upper and lower opening, and the bulge loop is set
It sets and is fixedly linked in the upper end of the first socket ring and the first socket ring；
The bulge loop of the bottom cover is arranged between the first fixed ring, the second fixed ring；
The contact block includes connecting plate, the second socket ring and contact ring, wherein on described second is socketed ring, contact ring is
The hollow cylinder of under shed；The lower end of the second socket ring is fixedly linked by the upper end of connecting plate and the contact ring, and
The second socket ring, contact ring coaxial arrangement；
It is described first socket ring and second socket ring by socket carry out clearance fit so that between contact block and bottom cover can on
Lower slider；
The spring pocket is outside the first socket ring and the second socket ring, and the bulge loop of one end and the bottom cover offsets, the other end
It offsets with the connecting plate of the contact block；
The ring flange of the collet upper end and the actuation head is fixedly linked, and the circular hole of lower end locks coupled joint
The driving head of unit；
The driving head that the lower end and the collet that ring is contacted in the contact block are lockked offsets；
The longitudinal vibration piezo ceramic element propagates to the driving head for generating longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element are used to generation bending vibration and propagate to the driving
Head, and the bending vibration that the bending vibration of the first bending vibration piezo ceramic element generation and the second bending vibration piezo ceramic element generate spatially is deposited
It is poor in pi/2 phase.
2. Three Degree Of Freedom machine swivel of hand according to claim 1, which is characterized in that the longitudinal vibration piezo ceramic element packet
Electrode slice is clipped in the middle by the potsherd of longitudinal vibration containing two panels and a piece of electrode slice, the two panels longitudinal vibration potsherd, the two panels longitudinal vibration
Potsherd is single polarization subregion, and it is outside that polarization direction is respectively perpendicular to electrode slice.
3. Three Degree Of Freedom machine swivel of hand according to claim 1, which is characterized in that the first bending vibration piezoelectric ceramics group
Part, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and a piece of electrode slice, and the two panels bending vibration potsherd will
Electrode slice is clipped in the middle, the polarization subregion that every bending vibration potsherd has two polarization directions in left and right opposite, and two panels bending vibration is made pottery
Tile is opposite in the polarization direction of the polarization subregion of the same end.
4. the working method based on Three Degree Of Freedom machine swivel of hand as claimed in claim 3, which is characterized in that include following step
Suddenly：
For each joint unit, enable its driving head the centre of sphere be origin, actuation head axis be Z axis, cross origin and parallel
The straight line of boundary in its first bending vibration piezo ceramic element between two of any bending vibration potsherd polarization subregions be Y-axis,
The boundary crossing origin and being parallel between two polarization subregions of any bending vibration potsherd in its second bending vibration piezo ceramic element
Straight line be X-axis；
Apply the electric signal with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively,
Inspire the extensional vibration along Z-direction and the bending vibration in XOZ plane, the coupling of extensional vibration and bending vibration makes to drive
Particle on dynamic head makees elliptic motion in XOZ plane, and driving head drives coupled joint unit around Y by rubbing action
Axis rotation；
Apply the electric signal with pi/2 phase difference on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively,
Inspire the extensional vibration along Z-direction and the bending vibration in YOZ plane, the coupling of extensional vibration and bending vibration makes to drive
Particle on dynamic head makees elliptic motion in YOZ plane, and driving head drives coupled joint unit around X by rubbing action
Axis rotation；
Apply the electricity with pi/2 phase difference on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Signal will inspire two over time and space all with the flexural vibration mode of pi/2 phase difference, so that on driving head respectively
Particle make elliptic motion in XOY plane, driving head drives coupled joint unit to make about the z axis by rubbing action
360 ° of rotations.
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| CN201611120079.7A CN106514699B (en) | 2016-12-08 | 2016-12-08 | A kind of Three Degree Of Freedom machine swivel of hand and its working method |
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| CN106956291B (en) * | 2017-04-28 | 2023-06-23 | 南京航空航天大学 | Deep sea full-open mechanical arm structure and working mode thereof |
| CN108340391B (en) * | 2018-03-06 | 2023-10-03 | 吉林大学 | Flexible driving bionic massage manipulator based on pneumatic artificial muscle |
| CN109514591B (en) * | 2018-11-29 | 2024-05-24 | 南京航空航天大学 | Sandwich type piezoelectric manipulator based on spherical joint and control method thereof |
| CN110936352B (en) * | 2019-12-02 | 2024-05-03 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with rubbing function |
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| SU952582A1 (en) * | 1981-01-19 | 1982-08-23 | Каунасский Политехнический Институт Им.Антанаса Снечкуса | Pivot assembly of manipulator |
| JPH0643040B2 (en) * | 1988-12-28 | 1994-06-08 | 俊郎 樋口 | Joint device |
| JP4101789B2 (en) * | 2004-08-11 | 2008-06-18 | 日本電信電話株式会社 | Joint robot |
| JP4760660B2 (en) * | 2006-10-19 | 2011-08-31 | 株式会社豊田自動織機 | Object handling device |
| WO2010007837A1 (en) * | 2008-07-17 | 2010-01-21 | 株式会社豊田自動織機 | Vibration actuator |
| CN101618548A (en) * | 2009-07-17 | 2010-01-06 | 南京航空航天大学 | Knuckle directly driven by piezoelectricity, fingers thereof and hand thereof |
| CN101626206B (en) * | 2009-08-19 | 2011-04-27 | 哈尔滨工业大学 | Longitudinal and flexural composite transducer type double cylinder-shaped traveling wave ultrasonic motor vibrator |
| CN103950039A (en) * | 2014-01-22 | 2014-07-30 | 南通爱慕希机械有限公司 | Mechanical arm |
| CN206317094U (en) * | 2016-12-08 | 2017-07-11 | 南京航空航天大学 | A kind of Three Degree Of Freedom machine swivel of hand |
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