Piezoelectric driving multi-degree-of-freedom spherical joint

Abstract

The invention discloses a piezoelectric driving multi-degree-of-freedom spherical joint. According to the device, at least four two-dimensional piezoelectric actuators serve as power supply mechanisms, force and displacement / position output in the two-dimensional direction are provided through combined stacking, a pre-tightening device provides needed pre-tightening force through a flexible mechanism, and the pre-tightening force provides sufficient friction force for the actuators so as to provide execution thrust for the spherical motion joint. And under the structural assembly of the outer ring bracket and the fixed supporting device, the spherical joint rotor is actuated, so that the output shaft can provide high-precision positioning under the rotary motion. The piezoelectric actuating technology and the inchworm type motion control method are innovatively combined, a novel adaptive structure is provided, and long-stroke, large-output and high-precision displacement can be output without depending on a bearing. The practical application problem which cannot be met by a common electromechanical spherical joint is solved, and the requirement for ultra-precise motion control at the present stage is met. The invention has constructive significance for piezoelectric equipment in a new market of rotational motion.

Description

technical field [0001] The invention relates to the technical field of precision mechanical design, manufacture and automation, in particular to a piezoelectric drive multi-degree-of-freedom spherical joint. Background technique [0002] With the increasing application of special robots and unmanned equipment in modern social life, better requirements are put forward for highly integrated electromechanical joint components. Weight, size, load capacity, performance, etc. have the most direct impact; and the ordinary electromechanical spherical joints on the market now have the problem that they cannot achieve wide-angle and high-precision positioning at the same time. [0003] The invention uses the piezoelectric actuation technology as the drive of the electric joint, considering that the piezoelectric actuation itself can meet the requirements of high precision, and provides large output and high rigidity; The displacement of the long stroke meets the actual demand for fur...

AI Technical Summary

Problems solved by technology

[0002] With the increasing application of special robots and unmanned equipment in modern social life, better requirements are put forward for highly integrated electromechanical joint components. Weight, size, load capacity, performance, etc. have the most direct impact; and the common electromechanical spherical joints on the market now have the problem that they cannot achieve wide-angle and high-precision positioning at the same time

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