阅读说明：本技术 一种煤矿井下巷道掘进机器人用模态转换型超声电机 (Modal conversion type ultrasonic motor for coal mine underground roadway tunneling robot ) 是由 柏德恩 沈刚 朱真才 汤裕 李翔 于 2020-04-23 设计创作，主要内容包括：本发明公开了一种煤矿井下巷道掘进机器人用模态转换型超声电机,包括压电换能器,压电换能器包括两个通过预紧螺栓连在一起的纵扭转换振子,两个纵扭转换振子之间压紧有法兰盘和若干片压电陶瓷,纵扭转换振子、法兰盘与压电陶瓷之间以及相邻两个压电陶瓷之间均布置有电极片,压电换能器的中心轴线上贯穿有输出轴,输出轴的中部对称适配的滑套轴承,纵扭转换振子远离法兰盘的一端通过四组驱动齿装置适配有转子,输出轴的两端还分别螺纹连接有调节螺母并且调节螺母与同侧的转子之间设有压力弹簧,本电机利用多片压电陶瓷组成的单压电陶瓷叠堆作为动力源激发压电换能器的纵向振动,只需在电极片上施加同一激励电压,控制简单。(The invention discloses a mode conversion type ultrasonic motor for a coal mine underground roadway tunneling robot, which comprises a piezoelectric transducer, wherein the piezoelectric transducer comprises two longitudinal-torsional conversion vibrators which are connected together through a pretightening bolt, a flange plate and a plurality of pieces of piezoelectric ceramics are tightly pressed between the two longitudinal-torsional conversion vibrators, electrode plates are arranged between the flange plate and the piezoelectric ceramics and between two adjacent piezoelectric ceramics, an output shaft penetrates through the central axis of the piezoelectric transducer, sliding sleeve bearings are symmetrically matched with the middle part of the output shaft, one end of the longitudinal-torsional conversion vibrator, which is far away from the flange plate, is matched with a rotor through four groups of driving tooth devices, two ends of the output shaft are respectively in threaded connection with adjusting nuts, and pressure springs are arranged between the adjusting nuts and the rotors on the same side, the motor utilizes a single piezoelectric ceramic stack consisting of a plurality of pieces of piezoelectric ceramics as a power source to excite the, only the same excitation voltage needs to be applied to the electrode plates, and the control is simple.)

1. The mode conversion type ultrasonic motor for the coal mine underground roadway tunneling robot is characterized by comprising a piezoelectric transducer (7), wherein the piezoelectric transducer (7) comprises two longitudinal-torsional conversion vibrators (7-1) which are connected together through pre-tightening bolts (7-2) in a threaded manner, a flange plate (7-5) and a plurality of piezoelectric ceramics (7-6) which are symmetrically arranged on two sides of the flange plate (7-5) are compressed between the two longitudinal-torsional conversion vibrators (7-1), electrode plates (7-4) are uniformly arranged among the longitudinal-torsional conversion vibrators (7-1), the flange plate (7-5), the piezoelectric ceramics (7-6) and between the two adjacent piezoelectric ceramics (7-6), and the flange plate (7-5), the piezoelectric ceramics (7-6) and the electrode plates (7-4) are all embedded on the pre-tightening bolts (7-2) and pass through insulating sleeves (7-2) -3) insulating it from the output shaft (1) passing through the central axis of the piezoelectric transducer (7), a hollow cavity for the output shaft (1) to pass through is arranged in the pre-tightening bolt (7-2), the middle part of the output shaft (1) is symmetrically provided with two concave tables, the concave tables are provided with sliding sleeve bearings (8) matched with the concave tables, the outer diameter of the sliding sleeve bearing (8) is the same as the inner diameter of the hollow cavity of the pre-tightening bolt (7-2), one end of the longitudinal-torsional conversion vibrator (7-1) far away from the flange plate (7-5) is matched with the rotor (5) through four groups of driving gear devices, both ends of the output shaft (1) are respectively in threaded connection with an adjusting nut (3), a pressure spring (4) is arranged between the adjusting nut (3) and the rotor (5) on the same side, and the adjusting nut (3) is also provided with a set screw (2) for controlling the displacement of the adjusting nut.

2. The mode conversion type ultrasonic motor for the coal mine underground roadway heading robot as claimed in claim 1, wherein 4 pieces of piezoelectric ceramics (7-6) are provided, and two pieces of flanges (7-5) are provided on two sides of each flange.

3. The mode conversion type ultrasonic motor for the coal mine underground roadway heading robot as claimed in claim 1, wherein the longitudinal-torsional conversion vibrator (7-1) comprises a base body (7-1-4) and a driving tooth device fixed at the end of the base body (7-1-4), and the driving tooth device comprises a supporting leg (7-1-3), a cross beam (7-1-2) and a driving tooth (7-1-1) which are fixed together in sequence.

4. The ultrasonic mode conversion motor for the coal mine underground roadway heading robot as claimed in claim 1, wherein a flat key (6) is arranged between the rotor (5) and the output shaft (1).

5. The mode conversion type ultrasonic motor for the coal mine underground roadway tunneling robot as claimed in claim 1, wherein two concave platforms on the output shaft (1) are respectively positioned on two sides of a hollow cavity of the pre-tightening bolt (7-2).

6. The mode conversion type ultrasonic motor for the coal mine underground roadway tunneling robot as claimed in claim 1, wherein the outer diameter of the flange (7-5) is larger than the outer diameter of the longitudinal-torsional conversion vibrator (7-1).

7. The mode conversion type ultrasonic motor for the coal mine underground roadway heading robot as claimed in claim 1, wherein the outer diameter of the electrode plate (7-4) is larger than the outer diameter of the longitudinal-torsional conversion vibrator (7-1).

8. The mode conversion type ultrasonic motor for the coal mine underground roadway heading robot as claimed in claim 1, wherein a cross-shaped notch is formed at the upper end of the set screw (2).

Technical Field

The invention relates to the field of special robots and ultrasonic motors in coal mines, in particular to a mode conversion type ultrasonic motor for a tunneling robot in a coal mine underground roadway.

Background

The underground coal mine roadway excavation is developed towards the direction of robotization, the roadway tunneling robot replaces workers to conduct underground coal mine roadway excavation operation, multi-degree-of-freedom robot arm driving of an automatic supporting subsystem in a roadway tunneling robot system needs a hydraulic component or an electromagnetic motor to achieve the driving, and a traditional explosion-proof motor used underground the coal mine is large in size and heavy in weight, is directly applied to the roadway tunneling robot and can affect the action flexibility of the automatic supporting operation of the roadway tunneling robot, so that a driving component which is small in size, light in weight and strong in driving capacity needs to be developed urgently. The ultrasonic motor has the characteristics of high power density and simple structure, and can be used for joint driving of the coal mine underground roadway tunneling robot.

Disclosure of Invention

In view of the technical defects, the invention aims to provide a modal conversion type ultrasonic motor for a coal mine underground roadway tunneling robot, wherein the ultrasonic motor utilizes a single piezoelectric ceramic stack consisting of a plurality of piezoelectric ceramics as a power source to excite the longitudinal vibration of a piezoelectric transducer, only the same excitation voltage needs to be applied to electrode plates, and the control is simple.

In order to solve the technical problems, the invention adopts the following technical scheme:

the invention provides a mode conversion type ultrasonic motor for a coal mine underground roadway tunneling robot, which comprises a piezoelectric transducer 7, wherein the piezoelectric transducer 7 comprises two longitudinal-torsional conversion vibrators 7-1 which are connected together through pre-tightening bolts 7-2 in a threaded manner, a flange 7-5 and a plurality of piezoelectric ceramics 7-6 which are symmetrically arranged on two sides of the flange 7-5 are tightly pressed between the two longitudinal-torsional conversion vibrators 7-1, electrode plates 7-4 are uniformly arranged between the flange 7-5 and the piezoelectric ceramics 7-6 and between the two adjacent piezoelectric ceramics 7-6, the flange 7-5, the piezoelectric ceramics 7-6 and the electrode plates 7-4 are all nested on the pre-tightening bolts 7-2 and are subjected to insulation treatment through an insulating sleeve 7-3, an output shaft 1 penetrates through the central axis of the piezoelectric transducer 7, a hollow cavity for the output shaft 1 to penetrate through is formed in the pre-tightening bolt 7-2, two concave platforms are symmetrically formed in the middle of the output shaft 1, sliding sleeve bearings 8 matched with the concave platforms are arranged on the concave platforms, the outer diameters of the sliding sleeve bearings 8 are the same as the inner diameter of the hollow cavity of the pre-tightening bolt 7-2, one ends, far away from the flange plates 7-5, of the longitudinal-torsional conversion vibrators 7-1 are matched with rotors 5 through four groups of driving tooth devices, adjusting nuts 3 are further in threaded connection with the two ends of the output shaft 1 respectively, pressure springs 4 are arranged between the adjusting nuts 3 and the rotors 5 on the same side, and set screws 2 for controlling displacement of the adjusting nuts 3 are further arranged on the.

Preferably, the piezoelectric ceramic 7-6 is provided with 4 pieces, and two pieces are respectively arranged on two sides of the flange 7-5.

Preferably, the longitudinal-torsional conversion vibrator 7-1 comprises a base body 7-1-4 and a driving tooth device fixed at the end of the base body 7-1-4, wherein the driving tooth device comprises a supporting leg 7-1-3, a cross beam 7-1-2 and a driving tooth 7-1-1 which are sequentially fixed together.

Preferably, a flat key 6 is provided between the rotor 5 and the output shaft 1.

Preferably, two concave platforms on the output shaft 1 are respectively positioned at two sides of the hollow cavity of the pre-tightening bolt 7-2.

Preferably, the outer diameter of the flange plate is larger than that of the longitudinal-torsional conversion vibrator.

Preferably, the outer diameter of the electrode plate is larger than that of the longitudinal-torsional conversion vibrator.

Preferably, the upper end of the set screw is provided with a cross-shaped notch.

The invention has the beneficial effects that: the ultrasonic motor utilizes the single piezoelectric ceramic stack consisting of a plurality of pieces of piezoelectric ceramics as a power source to excite the longitudinal vibration of the piezoelectric transducer, only the same excitation voltage is applied to the electrode plate, the device is simple to control, and the vibration energy of the front side and the rear side of the rotary impact motion of the drilling tool can be realized by utilizing the single piezoelectric ceramic stack to realize the impact and the rotary motion of the drilling tool.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a mode conversion type ultrasonic motor for a coal mine underground roadway tunneling robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a piezoelectric transducer according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a longitudinal-torsional conversion transducer according to an embodiment of the present invention;

fig. 4 is a schematic view of a connection between a sliding sleeve bearing and an output shaft according to an embodiment of the present invention.

In the figure, 1, an output shaft, 2, a set screw, 3, an adjusting nut, 4, a pressure spring, 5, a rotor, 6, a flat key, 7, a piezoelectric transducer, 7-1, a longitudinal-torsional conversion vibrator, 7-1-1, driving teeth, 7-1-2, a cross beam, 7-1-3, supporting legs, 7-1-4, a base body, 7-2, a pre-tightening bolt, 7-3, an insulating sleeve, 7-4, an electrode plate, 7-5, a flange plate, 7-6, piezoelectric ceramics, 8 and a sliding sleeve bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, a mode conversion type ultrasonic motor for a coal mine underground roadway tunneling robot can be used for joint driving of the robot, and comprises a mode conversion type piezoelectric transducer 7, wherein the piezoelectric transducer 7 comprises two longitudinal-torsional conversion vibrators 7-1 which are connected together through a pretightening bolt 7-2 in a spiral thread manner, a flange 7-5 and 4 pieces of piezoelectric ceramics 7-6 which are symmetrically arranged on two sides of the flange 7-5 are compressed between the two longitudinal-torsional conversion vibrators 7-1, and two pieces of piezoelectric ceramics are respectively arranged on two sides of the flange 7-5;

electrode plates 7-4 are uniformly arranged among the longitudinal-torsional conversion vibrator 7-1, the flange 7-5 and the piezoelectric ceramics 7-6 and between two adjacent piezoelectric ceramics 7-6, the flange 7-5, the piezoelectric ceramics 7-6 and the electrode plates 7-4 are all nested on a pre-tightening bolt 7-2 and are insulated from the pre-tightening bolt by an insulating sleeve 7-3, an output shaft 1 penetrates through the central axis of the piezoelectric transducer 7, a hollow cavity for the output shaft 1 to penetrate through is formed in the pre-tightening bolt 7-2, two concave tables are symmetrically formed in the middle of the output shaft 1, sliding sleeve bearings 8 matched with the concave tables are arranged on the concave tables, and the two concave tables on the output shaft 1 are respectively positioned on two sides of the hollow cavity of the pre-tightening bolt 7-2; the outer diameter of the sliding sleeve bearing 8 is the same as the inner diameter of a hollow cavity of the pre-tightening bolt 7-2;

referring to fig. 3, a rotor 5 is adapted to one end of the longitudinal-torsional conversion vibrator 7-1 far away from a flange 7-5 through four groups of driving gear devices, and a flat key 6 is arranged between the rotor 5 and the output shaft 1; the driving gear device comprises supporting legs 7-1-3, a cross beam 7-1-2 and driving teeth 7-1-1 which are sequentially fixed together, the supporting legs 7-1-3 are fixed on a base body 7-1-4 of the longitudinal-torsional conversion vibrator 7-1, two ends of the output shaft 1 are respectively in threaded connection with adjusting nuts 3, pressure springs 4 are arranged between the adjusting nuts 3 and the rotors 5 on the same side, and the adjusting nuts 3 are further provided with set screws 2 for controlling the displacement of the adjusting nuts 3.

The working principle is as follows: applying high-frequency alternating voltage on the electrode plate 7-4, and when the frequency of the alternating voltage is the same as the first-order longitudinal vibration frequency of the mode conversion type piezoelectric transducer 7, enabling the mode conversion type piezoelectric transducer 7 to work in a resonance state; elliptical motion tracks are formed at the tops of the longitudinal-torsional conversion vibrators 7-1 driving teeth 7-1-1 on the two sides at the same time; under the combined action of the elliptical motion tracks at the tops of the driving teeth 7-1-1 at the two sides and the pressure spring 4, the two rotors 5 at the left and right ends simultaneously rotate around the axes of the rotors; the two rotors 5 respectively drive the output shaft 1 to do rotary motion through two flat keys 6.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.