CN105450083B - The driving sleeve folding and unfolding mechanism of polypody wriggling - Google Patents
The driving sleeve folding and unfolding mechanism of polypody wriggling Download PDFInfo
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- CN105450083B CN105450083B CN201610012893.0A CN201610012893A CN105450083B CN 105450083 B CN105450083 B CN 105450083B CN 201610012893 A CN201610012893 A CN 201610012893A CN 105450083 B CN105450083 B CN 105450083B
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- sleeve
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- folding
- driving
- unfolding mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 241000592274 Polypodium vulgare Species 0.000 title claims abstract description 14
- 239000000919 ceramic Substances 0.000 claims abstract description 69
- 210000002683 foot Anatomy 0.000 claims abstract description 14
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/023—Inchworm motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The driving sleeve folding and unfolding mechanism of polypody wriggling, belongs to folding and unfolding mechanism technical field.In order to solve the problems, such as that existing sleeve folding and unfolding mechanism is complicated, weight is big, high energy consumption.The present invention includes piezoelectric actuator, inner sleeve, guide rail and outer sleeve；Piezoelectric actuator includes six driving foots, three lower end piezoelectric ceramics groups, vertical ceramic group, three upper end ceramics groups and two mounting seats；Two end faces connect a mounting seat to vertical ceramics group respectively up and down, and three lower end piezoelectric ceramics groups are arranged on the side of the mounting seat of lower surface, and three upper end ceramics groups are installed in the side of the mounting seat of upper surface；Each lower end piezoelectric ceramics group is respectively fixedly connected with a driving foot with the end of the ceramic group in each upper end, and inner surface of the sufficient terminal surface of six drivings with outer sleeve is in close contact；The mounting seat upper end of upper surface is fixedly connected with inner sleeve one end；Guide rail is arranged between inner sleeve and outer sleeve, rotational freedom of the limitation inner sleeve around outer sleeve.The present invention is used for folding and unfolding mechanism and made.
Description
Technical field
The present invention relates to a kind of piezoelectric driven sleeve folding and unfolding mechanism, belong to folding and unfolding mechanism technical field.
Background technology
Folding and unfolding mechanism belongs to engineering machinery and a kind of the most commonly used mechanism of aerospace field, should typically have structure
Simply, the advantages that folding ratio is big.Folding and unfolding mechanism type is a lot, and the folding and unfolding mechanism of socket type is the most commonly used one kind.Sleeve is rolled over
Exhibition mechanism is generally magnitude or multi-stage sleeve structure, realizes that expansion is dynamic by the axial-movement of inner sleeve opposite outer sleeve
Make.At present, sleeve folding and unfolding mechanism is typically using the complication system of the primary elements such as electromagnetic machine, decelerator, steel wire, runner composition
Realize expansion and withdraw, it is complicated, weight is big, and also electromagnetic machine does not possess latching characteristics typically, and energy loss is big.
The content of the invention
The invention aims to solve the problems, such as that existing sleeve folding and unfolding mechanism is complicated, weight is big, high energy consumption, this
Invention provides a kind of polypody wriggling driving sleeve folding and unfolding mechanism.
The polypody of the present invention is wriggled driving sleeve folding and unfolding mechanism, the folding and unfolding mechanism include piezoelectric actuator, inner sleeve,
Guide rail and outer sleeve；
Piezoelectric actuator includes two mounting seats, three lower end piezoelectric ceramics groups, vertical ceramic group, three upper end ceramics
Group, six flexible hinges and six driving foots；
Two end faces up and down of vertical ceramics group are fixedly connected with a mounting seat respectively；The side of the mounting seat of lower surface
Three flexible hinges are installed, remaining three flexibilities of a lower end piezoelectric ceramics group are each provided with three flexible hinges
Hinge is arranged on the side of the mounting seat of upper surface, and a upper end piezoelectricity pottery is each provided with remaining three flexible hinges
Porcelain group；The end of six flexible hinges is each provided with a driving foot, interior table of the sufficient terminal surface of six drivings with outer sleeve
Face is in close contact；The mounting seat upper end of upper surface is fixedly connected with inner sleeve one end；Guide rail be arranged on inner sleeve and outer sleeve it
Between, rotational freedom of the limitation inner sleeve around outer sleeve.
The six driving foots and the radius of curvature and outer sleeve inwall radius phase of outer sleeve contact position of the piezoelectric actuator
Together.
The axis of three lower ends piezoelectric ceramics group and three upper end ceramics groups is vertical with the axis of vertical ceramics group.
The angle of two neighboring lower end piezoelectric ceramics group is 120 degree in the piezoelectric ceramics group of three lower ends, three upper ends
The angle of two neighboring upper end ceramics group is 120 degree in ceramic group.
The mounting seat of upper surface and the connected mode of inner sleeve is are threadedly coupled or pin connection.
The beneficial effects of the present invention are the driving sleeve folding and unfolding mechanism of polypody of the invention wriggling make use of Piezoelectric Driving
The advantages of device power (square) density is big, without deceleration and movement conversion mechanism, the driving dress of sleeve folding and unfolding mechanism can be greatly simplified
Put, effectively reduce the weight of sleeve development mechanism, and without lubrication, more adapt to Space-Work environment；With it is simple in construction,
The in light weight, advantage such as energy loss is low, and process and assemble is very easy.
Brief description of the drawings
Fig. 1 is the sectional view of the driving sleeve folding and unfolding mechanism of polypody wriggling in embodiment；
Fig. 2 is the dimensional structure diagram of piezoelectric actuator 1 in Fig. 1；
Fig. 3 is lower end piezoelectric ceramics group 1-2 and the solid of flexible hinge 1-5 combining structures in piezoelectric actuator 1 shown in Fig. 2
Schematic diagram.
Embodiment
Illustrate present embodiment with reference to Fig. 1, Fig. 2 and Fig. 3, the driving sleeve folding exhibition of the polypody wriggling described in present embodiment
Mechanism, the folding and unfolding mechanism include piezoelectric actuator 1, inner sleeve 2, guide rail 3 and outer sleeve 4；
Piezoelectric actuator 1 include two mounting seat 1-1, three lower end piezoelectric ceramics group 1-2, vertical ceramics group 1-3, three
Upper end ceramics group 1-4, six flexible hinge 1-5 and six sufficient 1-6 of driving；
Vertical ceramics group 1-3 two end faces up and down are fixedly connected with a mounting seat 1-1 respectively；The mounting seat of lower surface
1-1 side is provided with three flexible hinges 1-5, three flexible hinge 1-5 and is each provided with a lower end piezoelectric ceramics
Group 1-2；Remaining three flexible hinge 1-5 are arranged on the mounting seat 1-1 of upper surface side, remaining three flexible hinges
A upper end piezoelectric ceramics group 1-4 is each provided with chain 1-5；Six flexible hinge 1-5 end is each provided with a driving foot
Inner surface of 1-6, six sufficient 1-1 of the driving terminal surface with outer sleeve 4 is in close contact；The mounting seat 1-1 upper ends of upper surface with
The one end of inner sleeve 2 is fixedly connected；Guide rail 3 is arranged between inner sleeve 2 and outer sleeve 4, and limitation inner sleeve 2 turns around outer sleeve 4
The dynamic free degree.
Piezoelectric actuator in present embodiment uses creeping motion type working method, and piezoelectric actuator is fixed with inner sleeve to be connected
Connect；
Piezoelectric actuator is a kind of inverse piezoelectric effect using piezoelectric ceramics, converts electrical energy into the deformation of ceramics, and band
Dynamic driving foot motion.Wherein creeping motion type piezoelectricity driver can by it is multigroup driving foot be contacted with the exchange of mover (or stationary plane) and
The sufficient movement parallel to mover (or stationary plane) of driving, and rubbed coupling, drive the motion of mover (or driver itself).Its
Have the advantages that without gear, without electromagnetic interference, fast response time and cut off self-lock.
The polypody of present embodiment wriggles driving sleeve folding and unfolding mechanism when application, three lower end piezoelectric ceramics groups
1-2 connects the first phase drive signal, and vertical ceramics group 1-3 connects the second phase drive signal, and three upper end piezoelectric ceramics group 1-4 connect the 3rd
Phase drive signal；Be positive voltage or negative voltage by controlling drive signal, can control ceramics group motion state for elongation or
Person shortens；Lower end piezoelectric ceramics group 1-2 and upper end piezoelectric ceramics group 1-4 stretches prolonged driving foot 1-6 and keeps de- with the inwall of outer sleeve 4
From lower end piezoelectric ceramics group 1-2 and upper end piezoelectric ceramics group 1-4 drive sufficient 1-6 to keep closely connecing with the inwall of outer sleeve 4 when shortening
Touch；Vertical ceramics group 1-3 elongation is shortened for driving inner sleeve 2 to produce axial displacement with respect to outer sleeve 4；Pass through setting
The phase difference of three-phase driving signal, it is possible to achieve the expansion or withdrawal of sleeve folding and unfolding mechanism.
Sleeve deploys action sequence：
(1) three lower end piezoelectric ceramics group 1-2 shortens, and its corresponding three lower end drives sufficient 1-6 in the band of flexible hinge
Contacted under dynamic with the inwall of outer sleeve 4, three upper end piezoelectric ceramics group 1-4 elongations, three upper ends drive sufficient 1-6 in flexible hinge
Disengaged under driving with the inwall of outer sleeve 4；
(2) vertical piezoelectric ceramics group elongation, and then drive inner sleeve 2 to deploy upwards along the axis of outer sleeve 4；
(3) three lower end piezoelectric ceramics group 1-2 elongations, its corresponding three lower end drive sufficient 1-6 in the band of flexible hinge
Disengaged under dynamic with the inwall of outer sleeve 4, three upper end piezoelectric ceramics group 1-4 shorten, and three upper ends drive sufficient 1-6 in flexible hinge
Contacted under the drive of chain with the inwall of outer sleeve 4；
(4) vertical piezoelectric ceramics group shortens, and then drives three lower end piezoelectric ceramics group 1-2 upward along the axis of outer sleeve 4
Motion；
(5) above-mentioned (1) to (4) are repeated, then can be the progressively expansion upwards for realizing mechanism.
Sleeve withdraws action sequence：
(1) three lower end piezoelectric ceramics group 1-2 elongation, its corresponding three lower end drive sufficient 1-6 in the band of flexible hinge
Disengaged under dynamic with the inwall of outer sleeve 4, three upper end piezoelectric ceramics group 1-4 shorten, and three upper ends drive sufficient 1-6 in flexible hinge
Contacted under the drive of chain with the inwall of outer sleeve 4；
(2) vertical piezoelectric ceramics group elongation, and then drive three lower end piezoelectric ceramics group 1-2 downward along the axis of outer sleeve 4
Motion；
(3) three lower end piezoelectric ceramics group 1-2 shorten, and its corresponding three lower end drives sufficient 1-6 in the band of flexible hinge
Contacted under dynamic with the inwall of outer sleeve 4, three upper end piezoelectric ceramics group 1-4 elongations, three upper ends drive sufficient 1-6 in flexible hinge
Disengaged under driving with the inwall of outer sleeve 4；
(4) vertical piezoelectric ceramics group shortens, and then drives inner sleeve 2 to be withdrawn downwards along the axis of outer sleeve 4；
(5) above-mentioned (1) to (4) are repeated, then can be the progressively withdrawal for realizing mechanism.
In present embodiment, the radius of curvature of six of the piezoelectric actuator sufficient 1-6 of driving and the contact position of outer sleeve 4 and
The inwall radius of outer sleeve 4 is identical, and driving foot 1-6 can so contacted with the internal face of outer sleeve 4, can strengthen the stabilization of mechanism
Property.
In present embodiment, three lower ends piezoelectric ceramics group 1-2 and three upper end ceramics group 1-4 axis are with erecting
Straight ceramics group 1-3 axis is vertical, can so to drive sufficient 1-6 not produce unbalance loading when contacting with the inwall of outer sleeve 4.
In present embodiment, two neighboring lower end piezoelectric ceramics group 1-2 folder in three lower ends piezoelectric ceramics group 1-2
Angle is 120 degree, and two neighboring upper end ceramics group 1-4 angle is 120 degree in three upper end ceramics group 1-4, according to 3 points of determinations
The principle in the center of circle, and 3 points it is circumferentially uniform when, can cause the sufficient 1-6 of each driving when contacting 4 inwall of outer sleeve by
Power is equal.
In present embodiment, the mounting seat 1-1 of upper surface is to be threadedly coupled or sell company with the connected mode of inner sleeve 2
Connect, be so capable of the reliability of guaranteed connection.
Claims (5)
- The driving sleeve folding and unfolding mechanism 1. polypody is wriggled, it is characterised in that the folding and unfolding mechanism includes piezoelectric actuator (1), interior Sleeve (2), guide rail (3) and outer sleeve (4)；Piezoelectric actuator (1) include two mounting seats (1-1), three lower end piezoelectric ceramics groups (1-2), vertical ceramic group (1-3), Three upper end ceramics groups (1-4), six flexible hinges (1-5) and six driving foots (1-6)；Two end faces up and down of vertical ceramic group (1-3) are fixedly connected with a mounting seat (1-1) respectively；The mounting seat of lower surface The side of (1-1) is provided with three flexible hinges (1-5), and a lower side pressure is each provided with three flexible hinges (1-5) Electroceramics group (1-2)；Remaining three flexible hinges (1-5) are arranged on the side of the mounting seat (1-1) of upper surface, the residue Three flexible hinges (1-5) on be each provided with a upper end piezoelectric ceramics group (1-4)；The end of six flexible hinges (1-5) A driving foot (1-6) is each provided with, six drive inner surface of the terminal surface of foot (1-1) with outer sleeve (4) to be in close contact； Mounting seat (1-1) upper end of upper surface is fixedly connected with inner sleeve (2) one end；Guide rail (3) is arranged on inner sleeve (2) and outer sleeve (4) between, rotational freedom of the limitation inner sleeve (2) around outer sleeve (4).
- The driving sleeve folding and unfolding mechanism 2. polypody according to claim 1 is wriggled, it is characterised in that the piezoelectric actuator Six driving foot (1-6) it is identical with the radius of curvature and outer sleeve (4) inwall radius of outer sleeve (4) contact position.
- The driving sleeve folding and unfolding mechanism 3. polypody according to claim 1 or 2 is wriggled, it is characterised in that under described three The axis of side pressure electroceramics group (1-2) and three upper end ceramics groups (1-4) is vertical with the axis of vertical ceramic group (1-3).
- The driving sleeve folding and unfolding mechanism 4. polypody according to claim 3 is wriggled, it is characterised in that three lower side pressures The angle of two neighboring lower end piezoelectric ceramics group (1-2) is 120 degree in electroceramics group (1-2), in three upper end ceramics groups (1-4) The angle of two neighboring upper end ceramics group (1-4) is 120 degree.
- The driving sleeve folding and unfolding mechanism 5. polypody according to claim 4 is wriggled, it is characterised in that the mounting seat of upper surface The connected mode of (1-1) and inner sleeve (2) is is threadedly coupled or pin connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012893.0A CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012893.0A CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
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| Publication Number | Publication Date |
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| CN105450083A CN105450083A (en) | 2016-03-30 |
| CN105450083B true CN105450083B (en) | 2018-03-16 |
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| CN201610012893.0A Expired - Fee Related CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914897B (en) * | 2017-11-07 | 2020-10-20 | 广西大学 | Space folding and unfolding mechanism with double air cylinders as unfolding units |
| CN107914896B (en) * | 2017-11-07 | 2020-10-20 | 广西大学 | Space folding and unfolding mechanism with five-link mechanism as unfolding unit |
| CN113965102A (en) * | 2021-11-03 | 2022-01-21 | 长春工业大学 | Piezoelectric stick-slip driving type sleeve unfolding and folding mechanism |
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|---|---|---|---|---|
| CN102501226A (en) * | 2011-10-31 | 2012-06-20 | 西安理工大学 | Accurate rotation device for macro-micro driving deformation guide rail |
| CN102664553A (en) * | 2012-05-11 | 2012-09-12 | 哈尔滨工业大学 | Peristaltic-type passive clamping piezoelectric driver |
| CN103762887A (en) * | 2014-02-14 | 2014-04-30 | 哈尔滨工业大学 | Cylindrical driven clamping type piezoelectric wriggle linear motor |
| CN104022683A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Driving method of super-precision straight line platform by adopting four-footed piezoelectric actuator |
| CN203813694U (en) * | 2014-04-22 | 2014-09-03 | 长安大学 | Stepping type precise piezoelectric linear actuator |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
-
2016
- 2016-01-08 CN CN201610012893.0A patent/CN105450083B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501226A (en) * | 2011-10-31 | 2012-06-20 | 西安理工大学 | Accurate rotation device for macro-micro driving deformation guide rail |
| CN102664553A (en) * | 2012-05-11 | 2012-09-12 | 哈尔滨工业大学 | Peristaltic-type passive clamping piezoelectric driver |
| CN103762887A (en) * | 2014-02-14 | 2014-04-30 | 哈尔滨工业大学 | Cylindrical driven clamping type piezoelectric wriggle linear motor |
| CN203813694U (en) * | 2014-04-22 | 2014-09-03 | 长安大学 | Stepping type precise piezoelectric linear actuator |
| CN104022683A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Driving method of super-precision straight line platform by adopting four-footed piezoelectric actuator |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
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