CN104022680B - Looper bionic device - Google Patents
Looper bionic device Download PDFInfo
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- CN104022680B CN104022680B CN201410243058.9A CN201410243058A CN104022680B CN 104022680 B CN104022680 B CN 104022680B CN 201410243058 A CN201410243058 A CN 201410243058A CN 104022680 B CN104022680 B CN 104022680B
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Abstract
The invention discloses a kind of looper bionic device, be intended to overcome that the volume existed in prior art is large, positioning precision is low, the single degree of freedom, processing difficulties, high to operating environment requirements, there is larger friction and the little problem of stroke.Described looper bionic device includes No. 1 support section, No. 4 piezoelectric stacks, No. 2 support sections, No. 3 support sections, No. 1 direction controlling part, No. 5 piezoelectric stacks and No. 2 direction controlling parts.The right-hand member of No. 2 support sections is fixedly connected with the left end screw of No. 5 piezoelectric stacks, and the right-hand member of No. 5 piezoelectric stacks is fixedly connected with the left end screw of No. 1 direction controlling part, and the right-hand member of No. 1 direction controlling part is fixedly connected with the left end screw of No. 3 support sections; The left end of No. 2 support sections is fixedly connected with the right-hand member screw of No. 4 piezoelectric stacks, and the left end of No. 4 piezoelectric stacks is fixedly connected with the right-hand member screw of No. 2 direction controlling parts, and the left end of No. 2 direction controlling parts is fixedly connected with the right-hand member of No. 1 support section.<!-- 2 -->
Description
Technical field
The present invention relates to a kind of mobile device in microminiature moving device field, or rather, the present invention relates to a kind of looper bionic device.
Background technology
That studies for microscopic fields along with the mankind gos deep into, especially in the field such as Ultra-precision Turning, microrobot, requirement that is microminiaturized to device and accurate displacement is more and more higher, traditional type of drive such as motor drives, and macroscopical large scale drive unit such as Electromagnetic Drive can not meet its requirement.Current piezoelectric actuator is little with its volume, the advantage that precision is high obtains research application widely, but many problems all do not have real being resolved at present, traditional creeping-type Bionic inchworm Piexoelectric actuator provides frictional force by clamping mechanism, for operational environment, service pipe internal diameter requires harsh, cannot widespread adoption, and drive piezoelectric stack and clamper piezoelectric stack to be all assembled on mover, mover inside is caused to have many power lines to draw, its kinematic accuracy and kinetic stability certainly will be affected in work, the many groups flexible hinge simultaneously designed on mover, also mover stiffness by itself certainly will be reduced, easily additional deformation is produced in work.And most of Piexoelectric actuator can only realize the rectilinear motion mode of two-freedom, the multifreedom motion mode under complex environment cannot be adapted to.
Summary of the invention
Technical problem to be solved by this invention be overcome prior art and have that positioning precision is low, device volume is large, the single degree of freedom, processing difficulties, high to operating environment requirements, there is larger friction and the little problem of stroke, provide looper bionic device.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described looper bionic device comprises No. 1 support section, No. 4 piezoelectric stacks, No. 2 support sections, No. 3 support sections, No. 1 direction controlling part, No. 5 piezoelectric stacks and No. 2 direction controlling parts.
The right-hand member of No. 2 support sections is fixedly connected with the left end of No. 5 piezoelectric stacks, and the right-hand member of No. 5 piezoelectric stacks is fixedly connected with the left end of No. 1 direction controlling part, and the right-hand member of No. 1 direction controlling part is fixedly connected with the left end of No. 3 support sections; The left end of No. 2 support sections is fixedly connected with the right-hand member of No. 4 piezoelectric stacks, and the left end of No. 4 piezoelectric stacks is fixedly connected with the right-hand member of No. 2 direction controlling parts, and the left end of No. 2 direction controlling parts is fixedly connected with the right-hand member of No. 1 support section.
The right-hand member of No. 5 described piezoelectric stacks is fixedly connected with the left end of No. 1 direction controlling part, the right-hand member of No. 1 direction controlling part is fixedly connected with the left end of No. 3 support sections and refers to: the steel sheet spring that described No. 1 direction controlling part all posts flexural piezoelectric sheet by two panels two sides forms, the two ends of two panels steel sheet spring are respectively provided with two screwing through hole, align with the screw of No. 5 piezoelectric stack right-hand member front/rear ends and adopt and be screwed in the be placed in both sides, front and back of No. 5 piezoelectric stack right-hand members of the left end of two panels steel sheet spring, the right-hand member screw of the two panels leaf spring of No. 1 direction controlling part aligns with the screw of No. 1 contiguous block front/rear end and adopts and is screwed.
The right-hand member of described in technical scheme No. 2 support section is fixedly connected with the left end of No. 5 piezoelectric stacks and refers to: the left pedestal of No. 5 piezoelectric stacks aligns with the foursquare protruding block of No. 2 mass right-hand members in No. 2 support sections, adopts the identical fixing steel disc of upper and lower two chip architectures to be fixedly connected with screw.
Described in technical scheme No. 1 support section is made up of No. 1 mass, No. 1 piezoelectric stack, No. 1 chassis, No. 4 steel sheet springs and No. 5 steel sheet springs.The main body of No. 1 described mass is the hardware of a solid cylindrical, on the right side of the main body of No. 1 mass, bottom is provided with a square protruding block, tubular main body and square protruding block bottom surface coplanar, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom surface of No. 1 mass main body is provided with 4 tapped blind holes.Centered by No. 1 described chassis, punishment is furnished with the rosette of 4 countersunk screw hole.No. 4 described steel sheet springs and No. 5 steel sheet springs are the rectangle steel disc that structure is identical, and the left end of No. 4 steel sheet springs and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes; The screw of the screw of No. 4 steel sheet springs and No. 5 steel sheet spring left ends and the square protruding block end face on the right side of No. 1 mass and bottom surface aligns and adopts and is screwed, the top of No. 1 piezoelectric stack is connected with the bottom surface bolt of No. 1 mass main body, and on No. 1 chassis, 4 countersunk screw hole align with 4 screws of No. 1 piezoelectric stack bottom and adopt and are screwed.
Described in technical scheme No. 1 piezoelectric stack is bonded by 20 Copper Foils being pasted with piezoelectric ceramic piece are stacked up and down successively, namely a side of every sheet Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue to bond, the another side of piezoelectric ceramic piece adopts insulative glue to bond a side of another sheet Copper Foil, the Copper Foil of 20 side bonding piezoelectric ceramic pieces adopts that insulative glue is stacked is bonded into piezoelectric stack by that analogy, every sheet piezoelectric ceramic piece connects wire and connecting electrode a, every sheet Copper Foil connects wire and connecting electrode b, the gluing square bottom face in the bottom of piezoelectric stack is provided with the pedestal of four screws, the brace being provided with four screws of the top of piezoelectric stack and a rectangle is gluing, piezoelectric stack entirety adopts epoxy encapsulation.
Described in technical scheme No. 1 support section is identical with No. 3 support section structures, and No. 4 piezoelectric stacks are identical with No. 5 piezoelectric stack structures, and No. 1 direction controlling part is identical with No. 2 direction controlling part-structures.
Described in technical scheme No. 4 piezoelectric stack is bonded by 25 Copper Foils being pasted with piezoelectric ceramic piece are stacked up and down successively, namely a side of every sheet Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue to bond, the another side of piezoelectric ceramic piece adopts insulative glue to bond a side of another sheet Copper Foil, the Copper Foil of 25 side bonding piezoelectric ceramic pieces adopts that insulative glue is stacked is bonded into piezoelectric stack by that analogy, every sheet piezoelectric ceramic piece connects wire and connecting electrode a, every sheet Copper Foil connects wire and connecting electrode b, bottom piezoelectric stack, a gluing square both sides end face is provided with the bottom base of four screws, the gluing square both sides end face in piezoelectric stack top is provided with the top base of four screws, four screws on top base and four screws on bottom base are all and are oppositely arranged in couples, four screws on top base differ 90 ° with the screw of four on bottom base, piezoelectric stack entirety adopts epoxy encapsulation.
Described in technical scheme No. 2 support section is made up of No. 2 masses, No. 2 piezoelectric stacks and No. 2 chassis.The main body of No. 2 described masses is a solid cylindrical hardware, the two ends, left and right of No. 2 mass main bodys respectively arrange a square protruding block, the top end face of the protruding block that two ends are square and bottom surface are respectively provided with two screws, and the bottom surface of No. 2 mass main bodys is provided with 4 tapped blind holes; Wherein, the main body of No. 3 masses (16) in the main body of No. 1 mass (1) in the main body of No. 2 masses (21), No. 1 support section (4), No. 3 support sections (13), three's structure is identical.No. 2 piezoelectric stacks are identical with No. 3 piezoelectric stack structures in No. 3 support sections with No. 1 piezoelectric stack in No. 1 support section.No. 2 chassis are identical with No. 3 chassis structures in No. 3 support sections with No. 1 chassis in No. 1 support section.No. 2 masses are connected with the brace screw on No. 2 piezoelectric stack tops, and the bottom base of No. 2 piezoelectric stacks is connected with No. 2 chassis screws.
Compared with prior art the invention has the beneficial effects as follows:
1. looper bionic device of the present invention adopts piezoelectric stack as drive unit, has structure small, can export larger power and displacement, the feature that bearing capacity is strong, drives step-length to reach micron level, can realize high accurancy and precision displacement.
2. looper bionic device core component quantity of the present invention is few, and structure is simple, and reduce manufacturing cost, whole apparatus structure is small, can be applied to various complex environment.
3. looper bionic device of the present invention utilizes the piezoelectric effect of piezoelectric stack, by applying to piezoelectric stack the dither that high frequency voltage realizes it, making it as the drive source of dither, having stability of vibration high, the advantage that energy conversion efficiency is high.
3. looper bionic device of the present invention is by changing piezoelectric actuator control program, can realize looper bionic device step pitch different, the micrometric displacement action that frequency is different.
4. looper bionic device of the present invention adopts dither antifriction control method, support section during dither and the friction between contact-making surface little, significantly reduce the frictional dissipation of looper bionic device.
5. the piezoelectric stack of looper bionic device of the present invention and air contact surfaces long-pending large, be conducive to heat radiation, repeatedly test shows that driver is without obvious temperature rise, effective lifting device life-span for a long time.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the axonometric projection view of looper bionic device structure of the present invention composition;
Fig. 2 is the schematic diagram that No. 4 piezoelectric stacks of looper bionic device of the present invention and No. 5 piezoelectric stack structures form;
Fig. 3 is the axonometric projection view that No. 4 piezoelectric stacks of looper bionic device of the present invention and No. 5 piezoelectric stack structures form;
Fig. 4 is the schematic diagram that No. 1 piezoelectric stack of looper bionic device of the present invention, No. 2 piezoelectric stacks and No. 3 piezoelectric stack structures form;
Fig. 5 is the axonometric projection view that No. 1 piezoelectric stack of looper bionic device of the present invention, No. 2 piezoelectric stacks and No. 3 piezoelectric stack structures form;
Fig. 6 is the axonometric projection view of No. 1 support section structure composition of looper bionic device of the present invention;
Fig. 7 is the axonometric projection view of No. 1 direction controlling part-structure composition of looper bionic device of the present invention;
Fig. 8 is the axonometric projection view of No. 1 mass block structure composition of looper bionic device of the present invention;
Fig. 9 is the axonometric projection view of No. 2 support sections of looper bionic device of the present invention and the annexation of No. 4 piezoelectric stacks and No. 5 piezoelectric stacks;
In figure: No. 1.1 masses, No. 2.1 piezoelectric stacks, No. 3.1 chassis, No. 4.1 support sections, No. 5.1 flexural piezoelectric sheets, No. 6.4 piezoelectric stacks, No. 7.2 piezoelectric stacks, No. 8.2 chassis, No. 9.2 support sections, 10.1 number steel sheet spring, No. 11.2 flexural piezoelectric sheets, 12.1 number contiguous block, 13.3 number support section, 14.3 number chassis, 15.3 number piezoelectric stack, 16.3 number mass, 17.2 number steel sheet spring, No. 18.1 direction controlling parts, 19.5 number piezoelectric stack, No. 20.1 connection steel discs, 21.2 number mass, No. 22.2 connection steel discs, 23.3 number steel sheet spring, No. 24.2 direction controlling parts, 25.2 number contiguous block, 26.4 number steel sheet spring.
Embodiment
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1, looper bionic device of the present invention forms primarily of No. 1 support section 4, No. 2 support sections 9, No. 3 support sections 13, No. 1 direction controlling part 18, No. 2 direction controlling parts 24, No. 4 piezoelectric stacks 6 and No. 5 piezoelectric stacks 19.
Consult Fig. 6, No. 1 described support section 4 is made up of No. 1 mass 1, No. 1 piezoelectric stack No. 3,4,2, No. 1 chassis steel sheet spring 26 and No. 5 steel sheet springs,
Consult Fig. 8, the main body of No. 1 mass 1 is the hardware of a solid cylindrical, on the right side of the main body of No. 1 mass 1, bottom is provided with a square protruding block, cylindrical main body and square protruding block bottom surface coplanar, the top end face of square and bottom surface are respectively provided with two screws, the bottom surface of No. 1 mass 1 main body is provided with 4 tapped blind holes, and 4 tapped blind holes of the bottom part body of No. 1 mass 1 are alignd with 4 screws of No. 1 piezoelectric stack 2 top end face and fixed by screw.
Consult Fig. 4 and Fig. 5, No. 1 described piezoelectric stack 2 forms by 20 Copper Foils being pasted with piezoelectric ceramic piece are stacked successively, one side of every sheet Copper Foil and a side of a slice piezoelectric ceramic piece adopt conductive glue to bond, the another side of piezoelectric ceramic piece is bonded a side of another sheet Copper Foil by insulative glue, by that analogy by the stacked bonding of Copper Foil of 20 side bonding piezoelectric ceramic pieces, draw wire from every sheet piezoelectric ceramic piece and conductor in parallel is accessed electrode a, draw conductor in parallel from every sheet Copper Foil and access electrode b, just becoming piezoelectric stack; Connect by gluing mode the pedestal that a square bottom face is provided with four screws bottom the piezoelectric stack of first one-tenth, top connects the brace being provided with four screws of a rectangle by gluing mode, finally adopt epoxy resin to carry out overall package to piezoelectric stack, make No. 1 piezoelectric stack 2.
No. 1 described chassis 3 is for being distributed with the rosette of 4 countersunk screw hole, No. 4 steel sheet springs 26 in No. 1 support section 4 and No. 5 steel sheet springs are the rectangle steel disc that structure is identical, No. 4 steel sheet springs 26 and No. 5 steel sheet springs are flatly placed up and down symmetrically, the left end of No. 4 steel sheet springs 26 and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes, the screw of the screw of No. 4 steel sheet springs 26 and No. 5 steel sheet spring left ends and the square protruding block end face on the right side of No. 1 mass 1 and bottom surface aligns and adopts and is screwed, the screw of No. 4 steel sheet springs 26 and No. 5 steel sheet spring right-hand members aligns with the end face of No. 2 contiguous blocks 25 and the screw of bottom surface and adopts and is screwed, on No. 1 chassis 3,4 countersunk screw hole align with 4 screws of No. 1 piezoelectric stack 2 bottom surface and adopt sunk screw to fix.
No. 2 support sections 9 are made up of No. 2 masses 21, No. 2 piezoelectric stacks 7 and No. 2 chassis 8, the main body of No. 2 masses 21 is a solid cylindrical hardware, the two ends, left and right of No. 2 mass 21 main bodys are respectively provided with a square protruding block, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom of No. 2 mass 21 main bodys is provided with 4 tapped blind holes.
No. 2 piezoelectric stacks 7 are identical with in No. 1 piezoelectric stack 2 structure, No. 2 chassis 8 are identical with in No. 1 chassis 3 structure, on No. 2 chassis 8,4 countersunk screw hole align with 4 screws on No. 2 piezoelectric stack 7 bottom surfaces and adopt sunk screw to fix, and 4 screws of the main body bottom face of No. 2 masses 21 align with 4 screws of No. 2 piezoelectric stack 7 top end faces and adopt and are screwed.
No. 3 support sections 13 are made up of No. 3 masses 16, No. 3 piezoelectric stacks No. 14,2,15, No. 3 chassis steel sheet spring 17 and No. 6 steel sheet springs, the main body of No. 3 masses 16 is a solid cylindrical hardware, a square boss block is provided with on the left of it, the top end face of square boss block and bottom surface are respectively provided with two screws, and the bottom part body of No. 2 masses 21 is provided with 4 tapped blind holes.
No. 3 piezoelectric stacks 15 are identical with the structure of No. 1 piezoelectric stack 2, the structure on No. 3 chassis 14 is identical with the structure on No. 1 chassis 3, No. 2 steel sheet springs 17 and No. 6 steel sheet springs are structure identical rectangular steel disc, No. 2 steel sheet springs 17 and No. 6 steel sheet springs are flatly placed up and down symmetrically, the left end of No. 2 steel sheet springs 17 and No. 6 steel sheet springs and right-hand member are respectively provided with two screws, the screw of No. 2 steel sheet springs 17 and No. 6 steel sheet spring right-hand members and the square boss block top end face on the left of No. 3 masses 16 align with the screw of bottom surface and adopt and be screwed, the screw of No. 2 steel sheet springs 17 and No. 6 steel sheet spring left ends aligns with the end face of No. 1 contiguous block 12 and the screw of bottom surface and adopts and is screwed, on No. 3 chassis 14,4 countersunk screw hole align with 4 screws on No. 3 piezoelectric stack 15 bottom surfaces and adopt sunk screw to fix, 4 screws on No. 3 mass 16 body floor align with 4 screws of No. 3 piezoelectric stack 15 top end faces and adopt and are screwed.
When to the voltage of support section piezoelectric stack in addition appropriate frequency and amplitude, piezoelectric stack makes dither, utilizes the antifriction effect of support section dither, reduces the support section of dither and the friction of contact-making surface when moving.
Consult Fig. 2 and Fig. 3, described No. 4 piezoelectric stacks 6 form by 25 Copper Foils being pasted with piezoelectric ceramic piece are stacked up and down successively, namely a side of every sheet Copper Foil and a side of a slice piezoelectric ceramic piece adopt conductive glue to bond, the another side of piezoelectric ceramic piece adopts insulative glue to bond a side of another sheet Copper Foil, by that analogy the Copper Foil of 25 sides bonding piezoelectric ceramic pieces is adopted that insulative glue is stacked is bonded together, draw wire from every sheet piezoelectric ceramic piece and conductor in parallel is accessed electrode a, draw conductor in parallel from every sheet Copper Foil and access electrode b, just become piezoelectric stack, connect by gluing mode the left pedestal that a square both sides end face is provided with four screws bottom the piezoelectric stack of first one-tenth, top connects by gluing mode the Right socle that a square both sides end face is provided with four screws, four screws on left pedestal and four screws on Right socle are all and are oppositely arranged in couples, four screws on left pedestal differ 90 ° with the screw of four on Right socle, finally adopt epoxy resin to carry out overall package to piezoelectric stack, make No. 4 piezoelectric stacks 6.
No. 4 piezoelectric stack 6 right-hand members align with No. 2 foursquare protruding blocks of mass 21 left end, adopt the identical fixing steel disc of upper and lower two chip architectures to be fixedly connected with screw, the left end screw of No. 4 piezoelectric stacks 6 aligns with the right-hand member screw of No. 2 direction controlling parts 24 and adopts screw to be fixedly connected with.
Consult Fig. 9, the structure of No. 5 piezoelectric stacks 19 is identical with the structure of No. 4 piezoelectric stacks 6, the left end of No. 5 piezoelectric stacks 19 aligns with No. 2 foursquare protruding blocks of mass 21 right-hand member and adopts the identical fixing steel disc of upper and lower two chip architectures to be fixedly connected with screw, and the right-hand member screw of No. 5 piezoelectric stacks 19 aligns with the left end screw of No. 1 direction controlling part 18 and adopts and is screwed.
When applying fixed voltage to piezoelectric stack, the piezoelectric effect of piezoelectric stack makes piezoelectric stack extend, and makes looper bionic device move a step-length, and looper bionic device moving step length is consistent with piezoelectric stack extended length.
Consult Fig. 7, described No. 2 direction controlling parts 24 are made up of No. 3 steel sheet springs 23 and No. 7 steel sheet springs, No. 3 steel sheet springs 23 are the rectangle steel flat spring that a two sides is all pasted with No. 1 flexural piezoelectric sheet 5, No. 1 flexural piezoelectric sheet 5 adopted is the model that core Science and Technology Ltd.'s tomorrow produces is the flexural piezoelectric sheet of CMBP01, No. 7 steel sheet springs are identical with the structure of No. 3 steel sheet springs 23, the two ends of two panels steel sheet spring are respectively provided with two screwing through hole, the both sides, front and back that the right-hand member of two panels steel sheet spring is placed in No. 4 piezoelectric stack 6 left ends are respectively adopted and are screwed, the longitudinal line of symmetry of two panels steel sheet spring is horizontal, two panels steel sheet spring is vertically placed, namely the lateral symmetry line of two panels steel sheet spring is perpendicular to horizontal direction, the left end screw of the two panels leaf spring of No. 2 direction controlling parts 24 aligns with the screw of No. 2 contiguous block 25 fore-and-aft directions and adopts and is screwed, the screw of the right-hand member of No. 2 direction controlling parts 24 aligns with the screw of the left end fore-and-aft direction of No. 4 piezoelectric stacks 6 and adopts and is screwed.
No. 1 direction controlling part 18 is identical with No. 2 direction controlling part 24 structures, in No. 1 direction controlling part 18, the right-hand member screw of two panels steel sheet spring (No. 1 steel sheet spring 10 and No. 8 steel sheet springs) aligns with the screw on No. 1 contiguous block 12 front/rear end and adopts and is screwed, and the screw of the two panels steel sheet spring left end of No. 1 direction controlling part 18 aligns with the screw on No. 5 piezoelectric stack 19 right-hand member front/rear ends and adopts and is screwed.
The course of work of looper bionic device of the present invention is as follows:
High-frequency driving voltage is provided to No. 1 piezoelectric stack 2, No. 1 support section 4 is made to realize dither, apply fixed voltage to No. 4 piezoelectric stacks 6 simultaneously, No. 4 piezoelectric stack 6 length are increased, No. 1 support section 4 promoting to be in dither state moves forward, and stops applying high-frequency driving voltage to No. 1 piezoelectric stack 2 and applies high-frequency driving voltage to No. 2 piezoelectric stacks 7 simultaneously.No. 2 support sections 9 are made to realize dither, stop applying fixed voltage to No. 4 piezoelectric stacks 6 and apply fixed voltage to No. 5 piezoelectric stacks 19 simultaneously, No. 4 piezoelectric stacks 6 become again original shape simultaneously No. 5 piezoelectric stacks 19 extend, thus No. 2 support sections 9 promoting to be in dither state move forward a step-length.Stop applying high-frequency driving voltage to No. 2 piezoelectric stacks 7 and apply high-frequency driving voltage to No. 3 piezoelectric stacks 15 simultaneously, No. 3 support sections 13 are made to realize dither, stop applying fixed voltage to No. 5 piezoelectric stacks 19, make No. 5 piezoelectric stacks 19 become original shape again, pull No. 3 support sections 13 being in dither state to take a step forward forward length.So far whole device completes the motion to last step-length.
Described looper bionic device is in proal process, when No. 1 support section 4 do dither move forward time, fixing positive voltage is applied to the 4 flexural piezoelectric sheets be fixed in No. 2 direction controlling parts 24, make the deformation of flexural piezoelectric sheet, cause steel sheet spring deformation, two panels steel sheet spring bends to the right, reach the object that device is turned right, when applying fixing negative voltage to the 4 flexural piezoelectric sheets be fixed in No. 2 direction controlling parts 24, make the deformation of flexural piezoelectric sheet, cause steel sheet spring deformation, two panels steel sheet spring bends left, reach the object that device is turned left.
Claims (7)
1. a looper bionic device, it is characterized in that, described looper bionic device comprises No. 1 support section (4), No. 4 piezoelectric stacks (6), No. 2 support sections (9), No. 3 support sections (13), No. 1 direction controlling part (18), No. 5 piezoelectric stacks (19) and No. 2 direction controlling parts (24);
The right-hand member of No. 2 support sections (9) is fixedly connected with the left end of No. 5 piezoelectric stacks (19), the right-hand member of No. 5 piezoelectric stacks (19) is fixedly connected with the left end of No. 1 direction controlling part (18), and the right-hand member of No. 1 direction controlling part (18) is fixedly connected with the left end of No. 3 support sections (13); The left end of No. 2 support sections (9) is fixedly connected with the right-hand member of No. 4 piezoelectric stacks (6), the left end of No. 4 piezoelectric stacks (6) is fixedly connected with the right-hand member of No. 2 direction controlling parts (24), and the left end of No. 2 direction controlling parts (24) is fixedly connected with the right-hand member of No. 1 support section (4);
The right-hand member of No. 5 described piezoelectric stacks (19) is fixedly connected with the left end of No. 1 direction controlling part (18), and the right-hand member of No. 1 direction controlling part (18) is fixedly connected with the left end of No. 3 support sections (13) and refers to:
The steel sheet spring that described No. 1 direction controlling part (18) all posts flexural piezoelectric sheet by two panels two sides forms, the two ends of two panels steel sheet spring are respectively provided with two screwing through hole, align with the screw of No. 5 piezoelectric stack (19) right-hand member front/rear ends and adopt and be screwed in the be placed in both sides, front and back of No. 5 piezoelectric stack (19) right-hand members of the left end of two panels steel sheet spring, the right-hand member screw of the two panels leaf spring of No. 1 direction controlling part (18) aligns with the screw of No. 1 contiguous block (12) front/rear end and adopts and is screwed.
2. according to looper bionic device according to claim 1, it is characterized in that, the right-hand member of No. 2 described support sections (9) is fixedly connected with the left end of No. 5 piezoelectric stacks (19) and refers to:
The left pedestal of No. 5 piezoelectric stacks (19) aligns with the foursquare protruding block of No. 2 mass (21) right-hand members in No. 2 support sections (9), adopts the identical fixing steel disc of upper and lower two chip architectures to be fixedly connected with screw.
3. according to looper bionic device according to claim 1, it is characterized in that, No. 1 described support section (4) is made up of No. 1 mass (1), No. 1 piezoelectric stack (2), No. 1 chassis (3), No. 4 steel sheet springs (26) and No. 5 steel sheet springs;
The main body of No. 1 described mass (1) is the hardware of a solid cylindrical, on the right side of the main body of No. 1 mass (1), bottom is provided with a square protruding block, tubular main body and square protruding block bottom surface coplanar, the top end face of square protruding block and bottom surface are respectively provided with two screws, and the bottom surface of No. 1 mass (1) main body is provided with 4 tapped blind holes;
Centered by No. 1 described chassis (3), punishment is furnished with the rosette of 4 countersunk screw hole;
No. 4 described steel sheet springs (26) are the rectangle steel disc that structure is identical with No. 5 steel sheet springs, and the left end of No. 4 steel sheet springs (26) and No. 5 steel sheet springs and right-hand member are respectively provided with two bolt holes; The screw of No. 4 steel sheet springs (26) and No. 5 steel sheet spring left ends aligns with the square protruding block end face on No. 1 mass (1) right side and the screw of bottom surface and adopts and is screwed, the top of No. 1 piezoelectric stack (2) is connected with the bottom surface bolt of No. 1 mass (1) main body, and No. 1 upper 4 countersunk screw hole of chassis (3) align with 4 screws of No. 1 piezoelectric stack (2) bottom and adopt and are screwed.
4. according to looper bionic device according to claim 3, it is characterized in that, No. 1 described piezoelectric stack (2) is bonded by 20 Copper Foils being pasted with piezoelectric ceramic piece are stacked up and down successively, namely a side of every sheet Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue to bond, the another side of piezoelectric ceramic piece adopts insulative glue to bond a side of another sheet Copper Foil, the Copper Foil of 20 side bonding piezoelectric ceramic pieces adopts that insulative glue is stacked is bonded into piezoelectric stack by that analogy, every sheet piezoelectric ceramic piece connects wire and connecting electrode a, every sheet Copper Foil connects wire and connecting electrode b, the gluing square bottom face in the bottom of piezoelectric stack is provided with the pedestal of four screws, the brace being provided with four screws of the top of piezoelectric stack and a rectangle is gluing, piezoelectric stack entirety adopts epoxy encapsulation.
5. according to looper bionic device according to claim 1, it is characterized in that, No. 1 described support section (4) is identical with No. 3 support section (13) structures, No. 4 piezoelectric stacks (6) are identical with No. 5 piezoelectric stack (19) structures, and No. 1 direction controlling part (18) is identical with No. 2 direction controlling part (24) structures.
6. according to looper bionic device according to claim 1, it is characterized in that, No. 4 described piezoelectric stacks (6) are bonded by 25 Copper Foils being pasted with piezoelectric ceramic piece are stacked up and down successively, namely a side of every sheet Copper Foil and a side of a slice piezoelectric ceramic adopt conductive glue to bond, the another side of piezoelectric ceramic piece adopts insulative glue to bond a side of another sheet Copper Foil, the Copper Foil of 25 side bonding piezoelectric ceramic pieces adopts that insulative glue is stacked is bonded into piezoelectric stack by that analogy, every sheet piezoelectric ceramic piece connects wire and connecting electrode a, every sheet Copper Foil connects wire and connecting electrode b, bottom piezoelectric stack, a gluing square both sides end face is provided with the bottom base of four screws, the gluing square both sides end face in piezoelectric stack top is provided with the top base of four screws, four screws on top base and four screws on bottom base are all and are oppositely arranged in couples, four screws on top base differ 90 ° with the screw of four on bottom base, piezoelectric stack entirety adopts epoxy encapsulation.
7. according to looper bionic device according to claim 1, it is characterized in that, No. 2 described support sections (9) are made up of No. 2 masses (21), No. 2 piezoelectric stacks (7) and No. 2 chassis (8);
The main body of No. 2 described masses (21) is a solid cylindrical hardware, the two ends, left and right of No. 2 mass (21) main bodys respectively arrange a square protruding block, the top end face of the protruding block that two ends are square and bottom surface are respectively provided with two screws, and the bottom surface of No. 2 mass (21) main bodys is provided with 4 tapped blind holes; Wherein, the main body of No. 3 masses (16) in the main body of No. 1 mass (1) in the main body of No. 2 masses (21), No. 1 support section (4), No. 3 support sections (13), three's structure is identical;
No. 2 piezoelectric stacks (7) are identical with No. 3 piezoelectric stack (15) structures in No. 3 support sections (13) with No. 1 piezoelectric stack (2) in No. 1 support section (4);
No. 2 chassis (8) are identical with No. 3 chassis structures in No. 3 support sections (13) with No. 1 chassis (3) in No. 1 support section (4);
No. 2 masses (21) are connected with the brace screw on No. 2 piezoelectric stack (7) tops, and the bottom base of No. 2 piezoelectric stacks (7) is connected with No. 2 chassis (8) screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410243058.9A CN104022680B (en) | 2014-06-03 | 2014-06-03 | Looper bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410243058.9A CN104022680B (en) | 2014-06-03 | 2014-06-03 | Looper bionic device |
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