CN104377987B - Clamping type piezoelectric motor - Google Patents
Clamping type piezoelectric motor Download PDFInfo
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- CN104377987B CN104377987B CN201410599861.6A CN201410599861A CN104377987B CN 104377987 B CN104377987 B CN 104377987B CN 201410599861 A CN201410599861 A CN 201410599861A CN 104377987 B CN104377987 B CN 104377987B
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- piezoelectric
- support block
- guide rail
- drive mechanism
- clamping
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 239000000919 ceramic Substances 0.000 claims description 30
- 239000011324 bead Substances 0.000 claims description 9
- 230000008450 motivation Effects 0.000 claims 1
- 229910052573 porcelain Inorganic materials 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 16
- 238000000034 method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a clamping type piezoelectric motor which comprises a first clamping unit, a driving unit and a second clamping unit in sequence from left to right. The two clamping units a are tightly pressed and fixed to a guide rail through the guide rail and a prepressing mechanism, the outputs of the two clamping units are perpendicularly to the displacement in the direction of the fixing guide rail, and the output of the driving unit is parallel to the displacement in the direction of the fixing guide rail. According to the clamping type piezoelectric motor, piezoelectric stack driving is adopted, and the relation of a driving foot of the first clamping unit and the guide rail and the relation of a driving foot of the second clamping unit and the guide rail are achieved through contracting and stretching of the piezoelectric stack; and moving of the whole mechanism in the direction of the guide rail is achieved through the driving unit. The clamping type piezoelectric motor has the features of common piezoelectric stepping motors and also has the self-locking function, one end of the guide rail can be adjusted, the requirements for the machining precision and the assembling precision of the motor are lowered, the whole mechanism of the motor is equivalent to a whole, and the operation stability is improved.
Description
Technical field
This utility model belongs to Precision Piezoelectric start applied technical field, more particularly, to a kind of clamp formula piezoelectric straight line electricity
Machine.
Background technology
In recent years, with the high speed development of micro-/ nano technology, research all exigences of numerous engineerings and technical field
Submicron order, the ultraprecise of micro/nano level drive.Traditional motor power-weight ratio is low, and motor runs up
After need deceleration device speed change, cause drive system complicated, structure burden.With scientific and technical development, people develop respectively
Plant functional material, wherein, piezoelectric ceramics (pzt) makes the research of Precision Piezoelectric actuator obtain with its relatively superior performance
Extensive concern, and applied in many fields.
At present, both at home and abroad certain progress is had been achieved for the research of Precision Piezoelectric driver, have developed various
Motor.Wherein Inchworm type piezoelectric actuator utilizes bionical principle, using the forms of motion of " clamp-drive-clamp ", has
High resolution, High power output, output rigidity is big, no electromagnetic interference the advantages of, have been obtained for both domestic and external widely studied.
One entitled " multi-pin clamping type piezoelectric motor " of Application No. 201110058690.2 discloses a kind of employing
The method installing auxiliary clamping institution at two ends, solves that the guide rail that guide rail manufacturing and positioning errors cause is not parallel and guide pass
The motor that causes of local inequality stuck, or the problem that walking is not smooth；But it makes use of multigroup driving foot and utilize spring
To realize walking with stacking, complex structure.
Utility model content
Technical problem to be solved:
This utility model purpose is to provide a kind of good stability, High power output, efficiency for the defect that prior art exists
Height, life-span length, high resolution, processing request are relatively low, range of application wider array of clamp formula piezoelectric motor.
Technical scheme:
In order to realize function above, this utility model provides first that a kind of clamp formula piezoelectric motor includes being sequentially connected
Clamping institution 1, drive mechanism, the second clamping institution 11, described clamping institution 1 and 11 be sleeved in guide rail it is characterised in that: institute
State clamping institution 1 and 11 and employ displacement equations structure, be internally provided with piezoelectric element 3 and 10.
Each clamping institution is provided at an outer portion with u-shaped inside configuration and is provided with rectangular frame, and piezoelectric element 3 and 10 is arranged on
In rectangular frame, every group of piezoelectric element 3 and 10 includes piezoelectric ceramic piece, support block and extension spring, and described piezoelectric ceramics is folded
Heap support block is close to piezoelectric element piezoelectric ceramic piece, and the piezoelectric element support block in outside is fixed by screw respectively
In the inner surface of rectangular frame, the piezoelectric element support block of inner side is connected on driver element；Described piezoelectric element
Extension spring is sequentially arranged in the outer surface of piezoelectric element piezoelectric ceramic piece, for pretension piezoelectric element piezoelectric ceramic piece.
Described drive mechanism includes piezoelectric ceramic piece, support block, extension spring and flexible foot, and described drive mechanism support block is tight
By drive mechanism piezoelectric ceramic piece；Described drive mechanism extension spring is sequentially arranged in the outer surface of drive mechanism piezoelectric ceramic piece,
For pretension drive mechanism piezoelectric ceramic piece；Described flexible foot is arranged on the outside of drive mechanism support block, the piezoelectricity with inner side
Pottery stacks support block and is fixedly connected.
Have hole in the lower surface of described u-shaped structure, in the hole is provided with bead.
Piezoelectric element support block in described outside and mode connects for screw position have hole, and in the hole is provided with bead.
As driving foot, four angles of rectangular frame are designed as oval flexible hinge to two foots of described u-shaped structure, and its two long
It is also adopted by oval flexible hinge while long with two of u-shaped structure to be connected, by its internal piezoelectric stack elongation, so that rectangle is tied
Structure two back gauge extends, so that other both sides Distance Shortened, and then so that u-shaped structure two back gauge is shunk.
Beneficial effect:
This utility model clamps formula piezoelectric motor, and its clamping institution has amplification.Piezoelectricity step-by-step movement precision driver
In assembling process, the distance at guide rail two ends is to have error certainly, when this nonparallelism of guide rail big to causing guide rail distance
Change △ l is more than the gap of mover and guide rail, and mover arises that and blocks, or walking is not smooth, because stacked piezoelectric piles up guide rail
Limited, the only several microns of interior elongation, so gap is the elongation being necessarily less than stacked piezoelectric heap.This utility model utilizes
Clamping institution makes piezoelectric stack be converted into, parallel to the displacement of guide rail, the displacement driving foot perpendicular to guide rail, is specifically tied by it
Structure, is exaggerated the displacement of piezoelectric stack, thus avoiding the phenomenon that motor is stuck or walking is not smooth to a certain extent；Additionally, pincers
One driving foot of position mechanism machined a groove, and placed plastic beads, so that this driving is being moved through enough
Sliding friction in journey is converted into rolling friction, makes motor operation more steady to a certain extent.
Brief description
With reference to the accompanying drawings and examples this utility model is further illustrated:
The structure principle chart of the clamp formula piezoelectric motor that Fig. 1 provides for this utility model；
Fig. 2 drives power supply signal sequential used for the clamp formula piezoelectric motor that this utility model provides；
The running of Fig. 3 motor, (a) is t1 moment motor status, and (b) is t2 moment motor status, when (c) is t3
Carve motor status, (d) is t4 moment motor status, and (e) is t5 moment motor status.
Wherein, 1- first clamping institution；2- support block；3rd, 7- piezoelectric element；4- extension spring；5- guide rail；The flexible foot of 6-；
8- plastic beads；9- stud；10- the 3rd piezoelectric stack；11- second clamping institution.
Specific embodiment
This utility model provides a kind of clamp formula piezoelectric motor, for making the purpose of this utility model, technical scheme and effect
Clearer, clearly, and referring to the drawings and give an actual example this utility model is further described.It should be appreciated that this place
Being embodied as only in order to explaining this utility model of description, is not used to limit this utility model.
As shown in figure 1, a kind of clamp formula piezoelectric motor include being sequentially connected the first clamping institution 1, drive mechanism, second
Clamping institution 11, described clamping institution 1 and 11 be sleeved in guide rail it is characterised in that: described clamping institution 1 and 11 employs position
Move structure for amplifying, be internally provided with piezoelectric element 3 and 10.
Each clamping institution is provided at an outer portion with u-shaped inside configuration and is provided with rectangular frame, and electroceramics stacks 2 and 10 and is arranged on square
In shape framework, every group of piezoelectric element 3 and 10 includes piezoelectric ceramic piece, support block 2 and extension spring 4, and described piezoelectric ceramics is folded
Heap support block 2 is close to piezoelectric element piezoelectric ceramic piece, and the piezoelectric element support block 2 in outside passes through screw admittedly respectively
It is scheduled on the inner surface of rectangular frame, the piezoelectric element support block 2 of inner side is connected on driver element；Described piezoelectric ceramics is folded
Heap extension spring 4 is sequentially arranged in the outer surface of piezoelectric element piezoelectric ceramic piece, for pretension piezoelectric element piezoelectric ceramics
Piece.
Described drive mechanism includes piezoelectric ceramic piece, support block, extension spring and flexible foot 6, described drive mechanism support block
It is close to drive mechanism piezoelectric ceramic piece；Described drive mechanism extension spring is sequentially arranged in the appearance of drive mechanism piezoelectric ceramic piece
Face, for pretension drive mechanism piezoelectric ceramic piece；Described flexible foot 6 is arranged on the outside of drive mechanism support block, with inner side
Piezoelectric element support block is fixedly connected.
Have hole in the lower surface of described u-shaped structure, in the hole is provided with bead 8.
Piezoelectric element support block in described outside and mode connects for screw position have hole, and in the hole is provided with bead.
As driving foot, four angles of rectangular frame are designed as oval flexible hinge to two foots of described u-shaped structure, and its two long
It is also adopted by oval flexible hinge while long with two of u-shaped structure to be connected, by its internal piezoelectric stack elongation, so that rectangle is tied
Structure two back gauge extends, so that other both sides Distance Shortened, and then so that u-shaped structure two back gauge is shunk.
Below by straight line mover as a example moving right in guide rail, introduce the motion principle of this driver: mover when initial
It is in and is energized elongation by precompressed guide rail impaction state → piezoelectric stack 10, the second clamping institution 11 disengages guide rail → piezo stack
Heap 7 elongation promotes the second clamping institution 11 to move right micrometric displacement → piezoelectric stack 10 power-off retraction, the second clamping institution
11 contact guide rail → piezoelectric stack 3 energising elongations, the first clamping institution 1 disengages guide rail → piezoelectric stack 7 power-off and shrinks, pincers
Position mechanism 1 moves right, and a micrometric displacement →... ... is such to be circulated, and so each circulation moves right and moves a step.So mover is just
Can walk along guide rail to the right step by step.From the point of view of motor operation course, there is more than one clamping institution contact guide rail all the time,
In the different electricity of motor, two clamping institutions contact guide rail simultaneously, and have certain pressure, so motor has self-locking work(
Energy.
The displacement that general stacked piezoelectric heap directly exports is very little, is micro/nano level, so all employing in clamping institution
Displacement equations structure, makes piezoelectric stack be converted into driving foot perpendicular to the position of guide rail parallel to the displacement of guide rail using clamping institution
Move, by its specific structure, be exaggerated the displacement of piezoelectric stack so that the driving foot of motor clamp units divide can
More satisfactory realization pushes guide rail and getaway open alternately, avoids that motor is stuck or walking is not smooth to a certain extent
Phenomenon.One driving foot of clamping institution machined a groove, and placed plastic beads, so that this driving foot
Sliding friction in motor process is converted into rolling friction, makes motor operation more steady to a certain extent.
Driver element does not adopt structure for amplifying, directly with stacking output displacement.Liang Ge piezoelectric element mechanism one end
Withstood by screw in the rectangular configuration of two clamp units respectively, the other end passes through Stud connection with driver element respectively.
The rectangular signal of certain sequential relationship is applied with corresponding stacked piezoelectric heap, such as Fig. 2, piezoelectric stack 3,7,10
Signal 1 in corresponding Fig. 2, signal 2, signal 3 respectively, in figure gives the signal in two cycles, and t0 to t is a week of signal
Phase, is the moment corresponding motor status demarcated in Fig. 2 shown in Fig. 3.Signal can encourage stacked piezoelectric heap after amplifying
Flexible, so that clamping institution and driver element are moved with certain difference of injection time, thus forming mover stretching along guide rail direction
Indention is walked.
It is understood that for those of ordinary skills, can according to the technical solution of the utility model and
Design in addition equivalent or the change of its utility model, and all these change or replace all should belong to appended by this utility model
Scope of the claims.
Claims (5)
1. a kind of clamp formula piezoelectric motor, including the first clamping institution (1) being sequentially connected, drive mechanism, the second clamping institution
(11), two clamping institutions be fixed on guide rail by precompressed mechanism it is characterised in that: described clamping institution (1,11) adopts
Displacement equations structures, are internally provided with piezoelectric element (1,10)；
Each clamping institution (1,11) is provided at an outer portion with u-shaped inside configuration and is provided with rectangular frame, and piezoelectric element (3,10) sets
Put in rectangular frame, every group of piezoelectric element (3,10) includes piezoelectric ceramic piece, support block and extension spring, described piezoelectricity pottery
Porcelain stacks support block and is close to piezoelectric element piezoelectric ceramic piece, and the piezoelectric element support block in outside passes through screw respectively
It is fixed on the inner surface of rectangular frame, the piezoelectric element support block of inner side is connected on driver element；Described piezoelectric ceramics
Stack the outer surface that extension spring is sequentially arranged in piezoelectric element piezoelectric ceramic piece, for pretension piezoelectric element piezoelectric ceramics
Piece.
2. a kind of clamp formula piezoelectric motor according to claim 1 it is characterised in that: described drive mechanism include piezoelectricity pottery
Ceramics, support block, extension spring and flexible foot, described drive mechanism support block is close to drive mechanism piezoelectric ceramic piece；Described drive
Motivation structure extension spring is sequentially arranged in the outer surface of drive mechanism piezoelectric ceramic piece, for pretension drive mechanism piezoelectric ceramic piece；Institute
State the outside that flexible foot is arranged on drive mechanism support block, be fixedly connected with the piezoelectric element support block of inner side.
3. a kind of clamp formula piezoelectric motor according to claim 1 it is characterised in that: in the lower surface of described u-shaped structure
Have hole, in the hole is provided with bead.
4. a kind of clamp formula piezoelectric motor according to claim 1 it is characterised in that: piezoelectric ceramics in described outside is folded
Heap support block and mode connects for screw position have hole, and in the hole is provided with bead.
5. according to Claims 1-4 any one clamp formula piezoelectric motor it is characterised in that: the two of described u-shaped structure
As driving foot, four angles of rectangular frame are designed as oval flexible hinge to foot, its two long while long with two of u-shaped structure
It is connected using oval flexible hinge, by its internal piezoelectric stack elongation, so that rectangular configuration two back gauge is extended, so that separately
Outer both sides Distance Shortened, and then so that u-shaped structure two back gauge is shunk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410599861.6A CN104377987B (en) | 2014-10-31 | 2014-10-31 | Clamping type piezoelectric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410599861.6A CN104377987B (en) | 2014-10-31 | 2014-10-31 | Clamping type piezoelectric motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104377987A CN104377987A (en) | 2015-02-25 |
| CN104377987B true CN104377987B (en) | 2017-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410599861.6A Expired - Fee Related CN104377987B (en) | 2014-10-31 | 2014-10-31 | Clamping type piezoelectric motor |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482511B (en) * | 2018-03-27 | 2021-07-06 | 江西理工大学 | Inchworm type micro-motion walking robot |
| CN110198141B (en) * | 2019-06-27 | 2024-02-02 | 华侨大学 | Differential clamping inchworm type piezoelectric linear motor |
| CN112271956B (en) * | 2020-09-12 | 2021-09-03 | 西安交通大学 | Actuating method of push-pull symmetrical piezoelectric actuator capable of keeping displacement in outage state |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004030196A2 (en) * | 2002-09-27 | 2004-04-08 | University Of Waterloo | Micro-positioning device |
| CN102136811A (en) * | 2011-03-11 | 2011-07-27 | 南京航空航天大学 | Multi-pin clamping type piezoelectric motor |
| CN103001531A (en) * | 2012-11-20 | 2013-03-27 | 西安交通大学 | Actuator for large displacement of signal piezoelectric stack |
| CN103326614A (en) * | 2013-05-28 | 2013-09-25 | 西安交通大学 | Stepping type actuator driven by double piezoelectric stacks |
| CN204316374U (en) * | 2014-10-31 | 2015-05-06 | 南京航空航天大学 | A kind of clamp formula piezoelectric motor |
-
2014
- 2014-10-31 CN CN201410599861.6A patent/CN104377987B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004030196A2 (en) * | 2002-09-27 | 2004-04-08 | University Of Waterloo | Micro-positioning device |
| CN102136811A (en) * | 2011-03-11 | 2011-07-27 | 南京航空航天大学 | Multi-pin clamping type piezoelectric motor |
| CN103001531A (en) * | 2012-11-20 | 2013-03-27 | 西安交通大学 | Actuator for large displacement of signal piezoelectric stack |
| CN103326614A (en) * | 2013-05-28 | 2013-09-25 | 西安交通大学 | Stepping type actuator driven by double piezoelectric stacks |
| CN204316374U (en) * | 2014-10-31 | 2015-05-06 | 南京航空航天大学 | A kind of clamp formula piezoelectric motor |
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| Publication number | Publication date |
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| CN104377987A (en) | 2015-02-25 |
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