CN104734562A - Stepped piezoelectric ceramic rotation driver and drive method - Google Patents
Stepped piezoelectric ceramic rotation driver and drive method Download PDFInfo
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- CN104734562A CN104734562A CN201510131793.5A CN201510131793A CN104734562A CN 104734562 A CN104734562 A CN 104734562A CN 201510131793 A CN201510131793 A CN 201510131793A CN 104734562 A CN104734562 A CN 104734562A
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Abstract
A stepped piezoelectric ceramic rotation driver comprises a precise bearing fixed to a base plate, an output shaft installed on an inner ring of the precise bearing, a clamping mechanism with the inner end arranged on the periphery of the output shaft, a first driving mechanism and a second driving mechanism, piezoelectric ceramic drivers, a first piezoelectric ceramic driver and a second piezoelectric ceramic driver, wherein the piezoelectric ceramic drivers are respectively installed on the long shafts of the clamping mechanism, the first driving mechanism and the second driving mechanism and used for clamping, and the circle center of the output shaft is located on the short axis of the clamping mechanism and is not located on the short axis of the first driving mechanism and the short axis of the second driving mechanism. The invention further discloses a drive method of the driver. Linear displacements output by the piezoelectric ceramic drivers are converted into angular displacements, rotation of the driver is achieved through coordinative stepping of the multiple piezoelectric ceramic drivers, and the stepped piezoelectric ceramic rotation driver has the advantages of being compact in structure, small in size and light weight.
Description
Technical field
The invention belongs to Piezoelectric Ceramic device, be specifically related to a kind of stepping piezoelectric ceramic rotating driver and driving method.
Background technology
In recent years along with the fast development of nanometer technique, there is increasingly extensive application in fields such as ultraprecise microfabrication and measuring technique, MEMS (micro electro mechanical system), nanosecond science and technology, semiconductor manufacturing, modern medicine and biological legacy engineering, aeronautical and space technologies in Piexoelectric actuator.Although it is little that piezoelectric ceramic actuator has volume, displacement output resolution is high, be easy to control, without features such as stray magnetic fields, due to its displacement delivery stroke less and can only export straight-line displacement therefore range of application greatly reduced.
Summary of the invention
In order to overcome above-mentioned prior art Problems existing, the object of the present invention is to provide a kind of stepping piezoelectric ceramic rotating driver and driving method, change the straight-line displacement that piezoelectric ceramic actuator exports into angular displacement, and the rotation of coordination stepping realization drive unit by multiple piezoelectric ceramic actuator, and possess compact conformation simultaneously, volume is little, lightweight feature.
For achieving the above object, the technical solution adopted in the present invention is:
A kind of stepping piezoelectric ceramic rotating driver, comprise the precision bearing 8 be fixed on fixed base plate 9, be installed on the output shaft 7 of precision bearing 8 inner ring, the inner is arranged on the clamping institution 1 of output shaft 7 border, first driving mechanism 3 and the second driving mechanism 5, be arranged on clamping institution 1 respectively, clamp piezoelectric ceramic actuator 2 in first driving mechanism 3 and the second driving mechanism 5 on major axis, first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6, described clamping institution 1, the outer end of the first driving mechanism 3 and the second driving mechanism 5 is fixed in drive shell 10, the center of circle of described output shaft 7 is on the minor axis of clamping institution 1, the center of circle of described output shaft 7 is not on the minor axis of the first driving mechanism 3 and the second driving mechanism 5, described clamp piezoelectric ceramic actuator 2, first piezoelectric ceramic actuator 4 and the energising of the second piezoelectric ceramic actuator 6 can make clamping institution 1 when extending respectively, the major axis of the first driving mechanism 3 and the second driving mechanism 5 produces distortion, this distortion will cause its minor axis length to shorten, thus make clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 disengage with output shaft 7, and at clamp piezoelectric ceramic actuator 2, under first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6 off-position, clamping institution 1 can be made respectively, first driving mechanism 3 and the second driving mechanism 5 recover former length, carry out contacting with output shaft 7 thus active force is applied to output shaft 7.
Described clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 are positioned at same plane with described drive shell 10, are integrally processed by accurate slow feeding linear cutting bed.
Described clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 are bridge-type displacement amplifying mechanism.
The driving method of a kind of stepping piezoelectric ceramic rotating driver described above, initial condition, clamp piezoelectric ceramic actuator 2, first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6 all no powers, clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 contact with output shaft 7, frictionally carries out clamp, and driver is in lockup state; Stepping is divided into two kinds of situations when rotating:
Be rotated counterclockwise: now the second piezoelectric ceramic actuator 6 remains that "on" position is constant, namely the second driving mechanism 5 disengages all the time with output shaft 7 all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator 2 and the first piezoelectric ceramic actuator 4, namely realize stepping by the following two step motions that constantly circulate and rotate:
The first step, the first piezoelectric ceramic actuator 4 is energized and extends, and makes the first driving mechanism 3 realize minor axis distortion thus disengage with output shaft 7; Clamp piezoelectric ceramic actuator 2 keeps off-position, and clamping institution 1 is contacted with output shaft 7, and frictionally carries out clamp;
Second step, clamp is energized with piezoelectric ceramic actuator 2 and extends, and clamping institution 1 and output shaft 7 disengage; Substantially meanwhile, the first piezoelectric ceramic actuator 4 power-off, the first driving mechanism 3 contacts with output shaft 7 and makes it produce and rotates counterclockwise; Repeat above-mentioned two steps, driver realizes being rotated counterclockwise stepping.
Turn clockwise: now the first piezoelectric ceramic actuator 4 remains that "on" position is constant, namely the first driving mechanism 3 disengages all the time with output shaft 7 all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator 2 and the second piezoelectric ceramic actuator 6, stepping can be realized by the following two step motions that constantly circulate and rotate:
The first step, the second piezoelectric ceramic actuator 6 is energized and extends, and makes the second driving mechanism 5 realize linear deformation thus disengage with output shaft 7; Clamp piezoelectric ceramic actuator 2 keeps off-position, and clamping institution 1 is contacted with output shaft 7, and frictionally carries out clamp.Then can realize stepping by the following two steps motions that constantly circulate to rotate;
Second step, clamp is energized with piezoelectric ceramic actuator 2 and extends, and clamping institution 1 and output shaft 7 disengage; Substantially meanwhile, the second piezoelectric ceramic actuator 6 power-off, the second driving mechanism 5 contacts with output shaft 7 and makes it produce and rotates clockwise, and repeats above-mentioned two steps, and driver realizes turning clockwise stepping.
Compared to the prior art, tool has the following advantages in the present invention:
1, due to clamp under initial condition piezoelectric ceramic actuator 2, first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6 all no powers, clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 contact with output shaft 7, frictionally carries out clamp, system is in lockup state, and therefore this rotary step type Piezoelectric Ceramic device has the function of position locking after power-off.This Piezoelectric Ceramic device is owing to adopting piezoelectric ceramic as driver simultaneously, therefore has higher output accuracy.And because structure is simple, volume is little, reduces complexity and the size of structure, and therefore working stability is reliable, has wide range of applications.
2, because the center of circle of output shaft 7 is on the minor axis of clamping institution 1, namely clamping institution 1 output displacement direction is consistent with output shaft 7 radial direction, therefore the active force of clamping institution 1 pair of output shaft 7 is along output shaft 7 radial direction, tangentially without active force, therefore clamping institution 1 only applies the normal pressure along radial direction to output shaft 7, thus relies on frictional force to carry out clamp to output shaft 7.Because the center of circle of output shaft 7 is not on the minor axis of the first driving mechanism 3 and the second driving mechanism 5, namely output shaft 7 radial direction is departed from the first driving mechanism 3 and the second driving mechanism 5 output displacement direction, therefore not only there is the active force along radial direction in the first driving mechanism 3 and the second driving mechanism 5 pairs of output shafts 7, and tangentially also there is active force, therefore output shaft 7 will be made to produce rotation when the first driving mechanism 3 and the second driving mechanism 5 output displacement, and, first driving mechanism 3 makes output shaft 7 generation rotate clockwise, second driving mechanism 5 makes output shaft 7 generation rotate counterclockwise.Therefore only need when driving mechanism stepping is rotated to control two driving mechanisms simultaneously, there is control mode simple, the feature that rate-determining steps is few.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is drive principle schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As depicted in figs. 1 and 2, a kind of stepping piezoelectric ceramic of the present invention rotating driver, comprise the precision bearing 8 be fixed on fixed base plate 9, be installed on the output shaft 7 of precision bearing 8 inner ring, the inner is arranged on the clamping institution 1 of output shaft 7 border, first driving mechanism 3 and the second driving mechanism 5, be arranged on clamping institution 1 respectively, clamp piezoelectric ceramic actuator 2 in first driving mechanism 3 and the second driving mechanism 5 on major axis, first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6, described clamping institution 1, the outer end of the first driving mechanism 3 and the second driving mechanism 5 is fixed in drive shell 10, the center of circle of described output shaft 7 is on the minor axis of clamping institution 1, the center of circle of described output shaft 7 is not on the minor axis of the first driving mechanism 3 and the second driving mechanism 5, described clamp piezoelectric ceramic actuator 2, first piezoelectric ceramic actuator 4 and the energising of the second piezoelectric ceramic actuator 6 can make clamping institution 1 when extending respectively, the major axis of the first driving mechanism 3 and the second driving mechanism 5 produces distortion, this distortion will cause its minor axis length to shorten, thus make clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 disengage with output shaft 7, and at clamp piezoelectric ceramic actuator 2, under first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6 off-position, clamping institution 1 can be made respectively, first driving mechanism 3 and the second driving mechanism 5 recover former length, carry out contacting with output shaft 7 thus active force is applied to output shaft 7.
As the preferred embodiment of the present invention, described clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 are positioned at same plane with described drive shell 10, are integrally processed by accurate slow feeding linear cutting bed.
As the preferred embodiment of the present invention, described clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 are bridge-type displacement amplifying mechanism.
As shown in Figure 3, driver described above realizes the driving method rotating stepping: initial condition, clamp piezoelectric ceramic actuator 2, first piezoelectric ceramic actuator 4 and the second piezoelectric ceramic actuator 6 all no powers, clamping institution 1, first driving mechanism 3 and the second driving mechanism 5 contact with output shaft 7, frictionally carries out clamp, and driver is in lockup state; Stepping is divided into two kinds of situations when rotating:
1, be rotated counterclockwise: now the second piezoelectric ceramic actuator 6 remains that "on" position is constant, namely the second driving mechanism 5 disengages all the time with output shaft 7 all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator 2 and the first piezoelectric ceramic actuator 4, namely realize stepping by the following two step motions that constantly circulate and rotate:
The first step, the first piezoelectric ceramic actuator 4 is energized and extends, and makes the first driving mechanism 3 realize minor axis distortion thus disengage with output shaft 7; Clamp piezoelectric ceramic actuator 2 keeps off-position, and clamping institution 1 is contacted with output shaft 7, and frictionally carries out clamp;
Second step, clamp is energized with piezoelectric ceramic actuator 2 and extends, and clamping institution 1 and output shaft 7 disengage; Substantially meanwhile, the first piezoelectric ceramic actuator 4 power-off, the first driving mechanism 3 contacts with output shaft 7 and makes it produce and rotates counterclockwise; Repeat above-mentioned two steps, driver realizes being rotated counterclockwise stepping.
2, turn clockwise: now the first piezoelectric ceramic actuator 4 remains that "on" position is constant, namely the first driving mechanism 3 disengages all the time with output shaft 7 all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator 2 and the second piezoelectric ceramic actuator 6, stepping can be realized by the following two step motions that constantly circulate and rotate:
The first step, the second piezoelectric ceramic actuator 6 is energized and extends, and makes the second driving mechanism 5 realize linear deformation thus disengage with output shaft 7; Clamp piezoelectric ceramic actuator 2 keeps off-position, and clamping institution 1 is contacted with output shaft 7, and frictionally carries out clamp.Then can realize stepping by the following two steps motions that constantly circulate to rotate;
Second step, clamp is energized with piezoelectric ceramic actuator 2 and extends, and clamping institution 1 and output shaft 7 disengage; Substantially meanwhile, the second piezoelectric ceramic actuator 6 power-off, the second driving mechanism 5 contacts with output shaft 7 and makes it produce and rotates clockwise, and repeats above-mentioned two steps, and driver realizes turning clockwise stepping.
Claims (4)
1. a stepping piezoelectric ceramic rotating driver, it is characterized in that: comprise the precision bearing (8) be fixed on fixed base plate (9), be installed on the output shaft (7) of precision bearing (8) inner ring, the inner is arranged on the clamping institution (1) of output shaft (7) border, first driving mechanism (3) and the second driving mechanism (5), be arranged on clamping institution (1) respectively, clamp in first driving mechanism (3) and the second driving mechanism (5) on major axis is with piezoelectric ceramic actuator (2), first piezoelectric ceramic actuator (4) and the second piezoelectric ceramic actuator (6), described clamping institution (1), the outer end of the first driving mechanism (3) and the second driving mechanism (5) is fixed in drive shell (10), the center of circle of described output shaft (7) is on the minor axis of clamping institution (1), the center of circle of described output shaft (7) is not on the minor axis of the first driving mechanism (3) and the second driving mechanism (5), described clamp piezoelectric ceramic actuator (2), first piezoelectric ceramic actuator (4) and the second piezoelectric ceramic actuator (6) energising can make clamping institution (1) when extending respectively, the major axis of the first driving mechanism (3) and the second driving mechanism (5) produces distortion, this distortion will cause its minor axis length to shorten, thus make clamping institution (1), first driving mechanism (3) and the second driving mechanism (5) disengage with output shaft 7, and at clamp with piezoelectric ceramic actuator (2), under first piezoelectric ceramic actuator (4) and the second piezoelectric ceramic actuator (6) off-position, clamping institution (1) can be made respectively, first driving mechanism (3) and the second driving mechanism (5) recover former length, carry out contacting with output shaft (7) thus active force is applied to output shaft (7).
2. a kind of stepping piezoelectric ceramic rotating driver according to claim 1, it is characterized in that: described clamping institution (1), the first driving mechanism (3) and the second driving mechanism (5) and described drive shell (10) are positioned at same plane, are integrally processed by accurate slow feeding linear cutting bed.
3. a kind of stepping piezoelectric ceramic rotating driver according to claim 1, is characterized in that: described clamping institution (1), the first driving mechanism (3) and the second driving mechanism (5) are bridge-type displacement amplifying mechanism.
4. the driving method of a kind of stepping piezoelectric ceramic rotating driver described in claim 1, it is characterized in that: initial condition, clamp piezoelectric ceramic actuator (2), the first piezoelectric ceramic actuator (4) and the second piezoelectric ceramic actuator (6) be no power all, clamping institution (1), the first driving mechanism (3) and the second driving mechanism (5) contact with output shaft (7), frictionally carries out clamp, and driver is in lockup state; Stepping is divided into two kinds of situations when rotating:
Be rotated counterclockwise: now the second piezoelectric ceramic actuator (6) remains that "on" position is constant, namely the second driving mechanism (5) disengages all the time with output shaft (7) all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator (2) and the first piezoelectric ceramic actuator (4), namely realize stepping by the following two step motions that constantly circulate and rotate:
The first step, the first piezoelectric ceramic actuator (4) energising is extended, and makes the first driving mechanism (3) realize minor axis distortion thus disengage with output shaft (7); Clamp piezoelectric ceramic actuator (2) keeps off-position, and clamping institution (1) is contacted with output shaft (7), and frictionally carries out clamp;
Second step, clamp piezoelectric ceramic actuator (2) energising is extended, and clamping institution (1) and output shaft (7) disengage; Substantially meanwhile, the first piezoelectric ceramic actuator (4) power-off, the first driving mechanism (3) contacts with output shaft (7) and makes it produce and rotates counterclockwise; Repeat above-mentioned two steps, driver realizes being rotated counterclockwise stepping.
Turn clockwise: now the first piezoelectric ceramic actuator (4) remains that "on" position is constant, namely the first driving mechanism (3) disengages all the time with output shaft (7) all the time, drive driver to realize rotating stepping by clamp piezoelectric ceramic actuator (2) and the second piezoelectric ceramic actuator (6), stepping can be realized by the following two step motions that constantly circulate and rotate:
The first step, the second piezoelectric ceramic actuator (6) energising is extended, and makes the second driving mechanism (5) realize linear deformation thus disengages with output shaft (7); Clamp piezoelectric ceramic actuator (2) keeps off-position, and clamping institution (1) is contacted with output shaft (7), and frictionally carries out clamp.Then can realize stepping by the following two steps motions that constantly circulate to rotate;
Second step, clamp piezoelectric ceramic actuator (2) energising is extended, and clamping institution (1) and output shaft (7) disengage; Substantially meanwhile, the second piezoelectric ceramic actuator (6) power-off, the second driving mechanism (5) contacts with output shaft (7) and makes it produce and rotates clockwise, and repeats above-mentioned two steps, and driver realizes turning clockwise stepping.
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| CN201510131793.5A CN104734562A (en) | 2015-03-24 | 2015-03-24 | Stepped piezoelectric ceramic rotation driver and drive method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105384139A (en) * | 2015-11-13 | 2016-03-09 | 华南农业大学 | Piezoelectric stacking type micrometric displacement amplifying mechanism and driving method thereof |
| CN110138264A (en) * | 2019-04-30 | 2019-08-16 | 宁波大学 | A kind of piezoelectricity looper rotating electric machine |
| CN112152507A (en) * | 2020-08-25 | 2020-12-29 | 江苏大学 | Impulse type piezoelectric rotary motor with variable stepping angle |
| CN115566930A (en) * | 2022-11-10 | 2023-01-03 | 吉林大学 | Large-stroke piezoelectric actuator capable of outputting continuous angular displacement |
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| JP2012175783A (en) * | 2011-02-21 | 2012-09-10 | Nikon Corp | Piezoelectric actuator, lens barrel, and camera |
| CN102723893A (en) * | 2012-07-03 | 2012-10-10 | 吉林大学 | Micro-nano simulation rotating drive device |
| CN103904947A (en) * | 2012-12-26 | 2014-07-02 | 王志林 | Magnetic energy unit gradually-changing-type booster engine |
| CN103916045A (en) * | 2014-02-21 | 2014-07-09 | 西安交通大学 | Stepping type rotation driving device and method on basis of piezoelectric ceramics |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040140736A1 (en) * | 2001-04-06 | 2004-07-22 | Hans Richter | Piezo-electric drive and its use for driving heavy loads |
| JP2012175783A (en) * | 2011-02-21 | 2012-09-10 | Nikon Corp | Piezoelectric actuator, lens barrel, and camera |
| CN102723893A (en) * | 2012-07-03 | 2012-10-10 | 吉林大学 | Micro-nano simulation rotating drive device |
| CN103904947A (en) * | 2012-12-26 | 2014-07-02 | 王志林 | Magnetic energy unit gradually-changing-type booster engine |
| CN103916045A (en) * | 2014-02-21 | 2014-07-09 | 西安交通大学 | Stepping type rotation driving device and method on basis of piezoelectric ceramics |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105384139A (en) * | 2015-11-13 | 2016-03-09 | 华南农业大学 | Piezoelectric stacking type micrometric displacement amplifying mechanism and driving method thereof |
| CN110138264A (en) * | 2019-04-30 | 2019-08-16 | 宁波大学 | A kind of piezoelectricity looper rotating electric machine |
| CN112152507A (en) * | 2020-08-25 | 2020-12-29 | 江苏大学 | Impulse type piezoelectric rotary motor with variable stepping angle |
| CN112152507B (en) * | 2020-08-25 | 2021-12-21 | 江苏大学 | Impulse type piezoelectric rotary motor with variable stepping angle |
| CN115566930A (en) * | 2022-11-10 | 2023-01-03 | 吉林大学 | Large-stroke piezoelectric actuator capable of outputting continuous angular displacement |
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