CN105391337B - Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method - Google Patents
Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method Download PDFInfo
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- CN105391337B CN105391337B CN201510843661.5A CN201510843661A CN105391337B CN 105391337 B CN105391337 B CN 105391337B CN 201510843661 A CN201510843661 A CN 201510843661A CN 105391337 B CN105391337 B CN 105391337B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 7
- 238000005538 encapsulation Methods 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/101—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using intermittent driving, e.g. step motors
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Abstract
Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method, the start includes start piezoelectric pile, rhombus ring on the outside of piezoelectric pile, it is connected to the threaded rod of rhombus ring one end, the lock-nut being connected by screw thread with threaded rod, lock-nut is as rotating mechanism rotor simultaneously, and outside is nested with driving stator；Connecting rod with large pitch threads of lead screw is connected to the rhombus ring other end, the lock-nut being connected by screw thread with connecting rod, rotor is used as using lock-nut, outside is nested with driving stator, the feed screw nut being connected with other end threaded rod by steep-lead thread, and be installed in the thrust ball bearing of feed screw nut both sides, said structure encapsulation and shell；Present invention also offers start method, piezoelectric pile and motor are driven according to a graded, the stepping output of the big stroke rotary motion of high pulling torque can be realized；Actuator involved in the present invention has rotation driving stroke big, bidirectional output high pulling torque, the characteristics of powering off locking, reliable lock, stabilization.
Description
Technical field
The present invention relates to a kind of rotary actuator and method, and in particular to the big torsion of a kind of piezoelectric pile and motor combination drive
The big stroke rotary actuator of square and method.
Background technology
With the continuous development of scientific technology, in national defence, space flight, the essential industry field such as machine-building is to drive device
Higher requirement is proposed, traditional electromagnetic machine can not due to the limitation in terms of its operation principle and structure type
Meet new requirement.The piezoelectric pile drive device that occurred in recent years is relatively effective to have filled up this blank.But be limited by
The small shortcoming of piezoelectric actuating travel, it is difficult to realize the output of big stroke, the rotary motion especially for big corner is exported
It is helpless.And the step-by-step movement actuator designed using piezoelectric merely is also difficult to ensure that the output locking energy of actuator
Power, it is impossible to adapt to the requirement higher to actuator, in the urgent need to one kind driving stroke is big, output torque is big, high resolution, self-locking
The reliable step-by-step movement rotary actuator of ability.
The content of the invention
In order to meet the demand, it is an object of the invention to provide a kind of piezoelectric pile and the high pulling torque of motor joint driving
Big stroke rotary actuator and method, the lockable mechanism driven using piezoelectric pile with motor are worked in coordination, rotated using nut
Mode is locked, and completes straight line to convert rotational motion using the large pitch feed screw apparatus without self-locking, is driven with rotation
Dynamic stroke is big, bidirectional output high pulling torque, the characteristics of powering off locking, reliable lock, stabilization.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows：
Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive, including rhombus ring 2, installed in rhombus ring
Piezoelectric pile 1 in 2 major axis, is connected to the first threaded rod 3-1 of the major axis one end of rhombus ring 2, passes through screw thread and threaded rod 3-1
First lock-nut 4-1 of connection, while the first lock-nut 4-1 is as rotating mechanism rotor, outside is nested with the first driving
Stator 5-1；The second threaded rod 3-2 with large pitch threads of lead screw of the major axis other end of rhombus ring 2 is connected to, passes through screw thread
The second lock-nut 4-2 being connected with the second threaded rod 3-2, using the second lock-nut 4-2 as rotor, outside is nested with
Two driving stator 5-2, the feed screw nut 8 being connected with the second threaded rod 3-2 by steep-lead thread is installed on feed screw nut 8
The the first thrust ball bearing 7-1 and the second thrust ball bearing 7-2 of both sides, and encapsulate the shell 6 of above-mentioned part；The shell 6
The stopper slot being engaged with rhombus ring 2, the first threaded rod 3-1 and the second threaded rod 3-2 shapes is provided with, to limit piezoelectricity
The circumferencial direction rotation of heap 1, the threaded rod 3-1 of rhombus ring 2 and first and the second threaded rod 3-2；The shell 6 and
There is gap between one lock-nut 4-1 and the second lock-nut 4-2, to realize the first lock-nut 4-1 and the second locking spiral shell
Displacement latch functions of female 4-2 to different directions.
The driving stator 5-2 combination drives of stator 5-1 and second are driven to realize big stroke straight line position by piezoelectric pile 1 and first
Move.
The second threaded rod 3-2 is non-self-lock-ing leading screw, is moved along a straight line using non-self-lock-ing leading screw to rotary motion
Conversion.
The non-self-lock-ing leading screw is realized big using large pitch trapezoidal screw or using leading screw of the ball-screw without self-locking effect
The output of stroke, high pulling torque.
The method that the big stroke rotary actuator of described piezoelectric pile and motor combination drive high pulling torque realizes rotation start, energy
Realize bidirectional rotation stepper drive；Structure original state piezoelectric pile 1 and first drives the driving stators of stator 5-1 and second 5-2 all
In off-position, by the first lock-nut 4-1 and the second lock-nut 4-2 by screwing the position of locking feed screw nut 8；
Piezoelectric pile 1 promotes feed screw nut 8 to use following steps when rotating forward：The first step, while it is fixed to start the first driving
The driving stators of sub- 5-1 and second 5-2, the first driving stator 5-1 drive the first lock-nut 4-1 to rotate, the gap in shell 6
It is middle move to away from the direction of piezoelectric pile 1, second the second lock-nut 4-2 of driving stator 5-2 drives in the gap of shell 6 to
Moved close to the direction of piezoelectric pile 1；Second step, piezoelectric pile 1 is powered, and rhombus ring 2 is by dilatancy is promoted, while second will be promoted
Threaded rod 3-2 and the second lock-nut 4-2 produces micro-displacement to the direction of feed screw nut 8, and feed screw nut 8 is by the second screw thread
Connecting rod 3-2 is promoted, and a minute angle will be rotated forward under steep-lead thread effect；3rd step, piezoelectric pile 1 is remained powered on, and is opened
Dynamic second driving stator 5-2, the second lock-nut 4-2 of driving are gone to close to the side of piezoelectric pile 1 in the gap inward turning of shell 6；
4th step, piezoelectric pile 1 is powered off, and the elasticity of rhombus ring 2 is recovered, and pulls the first threaded rod 3-1 and the first lock-nut 4-1 to leading screw
Move in the direction of nut 8；So far, actuator recovers the state to before step one, and by comparison, feed screw nut 8 is outputed
One small positive corner, it is the stepping output for realizing positive high pulling torque rotary motion to repeat said process；
Piezoelectric pile 1 promotes feed screw nut 8 to use following steps when reversely rotating：The first step, while it is fixed to start the first driving
The driving stators of sub- 5-1 and second 5-2, the first driving stator 5-1 drive the first lock-nut 4-1 to rotate, the gap in shell 6
It is middle move to close to the direction of piezoelectric pile 1, second the second lock-nut 4-2 of driving stator 5-2 drives in the gap of shell 6 to
Move in direction away from piezoelectric pile 1；Second step, piezoelectric pile 1 is powered, and rhombus ring 2 will be promoted the first screw thread by dilatancy is promoted
Connecting rod 3-1 and the first lock-nut 4-1 produces micro-displacement to direction of the actuator away from piezoelectric pile 1 simultaneously；3rd step, piezoelectricity
Heap 1 is remained powered on, and is started first and is driven stator 5-1, the first lock-nut 4-1 of driving to be gone in the gap inward turning of shell 6 close
The side of piezoelectric pile 1；4th step, piezoelectric pile 1 is powered off, and the elasticity of rhombus ring 2 is recovered, and pulls the locks of the second threaded rod 3-2 and second
Only nut 4-2 is moved to the direction away from feed screw nut 8, and feed screw nut 8 is pulled by the second threaded rod of spiral shell 3-2, in large pitch
The minute angle of counter-rotating one under threaded function；So far, actuator recovers the state to before step one, and by comparison,
Feed screw nut 8 outputs a small reverse corner, and it is the stepping output for realizing reverse high pulling torque rotary motion to repeat said process.
Compared with prior art, the present invention has following advantages：
1st, compared to traditional electric rotating machine, actuator described in the invention can reach high rotary motion start
Precision, and by way of stepping, big corner movement output can be realized.
2nd, output torque is promoted to realize the high pulling torque driving output that prior art can not be realized using piezoelectric pile.
3rd, different from the conventional piezoelectric pile actuator by frictional force progress locking, the present invention utilizes tightening nut locking,
With high stability.
4th, structure can be realized and cut off self-lock, and deenergization after start, energy-conserving and environment-protective can be completed again.
5th, actuator configurations are simple, are easy to processing to install.
Brief description of the drawings
Fig. 1 is the sectional view of acting device of the present invention
Fig. 2 is the structural representation of actuator of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description：
As depicted in figs. 1 and 2, piezoelectric pile of the present invention and the big stroke rotary actuator of the high pulling torque of motor combination drive, bag
Rhombus ring 2 is included, the piezoelectric pile 1 in the major axis of rhombus ring 2 is connected to the first threaded rod 3- of the major axis one end of rhombus ring 2
1, the first lock-nut 4-1 being connected by screw thread with threaded rod 3-1, while the first lock-nut 4-1 is used as rotating mechanism
Rotor, outside is nested with the first driving stator 5-1；Be connected to the major axis other end of rhombus ring 2 with large pitch threads of lead screw
Second threaded rod 3-2, the second lock-nut 4-2 being connected by screw thread with the second threaded rod 3-2, with the second lock-nut
4-2 is as rotor, and outside is nested with the second driving stator 5-2, the silk being connected with the second threaded rod 3-2 by steep-lead thread
Thick stick nut 8, is installed on the first thrust ball bearing 7-1 and the second thrust ball bearing 7-2 of the both sides of feed screw nut 8, and encapsulation
State the shell 6 of part；The shell 6 is provided with and rhombus ring 2, the first threaded rod 3-1 and the second threaded rod 3-2 shape phases
The stopper slot of cooperation, to limit the circumference of piezoelectric pile 1, the threaded rod 3-1 of rhombus ring 2 and first and the second threaded rod 3-2
Direction rotates；There is gap between the lock-nut 4-1 of shell 6 and first and the second lock-nut 4-2, to realize the first lock
Only displacement latch functions of the nut 4-1 and the second lock-nut 4-2 to different directions.
The present invention drives the driving stator 5-2 combination drives of stator 5-1 and second to realize big stroke by piezoelectric pile 1 and first
Straight-line displacement.
It is non-self-lock-ing leading screw as the second threaded rod 3-2 described in the preferred embodiment of the present invention, uses non-self-lock-ing silk
Thick stick is moved along a straight line to convert rotational motion.
Further, the non-self-lock-ing leading screw is using large pitch trapezoidal screw or uses silk of the ball-screw without self-locking effect
Thick stick realizes the output of big stroke, high pulling torque.
The method that described piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive realize rotation start,
It is characterized in that：Bidirectional rotation stepper drive can be realized；Structure original state piezoelectric pile 1 and first drives stator 5-1 and second
Stator 5-2 is driven all in off-position, by the first lock-nut 4-1 and the second lock-nut 4-2 by screwing locking silk
The position of thick stick nut 8；
Piezoelectric pile 1 promotes feed screw nut 8 to use following steps when rotating forward：The first step, while it is fixed to start the first driving
The driving stators of sub- 5-1 and second 5-2, the first driving stator 5-1 drive the first lock-nut 4-1 to rotate, the gap in shell 6
It is middle move to away from the direction of piezoelectric pile 1, second the second lock-nut 4-2 of driving stator 5-2 drives in the gap of shell 6 to
Moved close to the direction of piezoelectric pile 1；Second step, piezoelectric pile 1 is powered, and rhombus ring 2 is by dilatancy is promoted, while second will be promoted
Threaded rod 3-2 and the second lock-nut 4-2 produces micro-displacement to the direction of feed screw nut 8, and feed screw nut 8 is by the second screw thread
Connecting rod 3-2 is promoted, and a minute angle will be rotated forward under steep-lead thread effect；3rd step, piezoelectric pile 1 is remained powered on, and is opened
Dynamic second driving stator 5-2, the second lock-nut 4-2 of driving are gone to close to the side of piezoelectric pile 1 in the gap inward turning of shell 6；
4th step, piezoelectric pile 1 is powered off, and the elasticity of rhombus ring 2 is recovered, and pulls the first threaded rod 3-1 and the first lock-nut 4-1 to leading screw
Move in the direction of nut 8；So far, actuator recovers the state to before step one, and by comparison, feed screw nut 8 is outputed
One small positive corner, it is the stepping output for realizing positive high pulling torque rotary motion to repeat said process；
Piezoelectric pile 1 promotes feed screw nut 8 to use following steps when reversely rotating：The first step, while it is fixed to start the first driving
The driving stators of sub- 5-1 and second 5-2, the first driving stator 5-1 drive the first lock-nut 4-1 to rotate, the gap in shell 6
It is middle move to close to the direction of piezoelectric pile 1, second the second lock-nut 4-2 of driving stator 5-2 drives in the gap of shell 6 to
Move in direction away from piezoelectric pile 1；Second step, piezoelectric pile 1 is powered, and rhombus ring 2 will be promoted the first screw thread by dilatancy is promoted
Connecting rod 3-1 and the first lock-nut 4-1 produces micro-displacement to the direction away from piezoelectric pile 1 simultaneously；3rd step, piezoelectric pile 1 is protected
Energization is held, starts first and drives stator 5-1, the first lock-nut 4-1 of driving to be gone in the gap inward turning of shell 6 close to piezoelectric pile
1 side；4th step, piezoelectric pile 1 is powered off, and the elasticity of rhombus ring 2 is recovered, and pulls the second threaded rod 3-2 and the second lock-nut
4-2 is moved to the direction away from feed screw nut 8, and feed screw nut 8 is pulled by the second threaded rod of spiral shell 3-2, is made in steep-lead thread
With the lower minute angle of counter-rotating one；So far, actuator recovers the state to before step one, and by comparison, leading screw spiral shell
Mother 8 outputs a small reverse corner, and it is the stepping output for realizing reverse high pulling torque rotary motion to repeat said process.
Claims (5)
1. piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive, it is characterised in that：Including rhombus ring (2),
Piezoelectric pile (1) in rhombus ring (2) major axis, is connected to first threaded rod (3-1) of rhombus ring (2) major axis one end,
The first lock-nut (4-1) being connected by screw thread with the first threaded rod (3-1), while the first lock-nut (4-1) conduct
Rotating mechanism rotor, outside is nested with the first driving stator (5-1)；Carrying for rhombus ring (2) major axis other end is connected to lead greatly
The second threaded rod (3-2) of journey threads of lead screw, the second lock-nut being connected by screw thread with the second threaded rod (3-2)
(4-2), using the second lock-nut (4-2) as rotor, outside is nested with the second driving stator (5-2), with the second threaded rod
The feed screw nut (8) that (3-2) is connected by steep-lead thread, is installed on the first thrust ball bearing (7- of feed screw nut (8) both sides
1) with the second thrust ball bearing (7-2), and the shell (6) encapsulated；The shell (6) is provided with and rhombus ring (2), the first spiral shell
The stopper slot that line connecting rod (3-1) and the second threaded rod (3-2) shape are engaged, with limit piezoelectric pile (1), rhombus ring (2), with
And first threaded rod (3-1) and the second threaded rod (3-2) circumferencial direction rotation；The shell (6) and the first locking spiral shell
There is gap between female (4-1) and the second lock-nut (4-2), to realize the first lock-nut (4-1) and the second lock-nut
The displacement latch functions of (4-2) to different directions.
2. piezoelectric pile according to claim 1 and the big stroke rotary actuator of the high pulling torque of motor combination drive, its feature
It is：Realize that big stroke is straight with the first driving stator (5-1) and second driving stator (5-2) combination drive by piezoelectric pile (1)
Displacement of the lines.
3. piezoelectric pile according to claim 1 and the big stroke rotary actuator of the high pulling torque of motor combination drive, its feature
It is：Second threaded rod (3-2) is non-self-lock-ing leading screw, is moved along a straight line and turned to rotary motion using non-self-lock-ing leading screw
Change.
4. piezoelectric pile according to claim 3 and the big stroke rotary actuator of the high pulling torque of motor combination drive, its feature
It is：The non-self-lock-ing leading screw realizes big row using large pitch trapezoidal screw or using leading screw of the ball-screw without self-locking effect
The output of journey, high pulling torque.
5. the big stroke rotary actuator of the high pulling torque of the piezoelectric pile and motor combination drive described in any one of Claims 1-4 is real
Now rotate the method for start, it is characterised in that：Bidirectional rotation stepper drive can be realized；Structure original state piezoelectric pile (1) and the
One driving stator (5-1) and the second driving stator (5-2) are all in off-position, by the first lock-nut (4-1) and second
Lock-nut (4-2) is by screwing the positions of locking feed screw nut (8)；
Piezoelectric pile (1) promotes feed screw nut (8) to use following steps when rotating forward：The first step, while it is fixed to start the first driving
Sub (5-1) and the second driving stator (5-2), the first driving stator (5-1) drives the first lock-nut (4-1) to rotate, in shell
(6) moved in the gap in the direction away from piezoelectric pile (1), the second driving stator (5-2) drives the second lock-nut (4-2)
Moved in the gap of shell (6) to the direction close to piezoelectric pile (1)；Second step, piezoelectric pile (1) is powered, and rhombus ring (2) is pushed away
Dynamic dilatancy, while the direction of the second threaded rod (3-2) and the second lock-nut (4-2) to feed screw nut (8) will be promoted
Micro-displacement is produced, feed screw nut (8) is promoted by the second threaded rod (3-2), will be rotated forward under steep-lead thread effect
One minute angle；3rd step, piezoelectric pile (1) is remained powered on, and is started second and is driven stator (5-2), drives the second lock-nut (4-
2) gone in the gap inward turning of shell (6) close to the side of piezoelectric pile (1)；4th step, piezoelectric pile (1) power-off, rhombus ring (2) bullet
Property recover, pull the first threaded rod (3-1) and the first lock-nut (4-1) moved to feed screw nut (8) direction；So far, make
Dynamic device recovers the state to before step one, and by comparison, feed screw nut (8) outputs a small positive corner, weight
Multiple said process is the stepping output for realizing positive high pulling torque rotary motion；
Piezoelectric pile (1) promotes feed screw nut (8) to use following steps when reversely rotating：The first step, while it is fixed to start the first driving
Sub (5-1) and the second driving stator (5-2), the first driving stator (5-1) drives the first lock-nut (4-1) to rotate, in shell
(6) moved in the gap in the direction close to piezoelectric pile (1), the second driving stator (5-2) drives the second lock-nut (4-
2) moved in the gap of shell (6) to the direction away from piezoelectric pile (1)；Second step, piezoelectric pile (1) be powered, rhombus ring (2) by
Dilatancy is promoted, the first threaded rod (3-1) and the first lock-nut (4-1) will be promoted while to actuator away from piezoelectric pile
(1) direction produces micro-displacement；3rd step, piezoelectric pile (1) is remained powered on, and is started first and is driven stator (5-1), driving first
Lock-nut (4-1) is gone to close to the side of piezoelectric pile (1) in the gap inward turning of shell (6)；4th step, piezoelectric pile (1) power-off,
Rhombus ring (2) elasticity is recovered, and pulls the second threaded rod (3-2) and the second lock-nut (4-2) to remote feed screw nut (8)
Direction is moved, and feed screw nut (8) is pulled by the threaded rod of spiral shell second (3-2), and counter-rotating one is micro- under steep-lead thread effect
Low-angle；So far, acting device recovers the state to before step one, and by comparison, it is micro- that feed screw nut (8) outputs one
Small reverse corner, it is the stepping output for realizing reverse high pulling torque rotary motion to repeat said process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510843661.5A CN105391337B (en) | 2015-11-26 | 2015-11-26 | Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510843661.5A CN105391337B (en) | 2015-11-26 | 2015-11-26 | Piezoelectric pile and the big stroke rotary actuator of the high pulling torque of motor combination drive and method |
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| Publication Number | Publication Date |
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| CN105391337A CN105391337A (en) | 2016-03-09 |
| CN105391337B true CN105391337B (en) | 2017-09-12 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105811801B (en) * | 2016-03-21 | 2017-07-25 | 西安交通大学 | The step piezoelectric actuator and start method of lockable mechanism are powered off containing wedge-shaped semi-ring |
| US10333458B2 (en) * | 2016-09-01 | 2019-06-25 | Sunpower Corporation | Multi-drive solar-tracking photovoltaic system |
| CN111006722B (en) * | 2019-12-23 | 2021-07-02 | 西安工业大学 | Anti-thrust anti-torsion sensing actuator based on piezoelectric and flexoelectric materials |
| CN111726028B (en) * | 2020-06-05 | 2022-03-08 | 维沃移动通信有限公司 | Ultrasonic motor and electronic apparatus |
| CN113630035B (en) * | 2021-06-28 | 2023-07-28 | 中国航天空气动力技术研究院 | Precise positioning and quick response rotary driving device and method |
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