CN105490581A - High-precision large-torque piezoelectric rotary actuation apparatus with H-type structure and method - Google Patents
High-precision large-torque piezoelectric rotary actuation apparatus with H-type structure and method Download PDFInfo
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- CN105490581A CN105490581A CN201510824288.9A CN201510824288A CN105490581A CN 105490581 A CN105490581 A CN 105490581A CN 201510824288 A CN201510824288 A CN 201510824288A CN 105490581 A CN105490581 A CN 105490581A
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- 239000000919 ceramic Substances 0.000 claims abstract description 87
- 238000009434 installation Methods 0.000 claims abstract description 5
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- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical group Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 abstract 4
- 238000010276 construction Methods 0.000 description 2
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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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- 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
- H02N2/12—Constructional details
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Abstract
The invention discloses a high-precision large-torque piezoelectric rotary actuation apparatus with an H-type structure and a method. An actuator comprises an actuator base, an output shaft mounted on the base and capable of rotating freely, two actuator arms connected with the output shaft through a flexible hinge respectively, rhombic rings connected to the end parts of the actuator arms, piezoelectric ceramics mounted in the rhombic rings, a piezoelectric ceramic 6 connected between the actuator arms, and an upper top cover connected with the base through a support column. The distance between the base and the top cover after the installation is smaller than the transverse length of the rhombic rings, so that the piezoelectric ceramics can be ensured to lock the rhombic rings by installation pre-tightening in a power failure condition and the rotary motion of the output shaft can be locked. The invention furthermore provides the actuation method for the actuator. The piezoelectric ceramics are driven according to a certain sequence, so that the high-precision large-torque rotary motion of the actuator can be output. The apparatus has the characteristics of light structure weight, small size, capability of outputting large torque and large rotary angle, and low power consumption of self-locking in power failure. The apparatus and the method have wide application prospects and extremely high application values.
Description
Technical field
The present invention relates to a kind of acting device by Piezoelectric Ceramic, be specifically related to a kind of the high accuracy high pulling torque piezoelectricity rotation apparatus and the method that contain H type structure.
Background technology
Piexoelectric actuator development in recent years, support national defence, space flight, the development construction of the essential industrys such as machine-building, also piezoelectric actuating device various in style has been derived, but be limited by the little shortcoming of piezoelectric actuating travel, piezoelectric ceramic actuator is difficult to realize Long Distances and exports, and particularly the moment of torsion of large corner exports more difficult realization.Therefore simple and light in the urgent need to one, drive stroke large, the stepping rotation apparatus that resolution is high.
Summary of the invention
In order to meet the demand, the object of the present invention is to provide a kind of the high accuracy high pulling torque piezoelectricity rotation apparatus and the method that contain H type structure, use three piezoelectric ceramic to cooperatively interact and realize the rotary motion of wide-angle, and adopt rhombus ring to realize actuator power-off locking, there is lightweight construction, volume is little, and can export high pulling torque, large corner, cut off self-lock feature low in energy consumption.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of high accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure, comprise base 1, be installed on the output shaft 2 that base 1 also can rotate freely, the the first actuating arm 3-1 be connected with output shaft 2 respectively by flexible hinge and the second actuating arm 3-2, be connected to the first rhombus ring 4-1 of first actuating arm 3-1 one end, be connected to the second rhombus ring 4-2 of the second actuating arm 3-2 and the corresponding end of the first actuating arm 3-1, be arranged on the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 of the first rhombus ring 4-1 and the second rhombus ring 4-2 inside respectively, be connected to the piezoelectric ceramic 6 between the first actuating arm 3-1 and the second actuating arm 3-2 other end, and by top top cover 7 that pillar is connected with base 1, described first rhombus ring 4-1 is connected with the first actuating arm 3-1 and the second actuating arm 3-2 respectively with major axis one end of the second rhombus ring 4-2, described first actuating arm 3-1 and the second actuating arm 3-2 and output shaft 2 form " H " type structure jointly, distance between installation rear base 1 and top top cover 7 is less than minor axis length and the lateral length of the first rhombus ring 4-1 and the second rhombus ring 4-2, to ensure that the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 structure under powering-off state realizes the locking to output shaft 2 rotary motion.
The the first rhombus ring 4-1 using major axis and plane-parallel namely laterally to place and the second rhombus ring 4-2 carries out locking, and has power-off latch functions.
High accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure described above realizes the method that high pulling torque stepping rotates start, can realize shake double-direction turning movement and export; Structure initial condition first piezoelectric ceramic 5-1, the second piezoelectric ceramic 5-2 and piezoelectric ceramic 6 are all in off-position, by the first rhombus ring 4-1, the second rhombus ring 4-2 and the CONTACT WITH FRICTION locking output shaft 2 between base 1 and top top cover 7;
Adopt following steps when rotation apparatus driver output axle is rotated counterclockwise: the first step, the first piezoelectric ceramic 5-1 is energized, and promotes the first rhombus ring 4-1 major axis and expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7; Second step, keep the first piezoelectric ceramic 5-1 to be energized, piezoelectric ceramic 6 is energized, and the flexible hinge hinge promoted on the first actuating arm 3-1 rotates, the first rhombus ring 4-1 and the first piezoelectric ceramic 5-1 produces displacement counterclockwise under the first actuating arm 3-1 drives; 3rd step, keep piezoelectric ceramic 6 to be energized, the first piezoelectric ceramic 5-1 power-off, the first rhombus ring 4-1 elasticity is recovered, and contact locking with base 1 with top top cover 7, the flexible hinge now on the first actuating arm 3-1 still keeps strain; 4th step, second piezoelectric ceramic 5-2 is energized, second rhombus ring 4-2 major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7, now output shaft 2 occurs in the counterclockwise direction to turn under the driving of the first actuating arm 3-1 flexible hinge elastic-restoring force, and the second actuating arm 3-2, the second rhombus ring 4-2 and the second piezoelectric ceramic 5-2 also will produce displacement counterclockwise simultaneously; 5th step, the second piezoelectric ceramic 5-2 power-off, the second rhombus ring 4-2 elasticity is recovered, and contacts locking with base 1 with top top cover 7; So far acting device return to the first step before state, and by comparison, except base 1 and top top cover 7, the all structures comprising output shaft 2 are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft 2 is rotated counterclockwise;
Adopt following steps when rotation apparatus driver output axle turns clockwise: the first step, the second piezoelectric ceramic 5-2 is energized, and promotes the second rhombus ring 4-2 major axis and expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7; Second step, keep the second piezoelectric ceramic 5-2 to be energized, piezoelectric ceramic 6 is energized, and the flexible hinge promoted on the second actuating arm 3-2 rotates, the second rhombus ring 4-2, the second piezoelectric ceramic 5-2 produce displacement clockwise under the second actuating arm 3-2 drives; 3rd step, keep piezoelectric ceramic 6 to be energized, the second piezoelectric ceramic 5-2 power-off, the second rhombus ring 4-2 elasticity is recovered, and contact locking with base 1 with top top cover 7, the flexible hinge now on the second actuating arm 3-2 still keeps strain; 4th step, first piezoelectric ceramic 5-1 is energized, first rhombus ring 4-1 major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7, now output shaft 2 rotates along clockwise direction under the driving of the second actuating arm 3-2 flexible hinge elastic-restoring force, and the first actuating arm 3-1, the first rhombus ring 4-1 and the first piezoelectric ceramic 5-1 also will produce displacement clockwise simultaneously; 5th step, the first piezoelectric ceramic 5-1 power-off, the first rhombus ring 4-1 elasticity is recovered, and contacts locking with base 1 with top top cover 7; So far actuator return to the first step before state, and by comparison, except base 1 and top top cover 7, the all structures comprising output shaft 2 are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft 2 is rotated counterclockwise.
Compared with prior art, the present invention has following advantages:
1, compared with traditional simple motor driver, the present invention promotes to drive by piezoelectric ceramic, can realize high accuracy high pulling torque and export.
2, adopt the mode of stepping to realize corner to export, realize two-way large corner rotary motion giving full play on the high basis of piezoelectric ceramic start precision.
3, adopt rhombus ring to carry out locking, while amplification piezoelectric pottery start displacement, improving locking reliability, have the function that cuts off self-lock, therefore actuator is low in energy consumption, energy-conserving and environment-protective.
4, actuator configurations is simple, is convenient to processing and installs.
Accompanying drawing explanation
Fig. 1 is the exploded perspective view of acting device of the present invention.
Fig. 2 is the schematic diagram of acting device 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 high accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure of the present invention, comprise base 1, be installed on the output shaft 2 that base 1 also can rotate freely, the the first actuating arm 3-1 be connected with output shaft 2 respectively by flexible hinge and the second actuating arm 3-2, be connected to the first rhombus ring 4-1 of first actuating arm 3-1 one end, be connected to the second rhombus ring 4-2 of the second actuating arm 3-2 and the corresponding end of the first actuating arm 3-1, be arranged on the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 of the first rhombus ring 4-1 and the second rhombus ring 4-2 inside respectively, be connected to the piezoelectric ceramic 6 between the first actuating arm 3-1 and the second actuating arm 3-2 other end, and by top top cover 7 that pillar is connected with base 1, described first rhombus ring 4-1 is connected with the first actuating arm 3-1 and the second actuating arm 3-2 respectively with major axis one end of the second rhombus ring 4-2, described first actuating arm 3-1 and the second actuating arm 3-2 and output shaft 2 form " H " type structure jointly, distance between installation rear base 1 and top top cover 7 is less than minor axis length and the lateral length of the first rhombus ring 4-1 and the second rhombus ring 4-2, to ensure that the first piezoelectric ceramic 5-1 and the second piezoelectric ceramic 5-2 structure under powering-off state realizes the locking to output shaft 2 rotary motion.
The the first rhombus ring 4-1 using major axis and plane-parallel namely laterally to place and the second rhombus ring 4-2 carries out locking, and has power-off latch functions.
High accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure described above realizes the method that high pulling torque stepping rotates start, can realize shake double-direction turning movement and export; Structure initial condition first piezoelectric ceramic 5-1, the second piezoelectric ceramic 5-2 and piezoelectric ceramic 6 are all in off-position, by the first rhombus ring 4-1, the second rhombus ring 4-2 and the CONTACT WITH FRICTION locking output shaft 2 between base 1 and top top cover 7;
Adopt following steps when rotation apparatus driver output axle is rotated counterclockwise: the first step, the first piezoelectric ceramic 5-1 is energized, and promotes the first rhombus ring 4-1 major axis and expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7; Second step, keep the first piezoelectric ceramic 5-1 to be energized, piezoelectric ceramic 6 is energized, and the flexible hinge hinge promoted on the first actuating arm 3-1 rotates, the first rhombus ring 4-1 and the first piezoelectric ceramic 5-1 produces displacement counterclockwise under the first actuating arm 3-1 drives; 3rd step, keep piezoelectric ceramic 6 to be energized, the first piezoelectric ceramic 5-1 power-off, the first rhombus ring 4-1 elasticity is recovered, and contact locking with base 1 with top top cover 7, the flexible hinge now on the first actuating arm 3-1 still keeps strain; 4th step, second piezoelectric ceramic 5-2 is energized, second rhombus ring 4-2 major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7, now output shaft 2 occurs in the counterclockwise direction to turn under the driving of the first actuating arm 3-1 flexible hinge elastic-restoring force, and the second actuating arm 3-2, the second rhombus ring 4-2 and the second piezoelectric ceramic 5-2 also will produce displacement counterclockwise simultaneously; 5th step, the second piezoelectric ceramic 5-2 power-off, the second rhombus ring 4-2 elasticity is recovered, and contacts locking with base 1 with top top cover 7; So far acting device return to the first step before state, and by comparison, except base 1 and top top cover 7, the all structures comprising output shaft 2 are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft 2 is rotated counterclockwise;
Adopt following steps when rotation apparatus driver output axle turns clockwise: the first step, the second piezoelectric ceramic 5-2 is energized, and promotes the second rhombus ring 4-2 major axis and expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7; Second step, keep the second piezoelectric ceramic 5-2 to be energized, piezoelectric ceramic 6 is energized, and the flexible hinge promoted on the second actuating arm 3-2 rotates, the second rhombus ring 4-2, the second piezoelectric ceramic 5-2 produce displacement clockwise under the second actuating arm 3-2 drives; 3rd step, keep piezoelectric ceramic 6 to be energized, the second piezoelectric ceramic 5-2 power-off, the second rhombus ring 4-2 elasticity is recovered, and contact locking with base 1 with top top cover 7, the flexible hinge now on the second actuating arm 3-2 still keeps strain; 4th step, first piezoelectric ceramic 5-1 is energized, first rhombus ring 4-1 major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base 1 and top top cover 7, now output shaft 2 rotates along clockwise direction under the driving of the second actuating arm 3-2 flexible hinge elastic-restoring force, and the first actuating arm 3-1, the first rhombus ring 4-1 and the first piezoelectric ceramic 5-1 also will produce displacement clockwise simultaneously; 5th step, the first piezoelectric ceramic 5-1 power-off, the first rhombus ring 4-1 elasticity is recovered, and contacts locking with base 1 with top top cover 7; So far actuator return to the first step before state, and by comparison, except base 1 and top top cover 7, the all structures comprising output shaft 2 are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft 2 is rotated counterclockwise.
Claims (3)
1. the high accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure, it is characterized in that: comprise base (1), be installed on the upper output shaft (2) that also can rotate freely of base (1), the first actuating arm (3-1) be connected with output shaft (2) respectively by flexible hinge and the second actuating arm (3-2), be connected to the first rhombus ring (4-1) of the first actuating arm (3-1) one end, be connected to the second rhombus ring (4-2) of the second actuating arm (3-2) and the first actuating arm (3-1) corresponding end, be arranged on the first piezoelectric ceramic (5-1) and second piezoelectric ceramic (5-2) of the first rhombus ring (4-1) and the second rhombus ring (4-2) inside respectively, be connected to the piezoelectric ceramic (6) between the first actuating arm (3-1) and the second actuating arm (3-2) other end, and by top top cover (7) that pillar is connected with base (1), described first rhombus ring (4-1) is connected with the first actuating arm (3-1) and the second actuating arm (3-2) respectively with major axis one end of the second rhombus ring (4-2), described first actuating arm (3-1) and the second actuating arm (3-2) form " H " type structure jointly with output shaft (2), distance between installation rear base (1) and top top cover (7) is less than minor axis length and the lateral length of the first rhombus ring (4-1) and the second rhombus ring (4-2), to ensure that the first piezoelectric ceramic (5-1) and the second piezoelectric ceramic (5-2) structure under powering-off state realizes the locking to output shaft (2) rotary motion.
2. the high accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure according to claim 1, it is characterized in that: the first rhombus ring (4-1) using major axis and plane-parallel namely laterally to place and the second rhombus ring (4-2) carry out locking, and have power-off latch functions.
3. the high accuracy high pulling torque piezoelectricity rotation apparatus containing H type structure described in claim 1 or 2 realizes the method that high pulling torque stepping rotates start, it is characterized in that: can realize shake double-direction turning movement and export; Structure initial condition first piezoelectric ceramic (5-1), the second piezoelectric ceramic (5-2) and piezoelectric ceramic (6) are all in off-position, by the first rhombus ring (4-1), the second rhombus ring (4-2) and the CONTACT WITH FRICTION locking output shaft (2) between base (1) and top top cover (7);
Following steps are adopted: the first step when rotation apparatus driver output axle is rotated counterclockwise, first piezoelectric ceramic (5-1) is energized, promote the first rhombus ring (4-1) major axis to expand, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base (1) and top top cover (7); Second step, the first piezoelectric ceramic (5-1) is kept to be energized, piezoelectric ceramic (6) is energized, and the flexible hinge hinge promoted on the first actuating arm (3-1) rotates, the first rhombus ring (4-1) and the first piezoelectric ceramic (5-1) produce displacement counterclockwise under the first actuating arm (3-1) drive; 3rd step, keep piezoelectric ceramic (6) energising, first piezoelectric ceramic (5-1) power-off, first rhombus ring (4-1) elasticity is recovered, contact locking with base (1) with top top cover (7), the flexible hinge now on the first actuating arm (3-1) still keeps strain; 4th step, second piezoelectric ceramic (5-2) is energized, second rhombus ring (4-2) major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base (1) and top top cover (7), now output shaft (2) occurs in the counterclockwise direction to turn under the driving of the first actuating arm (3-1) flexible hinge elastic-restoring force, and the second actuating arm (3-2), the second rhombus ring (4-2) and the second piezoelectric ceramic (5-2) also will produce displacement counterclockwise simultaneously; 5th step, the second piezoelectric ceramic (5-2) power-off, the second rhombus ring (4-2) elasticity is recovered, and contacts locking with base (1) with top top cover (7); So far acting device return to the first step before state, and by comparison, except base (1) and top top cover (7), the all structures comprising output shaft (2) are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft (2) is rotated counterclockwise;
Following steps are adopted: the first step when rotation apparatus driver output axle turns clockwise, second piezoelectric ceramic (5-2) is energized, promote the second rhombus ring (4-2) major axis to expand, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base (1) and top top cover (7); Second step, the second piezoelectric ceramic (5-2) is kept to be energized, piezoelectric ceramic (6) is energized, and the flexible hinge promoted on the second actuating arm (3-2) rotates, the second rhombus ring (4-2), the second piezoelectric ceramic (5-2) produce displacement clockwise under the second actuating arm (3-2) drives; 3rd step, keep piezoelectric ceramic (6) energising, second piezoelectric ceramic (5-2) power-off, second rhombus ring (4-2) elasticity is recovered, contact locking with base (1) with top top cover (7), the flexible hinge now on the second actuating arm (3-2) still keeps strain; 4th step, first piezoelectric ceramic (5-1) is energized, first rhombus ring (4-1) major axis expands, minor axis and cross-direction shrinkage, disengaging and the CONTACT WITH FRICTION between base (1) and top top cover (7), now output shaft (2) rotates along clockwise direction under the driving of the second actuating arm (3-2) flexible hinge elastic-restoring force, and the first actuating arm (3-1), the first rhombus ring (4-1) and the first piezoelectric ceramic (5-1) also will produce displacement clockwise simultaneously; 5th step, the first piezoelectric ceramic (5-1) power-off, the first rhombus ring (4-1) elasticity is recovered, and contacts locking with base (1) with top top cover (7); So far actuator return to the first step before state, and by comparison, except base (1) and top top cover (7), the all structures comprising output shaft (2) are completed along a counterclockwise step rotary motion, repeat above-mentioned one to five step, the large corner namely realizing acting device output shaft (2) is rotated counterclockwise.
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| CN106229012A (en) * | 2016-09-09 | 2016-12-14 | 西安交通大学 | A kind of big displacement high frequency sound Three Degree Of Freedom Piezoelectric Driving precisely locating platform |
| CN106887972A (en) * | 2017-04-13 | 2017-06-23 | 西安交通大学 | Step-by-step movement angular displacement piezoelectric actuator and method that a kind of herringbone structure drives |
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| CN109818528A (en) * | 2019-02-20 | 2019-05-28 | 华南农业大学 | A kind of step-by-step movement rotating piezoelectric motor and its driving method |
| CN110247580A (en) * | 2018-03-09 | 2019-09-17 | Eta瑞士钟表制造股份有限公司 | Rotary piezoelectric motor with axial preloading |
| CN110247581A (en) * | 2018-03-09 | 2019-09-17 | Eta瑞士钟表制造股份有限公司 | Rotary piezoelectric motor for disk-shaped member |
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| CN110247581A (en) * | 2018-03-09 | 2019-09-17 | Eta瑞士钟表制造股份有限公司 | Rotary piezoelectric motor for disk-shaped member |
| CN110247581B (en) * | 2018-03-09 | 2021-06-08 | Eta瑞士钟表制造股份有限公司 | Rotating piezoelectric motor for disc-shaped parts |
| CN110247580B (en) * | 2018-03-09 | 2021-06-08 | Eta瑞士钟表制造股份有限公司 | Rotating piezoelectric motor with axial preload |
| CN109818528A (en) * | 2019-02-20 | 2019-05-28 | 华南农业大学 | A kind of step-by-step movement rotating piezoelectric motor and its driving method |
| CN109818528B (en) * | 2019-02-20 | 2020-05-15 | 华南农业大学 | Stepping type rotary piezoelectric motor and driving method thereof |
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| CN105490581B (en) | 2017-08-25 |
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