CN105871115A - Hybrid actuator based on electromagnetic drive piezoelectric clamp and actuation method - Google Patents
Hybrid actuator based on electromagnetic drive piezoelectric clamp and actuation method Download PDFInfo
- Publication number
- CN105871115A CN105871115A CN201610326611.4A CN201610326611A CN105871115A CN 105871115 A CN105871115 A CN 105871115A CN 201610326611 A CN201610326611 A CN 201610326611A CN 105871115 A CN105871115 A CN 105871115A
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- ball
- ball bearing
- permanent magnet
- screw
- displacement
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention provides a hybrid actuator based on an electromagnetic drive piezoelectric clamp and an actuation method. The actuator mainly comprises a four-phase brushless motor, a ball screw used for converting rotation of a permanent magnet into linear movement, two ball bearings used for limiting axial displacement of the permanent magnet, a clamp mechanism having an annular locking function when bearing prestress, and a piezoelectric stack capable of expanding the clamp mechanism so that the motor can drive the permanent magnet and the ball screw to output axial displacement, wherein under the condition of outage, the clamp mechanism locks the screw and limits rotation of the screw. Displacement can be output only by means of the piezoelectric stack and the brushless motor in a power-on mode, and the locking maintaining function is achieved during outage.
Description
Technical field
The invention belongs to electromagnetism, piezoelectric actuator technical field, be specifically related to a kind of based on electromagnetism
Drive mixing actuator and the start method of piezoelectricity clamper.
Background technology
Electromagnetism, piezoelectric actuator are widely used in fields such as space flight, aviation, medical treatment.Existing
The reptile fashion of piezoelectricity step-by-step movement actuator natural imitation ungraduated ruler earwig, by small to piezoelectric stack
The accumulation of step pitch displacement, can realize half step distance, theoretical stroke precision infinitely great, high-resolution
Two-way step motion.But existing structure often cannot provide bigger locking power, often goes out
The phenomenon now slipped causes precision to reduce, and the most existing actuator typically requires three even more
Many piezoelectric pile carry out work, bring actuator volume big, quality while job step is loaded down with trivial details
Greatly, high in cost of production problem.
Summary of the invention
In order to solve the problem that above-mentioned prior art exists, it is an object of the invention to provide one
Mixing actuator based on Electromagnetic Drive piezoelectricity clamper and start method, this actuator configurations is tight
Gathering, volume is little, lightweight, and precision is high, and exportable big displacement, by piezoelectric pile, can realize
Clamper latch functions, such that it is able to provide bigger locking power.
In order to achieve the above object, the present invention adopts the following technical scheme that
A kind of mixing actuator based on Electromagnetic Drive piezoelectricity clamper, including base 1, is fixed on
Outer cage 7 on base 1, base 1 center is fixed with the first ball bearing 2；Outer cage 7
Inside is fixed with platform 11, and platform 11 is positioned at one end of the first ball bearing 2 and is fixed with second
Ball bearing 6, is provided with permanent magnet 5 between the first ball bearing 2 and the second ball bearing 6,
And first ball bearing 2 and the second ball bearing 6 limit the axial displacement of permanent magnet 5；Permanent magnetism
It is permanent magnet that body 5 border is provided with iron core 3 and stator winding 4, iron core 3 and stator winding 4
5 by the rotating excitation field of electromagnetic torque；The other end of platform 11 is provided with clamping mechanism 9, pincers
Two semicircular structures that position mechanism 9 is connected for one end and is fixed on outer cage 7, generally
Circular configuration, two semicircular structure corresponding positions respectively have two shrinkage pools, and one of them is recessed
Being placed with piezoelectric pile 8 in hole, the bottom of piezoelectric pile 8 is placed on platform 11, and another is recessed
Hole forms annular locking position, extends there through for ball-screw 10；Ball-screw 10 one end
Pass the annular locking position of clamping mechanism 9, the other end sequentially pass through the second ball bearing 6,
Permanent magnet 5 and the first ball bearing 2, and pass base 1, ball-screw 10 and permanent magnet 5
Between by thread screw coordinate export axial displacement.
It is threaded connection between described outer cage 7 and base 1.
The start method of mixing actuator based on Electromagnetic Drive piezoelectricity clamper described above, including
Following steps:
The first step: apply voltage first to piezoelectric pile 8, make the clamping mechanism 9 by pretightning force
Two semicircular structures strut certain angle, make annular locking position unclamp ball-screw
10, apply voltage then to the stator winding 4 of brushless electric machine and form a rotating excitation field to permanent magnetism
Body 5 provides electromagnetic torque, and the first ball bearing 2 and the second ball bearing 6 limit permanent magnet
The axial displacement of 5, therefore, transfers the rotary motion of permanent magnet 5 to ball-screw 10 straight
Line moves, and ball-screw 10 i.e. exports straight-line displacement；
Second step: lay down the voltage in piezoelectric pile 8, makes clamping mechanism 9 close under precompression
Recover, annular locking position locking ball-screw 10 limit its output displacement, after lay down stator
Voltage on winding 4 makes whole actuator be in the state that power-off keeps, the most whole actuator
Power output provided by clamping mechanism 9.
By above-mentioned steps, actuator is capable of big stroke and big power output start；If needed
Complete reverse displacement, then have only to apply rightabout voltage on stator winding 4,
Then producing a reverse electromagnetic torque, its course of work is identical.
Compared to the prior art the present invention, has the advantage that
(1) due to piezoelectric pile costly, the present invention is only with a piezoelectric pile and
The most cheap individual brushless electric machine just achieves the output of big displacement.
(2) can be with continuous firing due to brushless electric machine, by single step position unlike piezoelectric pile
The restriction moved, therefore working method is not required to use step-by-step movement to drive, relatively simple.
(3) this actuator configurations is short, has less volume.
(4) this actuator can realize power-off locking, can keep under some workplace
The duty of load, thus significantly reduce the power consumption of system.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is piezoelectric pile power-off clamping mechanism locking schematic diagram.
Fig. 3 is that piezoelectric pile powers up clamping mechanism and struts schematic diagram.
Detailed description of the invention
As shown in Figure 1, Figure 2 and Figure 3, the present invention is a kind of based on Electromagnetic Drive piezoelectricity clamper
Mixing actuator, including base 1, the outer cage 7 being fixed on base 1, base 1 center
It is fixed with the first ball bearing 2；Outer cage 7 is internal is fixed with platform 11, and platform 11 is positioned at
One end of first ball bearing 2 is fixed with the second ball bearing 6, the first ball bearing 2 and
Permanent magnet 5, and the first ball bearing 2 and the second ball bearing it is provided with between two ball bearings 6
The 6 axial displacements limiting permanent magnet 5；Permanent magnet 5 border is provided with iron core 3 and stator winding
4, iron core 3 and stator winding 4 are the permanent magnet 5 rotating excitation field by electromagnetic torque；Platform
The other end of 11 is provided with clamping mechanism 9, and clamping mechanism 9 is connected for one end and is fixed on outer machine
Two semicircular structures, generally circular configurations on shell 7, two semicircular structure correspondence positions
The place of putting respectively has two shrinkage pools, is placed with piezoelectric pile 8 in one of them shrinkage pool, piezoelectric pile 8
Bottom is placed on platform 11, and another shrinkage pool forms annular locking position for ball-screw
10 extend there through；Ball-screw 10 one end passes the annular locking position of clamping mechanism 9, separately
One end sequentially passes through the second ball bearing 6, permanent magnet 5 and the first ball bearing 2, and passes
Base 1, coordinates the axial displacement of output by thread screw between ball-screw 10 with permanent magnet 5.
As the preferred embodiment of the present invention, between described outer cage 7 and base 1, pass through screw thread
Connect, it is simple to dismounting.
The start method of mixing actuator based on Electromagnetic Drive piezoelectricity clamper of the present invention, bag
Include following steps:
The first step: apply voltage first to piezoelectric pile 8, make the clamping mechanism 9 by pretightning force
Two semicircular structures strut certain angle, make annular locking position unclamp ball-screw
10, apply voltage then to the stator winding 4 of brushless electric machine and form a rotating excitation field to permanent magnetism
Body 5 provides electromagnetic torque, and the first ball bearing 2 and the second ball bearing 6 limit permanent magnet
The axial displacement of 5, therefore, transfers the rotary motion of permanent magnet 5 to ball-screw 10 straight
Line moves, and ball-screw 10 i.e. exports straight-line displacement；
Second step: lay down the voltage in piezoelectric pile 8, makes clamping mechanism 9 close under precompression
Recover, annular locking position locking ball-screw 10 limit its output displacement, after lay down stator
Voltage on winding 4 makes whole actuator be in the state that power-off keeps, the most whole actuator
Power output provided by clamping mechanism 9.
By above-mentioned steps, actuator is capable of big stroke and big power output start；If needed
Complete reverse displacement, then have only to apply rightabout voltage on stator winding 4,
Then producing a reverse electromagnetic torque, its course of work is identical.
Claims (3)
1. a mixing actuator based on Electromagnetic Drive piezoelectricity clamper, it is characterised in that: include base (1),
The outer cage (7) being fixed on base (1), base (1) center is fixed with the first ball bearing (2)；
Outer cage (7) is internal is fixed with platform (11), and platform (11) is positioned at one end of the first ball bearing (2)
It is fixed with the second ball bearing (6), is provided with between the first ball bearing (2) and the second ball bearing (6)
Permanent magnet (5), and the first ball bearing (2) and the second ball bearing (6) limit the axle of permanent magnet (5)
To displacement；Permanent magnet (5) border is provided with iron core (3) and stator winding (4), iron core (3) and stator
Winding (4) is the permanent magnet (5) rotating excitation field by electromagnetic torque；The other end of platform (11) is arranged
Having clamping mechanism (9), clamping mechanism (9) is that one end is connected and is fixed on two and half on outer cage (7)
Circular configuration, generally circular configuration, two semicircular structure corresponding positions respectively have two shrinkage pools, its
In be placed with piezoelectric pile (8) in a shrinkage pool, the bottom of piezoelectric pile (8) is placed on platform (11), separately
One shrinkage pool forms annular locking position and extends there through for ball-screw (10)；Ball-screw (10) one
End passes the annular locking position of clamping mechanism (9), and the other end sequentially passes through the second ball bearing (6), forever
Magnet (5) and the first ball bearing (2), and pass base (1), ball-screw (10) and permanent magnet (5)
Between by thread screw coordinate export axial displacement.
Mixing actuator based on Electromagnetic Drive piezoelectricity clamper the most according to claim 1, its feature exists
In: it is threaded connection between described outer cage (7) and base (1).
3. the start method of mixing actuator based on Electromagnetic Drive piezoelectricity clamper described in claim 1, it is special
Levy and be: comprise the steps:
The first step: apply voltage first to piezoelectric pile (8), make clamping mechanism (9) by precompression
Two semicircular structures strut certain angle, make annular locking position unclamp ball-screw (10), then give
The stator winding (4) of brushless electric machine applies voltage and forms a rotating excitation field to permanent magnet (5) offer electromagnetism
Torque, the first ball bearing (2) and the second ball bearing (6) limit the axial displacement of permanent magnet (5),
Therefore, the rotary motion of permanent magnet (5) is transferred the linear motion of ball-screw (10), ball-screw (10) to
I.e. export straight-line displacement；
Second step: lay down the voltage in piezoelectric pile (8), makes clamping mechanism (9) close extensive under precompression
Multiple, annular locking position locking ball-screw (10) limits its output displacement, after lay down stator winding (4)
On voltage make whole actuator be in power-off keep state, the power output of the most whole actuator is by clamper
Mechanism (9) provides.
By above-mentioned steps, actuator is capable of big stroke and big power output start；If having needed anti-
To displacement, then have only to apply rightabout voltage stator winding (4) is upper, then produce one reversely
Electromagnetic torque, its course of work is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326611.4A CN105871115B (en) | 2016-05-17 | 2016-05-17 | A kind of mixing actuator and start method based on electromagnetic drive piezoelectricity clamper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610326611.4A CN105871115B (en) | 2016-05-17 | 2016-05-17 | A kind of mixing actuator and start method based on electromagnetic drive piezoelectricity clamper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105871115A true CN105871115A (en) | 2016-08-17 |
| CN105871115B CN105871115B (en) | 2018-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610326611.4A Expired - Fee Related CN105871115B (en) | 2016-05-17 | 2016-05-17 | A kind of mixing actuator and start method based on electromagnetic drive piezoelectricity clamper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0888953A (en) * | 1994-09-13 | 1996-04-02 | Senjo Seiki Kk | Actuator |
| US20100073873A1 (en) * | 2008-09-23 | 2010-03-25 | Alex Horng | Inner-Rotor-Type Heat Dissipating Fan |
| JP5350075B2 (en) * | 2009-05-26 | 2013-11-27 | 株式会社ミツバ | Motor unit with reduction gear |
| CN104578901A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Walking piezoelectric rotary motor |
| CN105290267A (en) * | 2015-11-23 | 2016-02-03 | 天津出入境检验检疫局化矿金属材料检测中心 | Device for straightening steel wire split from steel wire rope |
-
2016
- 2016-05-17 CN CN201610326611.4A patent/CN105871115B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0888953A (en) * | 1994-09-13 | 1996-04-02 | Senjo Seiki Kk | Actuator |
| US20100073873A1 (en) * | 2008-09-23 | 2010-03-25 | Alex Horng | Inner-Rotor-Type Heat Dissipating Fan |
| JP5350075B2 (en) * | 2009-05-26 | 2013-11-27 | 株式会社ミツバ | Motor unit with reduction gear |
| CN104578901A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Walking piezoelectric rotary motor |
| CN105290267A (en) * | 2015-11-23 | 2016-02-03 | 天津出入境检验检疫局化矿金属材料检测中心 | Device for straightening steel wire split from steel wire rope |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| Publication number | Publication date |
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| CN105871115B (en) | 2018-03-16 |
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Granted publication date: 20180316 Termination date: 20210517 |