CN105932902A - J-type structure precise piezoelectric stick-slip linear motor and drive method thereof - Google Patents
J-type structure precise piezoelectric stick-slip linear motor and drive method thereof Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000033228 biological regulation Effects 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000000956 alloy Substances 0.000 claims description 5
- 239000002783 friction material Substances 0.000 claims description 5
- 239000003365 glass fiber Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 2
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 229910045601 alloy Inorganic materials 0.000 claims 3
- 229910001069 Ti alloy Inorganic materials 0.000 claims 2
- 229910001344 5052 aluminium alloy Inorganic materials 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 9
- 230000003287 optical effect Effects 0.000 abstract description 2
- 239000004065 semiconductor Substances 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 230000001629 suppression Effects 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
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Abstract
The invention discloses a J-type structure precise piezoelectric stick-slip linear motor and a drive method thereof. The problem that the output mechanical property is limited since the current piezoelectric stick-slip linear motor is difficult in friction force comprehensive regulation is solved. The motor is composed of four parts: a fixed base, a pre-pressure loading mechanism, a J-type structure stator and a rotor; the stator adopts a J-type hinge mechanism so that the axial rigidity distribution of the stator is non-uniform, the stator drive end is excited to produce the lateral displacement so as to increase the friction drive force and reduce the friction resistance; and meanwhile, the friction regulation wave is coupled and overlapped to the sawtooth drive wave of the slanted-slot type stator at the fast deformation stage, thereby reducing the friction resistance between the stator and the rotor at the fast deformation stage, implementing the comprehensive regulation on the friction force, and obviously promoting the mechanical output feature of the piezoelectric stick-slip linear motor. The motor disclosed by the invention has the features of being simple in structure, high in precision and large in travel, and has good application prospect in the aerospace aviation, optical precision instrument, semiconductor processing and like micro-nano precise driving and positioning field.
Description
Technical field
The present invention relates to a kind of J-type structure precision piezoelectricity stick-slip line motor and driving method thereof, belong to micro-nano precision actuation and field of locating technology.
Background technology
Piezoelectricity stick-slip line motor is a kind of inverse piezoelectric effect utilizing piezoelectric element, excites oscillator (or weighed son) to produce micro breadth oscillation, coupled the accurate micro-nano driver realizing mechanical energy output by the friction between oscillator with mover under Asymmetric Electric signal encourages.According to the difference of driving operation principle, piezoelectricity stick-slip line motor is broadly divided into resonance type piezo-electric motor (also referred to as supersonic motor) and the big class of non-co-vibration shape piezo-electric motor (also referred to as piezoelectricity stick-slip motor) two.Compared with resonance type piezo-electric motor, piezoelectricity stick-slip line motor have simple and compact for structure, positioning precision is high and the advantage such as easy to control, is widely used in precision actuation and field of locating technology.
Piezoelectricity stick-slip drives and mainly the saw tooth excitation signal of telecommunication is put on piezoelectric element, stator is excited to produce speed motion deformation alternately, control stator and mover is mutually changed between " gluing " and " cunning " two kinds of kinestates, utilize frictional force drives mover to realize mechanical movement output.But, owing to piezoelectricity stick-slip drives slowly and the rapid deformation stage, between stator and mover, frictional force plays not same-action, shows as friction drive, and show as frictional resistance when rapid deformation drives the stage when being specially the slowly deformation driving stage.The technology of being disclosed shows current piezoelectricity stick-slip line motor cannot realize the frictional force of whole driving process and carries out comprehensive regulation, causes its output mechanical performance limited.Rapid deformation at stator especially drives the stage, owing to mover friction moves in opposite direction, when mover inertia force is not enough to overcome this frictional resistance, mover will be caused to produce rollback motion, show as the jagged unstable movement output of class, deterioration output performance, the existing saw tooth excitation signal of telecommunication cannot realize driving piezoelectricity stick-slip line motor rapid deformation the regulation and control of stage frictional force, further limit application and the development of piezoelectricity stick-slip line motor.
Summary of the invention
For solving existing piezoelectricity stick-slip line motor due to frictional force comprehensive regulation difficulty between stator and mover, the output mechanical performance caused is limited, produce the unstable movement output of class zigzag, the technical problems such as deterioration output performance, the invention discloses a kind of J-type structure precision piezoelectricity stick-slip line motor and driving method thereof.
The technical solution adopted in the present invention is:
Described a kind of J-type structure precision piezoelectricity stick-slip line motor is made up of fixed pedestal, pre-pressure loading mechanism, J-type structure stator and mover.
Described fixed pedestal includes fixed pedestal installing hole, pre-pressure loading mechanism threaded mounting hole, guide rails assembling plane and guide rail threaded mounting hole.Described fixed pedestal installing hole can be fixed with other peripheral unit, and pre-pressure loading mechanism threaded mounting hole is fixed for pre-pressure loading mechanism, and described guide rails assembling plane and guide rail threaded mounting hole are used for installing mover.
Described pre-pressure loading mechanism is the precompression governor motion of J-type structure precision piezoelectricity stick-slip line motor, and described pre-pressure loading mechanism includes lower fixed station, upper mobile station, manual adjusting screw rod and trip bolt.Described lower fixed station is provided with screwed hole for threadeding with manual adjusting screw rod, and described lower fixed station is provided with fixed cylinder and adjusts spring for installing precompression, and described lower fixed station is provided with the guiding rail movement for upper mobile station.Described guiding rail is provided with guide rail stop screw and installing hole, is threaded connection and can realize fixing between fixed pedestal, and described lower fixed station is provided with retainer and screw can realize the locking to upper mobile station by regulation trip bolt.Described upper mobile station upper surface is provided with screwed hole for fixedly mounting J-type structure stator, and the side of described upper mobile station is provided with fastening threaded mounting hole and threadeds with trip bolt.
Described J-type structure stator includes J-type hinge, stacked piezoelectric actuator, pretension bolt and adjustment pad.Described J-type hinge is provided with fixed installation hole, it is threadably secured being connected by the upper surface of J-type hinge with upper mobile station by screw, described J-type hinge is provided with straight round flexible hinge and straight round flexible hinge is had identical radius of corner value, described straight round flexible hinge and straight round flexible hinge and is attached by buckstay.Described stacked piezoelectric actuator one end is fixedly mounted on J-type hinge by pretension bolt, the other end contacts with crossbeam, described J-type structure stator uses the flexible hinge of symmetrical rectangular structure to carry out displacement equations, sawtooth waveforms signal of telecommunication excitation stacked piezoelectric actuator produces power output, is delivered on crossbeam by adjusting pad.Described pretension bolt installing hole is threadeded with pretension bolt, it is provided with adjustment pad between rear end face and the pretension bolt of described stacked piezoelectric actuator, by adjusting the screwing length of pre-loading screw, the regulation of the axial pretightening to stacked piezoelectric actuator can be realized.
Described mover is biserial decussation roller guide rail, including movable guiding rail, guide rail caging bolt, fixing guide rail, biserial decussation roller guide rails assembling bolt and biserial decussation roller guide holder.Described fixing guide rail is threaded connection and biserial decussation roller guide rails assembling bolt and guide rail threaded mounting hole is fixed in guide rails assembling plane, described fixing guide rail is provided with biserial decussation roller guide holder and roller, the slip that described biserial decussation roller guide holder and roller are mover provides and supports, and the movable guiding rail of mover and the two ends of fixing guide rail arrange guide rail caging bolt and carry out spacing.
The complex incentive signal of telecommunication employed in described driving method is driven in ripple by the regulation and control ripple complex superposition sawtooth in the stator rapid deformation stage that rubs, and described driving ripple is sawtooth waveforms, and described friction regulation and control ripple is sinusoidal wave.Described driving method can reduce the frictional resistance between rapid deformation stage stator and mover, and suppression rollback motion produces, and wherein sawtooth drives be T period of wave1, driving voltage amplitude is V1, symmetry is D, a little friction sine regulation and control period of wave be T2, driving voltage amplitude is V2, sawtooth drives ripple to be T with the period ratio of friction sine regulation and control ripple a little1/T2=10 ~ 100000, driving voltage Amplitude Ration is V1/V2More than 2.
The invention has the beneficial effects as follows:
Due to the fact that and use the J-type stator structure with frictional force comprehensive regulation function, encouraged by the complex incentive signal of telecommunication simultaneously, increase stator and slowly deform friction drive between driving stage stator and mover, reduce stator rapid deformation and drive frictional resistance between stage stator and mover, achieve the frictional force to piezoelectricity stick-slip line motor whole driving process and carry out comprehensive regulation, piezoelectricity stick-slip line motor machinery output characteristics, the generation of suppression displacement rollback motion can be obviously improved.Compared with current prior art, power output promotes more than 20%, and output speed promotes more than 25%, and displacement rollback rate reduces by more than 50%, and delivery efficiency promotes more than 50%, and under open loop condition, positioning precision is up to nanoscale.
Accompanying drawing explanation
Fig. 1 show the structural representation of the J-type structure precision piezoelectricity stick-slip line motor that the present invention proposes；
Fig. 2 show the structural representation of the J-type structure precision piezoelectricity stick-slip line motor fixed pedestal that the present invention proposes；
The structural representation of Fig. 3 show that the present invention proposes J-type structure precision piezoelectricity stick-slip line motor pre-pressure loading mechanism；
The structural representation of the lower fixed station of Fig. 4 show that the present invention proposes J-type structure precision piezoelectricity stick-slip line motor pre-pressure loading mechanism；
The structural representation of the upper mobile station of Fig. 5 show that the present invention proposes J-type structure precision piezoelectricity stick-slip line motor pre-pressure loading mechanism；
Fig. 6 show the structural representation of the J-type structure precision piezoelectricity stick-slip line motor J-type structure stator that the present invention proposes；
Fig. 7 show the structural representation of the flexible hinge of the J-type structure precision piezoelectricity stick-slip line motor J-type structure stator that the present invention proposes；
Fig. 8 show the partial enlargement structural representation of the J-type structure precision piezoelectricity stick-slip line motor J-type structure stator that the present invention proposes；
Fig. 9 show the structural representation of the J-type structure precision piezoelectricity stick-slip line motor mover that the present invention proposes；
Figure 10 show the electric signal waveform schematic diagram of the J-type structure precision piezoelectricity stick-slip line motor driving method that the present invention proposes.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 ~ Fig. 9 and present embodiment is described.Present embodiments provide for the specific embodiments of a kind of J-type structure precision piezoelectricity stick-slip line motor.Described a kind of J-type structure precision piezoelectricity stick-slip line motor is made up of fixed pedestal 1, pre-pressure loading mechanism 2, J-type structure stator 3 and mover 4.
Described fixed pedestal 1 uses "L" shaped structure, described fixed pedestal 1 can use high magnetic stainless steel material.Described fixed pedestal 1 includes fixed pedestal installing hole 1-1, pre-pressure loading mechanism threaded mounting hole 1-2, guide rails assembling plane 1-3 and guide rail threaded mounting hole 1-4.Described fixed pedestal installing hole 1-1, can be fixed with other peripheral unit, pre-pressure loading mechanism threaded mounting hole 1-2, and fixing for pre-pressure loading mechanism 2, described guide rails assembling plane 1-3 and guide rail threaded mounting hole 1-4 are used for installing mover 4.
Described pre-pressure loading mechanism 2 is the precompression governor motion of J-type structure precision piezoelectricity stick-slip line motor, and described pre-pressure loading mechanism 2 includes lower fixed station 2-1, upper mobile station 2-2, manual adjusting screw rod 2-3 and trip bolt 2-4.Described lower fixed station 2-1 is provided with screwed hole 2-1-1, it is for threadeding with manual adjusting screw rod 2-3, described lower fixed station 2-1 is provided with fixed cylinder 2-1-2, spring 2-1-4 is adjusted for installing precompression, described lower fixed station 2-1 is provided with guiding rail 2-1-3, for the movement of upper mobile station 2-2.Described guiding rail 2-1-3 is provided with 4n guide rail stop screw 2-1-5, and wherein n is the integer more than or equal to 2.Described guide rail stop screw 2-1-5 can limit the mobile station 2-2 stroke beyond guiding rail 2-1-3, it is provided with installing hole 2-1-6 bottom described lower fixed station 2-1, it is threaded connection and can realize fixing between fixed pedestal 1, described lower fixed station 2-1 is provided with retainer 2-1-7 and screw 2-1-8, by regulation trip bolt 2-4, the locking to upper mobile station 2-2 can be realized, the movement of upper mobile station 2-2 after preventing from having loaded.Described upper mobile station 2-2 upper surface is provided with screwed hole 2-2-1, is used for fixedly mounting J-type structure stator 3, and the side of described upper mobile station 2-2 is provided with fastening threaded mounting hole 2-2-2, described fastening threaded mounting hole 2-2-2 and threadeds with trip bolt 2-4.
Described J-type structure stator 3 includes that J-type hinge 3-1, stacked piezoelectric actuator 3-2, pretension bolt 3-3 and adjustment pad 3-4, described J-type hinge 3-1 can use 5052,6061 or 7075 aluminum alloy materials.Described J-type hinge 3-1 is provided with fixed installation hole 3-1-1, it is threadably secured being connected with the upper surface of upper mobile station 2-2 by J-type hinge 3-1 by screw, described J-type hinge 3-1 is provided with straight round flexible hinge 3-1-2 and straight round flexible hinge 3-1-6, described straight round flexible hinge 3-1-2 and straight round flexible hinge 3-1-6 and has identical radius of corner value R1.Described straight round flexible hinge 3-1-2 and straight round flexible hinge 3-1-6 is attached by buckstay 3-1-3, and the distance between described 2 buckstay 3-1-3 is L, wherein R1/ L span is 1/60 ~ 1/12, R in present embodiment1=1.1mm, L=13mm.Described stacked piezoelectric actuator 3-2 one end is fixedly mounted on J-type hinge 3-1 by pretension bolt 3-3, and the other end contacts with crossbeam 3-1-5, the described a length of L of crossbeam 3-1-51, wherein L1/ L span is 1/6 ~ 5/6.Described J-type structure stator 3 uses the flexible hinge of symmetrical rectangular structure to carry out displacement equations, sawtooth waveforms signal of telecommunication excitation stacked piezoelectric actuator 3-2 produces power output, being delivered on crossbeam 3-1-5 by adjusting pad 3-4, described crossbeam 3-1-5 and J-type drive and produce lateral displacement because of axial rigidity skewness between foot 3-1-4.Friction drive when increasing the slowly deformation driving stage, reduces frictional resistance when rapid deformation drives the stage, can realize the comprehensive regulation to frictional force.Described J-type hinge 3-1 is provided with J-type and drives foot 3-1-4, and described J-type drives the thickness of foot (3-1-4) to be N, and the thickness of movable guiding rail 4-1 is M, wherein N≤M can ensure that effective contact area, improves transmission efficiency, wherein M=(N+1) mm, M=8mm in present embodiment, N=7mm.Described J-type drives foot 3-1-4 to include roundlet 3-1-4-1, transition circle 3-1-4-2 and great circle 3-1-4-3, and described roundlet 3-1-4-1 radius is R2, described great circle 3-1-4-3 radius is respectively R3, wherein R2/ R3Span is 1/2 ~ 1.Described J-type drives foot 3-1-4 end face to scribble ceramic-like or glass fibre class friction material accordingly, described J-type drives foot 3-1-4 to drive mover 4 to move, described pretension bolt installing hole 3-1-7 is threadeded with pretension bolt 3-3, and described stacked piezoelectric actuator 3-2 can be the stacked piezoelectric actuator of the companies such as PI or NEC.Adjustment pad 3-4 it is provided with between rear end face and the pretension bolt 3-3 of described stacked piezoelectric actuator 3-2; adjustment pad 3-4 it is provided with between front end face and the J-type hinge 3-1 of described stacked piezoelectric actuator 3-2; the purpose that described stacked piezoelectric actuator 3-2 front/rear end arranges pad 3-4 is to protect stacked piezoelectric actuator 3-2, prevents it from producing shear strain or local pressure is uneven.By adjusting the screwing length of pre-loading screw 3-3, the regulation of the axial pretightening to stacked piezoelectric actuator 3-2 can be realized.
Described mover 4 is biserial decussation roller guide rail, including movable guiding rail 4-1, guide rail caging bolt 4-2, fixing guide rail 4-3, biserial decussation roller guide rails assembling bolt 4-4 and biserial decussation roller guide holder 4-5.Described movable guiding rail 4-1 end face scribbles ceramic-like or glass fibre class friction material accordingly, described fixing guide rail 4-3, it is threaded connection and biserial decussation roller guide rails assembling bolt 4-4 and guide rail threaded mounting hole 1-4 is fixed in guide rails assembling plane 1-3, described fixing guide rail 4-3 is provided with biserial decussation roller guide holder 4-5 and roller, and the slip that described biserial decussation roller guide holder 4-5 and roller are mover 4 provides and supports.In order to avoid biserial decussation roller guide holder 4-5 and roller skid off guide rail, the two ends at the movable guiding rail 4-1 and fixing guide rail 4-3 of mover 4 arrange guide rail caging bolt 4-2 and carry out spacing respectively.
Detailed description of the invention two: combine Figure 10 figure explanation present embodiment.Present embodiments provide for the specific embodiments of a kind of J-type structure precision piezoelectricity stick-slip line motor driving method.Described a kind of J-type structure precision piezoelectricity stick-slip line motor driving method is as follows.
The complex incentive signal of telecommunication employed in described driving method is driven in ripple by the regulation and control ripple complex superposition sawtooth in the stator rapid deformation stage that rubs, and described driving ripple is sawtooth waveforms, and described friction regulation and control ripple can be sinusoidal wave.Wherein, sawtooth drives be T period of wave1, driving voltage amplitude is V1, symmetry is D, a little friction sine regulation and control period of wave be T2, driving voltage amplitude is V2, sawtooth drives ripple to be T with the period ratio of friction sine regulation and control ripple a little1/T2=10 ~ 100000, driving voltage Amplitude Ration is V1/V2More than 2.
Operation principle: J-type structure precision piezoelectricity stick-slip line motor and driving method thereof are mainly under compound electric signal encourages, the frictional force between comprehensive regulation stator and mover, and then promote piezoelectricity stick-slip line motor machinery output characteristics.The crossbeam of the stator of the present invention and J-type drive between foot because of axial rigidity skewness, J-type is excited to drive foot to produce lateral displacement, adjust stator and the normal pressure contacted between mover, i.e. slowly deform the driving stage at stator, increase stator and the normal pressure contacted between mover, and then increase the friction drive between stator and mover, the stage is driven at stator rapid deformation, reduce stator and the normal pressure contacted between mover, and then reduce the frictional resistance between stator and mover, realize slowly deformation driving stage friction drive and rapid deformation are driven the comprehensive regulation of stage frictional resistance, promote complete machine output performance.Simultaneously, the present invention drives in ripple by friction regulates and controls the ripple complex superposition sawtooth in the stator rapid deformation stage, stator is excited to be in dither state a little, improve driving contact state between stator and mover, reduce the real contact area between stator and mover and actual time of contact, thus reduce rapid deformation and drive frictional resistance between stage fixed and moving son, suppression rollback motion produces, and can be obviously improved piezoelectricity stick-slip line motor machinery output characteristics.
Comprehensive above said content, the present invention provides a kind of J-type structure precision piezoelectricity stick-slip line motor and driving method thereof, utilizes crossbeam and J-type to drive between foot and produces lateral displacement because of axial rigidity skewness, the frictional force between comprehensive regulation stator and mover；The driving method that the present invention provides can suppress the generation that displacement rollback moves, and is obviously improved Linear piezoelectric motor machinery output characteristics.J-type hinge and stacked piezoelectric actuator are assembled into a stator, and assembling is simple, it is easy to regulation；Designed pre-pressure loading mechanism can regulate the precompression contacted between stator with mover easily.The present invention has the features such as simple in construction, precision height and stroke are big, has good application prospect in the micro-nano precision actuation such as Aero-Space, optical precision instrument and semiconductor machining with positioning field.
Claims (10)
1. a J-type structure precision piezoelectricity stick-slip line motor, it is characterized in that this J-type structure precision piezoelectricity stick-slip line motor is made up of fixed pedestal (1), pre-pressure loading mechanism (2), J-type structure stator (3) and mover (4), wherein pre-pressure loading mechanism (2) is fixed on fixed pedestal (1), J-type structure stator (3) is arranged in pre-pressure loading mechanism (2), and mover (4) is arranged on fixed pedestal (1).
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 1, it is characterized in that described fixed pedestal (1) uses "L" shaped structure, described fixed pedestal (1) includes fixed pedestal installing hole (1-1), pre-pressure loading mechanism threaded mounting hole (1-2), guide rails assembling plane (1-3) and guide rail threaded mounting hole (1-4)；Described fixed pedestal installing hole (1-1), can be fixed with other peripheral unit, pre-pressure loading mechanism threaded mounting hole (1-2) fixing for pre-pressure loading mechanism (2), described guide rails assembling plane (1-3) and guide rail threaded mounting hole (1-4) are used for installing mover (4).
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 1, it is characterized in that the precompression governor motion that described pre-pressure loading mechanism (2) is J-type structure precision piezoelectricity stick-slip line motor, described pre-pressure loading mechanism (2) includes lower fixed station (2-1), upper mobile station (2-2), manual adjusting screw rod (2-3) and trip bolt (2-4)；nullDescribed lower fixed station (2-1) is provided with screwed hole (2-1-1)，It is for threadeding with manual adjusting screw rod (2-3)，Described lower fixed station (2-1) is provided with fixed cylinder (2-1-2)，Spring (2-1-4) is adjusted for installing precompression，Described lower fixed station (2-1) is provided with guiding rail (2-1-3)，Described guiding rail (2-1-3) is provided with guide rail stop screw (2-1-5)，Described lower fixed station (2-1) bottom is provided with installing hole (2-1-6)，It is threaded connection and can realize fixing between fixed pedestal (1)，Described lower fixed station (2-1) is provided with retainer (2-1-7) and screw (2-1-8)，Described upper mobile station (2-2) upper surface is provided with screwed hole (2-2-1)，The side of described upper mobile station (2-2) is provided with fastening threaded mounting hole (2-2-2)，Described fastening threaded mounting hole (2-2-2) threadeds with trip bolt (2-4).
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 1, it is characterized in that described J-type structure stator (3) includes J-type hinge (3-1), stacked piezoelectric actuator (3-2), pretension bolt (3-3) and adjusts pad (3-4), described stacked piezoelectric actuator (3-2) is fixed in J-type hinge (3-1) by pretension bolt (3-3) and adjustment pad (3-4)；nullDescribed J-type hinge (3-1) is provided with fixed installation hole (3-1-1)，It is threadably secured being connected by the upper surface of J-type hinge (3-1) with upper mobile station (2-2) by screw，Described J-type hinge (3-1) is provided with straight round flexible hinge (3-1-2) and straight round flexible hinge (3-1-6)，Power output is delivered on crossbeam (3-1-5) by described stacked piezoelectric actuator (3-2) by adjusting pad (3-4)，J-type hinge (3-1) is provided with J-type and drives foot (3-1-4)，Described J-type drives foot (3-1-4) end face to scribble friction material accordingly，Described J-type drives foot (3-1-4) to drive mover (4) motion，Described pretension bolt installing hole (3-1-7) threadeds with pretension bolt (3-3)，Before and after described stacked piezoelectric actuator (3-2), end face is provided with adjustment pad (3-4)，By adjusting the screwing length of pre-loading screw (3-3)，The regulation of the axial pretightening to stacked piezoelectric actuator (3-2) can be realized.
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 4, it is characterized in that straight round flexible hinge (3-1-2) and the straight round flexible hinge (3-1-6) of J-type structure stator (3) are attached by buckstay (3-1-3), distance between described 2 buckstays (3-1-3) is L, described stacked piezoelectric actuator (3-2) one end is fixedly mounted on J-type hinge (3-1) by pretension bolt (3-3), the other end contacts with crossbeam (3-1-5), described crossbeam (3-1-5) a length of L1, wherein L1/ L span is 1/6 ~ 5/6.
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 4, it is characterized in that the J-type of J-type structure stator (3) drives foot (3-1-4) to include roundlet (3-1-4-1), transition circle (3-1-4-1) and great circle (3-1-4-3), described roundlet (3-1-4-1) radius is R2, described great circle (3-1-4-3) radius is respectively R3, wherein R2/ R3Span is 1/2 ~ 1.
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 4, it is characterised in that the J-type hinge (3-1) of J-type structure stator (3) can use 5052 aluminium alloys, 6061 aluminium alloys, 7075 aluminium alloys, Ti-35A titanium alloy or Ti-13 titanium alloy material.
A kind of J-type structure precision piezoelectricity stick-slip line motor the most according to claim 4, it is characterised in that the J-type of J-type structure stator (3) drives foot (3-1-4) end face to scribble ceramic-like or glass fibre class friction material accordingly.
Unsymmetric structure precision piezoelectricity stick-slip line motor the most according to claim 1, it is characterized in that described mover (4) is biserial decussation roller guide rail, including movable guiding rail (4-1), guide rail caging bolt (4-2), fixing guide rail (4-3), biserial decussation roller guide rails assembling bolt (4-4) and biserial decussation roller guide holder (4-5)；Described movable guiding rail (4-1) end face scribbles ceramic-like or glass fibre class friction material accordingly, described fixing guide rail (4-3), threaded biserial decussation roller guide rails assembling bolt (4-4) and guide rail threaded mounting hole (1-4) are fixed in guide rails assembling plane (1-3), described fixing guide rail (4-3) is provided with biserial decussation roller guide holder (4-5) and roller, and the movable guiding rail (4-1) of mover (4) and the two ends of fixing guide rail (4-3) arrange guide rail caging bolt (4-2) and carry out spacing.
10. a J-type structure precision piezoelectricity stick-slip line motor driving method, this driving method is based on the J-type structure precision piezoelectricity stick-slip line motor described in claim 1；Described driving method is characterised by that driving ripple is sawtooth waveforms, and friction regulation and control ripple is sinusoidal wave, and wherein sawtooth drives be T period of wave1, driving voltage amplitude is V1, symmetry is D, a little friction sine regulation and control period of wave be T2, driving voltage amplitude is V2, sawtooth drives ripple to be T with the period ratio of friction sine regulation and control ripple a little1/T2=10 ~ 100000, driving voltage Amplitude Ration is V1/V2More than 2.
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| CN201610386966.2A CN105932902B (en) | 2016-06-06 | 2016-06-06 | J-type structure precision piezoelectricity stick-slip line motor and its driving method |
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| CN106712572A (en) * | 2017-04-01 | 2017-05-24 | 吉林大学 | Piezoelectric fiber-based stick-slip linear actuator |
| CN106849745A (en) * | 2017-04-01 | 2017-06-13 | 吉林大学 | Stick-slip rotating driver based on piezoelectric fabric |
| CN107834896A (en) * | 2017-12-25 | 2018-03-23 | 吉林大学 | Pre- frictional force regulates and controls the apparatus and method of parasitic principle piezoelectric actuator output performance |
| CN107953120A (en) * | 2018-01-12 | 2018-04-24 | 长春工业大学 | Piezoelectricity stick-slip micro-nano angular displacement platform and its driving method |
| CN110518827A (en) * | 2019-09-30 | 2019-11-29 | 长春工业大学 | Heavy load precision piezoelectric stick-slip straight line locating platform and friction regulation driving method |
| CN110508996A (en) * | 2019-09-24 | 2019-11-29 | 吉林大学 | Timing control surface micro-structure array processing unit (plant) and method |
| CN110611453A (en) * | 2019-09-30 | 2019-12-24 | 长春工业大学 | High-load-capacity precise piezoelectric rotary platform and driving and positioning method thereof |
| CN113612406A (en) * | 2021-08-17 | 2021-11-05 | 吉林大学 | Piezoelectric driver based on differential motion principle and control method thereof |
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| CN106712572A (en) * | 2017-04-01 | 2017-05-24 | 吉林大学 | Piezoelectric fiber-based stick-slip linear actuator |
| CN106849745A (en) * | 2017-04-01 | 2017-06-13 | 吉林大学 | Stick-slip rotating driver based on piezoelectric fabric |
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| CN107834896A (en) * | 2017-12-25 | 2018-03-23 | 吉林大学 | Pre- frictional force regulates and controls the apparatus and method of parasitic principle piezoelectric actuator output performance |
| CN107953120A (en) * | 2018-01-12 | 2018-04-24 | 长春工业大学 | Piezoelectricity stick-slip micro-nano angular displacement platform and its driving method |
| CN110508996A (en) * | 2019-09-24 | 2019-11-29 | 吉林大学 | Timing control surface micro-structure array processing unit (plant) and method |
| CN110518827A (en) * | 2019-09-30 | 2019-11-29 | 长春工业大学 | Heavy load precision piezoelectric stick-slip straight line locating platform and friction regulation driving method |
| CN110611453A (en) * | 2019-09-30 | 2019-12-24 | 长春工业大学 | High-load-capacity precise piezoelectric rotary platform and driving and positioning method thereof |
| CN113612406A (en) * | 2021-08-17 | 2021-11-05 | 吉林大学 | Piezoelectric driver based on differential motion principle and control method thereof |
| CN113612406B (en) * | 2021-08-17 | 2023-07-21 | 吉林大学 | Piezoelectric driver based on differential motion principle and control method thereof |
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