CN106899228A - Include the rotary inertia piezoelectric actuator and start method of photoelectric encoder - Google Patents
Include the rotary inertia piezoelectric actuator and start method of photoelectric encoder Download PDFInfo
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- CN106899228A CN106899228A CN201710214377.0A CN201710214377A CN106899228A CN 106899228 A CN106899228 A CN 106899228A CN 201710214377 A CN201710214377 A CN 201710214377A CN 106899228 A CN106899228 A CN 106899228A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000002457 bidirectional effect Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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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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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The rotary inertia piezoelectric actuator and start method of photoelectric encoder are included, the actuator is made up of shell, output shaft, actuator, bearing, code-disc, photoelectric detection component and printed board；Outer casing base is provided with output shaft through bearing, and the middle and lower part of the output shaft has been integrally machined heavy in section disk, and lower disk surface is pasted with code-disc, and code-disc lower section is affixed to Photoelectric Detection plate and the printed board of base upper surface, and three constitutes photoelectric encoder；The first actuator and the second actuator that internal interference fit has piezoelectric pile are fixed on housing interior side-wall face, both on output shaft in the plane AnchorPoint distribution in a center of symmetry, the bottom of the first actuator and the second actuator is machined with friction foot, and the friction is pressed in disk upper surface enough；Structure of the present invention is novel, clamper reliability, the function with measurement output angle in real time, can efficiently and stably realize bidirectional rotation.
Description
Technical field
The invention belongs to inertial piezoelectric Actuator technique field, and in particular to a kind of rotary inertia for including photoelectric encoder
Property piezoelectric actuator and start method.
Background technology
Inertia-type piezoelectric actuator is that a class uses asymmetrical drive signal, asymmetrical mechanical clamping structure or non-right
Frictional force be called control mode, the mechanism to form driving is moved by inertia impact.
Compare with other kinds of Piezoelectric Driving, inertial piezoelectric actuator has simple structure, fast response time, resolution ratio
High, big stroke, movement velocity be fast and the low major advantage of cost, is capable of achieving larger stroke and has nanoscale positioning accurate simultaneously
Degree.Therefore, inertial piezoelectric actuator is applicable to high-resolution, the occasion of big stroke.At present, scientific worker successfully will
Inertial piezoelectric actuator is applied to high accuracy positioning mechanism, multiple degrees of freedom driver, micromachine person joint and micro-operation hand
Deng field.
Usually, rotary inertia piezoelectric actuator is usually by the use of twin lamella as driving element, complex structure and intensity
It is low；At present in most rotary inertia actuator, only relying on linear contact lay carries out clamper, and easily because of surface abrasion, clamper is lost
Effect；Though in addition, most of rotary inertia piezoelectric actuators can complete the output of corner, accurately cannot in real time measure output
The size of angle.
The content of the invention
In order to solve the problems, such as above-mentioned prior art, photoelectric encoder is included it is an object of the invention to provide one kind
Rotary inertia piezoelectric actuator and start method, under the conditions of high-frequency drive, can quick response and stabilized driving load
Bidirectional rotation；This actuator configurations is novel, clamper reliability, the function with measurement output angle in real time, can power off locking simultaneously
Realize bidirectional rotation.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
A kind of rotary inertia piezoelectric actuator for including photoelectric encoder, including shell 1, output shaft 3, bearing 8, first
Actuator 5, the second actuator 6, code-disc 9, photoelectric detection component 10 and printed board 11；The base of the shell 1 is provided with through bearing 8
Output shaft 3, the middle and lower part of the output shaft 3 has been integrally machined heavy in section disk 2, and the lower surface of disk 2 is pasted with code-disc 9, arrangement
In the photoelectric detection component 10 and the printed board 11 that are integrally fixed at base upper surface of the lower section of code-disc 9；First actuator 5 and second is made
Moving part 6 is fixed on the interior sidewall surface of shell 1, both on AnchorPoint distribution in a center of symmetry in the plane, the first actuator 5
Have piezoelectric pile 7 with the inside of the second actuator 6 interference fit, both bottoms are provided with friction foot 4, friction foot 4 can with disk 2 on
Intimate surface contact；The code-disc 9, photoelectric detection component 10 and printed board 11 together constitute with photoelectric encoder, when code-disc 9 is with defeated
Shaft 3 rotates, and the process circuit that photoelectric detection component 10 and printed board 11 are formed together carries out opto-electronic conversion and signal transacting
Function, so as to obtain the output corner of actuator in real time.
The friction foot 4 is to be arranged on the prominent mat surface of the first actuator 5 and the bottom of the second actuator 6, friction foot 4 and
The upper surface of disk 2 is in close contact, and reliable frictional force can be produced between the two.
The start method of the described rotary inertia piezoelectric actuator for including photoelectric encoder, when being not powered on, output shaft 3
In clamping state；To make the rotate counterclockwise of output shaft 3, the first step, to the piezoelectricity in the first actuator 5 and the second actuator 6
The slow applied voltage of heap 7, piezoelectric pile 7 now rubs along its axially slow elongation, band dynamic friction foot 4 away from wall motion is installed
Stiction between foot 4 and disk 2 can overcome the moment of inertia of output shaft 3, output shaft 3 to the torque that output shaft 3 is produced
On disk 2 with friction foot 4 keep geo-stationary, promote output shaft 3 rotate counterclockwise, one minute angle；Second step, to
Drop is electric rapidly for piezoelectric pile 7 in one actuator 5 and the second actuator 6, and piezoelectric pile 7 is axially shunk rapidly along it, band dynamic friction sufficient 4
Towards wall motion is installed, the stiction for now rubbing between foot 4 and disk 2 cannot overcome defeated to the torque that output shaft 3 is produced
The moment of inertia of shaft 3, the slip relative with friction 4 appearance of foot of disk 2 on output shaft 3, within the drop electrode short time, output
Axle 3 keeps in situ substantially, and thus output shaft 3 retains a rotation step pitch counterclockwise；First and second step is repeated, output can be made
The continuously driving load rotate counterclockwise of axle 3；Similarly, to make output shaft 3 turn clockwise, the first step, to the first actuator 5
Powered up rapidly with the piezoelectric pile 7 in the second actuator 6, along its axially rapid elongation, band dynamic friction foot 4 is away from installation for piezoelectric pile 7
Wall is moved, and the stiction for now rubbing between foot 4 and disk 2 cannot overcome output shaft 3 to the torque that output shaft 3 is produced
Moment of inertia, the slip relative with friction 4 appearance of foot of disk 2 on output shaft 3, powered up in the extremely short time, and output shaft 3 is basic
Keep in situ；Second step, to the piezoelectric pile 7 in the first actuator 5 and the second actuator 6, slowly drop is electric, and piezoelectric pile 7 is along its axial direction
Slow to shrink, towards wall motion is installed, the stiction for now rubbing between foot 4 and disk 2 is to output shaft 3 for band dynamic friction foot 4
The torque of generation can overcome the moment of inertia of output shaft 3, and the disk 2 on output shaft 3 keeps geo-stationary with friction foot 4, draws
Dynamic output shaft 3 turns clockwise a minute angle, and thus output shaft 3 retains a clockwise rotation step pitch；Repetition first,
Two steps, continuously driving load turns clockwise can to make output shaft 3；When code-disc 9 rotates with output shaft 3, photoelectric detection component
10 and the process circuit that is formed together of printed board 11 carry out the function of opto-electronic conversion and signal transacting, so as to obtain actuator in real time
Output corner.
Compared to the prior art, the invention has the advantages that：
1) after the actuator 6 of the first actuator of the invention 5 and second is installed on the inwall of shell 1, its rub foot 4 and output shaft
Disk 2 on 3 realizes close face contact so that friction surface increases, and frictional force accordingly increases, and frictional force is to output in addition
The arm of force in the axle center of axle 3 is more than the diameter of axle of output shaft 3, and output torque is significantly increased, and which thereby enhances the output performance of actuator, reduces
The influence of external environment and contact surface abrasion.
2) lower section of 3 disk of output shaft of the invention 2 is provided with code-disc 9, the code-disc 9 and photoelectric detection component 10 and printed board 11
Photoelectric encoder is together constituted with, when code-disc 9 rotates with output shaft 3, the place that photoelectric detection component 10 and printed board 11 are formed together
Reason circuit carries out opto-electronic conversion and signal transacting, realizes the function of measurement output corner in real time.
3) rationally, small volume, light weight uses the principle of inertia start, structure letter for inside configuration space utilization of the present invention
Single compact, start is convenient and easy.
Brief description of the drawings
Fig. 1 is structure top view of the present invention.
Fig. 2 is profile of the present invention.
Fig. 3 is the stereogram of actuator of the present invention.
Fig. 4 is the driving voltage timing diagram of rotate counterclockwise of the present invention.
Fig. 5 is the driving voltage timing diagram that the present invention turns clockwise.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 to Figure 3, the rotary inertia piezoelectric actuator for including photoelectric encoder of the invention, including shell 1,
Output shaft 3, bearing 8, the first actuator 5, the second actuator 6, code-disc 9, photoelectric detection component 10 and printed board 11；The shell
1 base is provided with output shaft 3 through bearing 8, and the middle and lower part of the output shaft 3 has been integrally machined heavy in section disk 2, the following table of disk 2
Face is pasted with code-disc 9, is arranged in the photoelectric detection component 10 and the printed board 11 that are integrally fixed at base upper surface of the lower section of code-disc 9；
First actuator 5 and the second actuator 6 are fixed on the interior sidewall surface of shell 1, both on AnchorPoint in the plane into center
Symmetrical, the first actuator 5 and the inside of the second actuator 6 interference fit have piezoelectric pile 7, and both bottoms are provided with friction foot 4,
Friction foot 4 can be in close contact with the upper surface of disk 2.
The code-disc 9, photoelectric detection component 10 and printed board 11 together constitute with photoelectric encoder, when code-disc 9 is with output shaft 3
Rotation, the process circuit that photoelectric detection component 10 and printed board 11 are formed together carries out the function of opto-electronic conversion and signal transacting,
So as to obtain the output corner of actuator in real time.
Used as the preferred embodiment of the present invention, the friction foot 4 is to be arranged on the first actuator 5 and the second actuator 6
The prominent mat surface of bottom, friction foot 4 is in close contact with the upper surface of disk 2, and reliable frictional force can be produced between the two.
As shown in Figure 4 and Figure 5, the start method of the rotary inertia piezoelectric actuator of photoelectric encoder, its feature are included
It is：When being not powered on, output shaft 3 is in clamping state；To make the rotate counterclockwise of output shaft 3, the first step, to the first actuator 5
With the slow applied voltage of piezoelectric pile 7 in the second actuator 6, piezoelectric pile 7 along its axially slow elongation, band dynamic friction foot 4 away from
Wall motion is installed, the stiction for now rubbing between foot 4 and disk 2 can overcome output to the torque that output shaft 3 is produced
The moment of inertia of axle 3, the disk 2 on output shaft 3 keeps geo-stationary with friction foot 4, promotes 3 rotate counterclockwise of output shaft one
Minute angle；Second step, to the piezoelectric pile 7 in the first actuator 5 and the second actuator 6, drop is electric rapidly, and piezoelectric pile 7 is along its axial direction
Rapid to shrink, towards wall motion is installed, the stiction for now rubbing between foot 4 and disk 2 is to output shaft 3 for band dynamic friction foot 4
The torque of generation cannot overcome the moment of inertia of output shaft 3, and the disk 2 on output shaft 3 is relative with friction 4 appearance of foot to be slided,
In the drop electrode short time, output shaft 3 keeps in situ substantially, and thus output shaft 3 retains a rotation step pitch counterclockwise；Repeat
First and second step, can make the continuously driving load rotate counterclockwise of output shaft 3；Similarly, to make output shaft 3 turn clockwise,
The first step, powers up rapidly to the piezoelectric pile 7 in the first actuator 5 and the second actuator 6, and piezoelectric pile 7 axially extends rapidly along it,
Band dynamic friction foot 4 is moved away from wall is installed, the power that the stiction for now rubbing between foot 4 and disk 2 is produced to output shaft 3
Square cannot overcome the moment of inertia of output shaft 3, and the disk 2 on output shaft 3 is relative with friction 4 appearance of foot to be slided, extremely short powering up
Time in, output shaft 3 keeps in situ substantially；Second step, it is slow to the piezoelectric pile 7 in the first actuator 5 and the second actuator 6
Drop electricity, piezoelectric pile 7 is axially slowly shunk along it, and band dynamic friction foot 4 is moved towards wall is installed, and is now rubbed between foot 4 and disk 2
Stiction the moment of inertia of output shaft 3 can be overcome to the torque that output shaft 3 is produced, the disk 2 on output shaft 3 and friction
Foot 4 keeps geo-stationary, pulls output shaft 3 to turn clockwise a minute angle, thus output shaft 3 retain one it is clockwise
Rotation step pitch；First and second step is repeated, continuously driving load turns clockwise can to make output shaft 3；When code-disc 9 is with output shaft 3
Rotation, the process circuit that photoelectric detection component 10 and printed board 11 are formed together carries out the function of opto-electronic conversion and signal transacting,
So as to obtain the output corner of actuator in real time.
Claims (3)
1. a kind of rotary inertia piezoelectric actuator for including photoelectric encoder, it is characterised in that：Including shell (1), output shaft
(3), bearing (8), the first actuator (5), the second actuator (6), code-disc (9), photoelectric detection component (10) and printed board (11)；
Shell (1) base is provided with output shaft (3) through bearing (8), and the middle and lower part of the output shaft (3) has been integrally machined heavy in section
Disk (2), disk (2) lower surface is pasted with code-disc (9), is arranged in the light for being integrally fixed at base upper surface below code-disc (9)
Electro-detection component (10) and printed board (11)；First actuator (5) and the second actuator (6) are fixed on shell (1) interior sidewall surface,
Both on AnchorPoint distribution in a center of symmetry in the plane, equal mistake inside the first actuator (5) and the second actuator (6)
It is full of and is combined with piezoelectric pile (7), the first actuator (5) and the second actuator (6) bottom is provided with friction foot (4), and friction foot (4) can
It is in close contact with disk (2) upper surface；The code-disc (9), photoelectric detection component (10) and printed board (11) together constitute with photoelectricity
Encoder.
2. the rotary inertia piezoelectric actuator for including photoelectric encoder according to claim 1, it is characterised in that：It is described
Foot (4) rub to be arranged on the prominent mat surface of the first actuator (5) and the second actuator (6) bottom, friction foot (4) and disk
(2) reliable frictional force can be produced between.
3. the start method of the rotary inertia piezoelectric actuator for including photoelectric encoder described in claim 1, its feature exists
In：When being not powered on, output shaft (3) is in clamping state；To make output shaft (3) rotate counterclockwise, the first step, to the first actuator
(5) the slow applied voltage of piezoelectric pile (7) and in the second actuator (6), piezoelectric pile (7) is rubbed along its axially slow elongation, drive
Foot (4) is wiped away from wall motion is installed, now the stiction between friction foot (4) and disk (2) is produced to output shaft (3)
Torque can overcome the moment of inertia of output shaft (3), and the disk (2) on output shaft (3) keeps geo-stationary with friction foot (4),
Promote one minute angle of output shaft (3) rotate counterclockwise；Second step, in the first actuator (5) and the second actuator (6)
Drop is electric rapidly for piezoelectric pile (7), and piezoelectric pile (7) is axially shunk rapidly along it, and band dynamic friction sufficient (4) is moved towards wall is installed, now
Stiction between friction foot (4) and disk (2) cannot overcome the inertia of output shaft (3) to the torque that output shaft (3) is produced
Torque, disk (2) slip relative with friction foot (4) appearance on output shaft (3), within the drop electrode short time, output shaft (3)
Basic to keep in situ, thus output shaft (3) retains a rotation step pitch counterclockwise；First and second step is repeated, output shaft can be made
(3) continuously driving load rotate counterclockwise；Similarly, to make output shaft (3) turn clockwise, the first step, to the first start
Piezoelectric pile (7) in part (5) and the second actuator (6) is powered up rapidly, and piezoelectric pile (7) is along its axially rapid elongation, band dynamic friction
Foot (4) is moved away from wall is installed, the power that the stiction for now rubbing between foot (4) and disk (2) is produced to output shaft (3)
Square cannot overcome the moment of inertia of output shaft (3), and the disk (2) on output shaft (3) is relative with friction foot (4) appearance to be slided,
In the power-up extremely short time, output shaft (3) keeps in situ substantially；Second step, to the first actuator (5) and the second actuator (6)
In the slow drop electricity of piezoelectric pile (7), piezoelectric pile (7) along its it is axially slow shrink, band dynamic friction foot (4) towards installing wall motion,
The stiction for now rubbing between foot (4) and disk (2) can overcome output shaft (3) to the torque that output shaft (3) is produced
Moment of inertia, the disk (2) on output shaft (3) keeps geo-stationary with friction foot (4), pulls output shaft (3) to turn clockwise
One minute angle, thus output shaft (3) retain a clockwise rotation step pitch；First and second step is repeated, output shaft can be made
(3) continuously driving load turns clockwise；When code-disc (9) is with output shaft (3) rotation, photoelectric detection component (10) and printed board
(11) process circuit for being formed together carries out the function of opto-electronic conversion and signal transacting, so that the output for obtaining actuator in real time turns
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710214377.0A CN106899228B (en) | 2017-04-01 | 2017-04-01 | Include the rotary inertia piezoelectric actuator and actuation method of photoelectric encoder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710214377.0A CN106899228B (en) | 2017-04-01 | 2017-04-01 | Include the rotary inertia piezoelectric actuator and actuation method of photoelectric encoder |
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| CN106899228A true CN106899228A (en) | 2017-06-27 |
| CN106899228B CN106899228B (en) | 2019-01-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107994805A (en) * | 2017-11-27 | 2018-05-04 | 西安交通大学 | Clamper power is adjustable tangential driving rotatory inertia formula piezoelectric actuator and method |
| CN109586613A (en) * | 2018-11-17 | 2019-04-05 | 中国科学院合肥物质科学研究院 | A kind of opposite friction is tangential to subtract resistance-type rotary piezo-electric motor and its control method |
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| US20100290138A1 (en) * | 2007-01-18 | 2010-11-18 | Newport Corporation | Optical adjustment mounts with piezoelectric inertia driver |
| CN102299662A (en) * | 2011-09-01 | 2011-12-28 | 中国科学技术大学 | Low voltage control method for inertia piezoelectric motor |
| CN104426421A (en) * | 2013-09-06 | 2015-03-18 | 卡西欧计算机株式会社 | Driving device and clock |
| CN105258715A (en) * | 2015-10-22 | 2016-01-20 | 珠海格力节能环保制冷技术研究中心有限公司 | Photoelectric encoder |
| CN105556824A (en) * | 2013-09-13 | 2016-05-04 | 物理仪器(Pi)两合公司 | Compact versatile stick-slip piezoelectric motor |
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2017
- 2017-04-01 CN CN201710214377.0A patent/CN106899228B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100290138A1 (en) * | 2007-01-18 | 2010-11-18 | Newport Corporation | Optical adjustment mounts with piezoelectric inertia driver |
| CN102299662A (en) * | 2011-09-01 | 2011-12-28 | 中国科学技术大学 | Low voltage control method for inertia piezoelectric motor |
| CN104426421A (en) * | 2013-09-06 | 2015-03-18 | 卡西欧计算机株式会社 | Driving device and clock |
| CN105556824A (en) * | 2013-09-13 | 2016-05-04 | 物理仪器(Pi)两合公司 | Compact versatile stick-slip piezoelectric motor |
| CN105258715A (en) * | 2015-10-22 | 2016-01-20 | 珠海格力节能环保制冷技术研究中心有限公司 | Photoelectric encoder |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107994805A (en) * | 2017-11-27 | 2018-05-04 | 西安交通大学 | Clamper power is adjustable tangential driving rotatory inertia formula piezoelectric actuator and method |
| CN109586613A (en) * | 2018-11-17 | 2019-04-05 | 中国科学院合肥物质科学研究院 | A kind of opposite friction is tangential to subtract resistance-type rotary piezo-electric motor and its control method |
| CN109586613B (en) * | 2018-11-17 | 2023-04-07 | 中国科学院合肥物质科学研究院 | Opposite friction tangential resistance-reducing type rotary piezoelectric motor and control method thereof |
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| CN106899228B (en) | 2019-01-08 |
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