CN106899228B - Include the rotary inertia piezoelectric actuator and actuation method of photoelectric encoder - Google Patents
Include the rotary inertia piezoelectric actuator and actuation method of photoelectric encoder Download PDFInfo
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- CN106899228B CN106899228B CN201710214377.0A CN201710214377A CN106899228B CN 106899228 B CN106899228 B CN 106899228B CN 201710214377 A CN201710214377 A CN 201710214377A CN 106899228 B CN106899228 B CN 106899228B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 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 3
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000002457 bidirectional effect Effects 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
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 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 actuation method, the actuator for including photoelectric encoder are made of shell, output shaft, actuator, bearing, code-disc, photoelectric detection component and printed board；Outer casing base is equipped 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 Photoelectric Detection plate and the printed board of base upper surface are affixed to below code-disc, and three constitutes photoelectric encoder；Inside interference fit has the first actuator of piezoelectric pile and the second actuator to be fixed on housing interior side-wall face, the two about output shaft in the plane AnchorPoint distribution in a center of symmetry, the bottom of first actuator and the second actuator is machined with friction foot, which presses enough in disk upper surface；Structure of the invention is novel, and clamper is reliable, has the function of real-time measurement output angle, can efficiently and stably realize bidirectional rotation.
Description
Technical field
The invention belongs to inertial piezoelectric Actuator technique fields, and in particular to a kind of rotary inertia for including photoelectric encoder
Property piezoelectric actuator and actuation method.
Background technique
Inertia-type piezoelectric actuator is a kind of using asymmetrical driving signal, asymmetrical mechanical clamping structure or non-right
Frictional force be referred to as control mode, the mechanism to form driving is moved by inertia impact.
Compared with other kinds of Piezoelectric Driving, inertial piezoelectric actuator simple, fast response time, resolution ratio with structure
The major advantages such as high, big stroke, movement velocity be fast and at low cost, it can be achieved that larger stroke and have nanoscale positioning accurate simultaneously
Degree.Therefore, inertial piezoelectric actuator is applicable to the occasion of high-resolution, big stroke.Currently, 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
Equal fields.
Generally, rotary inertia piezoelectric actuator is usually using twin lamella as driving element, and structure is complicated and intensity
It is low；It at present in most rotary inertia actuator, only relies on line contact and carries out clamper, be easy clamper due to surface abrasion and lose
Effect；Though can not accurately real-time measurement be exported in addition, most of rotary inertia piezoelectric actuators can complete the output of corner
The size of angle.
Summary of the invention
In order to solve the above-mentioned problems of the prior art, the purpose of the present invention is to provide one kind to include photoelectric encoder
Rotary inertia piezoelectric actuator and actuation method, under the conditions of high-frequency drive, be enable to respond quickly and stabilized driving load
Bidirectional rotation；This actuator configurations is novel, and clamper is reliable, has the function of real-time measurement output angle, can power off locking simultaneously
Realize bidirectional rotation.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of rotary inertia piezoelectric actuator 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；1 pedestal of shell is equipped with through bearing 8
Output shaft 3, the middle and lower part of the output shaft 3 have been integrally machined heavy in section disk 2, and 2 lower surface of disk is pasted with code-disc 9, arrangement
What it is in 9 lower section of code-disc is the photoelectric detection component 10 and printed board 11 for being fixed on the base surface；First actuator 5 and second is made
Moving part 6 is fixed on 1 interior sidewall surface of shell, the two about AnchorPoint distribution in a center of symmetry in the plane, the first actuator 5
With interference fit has a piezoelectric pile 7 inside the second actuator 6, the two bottom is equipped with friction foot 4, friction foot 4 can on disk 2
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 processing circuit that photoelectric detection component 10 and printed board 11 are formed together carries out photoelectric conversion and signal processing
Function, to obtain the output corner of actuator in real time.
Friction foot 4 be the protrusion rough surface that 6 bottom of the first actuator 5 and the second actuator is arranged in, friction foot 4 with
2 upper surface of disk is in close contact, and can generate reliable frictional force between the two.
The actuation method of the rotary inertia piezoelectric actuator for including photoelectric encoder, when being not powered on, output shaft 3
In clamping state；To rotate output shaft 3 counterclockwise, the first step, to the piezoelectricity in the first actuator 5 and the second actuator 6
Heap 7 slowly applies voltage, and piezoelectric pile 7 rubs along its axial slowly elongation, band dynamic friction foot 4 far from installation wall surface movement at this time
The torque that stiction between foot 4 and disk 2 generates output shaft 3 can overcome the moment of inertia of output shaft 3, output shaft 3
On disk 2 and friction foot 4 keep it is opposing stationary, push output shaft 3 counterclockwise rotation one minute angle；Second step, to
Piezoelectric pile 7 in one actuator 5 and the second actuator 6 rapidly axially shrink rapidly along it by drop electricity, piezoelectric pile 7, band dynamic friction foot 4
Towards installation wall surface movement, the torque that the stiction between friction foot 4 and disk 2 generates output shaft 3 at this time can not overcome defeated
The moment of inertia of shaft 3, there is opposite sliding in disk 2 and friction foot 4 on output shaft 3, within the drop electrode short time, output
Axis 3 keeps in situ substantially, and thus output shaft 3 retains a rotation step pitch counterclockwise；The first and second step is repeated, can make to export
Axis 3 continuously drives load rotation counterclockwise；Similarly, to rotate clockwise output shaft 3, the first step, to the first actuator 5
It is powered on rapidly with the piezoelectric pile 7 in the second actuator 6, piezoelectric pile 7 is along its axial elongation rapidly, and band dynamic friction foot 4 is far from installation
Wall surface movement, the torque that the stiction between friction foot 4 and disk 2 generates output shaft 3 at this time can not overcome output shaft 3
There is opposite sliding, are being powered in the extremely short time, output shaft 3 is basic in moment of inertia, disk 2 and friction foot 4 on output shaft 3
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
It slowly shrinks, band dynamic friction foot 4 is towards installation wall surface movement, and the stiction between friction foot 4 and disk 2 is to output shaft 3 at this time
The torque of generation can overcome the moment of inertia of output shaft 3, and the disk 2 on output shaft 3 keeps opposing stationary with friction foot 4, draw
Dynamic output shaft 3 rotates clockwise a minute angle, and thus output shaft 3 retains a clockwise rotation step pitch；Repetition first,
Two steps can make output shaft 3 that load continuously be driven to rotate clockwise；When code-disc 9 is with the rotation of output shaft 3, photoelectric detection component
10 and the processing circuit that is formed together of printed board 11 carry out the function of photoelectric conversion and signal processing, to obtain actuator in real time
Output corner.
Compared to the prior art, the present invention has the advantage that
1) after the first actuator 5 of the invention and the second actuator 6 are installed on 1 inner wall of shell, friction foot 4 and output shaft
Disk 2 on 3 realizes close face contact, so that friction surface increases, frictional force is increased accordingly, and in addition frictional force is to output
The arm of force in 3 axle center of axis is greater than 3 diameter of axle of output shaft, and output torque significantly increases, and which thereby enhances the output performance of actuator, reduces
The influence of external environment and contact surface abrasion.
2) code-disc 9, the code-disc 9 and photoelectric detection component 10 and printed board 11 are equipped with below 3 disk 2 of output shaft of the invention
Photoelectric encoder is together constituted with, when the place that code-disc 9 is formed together with the rotation of output shaft 3, photoelectric detection component 10 and printed board 11
It manages circuit and carries out photoelectric conversion and signal processing, realize the function of real-time measurement output corner.
3) using rationally, small in size, light weight uses the principle of inertia actuation, structure letter for structure of the invention inner space
Single compact, actuation is convenient and easy.
Detailed description of the invention
Fig. 1 is structure of the invention top view.
Fig. 2 is sectional view of the present invention.
Fig. 3 is the perspective view of actuator of the present invention.
Fig. 4 is the driving voltage timing diagram that the present invention rotates counterclockwise.
Fig. 5 is the driving voltage timing diagram that the present invention rotates clockwise.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, invention is further described in detail.
As shown in Figure 1 to Figure 3, the present invention includes the rotary inertia piezoelectric actuator of photoelectric encoder, 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 pedestal is equipped 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 2,2 following table of disk
Face is pasted with code-disc 9, and be arranged in 9 lower section of code-disc is the photoelectric detection component 10 and printed board 11 for being fixed on the base surface；
First actuator 5 and the second actuator 6 are fixed on 1 interior sidewall surface of shell, the two about AnchorPoint in the plane at center
Symmetrical, interference fit has piezoelectric pile 7 inside the first actuator 5 and the second actuator 6, and the two bottom is equipped with friction foot 4,
Friction foot 4 can be in close contact with 2 upper surface of disk.
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
The processing circuit that rotation, photoelectric detection component 10 and printed board 11 are formed together carries out the function of photoelectric conversion and signal processing,
To obtain the output corner of actuator in real time.
As the preferred embodiment of the present invention, the friction foot 4 is setting in the first actuator 5 and the second actuator 6
The protrusion rough surface of bottom, friction foot 4 are in close contact with 2 upper surface of disk, can generate reliable frictional force between the two.
As shown in Figure 4 and Figure 5, the actuation method of the rotary inertia piezoelectric actuator of photoelectric encoder, feature are included
Be: when being not powered on, output shaft 3 is in clamping state；To rotate output shaft 3 counterclockwise, the first step, to the first actuator 5
Slowly apply voltage with the piezoelectric pile 7 in the second actuator 6, for piezoelectric pile 7 along its axial slowly elongation, band dynamic friction foot 4 is separate
Wall surface movement is installed, the torque that the stiction between friction foot 4 and disk 2 generates output shaft 3 at this time can overcome output
The moment of inertia of axis 3, disk 2 and friction foot 4 on output shaft 3 keep opposing stationary, push the rotation one counterclockwise of output shaft 3
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
It shrinks rapidly, band dynamic friction foot 4 is towards installation wall surface movement, and the stiction between friction foot 4 and disk 2 is to output shaft 3 at this time
The torque of generation can not overcome the moment of inertia of output shaft 3, and opposite sliding occur in the disk 2 on output shaft 3 and friction foot 4,
It drops in the electrode short time, output shaft 3 keeps in situ substantially, and thus output shaft 3 retains a rotation step pitch counterclockwise；It repeats
First and second step can make output shaft 3 continuously drive load rotation counterclockwise；Similarly, to rotate clockwise output shaft 3,
The first step is powered on rapidly 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 far from installation wall surface movement, the power that the stiction between friction foot 4 and disk 2 generates output shaft 3 at this time
Square can not overcome the moment of inertia of output shaft 3, and opposite sliding occur in the disk 2 on output shaft 3 and friction foot 4, extremely short being powered on
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 rub between foot 4 and disk 2 along its axial slowly contraction, band dynamic friction foot 4 towards installation wall surface movement at this time
Stiction torque that output shaft 3 is generated can overcome the moment of inertia of output shaft 3, disk 2 and friction on output shaft 3
Foot 4 keep it is opposing stationary, pull output shaft 3 rotate clockwise a minute angle, thus output shaft 3 retain one it is clockwise
Rotate step pitch；The first and second step is repeated, can make output shaft 3 that load continuously be driven to rotate clockwise；When code-disc 9 is with output shaft 3
The processing circuit that rotation, photoelectric detection component 10 and printed board 11 are formed together carries out the function of photoelectric conversion and signal processing,
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) pedestal is equipped 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 are pasted with code-disc (9), and being arranged in below code-disc (9) is the light for being fixed on the base surface
Electro-detection component (10) and printed board (11)；First actuator (5) and the second actuator (6) are fixed on shell (1) interior sidewall surface,
The two about AnchorPoint distribution in a center of symmetry in the plane, the first actuator (5) and the internal mistake of 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 equipped with the foot (4) that rubs, and rubbing 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 according to claim 1 for including photoelectric encoder, it is characterised in that: described
The foot (4) that rubs is protrusion rough surface of the setting in the first actuator (5) and the second actuator (6) bottom, and rub foot (4) and disk
(2) reliable frictional force can be generated between.
3. the actuation method of the rotary inertia piezoelectric actuator described in claim 1 for including photoelectric encoder, feature exist
In: when being not powered on, output shaft (3) is in clamping state；To rotate output shaft (3) counterclockwise, the first step, to the first actuator
(5) piezoelectric pile (7) and in the second actuator (6) slowly applies voltage, and piezoelectric pile (7) is rubbed along its axial slowly elongation, drive
Foot (4) is wiped to move far from installation wall surface, what the stiction to rub between foot (4) and disk (2) at this time generated output shaft (3)
Torque can overcome the moment of inertia of output shaft (3), and the disk (2) on output shaft (3) keeps opposing stationary with the foot (4) that rubs,
Push output shaft (3) one minute angle of rotation counterclockwise；Second step, in the first actuator (5) and the second actuator (6)
Piezoelectric pile (7) rapidly axially shrink rapidly along it by drop electricity, piezoelectric pile (7), and band dynamic friction foot (4) is towards wall surface movement is installed, at this time
The torque that the stiction between foot (4) and disk (2) generates output shaft (3) that rubs can not overcome the inertia of output shaft (3)
Torque, there is opposite sliding in disk (2) and the foot (4) that rubs 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；The first and second step is repeated, output shaft can be made
(3) continuously driving load rotation counterclockwise；Similarly, to rotate clockwise output shaft (3), the first step, to the first actuation
Piezoelectric pile (7) in part (5) and the second actuator (6) is powered on rapidly, and piezoelectric pile (7) is along its axial elongation rapidly, band dynamic friction
Foot (4) is far from installation wall surface movement, the power that the stiction to rub between foot (4) and disk (2) at this time generates output shaft (3)
Square can not overcome the moment of inertia of output shaft (3), and opposite sliding occur in the disk (2) on output shaft (3) and the foot (4) that rubs,
It is powered in the 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 axial slowly shrink, band dynamic friction foot (4) towards installation wall surface movement,
The torque that the stiction to rub between foot (4) and disk (2) at this time generates output shaft (3) can overcome output shaft (3)
Moment of inertia, disk (2) and the foot (4) that rubs on output shaft (3) keep opposing stationary, output shaft (3) are pulled to rotate clockwise
One minute angle, thus output shaft (3) retains a clockwise rotation step pitch；The first and second step is repeated, output shaft can be made
(3) continuously driving load rotates clockwise；When code-disc (9) is with output shaft (3) rotation, photoelectric detection component (10) and printed board
(11) processing circuit being formed together carries out the function of photoelectric conversion and signal processing, so that the output for obtaining actuator in real time turns
Angle.
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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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| 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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| Publication Number | Publication Date |
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| CN106899228A CN106899228A (en) | 2017-06-27 |
| CN106899228B true CN106899228B (en) | 2019-01-08 |
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Families Citing this family (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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2122702B1 (en) * | 2007-01-18 | 2015-08-26 | Newport Corporation | Optical adjustment mounts with piezoelectric inertia driver |
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2017
- 2017-04-01 CN CN201710214377.0A patent/CN106899228B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Effective date of registration: 20240315 Address after: 1st Floor, Northwest Building of Eleven Science and Technology, No. 532 Shenzhousan Road, National Civil Aerospace Industry Base, Xi'an City, Shaanxi Province, 710100 Patentee after: XI'AN LANGWEI TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Beilin District Xianning West Road 710049, Shaanxi city of Xi'an province No. 28 Patentee before: XI'AN JIAOTONG University Country or region before: China |