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 PDF

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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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output shaft
disc
actuator
actuating member
friction foot
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CN106899228A (en
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邵妍
徐明龙
宋思扬
田征
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Xi'an Langwei Technology Co ltd
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Xian Jiaotong University
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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
    • 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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  • Optical Transform (AREA)
  • 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

Include the rotary inertia piezoelectric actuator and actuation method of photoelectric encoder
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)

1.一种内含光电编码器的旋转式惯性压电作动器，其特征在于：包括外壳(1)、输出轴(3)、轴承(8)、第一作动件(5)、第二作动件(6)、码盘(9)、光电检测组件(10)及印制板(11)；所述外壳(1)底座经轴承(8)安装有输出轴(3)，该输出轴(3)的中下部一体加工有大截面的圆盘(2)，圆盘(2)下表面粘贴有码盘(9)，布置于码盘(9)下方的是固定在底座上表面的光电检测组件(10)和印制板(11)；第一作动件(5)和第二作动件(6)固定于外壳(1)内侧壁面，两者关于所在平面上的轴心点成中心对称分布，第一作动件(5)和第二作动件(6)内部均过盈配合有压电堆(7)，第一作动件(5)和第二作动件(6)底部设有摩擦足(4)，摩擦足(4)能够与圆盘(2)上表面紧密接触；所述码盘(9)、光电检测组件(10)及印制板(11)一同构成光电编码器。1. A rotary inertial piezoelectric actuator containing a photoelectric encoder, characterized in that: comprising a casing (1), an output shaft (3), a bearing (8), a first actuating member (5), a Two actuating members (6), a code disc (9), a photoelectric detection component (10) and a printed board (11); an output shaft (3) is installed on the base of the casing (1) through a bearing (8), and the output The middle and lower parts of the shaft (3) are integrally processed with a large-section disc (2), a code disc (9) is pasted on the lower surface of the disc (2), and a code disc (9) is arranged below the code disc (9) and is fixed on the upper surface of the base. The photoelectric detection assembly (10) and the printed board (11); the first actuating member (5) and the second actuating member (6) are fixed on the inner side wall surface of the casing (1), and the two are about the axis point on the plane where they are located Distributed symmetrically in the center, the first actuating member (5) and the second actuating member (6) are both internally fitted with a piezoelectric stack (7), and the first actuating member (5) and the second actuating member ( 6) The bottom is provided with a friction foot (4), and the friction foot (4) can be in close contact with the upper surface of the disc (2); the code disc (9), the photoelectric detection assembly (10) and the printed board (11) are Constitute a photoelectric encoder. 2.根据权利要求1所述的内含光电编码器的旋转式惯性压电作动器，其特征在于：所述摩擦足(4)为设置在第一作动件(5)和第二作动件(6)底部的突出粗糙面，摩擦足(4)与圆盘(2)之间能够产生可靠的摩擦力。2. The rotary inertial piezoelectric actuator containing a photoelectric encoder according to claim 1, wherein the friction foot (4) is arranged on the first actuating member (5) and the second actuating member (5). The protruding rough surface at the bottom of the moving piece (6) can generate reliable friction force between the friction foot (4) and the disc (2). 3.权利要求1所述的内含光电编码器的旋转式惯性压电作动器的作动方法，其特征在于：未通电时，输出轴(3)处于钳位状态；为使输出轴(3)逆时针旋转，第一步，对第一作动件(5)和第二作动件(6)中的压电堆(7)缓慢施加电压，压电堆(7)沿其轴向缓慢伸长，带动摩擦足(4)远离安装壁面运动，此时摩擦足(4)与圆盘(2)之间的静摩擦力对输出轴(3)产生的力矩能够克服输出轴(3)的惯性力矩，输出轴(3)上的圆盘(2)与摩擦足(4)保持相对静止，推动输出轴(3)逆时针旋转一个微小角度；第二步，对第一作动件(5)和第二作动件(6)中的压电堆(7)迅速降电，压电堆(7)沿其轴向迅速收缩，带动摩擦足(4)朝安装壁面运动，此时摩擦足(4)与圆盘(2)之间的静摩擦力对输出轴(3)产生的力矩无法克服输出轴(3)的惯性力矩，输出轴(3)上的圆盘(2)与摩擦足(4)出现相对滑动，在降电极短的时间内，输出轴(3)基本保持原位，由此输出轴(3)保留一个逆时针的旋转步距；重复第一、二步，能够使输出轴(3)连续地驱动负载逆时针旋转；类似地，为使输出轴(3)顺时针旋转，第一步，对第一作动件(5)和第二作动件(6)中的压电堆(7)迅速加电，压电堆(7)沿其轴向迅速伸长，带动摩擦足(4)远离安装壁面运动，此时摩擦足(4)与圆盘(2)之间的静摩擦力对输出轴(3)产生的力矩无法克服输出轴(3)的惯性力矩，输出轴(3)上的圆盘(2)与摩擦足(4)出现相对滑动，在加电极短的时间内，输出轴(3)基本保持原位；第二步，对第一作动件(5)和第二作动件(6)中的压电堆(7)缓慢降电，压电堆(7)沿其轴向缓慢收缩，带动摩擦足(4)朝安装壁面运动，此时摩擦足(4)与圆盘(2)之间的静摩擦力对输出轴(3)产生的力矩能够克服输出轴(3)的惯性力矩，输出轴(3)上的圆盘(2)与摩擦足(4)保持相对静止，拉动输出轴(3)顺时针旋转一个微小角度，由此输出轴(3)保留一个顺时针的旋转步距；重复第一、二步，能够使输出轴(3)连续地驱动负载顺时针旋转；当码盘(9)随输出轴(3)旋转，光电检测组件(10)和印制板(11)一起形成的处理电路进行光电转换和信号处理的功能，从而实时获得作动器的输出转角。3. The actuation method of the rotary inertia piezoelectric actuator containing photoelectric encoder according to claim 1, wherein: when not energized, the output shaft (3) is in a clamped state; in order to make the output shaft ( 3) Rotate counterclockwise, the first step is to slowly apply voltage to the piezoelectric stack (7) in the first actuating member (5) and the second actuating member (6), and the piezoelectric stack (7) is along its axial direction. Slowly extend, drive the friction foot (4) to move away from the installation wall. At this time, the torque generated by the static friction force between the friction foot (4) and the disc (2) on the output shaft (3) can overcome the torque of the output shaft (3). Inertia moment, the disc (2) on the output shaft (3) and the friction foot (4) remain relatively static, and push the output shaft (3) to rotate a small angle counterclockwise; ) and the piezoelectric stack (7) in the second actuating member (6) are rapidly de-energized, the piezoelectric stack (7) shrinks rapidly along its axial direction, and drives the friction foot (4) to move toward the installation wall. At this time, the friction foot The moment generated by the static friction force between (4) and the disc (2) on the output shaft (3) cannot overcome the inertia moment of the output shaft (3), and the disc (2) on the output shaft (3) and the friction foot ( 4) Relative sliding occurs, and the output shaft (3) basically remains in place within a short period of time when the electrode is lowered, so that the output shaft (3) retains a counterclockwise rotation step; repeating the first and second steps can make the output The shaft (3) continuously drives the load to rotate counterclockwise; similarly, in order to make the output shaft (3) rotate clockwise, the first step is to make The piezoelectric stack (7) is rapidly electrified, and the piezoelectric stack (7) is rapidly elongated along its axial direction, driving the friction foot (4) to move away from the installation wall. At this time, the friction foot (4) and the disc (2) are between The torque generated by the static friction force on the output shaft (3) cannot overcome the inertia moment of the output shaft (3), and the disc (2) on the output shaft (3) and the friction foot (4) slide relative to each other. During the time, the output shaft (3) is basically kept in place; in the second step, the piezoelectric stack (7) in the first actuating member (5) and the second actuating member (6) is slowly de-energized, and the piezoelectric stack (7) Slowly shrink along its axial direction to drive the friction foot (4) to move towards the installation wall. At this time, the static friction force between the friction foot (4) and the disc (2) can overcome the torque generated by the output shaft (3). The inertia moment of the output shaft (3), the disc (2) on the output shaft (3) and the friction foot (4) remain relatively static, and the output shaft (3) is pulled clockwise to rotate a small angle, so that the output shaft (3) ) keep a clockwise rotation step; repeat the first and second steps, the output shaft (3) can continuously drive the load to rotate clockwise; when the code disc (9) rotates with the output shaft (3), the photoelectric detection assembly ( 10) The processing circuit formed together with the printed board (11) performs the functions of photoelectric conversion and signal processing, so as to obtain the output rotation angle of the actuator in real time.
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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

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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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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
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