CN107834897B - Crawling actuator based on piezoelectric driving and working method thereof - Google Patents
Crawling actuator based on piezoelectric driving and working method thereof Download PDFInfo
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- CN107834897B CN107834897B CN201711096727.4A CN201711096727A CN107834897B CN 107834897 B CN107834897 B CN 107834897B CN 201711096727 A CN201711096727 A CN 201711096727A CN 107834897 B CN107834897 B CN 107834897B
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- 230000009193 crawling Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000011159 matrix material Substances 0.000 claims abstract description 72
- 229910000906 Bronze Inorganic materials 0.000 claims abstract description 70
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 claims abstract description 70
- 239000010974 bronze Substances 0.000 claims abstract description 70
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 claims abstract description 70
- 239000000919 ceramic Substances 0.000 claims abstract description 59
- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 241000219098 Parthenocissus Species 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 238000002604 ultrasonography Methods 0.000 abstract description 2
- 230000036632 reaction speed Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000010409 thin film Substances 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
- H02N2/02—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
- H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
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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
-
- 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
-
- 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
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a crawling actuator based on piezoelectric driving and a working method thereof, relates to the technical fields of ultrasound, MEMS and piezoelectricity, and can enable the actuator to simultaneously meet the characteristics of small size, high response speed, realization of turning movement and high load. The invention comprises the following steps: the device comprises a first phosphor bronze matrix, a first piezoelectric ceramic plate, a second phosphor bronze matrix, a second piezoelectric ceramic plate and a connecting rod, wherein the two piezoelectric ceramic plates respectively generate different vibration displacements under the driving of the piezoelectric ceramic by utilizing the inverse piezoelectric effect of sinusoidal voltage and 60-degree included angles formed by two sides of two feet of the matrix respectively contacting the ground, so that the two feet of the matrix generate motion modes in the same direction. And different turning radiuses of the actuator are realized by controlling and adjusting the input sine voltage values of the two feet, so that a preset travelling path is completed.
Description
Technical Field
The invention relates to the technical fields of ultrasound, MEMS and piezoelectricity, in particular to a crawling actuator based on piezoelectric driving and a working method thereof.
Background
Actuators are key components for implementing active vibration control, and are an important link of an active control system. The actuator acts to apply a control force to the control object according to a determined control law. In recent years, many smart actuators such as piezoelectric ceramic actuators, piezoelectric thin film actuators, electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators, electrorheological fluid actuators, and the like have been studied and developed on the basis of conventional fluid actuators, gas actuators, and electric actuators. The presence of these actuators provides the necessary conditions for achieving high-precision active vibration control.
Along with the improvement of the active control requirement, the actuator needs to simultaneously meet the characteristics of small size, high reaction speed, cornering and large load. However, in the existing actuators, the small size is difficult to meet the requirement of large load; the reaction speed is high and it is difficult to integrate into smaller sizes. Therefore, the design of the existing actuator is difficult to balance the performance of various parameters, and the characteristics of small size, high reaction speed, realization of turning motion and high load of the actuator are lacked.
Disclosure of Invention
The invention discloses a crawling actuator based on piezoelectric driving and a working method thereof, which can balance the performance of the actuator and simultaneously meet the requirements of small size, high reaction speed, realization of turning movement and high load.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a piezoelectric drive based crawling actuator comprising: the device comprises a first phosphor bronze matrix (1), a first piezoelectric ceramic plate (2), a second phosphor bronze matrix (3), a second piezoelectric ceramic plate (4) and a connecting rod (5), wherein the shapes and the sizes of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) are the same, triangular support legs are arranged at two ends of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3), the triangular support legs are in contact with the ground, and the load and the movement speed of an actuator can be improved;
a first piezoelectric ceramic sheet (2) is arranged on the first phosphor bronze matrix (1), and a second piezoelectric ceramic sheet (4) is arranged on the second phosphor bronze matrix (3);
the shape and the size of the first piezoelectric ceramic piece (2) and the second piezoelectric ceramic piece (4) are the same;
the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) are connected through a connecting rod (5), the connecting rod (5) is positioned at the vibration node position of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3), and the vibration node position is obtained by simulation calculation;
the connecting rod (5) is integrally formed with the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3).
Furthermore, the shape of the support legs is an equilateral triangle, so that the support legs can drive the load with the weight of more than three times of the weight of the support legs.
Further, the first piezoelectric ceramic piece (2) and the second piezoelectric ceramic piece (4) are rectangular.
The invention also discloses a working method of the crawling actuator based on piezoelectric driving, which comprises the following steps:
s1, applying sinusoidal voltage V1 to a first phosphor bronze matrix (1), applying sinusoidal voltage V2 to a second phosphor bronze matrix (3), and deforming a first piezoelectric ceramic sheet (2) and a second piezoelectric ceramic sheet (4) under the action of the sinusoidal voltage;
s2, the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) respectively drive the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) to generate linear displacement;
s3, the connecting rod (5) synthesizes the linear displacement, and the crawling actuator driven by piezoelectricity generates displacement to realize a linear or turning movement mode.
Further, when the sinusoidal voltage V1 is equal to the sinusoidal voltage V2, the piezoelectric driven crawling actuator is displaced along its length axis in a direction away from the connecting rod (5).
Further, when the sinusoidal voltage V1 is greater than the sinusoidal voltage V2, the crawling actuator driven by the piezoelectric device generates a first resultant displacement;
the first resultant shift is synthesized by: displacement in a direction away from the connecting rod (5) along a length axis of the piezoelectric-driven crawling actuator; and a displacement toward the second phosphor bronze matrix (3) perpendicular to the longitudinal axis of the piezoelectric-driven crawling actuator.
Further, the sinusoidal voltage V1 is smaller than the sinusoidal voltage V2, and the crawling actuator driven by the piezoelectric device generates a second synthetic displacement;
the second resultant shift is synthesized by: displacement in a direction away from the connecting rod (5) along a length axis of the piezoelectric-driven crawling actuator; and a displacement toward the first phosphor bronze matrix (1) perpendicular to the longitudinal axis of the piezoelectric-driven crawling actuator.
The beneficial effects of the invention are as follows: the invention has two piezoelectric ceramic plates, the deformation of the piezoelectric ceramic plates is controlled by the inverse piezoelectric effect of the piezoelectric ceramic plates, the deformation of the piezoelectric ceramic plates drives the phosphor bronze matrix to deform and displace, the displacement is synthesized by the connection of the connecting rods, and finally the displacement of the actuator is realized, and the actuator has a simple structure and no complex mechanism, so the size is smaller, the actuation flow is simple and direct, the time used in the actuation process is shortened, and the reaction speed is high; when the same sine voltage is applied to the piezoelectric ceramic plates, the actuators generate linear motion, when sine voltages with different magnitudes are applied to the piezoelectric ceramic plates, the actuators generate turning motion, and the larger the voltage difference of the sine voltages is, the smaller the radius of the turning motion is, so that the motion mode of the actuators can be controlled by adjusting the input sine voltage value, and finally, the action path of the preset actuators is realized; the triangular support legs of the actuator can greatly improve the load capacity and the movement speed, and the equilateral triangular support legs can at least drive the load of the actuator with three times of dead weight.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of operation when sinusoidal voltage V1 is equal to sinusoidal voltage V2;
FIG. 3 is a top view of sinusoidal voltage V1 equal to sinusoidal voltage V2;
FIG. 4 is a top view of sinusoidal voltage V1 being greater than sinusoidal voltage V2;
fig. 5 is a top view when the sinusoidal voltage V1 is smaller than the sinusoidal voltage V2.
1-first phosphor bronze matrix, 2-first piezoelectric ceramic plate, 3-second phosphor bronze matrix, 4-second piezoelectric ceramic plate, 5-connecting rod.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments for better understanding of the technical solution of the present invention by those skilled in the art.
A piezoelectric drive based crawling actuator comprising: the device comprises a first phosphor bronze matrix 1, a first piezoelectric ceramic plate 2, a second phosphor bronze matrix 3, a second piezoelectric ceramic plate 4 and a connecting rod 5.
The first phosphor bronze matrix 1 and the second phosphor bronze matrix 3, the first piezoelectric ceramic plate 2 and the second piezoelectric ceramic plate 4 are the same in shape and size, and the first piezoelectric ceramic plate 2 and the second piezoelectric ceramic plate 4 are rectangular. Legs are arranged at two ends of the first phosphor bronze matrix 1 and the second phosphor bronze matrix 3, and the shapes of the legs are equilateral triangles.
The first phosphor bronze matrix 1 is provided with a first piezoelectric ceramic plate 2, and the second phosphor bronze matrix 3 is provided with a second piezoelectric ceramic plate 4. The first phosphor bronze matrix 1 and the second phosphor bronze matrix 3 are connected through a connecting rod 5 and are integrally formed. The connecting rod 5 is positioned at the vibration node positions of the first phosphor bronze matrix 1 and the second phosphor bronze matrix 3, and the vibration node positions are calculated by simulation.
The embodiment of the invention also discloses a working method of the crawling actuator based on piezoelectric driving, which comprises the following steps:
s1, sinusoidal voltage V1 is applied to a first phosphor bronze matrix 1, sinusoidal voltage V2 is applied to a second phosphor bronze matrix 3, and the first piezoelectric ceramic plate 2 and the second piezoelectric ceramic plate 4 deform under the action of the sinusoidal voltage;
s2, the first piezoelectric ceramic plate 2 and the second piezoelectric ceramic plate 4 respectively drive the first phosphor bronze matrix 1 and the second phosphor bronze matrix 3 to generate linear displacement;
and S3, combining linear displacement by the connecting rod 5, and generating displacement by the crawling actuator based on piezoelectric driving to realize a linear or turning movement mode. When the sinusoidal voltage V1 is equal to the sinusoidal voltage V2, the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 4 expand under the action of the inverse piezoelectric effect, so that the legs of the first phosphor bronze matrix 1 and the second phosphor bronze matrix 3 expand outwards simultaneously, but due to different included angles between the legs on two sides and the upper surfaces of the first phosphor bronze matrix 1 and the second phosphor bronze matrix 3, the legs on one side rise outwards away from the ground, the legs on the other side move outwards on the ground, the rising legs drop down to the ground under the action of gravity, and the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 4 shrink, so that the crawling actuator based on piezoelectric driving displaces along the length axis of the crawling actuator in a direction away from the connecting rod 5 in one movement period due to the included angle clamp formed by the legs and the ground, as shown in fig. 2 and 3.
A prototype of the crawling actuator based on piezoelectric driving is manufactured, the mass of the whole machine is 9g, the sinusoidal voltage V1 and the sinusoidal voltage V2 are 100V, the load of the actuator is 35g, and the speed reaches 0.31 m/s.
When the sinusoidal voltage V1 is greater than the sinusoidal voltage V2, the piezoelectric-driven crawling actuator generates a first resultant displacement, as shown in fig. 4;
the first resultant shift is synthesized by: displacement in a direction away from the connecting rod 5 along the length axis of the piezoelectric-driven crawling actuator; and displacement toward the second phosphor bronze matrix 3 perpendicular to the length axis of the crawling actuator based on piezoelectric driving.
When the sinusoidal voltage V1 is smaller than the sinusoidal voltage V2, the piezoelectric-driven crawling actuator generates a second resultant displacement, as shown in fig. 5;
the second resultant shift is synthesized by: displacement in a direction away from the connecting rod 5 along the length axis of the piezoelectric-driven crawling actuator; and displacement toward the first phosphor bronze matrix 1 perpendicular to the longitudinal axis of the crawling actuator based on piezoelectric driving.
The beneficial effects of the invention are as follows: the invention has two piezoelectric ceramic plates, the deformation of the piezoelectric ceramic plates is controlled by the inverse piezoelectric effect of the piezoelectric ceramic plates, the deformation of the piezoelectric ceramic plates drives the phosphor bronze matrix to deform and displace, the displacement is synthesized by the connection of the connecting rods, and finally the displacement of the actuator is realized, and the actuator has a simple structure and no complex mechanism, so the size is smaller, the actuation flow is simple and direct, the time used in the actuation process is shortened, and the reaction speed is high; when the same sine voltage is applied to the piezoelectric ceramic plates, the actuators generate linear motion, when sine voltages with different magnitudes are applied to the piezoelectric ceramic plates, the actuators generate turning motion, and the larger the voltage difference of the sine voltages is, the smaller the radius of the turning motion is, so that the motion mode of the actuators can be controlled by adjusting the input sine voltage value, and finally, the action path of the preset actuators is realized; the triangular support legs of the actuator can greatly improve the load capacity and the movement speed, and the equilateral triangular support legs can at least drive the load of the actuator with three times of dead weight.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (7)
1. A method of operating a piezoelectric driven crawling actuator, the piezoelectric driven crawling actuator comprising: a first phosphor bronze matrix (1), a first piezoelectric ceramic sheet (2), a second phosphor bronze matrix (3), a second piezoelectric ceramic sheet (4) and a connecting rod (5),
the shapes and the sizes of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) are the same, and triangular support legs are arranged at two ends of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3);
a first piezoelectric ceramic sheet (2) is arranged on the first phosphor bronze matrix (1), and a second piezoelectric ceramic sheet (4) is arranged on the second phosphor bronze matrix (3);
the shape and the size of the first piezoelectric ceramic piece (2) and the second piezoelectric ceramic piece (4) are the same;
the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) are connected through a connecting rod (5), and the connecting rod (5) is positioned at the vibration node position of the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3);
the connecting rod (5) is integrally formed with the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3);
the working method of the crawling actuator is characterized by comprising the following steps:
s1, applying a sinusoidal voltage V1 to a first phosphor bronze matrix (1), applying a sinusoidal voltage V2 to a second phosphor bronze matrix (3), and deforming a first piezoelectric ceramic sheet (2) and a second piezoelectric ceramic sheet (4) under the action of the sinusoidal voltage;
s2, the first phosphor bronze matrix (1) and the second phosphor bronze matrix (3) respectively drive the first piezoelectric ceramic sheet (2) and the second piezoelectric ceramic sheet (4) to generate linear displacement;
s3, combining the linear displacement by the connecting rod (5), and generating displacement by the crawling actuator based on piezoelectric driving.
2. The method of operating a piezo-electric based crawling actuator according to claim 1, characterized in that the sinusoidal voltage V1 is equal to the sinusoidal voltage V2, the piezo-electric based crawling actuator being displaced along its length axis in a direction away from the connecting rod (5).
3. The method of operating a piezoelectric driven creep actuator according to claim 2, wherein the sinusoidal voltage V1 is greater than the sinusoidal voltage V2, and the piezoelectric driven creep actuator undergoes a first resultant displacement;
the first resultant displacement is synthesized by: displacement in a direction away from the connecting rod (5) along a length axis of the piezoelectric-driven crawling actuator; and a displacement toward the second phosphor bronze matrix (3) perpendicular to the length axis of the piezoelectric-driven crawling actuator.
4. The method of operating a piezoelectric driven creep actuator according to claim 3, wherein the sinusoidal voltage V1 is smaller than the sinusoidal voltage V2, and the piezoelectric driven creep actuator undergoes a second resultant displacement;
the second resultant displacement is synthesized by: displacement in a direction away from the connecting rod (5) along a length axis of the piezoelectric-driven crawling actuator; and a displacement perpendicular to the length axis of the piezoelectric-driven crawling actuator and towards the first phosphor bronze matrix (1).
5. The method of operating a piezoelectric driven creeper actuator according to any one of claims 1 to 4, wherein the leg is in the shape of an equilateral triangle.
6. The method of operating a piezoelectric driven crawling actuator according to any one of claims 1 to 4, characterized in that the first piezoelectric ceramic plate (2) and the second piezoelectric ceramic plate (4) are rectangular.
7. The method of operating a piezoelectric driven crawling actuator according to any one of claims 1 to 4, characterized in that the material used for the first piezoelectric ceramic plate (2) and the second piezoelectric ceramic plate (4) is PZT8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711096727.4A CN107834897B (en) | 2017-11-09 | 2017-11-09 | Crawling actuator based on piezoelectric driving and working method thereof |
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| CN201711096727.4A CN107834897B (en) | 2017-11-09 | 2017-11-09 | Crawling actuator based on piezoelectric driving and working method thereof |
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| CN108818495B (en) * | 2018-07-13 | 2021-02-26 | 南京航空航天大学 | Flexible robot based on piezoelectric drive and control method thereof |
| CN109450290A (en) * | 2018-10-31 | 2019-03-08 | 南京航空航天大学 | Based on Piezoelectric Driving without rollover failure actuator devices and its control method |
| CN109600070B (en) * | 2018-12-03 | 2020-02-14 | 南京航空航天大学 | Climbing rod actuator utilizing alternate self-locking and arranged in isosceles trapezoid manner |
| CN111313751B (en) * | 2020-03-16 | 2022-10-21 | 南京航空航天大学 | Rigid-flexible integrated crawling actuator applied to narrow cavity and working method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6380661B1 (en) * | 2000-06-05 | 2002-04-30 | Burleigh Instruments, Inc. | Linear incremental bi-directional motor |
| CN106685261A (en) * | 2017-03-02 | 2017-05-17 | 华侨大学 | Four-legged symmetric differential actuation piezoelectric stepping linear motor and electric excitation mode thereof |
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2017
- 2017-11-09 CN CN201711096727.4A patent/CN107834897B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6380661B1 (en) * | 2000-06-05 | 2002-04-30 | Burleigh Instruments, Inc. | Linear incremental bi-directional motor |
| CN106685261A (en) * | 2017-03-02 | 2017-05-17 | 华侨大学 | Four-legged symmetric differential actuation piezoelectric stepping linear motor and electric excitation mode thereof |
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