CN107968594A - A kind of bidirectional rotation driver with compound foot bearing - Google Patents
A kind of bidirectional rotation driver with compound foot bearing Download PDFInfo
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- CN107968594A CN107968594A CN201810029489.3A CN201810029489A CN107968594A CN 107968594 A CN107968594 A CN 107968594A CN 201810029489 A CN201810029489 A CN 201810029489A CN 107968594 A CN107968594 A CN 107968594A
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 15
- 150000001875 compounds Chemical class 0.000 title claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 53
- 210000001699 lower leg Anatomy 0.000 claims description 44
- 239000002783 friction material Substances 0.000 claims description 24
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 8
- 239000000919 ceramic Substances 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000007306 turnover Effects 0.000 description 12
- 238000005452 bending Methods 0.000 description 9
- 125000004122 cyclic group Chemical group 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000032365 Electromagnetic interference Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention relates to a kind of bidirectional rotation driver with compound foot bearing, including：Base, central rotating shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator, wherein：Base is fixed, and central rotating shaft forms revolute pair with base clearance fit, and circumferential piezoelectric actuator is in a rotationally symmetrical arrangement in central rotating shaft surrounding by connecting plate.During work, position base is fixed, applying alternating voltage respectively on two piezoelectric vibrators makes its deformation, drive wherein adjacent bipod bearing movement, foot bearing is subject to the frictional force opposite with moving direction, promote the material of different coefficients of friction on foot bearing to be in contact respectively with working face, realize the displacement of circumferential piezoelectric actuator, drive the directional rotating output torque of central rotating shaft.The present invention realizes bi-directional drive, and has the advantages that the service life that simple in structure, maintenance cost is low, the requirement to working face is relatively low and extends piezoelectric ceramics in driver.
Description
Technical field
The invention belongs to Piezoelectric Driving field, and in particular to a kind of bidirectional rotation driver with compound foot bearing.
Background technology
The performance of driver directly affects the performance of automation equipment, since piezoelectric drive element has small, response
Speed is fast, controllable precision is high, conversion efficiency is high and without superior functions such as electromagnetic interferences, in ultraprecise instrument, Micro-Robot, precision
The field such as positioning and biomedicine is widely used.Piezoelectric Driving is broadly divided into linear drives and rotation driving, and piezoelectricity is straight
Line driving has obtained more achievement, and rotation driving also has pending further investigation.Existing rotation driving mainly has piezoelectricity
Two class of inertial drive and bionical driving, wherein the mainly imitative looper type creeping motion type driving of bionical driving, this driving method need
Multiple piezoelectricity clampers stack, and cost is higher, while need the even multistage displacement amplifying mechanism of level-one and movement interpreter mechanism, knot
Structure is complex；Piezoelectric inertia driving mainly has electric-controlled type with frictionally, and electric-controlled type is mainly realized using asymmetric pumping signal
Driving, therefore control system is complicated.The driving of piezoelectricity friction formula is with driving structure is simple, drive mechanism is novel and drive signal is simple
The advantages that single easily controllable, be beneficial to piezoelectric actuator to piezoelectricity friction formula driver progress in-depth study and further push away
Wide and application.
The content of the invention
It is complex in order to solve current piezoelectric actuator structure, more with working face rigid contact, to operating environment requirements
Height, is easily lost the problem of component is not easy to replace, it is proposed that a kind of bidirectional drive with compound foot bearing, the bidirectional drive
By base, central rotating shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator
Composition；Cylinder with circular groove and position is fixed centered on wherein described base, the central rotating shaft include positioning section, drive
Dynamic section and deferent segment, the positioning section of the central rotating shaft are connected to form revolute pair with base groove clearance fit, and the center turns
Axis can be rotatable around its axis, and first connecting plate and the second connecting plate are spill thin plate, the described first circumferential piezoelectric actuator
Pass through the first connecting plate and the drive in a rotationally symmetrical arrangement in central rotating shaft of the second connecting plate respectively with the second circumferential piezoelectric actuator
Dynamic section both sides；Described first circumferential piezoelectric actuator includes：First piezoelectric vibrator, the second piezoelectric vibrator, the first foot bearing, second
Foot bearing and three-leg support, first piezoelectric vibrator and the second piezoelectric vibrator are pasted onto Rectangular Elastic by piezoelectric sheet material
Formed on matrix, first piezoelectric vibrator is connected with the second piezoelectric vibrator, and described first foot bearing one end is arranged in the first pressure
Electric tachometer indicator lower surface, the other end are free end, and described crus secunda bearing one end is connected to the first piezoelectric vibrator and the second piezoelectricity shakes
Lower surface, the other end between son are free end, described three-leg support one end be connected to second piezoelectric vibrator one end lower surface,
The other end is free end, and the first foot bearing, crus secunda bearing and the three-leg support free end are all cylindrical member, described
First foot bearing free end by section for semicircular first low friction coefficient materials and the first high coefficient of friction material it is compound and
Into, the crus secunda bearing free end is combined by two identical low friction coefficient materials, the three-leg support free end with
First foot bearing size, structure and material are identical, and the first high coefficient of friction material of the first foot bearing free end is arranged in
Crus secunda bearing side, the 3rd high coefficient of friction material of the three-leg support free end are arranged in crus secunda bearing side；
The second circumferential piezoelectric actuator and the first circumferential piezoelectric actuator structure is identical and two circumferential piezoelectric actuators on
Central rotating shaft is in rotational symmetry.
The central rotating shaft drive section can be positive N (N is more than or equal to 4) face body, of the described first circumferential piezoelectric actuator
Number can be K (K is more than or equal to 2) and each circumferential piezoelectric actuator is turned by the connection of the first connecting plate in a rotationally symmetrical arrangement with center
Axis surrounding.
During work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, foot bearing are subject to the frictional force opposite with moving direction, and frictional force makes foot bearing and support leg that certain twisting occur, promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, so that foot bearing produces different displacements, it is real
The now displacement of circumferential piezoelectric actuator, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and the 3rd high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and the 3rd low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, produces concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
3rd low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator is not moved integrally at this time, as shown in Fig. 4 (b)；Produced when the first piezoelectric vibrator is powered
During raw convex deformation, drive crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
The 3rd high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, drives central rotating shaft to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed during equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In cycle, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
It is as shown in Figure 5 to the driving operation principle schematic diagram clockwise of piezoelectric actuator：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, produces concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, produces convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, drives central rotating shaft to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is subject to alternating voltage to act on, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is subject to alternating voltage to act on, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the driving principle of the first circumferential piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is vector superposed for two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is on central rotating shaft in a rotationally symmetrical arrangement and at the same time clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The present invention realizes bi-directional drive, and with it is simple in structure, maintenance cost is low, the requirement to working face is relatively low and prolongs
In elongated drive the advantages of the service life of piezoelectric ceramics.
To achieve these goals, the present invention uses following technical scheme：
A kind of bidirectional rotation driver with compound foot bearing of the present invention is by base, central rotating shaft, the first connecting plate, the
Two connecting plates, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator composition；Band is circular centered on wherein described base
The cylinder of groove and position is fixed, the central rotating shaft includes positioning section, drive section and deferent segment, and the central rotating shaft is determined
Position section is connected to form revolute pair with base groove clearance fit, and the central rotating shaft can be rotatable around its axis, first connection
Plate and the second connecting plate are spill thin plate, and the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator are respectively by the
One connecting plate and the second connecting plate are in a rotationally symmetrical arrangement in the drive section both sides of central rotating shaft；Described first circumferential piezoelectric actuator
Including：First piezoelectric vibrator, the second piezoelectric vibrator, the first foot bearing, crus secunda bearing and three-leg support, first piezoelectricity
Oscillator and the second piezoelectric vibrator are pasted onto on Rectangular Elastic matrix by piezoelectric sheet material to be formed, first piezoelectric vibrator and
Two piezoelectric vibrators connect, and described first foot bearing one end is arranged in the first piezoelectric vibrator lower surface, the other end is free end, described
Crus secunda bearing one end is connected to lower surface between the first piezoelectric vibrator and the second piezoelectric vibrator, the other end is free end, institute
State that three-leg support one end is connected to second piezoelectric vibrator one end lower surface, the other end is free end, the first foot bearing,
Two foot bearings and three-leg support free end are all cylindrical member, and the first foot bearing free end is semicircular by section
First low friction coefficient materials and the first high coefficient of friction material are combined, and the crus secunda bearing free end is identical low by two
Friction coefficient material is combined, and the three-leg support free end is identical with the first foot bearing size, structure and material, described
First high coefficient of friction material of the first foot bearing free end is arranged in crus secunda bearing side, the three-leg support free end
The 3rd high coefficient of friction material be arranged in crus secunda bearing side；Described second circumferential piezoelectric actuator and the first circumferential piezoelectricity
Activation configuration is identical and two circumferential piezoelectric actuators on central rotating shaft in rotational symmetry.
The central rotating shaft drive section can be positive N (N is more than or equal to 4) face body, of the described first circumferential piezoelectric actuator
Number can be K (K is more than or equal to 2) and each circumferential piezoelectric actuator is turned by the connection of the first connecting plate in a rotationally symmetrical arrangement with center
Axis surrounding.
During work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, foot bearing are subject to the frictional force opposite with moving direction, and frictional force makes foot bearing and support leg that certain twisting occur, promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, so that foot bearing produces different displacements, it is real
The now displacement of circumferential piezoelectric actuator, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and the 3rd high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and the 3rd low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, produces concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
3rd low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator is not moved integrally at this time, as shown in Fig. 4 (b)；Produced when the first piezoelectric vibrator is powered
During raw convex deformation, drive crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
The 3rd high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, drives central rotating shaft to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed during equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In cycle, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
It is as shown in Figure 5 to the driving operation principle schematic diagram clockwise of piezoelectric actuator：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, produces concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, produces convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, drives central rotating shaft to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is subject to alternating voltage to act on, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is subject to alternating voltage to act on, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the driving principle of the first circumferential piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is vector superposed for two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is on central rotating shaft in a rotationally symmetrical arrangement and at the same time clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The present invention realizes bi-directional drive, and with it is simple in structure, maintenance cost is low, the requirement to working face is relatively low and prolongs
In elongated drive the advantages of the service life of piezoelectric ceramics.
Brief description of the drawings
Fig. 1 is a kind of bidirectional rotation activation configuration schematic diagram with compound foot bearing of the present invention.
Fig. 2 is a kind of bidirectional rotation driver central rotating shaft structure diagram with compound foot bearing of the present invention.
Fig. 3 is that a kind of circumferential piezoelectric actuator structure of bidirectional rotation driver first with compound foot bearing of the present invention is shown
It is intended to.
Fig. 4 is that a kind of bidirectional rotation driver with compound foot bearing of the present invention drives process schematic counterclockwise.
Fig. 5 is that a kind of bidirectional rotation driver with compound foot bearing of the present invention drives process schematic clockwise.
Embodiment
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of bidirectional rotation driver with compound foot bearing of the present invention be by
Base 1, central rotating shaft 2, the first connecting plate 3, second the 4, first circumferential circumferential Piezoelectric Driving of piezoelectric actuator 5 and second of connecting plate
Device (6) forms, wherein：
Cylinder with circular groove and position is fixed centered on the base 1, the central rotating shaft 2 includes positioning section
21st, drive section 22 and deferent segment 23, positioning section and 1 groove gap of base of the central rotating shaft 2 are connected to form revolute pair,
The central rotating shaft 2 can be rotatable around its axis, and 3 and second connecting plate 4 of the first connecting plate is spill thin plate, described first week
Pass through 4 rotational symmetry cloth of the first connecting plate 3 and the second connecting plate respectively to the circumferential piezoelectric actuator 6 of piezoelectric actuator 5 and second
Put in 22 both sides of drive section of central rotating shaft 2；Described first circumferential piezoelectric actuator 5 includes：First piezoelectric vibrator 51, second is pressed
Electric tachometer indicator 52, the first foot bearing 53, crus secunda bearing 54 and three-leg support 55,51 and second piezoelectricity of the first piezoelectric vibrator
Oscillator 52 is pasted onto on Rectangular Elastic matrix by piezoelectric sheet material and formed, 51 and second piezoelectric vibrator of the first piezoelectric vibrator
52 connections, described first foot bearing, 53 one end is arranged in 51 lower surface of the first piezoelectric vibrator, the other end is free end, and described second
54 one end of foot bearing is connected to lower surface between the first piezoelectric vibrator 51 and the second piezoelectric vibrator 52, the other end is free end,
Described 55 one end of three-leg support is connected to 52 one end lower surface of the second piezoelectric vibrator, the other end is free end, first foot
Bearing 53, crus secunda bearing 54 and 55 free end of three-leg support are all cylindrical member, 53 free end of the first foot bearing
It is combined by section for semicircular first low friction coefficient materials, 531 and first high coefficient of friction material 532, described second
54 free end of foot bearing is combined by two identical low friction coefficient materials 541,55 free end of three-leg support and first
53 size of foot bearing, structure and material are identical, and the first high coefficient of friction material 531 of 53 free end of the first foot bearing is arranged
In 54 side of crus secunda bearing, the 3rd high coefficient of friction material 551 of 55 free end of three-leg support is arranged in crus secunda
54 side of bearing；Described second circumferential piezoelectric actuator 6 is identical with the first 5 structure of circumferential piezoelectric actuator and two circumferentially press
Electric drive is on central rotating shaft 2 in rotational symmetry.
2 drive section 22 of central rotating shaft can be positive N (N is more than or equal to 4) face body, the described first circumferential piezoelectric actuator 4
Number can be K (K be more than or equal to 2) and each circumferential piezoelectric actuator by the first connecting plate 3 connect in it is in a rotationally symmetrical arrangement with
2 surrounding of central rotating shaft.
During work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, foot bearing are subject to the frictional force opposite with moving direction, and frictional force makes foot bearing and support leg that certain twisting occur, promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, so that foot bearing produces different displacements, it is real
The now displacement of circumferential piezoelectric actuator, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and the 3rd high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and the 3rd low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, produces concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
3rd low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator is not moved integrally at this time, as shown in Fig. 4 (b)；Produced when the first piezoelectric vibrator is powered
During raw convex deformation, drive crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
The 3rd high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, drives central rotating shaft to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed during equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In cycle, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
It is as shown in Figure 5 to the driving operation principle schematic diagram clockwise of piezoelectric actuator：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, produces concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, produces convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, drives central rotating shaft to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is subject to alternating voltage to act on, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is subject to alternating voltage to act on, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the driving principle of the first circumferential piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is vector superposed for two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is on central rotating shaft in a rotationally symmetrical arrangement and at the same time clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The present invention realizes bi-directional drive, and with it is simple in structure, maintenance cost is low, the requirement to working face is relatively low and prolongs
In elongated drive the advantages of the service life of piezoelectric ceramics.
Claims (2)
1. a kind of bidirectional rotation driver with compound foot bearing, including：Base (1), central rotating shaft (2), the first connecting plate
(3) and the second connecting plate (4), it is characterised in that further include the first circumferential piezoelectric actuator (5) and second for realizing bi-directional drive
Circumferential piezoelectric actuator (6)；Cylinder with circular groove and position is fixed, the center centered on wherein described base (1)
Shaft (2) includes positioning section (21), drive section (22) and deferent segment (23), positioning section and the base (1) of the central rotating shaft (2)
Groove gap is connected to form revolute pair, and the central rotating shaft (2) can be rotatable around its axis, first connecting plate (3) and
Second connecting plate (4) is spill thin plate, and the described first circumferential piezoelectric actuator (5) and the second circumferential piezoelectric actuator (6) are respectively
Pass through the first connecting plate (3) and the second connecting plate (4) drive section (22) both sides in a rotationally symmetrical arrangement in central rotating shaft (2)；Institute
Stating the first circumferential piezoelectric actuator (5) includes：First piezoelectric vibrator (51), the second piezoelectric vibrator (52), the first foot bearing (53),
Crus secunda bearing (54) and three-leg support (55), first piezoelectric vibrator (51) and the second piezoelectric vibrator (52) are thin by piezoelectricity
Sheet material is pasted onto on Rectangular Elastic matrix and forms, and first piezoelectric vibrator (51) is connected with the second piezoelectric vibrator (52), institute
State that first foot bearing (53) one end is arranged in the first piezoelectric vibrator (51) lower surface, the other end is free end, the crus secunda branch
Seat (54) one end is connected to lower surface between the first piezoelectric vibrator (51) and the second piezoelectric vibrator (52), the other end is freedom
End, described three-leg support (55) one end is connected to the second piezoelectric vibrator (52) one end lower surface, the other end is free end, described
First foot bearing (53), crus secunda bearing (54) and three-leg support (55) free end are all cylindrical member, first foot
Bearing (53) free end is semicircular first low friction coefficient materials (531) and the first high coefficient of friction material by section
(532) it is combined, crus secunda bearing (54) free end is combined by two identical low friction coefficient materials (541), institute
It is identical with first foot bearing (53) size, structure and material to state three-leg support (55) free end, the first foot bearing (53)
The first high coefficient of friction material (531) of free end is arranged in crus secunda bearing (54) side, and the three-leg support (55) is certainly
Crus secunda bearing (54) side is arranged in by the 3rd high coefficient of friction material (551) held；Described second circumferential piezoelectric actuator
(6) identical with first circumferential piezoelectric actuator (5) structure and two circumferential piezoelectric actuators are on central rotating shaft (2) in rotation
Symmetrically.
2. the bidirectional rotation driver according to claim 1 with compound foot bearing, it is characterised in that：The center turns
Axis (2) drive section (22) can be positive N (N is more than or equal to 4) face body, and the number of the described first circumferential piezoelectric actuator (4) can be K (K
More than or equal to 2) and each circumferential piezoelectric actuator by the first connecting plate (3) connection in it is in a rotationally symmetrical arrangement with central rotating shaft (2)
Surrounding.
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| CN201810029489.3A CN107968594A (en) | 2018-01-12 | 2018-01-12 | A kind of bidirectional rotation driver with compound foot bearing |
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| CN201810029489.3A CN107968594A (en) | 2018-01-12 | 2018-01-12 | A kind of bidirectional rotation driver with compound foot bearing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109104119A (en) * | 2018-09-12 | 2018-12-28 | 吉林大学 | A kind of inertial rotation driver with compound foot support |
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