CN108063564B - Novel friction type linear piezoelectric driver - Google Patents
Novel friction type linear piezoelectric driver Download PDFInfo
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- CN108063564B CN108063564B CN201810029509.7A CN201810029509A CN108063564B CN 108063564 B CN108063564 B CN 108063564B CN 201810029509 A CN201810029509 A CN 201810029509A CN 108063564 B CN108063564 B CN 108063564B
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- 239000000463 material Substances 0.000 claims abstract description 66
- 238000013329 compounding Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 8
- 230000002457 bidirectional effect Effects 0.000 abstract description 4
- 239000000919 ceramic Substances 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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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
-
- 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
- H02N2/0065—Friction interface
- H02N2/007—Materials
-
- 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
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention relates to a novel friction type linear piezoelectric driver, which comprises: the device is characterized by further comprising a first driver, a second driver and a third driver which are completely identical in structure and uniformly arranged around the central shaft, wherein the fixed housing is fixed in position when in operation, each piezoelectric vibrator in the driving unit is subjected to the action of driving voltage with a certain phase to generate periodical deformation, the foot support in the driving unit is subjected to the combined action of the force of piezoelectric driving and the friction force of the output shaft to generate torsion with a small angle, materials with different friction coefficients are alternately contacted with the output shaft, so that the output shaft moves in a directional way by one step length in one driving period, and finally the directional driving of the output shaft is realized. The invention realizes bidirectional driving, and has the advantages of simple structure, low maintenance cost, lower requirement on the working surface and prolonged service life of piezoelectric ceramics in the driver.
Description
Technical Field
The invention belongs to the field of piezoelectric driving, and particularly relates to a novel friction type linear piezoelectric driver.
Background
The performance of the driver directly affects the performance of the automation equipment, and the piezoelectric driving element has the advantages of small volume, high response speed, high controllable precision, high transduction efficiency, no electromagnetic interference and the like, so the piezoelectric driving element is widely applied to the fields of ultra-precise instruments, micro robots, precise positioning, biomedicine and the like. The piezoelectric driving is mainly divided into linear driving and rotary driving, the piezoelectric linear driving mainly comprises piezoelectric inertial driving and bionic driving, the bionic driving mainly comprises inchworm-like peristaltic driving, the driving method needs a plurality of piezoelectric clamping stacks, the cost is high, and meanwhile, a one-stage or even multi-stage displacement amplifying mechanism and a motion converter mechanism are needed, and the structure is complex; the piezoelectric inertia driving mainly comprises an electric control type and a friction type, and the electric control type realizes driving mainly by using an asymmetric excitation signal, so that a control system is complex. The piezoelectric friction type driver has the advantages of simple driving structure, novel driving mechanism, simple driving signal, easy control and the like, and the piezoelectric friction type driver is deeply researched to be beneficial to further popularization and application of the piezoelectric driver.
Disclosure of Invention
In order to solve the problems that the structure of the conventional linear piezoelectric driver is complex, the conventional linear piezoelectric driver is in rigid contact with a working surface, the requirement on the working environment is high, and a control system is complex, a novel friction type linear piezoelectric driver is provided, and the driver consists of a fixed shell, a central shaft, and a first driver, a second driver and a third driver which are completely identical in structure and uniformly arranged around the central shaft. Wherein: the first driver comprises a first end side connecting plate, a first piezoelectric driving unit, a piezoelectric vibrator connecting plate, a second piezoelectric driving unit and a second end side connecting plate, wherein all the components are sequentially connected, and the first end side connecting plate and the second end side connecting plate are respectively connected with the fixed shell; the first piezoelectric driving unit consists of a first piezoelectric vibrator, a second piezoelectric vibrator, a first supporting leg, a second supporting leg and a third supporting leg, wherein one end of the first piezoelectric vibrator is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator and the connecting plate of the first end, the other end of the first supporting leg is a first foot support, the first foot support is formed by compounding a first low friction coefficient material and a first high friction coefficient material, the outer end face of the first foot support is arc-shaped, one end of the second supporting leg is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator and the second piezoelectric vibrator, the other end of the second supporting leg is a second foot support formed by a second low friction coefficient material, one end of the third supporting leg is vertically arranged on the lower surface of the connecting end of the second piezoelectric vibrator and the connecting plate of the first piezoelectric vibrator, the other end of the third supporting leg is a third foot support formed by compounding a third high friction coefficient material and a third low friction coefficient material, and the third high friction coefficient material are completely arranged on the same side as the first high friction coefficient material and the first low friction coefficient material, and the second low friction coefficient material are completely arranged on the same side as the first low friction coefficient material; the second piezoelectric driving unit has the same structure as the first piezoelectric driving unit.
When the piezoelectric vibrator driving device works, the fixed shell is fixed in position, each piezoelectric vibrator in the driving unit is subjected to the action of driving voltage with a certain phase to generate periodical deformation, and the foot support is subjected to the combined action of the force of piezoelectric driving and the friction force of the output shaft to generate small-angle torsion in the driving unit, so that materials with different friction coefficients are alternately contacted with the output shaft, the output shaft is enabled to directionally move by one step length in one driving period, and finally the directional driving of the output shaft is realized. The forward driving principle of the driver is shown in fig. 4: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 4 (a); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first low friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force born by the output shaft is equal to the left friction force, and the output shaft is not displaced at the moment, as shown in fig. 4 (b); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first high friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force applied to the output shaft is larger than the left friction force, and at the moment, the output shaft generates a displacement to the right, as shown in fig. 4 (c). Therefore, when the first piezoelectric vibrator of each driving unit is driven by the alternating voltage, the driver realizes forward driving. The reverse driving principle of the driver is shown in fig. 5: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 5 (a); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third low friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is equal to the right friction force, and the output shaft is not displaced at the moment, as shown in fig. 5 (b); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third high friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is larger than the right friction force, and at the moment, the output shaft generates left displacement, as shown in fig. 5 (c). Thus, when the second piezoelectric vibrator in the piezoelectric driving units of the first driver, the second driver, and the third driver is driven by the alternating voltage, the drivers realize the reverse driving.
The invention realizes bidirectional linear driving, and has the advantages of simple structure, low maintenance cost, lower requirement on the working surface and prolonged service life of piezoelectric ceramics in the driver.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention relates to a novel friction type linear piezoelectric driver which consists of a fixed shell, a central shaft, a first driver, a second driver and a third driver, wherein the first driver, the second driver and the third driver are completely identical in structure and are uniformly arranged around the central shaft. Wherein: the first driver comprises a first end side connecting plate, a first piezoelectric driving unit, a piezoelectric vibrator connecting plate, a second piezoelectric driving unit and a second end side connecting plate, wherein all the components are sequentially connected, and the first end side connecting plate and the second end side connecting plate are respectively connected with the fixed shell; the first piezoelectric driving unit consists of a first piezoelectric vibrator, a second piezoelectric vibrator, a first supporting leg, a second supporting leg and a third supporting leg, wherein one end of the first piezoelectric vibrator is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator and the connecting plate of the first end, the other end of the first supporting leg is a first foot support, the first foot support is formed by compounding a first low friction coefficient material and a first high friction coefficient material, the outer end face of the first foot support is arc-shaped, one end of the second supporting leg is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator and the second piezoelectric vibrator, the other end of the second supporting leg is a second foot support formed by a second low friction coefficient material, one end of the third supporting leg is vertically arranged on the lower surface of the connecting end of the second piezoelectric vibrator and the connecting plate of the first piezoelectric vibrator, the other end of the third supporting leg is a third foot support formed by compounding a third high friction coefficient material and a third low friction coefficient material, and the third high friction coefficient material are completely arranged on the same side as the first high friction coefficient material and the first low friction coefficient material, and the second low friction coefficient material are completely arranged on the same side as the first low friction coefficient material; the second piezoelectric driving unit has the same structure as the first piezoelectric driving unit.
When the piezoelectric vibrator driving device works, the fixed shell is fixed in position, each piezoelectric vibrator in the driving unit is subjected to the action of driving voltage with a certain phase to generate periodical deformation, and the foot support is subjected to the combined action of the force of piezoelectric driving and the friction force of the output shaft to generate small-angle torsion in the driving unit, so that materials with different friction coefficients are alternately contacted with the output shaft, the output shaft is enabled to directionally move by one step length in one driving period, and finally the directional driving of the output shaft is realized. The forward driving principle of the driver is shown in fig. 4: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 4 (a); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first low friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force born by the output shaft is equal to the left friction force, and the output shaft is not displaced at the moment, as shown in fig. 4 (b); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first high friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force applied to the output shaft is larger than the left friction force, and at the moment, the output shaft generates a displacement to the right, as shown in fig. 4 (c). Therefore, when the first piezoelectric vibrator of each driving unit is driven by the alternating voltage, the driver realizes forward driving. The reverse driving principle of the driver is shown in fig. 5: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 5 (a); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third low friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is equal to the right friction force, and the output shaft is not displaced at the moment, as shown in fig. 5 (b); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third high friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is larger than the right friction force, and at the moment, the output shaft generates left displacement, as shown in fig. 5 (c). Thus, when the second piezoelectric vibrator in the piezoelectric driving units of the first driver, the second driver, and the third driver is driven by the alternating voltage, the drivers realize the reverse driving.
The invention realizes bidirectional linear driving, and has the advantages of simple structure, low maintenance cost, lower requirement on the working surface and prolonged service life of piezoelectric ceramics in the driver.
Drawings
FIG. 1 is a schematic three-dimensional structure of a novel friction linear piezoelectric actuator according to the present invention.
Fig. 2 is a schematic left view structure of a novel friction type linear piezoelectric actuator according to the present invention.
Fig. 3 is a schematic structural diagram of a piezoelectric driving unit of a novel friction type linear piezoelectric driver according to the present invention.
Fig. 4 is a schematic diagram of a forward driving process of a novel friction type linear piezoelectric actuator according to the present invention.
Fig. 5 is a schematic diagram of a novel friction linear piezoelectric actuator back driving process according to the present invention.
Detailed Description
Referring to fig. 1, 2, 3, 4 and 5, a novel friction type linear piezoelectric actuator of the present invention is composed of a fixed housing 1, a central shaft 2, a first actuator 3, a second actuator 4 and a third actuator 5, wherein:
the first driver 3 includes a first end-side connection board 31, a first piezoelectric driving unit 32, a piezoelectric vibrator connection board 33, a second piezoelectric driving unit 34, and a second end-side connection board 35, and each component is connected in sequence, where the first end-side connection board 31 and the second end-side connection board 35 are respectively connected with the fixed housing 1; the first piezoelectric driving unit 32 is composed of a first piezoelectric vibrator 321, a second piezoelectric vibrator 322, a first supporting leg 323, a second supporting leg 324 and a third supporting leg 325, wherein the first piezoelectric vibrator 321 is formed by pasting a piezoelectric sheet material on a rectangular elastic matrix, the second piezoelectric vibrator 322 and the first piezoelectric vibrator 321 are completely identical in structure and are connected, one end of the first supporting leg 323 is vertically connected to the lower surface of the connecting end of the first piezoelectric vibrator 321 and the first end-side connecting plate 31, the other end of the first supporting leg 323 is a first foot support 3231, the first foot support 3231 is formed by compounding a first low friction coefficient material 32311 and a first high friction coefficient material 32312, the outer end surface of the first foot support 3231 is arc-shaped, one end of the second supporting leg 324 is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator 321 and the second piezoelectric vibrator 322, the other end of the second supporting leg 324 is a second foot support 3241 formed by a second low friction coefficient material, one end of the third supporting leg 325 is vertically arranged on the lower surface of the connecting end of the second piezoelectric vibrator 322 and the first piezoelectric vibrator 33, the other end of the third supporting leg 325 is formed by compounding a third high friction coefficient material 32511 and a third high friction coefficient material 32512 which are completely close to the first low friction coefficient material 32512; the second piezoelectric driving unit 34 has the same structure as the first piezoelectric driving unit 32.
When the piezoelectric vibrator driving device works, the fixed shell is fixed in position, each piezoelectric vibrator in the driving unit is subjected to the action of driving voltage with a certain phase to generate periodical deformation, and the foot support is subjected to the combined action of the force of piezoelectric driving and the friction force of the output shaft to generate small-angle torsion in the driving unit, so that materials with different friction coefficients are alternately contacted with the output shaft, the output shaft is enabled to directionally move by one step length in one driving period, and finally the directional driving of the output shaft is realized. The forward driving principle of the driver is shown in fig. 4: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 4 (a); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first low friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force born by the output shaft is equal to the left friction force, and the output shaft is not displaced at the moment, as shown in fig. 4 (b); when the first piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the first foot support and the second foot support of each driving unit generate small-angle torsion so that the first high friction coefficient material of the first foot support and the second low friction coefficient material of the second foot support are in contact with the output shaft, the right driving friction force applied to the output shaft is larger than the left friction force, and at the moment, the output shaft generates a displacement to the right, as shown in fig. 4 (c). Therefore, when the first piezoelectric vibrator of each driving unit is driven by the alternating voltage, the driver realizes forward driving. The reverse driving principle of the driver is shown in fig. 5: the piezoelectric vibrator does not deform when not energized, and the output shaft is stationary as shown in fig. 5 (a); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation close to the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third low friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is equal to the right friction force, and the output shaft is not displaced at the moment, as shown in fig. 5 (b); when the second piezoelectric vibrators in the piezoelectric driving units of the first driver, the second driver and the third driver are driven by voltage to generate deformation far away from the axis, the second foot support and the third foot support of each driving unit generate small-angle torsion so that the second low friction coefficient material of the second foot support and the third high friction coefficient material of the third foot support are in contact with the output shaft, the left driving friction force born by the output shaft is larger than the right friction force, and at the moment, the output shaft generates left displacement, as shown in fig. 5 (c). Thus, when the second piezoelectric vibrator in the piezoelectric driving units of the first driver, the second driver, and the third driver is driven by the alternating voltage, the drivers realize the reverse driving.
The invention realizes bidirectional linear driving, and has the advantages of simple structure, low maintenance cost, lower requirement on the working surface and prolonged service life of piezoelectric ceramics in the driver.
Claims (1)
1. A novel friction-type linear piezoelectric actuator, comprising: the device is characterized by also comprising a first driver (3), a second driver (4) and a third driver (5) which are completely identical in structure and uniformly arranged around the central shaft, wherein the first driver and the second driver are fixed on the shell (1) and the central shaft (2); the first driver (3) comprises a first end-side connecting plate (31), a first piezoelectric driving unit (32), a piezoelectric vibrator connecting plate (33), a second piezoelectric driving unit (34) and a second end-side connecting plate (35), all the components are sequentially connected, and the first end-side connecting plate (31) and the second end-side connecting plate (35) are respectively connected with the fixed shell (1); wherein the first piezoelectric driving unit (32) is composed of a first piezoelectric vibrator (321), a second piezoelectric vibrator (322), a first supporting leg (323), a second supporting leg (324) and a third supporting leg (325), the first piezoelectric vibrator (321) is formed by pasting a piezoelectric sheet material on a rectangular elastic matrix, the second piezoelectric vibrator (322) is completely identical in structure with the first piezoelectric vibrator (321) and is connected with the two piezoelectric vibrators, one end of the first supporting leg (323) is vertically connected with the lower surface of the connecting end of the first piezoelectric vibrator (321) and the first end side connecting plate (31), the other end is a first foot support (3231), the first foot support (3231) is formed by compounding a first low friction coefficient material (32311) and a first high friction coefficient material (32312), the outer end surface is arc-shaped, one end of the second supporting leg (324) is vertically arranged on the lower surface of the connecting end of the first piezoelectric vibrator (321) and the second piezoelectric vibrator (322), the other end is a second foot support (32322) formed by compounding a second low friction coefficient material, the third supporting leg (3231) is formed by compounding a third low friction coefficient material (3241) and a third friction coefficient material (32512) at the lower surface of the third end of the third piezoelectric vibrator (33), the third high friction coefficient material (32511) is identical to the first high friction coefficient material (32312) and is arranged on one side close to the second supporting leg (324), and the first low friction coefficient material (32311), the second low friction coefficient material and the third low friction coefficient material (32512) are identical; the second piezoelectric driving unit (34) has the same structure as the first piezoelectric driving unit (32).
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| CN109104119B (en) * | 2018-09-12 | 2023-03-17 | 吉林大学 | Inertial rotation driver with composite foot support |
| GB2627738A (en) * | 2023-02-27 | 2024-09-04 | Secr Defence | Apparatus for deploying boom |
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