CN108092548A - A kind of two-way piezoelectric rotary driver - Google Patents
A kind of two-way piezoelectric rotary driver Download PDFInfo
- Publication number
- CN108092548A CN108092548A CN201810029487.4A CN201810029487A CN108092548A CN 108092548 A CN108092548 A CN 108092548A CN 201810029487 A CN201810029487 A CN 201810029487A CN 108092548 A CN108092548 A CN 108092548A
- Authority
- CN
- China
- Prior art keywords
- piezoelectric actuator
- circumferential
- rotating shaft
- central rotating
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 210000001699 lower leg Anatomy 0.000 claims description 48
- 239000002783 friction material Substances 0.000 claims description 31
- 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 27
- 238000005452 bending Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 9
- 125000004122 cyclic group Chemical group 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 208000032365 Electromagnetic interference Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional 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
Classifications
-
- 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
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention relates to a kind of two-way piezoelectric rotary driver, including：Pedestal, central rotating shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator, wherein：Pedestal is fixed, and central rotating shaft forms revolute pair with pedestal 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 biasing alternating voltage on the piezoelectric vibrator of the circumferential piezoelectric actuator makes its deformation, drive the movement of bipod bearing, the material of different coefficients of friction on foot bearing is promoted to be in contact respectively with working face, it realizes the displacement of circumferential piezoelectric actuator, drives 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 fields, and in particular to a kind of two-way piezoelectric rotary driver.
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 fields such as positioning and biomedicine are 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, is beneficial to piezoelectric actuator to piezoelectricity friction formula driver progress in-depth study and further pushes away
Wide and application.
The content of the invention
It is complex in order to solve current piezoelectric actuator structure, mostly with working face rigid contact, to operating environment requirements
The problem of component is not easy to replace easily is lost, it is proposed that a kind of two-way piezoelectric rotary driver, the driver is by pedestal, center in height
Shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator are formed, wherein institute
It states the cylinder with circular groove centered on pedestal and position is fixed, the central rotating shaft includes positioning section, drive section and output
Section, the positioning section of the central rotating shaft are connected to form revolute pair with base groove clearance fit, and the central rotating shaft can be around its axis
Line rotates, and first connecting plate and the second connecting plate are spill thin plate, and the described first circumferential piezoelectric actuator and second is circumferentially
Piezoelectric actuator is in a rotationally symmetrical arrangement in the drive section both sides of central rotating shaft by the first connecting plate and the second connecting plate respectively；Institute
Stating the first circumferential piezoelectric actuator includes：Piezoelectric vibrator, the first foot bearing and crus secunda bearing, wherein the piezoelectric vibrator is by pressing
Electric sheeting is pasted onto on Rectangular Elastic matrix and forms, and described first foot bearing one end is arranged in piezoelectric vibrator lower surface, another
One end is free end, described crus secunda bearing one end be connected to piezoelectric vibrator lower surface, the other end be free end, first foot
The free end of bearing is by the first high coefficient of friction material that section is sector and the first low-friction coefficient material that section is sector
Material is combined, and it is fan-shaped the second low friction coefficient materials by section that the free end of the crus secunda bearing, which is, and section is fan
Second high coefficient of friction material of shape is combined；Described second circumferential piezoelectric actuator and the first circumferential piezoelectric actuator structure
Identical and two circumferential piezoelectric actuators are 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 biasing alternating voltage on the piezoelectric vibrator of the circumferential piezoelectric actuator
Cyclic bending deformation is brought it about, drive bipod bearing close to each other or is located remotely from each other.In foot bearing moving process, foot bearing
It is subject to the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, promotes on foot bearing
The material of different coefficients of friction is in contact respectively with working face, so that foot bearing generates different displacements, realizes circumferential piezoelectricity
The displacement of driver, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential direction piezoelectric actuator
The directional rotating output torque of central rotating shaft is driven by connecting plate.The driving work counterclockwise of first circumferential piezoelectric actuator is former
It is as shown in Figure 4 to manage schematic diagram：When piezoelectric vibrator is not powered on, driver is in nature, as shown in Fig. 4 (a)；To piezoelectric vibrator
Logical forward dc electricity, piezoelectric vibrator generate certain concave change shape, the first foot bearing and crus secunda bearing are driven to be located remotely from each other, cause
The first foot bearing is made to turn over low-angle to high coefficient of friction material and low friction coefficient materials counterclockwise and corresponds to bonding place and work
Face contact, crus secunda bearing turn over clockwise low-angle to high coefficient of friction material and low friction coefficient materials corresponds to bonding place and
Working face contacts, as shown in Fig. 4 (b)；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate concave change shape,
The first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the high coefficient of friction material of the first foot bearing and crus secunda bearing
Low friction coefficient materials first is contacted with working face, circumferential piezoelectric actuator moves to the right, drive central rotating shaft it is counterclockwise
Turn over angle, θ1, as shown in Fig. 4 (c)；When piezoelectric vibrator, which is powered, generates convex deformation, the first foot bearing and crus secunda bearing are driven
It is close to each other, the low friction coefficient materials of the first foot bearing and the high coefficient of friction material of crus secunda bearing is caused to be connect with working face
It touches, the first circumferential piezoelectric actuator continuation is moved to the right, and central rotating shaft continuation is driven to turn over angle, θ counterclockwise2, such as Fig. 4 (d)
It is shown；A working cycles are completed when piezoelectric vibrator turns again to logical direct current offset position, as shown in Fig. 4 (e).In piezoelectricity
In a cycle of oscillator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft inverse
Hour hands turn over an angle.The driving operation principle schematic diagram clockwise of first circumferential piezoelectric actuator is as shown in Figure 5：Work as piezoelectricity
When oscillator is not powered on, driver is in nature, as shown in Fig. 5 (a)；Lead to a reversed direct current, piezoelectric vibrator to piezoelectric vibrator
Certain convex deformation is generated, drives the first foot bearing and crus secunda bearing close to each other, the first foot bearing is caused to turn over clockwise
Low-angle corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and is contacted with working face, and crus secunda bearing is counterclockwise
It turns over low-angle and corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and contacted with working face, such as Fig. 5 (b) institutes
Show；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate convex deformation, drives the first foot bearing and crus secunda
Bearing is close to each other, causes the high coefficient of friction material of the first foot bearing and low friction coefficient materials and the work of crus secunda bearing
Face contacts, and the first circumferential piezoelectric actuator moves to the left, and central rotating shaft is driven to turn over angle, θ clockwise3, such as Fig. 5 (c) institutes
Show；When piezoelectric vibrator, which is powered, generates concave change shape, the first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the first foot branch
The low friction coefficient materials of seat and the high coefficient of friction material of crus secunda bearing are contacted with working face, the first circumferential piezoelectric actuator
Continuation is moved to the left, and central rotating shaft continuation is driven to turn over angle, θ clockwise4, as shown in Fig. 5 (d)；When piezoelectric vibrator returns again
To one working cycles of completion during logical direct current offset position, as shown in Fig. 5 (e).It is deformed in piezoelectric vibrator energization cyclic bending
A cycle in, the first circumferential piezoelectric actuator moves to the left, and intermediate mass block is driven to turn over an angle clockwise.Cause
This, when piezoelectric vibrator is subject to forward bias alternating voltage to act on, which realizes rotation driving counterclockwise；Work as piezoelectric vibrator
When being subject to the effect of reverse bias alternating voltage, driver realization rotates clockwise 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 simultaneously 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 two-way piezoelectric rotary driver of the present invention, the driver is by pedestal, central rotating shaft, the first connecting plate, second
Connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator are formed, wherein band is circular recessed centered on the pedestal
The cylinder of slot and position is fixed, the central rotating shaft include positioning section, drive section and deferent segment, the positioning of the central rotating shaft
Section is connected to form revolute pair with base groove clearance fit, and the central rotating shaft can be rotatable around its axis, first connecting plate
It is spill thin plate with the second connecting plate, the described first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator pass through first respectively
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 bag
It includes：Piezoelectric vibrator, the first foot bearing and crus secunda bearing, wherein the piezoelectric vibrator is pasted onto rectangle bullet by piezoelectric sheet material
Property matrix on form, described first foot bearing one end be arranged in piezoelectric vibrator lower surface, the other end be free end, the crus secunda
Bearing one end is connected to piezoelectric vibrator lower surface, the other end is free end, and the free end of the first foot bearing is to be by section
Fan-shaped the first high coefficient of friction material and section is combined for the first fan-shaped low friction coefficient materials, the crus secunda branch
The free end of seat is by the second low friction coefficient materials that section is sector and the second high coefficient of friction material that section is sector
It is combined；The second circumferential piezoelectric actuator and the first circumferential piezoelectric actuator structure is identical and two circumferential piezoelectricity drive
Dynamic device is 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 biasing alternating voltage on the piezoelectric vibrator of the circumferential piezoelectric actuator
Cyclic bending deformation is brought it about, drive bipod bearing close to each other or is located remotely from each other.In foot bearing moving process, foot bearing
It is subject to the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, promotes on foot bearing
The material of different coefficients of friction is in contact respectively with working face, so that foot bearing generates different displacements, realizes circumferential piezoelectricity
The displacement of driver, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential direction piezoelectric actuator
The directional rotating output torque of central rotating shaft is driven by connecting plate.The driving work counterclockwise of first circumferential piezoelectric actuator is former
It is as shown in Figure 4 to manage schematic diagram：When piezoelectric vibrator is not powered on, driver is in nature, as shown in Fig. 4 (a)；To piezoelectric vibrator
Logical forward dc electricity, piezoelectric vibrator generate certain concave change shape, the first foot bearing and crus secunda bearing are driven to be located remotely from each other, cause
The first foot bearing is made to turn over low-angle to high coefficient of friction material and low friction coefficient materials counterclockwise and corresponds to bonding place and work
Face contact, crus secunda bearing turn over clockwise low-angle to high coefficient of friction material and low friction coefficient materials corresponds to bonding place and
Working face contacts, as shown in Fig. 4 (b)；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate concave change shape,
The first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the high coefficient of friction material of the first foot bearing and crus secunda bearing
Low friction coefficient materials first is contacted with working face, circumferential piezoelectric actuator moves to the right, drive central rotating shaft it is counterclockwise
Turn over angle, θ1, as shown in Fig. 4 (c)；When piezoelectric vibrator, which is powered, generates convex deformation, the first foot bearing and crus secunda bearing are driven
It is close to each other, the low friction coefficient materials of the first foot bearing and the high coefficient of friction material of crus secunda bearing is caused to be connect with working face
It touches, the first circumferential piezoelectric actuator continuation is moved to the right, and central rotating shaft continuation is driven to turn over angle, θ counterclockwise2, such as Fig. 4 (d)
It is shown；A working cycles are completed when piezoelectric vibrator turns again to logical direct current offset position, as shown in Fig. 4 (e).In piezoelectricity
In a cycle of oscillator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft inverse
Hour hands turn over an angle.The driving operation principle schematic diagram clockwise of first circumferential piezoelectric actuator is as shown in Figure 5：Work as piezoelectricity
When oscillator is not powered on, driver is in nature, as shown in Fig. 5 (a)；Lead to a reversed direct current, piezoelectric vibrator to piezoelectric vibrator
Certain convex deformation is generated, drives the first foot bearing and crus secunda bearing close to each other, the first foot bearing is caused to turn over clockwise
Low-angle corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and is contacted with working face, and crus secunda bearing is counterclockwise
It turns over low-angle and corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and contacted with working face, such as Fig. 5 (b) institutes
Show；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate convex deformation, drives the first foot bearing and crus secunda
Bearing is close to each other, causes the high coefficient of friction material of the first foot bearing and low friction coefficient materials and the work of crus secunda bearing
Face contacts, and the first circumferential piezoelectric actuator moves to the left, and central rotating shaft is driven to turn over angle, θ clockwise3, such as Fig. 5 (c) institutes
Show；When piezoelectric vibrator, which is powered, generates concave change shape, the first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the first foot branch
The low friction coefficient materials of seat and the high coefficient of friction material of crus secunda bearing are contacted with working face, the first circumferential piezoelectric actuator
Continuation is moved to the left, and central rotating shaft continuation is driven to turn over angle, θ clockwise4, as shown in Fig. 5 (d)；When piezoelectric vibrator returns again
To one working cycles of completion during logical direct current offset position, as shown in Fig. 5 (e).It is deformed in piezoelectric vibrator energization cyclic bending
A cycle in, the first circumferential piezoelectric actuator moves to the left, and intermediate mass block is driven to turn over an angle clockwise.Cause
This, when piezoelectric vibrator is subject to forward bias alternating voltage to act on, which realizes rotation driving counterclockwise；Work as piezoelectric vibrator
When being subject to the effect of reverse bias alternating voltage, driver realization rotates clockwise 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 simultaneously 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.
Description of the drawings
Fig. 1 is a kind of two-way piezoelectric rotary driver structure diagram of the present invention.
Fig. 2 is a kind of two-way piezoelectric rotary driver central rotating shaft structure diagram of the present invention.
Fig. 3 is a kind of two-way circumferential piezoelectric actuator structure diagram of piezoelectric rotary driver first of the present invention.
Fig. 4 is that a kind of two-way piezoelectric rotary driver of the present invention drives process schematic counterclockwise.
Fig. 5 is that a kind of two-way piezoelectric rotary driver of the present invention drives process schematic clockwise.
Specific embodiment
According to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of multiple pressure electric tachometer indicator bidirectional rotation driver of the present invention be by pedestal 1, in
Heart shaft 2, the first connecting plate 3 and second the 4, first circumferential circumferential 6 groups of piezoelectric actuator of piezoelectric actuator 5 and second of connecting plate
Into, wherein：
Cylinder with circular groove and position is fixed centered on the pedestal 1, the central rotating shaft 2 include positioning section
21st, drive section 22 and deferent segment 23, positioning section and 1 groove gap of pedestal of the central rotating shaft 2 are connected to form revolute pair,
The central rotating shaft 2 can be rotatable around its axis, 3 and second connecting plate 4 of the first connecting plate be 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
It puts in 22 both sides of drive section of central rotating shaft 2；Described first circumferential piezoelectric actuator 5 includes：Piezoelectric vibrator 51, the first foot bearing
52 and crus secunda bearing 53, it is formed wherein the piezoelectric vibrator 51 is pasted onto by piezoelectric sheet material on Rectangular Elastic matrix, institute
State 52 one end of the first foot bearing be arranged in 51 lower surface of piezoelectric vibrator, the other end be free end, described 53 one end of crus secunda bearing
Be connected to 51 lower surface of piezoelectric vibrator, the other end is free end, it by section is sector that the free end of the first foot bearing 52, which is,
The first high coefficient of friction material 521 and section be combined for the first fan-shaped low friction coefficient materials 522, the crus secunda
The free end of bearing 53 is by the second low friction coefficient materials 531 that section is sector and the second high friction system that section is sector
Number material 532 is combined；The second circumferential piezoelectric actuator 6 it is identical with the first 5 structure of circumferential piezoelectric actuator and
Two circumferential piezoelectric actuators are 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 biasing alternating voltage on the piezoelectric vibrator of the circumferential piezoelectric actuator
Cyclic bending deformation is brought it about, drive bipod bearing close to each other or is located remotely from each other.In foot bearing moving process, foot bearing
It is subject to the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, promotes on foot bearing
The material of different coefficients of friction is in contact respectively with working face, so that foot bearing generates different displacements, realizes circumferential piezoelectricity
The displacement of driver, the motion state of each circumferential direction piezoelectric actuator is identical with direction, final circumferential direction piezoelectric actuator
The directional rotating output torque of central rotating shaft is driven by connecting plate.The driving work counterclockwise of first circumferential piezoelectric actuator is former
It is as shown in Figure 4 to manage schematic diagram：When piezoelectric vibrator is not powered on, driver is in nature, as shown in Fig. 4 (a)；To piezoelectric vibrator
Logical forward dc electricity, piezoelectric vibrator generate certain concave change shape, the first foot bearing and crus secunda bearing are driven to be located remotely from each other, cause
The first foot bearing is made to turn over low-angle to high coefficient of friction material and low friction coefficient materials counterclockwise and corresponds to bonding place and work
Face contact, crus secunda bearing turn over clockwise low-angle to high coefficient of friction material and low friction coefficient materials corresponds to bonding place and
Working face contacts, as shown in Fig. 4 (b)；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate concave change shape,
The first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the high coefficient of friction material of the first foot bearing and crus secunda bearing
Low friction coefficient materials first is contacted with working face, circumferential piezoelectric actuator moves to the right, drive central rotating shaft it is counterclockwise
Turn over angle, θ1, as shown in Fig. 4 (c)；When piezoelectric vibrator, which is powered, generates convex deformation, the first foot bearing and crus secunda bearing are driven
It is close to each other, the low friction coefficient materials of the first foot bearing and the high coefficient of friction material of crus secunda bearing is caused to be connect with working face
It touches, the first circumferential piezoelectric actuator continuation is moved to the right, and central rotating shaft continuation is driven to turn over angle, θ counterclockwise2, such as Fig. 4 (d)
It is shown；A working cycles are completed when piezoelectric vibrator turns again to logical direct current offset position, as shown in Fig. 4 (e).In piezoelectricity
In a cycle of oscillator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft inverse
Hour hands turn over an angle.The driving operation principle schematic diagram clockwise of first circumferential piezoelectric actuator is as shown in Figure 5：Work as piezoelectricity
When oscillator is not powered on, driver is in nature, as shown in Fig. 5 (a)；Lead to a reversed direct current, piezoelectric vibrator to piezoelectric vibrator
Certain convex deformation is generated, drives the first foot bearing and crus secunda bearing close to each other, the first foot bearing is caused to turn over clockwise
Low-angle corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and is contacted with working face, and crus secunda bearing is counterclockwise
It turns over low-angle and corresponds to bonding place to high coefficient of friction material and low friction coefficient materials and contacted with working face, such as Fig. 5 (b) institutes
Show；Piezoelectric vibrator is driven with alternating voltage at this time, when piezoelectric vibrator continues to generate convex deformation, drives the first foot bearing and crus secunda
Bearing is close to each other, causes the high coefficient of friction material of the first foot bearing and low friction coefficient materials and the work of crus secunda bearing
Face contacts, and the first circumferential piezoelectric actuator moves to the left, and central rotating shaft is driven to turn over angle, θ clockwise3, such as Fig. 5 (c) institutes
Show；When piezoelectric vibrator, which is powered, generates concave change shape, the first foot bearing and crus secunda bearing is driven to be located remotely from each other, causes the first foot branch
The low friction coefficient materials of seat and the high coefficient of friction material of crus secunda bearing are contacted with working face, the first circumferential piezoelectric actuator
Continuation is moved to the left, and central rotating shaft continuation is driven to turn over angle, θ clockwise4, as shown in Fig. 5 (d)；When piezoelectric vibrator returns again
To one working cycles of completion during logical direct current offset position, as shown in Fig. 5 (e).It is deformed in piezoelectric vibrator energization cyclic bending
A cycle in, the first circumferential piezoelectric actuator moves to the left, and intermediate mass block is driven to turn over an angle clockwise.Cause
This, when piezoelectric vibrator is subject to forward bias alternating voltage to act on, which realizes rotation driving counterclockwise；Work as piezoelectric vibrator
When being subject to the effect of reverse bias alternating voltage, driver realization rotates clockwise 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 simultaneously 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 two-way piezoelectric rotary driver, including：Pedestal (1), central rotating shaft (2), the first connecting plate (3) and the second connection
Plate (4), it is characterised in that further include the first circumferential piezoelectric actuator (5) for realizing bi-directional drive and the second circumferential piezoelectric actuator
(6)；Cylinder with circular groove and position is fixed centered on wherein described pedestal (1), the central rotating shaft (2) include positioning
Section (21), drive section (22) and deferent segment (23), positioning section and the cooperation of pedestal (1) groove gap of the central rotating shaft (2) connect
It connects to form revolute pair, the central rotating shaft (2) can be rotatable around its axis, and first connecting plate (3) and the second connecting plate (4) are
Spill thin plate, the described first circumferential piezoelectric actuator (5) and the second circumferential piezoelectric actuator (6) pass through the first connecting plate respectively
(3) and the second connecting plate (4) drive section (22) both sides in a rotationally symmetrical arrangement in central rotating shaft (2)；Described first circumferential piezoelectricity
Driver (5) includes：Piezoelectric vibrator (51), the first foot bearing (52) and crus secunda bearing (53), wherein the piezoelectric vibrator
(51) it is pasted onto on Rectangular Elastic matrix and is formed by piezoelectric sheet material, described first foot bearing (52) one end is arranged in piezoelectricity and shakes
Sub (51) lower surface, the other end are free end, and described crus secunda bearing (53) one end is connected to piezoelectric vibrator (51) lower surface, another
One end is free end, and the free end of the first foot bearing (52) is the first high coefficient of friction material by section for sector
(521) it is combined with section for fan-shaped the first low friction coefficient materials (522), the free end of the crus secunda bearing (53)
It is by the second low friction coefficient materials (531) that section is sector and the second high coefficient of friction material (532) that section is sector
It is combined；Described second circumferential piezoelectric actuator (6) is identical with first circumferential piezoelectric actuator (5) structure and two is circumferential
Piezoelectric actuator is on central rotating shaft (2) in rotational symmetry.
2. two-way piezoelectric rotary driver according to claim 1, it is characterised in that：Central rotating shaft (2) drive section
(22) it can be positive N (N is more than or equal to 4) face body, the number of the described first circumferential piezoelectric actuator (4) can be K (K is 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029487.4A CN108092548A (en) | 2018-01-12 | 2018-01-12 | A kind of two-way piezoelectric rotary driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029487.4A CN108092548A (en) | 2018-01-12 | 2018-01-12 | A kind of two-way piezoelectric rotary driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108092548A true CN108092548A (en) | 2018-05-29 |
Family
ID=62183121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029487.4A Pending CN108092548A (en) | 2018-01-12 | 2018-01-12 | A kind of two-way piezoelectric rotary driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108092548A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110912441A (en) * | 2018-09-14 | 2020-03-24 | 长春隆美科技发展有限公司 | Variable positive pressure piezoelectric rotary driver |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846714A (en) * | 2016-06-12 | 2016-08-10 | 吉林大学 | Stepping piezoelectric drive motor |
| CN105871248A (en) * | 2016-06-12 | 2016-08-17 | 吉林大学 | Directional driver with composite foot support seat |
| CN205647297U (en) * | 2016-01-07 | 2016-10-12 | 浙江师范大学 | Two -way rotary actuator of friction -variable asymmetric piezoelectricity of power |
| CN106059377A (en) * | 2016-06-12 | 2016-10-26 | 吉林大学 | Stepping piezoelectric actuator |
-
2018
- 2018-01-12 CN CN201810029487.4A patent/CN108092548A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205647297U (en) * | 2016-01-07 | 2016-10-12 | 浙江师范大学 | Two -way rotary actuator of friction -variable asymmetric piezoelectricity of power |
| CN105846714A (en) * | 2016-06-12 | 2016-08-10 | 吉林大学 | Stepping piezoelectric drive motor |
| CN105871248A (en) * | 2016-06-12 | 2016-08-17 | 吉林大学 | Directional driver with composite foot support seat |
| CN106059377A (en) * | 2016-06-12 | 2016-10-26 | 吉林大学 | Stepping piezoelectric actuator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110912441A (en) * | 2018-09-14 | 2020-03-24 | 长春隆美科技发展有限公司 | Variable positive pressure piezoelectric rotary driver |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105846714B (en) | A kind of step piezoelectric motor | |
| CN105871248B (en) | A kind of directional driver with compound foot bearing | |
| CN109889085A (en) | The ultraprecise three-freedom planar motion platform and its motivational techniques of Piezoelectric Driving | |
| CN207801784U (en) | A kind of branched two-way piezoelectric rotary driver of support | |
| CN108092548A (en) | A kind of two-way piezoelectric rotary driver | |
| CN207801781U (en) | A kind of bidirectional rotation driver with compound foot bearing | |
| CN207801782U (en) | A kind of multiple pressure electric tachometer indicator bidirectional rotation driver | |
| CN109889086A (en) | A kind of Three Degree Of Freedom Piezoelectric Driving Micro and nano manipulation mechanical arm and its motivational techniques | |
| CN105846713B (en) | A kind of tandem piezoelectricity directional driver | |
| CN205545000U (en) | Piezoelectricity vibrating wriggling motor | |
| CN207743899U (en) | A kind of bidirectional drive with compound foot bearing | |
| CN208046482U (en) | A kind of two-way piezoelectric rotary driver | |
| CN107968594A (en) | A kind of bidirectional rotation driver with compound foot bearing | |
| CN107171589B (en) | A kind of cymbal type two-freedom piezoelectric actuator and the motivational techniques for the two-freedom movement realized using the driver | |
| CN105915105A (en) | Inertia piezoelectric driver | |
| CN105846715B (en) | A kind of mutative damp piezoelectric drive motors | |
| CN102118118B (en) | Linear type ultrasonic micromotor | |
| CN108063564A (en) | A kind of novel friction type linear piezoelectric actuator | |
| CN108039834A (en) | A kind of more support Bidirectional pressure electricity rotating drivers | |
| CN108054949A (en) | A kind of multiple pressure electric tachometer indicator bidirectional rotation driver | |
| CN205666768U (en) | Piezoelectric motor with half falcate elastomer | |
| CN205666771U (en) | Step -by -step pressure electric drive motor | |
| CN207743897U (en) | A kind of two-way piezoelectric actuator | |
| CN108063563A (en) | A kind of two-way piezoelectric actuator | |
| CN110299867A (en) | A kind of four-footed driving rotary ultrasonic wave motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |
|
| WD01 | Invention patent application deemed withdrawn after publication |