CN108768206A - A kind of two-way high thrust piezoelectric straight line actuator and its driving method - Google Patents
A kind of two-way high thrust piezoelectric straight line actuator and its driving method Download PDFInfo
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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
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/023—Inchworm motors
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
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Abstract
The invention discloses a kind of two-way high thrust piezoelectric straight line actuator and its driving methods, include mainly driving unit, clamp units and output shaft.For the characteristic of piezoelectric element resistance to compression not tension, designed using symmetrical structure, upper and lower two piezoelectric stacks carry driving when pressure load and tensile load, realize high thrust double action respectively as driving source.Clamp element includes that clamp nut, flexible clutch and torque motor, flexible clutch realize different clamps by torque motor torque transfer to clamp nut up and down.Output shaft is trapezoidal screw, and root of the tooth intensity is high, and wearability is good, to neutral good, and good manufacturability.The configuration of the present invention is simple is compact, and the piezoelectric stack of symmetrical distribution is coordinated using bidirectional screw clamping institution, the single step output displacement stacked is accumulated and is superimposed, big stroke, high thrust is exported by trapezoidal screw and pushing-pulling bi-directional start may be implemented.
Description
Technical field：
The present invention relates to the two-way piezoelectric actuator of high thrust and its working methods, belong to piezoelectric actuator field.
Background technology：
In recent years, with the fast development of piezoelectric material technique and precision processing technology, the research of piezoelectric straight line actuator has
Remarkable progress.Since linear actuator energy directly linear movement output is received without intermediate conversion mechanism and piezoelectric ceramics
The resolution ratio of meter level, so piezoelectric straight line actuator has many advantages, such as that simple in structure, noise is low, precision is high, is easy to miniaturization.Cause
This, piezoelectric straight line actuator is in bioengineering, mechanical micro-group dress, MEMS（MEMS）And the various fields such as aerospace obtain
Extensive use is arrived.
According to the type of driving element, piezoelectric straight line actuator mainly has two kinds of forms of piezoelectric ceramics and piezoelectric stack.Pressure
Electroceramics actuator is a kind of Micro displacement actuator that the inverse piezoelectric effect using piezoelectric material is made, have it is small,
The features such as energy density height, high resolution, fast frequency response, has become important positioning and driving element in Precision Position Location System.By
It is smaller in the power output and output displacement of the piezoelectric ceramic actuator based on monolithic piezoelectric ceramic chip, it usually uses centainly
Multi-disc piezoelectric ceramic wafer and electrode are formed by stacking piezoelectric stack actuator to improve power output and displacement by technique.So with pressure
Electroceramics is compared, and piezoelectric stack has many advantages, such as that High power output under non-resonant behavior, deformation is big, position repeatability is good.Piezoelectricity
Actuator is broadly divided into piezoelectric ultrasonic motor, Micro Displacement Piezoelectric Actuator for Cutting, piezoelectric inertia actuator and piezoelectricity looper actuator.
Presently, for existing piezoelectric ultrasonic motor due to the limitation of its principle, power output is smaller, generally within 100N；Piezoelectric micromotor
Actuator configurations are compact, High power output, and dynamic characteristic is good, but its impulse stroke is smaller, and general maximum is in tens micron ranges；
Piezoelectric inertia actuator has the characteristics that high-resolution, big stroke can be achieved, but its power output is smaller.Piezoelectricity looper actuator,
Not only had the advantages that high resolution, stability were good, bearing capacity is strong, High power output, but also sufficiently large displacement may be implemented.Hair
Bright person once invented an actuator patent based on piezoelectricity looper principle in 2014, application No. is
CN201410676948.9, it is entitled " high thrust piezoelectric actuator and its working method ", which realizes actuator and is pressing
High thrust output under power load.But by the characteristic of piezoelectric element resistance to compression not tension, which cannot achieve negative in pulling force
Start under carrying, and stroke is less than normal.Therefore some existing actuator are difficult to meet high thrust, big stroke while realizing pushing-pulling bi-directional
Start.
Invention content：
It in view of the above problem, is invented based on early period, the present invention proposes a kind of novel pushing away based on piezoelectricity looper driving principle
Two-way high thrust piezoelectric straight line actuator is drawn, has simple in structure, compact, assembly precision height, good manufacturability efficient etc. excellent
Point.
According to a kind of two-way high thrust piezoelectric straight line actuator proposed by the present invention, including lead screw, clamp structure, piezo stack
Heap and torque motor；Wherein, the torque motor is located at the middle part of actuator, the both sides of torque motor along lead screw direction according to
Secondary to be equipped with clamp structure and piezoelectric stack, the clamp nut is connected on the lead screw；The clamp structure and piezoelectricity
It stacks that the both sides above and below torque motor are symmetrical, carries high thrust start when pressure and pulling force respectively；The clamp knot
Structure includes upper and lower two trapezoidal nuts and connected flexible clutch, and clamp structure enables actuator to realize two-way work
It is dynamic；The torque motor provides clamp torque.
Further, the clamp structure includes clamp nut and flexible clutch, the clamp nut and piezoelectric stack
And clamp end face has certain slight distance, the flexible clutch to be connected with clamp nut.
Further, the piezoelectric stack is externally provided with casing, and the end of the casing, which is equipped with, stacks end cap.
Further, it is equipped with clamp end face close to the side of motor in clamp nut in the casing, clamps end face and machine
Shell is integrated.
As a preferred embodiment, the lead screw uses trapezoidal nut screw, it is that inside and outside trapezoidal thread is passed in transmission
Dynamic, internal and external threads are adjacent to the conical surface to be not easy to loosen.
As a preferred embodiment, two casings are all in the clamp nut and torque motor main shaft junction and and flexible coupling
Device connecting portion trepanning had not only realized that spanner screwed the two, but also observed connection and control spacing as viewing hole.
Further, centre bore is equipped at the piezoelectric stack end cap central, in the centre bore processing rectangular spline with
The rectangular spline at trapezoidal screw both ends cooperates, and prevents leading screw from being rotated under torque motor drive.
Further, the lead screw is equipped with grating coding disk, realizes the monitoring to rotational speed of torque motor.
Based on above-mentioned two-way high thrust piezoelectric straight line actuator the present invention also provides its driving method, at the beginning of the driving method
Under beginning state, the clamp nut all clamps end face with piezoelectric stack end face and respectively slight distance, when actuator is pressed
When power loads, leading screw moves down；Wherein, upper clamp nut have the tendency that be detached from top piezoelectric stack to clamp end face displacement,
End face of the lower clamp nut under leading screw drive and on the piezoelectric stack of lower section forces together；Apply lower piezoelectric simultaneously and stacks driving letter
Number and the positive rotaring signal of torque motor, piezoelectric stack elongation, lower piezoelectric stacks the lower clamp nut of drive and leading screw moves upwards, upper pincers
Position nut also moves upwards separate clamp end face and under the drive of torque motor to clamp end face direction precession, lower pincers with leading screw
Position nut is not rotated because of the frictional force of contact surface；When piezoelectric stack is shunk, upper clamp nut has been threaded to clamp end face branch
Support load, lower clamp nut, which is no longer influenced by load effect and is detached from, stacks end face, generates towards rotating in the forward direction for end face is stacked, directly
The position to restPose is stacked to lower piezoelectric, lower clamp nut is threaded to lower piezoelectric and stacks end face, so completes to stack one
Pressure positive movement in drive cycle recycles above-mentioned periodic motion and realizes big stroke start.
Further, when actuator under tension loads, for mirror image in pressure load positive movement, upper piezoelectric stack is to drive
Dynamic element, torque motor is inverted status, and upper clamp nut and lower clamp nut exchange function, completion stack a drive cycle
The reverse start of interior pulling force recycles above-mentioned periodic motion and realizes big stroke start.
Compared with prior art, the present invention has following technical advantage：
1）Two piezoelectric stacks are laid out using symmetrical expression, driving force when pressure load and tensile load is provided respectively, to realize
Double action.
2）Since flexible clutch can utilize a torque motor to realize that bidirectional screw clamps, to simplify complete machine knot
Structure.
3）Since trapezoidal screw nut drive technology is good, transmission efficiency, and by rectangular spline and stack end cap
Connection, improves transmission accuracy.
4）Since end face is integrated with casing progresss shapes for clamp, reduces connector and number is installed, therefore is whole
Machine is compact-sized and improves the precision of complete machine.
Description of the drawings：
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to embodiment or existing skill
Attached drawing needed in art is briefly described, it should be apparent that, the accompanying drawings in the following description is only the one of the present invention
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the installation diagram of two-way high thrust piezoelectric straight line actuator under the embodiment of the present invention；
Fig. 2 is two-way high thrust piezoelectric straight line actuator pressure positive movement sequence diagram under the embodiment of the present invention；
Fig. 3 is that two clamp nuts stack variation to two-way high thrust piezoelectric straight line actuator with lower piezoelectric up and down under the embodiment of the present invention
State diagram（In nut motion state diagram, 1, which represents nut, is in the state that rotates forward, and 0 represents in halted state）；
Fig. 4 is two-way high thrust piezoelectric straight line actuator pulling force reverse movement sequence diagram under the embodiment of the present invention；
Fig. 5 is that two clamp nuts change two-way high thrust piezoelectric straight line actuator with upper piezoelectric stack up and down under the embodiment of the present invention
State diagram（In nut motion state diagram, -1, which represents nut, is in counter-rotated condition, and 0 represents in halted state）；
Specific implementation mode：
The present invention will be further described below with reference to the drawings.
Shown in Figure 1, the two-way high thrust piezoelectric actuator of the present invention includes above stacking end cap 1-1, upper piezoelectric stack
2-1, upper clamp nut 3-1, upper casing 4-1, upper flexible clutch 5-1, torque motor 6, grating coding disk 7, trapezoidal screw 8,
Lower flexible clutch 5-2, lower casing 4-2, lower clamp nut 3-2, lower piezoelectric stack 2-2, under stack end cap 1-2.Wherein, torque
Motor 6 connects clamp nut 3-1 and lower clamp nut 3- by upper flexible clutch 5-1 with lower flexible clutch 5-2 respectively
2, collectively constitute clamp structure；Driving element when upper piezoelectric stack 2-1 is tensile load, it is negative for pressure that lower piezoelectric stacks 2-2
Driving element when load；Trapezoidal screw 8 be output unit by rectangular spline respectively above stack end cap 1-1 and under stack end cap
1-2 is connected.The two-way high thrust piezoelectric straight line actuator of the present invention is by way of screw-driven by the small amplitude of piezoelectric stack height
The energy input of frequency is converted to the energy output of low frequency big displacement, and by way of spiral clamp, piezoelectric stack institute
The high thrust of generation passes, and the direction of rotation for changing different piezoelectric stack drivings and torque motor 6 achieves that start
Device pushing-pulling bi-directional start.
It please refers to Fig. 1 and combines shown in Fig. 2 and Fig. 3, the pressure load of the two-way high thrust piezoelectric straight line actuator of the present invention
Positive movement process is as follows：Original state, upper clamp nut 3-1 and lower clamp nut 3-2 respectively with upper piezoelectric stack 2-1, under
There are slight distance in the end faces piezoelectric stack 2-2 and respective clamp end face.Since pressure load acts on, nut screw moves down, on
Clamp nut 3-1 has the tendency that being detached from top piezoelectric stack to clamp end face displacement, and lower clamp nut 3-2 reaches lower piezoelectric and stacks
The state of the end faces 2-2, i.e. t=0.0<t<When T/2, i.e., applies 6 positive rotaring signal of torque motor simultaneously and lower piezoelectric stacks 2-2 excitations
Signal.Lower piezoelectric stacks 2-2 and starts to extend under the action of biased sinusoidal voltage, and the lower clamp nut 3-2 contacted drives
Trapezoidal screw 8 moves upwardly together.Upper clamp nut 3-1 is also moved upwards with trapezoidal screw 8 far from clamp end face simultaneously, but by
In the effect of torque motor 6, will be rotated in the forward direction to clamp end face.During this, pressure load is straight by trapezoidal screw 8
Connect and act on lower clamp nut 3-2, thus lower clamp nut 3-2 and lower piezoelectric stack the end faces 2-2 between generate prodigious rub
Power is wiped, torque motor 6 can not be followed to rotate so as to cause it.As t=T/2, i.e., lower piezoelectric stacks 2-2 and extends to dominant bit
At shifting, upper clamp nut 3-1 is just threaded to clamp end face at this time.In T/2<t<When T, i.e., lower piezoelectric stacks 2-2 and starts to shrink at, by
End face is clamped in upper clamp nut 3-1 cycles, load pressure acts on it by upper clamp nut 3-1 on trapezoidal screw 8
It clamps on end face so that trapezoidal screw 8 does not stack the contraction of 2-2 with lower piezoelectric and moves down.Meanwhile upper clamp nut 3-1
Prodigious frictional force is generated between clamp end face, causes it that torque motor 6 can not be followed to rotate in the forward direction.In the process, lower pincers
The sudden contraction that position nut 3-2 stacks 2-2 because of lower piezoelectric is separated, descends the torque stored before flexible clutch 5-2 in addition,
So that lower clamp nut 3-2 is quickly rotated in the forward direction under the drive of torque motor 6, generates towards lower piezoelectric and stack the end faces 2-2
Axial displacement.As t=T, i.e., lower piezoelectric stacks 2-2 reinstatement states, and lower clamp nut 3-2 cycles stack end face, and actuator is complete
At the start of a cycle.Such accumulated time completes big stroke output.
It please refers to Fig. 1 and combines shown in Fig. 4 and Fig. 5, the tensile load of the two-way high thrust piezoelectric straight line actuator of the present invention
Reverse movement process is with the pressure load positive movement main distinction：Upper piezoelectric stack 2-1 is driving element and torque motor 6
In the state of reverse rotation, upper clamp nut 3-1 is exchanged with lower clamp nut 3-2 functions.In one drive cycle, upper piezo stack
Heap 2-1 is mutually matched with torque motor 6 and completes a tensile load reverse movement, and trapezoidal screw 8 completes under tensile load
A bit of upstream shift.It is applied with the reverse signal of the periodic signal and torque motor 6 of piezoelectric stack 2-1 repeatedly, i.e.,
Leading screw can be achieved persistently retracts load movement.
The foregoing is merely the preferred embodiments of the present invention, are not intended to restrict the invention, for those skilled in the art
For, the invention may be variously modified and varied, all any modification, equivalent substitution, improvement and etc. done to the present invention, should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of two-way high thrust piezoelectric straight line actuator, it is characterised in that:The actuator includes lead screw, clamp structure, pressure
Electricity stacks and torque motor；Wherein, the torque motor is located at the middle part of actuator, in the both sides of torque motor along lead screw side
To clamp structure and piezoelectric stack is equipped with successively, the clamp structure is connected to by clamping nut on the lead screw；It is described
Clamp structure and piezoelectric stack both sides above and below torque motor are symmetrical, and upper and lower piezoelectric stack carries pressure and pulling force
High thrust start when load；Upper and lower clamp structure respectively includes upper and lower two trapezoidal nuts and connected flexible connection
Axis device, clamp structure enable actuator to realize double action；The torque motor provides clamp torque.
2. two-way high thrust piezoelectric straight line actuator as described in claim 1, which is characterized in that the clamp structure includes pincers
Position nut and flexible clutch, the clamp nut have slight distance, the flexible clutch with piezoelectric stack and clamp end face
It is connected with clamp nut.
3. two-way high thrust piezoelectric straight line actuator as described in claim 1, which is characterized in that the piezoelectric stack is externally provided with
Casing, the end of the casing, which is equipped with, stacks end cap.
4. two-way high thrust piezoelectric straight line actuator as claimed in claim 3, which is characterized in that in clamp spiral shell in the casing
Female to be equipped with clamp end face close to the side of motor, clamp end face is integrated with casing.
5. such as the two-way high thrust piezoelectric straight line actuator of Claims 1-4 any one of them, which is characterized in that the lead screw
It is that inside and outside trapezoidal thread is driven in transmission, internal and external threads are adjacent to the conical surface to be not easy to loosen using trapezoidal nut screw.
6. two-way high thrust piezoelectric straight line actuator as claimed in claim 4, which is characterized in that two casings are all in the pincers
Position nut and torque motor main shaft junction and with flexible clutch connecting portion trepanning, both realized that spanner revolved the two
Tightly, and as viewing hole connection and control spacing are observed.
7. two-way high thrust piezoelectric straight line actuator as claimed in claim 5, which is characterized in that in the piezoelectric stack end cap
It is equipped with centre bore at the heart, rectangular spline is processed in the centre bore and the rectangular spline at trapezoidal screw both ends cooperates, is prevented
Leading screw rotates under torque motor drive.
8. two-way high thrust piezoelectric straight line actuator as claimed in claim 5, which is characterized in that the lead screw is equipped with grating
Coding disk realizes the monitoring to rotational speed of torque motor.
9. two-way high thrust piezoelectric straight line actuator driving method as described in claim 1, which is characterized in that the driving side
Under method original state, the clamp nut all with piezoelectric stack end face and respectively clamp end face have slight distance, when actuator by
When to pressure load, leading screw moves down；Wherein, upper clamp nut, which has, is detached from top piezoelectric stack becoming to clamp end face displacement
Gesture, end face of the lower clamp nut under leading screw drive and on the piezoelectric stack of lower section force together；Apply what lower piezoelectric stacked simultaneously
Drive signal and the positive rotaring signal of torque motor, piezoelectric stack elongation, lower piezoelectric stacks the lower clamp nut of drive and leading screw is transported upwards
Dynamic, upper clamp nut is also moved upwards far from clamp end face with leading screw and is revolved to clamp end face direction under the drive of torque motor
Into lower clamp nut is not rotated because of the frictional force of contact surface；When piezoelectric stack is shunk, upper clamp nut has been threaded to clamp
End face support load, lower clamp nut, which is no longer influenced by load effect and is detached from, stacks end face, generates towards the forward direction for stacking end face
Rotation, until lower piezoelectric stacks the position to restPose, lower clamp nut is threaded to lower piezoelectric and stacks end face, so completes folded
Pressure positive movement in one drive cycle of heap recycles above-mentioned periodic motion and realizes big stroke start.
10. driving method as claimed in claim 9, which is characterized in that when actuator under tension loads, mirror image is in pressure
Positive movement is loaded, upper piezoelectric stack is driving element, and torque motor is inverted status, upper clamp nut and lower clamp nut work(
It can exchange, complete to stack the reverse start of pulling force in a drive cycle, recycle above-mentioned periodic motion and realize big stroke start.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810699728.6A CN108768206B (en) | 2018-06-29 | 2018-06-29 | Bidirectional high-thrust piezoelectric linear actuator and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810699728.6A CN108768206B (en) | 2018-06-29 | 2018-06-29 | Bidirectional high-thrust piezoelectric linear actuator and driving method thereof |
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| CN108768206A true CN108768206A (en) | 2018-11-06 |
| CN108768206B CN108768206B (en) | 2023-09-29 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112271952A (en) * | 2020-09-29 | 2021-01-26 | 北京空间飞行器总体设计部 | Inchworm type piezoelectric driving mechanism with compact structure |
| CN112290824A (en) * | 2020-09-14 | 2021-01-29 | 南京航空航天大学 | Threaded piezoelectric linear actuator with high thrust and working method thereof |
| CN112290823A (en) * | 2020-09-14 | 2021-01-29 | 南京航空航天大学 | Linear piezoelectric actuator based on spiral clamping structure and working method thereof |
| CN112366977A (en) * | 2020-10-26 | 2021-02-12 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
| CN113131785A (en) * | 2021-04-08 | 2021-07-16 | 合肥工业大学 | Inertia rotation piezoelectric motor |
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| KR20080035063A (en) * | 2006-10-18 | 2008-04-23 | 현대자동차주식회사 | Linear actuator using piezoelectric element |
| CN104506078A (en) * | 2014-11-21 | 2015-04-08 | 南京航空航天大学 | Large-thrust piezoelectric actuator and working method thereof |
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2018
- 2018-06-29 CN CN201810699728.6A patent/CN108768206B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080035063A (en) * | 2006-10-18 | 2008-04-23 | 현대자동차주식회사 | Linear actuator using piezoelectric element |
| CN104506078A (en) * | 2014-11-21 | 2015-04-08 | 南京航空航天大学 | Large-thrust piezoelectric actuator and working method thereof |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112290824A (en) * | 2020-09-14 | 2021-01-29 | 南京航空航天大学 | Threaded piezoelectric linear actuator with high thrust and working method thereof |
| CN112290823A (en) * | 2020-09-14 | 2021-01-29 | 南京航空航天大学 | Linear piezoelectric actuator based on spiral clamping structure and working method thereof |
| CN112271952A (en) * | 2020-09-29 | 2021-01-26 | 北京空间飞行器总体设计部 | Inchworm type piezoelectric driving mechanism with compact structure |
| CN112271952B (en) * | 2020-09-29 | 2021-06-29 | 北京空间飞行器总体设计部 | Inchworm type piezoelectric driving mechanism |
| CN112366977A (en) * | 2020-10-26 | 2021-02-12 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
| CN112366977B (en) * | 2020-10-26 | 2021-10-01 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
| CN113131785A (en) * | 2021-04-08 | 2021-07-16 | 合肥工业大学 | Inertia rotation piezoelectric motor |
| CN113131785B (en) * | 2021-04-08 | 2022-10-18 | 合肥工业大学 | Inertia rotation piezoelectric motor |
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| CN108768206B (en) | 2023-09-29 |
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