CN108847781B - Large-stroke actuator based on piezoelectric ceramic drive - Google Patents
Large-stroke actuator based on piezoelectric ceramic drive Download PDFInfo
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- CN108847781B CN108847781B CN201810600625.XA CN201810600625A CN108847781B CN 108847781 B CN108847781 B CN 108847781B CN 201810600625 A CN201810600625 A CN 201810600625A CN 108847781 B CN108847781 B CN 108847781B
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- 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
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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
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Abstract
The invention discloses a large-stroke actuator based on piezoelectric ceramic driving, which belongs to the related technical field of actuators and is characterized in that a piezoelectric ceramic stack, a sliding block and a stroke amplification unit are arranged to work in a matching mode, the sliding block is driven to move based on the inverse piezoelectric effect of a piezoelectric ceramic body, the movement of the sliding block is converted into the relative rotation of two connecting rods in the stroke amplification unit, and then the stroke of the sliding block is amplified and transmitted to a plug-in component by a stroke amplification mechanism, so that the plug-in/plug-out process of the plug-in component is completed. The actuator has the advantages of simple structure, simple and convenient arrangement, simple control of the whole process, strong restorability and high precision, can greatly enlarge the sliding stroke of the sliding block through the stroke enlarging mechanism, and can realize the change of the stroke driving distance of the actuator by changing the arrangement number of the stroke enlarging units and/or the sliding distance of the sliding block, thereby greatly improving the compatibility of the actuator, realizing the large stroke control of the actuator and having better popularization and application values.
Description
Technical Field
The invention belongs to the technical field of actuators, and particularly relates to a large-stroke actuator based on piezoelectric ceramic driving.
Background
Actuators, as a stroke control mechanism, are widely used in a variety of fields, such as electromechanical systems and weapon systems; with the continuous development of modern industrial and scientific technology, more requirements are put on the performance of the actuator, so that the actuator is continuously developed towards miniaturization, large stroke, high response speed and the like.
In the prior art, most of traditional actuators complete an actuating process based on direct drive of electromagnetism or gunpowder, wherein the electromagnetic drive actuator mainly comprises an armature, a yoke, a coil assembly, a spring, a pin and the like, a magnetic field is generated after the coil assembly is electrified, the armature and the yoke made of soft magnetic materials are magnetized, the magnetic force of the armature and the yoke overcomes the resistance of the spring, the armature moves to drive the pin to move, and then the actuating process of the actuator is completed, and the structure often has the problems of small driving force, short driving stroke and the like; the gunpowder-driven actuator mainly utilizes gas generated by gunpowder combustion to drive a piston to do work, and the piston drives a pin to move to complete the actuating process of the actuator, but is influenced by factors such as structure, gas pressure transmission direction, sealing and the like, so that the gunpowder driver has the problems of low reliability, low energy conversion efficiency, poor safety and the like in practical application.
In the technical field of actuators, piezoelectric ceramics have the advantages of high response frequency, large driving force, good linearity and the like, but the output displacement is small, and the motion requirements of various actuating mechanisms cannot be fully met in many application occasions, so that the application of the piezoelectric ceramics also has certain limitation and cannot be effectively applied to large-stroke actuators.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a large-stroke actuator driven by piezoelectric ceramics, which drives a slide block to move based on the inverse piezoelectric effect of a piezoelectric ceramic body by arranging a piezoelectric ceramic stack, the slide block and a stroke amplification unit to work in a matching way, then converts the movement of the slide block into the relative rotation of two connecting rods in the stroke amplification unit, and then amplifies the sliding stroke of the slide block by at least one stroke amplification unit and transmits the amplified sliding stroke to a plug-in part at one end of the actuator, thereby completing the plug-in/pull-out process of the plug-in part, effectively realizing the large-stroke control of the actuator and expanding the application range of the actuator.
In order to achieve the purpose, the invention provides a large-stroke actuator based on piezoelectric ceramic driving, which comprises a shell, a base and a plug-pull piece, wherein the shell is hollow and has a cylindrical structure, the base and the plug-pull piece are respectively arranged at two ends of the shell,
the base is fixedly arranged at one end of the shell, a stroke amplifying mechanism is arranged between the base and the plugging piece, a pressing screw is fixedly arranged at the other end of the shell corresponding to the plugging piece, two piezoelectric ceramic stacks are arranged on the base, and sliding blocks are respectively arranged corresponding to the two piezoelectric ceramic stacks; wherein,
the stroke amplification mechanism comprises at least one stroke amplification unit, the stroke amplification unit is formed by a pair of connecting rods in a crossed manner, the crossed parts of the two connecting rods are movably connected through a rotating shaft, so that the two connecting rods can rotate around the rotating shaft relatively, one end of the stroke amplification mechanism can be movably connected with one side of the plug-pull piece through the end parts of the two connecting rods on the side, and the other end of the stroke amplification mechanism can be respectively movably connected with the corresponding sliding blocks through the end parts of the two connecting rods on the side;
the plug-pull piece is of a stepped shaft structure, one end of the plug-pull piece is a plug-pull end with a smaller outer diameter, the other end of the plug-pull piece is a limiting end with a larger outer diameter, a first through hole penetrating through two end faces is formed in the press screw corresponding to the plug-pull end, the plug-pull end can correspondingly penetrate through and protrude out of the first through hole, and the end face of the limiting end abuts against the inner surface of the press screw to complete the guiding and limiting of the plug-pull piece;
the two piezoelectric ceramic stacks are respectively and correspondingly fixed on the upper end surface of the base, each piezoelectric ceramic stack respectively comprises a piezoelectric ceramic body, the thickness direction of which is parallel to the upper end surface of the base, one side end surface of each piezoelectric ceramic body in the thickness direction is fixedly arranged, the other side end surface of each piezoelectric ceramic body is abutted against the side surface corresponding to the corresponding sliding block, so that the two sliding blocks are driven to move in the opposite direction or deviate through the thickness change of the two piezoelectric ceramic bodies under the inverse piezoelectric effect, namely the end parts of the two connecting rods correspondingly connected to the sliding blocks can be driven by the two sliding blocks to move in the opposite direction or deviate, the distance between the other end of the connecting rod connected with the sliding blocks and the base is increased or reduced, and then the sliding stroke of the sliding blocks is amplified into the moving stroke of the plugging piece far away from or close to the base through the stroke, thereby completing the inserting process or the pulling process of the plug-in component.
As a further improvement of the present invention, the piezoelectric ceramic stack further includes fixing shafts respectively disposed at the middle portions of the end surfaces of the piezoelectric ceramic body at both sides in the thickness direction, and the axes of the fixing shafts are parallel to the thickness direction of the piezoelectric ceramic body and can be respectively used for fixing the piezoelectric ceramic stack and for corresponding connection with the slider.
As a further improvement of the invention, the piezoelectric ceramic body is formed by laminating and bonding a plurality of piezoelectric ceramic pieces with certain thickness, silver electrodes are coated on two end surfaces of each piezoelectric ceramic piece along the thickness direction, and two adjacent piezoelectric ceramic pieces are firmly bonded by epoxy structural adhesive.
As a further improvement of the invention, the two piezoelectric ceramic stacks are arranged in the middle of the upper end face of the base in a manner of deviating from each other, or the two piezoelectric ceramic stacks are respectively arranged on two sides of the upper end face of the base oppositely.
As a further improvement of the invention, the number of the stroke amplifying units is 1-5.
As a further improvement of the invention, the stroke amplifying units are sequentially connected in series, and two adjacent stroke amplifying units are aligned by the end parts of the corresponding connecting rods and then are movably connected by the rotating shaft.
As a further improvement of the invention, through holes are respectively arranged at two ends of each connecting rod, so that the rotating shaft sequentially passes through the two aligned through holes to realize the movable connection of two adjacent connecting rods.
As a further improvement of the present invention, an arc-shaped protrusion is disposed at a position where the through hole is opened at one end of the connecting rod, and an arc-shaped groove is disposed at a position where the through hole is opened at the other end of the connecting rod, the arc-shaped protrusion can be correspondingly embedded into the arc-shaped groove at the end of the other connecting rod, and the through holes at the two rear end portions of the arc-shaped protrusion embedded into the arc-shaped groove are exactly aligned.
As a further improvement of the invention, the slide block is provided with a driving hole and a connecting shaft, the axes of the driving hole and the connecting shaft are mutually vertical, the driving hole can be correspondingly matched and connected with one side of the piezoelectric ceramic stack, and the connecting shaft can correspondingly penetrate through a through hole at the end part of the connecting rod, so that the movable connection between the connecting rod and the slide block is realized.
As a further improvement of the present invention, the two connecting rods in the stroke amplifying unit have the same length, and the rotating shafts respectively penetrate through the middle parts of the two connecting rods to complete the crossing arrangement of the two connecting rods.
As a further improvement of the present invention, the two connecting rods in each of the stroke amplifying units have the same length, and two pairs of connecting rods in any two of the stroke amplifying units have the same or different lengths.
As a further improvement of the invention, grooves are respectively formed on the upper end surface of the base corresponding to the two sliding blocks, the sliding blocks can be correspondingly embedded into the grooves and can slide in the grooves in a reciprocating manner, and then the stroke distance of the corresponding sliding block is controlled by the length of the grooves.
As a further improvement of the invention, the base is in a disc-shaped structure, and the periphery of the base is provided with threads, so that the base can be connected with the shell in a threaded manner.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
(1) according to the large-stroke actuator based on piezoelectric ceramic driving, the piezoelectric ceramic stack, the sliding block and the stroke amplification unit are arranged to work in a matching mode, the sliding block is driven to move based on the inverse piezoelectric effect of the piezoelectric ceramic body, then the movement of the sliding block is converted into the relative rotation of the two connecting rods in the stroke amplification unit, then the sliding stroke of the sliding block is amplified by at least one stroke amplification unit and transmitted to a plug-in piece at one end of the actuator, the plug-in/pull-out process of the plug-in piece is completed, the stroke distance of the plug-in piece at one end of the actuator is effectively increased due to the arrangement of the stroke amplification mechanism, and the large-stroke control of;
(2) according to the large-stroke actuator based on piezoelectric ceramic driving, the corresponding grooves are formed in the base corresponding to the sliding blocks, so that the sliding blocks can slide in the grooves, the sliding distance of the sliding blocks is accurately controlled, the accuracy of stroke control of the plug-in part is guaranteed, the sliding distance of the sliding blocks can be correspondingly changed by changing the length of the grooves, the stroke distance of the plug-in part is changed, and the stroke controllability and compatibility of the actuator are effectively improved;
(3) according to the large-stroke actuator based on piezoelectric ceramic drive, the stroke distance of the actuator can be effectively changed by changing the setting number of the stroke amplification units and the setting length of the connecting rods in each stroke amplification unit, the control range of the stroke distance of the actuator is expanded, the compatibility and the application range of the actuator are improved, the two correspondingly arranged piezoelectric ceramic stacks are designed in a recoverable manner, repeated plugging and unplugging of a plugging and unplugging piece are realized, the compatibility of the actuator is further improved, the application range of the actuator is expanded, and the application cost of the actuator is reduced;
(4) the large-stroke actuator based on piezoelectric ceramic driving has the advantages of simple structure and simple and convenient arrangement, can drive the sliding block to slide at a corresponding distance through the piezoelectric ceramic stack, amplifies the stroke of the sliding block through the stroke amplification mechanism and then transmits the amplified stroke to the plug-in part, so as to finish the corresponding plug-in/plug-out process of the plug-in part, has simple control of the whole process and high control precision, and can effectively change the stroke driving distance of the actuator by changing the setting number of the stroke amplification units in the stroke amplification mechanism and/or the sliding distance of the sliding block, thereby greatly improving the compatibility of the actuator, realizing the large-stroke control of the actuator and having better popularization and application values.
Drawings
FIG. 1 is a schematic diagram of an initial state of a large-stroke actuator based on piezoelectric ceramic drive according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the working state of a large-stroke actuator based on piezoelectric ceramic drive according to an embodiment of the present invention;
FIG. 3 is a schematic view of a stroke amplifying mechanism of a large-stroke actuator based on piezoelectric ceramic drive in an embodiment of the invention;
FIG. 4 is a schematic diagram of a slider of a large-stroke actuator based on piezoelectric ceramic drive according to an embodiment of the present invention;
FIG. 5 is a schematic view of the base of a large stroke actuator based on piezoelectric ceramic drive according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a piezoelectric ceramic stack of a large-stroke actuator based on piezoelectric ceramic drive according to an embodiment of the present invention;
in all the figures, the same reference numerals denote the same features, in particular: 1. a stroke amplifying mechanism, 101, a first connecting rod, 102, a second connecting rod, 103, a rotating shaft; 2. 201 piezoelectric ceramic stack, 202 piezoelectric ceramic piece and 202 fixed shaft; 3. a sliding block 301, a driving hole 302, a connecting shaft; 4. the plug-pull type plug comprises a plug piece, 5 parts of a base, 501 parts of a disk, 502 parts of a groove, 503 parts of a boss; 6. and 7, pressing the screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The structural schematic diagram of the large-stroke actuator based on piezoelectric ceramic driving in the preferred embodiment of the invention is shown in fig. 1-5, wherein the large-stroke actuator in the preferred embodiment comprises a housing 6, and a stroke amplifying mechanism 1, a piezoelectric ceramic stack 2, a slide block 3 and a base 5 which are arranged in the housing 6.
Further, as shown in fig. 1 and 2, the housing 6 in the preferred embodiment is preferably a cylindrical structure with two ends penetrating, a cylindrical hollow space capable of accommodating components is reserved inside the housing 6, and the housing 6 in the preferred embodiment is vertically arranged, the top end of the housing is provided with a pressing screw 7, and the bottom end of the housing is provided with a base 5; more specifically, the pressing screw 7 in the preferred embodiment is a cylindrical plate-shaped structure, the size of which corresponds to the inner diameter of the housing 6, and the middle of the pressing screw is provided with a first through hole penetrating through two end faces of the pressing screw 7, so that the plugging end of the plugging piece 4 correspondingly penetrates through the first through hole, and the outer periphery of the pressing screw 7 is preferably in matching connection with the inner peripheral wall surface of the top of the housing 6 through threads, that is, the outer periphery of the pressing screw 7 is provided with external threads, and the inner peripheral wall surface of the top of the housing 6 is provided with internal threads, which are correspondingly matched; further, a base 5 in a cylindrical plate-shaped structure is arranged at the bottom of the housing 6, and the base 5 in the preferred embodiment is correspondingly matched and connected with the housing 6 through a threaded connection manner, that is, an external thread is formed on the outer periphery of the base 5, and an internal thread is correspondingly formed on the inner peripheral wall surface at the bottom of the housing 6, and the two are correspondingly matched and connected.
Further, a stroke amplifying mechanism 1 is arranged in a hollow space between the base 5 and the pressing screw 7, and can amplify the driving stroke of the piezoelectric ceramic stack 2 so as to realize large stroke control of the actuator; further, the stroke amplifying mechanism 1 in the preferred embodiment is as shown in fig. 3, and includes at least one stroke amplifying unit, and the stroke amplifying unit in the preferred embodiment includes a first connecting rod 101 and a second connecting rod 102, which are arranged with their middle portions crossed, and the crossing position of the two connecting rods is preferably correspondingly provided with a through hole and a rotating shaft 103, which can sequentially pass through the two through holes to movably connect the two connecting rods, so that the two connecting rods arranged with crossing can relatively rotate around the rotating shaft 103; further, the first link 101 and the second link 102 of the stroke amplifying unit in the preferred embodiment have the same length, and the position of the rotating shaft 103 is preferably the right middle of the two links; of course, when there are a plurality of stroke amplifying units, the link lengths in any two stroke amplifying units may be the same or different, which may also be preferred according to actual needs.
Further preferably, the rotating shaft 103 in the preferred embodiment is a T-shaped screw structure, that is, has a nut and a screw, the rotating shaft 103 can be limited by the nut after passing through the through holes on the two connecting rods, and the nut is correspondingly arranged on the screw, so that the two connecting rods can be effectively connected by correspondingly matching the nut and the screw; of course, the form of the rotating shaft 103 is not limited to the above-mentioned form, and may be any other form as long as the two links can be connected correspondingly and can rotate relatively; further preferably, the outer circumference of the rotating shaft 103 which is inserted into the two link portions in a matching manner is coated with a solid film protecting agent, so that the friction coefficient of the coated rotating shaft 103 with the first link 101 and the second link 102 is greatly reduced, thereby reducing the loss due to friction during the transmission of the driving force and ensuring the accurate operation of the stroke enlarging mechanism 1.
Further, in the preferred embodiment, one end of the connecting rod is provided with an arc-shaped boss, and the other end is provided with an arc-shaped groove, that is, one end of the first connecting rod 101 and one end of the second connecting rod 102 are provided with arc-shaped bosses, and the other end of the first connecting rod and the other end of the second connecting rod are provided with arc-shaped grooves, so that when two adjacent connecting rods are connected, the arc-shaped boss at the end of one connecting rod can be correspondingly embedded into the arc; furthermore, through holes are correspondingly formed in the arc-shaped boss and the arc-shaped groove respectively, and the rotating shaft 103 can correspondingly penetrate through the matched through holes in the arc-shaped boss and the arc-shaped groove, so that two adjacent connecting rods are movably connected; further, two adjacent stroke amplification units are connected in a matching manner through the arc-shaped boss and the arc-shaped groove corresponding to the end part of the connecting rod, so that a plurality of stroke amplification units can be correspondingly spliced into the stroke amplification mechanism 1 shown in the figures 1-3; certainly, the end of each connecting rod is not limited to the combination of the arc-shaped boss and the arc-shaped groove, and the end of each connecting rod can be directly provided with a corresponding through hole, and then the rotating shaft 103 correspondingly penetrates through the two through holes to be movably connected.
Further, the stroke amplification mechanism 1 in the preferred embodiment includes a first stroke amplification unit disposed on the base 5 and a second stroke amplification unit correspondingly connected to the plug-in piece 4, at least one stroke amplification unit may be further disposed between the two stroke amplification units, the first stroke amplification unit is driven to correspondingly drive each stroke amplification unit to move, and then the second stroke amplification unit drives the corresponding plug-in piece 4 to perform a pin or pin pulling movement, the plug-in piece 4 in the preferred embodiment is a stepped shaft structure as shown in fig. 1 and fig. 2, that is, the plug-in piece 4 has different outer diameters along the axial direction, and preferably includes a limit end with a larger outer diameter and a plug-in end with a smaller outer diameter and capable of correspondingly passing through the first through hole on the press screw 7; furthermore, the plugging end of the plugging piece 4 is arranged away from the stroke amplification mechanism 1, one end of the stroke amplification mechanism 1 is movably connected to the end face, away from the plugging end, of the limiting end, the other end of the stroke amplification mechanism 1 is arranged corresponding to the upper end face of the base 5, and then the action of a plug pin or a pin pulling of the plugging end of the plugging piece 4 can be completed through the driving of the stroke amplification mechanism 1, so that the operation of a corresponding structure is controlled; further, in a preferred embodiment, the number of the stroke amplifying units is not specifically limited, and may be set optimally according to actual situations, for example, 1, 2, 3, 4, 5, or more, when the number of the stroke amplifying units is multiple, the lengths of the two pairs of connecting rods in any two stroke amplifying units may be the same or different, and they may also be optimized according to actual needs, which is not described herein again.
Further, as shown in fig. 6, the piezoelectric ceramic stack 2 in the preferred embodiment includes a plurality of piezoelectric ceramic pieces 201 coaxially and closely arranged and a fixed shaft 202, silver electrodes are coated on two end surfaces of each piezoelectric ceramic piece 201 along the thickness direction, and two adjacent piezoelectric ceramic pieces 201 are firmly bonded by epoxy structural adhesive, so that the plurality of piezoelectric ceramic pieces 201 form a piezoelectric ceramic body with a certain volume; in a preferred embodiment, each piezoelectric ceramic piece 201 is a circular structure, and the piezoelectric ceramic pieces are coaxially attached to form a whole of a cylindrical structure; further, the middle parts of the two side surfaces of the piezoelectric ceramic body in the thickness direction are respectively provided with a fixed shaft 202 along the axial direction, and then the piezoelectric ceramic stack 2 shown in fig. 6 is formed; further preferably, the two fixing shafts 202 in the preferred embodiment preferably have external threads for fixing on the outside thereof, so that the two fixing shafts 202 can be fixed by threaded connection; further, after the piezoelectric ceramic stack 2 is fixed on the upper end face of the base 5, the axis of the fixed shaft 202 is parallel to the upper end face of the base 5, and a control circuit is arranged corresponding to the piezoelectric ceramic stack 2, and the piezoelectric ceramic body can be powered on forward or reversely through the control circuit, so that the thickness of each piezoelectric ceramic piece 201 is increased or reduced through inverse piezoelectricity, that is, the whole thickness of the piezoelectric ceramic body is increased or reduced, which is the inverse piezoelectricity effect of the piezoelectric ceramic, and stroke driving at a certain distance can be completed through the inverse piezoelectricity effect.
Further, the base 5 in the preferred embodiment comprises a circular disc 501 in a cylindrical plate-like structure, and the outer periphery of the circular disc 501 is preferably provided with threads for matching connection with the housing 6 through the threads; of course, the main structure of the base 5 is not limited to the disc-shaped structure, but may be set to be in other shapes, such as square, oval, etc., according to the different cross-sectional shapes of the housing 6, and the matching form of the base and the housing is not limited to the threaded connection, and the base may also be matched and connected with the housing in the form of a sleeve or a buckle, which is not the focus of the research in this patent, and therefore, the details are not described herein.
Further, as shown in fig. 5, the disk 501 in the preferred embodiment is provided with a boss 503 at the middle of the upper end face, and the boss is used for matching and fixing the piezoelectric ceramic stack 2; further, the piezoelectric ceramic stacks 2 in the preferred embodiment are two piezoelectric ceramic stacks respectively arranged on two opposite side surfaces of the boss 503, and the boss 503 is preferably provided with a threaded hole for correspondingly fixing the piezoelectric ceramic stacks 2; specifically, the fixing shafts 202 on one sides of the two piezoelectric ceramic stacks 2 are correspondingly matched and connected in the threaded holes on the bosses 503, the fixing shafts 202 on the other sides are correspondingly matched and connected with the corresponding sliders 3, and after the fixing shafts 202 are matched and connected, the two end faces of the piezoelectric ceramic bodies in the thickness direction are respectively abutted against the side faces of the bosses 503 and the side faces of the sliders 3.
Further, the slide block 3 in the preferred embodiment is as shown in fig. 4, a driving hole 301 is provided on the slide block 3, the fixing shaft 202 at one end of the piezoelectric ceramic stack 2 can be correspondingly matched and connected in the driving hole 301, and one side end face of the piezoelectric ceramic body is abutted against the side face of the slide block 3, so that the piezoelectric ceramic stack 2 can drive the corresponding slide block 3 to move; further, the slide block 3 is further provided with a connecting shaft 302, which can be correspondingly matched and connected with the end of the connecting rod in the first stroke amplifying unit, and the two slide blocks 3 are correspondingly connected with the two connecting rods in the first stroke amplifying unit through the connecting shaft 302 respectively, and then the distance between the two end of the connecting rod connected with the slide block 3 is increased through the forward energization of the two piezoelectric ceramic stacks 2 respectively, namely, one ends of the two connecting rods on the first stroke amplifying unit, which are deviated from the base 5, are close to the upper end face of the base 5, namely, the plugging end of the plugging piece 4 is driven to be converted into the state shown in fig. 2 from the state shown in fig. 1, so that the plugging process of the plugging piece 4; by reversely energizing the two piezoelectric ceramic stacks 2, the plugging end of the plugging member 4 can be driven to be switched from the state shown in fig. 2 to the state shown in fig. 1, and the plugging process of the plugging member 4 is completed.
Certainly, the boss 503 is not only one disposed in the middle of the upper end surface of the disc 501, but may also be disposed oppositely as two pieces near the edge of the upper end surface of the disc 501 according to actual needs, and the two piezoelectric ceramic stacks 2 are disposed on the opposite side surfaces of the two bosses 503 respectively, and the two sliders 3 are disposed corresponding to the piezoelectric ceramic stacks 2 respectively, so that the two side surfaces of each piezoelectric ceramic body along the thickness direction are abutted to the corresponding slider 3 and the side surface of the corresponding boss 503 respectively, so that when the two piezoelectric ceramic stacks 2 are powered on in the forward direction, the thickness of the two piezoelectric ceramic bodies is increased, that is, the distance between the two sliders 3 is shortened, one end of the first stroke amplifying unit, which is far away from the base 5, is far away from the upper end surface of the base 5, and then the plugging end of the plugging piece 4 is driven to be converted from the state shown in fig. 2; when the two piezoelectric ceramic stacks 2 are electrified reversely, the thickness of the piezoelectric ceramic bodies is reduced, namely, the distance between the two sliding blocks 3 is increased, one end, deviating from the base 5, of each connecting rod on the first stroke amplification unit is close to the upper end face of the base 5, then the plugging end of the plugging piece 4 is driven to be converted into the state shown in fig. 2 from the state shown in fig. 1, and the plugging process of the plugging piece 4 is completed.
In short, the two piezoelectric ceramic stacks 2 can be arranged at the middle of the upper end face of the base 5 in a backrest manner, and can also be arranged at two sides of the upper end face of the base 5 relatively, and the inserting process and the pulling process of the plug piece 4 can be correspondingly finished by forward/reverse electrification of the piezoelectric ceramic bodies in two arrangement modes.
Furthermore, in the preferred embodiment, grooves 502 capable of limiting the sliding block 3 are respectively formed on the upper end surface of the disc 501 corresponding to the two sliding blocks 3, the two grooves 502 are respectively formed on two sides of the boss 503, and the forming axis of the groove 502 is parallel to the axis of the piezoelectric ceramic stack 2, so that the sliding block 3 can be correspondingly embedded into the groove 502 in a matching manner and can slide in the groove 502 in a reciprocating manner, and the sliding distance of the sliding block 3 can be controlled by preferably setting the length of the groove 502; accordingly, the corresponding components, such as the length of the connecting rod, the dimensions of the housing 6 and the size of the base 5, can be selected accordingly.
Specifically, the stroke distance l amplified by the stroke amplifying mechanism 1 in the preferred embodiment can be calculated by the following formula,
in the formula, l is the travel distance of the movement of the plug-in component 4 after the travel is amplified by the travel amplifying mechanism 1; n is the number of stroke amplification units in the stroke amplification mechanism 1, and N is more than or equal to 1; theta1Is the included angle between the axis of the first connecting rod 101 and the sliding direction of the sliding block 3 in the initial state; x is the stroke of the piezoelectric ceramic stack 2, namely the sliding distance of the slide block 3 (the value of the thickness of the piezoelectric ceramic body is defined as positive, and the value of the thickness reduction is defined as negative); l is the length between the through holes at both ends of the first link 101.
According to the formula, under the condition that the sliding blocks 3 slide for the same distance, the stroke distance of the plug-in part 4 is increased along with the increase of the number of the stroke amplification units which are arranged in series in the stroke amplification mechanism 1, so that the large stroke driving of the actuator can be realized by preferably setting the number of the stroke amplification units; in addition, when the number of the stroke amplifying units is fixed, the stroke distance of the plug-in member 4 can be increased by increasing the sliding distance of the slider 3, and thus, the actuator can be driven with a large stroke by preferably setting the sliding distance of the slider 3.
According to the large-stroke actuator based on piezoelectric ceramic driving, the first connecting rod 101 and the second connecting rod 102 are arranged in a crossed mode to form a crossed stroke amplifying unit, one end, close to the base 5, of the stroke amplifying mechanism 1 is correspondingly and movably connected to the two sliding blocks 3, namely the end parts of the two connecting rods on one side of the crossed point of the first stroke amplifying unit are respectively and correspondingly and movably connected to the two sliding blocks 3; furthermore, after the two sliding blocks 3 are respectively connected with the corresponding piezoelectric ceramic stacks 2 in a matching way, one side surface of each sliding block is respectively abutted against the side surface of the corresponding piezoelectric ceramic body, the piezoelectric ceramic stacks 2 can correspondingly drive the sliding blocks 3 to slide, and then the end parts of the corresponding connecting rods are driven to move, so that the included angle between the two connecting rods which are arranged in a crossed way is changed, namely, the vertical distance between the end of the two connecting rods departing from the base 5 and the base 5 is changed, so as to realize the conversion of the stroke, and then a plurality of scissor-type stroke amplifying units are sequentially connected in series at the end of the first stroke amplifying unit departing from the base 5 to form the stroke amplifying mechanism 1, the stroke amplifying mechanism 1 drives the plug-in piece 4 to move, the stroke is amplified in multiple stages through the stroke amplifying mechanism 1, the sliding displacement of the upper sliding block 3 of the base 5 can be converted into large-amplitude displacement of the plug piece 4 along the direction perpendicular to the base 5, and large-stroke control of the plug piece 4 on the actuator is achieved.
Further preferably, in a preferred embodiment, the initial state of the actuator is as shown in fig. 1, at this time, the distance between the two sliding blocks 3 is minimum, the included angle between the two connecting rods in each stroke amplification unit is also minimum, and the plugging end of the plugging member 4 protrudes out of the end surface of the pressing screw 7, and the plugging end is correspondingly and fittingly inserted into an external component, so as to complete the control of the external component, such as the control of the external isolation device; further preferably, the end face of the limit end of the plug-pull piece 4 is correspondingly attached to the end face of the pressing screw 7 at the moment, so that the limit of the plug-pull piece 4 is realized; further, after two piezoceramics pile 2 began work under the forward circular telegram, two piezoceramics pile 2's piezoceramics body thickness increase, then drive two slider 3 and deviate from the motion each other, then two connecting rod contained angles grow in each stroke amplification unit, the distance between plug 4 to the base 5 shortens, the plug end that drives plug 4 promptly removes to the one side that is close to base 5, make the terminal surface of plug end not outstanding in the terminal surface of pressure spiral shell 7, accomplish the plug end and follow the extraction in the external component, then the external component can carry out corresponding work.
Of course, when plug 4 is initial state when shown in fig. 2, the distance of two sliders 3 is the biggest at the beginning, through with two piezoceramics heap 2 reverse circular telegrams after, make the thickness of two piezoceramics bodies reduce, then can drive the distance between two sliders 3 and reduce, and drive plug 4 to the direction motion that deviates from base 5, stretch out from the first through-hole on the pressure spiral shell 7 promptly plug end on the plug 4, and then insert in the external component, thereby realize the control of corresponding process.
In addition, the driving process of the piezoelectric ceramic stack 2 used for the plug-in and pull-out process of the plug-in and pull-out piece 4 is recoverable, namely after the electrification of the piezoelectric ceramic stack 2 is finished, the piezoelectric ceramic body can recover the thickness and the state before electrification, so that the piezoelectric ceramic stack 2 is reset and can be used for controlling the next actuating process; and no matter two piezoceramics piles 2 are arranged back to back in the middle part of base 5, or are arranged in the both sides on base 5 up end relatively, it all can realize corresponding plug process through the switching of positive direction circular telegram and reverse circular telegram.
According to the large-stroke actuator based on piezoelectric ceramic driving, the stroke amplifying mechanism 1, the piezoelectric ceramic stack 2 and the sliding block 3 are arranged, so that one end of the stroke amplifying mechanism 1 is correspondingly connected to the piezoelectric ceramic stack 2 through the sliding block 3, the sliding of the sliding block 3 is driven by the inverse piezoelectric effect of the piezoelectric ceramic stack 2, the sliding stroke of the sliding block 3 is correspondingly transmitted and amplified to the plug-pull piece 4 on the other end of the stroke amplifying mechanism 1, and the plug-pull stroke is driven to complete corresponding control of an external component; the piezoelectric ceramic stack 2 is controlled in a restorable mode, the control process of the actuator can be realized by switching on and off, the application range of the actuator is expanded, a pressing screw 7 with a first through hole in the middle is arranged at one end of the shell 6, which is far away from the base 5, so that the plugging end of the plugging piece 4 can correspondingly penetrate through the first through hole, then the plugging piece 4 moves along the axis of the first through hole, the movement of the plugging piece 4 is guided by the first through hole, the left and right deviation of the plugging end of the plugging piece 4 caused by the inconsistent driving force of two connecting rods in each stroke amplification unit is prevented, the precision of corresponding matching connection is influenced, the accurate plugging/unplugging of the plugging piece 4 can be effectively realized by the arrangement of the pressing screw 7 and the first through hole, the working precision and efficiency of the plugging piece are improved, the number of the stroke amplification units and the length of the connecting rods in each stroke amplification unit can be preferably set, can convert the drive stroke of piezoceramics heap into the big stroke of plug 4 to realize the quick drive of big stroke of actuator, the time of response is fast, and the accuracy of control is high, has effectively reduced quality and the volume of actuator under big stroke, the big drive power, has enlarged the effect scope of actuator, has reduced the application convenience and the economic nature of actuator, has better application spreading value.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A large-stroke actuator based on piezoelectric ceramic drive comprises a shell (6) which is hollow and has a cylindrical structure, and a base (5) and a plug-pull piece (4) which are respectively arranged at two ends of the shell (6),
the base (5) and the plugging piece (4) are respectively arranged at two ends of the shell (6), a stroke amplification mechanism (1) is arranged between the base and the plugging piece (4), a pressing screw (7) is fixedly arranged on the shell (6) corresponding to the plugging piece (4), two piezoelectric ceramic stacks (2) are arranged on the base (5), a sliding block (3) and a groove (502) are respectively arranged corresponding to the two piezoelectric ceramic stacks (2), the sliding block (3) is embedded into the corresponding groove and can reciprocate along the length direction of the groove, and the length directions of the two grooves (502) are parallel to each other;
the stroke amplification mechanism (1) comprises at least one stroke amplification unit, the stroke amplification unit is formed by a pair of connecting rods in a crossed mode, the crossed positions of the two connecting rods are movably connected through a rotating shaft (103), so that the two connecting rods can rotate around the rotating shaft (103) relatively, one end of the stroke amplification mechanism (1) can be movably connected with one side of the plug-pull piece (4) through the end parts of the two connecting rods on the side, and the other end of the stroke amplification mechanism (1) can be respectively movably connected with the corresponding sliding block (3) through the end parts of the two connecting rods on the side;
the plug-pull piece (4) is of a stepped shaft structure, one end of the plug-pull piece is a plug-pull end with a smaller outer diameter, the other end of the plug-pull piece is a limiting end with a larger outer diameter, a first through hole penetrating through two end faces is formed in the press screw (7) corresponding to the plug-pull end, the plug-pull end can correspondingly penetrate through and protrude out of the first through hole, and the end face of the limiting end abuts against the inner surface of the press screw (7) so as to complete the guiding and limiting of the plug-pull piece (4);
the thickness directions of the two piezoelectric ceramic stacks (2) are parallel to each other and are respectively parallel to the upper end surface of the base (5), bosses (503) are arranged on the top surface of the base (5) corresponding to the two piezoelectric ceramic stacks (2), so that the end surface of one side of each piezoelectric ceramic stack can be fixedly abutted against the boss (503), the end surface of the other side of each piezoelectric ceramic stack is abutted against the side surface of the corresponding sliding block (3), the two piezoelectric ceramic stacks (2) are respectively abutted against the side surfaces of the bosses (503) to be close to each other or deviate from each other, the two sliding blocks (3) are driven to move oppositely or deviate from each other at the same distance through the thickness change under the inverse piezoelectric effect of the two piezoelectric ceramic bodies, namely the end parts of the connecting rods correspondingly connected to the sliding blocks (3) can be respectively driven by the two sliding blocks (3) to move oppositely or deviate from each other at the same distance, the vertical distance between the other end of the connecting rod connected with the sliding block (3) and the base (5) is increased or reduced, then the stroke of the stroke amplification mechanism (1) can be amplified, the sliding stroke of the sliding block (3) is amplified to be the moving stroke of the plug-pull piece (4) far away from or close to the base (5), and therefore the plug-pull process or the pull-out process of the plug-pull piece (4) is completed.
2. The piezoelectric ceramic drive-based large-stroke actuator as claimed in claim 1, wherein the piezoelectric ceramic stack (2) further comprises fixing shafts (202) respectively arranged in the middle of the end surfaces of the piezoelectric ceramic body along the thickness direction, and the axes of the fixing shafts (202) are parallel to the thickness direction of the piezoelectric ceramic body and can be respectively used for fixing the piezoelectric ceramic stack (2) and for corresponding connection with the sliding block (3).
3. The piezoelectric ceramic drive-based large-stroke actuator as claimed in claim 1, wherein the two piezoelectric ceramic stacks (2) are arranged away from each other in the middle of the upper end face of the base (5), or the two piezoelectric ceramic stacks (2) are respectively arranged on two sides of the upper end face of the base (5) oppositely.
4. The large-stroke actuator based on piezoelectric ceramic drive according to any one of claims 1 to 3, wherein the plurality of stroke amplifying units are sequentially connected in series, and two adjacent stroke amplifying units are movably connected with the rotating shaft (103) after being aligned by the end portions of the corresponding connecting rods.
5. The large-stroke actuator based on piezoelectric ceramic drive according to claim 4, wherein two ends of each connecting rod are respectively provided with a through hole, so that the rotating shaft (103) sequentially passes through the two aligned through holes to realize the movable connection of two adjacent connecting rods.
6. The piezoelectric ceramic drive-based large stroke actuator as claimed in claim 5, wherein an arc-shaped protrusion is disposed at a position where the through hole is opened at one end of the connecting rod, and an arc-shaped groove is disposed at a position where the through hole is opened at the other end of the connecting rod, the arc-shaped protrusion can be correspondingly inserted into the arc-shaped groove at the other end of the connecting rod, and the through holes at the two rear ends of the arc-shaped protrusion inserted into the arc-shaped groove are exactly aligned.
7. The large-stroke actuator based on piezoelectric ceramic drive according to claim 5 or 6, wherein the sliding block (3) is provided with a driving hole (301) and a connecting shaft (302) with mutually perpendicular axes, the driving hole (301) can correspondingly match and connect with one side of the piezoelectric ceramic stack (2), and the connecting shaft (302) can correspondingly penetrate through a through hole at the end of the connecting rod, so that the movable connection between the connecting rod and the sliding block (3) is realized.
8. The piezoceramic drive-based large stroke actuator according to claim 1 or 2 or 3 or 5 or 6, wherein the two connecting rods in the stroke amplifying unit are equal in length, and the rotating shafts (103) respectively penetrate through the middle parts of the two connecting rods to complete the crossing arrangement of the two connecting rods.
9. The piezoceramic drive-based large stroke actuator of claim 4, wherein the two connecting rods in each stroke amplification unit are equal in length, and the two pairs of connecting rods in any two stroke amplification units are equal or unequal in length.
10. The large-stroke actuator based on the piezoelectric ceramic drive according to claim 1, 2, 3, 5, 6 or 9, wherein a groove is formed on the upper end surface of the base (5) corresponding to each of the two sliders (3), the sliders (3) can be correspondingly inserted into the grooves and can slide in the grooves in a reciprocating manner, and the stroke distance of the corresponding slider (3) is controlled by the length of the groove.
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| CN109600070B (en) * | 2018-12-03 | 2020-02-14 | 南京航空航天大学 | Climbing rod actuator utilizing alternate self-locking and arranged in isosceles trapezoid manner |
| CN112049781A (en) * | 2020-09-29 | 2020-12-08 | 长春工业大学 | Passive valve piezoelectric pump with amplifying mechanism |
| CN112196772A (en) * | 2020-09-29 | 2021-01-08 | 长春工业大学 | Piezoelectric stack pump with double-rhombus mechanism for amplification |
| CN112196758B (en) * | 2020-10-04 | 2022-06-17 | 长春工业大学 | Passive valve piezoelectric pump with clamp-shaped amplifying mechanism |
| CN114130611A (en) * | 2021-12-03 | 2022-03-04 | 浙江理工大学 | Dual piezoelectric injection dispensing valve based on four-bar amplification mechanism and adhesive injection method thereof |
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