CN109256981A - A kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuator - Google Patents

A kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuator Download PDF

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Publication number
CN109256981A
CN109256981A CN201811247341.3A CN201811247341A CN109256981A CN 109256981 A CN109256981 A CN 109256981A CN 201811247341 A CN201811247341 A CN 201811247341A CN 109256981 A CN109256981 A CN 109256981A
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block
magnetorheological fluid
piezoelectric
permanent magnets
shell
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CN109256981B (en
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温建明
鲍慧璐
郁晨
李建平
聂子强
虞付进
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Zhejiang Normal University CJNU
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Zhejiang Normal University CJNU
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02NELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/028Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors along multiple or arbitrary translation directions, e.g. XYZ stages

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  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

The present invention relates to a kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuators, belong to Precision Piezoelectric actuation techniques field.Top moving body bottom is equipped with linear guide, and driving mechanism is fixed on the sliding block of linear guide, and moving body two side bottom in top is equipped with sliding block, and linear guide is fixed on supported on both sides piece of top, and supported on both sides piece connect with bottom shell and front and back supporting block;Friction block is fixed on driving mechanism bottom, and leaching is placed in magnetorheological fluid, and magnetorheological fluid is placed in magnetorheological fluid shell, and magnetorheological fluid shell is supported by supporting block, and inside is stained with sealing strip, and supporting block is fixed on bottom shell;Supported on both sides piece, front and back supporting block be respectively arranged with adjusting block, adjusting block end, bottom shell are stained with permanent magnets.Advantage characteristic: when driver is run, the primary friction form for the apparatus for adjusting force that rubs is solid-liquid/solid-class solid friction, rubs, wears small, drive reliability height;Driver can realize two degree-of-freedom motion;Friction can be adjusted by the vertical position of adjusting block, easily controllable.

Description

A kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuator
Technical field
The invention belongs to Precision Piezoelectric actuation techniques fields, and in particular to a kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid Piezoelectric actuator.
Background technique
In recent years, domestic and international large quantities of scientific research institutions and colleges and universities drive around Precision Piezoelectric has carried out a large amount of research work, The research achievement accumulated makes piezoelectric driving technology reach its maturity with practical experience, and Piezoelectric Driving product flourishes.From 20 generation It has recorded since the Japanese scholars eighties take the lead in successfully researching and developing piezoelectric ultrasonic motor, all kinds of different driving mechanism, different ways of realization, no Isostructural piezoelectric actuator is come out one after another.According to active principle, driving element, the difference of motion mode, piezoelectric actuator can To be subdivided into multiple and different classifications.
According to drive mechanism and motion mode difference, Direct Action Type Precision Piezoelectric driver, Inchworm type piezoelectricity essence can be divided into Close driver and inertia-type Precision Piezoelectric driver etc..Wherein, compared with the drivers such as traditional electromagnetic motor, directly Dynamic formula piezoelectric actuator has simple and compact for structure, and feeding is continuous, it can be achieved that the characteristics of high-torque exports, but defect is mainly concentrated Hinge arrangement is needed to amplify stroke is smaller, sluggishness and creep non-linear effects of the displacement accuracy by piezoelectric stack are multidirectional soft Property hinge mutually exist interference with influence etc..Inchworm type piezoelectric actuator has big stroke, large driving force and high-resolution Key property.But itself limiting due to drive mechanism, the type driver is both needed to design clamp structure, this makes to drive Device mechanical structure bulky complex leads to complete machine microminiaturization relatively difficult to achieve;Secondly, to be also required to multichannel clock signal defeated for circuit part Out, to propose high requirement to circuit control system.
And inertia-type piezoelectric actuator therein, mainly by driving mass block to vibrate the inertia force generated by piezoelectric element The drive force formed with friction fit, to guarantee preferable working performance, the quasi-driver to method of friction control with More stringent requirements are proposed for frictional contact surface precision.The friction shape of the friction apparatus for adjusting force of piezoelectric inertia driver now Formula is mainly solid-solid friction, and solid-solid friction is related with contact surface microstructure, surface abrasion situation, is a kind of Complicated, uncertain energy loss form, therefore, solid-solid friction will affect driver overall performance.And magnetorheological fluid It is a kind of Intelligent fluid, similar with Bingham fluid under magnetic fields, magnetic-particle forms magnetic linkage in magnetorheological fluid, and fluid is viscous Degree can obviously increase, and there are yield stresses, and before stress reaches yield stress, magnetorheological fluid is similar to solid, will not destroy Magnetic linkage and generate flowing, magnetic linkage will be destroyed and generate flowing after reaching yield stress, in magnetorheological fluid, yield stress energy It is accurately controlled by the change in magnetic field.In Precision Piezoelectric drive area, Gu solid-liquid brought by the introducing of magnetorheological fluid/ Body-class solid friction type is a kind of very novel effective technological means, it keeps frictional force moderate and adjustable, wear it is small, And drive performance can be improved, expand driver applications range.
Summary of the invention
Friction caused by rubbing for existing inertial piezoelectric driver solid-solid, abrasion are big, and reliability is not high, driving The problems such as ability is limited, the present invention propose a kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuator.The present invention uses Embodiment be: the bottom of top moving body (a) is equipped with linear guide one (e101), equipped with sliding in linear guide one (e101) Block one (e102), driving mechanism (c) is equipped on sliding block one (e102), and two side bottoms of top moving body (a) install sliding block two (e201) and sliding block three (e301) linear guide two (e202) and straight line, cooperated with sliding block two (e201) and sliding block three (e301) Guide rail three (e302) is fixed on the top of collateral bracer one (g1) and collateral bracer two (g2), collateral bracer one (g1) and collateral support Block two (g2) is connect with bottom shell (k) and forward support block (m1) and aft support block (m2);Driving mechanism (c) is circumferentially evenly distributed with four Piezoelectric vibrator: piezoelectric vibrator one (d1), piezoelectric vibrator two (d2), piezoelectric vibrator three (d3), piezoelectric vibrator four (d4), piezoelectric vibrator One (d1) is by piezoelectric chip one (d102), substrate one (d101) and mass block one (d103) composition, and piezoelectric vibrator two (d2) is by pressing Electric chip two (d202), substrate two (d201) and mass block two (d203) composition, piezoelectric vibrator three (d3) is by piezoelectric chip three (d302), substrate three (d301) and mass block three (d303) composition, piezoelectric vibrator four (d4) is by piezoelectric chip four (d402), substrate Four (d401) and mass block four (d403) composition, friction block (i2) are fixed on the bottom of driving mechanism (c), and leaching is placed in magnetorheological fluid (i1) in, magnetorheological fluid (i1) is placed in magnetorheological fluid shell (i3), and magnetorheological fluid shell (i3) is internal close to driving mechanism (c) Place is stained with quad seal item (i5), and magnetorheological fluid shell (i3) is supported by supporting block (i4), and supporting block (i4) is fixed on bottom shell Body (k);Four sides of collateral bracer one (g1) and collateral bracer two (g2), forward support block (m1) and aft support block (m2) fill There are the adjustable adjusting block one (h101) of lateral arrangement, vertical distance, adjusting block two (h201), adjusting block three (h301), adjusting block Four (h401);Adjusting block one (h101), adjusting block two (h201), adjusting block three (h301), adjusting block four (h401) protrude into collateral End on the inside of bracer one (g1) and collateral bracer two (g2), forward support block (m1) and aft support block (m2) is stained with permanent magnets one (h102), permanent magnets two (h202), permanent magnets three (h302), permanent magnets four (h402) are also stained with permanent magnets on bottom shell (k) Five (h103), permanent magnets six (h203), permanent magnets seven (h303), permanent magnets eight (h403).
In the present invention, which wears small, high reliablity.
Advantage and characteristic: 1. driver run when, Gu the primary friction form for the apparatus for adjusting force that rubs be solid-liquid/ Body-class solid friction rubs, wears small, drive reliability height;2. driver driving mechanism can be with top moving body bottom Sliding block in linear guide is moved along the direction of parallel paper, also can be as the sliding block of two side bottom of top moving body is along vertical paper The direction in face moves, and therefore, which is able to achieve the movement of two degrees of freedom;3. frictional force can pass through permanent magnetism when driver is run The vertical position of the distance between block, i.e. adjusting block is adjusted, and control is easy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of driver in a preferred embodiment of the present invention;
Fig. 2 is the A-A cross-sectional view of Fig. 1;
Fig. 3 is the B-B cross-sectional view of Fig. 1;
Fig. 4 is the C-C cross-sectional view of Fig. 1;
Fig. 5 is the D-D cross-sectional view of Fig. 1.
Specific embodiment
The bottom of top moving body (a) is equipped with linear guide one (e101), is furnished with sliding block one in linear guide one (e101) (e102), driving mechanism (c) is housed, two side bottoms of top moving body (a) install sliding block two (e201) on sliding block one (e102) With sliding block three (e301), the linear guide two (e202) and linear guide three cooperated with sliding block two (e201) and sliding block three (e301) (e302) it is fixed on the top of collateral bracer one (g1) and collateral bracer two (g2), collateral bracer one (g1) and collateral bracer two (g2) it is connect with bottom shell (k) and forward support block (m1) and aft support block (m2);Driving mechanism (c) is circumferentially evenly distributed with four piezoelectricity Oscillator: piezoelectric vibrator one (d1), piezoelectric vibrator two (d2), piezoelectric vibrator three (d3), piezoelectric vibrator four (d4), piezoelectric vibrator one (d1) by piezoelectric chip one (d102), substrate one (d101) and mass block one (d103) composition, piezoelectric vibrator two (d2) is by piezoelectricity Chip two (d202), substrate two (d201) and mass block two (d203) composition, piezoelectric vibrator three (d3) is by piezoelectric chip three (d302), substrate three (d301) and mass block three (d303) composition, piezoelectric vibrator four (d4) is by piezoelectric chip four (d402), substrate Four (d401) and mass block four (d403) composition, friction block (i2) are fixed on the bottom of driving mechanism (c), and leaching is placed in magnetorheological fluid (i1) in, magnetorheological fluid (i1) is placed in magnetorheological fluid shell (i3), and magnetorheological fluid shell (i3) is internal close to driving mechanism (c) Place is stained with quad seal item (i5), and magnetorheological fluid shell (i3) is supported by supporting block (i4), and supporting block (i4) is fixed on bottom shell Body (k);Four sides of collateral bracer one (g1) and collateral bracer two (g2), forward support block (m1) and aft support block (m2) fill There are the adjustable adjusting block one (h101) of lateral arrangement, vertical distance, adjusting block two (h201), adjusting block three (h301), adjusting block Four (h401);Adjusting block one (h101), adjusting block two (h201), adjusting block three (h301), adjusting block four (h401) protrude into collateral End on the inside of bracer one (g1) and collateral bracer two (g2), forward support block (m1) and aft support block (m2) is stained with permanent magnets one (h102), permanent magnets two (h202), permanent magnets three (h302), permanent magnets four (h402) are also stained with permanent magnets on bottom shell (k) Five (h103), permanent magnets six (h203), permanent magnets seven (h303), permanent magnets eight (h403).
In the present invention, which wears small, high reliablity.

Claims (1)

1. a kind of permanent magnet controlled standard two degrees of freedom magnetorheological fluid piezoelectric actuator, it is characterised in that: the bottom of top moving body (a) Equipped with linear guide one (e101), it be furnished with sliding block one (e102) in linear guide one (e101), equipped with drive on sliding block one (e102) Motivation structure (c), two side bottoms installation sliding block two (e201) of top moving body (a) and sliding block three (e301), with sliding block two (e201) and sliding block three (e301) cooperation linear guide two (e202) and linear guide three (e302) be fixed on collateral bracer one (g1) and the top of collateral bracer two (g2), collateral bracer one (g1) and collateral bracer two (g2) and bottom shell (k) and preceding branch Bracer (m1) and aft support block (m2) connection;Driving mechanism (c) is circumferentially evenly distributed with four piezoelectric vibrators: piezoelectric vibrator one (d1), pressure Electric tachometer indicator two (d2), piezoelectric vibrator three (d3), piezoelectric vibrator four (d4), piezoelectric vibrator one (d1) by piezoelectric chip one (d102), Substrate one (d101) and mass block one (d103) composition, piezoelectric vibrator two (d2) is by piezoelectric chip two (d202), substrate two (d201) it is formed with mass block two (d203), piezoelectric vibrator three (d3) is by piezoelectric chip three (d302), substrate three (d301) and matter Gauge block three (d303) composition, piezoelectric vibrator four (d4) is by piezoelectric chip four (d402), substrate four (d401) and mass block four (d403) it forms, friction block (i2) is fixed on the bottom of driving mechanism (c), and leaching is placed in magnetorheological fluid (i1), magnetorheological fluid (i1) it is placed in magnetorheological fluid shell (i3), magnetorheological fluid shell (i3) is internal to be stained with quad seal close to driving mechanism (c) place Item (i5), magnetorheological fluid shell (i3) are supported by supporting block (i4), and supporting block (i4) is fixed on bottom shell (k);Collateral bracer Four sides of one (g1) and collateral bracer two (g2), forward support block (m1) and aft support block (m2) are respectively arranged with lateral arrangement, erect Directly apart from adjustable adjusting block one (h101), adjusting block two (h201), adjusting block three (h301), adjusting block four (h401);It adjusts Block one (h101), adjusting block two (h201), adjusting block three (h301), adjusting block four (h401) protrude into collateral bracer one (g1) and side End on the inside of supporting block two (g2), forward support block (m1) and aft support block (m2) is stained with permanent magnets one (h102), permanent magnets two (h202), permanent magnets three (h302), permanent magnets four (h402) are also stained with permanent magnets five (h103), permanent magnets on bottom shell (k) Six (h203), permanent magnets seven (h303), permanent magnets eight (h403).
CN201811247341.3A 2018-12-01 2018-12-01 Permanent magnet control type two-degree-of-freedom magneto-rheological hydraulic electric driver Active CN109256981B (en)

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CN201811247341.3A CN109256981B (en) 2018-12-01 2018-12-01 Permanent magnet control type two-degree-of-freedom magneto-rheological hydraulic electric driver

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CN201811247341.3A CN109256981B (en) 2018-12-01 2018-12-01 Permanent magnet control type two-degree-of-freedom magneto-rheological hydraulic electric driver

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100768890B1 (en) * 2006-06-12 2007-10-19 (주)피에조테크놀리지 Supporting structure for tiny ultrasonic linear actuator
CN107165301A (en) * 2017-07-07 2017-09-15 西京学院 A kind of magnetorheological piezoelectricity vibration isolating suspension of controllable intellectualized

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100768890B1 (en) * 2006-06-12 2007-10-19 (주)피에조테크놀리지 Supporting structure for tiny ultrasonic linear actuator
CN107165301A (en) * 2017-07-07 2017-09-15 西京学院 A kind of magnetorheological piezoelectricity vibration isolating suspension of controllable intellectualized

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