CN109286334A - A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp - Google Patents
A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp Download PDFInfo
- Publication number
- CN109286334A CN109286334A CN201811213861.2A CN201811213861A CN109286334A CN 109286334 A CN109286334 A CN 109286334A CN 201811213861 A CN201811213861 A CN 201811213861A CN 109286334 A CN109286334 A CN 109286334A
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- side plate
- axle sleeve
- end cap
- wire spool
- sealing ring
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- 230000008878 coupling Effects 0.000 title claims abstract description 6
- 238000010168 coupling process Methods 0.000 title claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 6
- 238000007789 sealing Methods 0.000 claims abstract description 17
- 239000012530 fluid Substances 0.000 claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000518 rheometry Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/028—Electric 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
Abstract
The present invention relates to a kind of cantilever type piezoelectric two degrees of freedom drivers of magnetic rheologic magnetic coupling clamp, belong to Precision Piezoelectric actuation techniques field.There are two pairs of piezoelectric chips of axial direction and vertical axial arrangement on output shaft, the affixed mass block in end, bolt is all made of to be fixedly connected on axle sleeve one and axle sleeve two, axle sleeve one and axle sleeve two are fixed by screws on output shaft, output shaft both ends are separately mounted in wire spool one and wire spool two, and wire spool both ends are sealed by end cap and sealing ring, are wound with electromagnetic coil outside wire spool, the magnetorheological fluid control structure at both ends is placed on the side plate of cabinet, and side plate is fixed between upper cover plate and lower cover plate.Advantage is to couple to realize that the clamp of driver is controlled with electromagnetic coil using magnetorheological fluid, reduces traditional fretting wear, improves precision and the service life of driver.
Description
Technical field
The invention belongs to small, precision actuation fields.
Background technique
In recent years, with the rapid development of micro-nano actuation techniques, biomedicine, precision machinery, bio-robot, from
Dynamic control, accurate measurement, driving requirement of the technical fields such as accurate operation, accurate device, Ultra-precision Turning to microminiature machinery
Increase year by year.The other actuation techniques of micro/nano level have become domestic and international scientific research machine as the core technology for exploring microscopic fields
Structure, scholar research hotspot.Traditional precision machinery driving method generally uses mechanical structure formula, such as the silk in fine turning lathe
Bar pair and rolling, slide rail, precision auger cotter mechanism etc., the even mechanical structure of superhigh precision, still can not keep away
Exempt from there are fit-up gap, fretting wear, creep phenomena such as, therefore traditional mechanical structure formula driver is difficult to promote precision level,
Under this form, many novel driving methods are developed, such as electrostatic attraction, electromagnetic attraction formula, magnetostriction type, shape
Shape memory alloys formula and piezoelectric type etc..Piezoelectric ceramics is a kind of intellectual material for being widely used in precision actuation field, is had
Low energy consumption, without electromagnetic interference, fast response time the advantages that, be that the driver of driving element becomes accurate in recent years using piezoelectric material
One important branch of drive area.
Precision Piezoelectric driving device is widely studied and applies in recent years.Piezoelectric actuator can divide according to driving principle
Are as follows: Direct Action Type piezoelectric actuator, Inchworm type piezoelectric actuator, ultrasonic type piezoelectric actuator and inertia-type piezoelectric actuator.Inertia
Piezoelectric actuator is that the inertial impact force for generating inertial mass and piezoelectric element collective effect is filled as the driving of driving force
It sets, mechanical structure is simple, and movement velocity is very fast, and the driving motion mode of formation is easily controllable, and can obtain big stroke
Continuous movement, can be always the hot spot studied both at home and abroad with steady operation in high frequency state.
The working mechanism majority for the inertial piezoelectric driver developed at present be by it is automatically controlled or change mechanical structure or
Capable difference driving movement, to obtain the driving movement of power difference using frictional force control mode, the research work of early stage is mainly minority
Generating different inertial impact forces by electric signal makes mechanism kinematic；With the extension of research work and scientific domain, in order to incite somebody to action
Novel intelligent material is introduced into precision actuation field, the method using magnetic rheology effect control frictional force is proposed, by changing
Varying magnetic field controls frictional force and realizes control driver fan-out capability.
In view of above-mentioned condition, piezoelectric actuator proposed by the present invention swashing using symmetrical square wave electric signal as piezoelectric vibrator
Signal is encouraged, piezoelectric vibrator generates the inertial impact force of same size different directions under the conditions of symmetric clamp, works as electromagnetic coil
In generation magnetic field, magnetic field causes magnetic rheology effect, resistance swashing according to input electromagnetic coil of the magnetorheological fluid to output shaft
It is controllable to encourage signal, when impact force is greater than resistance, output shaft can be moved；When inertial impact force is less than resistance, output shaft can not
Movement, when the impact force of generation is less than frictional force, movable body stop motion.The clamp control device of driver can be according to electromagnetism
The pumping signal on-off of coil controls resistance, indirectly controls the two degrees of freedom fan-out capability of driver, has good controllable
Property.
Summary of the invention
The technical problems to be solved by the present invention are: being coupled by introducing magnetorheological fluid with electromagnetic coil to optimize piezoelectricity and drive
The generally existing solid of friction apparatus for adjusting force is to solid friction in dynamic device, to solve common piezoelectric actuator because solid is to solid
The fretting wear of body generation, frictional force are unevenly distributed, frictional force is difficult to quantitative the problems such as adjusting.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
There are two pairs of piezoelectric chips of axial direction and vertical axial arrangement on output shaft (f), is piezoelectric chip one (j1), pressure respectively
Electric chip two (j2), piezoelectric chip three (j3), piezoelectric chip four (j4), the affixed mass block one (i1) in end, mass block two
(i2), mass block three (i3), mass block four (i4) are all made of bolt and are fixedly connected on axle sleeve one (k) and axle sleeve two (m), axis
Set one is fixed by screws on output shaft with axle sleeve two, and output shaft both ends are separately mounted to wire spool one (d1) and wire spool two
(d2) in, wire spool both ends pass through end cap one (c1), end cap two (c2), end cap three (c3), end cap four (c4) and sealing ring one
(g1), sealing ring two (g2), sealing ring three (g3), sealing ring four (g4) seal, and are wound with electromagnetic coil one (b1) outside wire spool
With electromagnetic coil two (b2), the magnetorheological fluid control structure at both ends is placed in the side plate one (a1) of cabinet, side plate two (a2), side plate
On three (a3), side plate four (a4), side plate is fixed between upper cover plate (h2) and lower cover plate (h1)；Wire spool is with end cap material
Electrical pure iron.
It realizes that the clamping force of driver is controllable the invention has the advantages that coupling using magnetorheological fluid with electromagnetic coil, reduces
Traditional fretting wear, improves precision and the service life of driver.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is A-A diagrammatic cross-section in overall structure diagram of the invention；
Fig. 3 is one schematic diagram of overall structure diagram bottom bracket axle of the invention；
Fig. 4 is two schematic diagram of overall structure diagram bottom bracket axle of the invention.
Specific embodiment
Present embodiment, a kind of magnetic rheologic magnetic coupling clamp described in present embodiment are illustrated referring to figs. 1 to Fig. 4
Cantilever type piezoelectric two degrees of freedom driver, have two pairs of piezoelectric chips of axial direction and vertical axial arrangement on output shaft (f), respectively
It is piezoelectric chip one (j1), piezoelectric chip two (j2), piezoelectric chip three (j3), piezoelectric chip four (j4), the affixed quality in end
Block one (i1), mass block two (i2), mass block three (i3), mass block four (i4), are all made of bolt and are fixedly connected on axle sleeve one (k)
On axle sleeve two (m), axle sleeve one and axle sleeve two are fixed by screws on output shaft, and output shaft both ends are separately mounted to wire spool
In one (d1) and wire spool two (d2), wire spool both ends pass through end cap one (c1), end cap two (c2), end cap three (c3), end cap four
(c4) it seals with sealing ring one (g1), sealing ring two (g2), sealing ring three (g3), sealing ring four (g4), is wound with outside wire spool
Electromagnetic coil one (b1) and electromagnetic coil two (b2), the magnetorheological fluid control structure at both ends be placed in cabinet side plate one (a1),
Side plate two (a2), side plate three (a3), on side plate four (a4), side plate is fixed between upper cover plate (h2) and lower cover plate (h1)；Coiling
Disk and end cap material are electrical pure iron.
In the present invention, end cap and coiling dish structure guide the electromagnetic field of generation into magnetorheological fluid structure, by electromagnetic wire
The most of magnetic field generated in circle uses in magnetic rheology effect.
Piezoelectric actuator proposed by the present invention is using symmetrical square wave electric signal as the pumping signal of piezoelectric vibrator, piezoelectricity vibration
Son generates the inertial impact force of same size different directions under the conditions of symmetric clamp, when the magnetic of the generation in electromagnetic coil
, magnetic field causes magnetic rheology effect, and magnetorheological fluid is controllable according to the pumping signal of input electromagnetic coil to the resistance of output shaft, when
When impact force is greater than resistance, output shaft can be moved；When inertial impact force is less than resistance, output shaft can not be moved, when generation
When impact force is less than frictional force, movable body stop motion.The clamp control device of driver can be believed according to the excitation of electromagnetic coil
Number on-off controls resistance, indirectly controls the two degrees of freedom fan-out capability of driver, has good controllability.
Claims (1)
1. a kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp comprising: side plate one (a1), side plate
Two (a2), side plate three (a3), side plate 4 (a4), electromagnetic coil one (b1), electromagnetic coil two (b2), end cap one (c1), end cap two
(c2), end cap three (c3), end cap four (c4), wire spool one (d1), wire spool two (d2), output shaft (f), sealing ring one (g1),
Sealing ring two (g2), sealing ring three (g3), sealing ring four (g4), lower cover plate (h1), upper cover plate (h2), mass block one (i1), matter
Gauge block two (i2), mass block three (i3), mass block four (i4), piezoelectric chip one (j1), piezoelectric chip two (j2), piezoelectric chip three
(j3), piezoelectric chip four (j4), axle sleeve one (k), grip block one (l1), grip block two (l2), grip block three (l3), grip block four
(l4), axle sleeve two (m), it is characterised in that: have two pairs of piezoelectric chips of axial direction and vertical axial arrangement on output shaft (f), respectively
It is piezoelectric chip one (j1), piezoelectric chip two (j2), piezoelectric chip three (j3), piezoelectric chip four (j4), the affixed quality in end
Block one (i1), mass block two (i2), mass block three (i3), mass block four (i4), are all made of bolt and are fixedly connected on axle sleeve one (k)
On axle sleeve two (m), axle sleeve one and axle sleeve two are fixed by screws on output shaft, and output shaft both ends are separately mounted to wire spool
In one (d1) and wire spool two (d2), wire spool both ends pass through end cap one (c1), end cap two (c2), end cap three (c3), end cap four
(c4) it seals with sealing ring one (g1), sealing ring two (g2), sealing ring three (g3), sealing ring four (g4), is wound with outside wire spool
Electromagnetic coil one (b1) and electromagnetic coil two (b2), the magnetorheological fluid control structure at both ends be placed in cabinet side plate one (a1),
Side plate two (a2), side plate three (a3), on side plate four (a4), side plate is fixed between upper cover plate (h2) and lower cover plate (h1)；Coiling
Disk and end cap material are electrical pure iron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213861.2A CN109286334A (en) | 2018-10-09 | 2018-10-09 | A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213861.2A CN109286334A (en) | 2018-10-09 | 2018-10-09 | A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp |
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| Publication Number | Publication Date |
|---|---|
| CN109286334A true CN109286334A (en) | 2019-01-29 |
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|---|---|---|---|
| CN201811213861.2A Pending CN109286334A (en) | 2018-10-09 | 2018-10-09 | A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101877550A (en) * | 2010-05-18 | 2010-11-03 | 浙江大学 | Creeping type telescopic microfeeding device and method based on magnetorheology and supermagnetostriction |
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| CN205490235U (en) * | 2016-01-07 | 2016-08-17 | 浙江师范大学 | Asymmetric piezoelectricity rotary actuator of applied change normal pressure |
| CN205584047U (en) * | 2015-11-30 | 2016-09-14 | 浙江师范大学 | Asymmetric rotatory inertia piezo -actuator with adjustable frictional force |
| CN106849746A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Three-degree-of-freedom piezoelectric drive platform based on inertia impact |
| CN107040161A (en) * | 2017-06-26 | 2017-08-11 | 吉林大学 | Piezo-electric type multiple degrees of freedom hybrid-driven driver |
| CN206422712U (en) * | 2017-01-14 | 2017-08-18 | 浙江师范大学 | A kind of unidirectional inertial piezoelectric rotating driver of bearing-type |
| CN206490601U (en) * | 2017-01-14 | 2017-09-12 | 浙江师范大学 | A kind of changing pressure formula piezoelectric inertia linear actuator |
| CN107218337A (en) * | 2017-07-12 | 2017-09-29 | 南京航空航天大学 | A kind of rotary-type drum type brake magnetic rheological liquid damper of ultrasonic field and magnetic coupling effect |
| CN207234692U (en) * | 2017-07-08 | 2018-04-13 | 浙江师范大学 | A kind of list rotary permanent-magnet clamp straight line stepping type piezoelectric actuator |
| CN209448668U (en) * | 2018-10-09 | 2019-09-27 | 浙江师范大学 | A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp |
-
2018
- 2018-10-09 CN CN201811213861.2A patent/CN109286334A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101877550A (en) * | 2010-05-18 | 2010-11-03 | 浙江大学 | Creeping type telescopic microfeeding device and method based on magnetorheology and supermagnetostriction |
| CN103684039A (en) * | 2013-12-23 | 2014-03-26 | 南昌工程学院 | Magnetostrictive inertial impact driver |
| CN205584047U (en) * | 2015-11-30 | 2016-09-14 | 浙江师范大学 | Asymmetric rotatory inertia piezo -actuator with adjustable frictional force |
| CN205490235U (en) * | 2016-01-07 | 2016-08-17 | 浙江师范大学 | Asymmetric piezoelectricity rotary actuator of applied change normal pressure |
| CN206422712U (en) * | 2017-01-14 | 2017-08-18 | 浙江师范大学 | A kind of unidirectional inertial piezoelectric rotating driver of bearing-type |
| CN206490601U (en) * | 2017-01-14 | 2017-09-12 | 浙江师范大学 | A kind of changing pressure formula piezoelectric inertia linear actuator |
| CN106849746A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Three-degree-of-freedom piezoelectric drive platform based on inertia impact |
| CN107040161A (en) * | 2017-06-26 | 2017-08-11 | 吉林大学 | Piezo-electric type multiple degrees of freedom hybrid-driven driver |
| CN207234692U (en) * | 2017-07-08 | 2018-04-13 | 浙江师范大学 | A kind of list rotary permanent-magnet clamp straight line stepping type piezoelectric actuator |
| CN107218337A (en) * | 2017-07-12 | 2017-09-29 | 南京航空航天大学 | A kind of rotary-type drum type brake magnetic rheological liquid damper of ultrasonic field and magnetic coupling effect |
| CN209448668U (en) * | 2018-10-09 | 2019-09-27 | 浙江师范大学 | A kind of cantilever type piezoelectric two degrees of freedom driver of magnetic rheologic magnetic coupling clamp |
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