CN109713934A - A kind of submissive actuating mechanism of creeping - Google Patents
A kind of submissive actuating mechanism of creeping Download PDFInfo
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- CN109713934A CN109713934A CN201910012299.5A CN201910012299A CN109713934A CN 109713934 A CN109713934 A CN 109713934A CN 201910012299 A CN201910012299 A CN 201910012299A CN 109713934 A CN109713934 A CN 109713934A
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- clamping institution
- telescoping mechanism
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Abstract
The invention discloses a kind of submissive actuating mechanisms of creeping, including preceding clamping institution, move telescoping mechanism, clamping institution afterwards, displacement amplifying mechanism, power off clamping institution and rigid guideway, preceding clamping institution, it is identical with the structure type of rear clamping institution to move telescoping mechanism, preceding clamping institution and rear clamping institution are symmetrically distributed in the two sides up and down of movement telescoping mechanism, preceding clamping institution, movement telescoping mechanism and rear clamping institution are located in rigid guideway, displacement amplifying mechanism includes hinge one, preceding clamp pawl and hinge two, after clamp pawl, preceding clamping institution is connected by hinge one with preceding clamp pawl, clamping institution is connected by hinge two with rear clamp pawl afterwards, powering off clamping institution includes hinge three and drive rod, the ipsilateral both ends of movement telescoping mechanism are symmetrically arranged with drive rod.The present invention by unique design structure not only have the advantages that fast response time, it is convenient to use, not by electromagnetic interference, be also equipped with that stroke is big, can be along curvilinear motion the characteristics of.
Description
Technical field
The present invention relates to micro-/ nano field of locating technology, specially a kind of submissive actuating mechanism of creeping.
Background technique
With the development of micro-/ nano technology, all there is an urgent need to submicron orders, micro-/to receive for the research of numerous field of engineering technology
The precision positioning of meter level, and driver needed for big stroke, high-resolution Precision Position Location System must also have big stroke, height
Resolution ratio.But since traditional electromagnetic machine needs deceleration device, it is difficult to break through in micromation, high-precision developing direction, no
Adapt to the demand of modern precision machinery.With the development of material science, novel intelligent material is that these are new using proposing
Solution.
Intellectual material is easily controllable because being quick on the draw, and can be promptly restored to reset condition etc. again after outside stimulus is eliminated
Advantage is widely studied and applies in the production of non-electromagnetic principle driver, especially with piezoelectric material and magnetostriction materials system
At driving device it is with the fastest developing speed.The linear motor of piezoelectric material is applied with small in size, displacement resolution is high, output
Power is big, fast response time, the advantages that not generating heat, and has in precision positioning and has great advantage.
Piezoelectric type linear motor can be divided into ultrasound resonance formula, inertia-type, Inchworm type by driving principle is different again.Ultrasound resonance
Formula is compact-sized, small in size, light-weight, easily realizes miniaturization and lightweight, but due to being used to drive that friction is small, so
Power output is smaller, while because fretting wear is serious, therefore efficiency is relatively low with kinematic accuracy；Inertia-type principle and structure are simple,
Multifreedom motion can be achieved, but due to not having clamping institution, positioning keeps difficult, and power output is small.Inchworm type then overcomes super
The disadvantage that acoustic resonance formula power output is small, efficiency is low with kinematic accuracy and inertia-type power output is small, positioning is unstable has output
The advantages that power is big, power density is big, positioning stablity.
But there is also following deficiencies for current piezoelectricity looper linear motor: 1, volume is big, structure is not compact.2, motor
Stability is low.3, motor cannot power off clamp.4. can only move along a straight line, curvilinear motion can not achieve.For this reason, it may be necessary to design
A kind of new technical solution, which is given, to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of submissive actuating mechanisms of creeping, and not only have sound by unique design structure
The advantages of speed is fast, structure is simple, easy to process, convenient to use, not by electromagnetic interference is answered, has been also equipped with that stroke is big, Ke Yiyan
Curvilinear motion the characteristics of.
To achieve the above object, the invention provides the following technical scheme: a kind of submissive actuating mechanism of creeping, including preceding clamp
Mechanism, movement telescoping mechanism, rear clamping institution, displacement amplifying mechanism, power-off clamping institution and rigid guideway, the preceding clamp machine
Structure, movement telescoping mechanism are identical with the structure type of rear clamping institution, and the preceding clamping institution and rear clamping institution are symmetrical
In the two sides up and down of movement telescoping mechanism, the preceding clamping institution, movement telescoping mechanism and rear clamping institution are located at rigid guideway
Interior, the displacement amplifying mechanism includes hinge one, preceding clamp pawl and hinge two, clamps pawl afterwards, and the preceding clamping institution passes through hinge
Chain one is connected with preceding clamp pawl, and the rear clamping institution is connected by hinge two with rear clamp pawl, the power-off clamp machine
Structure includes hinge three and drive rod, and the ipsilateral both ends of the movement telescoping mechanism are symmetrically arranged with drive rod, described drive rod one end
With the rotation connection of movement telescoping mechanism and the other end is rotatablely connected by hinge three.
As an improvement of the above technical solution, the preceding clamping institution, movement telescoping mechanism and rear clamping institution are one
Kind can produce flexible intellectual material mechanism by external drive.
As an improvement of the above technical solution, the rigid guideway is slot rails, the preceding clamping institution and rear clamp
The parallel direction of mechanism and the length direction of rigid guideway are vertical, the parallel direction of the movement telescoping mechanism and the length of guide rail
Direction is parallel.
As an improvement of the above technical solution, the preceding clamp pawl, rear clamp pawl rotate with movement telescoping mechanism connect respectively
It connects, pawl, rear clamp pawl are clamped before described and moves the junction of telescoping mechanism equipped with hinge four.
As an improvement of the above technical solution, the surface of the drive rod be equipped with spring bearing, the spring bearing and just
Property guide rail contact connection.
As an improvement of the above technical solution, the submissive actuating mechanism of creeping travels forward the process of a step are as follows:
1) movement telescoping mechanism is in free release conditions, the preceding clamping institution of external drive, the elongation of rear clamping institution, preceding pincers
Position pawl, rear clamp pawl are clamped in rigid guideway；
2) clamping institution voltage reduces before external drive, and preceding clamping institution is shunk, and preceding clamp pawl and rigid guideway are detached from；
3) external drive campaign telescoping mechanism, intermediate movement telescoping mechanism elongation, and push preceding clamping institution to Forward
It is dynamic；
4) climbing mechanism advance terminates, and clamping institution voltage improves before external drive, preceding clamping institution elongation, preceding clamp pawl
It is clamped in rigid guideway；
5) clamping institution voltage reduces after external drive, and rear clamping institution is shunk, and the rear pawl that clamps is detached from rigid guideway；
6) external drive campaign telescoping mechanism voltage reduces, and intermediate movement telescoping mechanism is shunk, but longer than original state,
And clamping institution moves forward after driving, amount of movement is intermediate warp mechanism shrinkage；
7) clamping institution improves after external drive, and rear clamping institution elongation, the rear pawl that clamps is clamped in rigid guideway.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention not only have fast response time, structure it is simple, it is easy to process, convenient to use, not by electromagnetic interference
Advantage, relative to linear motor made of general looper type piezoelectric linear motor and some other intellectual materials, it is also equipped with
Stroke is big, can along curvilinear motion the characteristics of, and power-off clamping institution imparts the safe and reliable performance of the present invention.
2, the unique design structure of the present invention eliminates the clearance issues that movement generates, and overcomes gravity and gives precision positioning band
The error come, therefore this New-type electric machine is in micro-displacement mechanical system, micro-displacement positioning, optical precision instrument, aerospace control
There is important application value in the fields such as system.
Detailed description of the invention
Fig. 1 is submissive actuating mechanism overlooking structure diagram of creeping of the present invention；
Fig. 2 is submissive actuating mechanism forward sight structural schematic diagram of creeping of the present invention；
Fig. 3 is preceding clamping institution structural schematic diagram of the present invention；
Fig. 4 is rear clamping institution structural schematic diagram of the present invention；
Fig. 5 is submissive actuating mechanism riding structural schematic diagram of creeping of the present invention；
Fig. 6 is submissive actuating mechanism working principle structural schematic diagram of creeping of the present invention.
In figure: preceding clamping institution -1 moves telescoping mechanism -2, rear clamping institution -3, displacement amplifying mechanism -4, power-off clamp
Mechanism -5, rigid guideway -6, hinge one -7, preceding clamp pawl -8, hinge two -9 clamp pawl -10, hinge three -11, drive rod-afterwards
12, hinge four -13, spring bearing -14.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
It please refers to Fig. 1-6 present invention and a kind of technical solution is provided: a kind of submissive actuating mechanism of creeping, including preceding clamping institution
1, telescoping mechanism 2, rear clamping institution 3, displacement amplifying mechanism 4, power-off clamping institution 5 and rigid guideway 6 are moved, is clamped before described
Mechanism 1, movement telescoping mechanism 2 are identical with the structure type of rear clamping institution 3, and the preceding clamping institution 1 and rear clamping institution 3 are right
Claim the two sides up and down for being distributed in movement telescoping mechanism 2, the preceding clamping institution 1, movement telescoping mechanism 2 and rear clamping institution 3
In in rigid guideway 6, the displacement amplifying mechanism 4 includes hinge 1, preceding clamp pawl 8 and hinge 29, clamps pawl 10 afterwards, described
Preceding clamping institution 1 is connected by hinge 1 with preceding clamp pawl 8, and the rear clamping institution 3 passes through hinge 29 and rear clamp pawl
10 are connected, and the power-off clamping institution 5 includes hinge 3 11 and drive rod 12, the ipsilateral both ends of the movement telescoping mechanism 2
It is symmetrically arranged with drive rod 12, described 12 one end of drive rod and the rotation connection of movement telescoping mechanism 2 and the other end passes through hinge 3 11
Rotation connection.
It is further improved ground, the preceding clamping institution 1, movement telescoping mechanism 2 and rear clamping institution 3 are as shown in Figure 1:
It is a kind of to can produce flexible intellectual material mechanism by external drive, convenient for controlling preceding clamp machine by the height for controlling voltage
Structure 1, movement telescoping mechanism 2 and rear clamping institution 3 it is flexible, control the microbit more convenient, intellectual material telescoping mechanism generates
It moves, after amplifying by displacement amplifying mechanism 4, is converted to the movement of clamp pawl.
It is further improved ground, the rigid guideway 6 is slot rails, the preceding clamping institution 1 and rear pincers as shown in Figure 1:
The parallel direction of position mechanism 3 is vertical with the length direction of rigid guideway 6, the parallel direction and guide rail of the movement telescoping mechanism 2
Length direction it is parallel, by using the rigid guideway 6 that slot rails design, convenient preceding clamping institution 1 and rear clamping institution 3 into
Row is fixed.
Be further improved ground, it is described as shown in Figure 1: before clamp pawl 8, rear clamp pawl 10 respectively with 2 turns of telescoping mechanism of movement
The junction of dynamic connection, the preceding clamp pawl 8, rear clamp pawl 10 and movement telescoping mechanism 2 is equipped with hinge 4 13, by moving
The edge of telescoping mechanism 2 is equipped with the preceding clamp pawl 8 and rear clamp pawl 10 of rotation connection, and actuating mechanism of conveniently creeping, which is shunk, to be turned
It is dynamic.
It is further improved ground, as shown in Figure 2: the surface of the drive rod 12 is equipped with spring bearing 14, the spring bearing
14 connect with rigid guideway 6, by being equipped with spring bearing 14 on the surface of drive rod 12, it is convenient to creep actuating mechanism into
Row support.
It is further improved ground, as shown in Figure 3-4: the submissive actuating mechanism of creeping travels forward the process of a step are as follows:
1) movement telescoping mechanism 2 is in free release conditions, and the preceding clamping institution 1 of external drive, rear clamping institution 3 extend,
Preceding clamp pawl 8, rear clamp pawl 10 are clamped in rigid guideway 6；
2) 1 voltage of clamping institution reduces before external drive, and preceding clamping institution 1 is shunk, and preceding clamp pawl 8 and rigid guideway 6 are de-
From；
3) external drive campaign telescoping mechanism 2, intermediate movement telescoping mechanism 2 extend, and push preceding clamping institution 1 forward
It is mobile；
4) climbing mechanism advance terminates, and 1 voltage of clamping institution improves before external drive, and preceding clamping institution 1 extends, preceding clamp
Pawl 8 is clamped in rigid guideway 6；
5) 3 voltage of clamping institution reduces after external drive, and rear clamping institution 3 is shunk, and rear clamp pawl 10 and rigid guideway 6 are de-
From；
6) 2 voltage of external drive campaign telescoping mechanism reduces, and intermediate movement telescoping mechanism 2 is shunk, but compares original state
It is long, and clamping institution 3 moves forward after drive, amount of movement is intermediate warp mechanism shrinkage；
7) clamping institution 3 improves after external drive, and rear clamping institution 3 extends, and the rear pawl 10 that clamps is clamped on rigid guideway 6
In.
Embodiment 1
When being powered on, the preceding clamping institution 1 of external drive, rear clamping institution 3 extend the present invention, preceding clamp pawl 8, rear pincers
Position pawl 10 is clamped in rigid guideway 6, and the actuating mechanism that makes to creep is fixed in rigid guideway 6, then reduces pincers before external drive
The voltage of position mechanism 1, preceding clamping institution 1 are shunk, and preceding clamp pawl 8 is detached from rigid guideway 6, while external drive campaign telescopic machine
Structure 2, intermediate movement telescoping mechanism 2 extend, and power-off clamping institution 5 is detached from rigid guideway 6, and push preceding clamping institution 1 forward
Mobile, 1 voltage of clamping institution improves before external drive after movement, and preceding clamping institution 1 extends, and preceding clamp pawl 8 is clamped on just
Property guide rail 6 in, then reduce the voltage of clamping institution 3 after external drive, rear clamping institution 3 is shunk, rear to clamp pawl 10 and rigidly lead
Rail 6 is detached from, while reducing the voltage of external drive campaign telescoping mechanism 2, and intermediate movement telescoping mechanism 2 is shunk, pincers after drive
Position mechanism 3 moves forward, and finally improves the voltage of clamping institution 3 after external drive, and rear clamping institution 3 extends, rear to clamp pawl 10
It being clamped in rigid guideway 6, completion is successively creeped movement, and when driving voltage of input is low when high, but not lower than an amplitude,
Telescoping mechanism 2 is moved as driving voltage is flexible, but always than original state when movement telescoping mechanism 2 it is long so that power-off pincers
Position mechanism 4 will not be clamped on 6 wall of rigid guideway, and entire submissive actuating mechanism of creeping can swimmingly be run, and repeat the above steps i.e.
Biggish displacement can be achieved, by the program of Computer Design, adjust the driving voltage phase that voltage controller inputs to motor
Etc. parameters, forward and backward 3 micro-displacement direction of clamping institution and size can be efficiently controlled, by displacement amplifying mechanism 4, before change,
Afterwards clamp pawl 10 rotate angle, thus efficiently control entire motor operation place to, carry out the curvilinear motion such as turn, and
The parameters such as type, frequency, the amplitude of power input motor energization voltage are adjusted, the movement of motor can be efficiently controlled and adjust
The characteristics such as speed, direction and step-length.
Embodiment 2
When being powered on, movement telescoping mechanism 2 extends the present invention, and two 12 opening angles of drive rod become larger, make to power off
Clamping institution 5 is detached from rigid guideway 6, and when driving voltage inputted at work is low when high, but not is lower than an amplitude, movement
Telescoping mechanism 2 is flexible with driving voltage, but always than original state when movement telescoping mechanism 2 it is long so that power-off clamp machine
Structure 5 will not be clamped on 6 wall of rigid guideway, and entire submissive actuating mechanism of creeping can swimmingly be run, and when power is off, move telescopic machine
Structure 2 is in original state, and power-off clamping institution 5 is clamped on rigid guideway 4.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of submissive actuating mechanism of creeping, including preceding clamping institution (1), movement telescoping mechanism (2), rear clamping institution (3), position
Move enlarger (4), power-off clamping institution (5) and rigid guideway (6), it is characterised in that: the preceding clamping institution (1), movement
Telescoping mechanism (2) is identical with the structure type of rear clamping institution (3), and the preceding clamping institution (1) and rear clamping institution (3) are symmetrical
It is distributed in the two sides up and down of movement telescoping mechanism (2), the preceding clamping institution (1), movement telescoping mechanism (2) and rear clamping institution
(3) be located at rigid guideway (6) in, the displacement amplifying mechanism (4) include hinge one (7), preceding clamp pawl (8) and hinge two (9),
Pawl (10) are clamped afterwards, the preceding clamping institution (1) is connected by hinge one (7) with preceding clamp pawl (8), the rear clamping institution
(3) it is connected by hinge two (9) with rear clamp pawl (10), the power-off clamping institution (5) includes hinge three (11) and transmission
Bar (12), the ipsilateral both ends of movement telescoping mechanism (2) are symmetrically arranged with drive rod (12), described drive rod (12) one end and fortune
Dynamic telescoping mechanism (2) are rotatablely connected and the other end passes through hinge three (11) and is rotatablely connected.
2. the submissive actuating mechanism of creeping of one kind according to claim 1, it is characterised in that: the preceding clamping institution (1), fortune
Dynamic telescoping mechanism (2), rear clamping institution (3) are that a kind of can produce flexible intellectual material mechanism by external drive.
3. the submissive actuating mechanism of creeping of one kind according to claim 1, it is characterised in that: the rigid guideway (6) is slot
The parallel direction of type guide rail, the preceding clamping institution (1) and rear clamping institution (3) is vertical with the length direction of rigid guideway (6),
The parallel direction of movement telescoping mechanism (2) is parallel with the length direction of guide rail.
4. the submissive actuating mechanism of creeping of one kind according to claim 1, it is characterised in that: the preceding clamp pawl (8), rear pincers
With movement telescoping mechanism (2) rotation connection, it is flexible to clamp pawl (8), afterwards clamp pawl (10) and movement respectively for position pawl (10) before described
The junction of mechanism (2) is equipped with hinge four (13).
5. the submissive actuating mechanism of creeping of one kind according to claim 1, it is characterised in that: the surface of the drive rod (12)
Equipped with spring bearing (14), the spring bearing (14) and rigid guideway (6) are connected.
6. the submissive actuating mechanism of creeping of one kind according to claim 1, it is characterised in that: the submissive actuating mechanism of creeping
The process for the step that travels forward are as follows:
1) movement telescoping mechanism (2) is in free release conditions, and the preceding clamping institution of external drive (1), rear clamping institution (3) are stretched
Long, preceding clamp pawl (8), clamp pawl (10) is clamped in rigid guideway (6) afterwards；
2) clamping institution (1) voltage reduces before external drive, and preceding clamping institution (1) is shunk, preceding clamp pawl (8) and rigid guideway
(6) it is detached from；
3) external drive campaign telescoping mechanism (2), intermediate movement telescoping mechanism (2) elongation, and before pushing clamping institution (1) to
Preceding movement；
4) climbing mechanism advance terminates, and clamping institution (1) voltage improves before external drive, preceding clamping institution (1) elongation, preceding clamp
Pawl (8) is clamped in rigid guideway (6)；
5) clamping institution (3) voltage reduces after external drive, and rear clamping institution (3) is shunk, and clamps pawl (10) and rigid guideway afterwards
(6) it is detached from；
6) external drive campaign telescoping mechanism (2) voltage reduces, and intermediate movement telescoping mechanism (2) is shunk, but compares original state
It is long, and clamping institution (3) moves forward after drive, amount of movement is intermediate warp mechanism shrinkage；
7) clamping institution (3) improves after external drive, and rear clamping institution (3) elongation clamps pawl (10) afterwards and is clamped on rigid guideway
(6) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910012299.5A CN109713934A (en) | 2019-01-07 | 2019-01-07 | A kind of submissive actuating mechanism of creeping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910012299.5A CN109713934A (en) | 2019-01-07 | 2019-01-07 | A kind of submissive actuating mechanism of creeping |
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| Publication Number | Publication Date |
|---|---|
| CN109713934A true CN109713934A (en) | 2019-05-03 |
Family
ID=66260946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910012299.5A Pending CN109713934A (en) | 2019-01-07 | 2019-01-07 | A kind of submissive actuating mechanism of creeping |
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| Country | Link |
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| CN (1) | CN109713934A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323967A (en) * | 2019-07-16 | 2019-10-11 | 东华大学 | Microtubule detects accurate looper motor |
| CN111049422A (en) * | 2020-01-15 | 2020-04-21 | 合肥工业大学 | Clamping control inertial impact motor |
| CN112865593A (en) * | 2021-01-08 | 2021-05-28 | 吉林大学 | Bionic impact piezoelectric driver with high output performance and control method thereof |
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| CN112865593A (en) * | 2021-01-08 | 2021-05-28 | 吉林大学 | Bionic impact piezoelectric driver with high output performance and control method thereof |
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