CN109812454B - Self-driven cylinder - Google Patents
Self-driven cylinder Download PDFInfo
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- CN109812454B CN109812454B CN201910187869.4A CN201910187869A CN109812454B CN 109812454 B CN109812454 B CN 109812454B CN 201910187869 A CN201910187869 A CN 201910187869A CN 109812454 B CN109812454 B CN 109812454B
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Abstract
The invention belongs to the technical field of pneumatics, and particularly relates to a self-driven cylinder. The end covers with the inlet and outlet valves are arranged at the left end and the right end of the shell and form a left cylinder cavity and a right cylinder cavity together with the cylinder cavity and the piston; cover plates are arranged on the upper side and the lower side of the shell, and the cover plates press the transducer in the pump cavity of the shell through sealing rings and respectively form an inner pump cavity and an outer pump cavity with the shell and the cover plates; the cover plate presses the sealing ring in the two sinking cavities of the shell to form an inlet and outlet cavity; the inlet cavity, the inner pump cavities and the outlet cavity are sequentially connected in series to form an inner pump, and the inlet cavity, the outer pump cavities and the outlet cavity are sequentially connected in series to form an outer pump; the inner and outer pumps on the upper and lower sides of the shell are respectively connected in parallel to form an upper air supply unit and a lower air supply unit which are connected in series; the outlet hole of the lower air supply unit is connected with the left inlet valve and the right inlet valve; the transducer consists of two drivers and a gasket, wherein each driver consists of a substrate and a piezoelectric sheet; the driving unit of the energy converter is deformed by the action of the direct current driving voltage, the driving voltage is reversed when the output voltage of the sensing unit reaches an extreme value, and the driver realizes self-excitation driving.
Description
Technical Field
The invention belongs to the technical field of pneumatics, and particularly relates to a self-driven cylinder.
Background
The hydraulic and pneumatic transmission and control system has the advantages of high energy density, low noise, no impact and the like, and has been successfully applied to various industries of national economy and national defense industry for many years. The traditional pneumatic power system is usually driven by a motor and a mechanical air pump with larger size, and the effective control of output force, speed, position and the like is realized through the combined operation of various valves such as a reversing valve, a pressure reducing valve, a speed regulating valve and the like, so that the system is large in size, complicated in structural connection and control and has great limitation in application: the device can not be used for micro systems such as aerospace and walking robots and remote control systems; meanwhile, the existing pneumatic power system adopts a plurality of air valves for combined control, so that accurate control and adjustment of driving force, speed and position are difficult to realize, and the pneumatic power system cannot be used in the fields of precision machining and assembly, precision measurement, precision optical driving and the like which require high driving, positioning and control precision. Therefore, various types of micro hydraulic and pneumatic systems have been proposed in succession, such as chinese patents 201510843026.7, 201310132556.1, 201410611173.7, etc., because the existing micro hydraulic or pneumatic systems are all driven by a fixed frequency, the driving force and speed thereof are greatly affected by the working load in the actual work, when the deviation between the resonant frequency of the driving element under specific working conditions and the set excitation frequency is large, the gas output and pressure will be greatly reduced, and the accuracy of the driving force and speed calculated according to the set driving voltage and frequency is also low.
Disclosure of Invention
The invention provides a self-driven cylinder, and the implementation scheme of the self-driven cylinder is as follows: the left end cover and the right end cover are arranged at the left end and the right end of the shell through screws and form a left cylinder cavity and a right cylinder cavity together with the cylinder cavity and a piston arranged in the cylinder cavity, a left inlet and outlet valve is arranged on the left end cover, and a right inlet and outlet valve is arranged on the right end cover; cover plates are arranged on the upper side and the lower side of the shell through screws, the cover plates press the transducer in a pump cavity of the shell through sealing rings, the sealing rings are positioned on the upper side and the lower side of the transducer, and the transducer, the sealing rings and the shell form an inner pump cavity and form an outer pump cavity together with the cover plates; the cover plate presses the small sealing ring in the small sinking cavity of the shell to form a hole inlet cavity, presses the large sealing ring in the large sinking cavity of the shell to form a hole outlet cavity, and the hole inlet cavity and the hole outlet cavity are respectively communicated with the hole inlet and the hole outlet; the inlet cavity, each inner pump cavity and the outlet cavity are sequentially connected in series to form an inner pump, namely: the inlet cavity and the adjacent inner pump cavity, the two adjacent inner pump cavities and the inner pump cavity and the outlet cavity are communicated through the inner through hole and the inner valve cavity with the valve plate and are sequentially connected in series to form the inner pump; the inlet cavity, the outer pump cavities and the outlet cavity are sequentially connected in series to form an outer pump, namely: the inlet cavity and the adjacent outer pump cavity, the two adjacent outer pump cavities and the outer pump cavity and the outlet cavity are communicated with the outer valve cavity with the valve plate through the outer through hole and are sequentially connected in series to form an outer pump; the inner and outer pumps above the shell are connected in parallel into an upper air supply unit through the hole cavities, and the inner and outer pumps below the shell are connected in parallel into a lower air supply unit through the hole cavities; the upper air supply unit and the lower air supply unit are connected in series, namely an outlet hole of the upper air supply unit is communicated with an inlet hole of the lower air supply unit through a pipeline, an outlet hole of the lower air supply unit is connected with the left inlet valve and the right inlet valve through pipelines, and the left inlet valve and the right inlet valve are connected in parallel.
The transducer is composed of two drivers and a gasket, wherein each driver is formed by bonding a substrate and a piezoelectric sheet, and the piezoelectric sheet is arranged close to the gasket; two drivers in at least one transducer comprise a driving unit and a sensing unit, namely, the surface electrode of the piezoelectric sheet is divided into two parts which respectively form the driving unit and the sensing unit with the substrate; the driving voltage of the driver and the driving unit is direct current voltage or alternating current voltage; in work, the deformation directions of two drivers in the same energy converter are the same and represent the deformation directions of the energy converter, and the deformation directions of two energy converters in the same air supply unit adjacent to each other at the left and right are opposite; when the driving voltage is direct current voltage, the driving unit in the driver is deformed under the action of the driving voltage and the driving voltage is reversed when the output voltage of the sensing unit reaches an extreme value, and the driver realizes self-excitation driving; the output voltage of the sensing unit is also used to characterize the speed of movement and the driving force of the piston.
In the invention, the left outlet valve and the right inlet and outlet valves are both normally closed switch valves, and are in a cut-off state when not mentioned to be opened in work; the driving process of the cylinder comprises the following steps:
1) an energy storage stage: the left inlet valve and the right inlet valve are opened, the left outlet valve and the right outlet valve are closed, the gas is sucked into the inlet hole of the upper gas supply unit, the gas is discharged from the outlet hole of the lower gas supply unit, and the discharged gas enters the left cylinder cavity, the right cylinder cavity and the energy accumulator; after the energy storage process is finished, the left inlet valve and the right inlet valve are closed;
2) a driving stage: when the upper air supply unit and the lower air supply unit work in a state, the piston moves rightwards when the left inlet valve and the right outlet valve are opened and the left outlet valve and the right inlet valve are closed, and the piston moves leftwards when the left inlet valve and the right outlet valve are closed and the left outlet valve and the right inlet valve are opened;
3) positioning and maintaining stage: after the piston moves to a preset position, the left inlet and outlet valve and the right inlet and outlet valve are both closed, and the upper air supply unit and the lower air supply unit stop working.
The invention determines the number of transducers contained in the system according to the required cylinder driving force and speed, when the driver is formed by bonding a PZT4 wafer with equal thickness and a brass substrate and the upper air supply unit and the lower air supply unit work synchronously, the maximum driving force is obtained
Maximum speed of
Wherein, ηq、ηpSpeed and driving force coefficient of the valve plate, R, H radius and height of the inner and outer pump chambers, hpIs the thickness of the piezoelectric plate, f is the excitation frequency, U0For the drive voltage, N is the total number of transducers contained in the system, A, FfRespectively the effective area of the piston and the sliding friction.
The characteristics and advantages are as follows: the air supply unit is integrated with the shell, has small volume and high integration level, does not need an external air source, and can be used as an independent standard component; the precise driving and positioning control in a larger stroke is realized by a stepping method; the direct current driving voltage is reversed according to the deformation state of the driver, self-excitation driving of the transducer is achieved, the adaptability of variation of load of excitation frequency and the like is strong, the driving capability is strong, and the performance is stable.
Drawings
FIG. 1 is a schematic diagram of a system configuration of a cylinder according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the cylinder charge stage in accordance with a preferred embodiment of the present invention;
FIG. 3 is a waveform diagram of the driving voltage in accordance with a preferred embodiment of the present invention;
FIG. 4 is a waveform diagram of the sensing voltage in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic structural view of the housing;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic view of a cover plate according to a preferred embodiment of the present invention;
FIG. 8 is a bottom view of FIG. 7;
FIG. 9 is a schematic diagram of the construction of a transducer in accordance with a preferred embodiment of the present invention;
fig. 10 is a sectional view a-a of fig. 9.
Detailed Description
A left end cover x and a right end cover y are installed at the left end and the right end of the shell a through screws and form a left cylinder cavity B1 and a right cylinder cavity B2 together with the cylinder cavity a8 and a piston f arranged in the cylinder cavity a8, a left inlet valve v1 and a left outlet valve v2 are arranged on the left end cover x, and a right inlet valve v3 and a right outlet valve v4 are arranged on the right end cover y; cover plates b are mounted on the upper side and the lower side of the shell a through screws, the transducer D is pressed in the pump cavity a3 of the shell a through a sealing ring i by the cover plates b, the sealing ring i is located on the upper side and the lower side of the transducer D, the transducer D and the sealing ring i form an inner pump cavity C1 with the shell a, and an outer pump cavity C2 with the cover plates b; the cover plate b presses the small sealing ring g in the small sinking cavity a2 of the shell a to form a hole entering cavity C3, and presses the large sealing ring h in the large sinking cavity a4 of the shell a to form a hole exiting cavity C4; the inlet cavity C3 is communicated with the inlet hole a1, and the outlet cavity C4 is communicated with the outlet hole a 5; the inlet cavity C3, each inner pump cavity C1 and the outlet cavity C4 are connected in series in sequence to form an inner pump q1, namely: the inlet cavity C3 and the adjacent inner pump cavity C1, the two adjacent inner pump cavities C1 and the inner pump cavity C1 and the outlet cavity C4 are communicated through an inner through hole a6 and an inner valve cavity a7 with a valve plate e and are sequentially connected in series to form an inner pump q 1; the inlet cavity C3, each outer pump cavity C2 and the outlet cavity C4 are connected in series in sequence to form an outer pump q2, namely: the inlet cavity C3 and the adjacent outer pump cavity C2, the two adjacent outer pump cavities C2 and the outer pump cavity C2 and the outlet cavity C4 are communicated through an outer through hole b6 and an outer valve cavity b7 with a valve plate e and are sequentially connected in series to form an outer pump q 2; an inner pump q1 and an outer pump q2 above the shell are connected in parallel to form an upper air supply unit I through an inlet hole cavity C3 and an outlet hole cavity C4, and an inner pump q1 and an outer pump q2 below the shell a are connected in parallel to form a lower air supply unit II through an inlet hole cavity C3 and an outlet hole cavity C4; the upper air supply unit I and the lower air supply unit II are connected in series, namely the outlet hole a5 of the upper air supply unit I is communicated with the inlet hole a1 of the lower air supply unit II through a pipeline, the outlet hole a5 of the lower air supply unit II is connected with a left inlet valve v1 and a right inlet valve v3 through pipelines, and the left inlet valve v1 is connected with the right inlet valve v3 in parallel.
The transducer D is composed of two drivers D and a gasket D0, wherein the driver D is formed by bonding a substrate D1 and a piezoelectric sheet D2, and the piezoelectric sheet D2 is installed close to the gasket D0; two drivers D in the at least one transducer D comprise a driving unit D21 and a sensing unit D22, namely, the surface electrode of the piezoelectric sheet D2 is divided into two parts and forms a driving unit D21 and a sensing unit D22 together with the substrate D1 respectively; the driving voltage of the driver d and the driving unit d21 is direct current voltage or alternating current voltage; in operation, the deformation directions of two drivers D in the same transducer D are the same and represent the deformation direction of the transducer D, and the deformation directions of two transducers D in the same air supply unit adjacent to each other on the left and right are opposite; when the driving voltage is direct-current voltage, the driving unit d21 in the driver d is deformed under the action of the driving voltage, and the driving voltage is reversed when the output voltage of the sensing unit d22 reaches an extreme value, so that the driver d realizes self-excitation driving; the output voltage of the sensing unit d22 is also used to characterize the speed of movement and the driving force of the piston f.
In the invention, the left inlet valve v1, the left outlet valve v2, the right inlet valve v3 and the right outlet valve v4 are all normally closed switch valves, and are all in a cut-off state when not mentioned to be opened in work; the driving process of the cylinder comprises the following steps:
1) an energy storage stage: the left inlet valve v1 and the right inlet valve v3 are opened, the left outlet valve v2 and the right outlet valve v4 are closed, the inlet hole a1 of the upper air supply unit I sucks air, the outlet hole a5 of the lower air supply unit II discharges air, and the discharged air enters the left cylinder cavity B1, the right cylinder cavity B2 and the accumulator k; after the energy storage process is finished, the left inlet valve v1 and the right inlet valve v3 are closed;
2) a driving stage: when the upper air supply unit I and the lower air supply unit II work in a state, the piston f moves to the right when the left inlet valve v1 and the right outlet valve v4 are opened and the left outlet valve v2 and the right inlet valve v3 are closed, and the piston f moves to the left when the left inlet valve v1 and the right outlet valve v4 are closed and the left outlet valve v2 and the right inlet valve v3 are opened;
3) positioning and maintaining stage: after the piston f moves to the preset position, the left inlet valve v1, the left outlet valve v2, the right inlet valve v3 and the right outlet valve v4 are all closed, and the upper air supply unit I and the lower air supply unit II stop working.
The invention determines the number of the transducers D contained in the system according to the required cylinder driving force and speed, when the driver D is formed by bonding a PZT4 wafer with equal thickness and a brass substrate and the upper air supply unit I and the lower air supply unit II work synchronously, the maximum speed which can be obtained is
Maximum driving force of
Wherein, ηq、ηpSpeed and coefficient of drive force of the valve sheet e, R, H radius and height of the inner pump chamber C1 and outer pump chamber C2, respectively, hpThickness of the piezoelectric sheet d2, f excitation frequency, U0For the drive voltage, N is the total number of transducers D contained in the system, A, FfRespectively the effective area and the sliding friction of the piston f.
Claims (1)
1. A self-actuating cylinder, characterized by: the left end cover and the right end cover are arranged at the left end and the right end of the shell and form a left cylinder cavity and a right cylinder cavity together with the cylinder cavity and the piston in the cylinder cavity, a left inlet and outlet valve is arranged on the left end cover, and a right inlet and outlet valve is arranged on the right end cover; cover plates are arranged on the upper side and the lower side of the shell, the cover plates press the transducer in the pump cavity of the shell through sealing rings, and the transducer, the sealing rings and the shell form an inner pump cavity and an outer pump cavity together with the cover plates; the cover plate presses the small sealing ring in the small sinking cavity of the shell to form a hole inlet cavity, presses the large sealing ring in the large sinking cavity of the shell to form a hole outlet cavity, and the hole inlet cavity and the hole outlet cavity are respectively communicated with the hole inlet and the hole outlet; the inlet cavity, the inner pump cavities and the outlet cavity are sequentially connected in series to form an inner pump, and the inlet cavity, the outer pump cavities and the outlet cavity are sequentially connected in series to form an outer pump; the inside and outside pump of casing top is through business turn over hole chamber parallel connection and is gone up the air feed unit, and the inside and outside pump of casing below is through business turn over hole chamber parallel connection and is become air feed unit down: the upper air supply unit and the lower air supply unit are connected in series, an outlet hole of the lower air supply unit is connected with a left inlet valve and a right inlet valve through a pipeline, and the left inlet valve and the right inlet valve are connected in parallel; the transducer is composed of two drivers and a gasket, and the drivers are formed by bonding a substrate and a piezoelectric sheet; the driver in one transducer comprises a driving unit and a sensing unit; in work, the deformation directions of two transducers in the same air supply unit adjacent to the left and the right are opposite; the driving unit is deformed under the action of the direct current driving voltage, the driving voltage is reversed when the output voltage of the sensing unit reaches an extreme value, and the driver realizes self-excitation driving.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187869.4A CN109812454B (en) | 2019-03-01 | 2019-03-01 | Self-driven cylinder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187869.4A CN109812454B (en) | 2019-03-01 | 2019-03-01 | Self-driven cylinder |
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| CN109812454A CN109812454A (en) | 2019-05-28 |
| CN109812454B true CN109812454B (en) | 2020-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1623740A (en) * | 2004-12-13 | 2005-06-08 | 华中科技大学 | Mini clamp with dual-chip |
| CN102691694A (en) * | 2012-05-23 | 2012-09-26 | 浙江师范大学 | Self-driven precise stepwise hydraulic power device |
| CN106443054A (en) * | 2016-06-15 | 2017-02-22 | 浙江师范大学 | Pipe flow velocity monitor |
| CN108035869A (en) * | 2018-01-10 | 2018-05-15 | 浙江师范大学 | A kind of adaptive miniature piezoelectric pump installation capable of reversing of non-resonant |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202579446U (en) * | 2012-05-23 | 2012-12-05 | 浙江师范大学 | Self-driven precision stepping hydraulic power device |
| CN102691693B (en) * | 2012-05-23 | 2015-02-04 | 浙江师范大学 | Precision stepping hydraulic cylinder driven by piezo-electricity wafer |
| CN202992001U (en) * | 2012-12-13 | 2013-06-12 | 浙江师范大学 | Piezoelectric chip type self-energized hydraulic damper |
| CN106014907B (en) * | 2016-06-15 | 2018-02-02 | 浙江师范大学 | A kind of plunger pump of piezoelectric chip oscillator driving |
| JP2018123796A (en) * | 2017-02-02 | 2018-08-09 | 株式会社菊池製作所 | Micro diaphragm pump |
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2019
- 2019-03-01 CN CN201910187869.4A patent/CN109812454B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1623740A (en) * | 2004-12-13 | 2005-06-08 | 华中科技大学 | Mini clamp with dual-chip |
| CN102691694A (en) * | 2012-05-23 | 2012-09-26 | 浙江师范大学 | Self-driven precise stepwise hydraulic power device |
| CN106443054A (en) * | 2016-06-15 | 2017-02-22 | 浙江师范大学 | Pipe flow velocity monitor |
| CN108035869A (en) * | 2018-01-10 | 2018-05-15 | 浙江师范大学 | A kind of adaptive miniature piezoelectric pump installation capable of reversing of non-resonant |
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| CN109812454A (en) | 2019-05-28 |
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Effective date of registration: 20230524 Address after: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Address before: 321004 Zhejiang Normal University, 688 Yingbin Avenue, Wucheng District, Jinhua City, Zhejiang Province Patentee before: ZHEJIANG NORMAL University Effective date of registration: 20230524 Address after: 115000 Xinli Village (Second Team), Lunan Town, Laobian District, Yingkou City, Liaoning Province Patentee after: Yingkou Wangcai Metal Products Co.,Ltd. Address before: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. |