CN109889089B - Twice stepping piezoelectric rotary driver - Google Patents
Twice stepping piezoelectric rotary driver Download PDFInfo
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- CN109889089B CN109889089B CN201910090839.1A CN201910090839A CN109889089B CN 109889089 B CN109889089 B CN 109889089B CN 201910090839 A CN201910090839 A CN 201910090839A CN 109889089 B CN109889089 B CN 109889089B
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Abstract
The application relates to a twice stepping piezoelectric rotary driver, which comprises a base, a driving flexible hinge, a piezoelectric stack, a U-shaped plate, a parallelogram flexible hinge a, a parallelogram flexible hinge b, a rotary platform, a bearing, a triangular microprotrusion, a base and a mandrel, wherein the base is provided with a first driving flexible hinge and a second driving flexible hinge; the positive pressure between the outer surfaces of the parallelogram flexible hinges a and b and the rotating platform can be changed by the parallelogram flexible hinges a and b which are symmetrical about the center line of the mandrel, the triangular microprotrusions which are symmetrical about the center line of the mandrel enable the friction coefficients of the outer surfaces of the parallelogram flexible hinges a and b along the positive direction and the negative direction of the X axis to be different, under the combined action of the positive and negative directions, the electric signals excite the extension/shortening deformation of the piezoelectric stack to drive the U-shaped plate to reciprocate along the positive direction and the negative direction of the X axis, and in one working period, the parallelogram flexible hinges a and b alternately drive the rotating platform to realize two rotations in the anticlockwise direction.
Description
Technical Field
The application relates to a twice stepping piezoelectric rotary driver, and belongs to the technical field of micro-nano precise driving.
Background
Along with the rapid development of fields such as precise ultra-precise machining, electronics, biotechnology, precise measurement and the like, requirements on micro-nano precise driving technology are higher and higher, and various research institutions are actively researching large-stroke and high-precision piezoelectric drivers. In the existing large-stroke high-precision piezoelectric driver, the driving process can be generally divided into a piezoelectric stack extending stage and a piezoelectric stack retracting stage, and the piezoelectric stack extending stage and the piezoelectric stack retracting stage are realized by slow extension and quick retraction of the piezoelectric stack. In the process, the forward rotation driving of the driver can be realized only through the extension stage of the piezoelectric stack, the driver cannot be rotated forward through the retraction stage of the piezoelectric stack, even the driver can be retracted, and the output efficiency of the driver is greatly reduced.
Disclosure of Invention
In order to improve the output efficiency of the driver while realizing large stroke and high precision, the application discloses a twice stepping piezoelectric rotary driver.
The application is realized by the following technical scheme:
a twice stepping piezoelectric rotary driver comprises a base, a driving flexible hinge, a piezoelectric stack, a U-shaped plate, a parallelogram flexible hinge a, a parallelogram flexible hinge b, a rotary platform, a bearing, a triangular microprotrusion, a base and a mandrel; the base, the driving flexible hinge and the U-shaped plate are sequentially and rigidly connected into a whole, the piezoelectric stack is fixed on the base through the base, the piezoelectric stack is tightly matched and installed inside the driving flexible hinge, parallelogram flexible hinges a and b are arranged on the inner sides of two U-shaped arms of the U-shaped plate, triangular microprotrusions are processed on the outer surfaces of the parallelogram flexible hinges a and b and are contacted with the rotating platform, and the rotating platform, the bearing and the mandrel are matched and installed on the base; the parallelogram flexible hinge a inclines towards the U-shaped bottom of the U-shaped plate, positive pressure between the outer surfaces of the parallelogram flexible hinges a and b and the rotating platform can be changed by the parallelogram flexible hinges a and b which are symmetrical about the center line of the mandrel, the triangular microprotrusions which are symmetrical about the center line of the mandrel enable the friction coefficients of the outer surfaces of the parallelogram flexible hinges a and b along the positive direction and the negative direction of the X axis to be different, under the combined action of the parallelogram flexible hinges a and the triangular microprotrusions, the electric signals excite the extension/shortening deformation of the piezoelectric stack to drive the U-shaped plate to reciprocate along the positive direction and the negative direction of the X axis, and in one working period, the parallelogram flexible hinges a and b alternately drive the rotating platform to realize two rotations in the anticlockwise direction.
The inner sides of the two U-shaped arms of the U-shaped plate are provided with parallelogram flexible hinges a and b with the same inclination angle, when the piezoelectric stack stretches, the U-shaped plate moves along the X axis in the negative direction, the outer surface of the parallelogram flexible hinge b is acted by friction force along the positive direction of the X axis, the parallelogram flexible hinge b has a trend of deforming towards the positive direction of the X axis, the positive pressure between the parallelogram flexible hinge b and the surface of the rotating platform is reduced, the outer surface of the parallelogram flexible hinge a is acted by friction force along the positive direction of the X axis, the positive pressure between the parallelogram flexible hinge a and the surface of the rotating platform is increased, and therefore the friction force between the parallelogram flexible hinge a and the rotating platform is larger than the friction force between the parallelogram flexible hinge b and the rotating platform, and the rotating platform rotates anticlockwise; when the piezoelectric stack is shortened, the friction force between the parallelogram flexible hinge b and the rotating platform is larger than the friction force between the parallelogram flexible hinge a and the rotating platform, so that the rotating platform continues to rotate anticlockwise.
Triangular microprotrusions which are not in central symmetry are processed on the outer surfaces of the parallelogram flexible hinges a and b, and the inclination directions of the triangular microprotrusions are consistent with the inclination directions of the parallelogram flexible hinges, so that the friction coefficient of the inclined side is larger than that of the other side; the friction coefficient of the outer surface of the parallelogram flexible hinge a along the positive direction of the X axis is larger than that along the negative direction of the X axis; the friction coefficient of the outer surface of the parallelogram flexible hinge b along the X-axis negative direction is larger than that along the X-axis positive direction.
The beneficial effects of the application are as follows: and the piezoelectric stack is utilized to enable the driver to generate steps twice in one working period, so that the output efficiency of the driver is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and explain the application and together with the description serve to explain the application.
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic diagram illustrating the operation of the present application;
FIG. 3 is an enlarged view of a triangular microprotrusion on the surface of a parallelogram flexible hinge a according to the present application;
FIG. 4 is an enlarged view of a triangular microprotrusion on the surface of a parallelogram flexible hinge b of the present application;
Detailed Description
The details of the present application and its specific embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 4, the present embodiment provides a specific embodiment of a two-step piezoelectric rotary actuator. The twice stepping piezoelectric rotary driver utilizes a piezoelectric stack (3) to make the driver generate twice steps in one working period; the structure comprises a base (1), a driving flexible hinge (2), a piezoelectric stack (3), a U-shaped plate (4), a parallelogram flexible hinge a (5), a parallelogram flexible hinge b (6), a rotating platform (7), a bearing (8), a triangular microprotrusion (9), a base (10) and a mandrel (11); the base (1), the driving flexible hinge (2) and the U-shaped plate (4) are sequentially and rigidly connected into a whole, the piezoelectric stack (3) is fixed on the base (10) through the base (1), the piezoelectric stack (3) is tightly matched and installed inside the driving flexible hinge (2), the inner sides of two U-shaped arms of the U-shaped plate (4) are provided with parallelogram flexible hinges a (5) and b (6), triangular microprotrusions (9) are processed on the outer surfaces of the parallelogram flexible hinges a (5) and b (6), the triangular microprotrusions (9) are contacted with the rotating platform (7), and the rotating platform (7), the bearing (8) and the mandrel (11) are matched and installed on the base (10); the parallelogram flexible hinge a (5) inclines to the U-shaped bottom of the U-shaped plate (4), positive pressure between the outer surfaces of the parallelogram flexible hinges a (5) and b (6) and the rotating platform (7) can be changed by the parallelogram flexible hinges a (5) and b (6) which are symmetrical about the center line of the mandrel (11), the triangular microprotrusions (9) which are symmetrical about the center line of the mandrel (11) enable the friction coefficients of the outer surfaces of the parallelogram flexible hinges a (5) and b (6) along the positive direction and the negative direction of the X axis to be different, under the combined action of the positive and negative directions, the electric signals excite the extension/shortening deformation of the piezoelectric stack (3) to drive the U-shaped plate (4) to reciprocate along the positive direction and the negative direction of the X axis, and in one working period, the parallelogram flexible hinges a (5) and b (6) alternately drive the rotating platform (7) to realize two rotations in the anticlockwise direction.
The inner sides of the two U-shaped arms of the U-shaped plate (4) are provided with parallelogram flexible hinges a (5) and b (6) with the same inclination angle, when the piezoelectric stack (3) stretches, the U-shaped plate (4) moves along the X axis in the negative direction, the outer surface of the parallelogram flexible hinge b (6) is acted by friction force along the positive direction of the X axis, the parallelogram flexible hinge b (6) has a tendency of deforming towards the positive direction of the X axis, the positive pressure between the outer surface of the parallelogram flexible hinge a (5) is reduced, the friction force along the positive direction of the X axis is exerted, the tendency of deforming towards the positive direction of the X axis is increased, the positive pressure between the parallelogram flexible hinge a (5) and the surface of the rotating platform (7) is increased, so that the friction force between the parallelogram flexible hinge b (6) and the rotating platform (7) is larger than the friction force between the parallelogram flexible hinge b (7), and the rotating platform (7) rotates anticlockwise; when the piezoelectric stack (3) shortens, the friction force between the parallelogram flexible hinge b (6) and the rotating platform (7) is larger than the friction force between the parallelogram flexible hinge a (5) and the rotating platform (7), so that the rotating platform (7) continues to rotate anticlockwise.
Triangular microprotrusions (9) which are not in central symmetry are processed on the outer surfaces of the parallelogram flexible hinges a (5) and b (6), and the inclination direction of the triangular microprotrusions (9) is consistent with the inclination direction of the parallelogram flexible hinges, so that the friction coefficient of the inclined side is larger than that of the other side; the friction coefficient of the outer surface of the parallelogram flexible hinge a (5) along the positive direction of the X axis is larger than that along the negative direction of the X axis; the friction coefficient of the outer surface of the parallelogram flexible hinge b (6) along the X-axis negative direction is larger than that along the X-axis positive direction.
Claims (1)
1. A two-step piezoelectric rotary actuator, characterized by: using a piezoelectric stack to make the driver step twice in a working period; the structure comprises a base (1), a driving flexible hinge (2), a piezoelectric stack (3), a U-shaped plate (4), a parallelogram flexible hinge a (5), a parallelogram flexible hinge b (6), a rotating platform (7), a bearing (8), a triangular microprotrusion (9), a base (10) and a mandrel (11); the base (1), the driving flexible hinge (2) and the U-shaped plate (4) are sequentially and rigidly connected into a whole, the piezoelectric stack (3) is fixed on the base (10) through the base (1), the piezoelectric stack (3) is tightly matched and installed inside the driving flexible hinge (2), the inner sides of two U-shaped arms of the U-shaped plate (4) are provided with parallelogram flexible hinges a (5) and b (6), triangular microprotrusions (9) are processed on the outer surfaces of the parallelogram flexible hinges a (5) and b (6), the triangular microprotrusions (9) are contacted with the rotating platform (7), and the rotating platform (7), the bearing (8) and the mandrel (11) are matched and installed on the base (10); the parallelogram flexible hinge a (5) inclines towards the U-shaped bottom of the U-shaped plate (4), positive pressure between the outer surfaces of the parallelogram flexible hinges a (5) and b (6) and the rotating platform (7) can be changed by the parallelogram flexible hinges a (5) and b (6) which are symmetrical about the center line of the mandrel (11), the triangular microprotrusions (9) which are symmetrical about the center line of the mandrel (11) enable the friction coefficients of the outer surfaces of the parallelogram flexible hinges a (5) and b (6) along the positive direction and the negative direction of the X axis to be different, under the combined action of the parallelogram flexible hinges a (5) and b (6), the electric signal excites the extension/shortening deformation of the piezoelectric stack (3) to drive the U-shaped plate (4) to reciprocate along the positive direction and the negative direction of the X axis, and in one working period, the parallelogram flexible hinges a (5) and b (6) alternately drive the rotating platform (7) to realize two rotations in the anticlockwise direction; the inner sides of the two U-shaped arms of the U-shaped plate (4) are provided with parallelogram flexible hinges a (5) and b (6) with the same inclination angle, when the piezoelectric stack (3) stretches, the U-shaped plate (4) moves along the X axis in the negative direction, the outer surfaces of the parallelogram flexible hinges a (5) and b (6) are subjected to the friction force action along the positive direction of the X axis, the positive pressure between the parallelogram flexible hinge b (6) with the deformation trend towards the positive direction of the X axis and the surface of the rotating platform (7) is reduced, the positive pressure between the parallelogram flexible hinge a (5) with the deformation trend towards the positive direction of the X axis and the surface of the rotating platform (7) is increased, so that the friction force between the parallelogram flexible hinge a (5) and the rotating platform (7) is larger than the friction force between the parallelogram flexible hinge b (6) and the rotating platform (7), and the rotating platform (7) rotates anticlockwise; when the piezoelectric stack (3) is shortened, the friction force between the parallelogram flexible hinge b (6) and the rotating platform (7) is larger than the friction force between the parallelogram flexible hinge a (5) and the rotating platform (7), so that the rotating platform (7) continues to rotate anticlockwise; triangular microprotrusions (9) which are not in central symmetry are processed on the outer surfaces of the parallelogram flexible hinges a (5) and b (6), and the inclination direction of the triangular microprotrusions (9) is consistent with the inclination direction of the parallelogram flexible hinges, so that the friction coefficient of the inclined side is larger than that of the other side; the friction coefficient of the outer surface of the parallelogram flexible hinge a (5) along the positive direction of the X axis is larger than that along the negative direction of the X axis; the friction coefficient of the outer surface of the parallelogram flexible hinge b (6) along the X-axis negative direction is larger than that along the X-axis positive direction.
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| CN201910090839.1A CN109889089B (en) | 2019-01-30 | 2019-01-30 | Twice stepping piezoelectric rotary driver |
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| CN110160904A (en) * | 2019-06-24 | 2019-08-23 | 安徽理工大学 | A kind of combined type friction wear testing machine based on flexible hinge |
| CN111327227A (en) * | 2020-03-26 | 2020-06-23 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric linear actuator and control method |
| CN112713803B (en) * | 2020-12-11 | 2021-11-05 | 南京航空航天大学 | Macro-micro combined piezoelectric driving rotary actuator and working method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006074442A2 (en) * | 2005-01-07 | 2006-07-13 | Tibion Corporation | High-torque motor |
| CN104578901A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Walking piezoelectric rotary motor |
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| JP6852563B2 (en) * | 2017-05-25 | 2021-03-31 | コニカミノルタ株式会社 | Rotational motion control device, image forming device and rotary motion control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006074442A2 (en) * | 2005-01-07 | 2006-07-13 | Tibion Corporation | High-torque motor |
| CN104578901A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Walking piezoelectric rotary motor |
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