CN109921680A - A kind of stick-slip inertia linear actuator becoming pretightning force - Google Patents
A kind of stick-slip inertia linear actuator becoming pretightning force Download PDFInfo
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- CN109921680A CN109921680A CN201910340909.4A CN201910340909A CN109921680A CN 109921680 A CN109921680 A CN 109921680A CN 201910340909 A CN201910340909 A CN 201910340909A CN 109921680 A CN109921680 A CN 109921680A
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Abstract
A kind of stick-slip inertia linear actuator becoming pretightning force, it is related to a kind of linear actuator, it includes driving mechanism, mobile platform and pedestal；The driving mechanism includes driving foot, driving unit, precompression control unit and bracket；Driving unit and precompression control unit are affixed, and precompression control unit is affixed with bracket, and driving unit is affixed with bracket, and driving unit and driving foot are affixed, and bracket is installed on a mobile platform and can be mounted on the base with mobile platform movement, mobile platform.Structure of the invention is compact, is easily installed, and effectively reduces mover and stator in the friction of retraction phase, improves the speed of service, can also reduce the abrasion of mover Yu stator contact interface.
Description
Technical field
The present invention relates to a kind of linear actuator, in particular to a kind of stick-slip inertia linear actuator for becoming pretightning force.
Background technique
With the fast development of China's nanometer technique, the object of research is constantly refined, to the precision of driving source, stroke,
Volume etc. is put forward higher requirements, and the piezoelectric actuator with micro-nano positioning accuracy becomes ideal driving source.Wherein
Piezoelectricity stick-slip driver is under the excitation of ramp driving voltage's signal, to utilize the not right of piezoelectric vibrator using frictional force as power
Claim the difference between quiet kinetic force of friction caused by vibration, driving object generates micro-displacement.Precision Machining, Micro-Robot,
Across scale precision positioning etc. has wide practical use.But the rollback displacement in existing piezoelectric actuator driving stage
Larger, the driver speed of service is lower, and there are movers and stator contact interface to wear.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, to provide a kind of stick-slip inertia linear actuator for becoming pretightning force, should
Activation configuration is compact, is easily installed, and effectively reduces mover and stator in the opposite sliding of retraction phase, improves operation speed
Degree, can also reduce the abrasion of mover Yu stator contact interface.
The technical scheme is that
A kind of stick-slip inertia linear actuator becoming pretightning force, it includes driving mechanism, mobile platform and pedestal；The drive
Motivation structure includes driving foot, driving unit, precompression control unit and bracket；
Driving unit and precompression control unit are affixed, and precompression control unit and bracket are affixed, driving unit and bracket
Affixed, driving unit and driving foot are affixed, and bracket is installed on a mobile platform and can be installed with mobile platform movement, mobile platform
On pedestal, guide rail is set on the base, driving foot be driven moving cell and precompression control unit control can with guide rail contact and
Separation, guide rail is by driving foot driving.
Further, driving unit includes upper triangle enlarger and the upper piezoelectricity that is mounted in triangle enlarger
It stacks；Precompression control unit includes that lower triangle enlarger and the lower piezoelectric being mounted in lower triangle enlarger stack,
The upper piezoelectric stack is vertically arranged, and lower piezoelectric stacks horizontally disposed；Lower triangle enlarger and bracket are affixed, upper triangle amplification
Mechanism is affixed with bracket, and driving foot is affixed with upper triangle enlarger.
Further, upper triangle enlarger is affixed by flexible link and bracket.
The present invention has the effect that compared with prior art
The present invention utilizes two piezoelectric stack execution units, and one is that driving unit is used to that guide rail is driven to move, another
It is pretightning force control unit, for controlling the size of pretightning force.Stage, precompression are slowly extended in the piezoelectric stack of driving unit
The piezoelectric stack of control unit powers off, and drives foot driving guide rail movement；In the piezoelectric stack snapback stage of driving unit, in advance
The piezoelectric stack of pressure control unit, which is powered, to be extended, and driving foot is detached from guide rail, and pretightning force is zero or a small amount of pretightning force of remnants, is moved
Son is without retracting or have a small amount of rollback.Precompression control unit is arranged in driving unit lower part, and driving unit passes through flexible link and bottom
Seat is connected, compact-sized, be easily installed, reduce guide rail (mover) and driving enough (stator) retraction phase friction, not only
The rollback displacement that driver can be effectively reduced, improves the speed of service, the abrasion of mover Yu stator contact interface can be also reduced, in essence
Close driving has broad application prospects with fields such as positioning.
Certain precompression is kept in the driving stage, makes contact interface that there is biggish stiction, driving guide rail movement；
It is driving sufficient retraction phase to reduce, so that driving foot is detached from guide rail or is contacted a little, drive foot and guide rail almost without friction, do not produce
Raw retract displacement or a small amount of rollback, are greatly reduced the abrasion of driving foot and guide rail contact interface, improve the speed of service of driver
And the service life.60% or more the rollback displacement that driver can be reduced, improves 40% or more the speed of service.
Detailed description of the invention
Fig. 1 is a kind of structure chart of stick-slip inertia linear actuator for becoming pretightning force；
Fig. 2 is the structural schematic diagram of the driving mechanism in Fig. 1；
Fig. 3 is the waveform diagram for the driving voltage that upper piezoelectric stack and lower piezoelectric stack.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
It is a kind of become pretightning force stick-slip inertia linear actuator include driving mechanism, mobile platform 5 and pedestal 8；The drive
Motivation structure 1 includes driving foot 11, driving unit 12, precompression control unit 15 and bracket 16；
Driving unit 12 and precompression control unit 15 are affixed, and precompression control unit and bracket 16 are affixed, driving unit
12 is affixed with bracket 16, and driving unit 12 and driving foot 11 are affixed, and bracket 16 is mounted on mobile platform 5 and can be with mobile platform
5 is mobile, and mobile platform 5 is mounted on pedestal 8, and guide rail 9 is arranged on pedestal 8, and driving foot 11 is driven moving cell 12 and precompression
The control of control unit 15 can be contacting and separating with guide rail 8, and guide rail 8 is driven by driving foot 11.
Shown in Figure 2, driving unit 12 is including upper triangle enlarger 121 and is mounted on triangle enlarger
Upper piezoelectric stack 122 in 121；Precompression control unit 15 includes lower triangle enlarger 151 and is mounted on lower triangle and puts
Lower piezoelectric in great institutions 151 stacks 152, and the upper piezoelectric stack 122 is vertically arranged, and it is horizontally disposed that lower piezoelectric stacks 152；Under
Triangle enlarger 151 and bracket 16 are affixed, and upper triangle enlarger 121 and bracket 16 are affixed, and driving foot 11 is put with upper triangle
Great institutions 121 are affixed.Upper triangle enlarger 121 and lower triangle enlarger 151 are right circular flexure hinge triangle enlarger
Structure.
The driver' s timing (driving voltage waveform diagram) that upper piezoelectric stack 122 and lower piezoelectric stack 152 is as shown in Figure 3.Wherein A
Line indicates the upper slowly elongation of piezoelectric stack 122, and B line indicates that upper piezoelectric stack 122 keeps high level, and C line indicates upper piezoelectric stack
122 snapbacks, D line indicate that lower piezoelectric stacks 152 rapid elongations-driving and progressively disengages enough with guide rail, and E line indicates that lower piezoelectric is folded
Heap 152 keeps high level-driving to separate enough with guide rail, F line indicate lower piezoelectric stack 152 snapbacks-guide rail and driving it is sufficient by
Gradually contact.
As shown in figure 3, driving process are as follows: the upper slowly elongation of piezoelectric stack 122, lower piezoelectric stack 152 power-off, driving foot 11
Driving guide rail 9 moves downward；Upper piezoelectric stack 122 keeps high level, and lower piezoelectric stacks 152 rapid elongations, drives driving unit
12 move downward, and driving foot 11 is made to be detached from guide rail 9 or contact a little；Upper 122 snapback of piezoelectric stack, lower piezoelectric stack
152 keep high level, and driving foot 11 quickly resets to the right；Upper piezoelectric stack 122 keeps low level, and lower piezoelectric stacks 152 quickly
Retraction resets.Upper piezoelectric stack 122 and lower piezoelectric stack 152 driving voltage repeatedly.
As shown in Fig. 2, guaranteeing reliable operation for the needs of adaptive deformation, lower piezoelectric is allowed to stack 152 drivings driving foot 11
It can move up and down.Upper triangle enlarger 121 is affixed by flexible link 14 and bracket 16.Cloth between two two incision flexible hinges
It is equipped with the flexible link 14 connecting with the two, two two incision flexible hinges are solid with bracket 16 and upper triangle enlarger 121 respectively
It connects.Two incision flexible hinge is uniaxial circular cross-section two incision flexible hinge.Bracket 16 is L shaped plate.
Shown in Figure 1, upper piezoelectric stack 122 is pre- by being screwed in upper triangle enlarger 121 upper pretension bolt 7
Tightly.Further, shown in Figure 2, gasket 13, upper pressure are installed between upper piezoelectric stack 122 and upper triangle enlarger 121
Electricity, which stacks 122 and passes through the upper pretension bolt 7 that is screwed in upper triangle enlarger 121 and press against on gasket 13, to be pre-tightened.
Shown in Figure 1, it is pre- by being screwed in lower triangle enlarger 151 lower pretension bolt 4 that lower piezoelectric stacks 152
Tightly.Further, shown in Figure 2, lower piezoelectric stacks and is equipped with gasket 13 between 152 and lower triangle enlarger 151, pushes
Electricity, which stacks 152 and passes through the lower pretension bolt 4 that is screwed in lower triangle enlarger 151 and press against on gasket 13, to be pre-tightened.
Stable and reliable in work in order to guarantee, mobile platform 5 includes sliding platform 51, fixed platform 52, upper sliding rail 53, glides
Rail 54 and the micro- head 55 of spiral sides；Sliding rail 53 is installed, the upper surface of fixed platform 52 is machined on 51 lower surface of sliding platform
The gliding groove matched with upper sliding rail 53 is equipped with glidepath 54, the following table of sliding platform 51 on the upper surface of fixed platform 52
The upper hopper chute matched with glidepath 54 is machined on face, the micro- head 55 of spiral sides is mounted in fixed platform 52, sliding platform 51
It is driven by the micro- head 55 of spiral sides, bracket 16 is mounted on sliding platform 51.So set, passing through the micro- adjustment of head 55 sliding of spiral sides
Movement of the platform 51 in fixed platform 52 realizes that initial adjustment driving foot 11 is contacted with guide rail 9.The guide rail 9 is to intersect rolling
Pearl guide rail, a track is fixed in the intersection spherical guide, and another track is driven 11 driving of foot and relatively described
A wherein track movement.In above embodiment, driving unit and precompression control unit are made into integration, that is, upper triangle
Enlarger 121, lower triangle enlarger 151, driving foot 11, flexible link 14 and bracket 16 are integrally machined production, and line can be used
Cutting processing production.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (8)
1. it is a kind of become pretightning force stick-slip inertia linear actuator, it is characterised in that: it include driving mechanism, mobile platform (5),
Pedestal (8) and guide rail (9)；The driving mechanism (1) includes driving foot (11), driving unit (12), precompression control unit
(15) and bracket (16)；Driving unit (12) and precompression control unit (15) are affixed, precompression control unit (15) and bracket
(16) affixed, driving unit (12) and bracket (16) are affixed, and driving unit (12) and driving foot (11) are affixed, bracket (16) installation
And can be mobile with mobile platform (5) on mobile platform (5), mobile platform (5) is mounted on pedestal (8), and guide rail (9) setting exists
On pedestal (8), driving foot (11) to be driven moving cell (12) and precompression control unit (15) control can contact and divide with guide rail (8)
From guide rail (8) is by driving foot (11) to drive.
2. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 1, it is characterised in that: driving unit
(12) the upper piezoelectric stack (122) for including upper triangle enlarger (121) and being mounted in triangle enlarger (121)；
Under precompression control unit (15) includes lower triangle enlarger (151) and is mounted in lower triangle enlarger (151)
Piezoelectric stack (152), the upper piezoelectric stack (122) is vertically arranged, and it is horizontally disposed that lower piezoelectric stacks (152)；Lower triangle amplification
Mechanism (151) and bracket (16) are affixed, and upper triangle enlarger (121) and bracket (16) are affixed, drive foot (11) and upper triangle
Enlarger (121) is affixed.
3. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 2, it is characterised in that: upper triangle amplification
Mechanism (121) is affixed by flexible link (14) and bracket (16).
4. a kind of stick-slip inertia linear actuator for becoming pretightning force according to Claims 2 or 3, it is characterised in that: upper piezoelectricity
It stacks (122) and is pre-tightened by being screwed in upper triangle enlarger (121) upper pretension bolt (7).
5. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 4, it is characterised in that: lower piezoelectric stacks
(152) it is pre-tightened by being screwed in lower triangle enlarger (151) lower pretension bolt (4).
6. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 5, it is characterised in that: upper piezoelectric stack
(122) it is equipped between upper triangle enlarger (121) gasket (13), piezoelectric stack (122) is put by being screwed in upper triangle
Upper pretension bolt (7) in great institutions (121) and pressing against on gasket (13) pre-tightens.
7. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 6, it is characterised in that: lower piezoelectric stacks
(152) it is equipped with gasket (13) between lower triangle enlarger (151), lower piezoelectric stacks (152) by being screwed in lower triangle
Lower pretension bolt (4) in enlarger (151) and pressing against on gasket (13) pre-tightens.
8. a kind of stick-slip inertia linear actuator for becoming pretightning force according to claim 7, it is characterised in that: the movement is flat
Platform (5) includes sliding platform (51), fixed platform (52), upper sliding rail (53), glidepath (54) and the micro- head of spiral sides (55)；Sliding
It is equipped with sliding rail (53) on platform (51) lower surface, the upper surface of fixed platform (52) is machined with to be matched with upper sliding rail (53)
Gliding groove, be equipped with glidepath (54) on the upper surface of fixed platform (52), be machined on the lower surface of sliding platform (51)
The upper hopper chute matched with glidepath (54), the micro- head of spiral sides (55) are mounted on fixed platform (52), sliding platform (51) by
The micro- head of spiral sides (55) driving, bracket (16) are mounted on sliding platform (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340909.4A CN109921680B (en) | 2019-04-25 | 2019-04-25 | Variable-pretightening-force stick-slip inertia linear driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340909.4A CN109921680B (en) | 2019-04-25 | 2019-04-25 | Variable-pretightening-force stick-slip inertia linear driver |
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| CN109921680A true CN109921680A (en) | 2019-06-21 |
| CN109921680B CN109921680B (en) | 2020-06-02 |
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Cited By (6)
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| CN110829882A (en) * | 2019-07-25 | 2020-02-21 | 浙江师范大学 | T-shaped piezoelectric driving device |
| CN110829880A (en) * | 2019-07-25 | 2020-02-21 | 浙江师范大学 | T-shaped creeping type piezoelectric driving platform |
| US11712804B2 (en) | 2021-03-29 | 2023-08-01 | Samsung Electronics Co., Ltd. | Systems and methods for adaptive robotic motion control |
| US11724390B2 (en) | 2021-03-29 | 2023-08-15 | Samsung Electronics Co., Ltd. | Systems and methods for automated preloading of actuators |
| US11731279B2 (en) | 2021-04-13 | 2023-08-22 | Samsung Electronics Co., Ltd. | Systems and methods for automated tuning of robotics systems |
| CN110829882B (en) * | 2019-07-25 | 2024-04-26 | 浙江师范大学 | T-shaped piezoelectric driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110829882A (en) * | 2019-07-25 | 2020-02-21 | 浙江师范大学 | T-shaped piezoelectric driving device |
| CN110829880A (en) * | 2019-07-25 | 2020-02-21 | 浙江师范大学 | T-shaped creeping type piezoelectric driving platform |
| CN110829880B (en) * | 2019-07-25 | 2024-02-20 | 浙江师范大学 | T-shaped crawling piezoelectric driving platform |
| CN110829882B (en) * | 2019-07-25 | 2024-04-26 | 浙江师范大学 | T-shaped piezoelectric driving device |
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| US11724390B2 (en) | 2021-03-29 | 2023-08-15 | Samsung Electronics Co., Ltd. | Systems and methods for automated preloading of actuators |
| US11731279B2 (en) | 2021-04-13 | 2023-08-22 | Samsung Electronics Co., Ltd. | Systems and methods for automated tuning of robotics systems |
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| CN109921680B (en) | 2020-06-02 |
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