CN110198141A - Differential clamp formula looper type piezoelectric linear motor - Google Patents
Differential clamp formula looper type piezoelectric linear motor Download PDFInfo
- Publication number
- CN110198141A CN110198141A CN201910570198.XA CN201910570198A CN110198141A CN 110198141 A CN110198141 A CN 110198141A CN 201910570198 A CN201910570198 A CN 201910570198A CN 110198141 A CN110198141 A CN 110198141A
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- Prior art keywords
- disk
- clamp
- disks
- connecting rod
- linear motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 239000000919 ceramic Substances 0.000 claims abstract description 12
- 230000036316 preload Effects 0.000 claims abstract description 3
- 210000002421 cell wall Anatomy 0.000 claims description 3
- 230000005284 excitation Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 4
- 241000256247 Spodoptera exigua Species 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000270322 Lepidosauria Species 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000007787 solid Substances 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
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/023—Inchworm motors
-
- 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
- H02N2/04—Constructional details
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses differential clamp formula looper type piezoelectric linear motors, including four clamp disks, an actuation module, two guiding mechanisms, two connecting rods and two connecting springs.Four clamp disks, two connecting rods and two connecting springs form Unit two.Four clamp disks are designed with centre bore, two clamp disks of every unit are covered in connecting rod by centre bore, the two clamp disks that every unit includes are divided into main clamp disk and auxiliary clamp disk, and main clamp disk and actuation module are affixed, and auxiliary clamp disk is connect by connecting spring with main clamp disk；The shape of four clamp disks is equal and all includes disk, and the arranged off-centre of the disk of four clamp disks is equipped with piezoelectric ceramics；Guiding mechanism includes the sleeve of C font, and sleeve lining is convexly equipped with guide rail, and four clamp disk periphery walls are recessed with guide groove；Unit two are respectively installed in two sleeves, and separately setting preload element is pressed in sleeve on four clamp disks, are adapted to guide rail and guide groove.It has the following advantages: the contact force of motor during the work time is stablized.
Description
Technical field
The present invention relates to technical field of motors more particularly to a kind of differential clamp formula looper type piezoelectric linear motors.
Background technique
Nanotechnology is the high-tech that 21 century countries in the world are given priority to.Ultraprecise driver with nano-precision
It is the core drive part of nanotechnology, ultraprecise driving implement is widely used field, such as micro-electronic manufacturing, precision machinery
Manufacture, bioengineering, aerospace etc..These fields all propose the requirement of some harshnesses to ultraprecise motor simultaneously, such as
High power output, responds faster, not by electromagnetic interference, low noise etc. high resolution.
Piezoelectricity Inchworm type linear motor uses two groups of clamp devices and a retractable driving device, using bionic movement principle
" clamp-driving-clamp ", the reptile fashion of looper in natural imitation circle, by can to the cumulative of the small step pitch of piezoelectric stack
Realize big stroke, small step-length, high-precision two-way step motion.Separately also on the basis of traditional Inchworm type piezoelectric linear motor
Two auxiliary foots are devised, realize the differential clamper of spring servo, power output is improved and output characteristics is more stable.Such as publication number
For CN102136811A, the patent application of entitled multi-pin clamping type piezoelectric motor has used four clamp foots, above-mentioned design
Clamp foot is designed as disc type by the Inchworm type linear motor for proposing cylindricality guiding mechanism, and Guide Rail Design makes in this way at cylinder
It must clamp between foot and guide rail and be contacted at cylinder, improve power output, so that movement is more flexible, actuation is more stable, but its
There are certain internal stress, this just makes the contact force of motor during the work time may be unstable.
Summary of the invention
The present invention provides differential clamp formula looper type piezoelectric linear motors, and which overcome multi-pin clamping types in background technique
Deficiency present in piezoelectric motor.
The used technical solution that the present invention solves its technical problem is:
Differential clamp formula looper type piezoelectric linear motor, including four clamp disks, an actuation module, two guiding mechanisms, two companies
Extension bar and two connecting springs；The four clamps disk, two connecting rods and two connecting springs form Unit two, and every unit includes two clamps
Disk, a connecting rod and a connecting spring；The four clamps disk is designed with centre bore, and two clamp disks of every unit pass through centre bore set
In connecting rod, the two clamp disks that every unit includes are divided into main clamp disk and auxiliary clamp disk, and main clamp disk and actuation module are solid
It connects, the auxiliary clamp disk is connect by connecting spring with main clamp disk；The shape of the four clamps disk is equal and all includes circle
The arranged off-centre of disk, the disk of the four clamps disk is equipped with piezoelectric ceramics；The guiding mechanism includes the sleeve of C font, institute
It states sleeve lining and is convexly equipped with guide rail, the four clamps disk periphery wall is recessed with guide groove；Unit two are respectively installed in two sleeves, separately
The sleeve is pressed on four clamp disks if pre-tightening element, is adapted to the guide rail and guide groove.
Among one embodiment: the connecting rod and main clamp disk are affixed, and the auxiliary clamp disk can be slidably connected at connection
Bar.
Among one embodiment: described four clamp disk arranges along connecting rod axis, and, two main clamp disks are located at two auxiliary clamps
Between disk.
Among one embodiment: the connecting spring be socketed in connecting rod and contact main clamp disk and auxiliary clamp disk it
Between.
Among one embodiment: it is additionally provided with screw is connected to connecting rod with being adjustable, the screw also contact auxiliary clamps disk,
Position of the auxiliary clamp disk with respect to connecting rod is adjusted with the rotation by screw, is adjusted between main clamp disk and auxiliary clamp disk
Away to adjust the pretightning force of connecting spring.
Among one embodiment: the actuation module is driving mechanism and is set between two main clamp disks, the actuation module
Both ends are respectively and fixedly connected with two interlocking levers so that connecting rod and main clamp disk are affixed.
Among one embodiment: the disk offers the mounting groove through disk both ends of the surface, and the mounting groove includes a circle
The heart is located at the half slot of disk axis, two is respectively communicated with and is respectively communicated with the line segment of radial slot in the radial slot at half slot both ends and two
Slot, radial slot and the cooperation of line segment slot are in cross, and the cell wall of the line segment slot, which is additionally provided with, is through to circle along line segment slot length direction
The vertical holes of disk periphery wall, the piezoelectric ceramics are packed in a line segment slot；Piezoelectric ceramics is fixed in disk by bolt, institute
Bolt is stated across vertical holes.
The technical program compared with the background art, it has the following advantages:
Guiding mechanism at least is contacted there are two clamp disk always during entire actuation, and closely coupled main and auxiliary is helped
Clamp disk realizes differential clamp；Entire motor is in always in the compression of two guiding mechanisms, since the elongation of clamp disk is
Micron order, it is very little for this pre-compressed spring lesser for rigidity, hardly change its internal stress, this just makes motor exist
Contact force in the course of work is stablized.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
Fig. 1 is the stereoscopic schematic diagram of the differential clamp formula looper type piezoelectric linear motor of specific embodiment；
Fig. 2 is the perspective exploded view of the differential clamp formula looper type piezoelectric linear motor of specific embodiment；
Fig. 3 is the structural schematic diagram that specific embodiment clamps disk；
Fig. 4 is the A-A diagrammatic cross-section of Fig. 3；
Fig. 5 is power supply signal timing used in specific embodiment motor.
Specific embodiment
Please refer to Fig. 1 to Fig. 4, differential clamp formula looper type piezoelectric linear motor, including four clamp disks 21,22,23,24,
One actuation module 4, two guiding mechanisms, two connecting rods 31,32 and two connecting springs 51,52.
Four clamp 21,22,23,24, two connecting rod 31,32 of disk and two connecting springs 51,52 form Unit two, every list
Member includes two clamp disks, a connecting rod and a connecting spring.The four clamps disk 21,22,23,24 is designed with centre bore, every list
Two clamp disks of member are covered in connecting rod by centre bore, and two clamp disks of every unit are also connected by connecting spring.Every unit
Including two clamp disks be divided into main clamp disk and auxiliary clamp disk, main clamp disk and actuation module 4 are affixed, auxiliary clamp disk
It is connect by connecting spring with main clamp disk, the connecting spring is socketed in connecting rod.Specific structure is as follows: first unit includes
Main clamp disk 22 and auxiliary clamp disk 21, second unit include main clamp disk 23 and auxiliary clamp disk 24, four clamp disk edge
Connecting rod 31,32 axis arrangement, and, two main clamp disks 22,23 are located between two auxiliary clamp disks 21,24, that is, clamp disk 21,
22, it 23,24 is sequentially arranged along connecting rod 31,32 axis；The connecting rod and main clamp disk are affixed, and the auxiliary clamp disk can be slided
Dynamic to be connected to connecting rod, the connecting spring is socketed in connecting rod and contact is between main clamp disk 23 and auxiliary clamp disk 24；
The actuation module 4 is driving mechanism and is set between two main clamp disks 22,23 that 4 both ends of actuation module are respectively and fixedly connected with two
Interlocking lever 31,32 is so that connecting rod and main clamp disk are affixed.As needed, screw 71,72 is additionally provided with to be connected to being adjustable
Connecting rod, the screw 71,72 also contact auxiliary clamp disk, to be adjusted by the rotation of screw, auxiliary clamp disk 2 is opposite to be connected
The position of bar adjusts the spacing of main clamp disk 23 and auxiliary clamp disk 2, to adjust the pretightning force of connecting spring.
The shape of the four clamps disk 21,22,23,24 is equal and all includes disk, the four clamps disk 21,22,23,24
The arranged off-centre of disk piezoelectric ceramics 11,12,13,14 is installed.Among present embodiment: the disk, which offers, to be passed through
Wear the mounting groove of disk both ends of the surface, the mounting groove includes that a center of circle is located at the half slot of disk axis, two is respectively communicated with half
The radial slot at circular groove both ends and two be respectively communicated with radial slot line segment slot, radial slot and the cooperation of line segment slot are in cross, the line
The cell wall of section slot is additionally provided with the vertical holes 2,3 that disk periphery wall is through to along line segment slot length direction, and the piezoelectric ceramics is fixedly mounted with
In a line segment slot；Piezoelectric ceramics is fixed in disk by bolt, the bolt passes through vertical holes.
The guiding mechanism includes the sleeve 61,62 of C font, and the sleeve 61,62 inner walls are convexly equipped with guide rail, four pincers
Position 21,22,23,24 periphery wall of disk is recessed with guide groove；Unit two are respectively installed in two sleeves 61,62, and separately setting preload element makes
The sleeve is pressed on four clamp disks, is adapted to the guide rail and guide groove, enables to clamp disk relative sleeve along guide rail sliding, along even
The sliding of extension bar axis.
Fig. 5 is please referred to, the V1 in figure is the driving voltage of piezoelectric ceramics 11,13, and V2 is the excitation electricity of piezoelectric ceramics 12,14
Pressure；V3 is the driving voltage of actuation module 4.
Within the t0-t1 period, clamp disk 22,24 extends under the excitation of voltage V2, and at this moment sleeve is expanded, so that clamp disk
11,13 it is detached from guiding mechanism.
Within the t1-t2 period, clamp disk 22,24 keeps elongation state under the excitation of voltage V2, and actuation module 4 is in voltage
The lower elongation of V3 excitation, since the rigidity of connecting spring is much smaller than actuation module, clamp disk 23 is also detached from guiding mechanism, clamps
Disk 23 is by actuating length Δ X to the right, and coupled connecting spring is by compression Δ X.
Within the t2-t3 period, clamp disk 21,23 extends under the excitation of voltage V1 and contacts two sides c-type sleeve.
Within the t3-t4 period, clamp disk 22,24 restores former long and is detached from c-type sleeve, at this moment the compressed connection bullet in the right
Spring is released and clamp disk 24 is pushed to move right distance, delta X.
Within the t4-t5 period, actuation module 4 restores former length, while driving clamp disk 22 to move right distance, delta X, and make
The connecting spring on the left side extends Δ X.
Within the t5-t6 period, clamp disk 22,24 extends under the excitation of voltage V2 and contacts two sides c-type sleeve.At this
Actuation cycles terminate at the last moment, and clamp disk 21,23 restores former long and is detached from c-type sleeve, are at this moment in a left side for elongated condition
Side connecting spring will restore former long and clamp disk 21 driven to move right distance, delta X.
As it can be seen that at least contact guiding mechanism there are two clamp disk always during entire actuation, and closely coupled master,
Auxiliary clamp disk realizes differential clamp；Entire motor is in always in the compression of two guiding mechanisms, due to clamping the elongation of disk
Measuring is micron order, very little for this pre-compressed spring lesser for rigidity, hardly changes its internal stress, this just makes electricity
The contact force of machine during the work time is stablized.
The above is only the preferred embodiment of the present invention, the range implemented of the present invention that therefore, it cannot be limited according to, i.e., according to
Equivalent changes and modifications made by the invention patent range and description, should still be within the scope of the present invention.
Claims (7)
1. differential clamp formula looper type piezoelectric linear motor, it is characterised in that: including four clamp disks, an actuation module, two guiding
Mechanism, two connecting rods and two connecting springs；The four clamps disk, two connecting rods and two connecting springs form Unit two, every unit
Including two clamp disks, a connecting rod and a connecting spring；The four clamps disk is designed with centre bore, and two clamp disks of every unit are logical
Centre bore is crossed to cover in connecting rod, every unit include two clamp disks be divided into main clamp disk and auxiliary clamp disk, main clamp disk with
Actuation module is affixed, and the auxiliary clamp disk is connect by connecting spring with main clamp disk；The shape of the four clamps disk is equal
And all include disk, the arranged off-centre of the disk of the four clamps disk is equipped with piezoelectric ceramics；The guiding mechanism includes C font
Sleeve, the sleeve lining is convexly equipped with guide rail, and the four clamps disk periphery wall is recessed with guide groove；Unit two are respectively installed in two
In sleeve, separately setting preload element is pressed in the sleeve on four clamp disks, is adapted to the guide rail and guide groove.
2. differential clamp formula looper type piezoelectric linear motor according to claim 1, it is characterised in that: the connecting rod and
Main clamp disk is affixed, and the auxiliary clamp disk can be slidably connected at connecting rod.
3. differential clamp formula looper type piezoelectric linear motor according to claim 1, it is characterised in that: the four clamps disk
It is arranged along connecting rod axis, and, two main clamp disks are located between two auxiliary clamp disks.
4. differential clamp formula looper type piezoelectric linear motor according to claim 2, it is characterised in that: the connecting spring
It is socketed in connecting rod and contact is between main clamp disk and auxiliary clamp disk.
5. differential clamp formula looper type piezoelectric linear motor according to claim 4, it is characterised in that: be additionally provided with screw energy
Adjustably it is connected to connecting rod, the screw also contact auxiliary clamp disk, to adjust auxiliary clamp disk phase by the rotation of screw
To the position of connecting rod, the spacing of main clamp disk and auxiliary clamp disk is adjusted, to adjust the pretightning force of connecting spring.
6. differential clamp formula looper type piezoelectric linear motor according to claim 1, it is characterised in that: the actuation module
For driving mechanism and be set to two main clamp disks between, actuation module both ends be respectively and fixedly connected with two interlocking levers so that connecting rod with
Main clamp disk is affixed.
7. differential clamp formula looper type piezoelectric linear motor according to claim 1 or 2 or 3 or 4 or 5 or 6, feature exist
In: the disk offers the mounting groove through disk both ends of the surface, and the mounting groove includes half that a center of circle is located at disk axis
Circular groove, two, which are respectively communicated with, is respectively communicated with the line segment slot of radial slot, radial slot and line segment slot in the radial slot at half slot both ends and two
Cooperation is in cross, and the cell wall of the line segment slot is additionally provided with the vertical holes that disk periphery wall is through to along line segment slot length direction,
The piezoelectric ceramics is packed in a line segment slot；Piezoelectric ceramics is fixed in disk by bolt, the bolt passes through vertical holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570198.XA CN110198141B (en) | 2019-06-27 | 2019-06-27 | Differential clamping inchworm type piezoelectric linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570198.XA CN110198141B (en) | 2019-06-27 | 2019-06-27 | Differential clamping inchworm type piezoelectric linear motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110198141A true CN110198141A (en) | 2019-09-03 |
| CN110198141B CN110198141B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910570198.XA Active CN110198141B (en) | 2019-06-27 | 2019-06-27 | Differential clamping inchworm type piezoelectric linear motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112366977A (en) * | 2020-10-26 | 2021-02-12 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6278223B1 (en) * | 1999-05-24 | 2001-08-21 | Nec Corporation | Differential type piezoelectric actuator |
| CN103427704A (en) * | 2013-07-31 | 2013-12-04 | 南京航空航天大学 | Double-foot driving piezoelectric linear motor and electric excitation mode |
| CN103528889A (en) * | 2013-10-30 | 2014-01-22 | 吉林大学 | In situ tension experiment instrument based on inchworm type piezoelectric actuator |
| CN103780142A (en) * | 2014-01-22 | 2014-05-07 | 吉林大学 | Large-load high-accuracy inchworm type piezoelectric linear actuator based on wedge clamping |
| CN104377987A (en) * | 2014-10-31 | 2015-02-25 | 南京航空航天大学 | Clamping type piezoelectric motor |
| CN107834894A (en) * | 2017-11-02 | 2018-03-23 | 宁波大学 | A kind of piezoelectricity looper linear electric motors |
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-
2019
- 2019-06-27 CN CN201910570198.XA patent/CN110198141B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6278223B1 (en) * | 1999-05-24 | 2001-08-21 | Nec Corporation | Differential type piezoelectric actuator |
| CN103427704A (en) * | 2013-07-31 | 2013-12-04 | 南京航空航天大学 | Double-foot driving piezoelectric linear motor and electric excitation mode |
| CN103528889A (en) * | 2013-10-30 | 2014-01-22 | 吉林大学 | In situ tension experiment instrument based on inchworm type piezoelectric actuator |
| CN103780142A (en) * | 2014-01-22 | 2014-05-07 | 吉林大学 | Large-load high-accuracy inchworm type piezoelectric linear actuator based on wedge clamping |
| CN104377987A (en) * | 2014-10-31 | 2015-02-25 | 南京航空航天大学 | Clamping type piezoelectric motor |
| CN107834894A (en) * | 2017-11-02 | 2018-03-23 | 宁波大学 | A kind of piezoelectricity looper linear electric motors |
| CN210093126U (en) * | 2019-06-27 | 2020-02-18 | 华侨大学 | Differential clamping type inchworm type piezoelectric linear motor |
Non-Patent Citations (1)
| Title |
|---|
| 王寅: "多模式压电直线电机的研究", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112366977A (en) * | 2020-10-26 | 2021-02-12 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
| CN112366977B (en) * | 2020-10-26 | 2021-10-01 | 南京航空航天大学 | Large-thrust large-stroke piezoelectric inchworm actuator and driving method thereof |
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| CN110198141B (en) | 2024-02-02 |
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