CN110233584B - Counterweight stepping mechanism - Google Patents
Counterweight stepping mechanism Download PDFInfo
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- CN110233584B CN110233584B CN201910570197.5A CN201910570197A CN110233584B CN 110233584 B CN110233584 B CN 110233584B CN 201910570197 A CN201910570197 A CN 201910570197A CN 110233584 B CN110233584 B CN 110233584B
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- piezoelectric ceramic
- laminated piezoelectric
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- mass block
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 239000000919 ceramic Substances 0.000 claims abstract description 88
- 230000000694 effects Effects 0.000 description 4
- 241000256247 Spodoptera exigua Species 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
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- 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
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- 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
-
- 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
- H02N2/06—Drive circuits; Control arrangements or methods
Abstract
The invention discloses a counterweight stepping mechanism, which comprises a first laminated piezoelectric ceramic, a fixed block, a second laminated piezoelectric ceramic, a mass block, a rotor and a pre-tightening mechanism; the mover is movable in a first direction; one end of the first laminated piezoelectric ceramic is contacted with the mover, the pretensioning mechanism is connected with the other end of the first laminated piezoelectric ceramic to enable the first laminated piezoelectric ceramic to be pressed and contacted with the mover, the pretensioning mechanism, the first laminated piezoelectric ceramic and the mover are sequentially arranged along a second direction, the extension direction of the second laminated piezoelectric ceramic is arranged along the second direction, and the second direction is perpendicular to the first direction; the fixed block is fixedly arranged on the rotor, one end of the second laminated piezoelectric ceramic is fixedly connected to the side wall of the fixed block, the other end of the second laminated piezoelectric ceramic is fixedly connected with the mass block, the fixed block, the second laminated piezoelectric ceramic and the mass block are sequentially arranged along the first direction, and the second laminated piezoelectric ceramic is arranged along the first direction along the extension direction. It has the following advantages: the counterweight stepping mechanism has a power-off self-locking function.
Description
Technical Field
The invention relates to the technical field of piezoelectric precision braking, in particular to a counterweight stepping mechanism.
Background
Piezoelectric ceramics have inverse piezoelectric effect, and can convert electric energy into mechanical energy, and in recent years, due to optimization of manufacturing process, piezoelectric ceramics can realize mass production, and laminated piezoelectric ceramics are increasingly applied to precision driving. The piezoelectric linear motor manufactured by using the laminated piezoelectric ceramics as a driver has many advantages such as high displacement resolution, large bearing capacity, high output rigidity, good repeatability of output displacement, simple control and easy operation, and can overcome the problems of electromagnetic interference, high temperature, low temperature and the like.
At present, the mode of realizing large-stroke precise stepping driving mainly comprises two modes of inchworm type precise driving and inertial driving. Inchworm type precise driving can provide larger precision and thrust, but the driving frequency is smaller due to the complex structure, so that the driving speed is small, the control difficulty is increased due to the complex structure, and the installation precision is difficult to control; in addition, the cooker type precision driving has serious matching abrasion, and finally poor contact is caused, so that the driving of the piezoelectric ceramics generates errors, and the driving performance of a motor is weakened. The inertia friction piezoelectric driving device has the advantages of simple structure, easy control and high driving speed, but the friction inertia piezoelectric driving device lacks a clamping mechanism, so that the pretightening force is insufficient, and the thrust is small. For example, the Chinese patent grant publication No. CN204361935U, the patent name is a linear piezoelectric motor with an inertial medium-sized structure, and the whole structure is relatively simple, but the driving of the linear piezoelectric motor is that the mover is displaced under the combined action of the deformation of two groups of laminated piezoelectric ceramics, so that strict requirements on control signals are required.
Disclosure of Invention
The invention provides a counterweight stepping mechanism, which overcomes the defects of a linear piezoelectric motor with an inertial medium-sized structure in the background art.
The technical scheme adopted for solving the technical problems is as follows:
the counterweight stepping mechanism comprises a first laminated piezoelectric ceramic, a fixed block, a second laminated piezoelectric ceramic, a mass block, a rotor and a pre-tightening mechanism; the mover is movable in a first direction; one end of the first laminated piezoelectric ceramic is contacted with the mover, the pretensioning mechanism is connected with the other end of the first laminated piezoelectric ceramic to enable the first laminated piezoelectric ceramic to be pressed and contacted with the mover, the pretensioning mechanism, the first laminated piezoelectric ceramic and the mover are sequentially arranged along a second direction, the extension direction of the second laminated piezoelectric ceramic is arranged along the second direction, and the second direction is perpendicular to the first direction; the fixed block is fixedly arranged on the rotor, one end of the second laminated piezoelectric ceramic is fixedly connected to the side wall of the fixed block, the other end of the second laminated piezoelectric ceramic is fixedly connected with the mass block, the fixed block, the second laminated piezoelectric ceramic and the mass block are sequentially arranged along the first direction, and the second laminated piezoelectric ceramic is arranged along the first direction along the extension direction.
In one embodiment: the section of the mass block, the section of the first laminated piezoelectric ceramic and the section of the second laminated piezoelectric ceramic are square, and the end face of the mass block and the end face of the second laminated piezoelectric ceramic are partially or completely overlapped and fixedly connected.
In one embodiment: the mass block and the rotor are spaced, and the mass block is connected to the second laminated piezoelectric ceramic in a suspending manner.
In one embodiment: the first direction is a horizontal direction, and the second direction is a vertical direction.
In one embodiment: the pre-tightening mechanism, the first laminated piezoelectric ceramic and the mover are arranged in sequence.
In one embodiment: the pre-tightening mechanism comprises a vibrating block and two springs, wherein two ends of one spring are fixedly connected with the top surface of the first laminated piezoelectric ceramic and the bottom surface of the vibrating block respectively, and the other spring is propped against the top surface of the vibrating block from top to bottom.
Compared with the background technology, the technical proposal has the following advantages:
the pre-tightening mechanism is connected with the first laminated piezoelectric ceramic to enable the first laminated piezoelectric ceramic to be pressed on the rotor, so that the rotor is subjected to friction force, and the counterweight stepping mechanism has a power-off self-locking function. The motor running speed and the motor running step distance can be controlled through the inverse piezoelectric effect of the second piezoelectric ceramic, and the motor running speed and the motor running step distance can be controlled through the first piezoelectric ceramic. The counterweight stepping mechanism comprises a first laminated piezoelectric ceramic, a fixed block, a second laminated piezoelectric ceramic, a mass block, a rotor and a pre-tightening mechanism, and is simple in structure and easy to realize.
The sections of the laminated piezoelectric ceramic and the mass block are square, the end face of the laminated piezoelectric ceramic is fixedly connected with the end face of the mass block, and the end face of the laminated piezoelectric ceramic is partially or completely overlapped, so that mechanical energy is transferred to the end face of the mass block through the end face of the laminated piezoelectric ceramic, and the transfer effect is better.
Drawings
The invention is further described below with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural diagram of a counterweight stepping mechanism according to the present embodiment.
Reference numerals in the drawings: 10-laminated piezoelectric ceramics, 20-fixed blocks, 30-laminated piezoelectric ceramics, 40-mass blocks, 50-movers, 60-vibrating blocks and 70-springs.
Detailed Description
Referring to fig. 1, a novel counterweight stepping mechanism comprises a first laminated piezoelectric ceramic 10, a fixed block 20, a second laminated piezoelectric ceramic 30, a mass block 40, a rotor 50 and a pre-tightening mechanism. The cross section of the mass 40, the cross section of the first laminated piezoelectric ceramic 10, and the cross section of the second laminated piezoelectric ceramic 30 are all square.
The mover 50 can move horizontally, and the specific structure is as follows: the two lower rollers and the two upper rollers are arranged on the bottom surface of the rotor 50 in a supporting manner and are connected to the two lower rollers, and the two upper rollers are connected to the top surface of the rotor, so that the rotor 50 is moved into rolling through the rollers on one hand, and the rotor 50 is limited to only move horizontally on the other hand, and a guiding effect is achieved. The lower roller and the upper roller are arranged on a fixed object in a rotating way, and the fixed object is a frame or a shell.
The fixed block 20 is fixedly arranged on the rotor 50, and the fixed block 20 is fixedly arranged on the top surface of the rotor 50 through a specific structure, such as a screw.
One end surface of the second laminated piezoelectric ceramic 30 is fixedly connected to the side wall of the fixed block 20, the other end surface of the second laminated piezoelectric ceramic is fixedly connected to the mass block 40, and the fixed block 20, the second laminated piezoelectric ceramic 30 and the mass block 40 are sequentially arranged along the horizontal direction. The concrete structure is as follows: the end face of the second laminated piezoelectric ceramic 30 is partially or completely overlapped with the end face of the mass block 40 and is fixedly connected, such as bonding or welding. Preferably, the bottom surface of the mass block 40 and the top surface of the mover 50 are arranged at intervals up and down, so that the mass block 40 is suspended and connected to the second laminated piezoelectric ceramic 30.
The lower end face of the first laminated piezoelectric ceramic 10 is in contact with the top face of the mover 50, the pre-tightening mechanism is connected with the upper end face of the first laminated piezoelectric ceramic 10 so that the first laminated piezoelectric ceramic 10 is in press contact with the top face of the mover 50, and the pre-tightening mechanism, the first laminated piezoelectric ceramic 10 and the mover are arranged up and down. The preload force provided when the first laminated piezoelectric ceramic 10 is elongated can bring the mover 50 to a stationary state. The pre-tightening mechanism comprises a vibrating block 60 and two springs 70, wherein the lower end of one spring 70 is fixedly connected with the upper end face of the first laminated piezoelectric ceramic 10, the upper end of the other spring 70 is fixedly connected with the vibrating block 60, and the other spring 70 is fixedly connected with the vibrating block 60 so as to apply downward elastic force to the vibrating block 60. In the specific structure, the upper end of the other spring 70 is fixedly connected with a fixed object, and the lower end is fixedly connected with the vibrating block 60; the spring 70, the vibrating mass 60, the spring 70, the first laminated piezoelectric ceramic 10, and the mover are arranged up and down.
The working mode of the novel counterweight stepping mechanism is as follows: when the piezoelectric ceramic is in the initial position, the rotor 50 is in a static state, the friction force of the contact part of the first laminated piezoelectric ceramic 10 perpendicular to the rotor 50 and the rotor 50 is zero, and the two groups of springs 70 provide the pre-tightening force; when the second laminated piezoelectric ceramic 30 receives the periodically changing signal, it stretches regularly, and drives the mass block 40 to vibrate back and forth at a certain frequency in the stretching direction; the first laminated piezoelectric ceramic 10 receives the periodically changed signal and then regularly contracts in the stretching direction to drive the vibrating block 60 to make a back and forth vibrating motion in the direction perpendicular to the mover 50, and the vibration amplitude of the first laminated piezoelectric ceramic 10 is amplified through the two groups of springs 70; since the vibrating mass 60 vibrates regularly, the contact force between the first laminated piezoelectric ceramic 10 and the mover 50 also changes regularly; when the vibrating mass 60 moves to the nearest position to the mover 50, the contact force is maximum, and when the vibrating mass moves to the farthest position, the contact force is minimum, so that the jump signals of the first laminated piezoelectric ceramic 10 and the second laminated piezoelectric ceramic 30 are adjusted, when the mover 50 moves in one direction, the contact force is minimum, and when the mover moves back, the contact force is maximized, the unidirectional stepping movement of the mover 50 can be realized, and the above steps are repeated under the control of the driving signal, and the cycle is repeated.
The foregoing description is only illustrative of the preferred embodiments of the present invention, and therefore should not be taken as limiting the scope of the invention, for all changes and modifications that come within the meaning and range of equivalency of the claims and specification are therefore intended to be embraced therein.
Claims (3)
1. Counterweight stepping mechanism, its characterized in that: the piezoelectric ceramic comprises a first laminated piezoelectric ceramic, a fixed block, a second laminated piezoelectric ceramic, a mass block, a rotor and a pre-tightening mechanism; the mover is movable in a first direction; one end of the first laminated piezoelectric ceramic is contacted with the mover, the pretensioning mechanism is connected with the other end of the first laminated piezoelectric ceramic to enable the first laminated piezoelectric ceramic to be pressed and contacted with the mover, the pretensioning mechanism, the first laminated piezoelectric ceramic and the mover are sequentially arranged along a second direction, the extension direction of the second laminated piezoelectric ceramic is arranged along the second direction, and the second direction is perpendicular to the first direction; the fixed block is fixedly arranged on the rotor, one end of the second laminated piezoelectric ceramic is fixedly connected to the side wall of the fixed block, the other end of the second laminated piezoelectric ceramic is fixedly connected with the mass block, the fixed block, the second laminated piezoelectric ceramic and the mass block are sequentially arranged along a first direction, and the extension direction of the second laminated piezoelectric ceramic is arranged along the first direction; the first direction is a horizontal direction, and the second direction is a vertical direction; the pre-tightening mechanism, the first laminated piezoelectric ceramic and the mover are arranged up and down in sequence; the pre-tightening mechanism comprises a vibrating block and two springs, wherein two ends of one spring are fixedly connected with the top surface of the first laminated piezoelectric ceramic and the bottom surface of the vibrating block respectively, and the other spring is propped against the top surface of the vibrating block from top to bottom.
2. The weight stepping mechanism of claim 1, wherein: the section of the mass block, the section of the first laminated piezoelectric ceramic and the section of the second laminated piezoelectric ceramic are square, and the end face of the mass block and the end face of the second laminated piezoelectric ceramic are partially or completely overlapped and fixedly connected.
3. The weight stepping mechanism of claim 1, wherein: the mass block and the rotor are spaced, and the mass block is connected to the second laminated piezoelectric ceramic in a suspending manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570197.5A CN110233584B (en) | 2019-06-27 | 2019-06-27 | Counterweight stepping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570197.5A CN110233584B (en) | 2019-06-27 | 2019-06-27 | Counterweight stepping mechanism |
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| Publication Number | Publication Date |
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| CN110233584A CN110233584A (en) | 2019-09-13 |
| CN110233584B true CN110233584B (en) | 2024-02-02 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103701358A (en) * | 2013-09-26 | 2014-04-02 | 南京航空航天大学 | Balance weight type variable contact force piezoelectric motor |
| CN207559876U (en) * | 2017-06-08 | 2018-06-29 | 盐城工学院 | Piezoelectricity-hydraulic hybrid linear type stepper motor |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
| CN108448927A (en) * | 2018-05-25 | 2018-08-24 | 多场低温科技（北京）有限公司 | Control system for step-by-step movement driving device |
| CN210093125U (en) * | 2019-06-27 | 2020-02-18 | 华侨大学 | Counter weight type stepping mechanism |
-
2019
- 2019-06-27 CN CN201910570197.5A patent/CN110233584B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103701358A (en) * | 2013-09-26 | 2014-04-02 | 南京航空航天大学 | Balance weight type variable contact force piezoelectric motor |
| CN207559876U (en) * | 2017-06-08 | 2018-06-29 | 盐城工学院 | Piezoelectricity-hydraulic hybrid linear type stepper motor |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
| CN108448927A (en) * | 2018-05-25 | 2018-08-24 | 多场低温科技（北京）有限公司 | Control system for step-by-step movement driving device |
| CN210093125U (en) * | 2019-06-27 | 2020-02-18 | 华侨大学 | Counter weight type stepping mechanism |
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| CN110233584A (en) | 2019-09-13 |
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