CN110925267A - Screw rod locking type antifriction drive-type linear positioning cylinder and control method thereof - Google Patents

Screw rod locking type antifriction drive-type linear positioning cylinder and control method thereof Download PDF

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Publication number
CN110925267A
CN110925267A CN202010011999.5A CN202010011999A CN110925267A CN 110925267 A CN110925267 A CN 110925267A CN 202010011999 A CN202010011999 A CN 202010011999A CN 110925267 A CN110925267 A CN 110925267A
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piston
hole
piston rod
screw rod
electrode
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CN202010011999.5A
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CN110925267B (en
Inventor
程廷海
王健龙
岳圣涵
王铮
李泽霖
于洋
宝音
张晓松
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Changchun University of Technology
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Changchun University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1433—End caps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1447—Pistons; Piston to piston rod assemblies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1447—Pistons; Piston to piston rod assemblies
    • F15B15/1452—Piston sealings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/26—Locking mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
    • F15B2215/30—Constructional details thereof

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)

Abstract

A friction-reducing driving type linear positioning cylinder based on screw rod locking and a control method thereof are provided, which are used for solving the problems of low positioning precision, complex structure assembly and the like of the current linear positioning cylinder. The screw locking mechanism is arranged on the end cover II and is in threaded connection with the piston rod after penetrating through the piston mechanism, the piston mechanism is arranged in the cylinder and is fixedly connected with the piston rod, and the piston rod penetrates through the end cover I and moves synchronously with the piston mechanism. The invention adopts the built-in lead screw locking mechanism to realize the accurate locking and positioning of the piston rod at any position, not only inherits all good characteristics of the basic structure of the existing linear cylinder, but also solves the problems of reduced sealing performance, high production difficulty and the like caused by the complex structure of the existing locking cylinder, and has good engineering application value in the technical fields of semiconductor processing, automatic measurement and control, robot driving and the like.

Description

Screw rod locking type antifriction drive-type linear positioning cylinder and control method thereof
Technical Field
The invention relates to a screw rod locking type antifriction driving type linear positioning cylinder and a control method thereof, and belongs to the technical field of mechanical positioning mechanisms.
Background
The pneumatic technology is an important technology which takes compressed air as power to carry out transmission and control so as to realize mechanization and automation of production. Its advantages are high pneumatic transmission speed, simple structure, convenient maintenance, low cost and convenient centralized air supply. Particularly, the product has no pollution when in work, can bring great social and economic benefits when in use, and is applied to various departments of industrial production, medical appliances and other industries.
The cylinder is one of main actuating elements in the pneumatic technology, converts the energy of compressed air into mechanical energy, and realizes linear reciprocating motion. The locking cylinder is one of cylinders, can realize the positioning of any position in the stroke of the cylinder through a mechanical structure, and is mainly used for the environments of stopping in the process of movement, emergency stopping of abnormal accidents, falling prevention and the like so as to ensure the safety. Currently available locking cylinders are: a spring automatic locking cylinder (patent number: CNA 3836022A) can realize the automatic locking function after a cylinder piston rod extends into the inner wall with a certain diameter; the range limit switch (with the patent number of CNA 3132848A) for the plug board door locking cylinder can realize the switch control of the plug board door; the drill row locking cylinder (with the patent number of CN 203374555U) overcomes the defect that the time is long because the original drill row is locked by a plurality of screws, the screws must be loosened before the drill row is rotated and then locked, and the operation is convenient and the time is saved because the cylinder is used for independent locking control.
Although the current locking cylinder can realize the locking and positioning of any position in the stroke, the current locking cylinder cannot be applied to occasions with high-precision positioning requirements due to low positioning precision, and the sealing performance of the cylinder is reduced due to the complex assembly and large processing difficulty of the locking structure, so that the pneumatic technical field is limited.
Disclosure of Invention
The invention discloses a screw rod locking type antifriction driving type linear positioning cylinder and a control method thereof, and aims to solve the technical problems of low positioning precision, complex structural assembly, high processing cost and the like of the conventional linear positioning cylinder.
The technical scheme adopted by the invention is as follows:
in order to achieve the purpose, the invention provides a friction-reducing driving type linear positioning cylinder based on screw rod locking, which comprises an end cover I, a cylinder barrel, an end cover II, a screw rod locking mechanism, a piston mechanism and a piston rod, wherein two ends of the cylinder barrel are respectively and fixedly connected with the end cover I and the end cover II, the screw rod locking mechanism is arranged on the end cover II and is in threaded connection with the piston rod after penetrating through the piston mechanism to lock the piston mechanism and the piston rod, the piston mechanism is arranged in the cylinder barrel, axially slides in the cylinder barrel along with gas change input and is fixedly connected with the piston rod, and a shaft hole of the end cover I of the piston rod is matched.
The end cover I is provided with a piston rod moving hole, an air guide hole I and a cylinder barrel mounting boss I, the piston rod penetrates through the piston rod moving hole, the air guide hole I is used for conveying high-pressure gas, and the cylinder barrel mounting boss I is tightly connected with the cylinder barrel in an interference fit mode.
The cylinder is equipped with cylinder front end hole and cylinder rear end hole, cylinder front end hole adopts interference fit to carry out fastening connection with cylinder installation boss I, cylinder rear end hole adopts interference fit to carry out fastening connection with end cover II.
The end cover II is provided with a screw rod locking mechanism mounting threaded hole, a bearing mounting hole, a screw rod locking mechanism mounting surface, a cylinder mounting boss II and an air guide hole II, the screw rod locking mechanism mounting threaded hole, the bearing mounting hole and the screw rod locking mechanism mounting surface are mounted with the screw rod locking mechanism in a matched mode, the cylinder mounting boss II is fastened and connected with a cylinder rear end hole in an interference fit mode, and the air guide hole II is used for conveying high-pressure gas.
Screw locking mechanism includes lead screw, plate electrode I, plate electrode II, spacing axle sleeve construction bolt, spacing axle sleeve, bearing, fixation nut, piezoelectricity expansion piece, electrode bulb I and electrode bulb II, welding installation is on spacing axle sleeve side by side for plate electrode I, plate electrode II, spacing axle sleeve construction bolt adopts threaded connection with screw locking mechanism installation screw hole, carries out fastening connection with spacing axle sleeve and end cover II, the bearing is placed in the bearing mounting hole with lead screw interference fit, fixation nut and lead screw threaded connection carry out fastening connection with bearing and lead screw, and piezoelectricity expansion piece is pasted on the lead screw, electrode bulb I and II equipartitions of electrode bulb cross paste on piezoelectricity expansion piece and contact with plate electrode II and plate electrode I.
The lead screw is provided with a lead screw threaded shaft, a piezoelectric telescopic piece mounting surface, a bearing mounting shaft and a fixed threaded shaft, the lead screw threaded shaft is provided with a thread lead angle smaller than an equivalent friction angle, the electrode plate I is provided with an electrode groove I, an electrode plate I outer shaft and an electrode plate I rear end surface, the electrode plate II is provided with an electrode plate II front end surface, an electrode plate II outer shaft and an electrode groove II, the limit shaft sleeve is provided with an electrode plate mounting hole, a shaft sleeve limiting surface and a bearing limiting surface, the electrode plate I outer shaft and the electrode plate II outer shaft are welded in the electrode plate mounting hole in parallel, the limit shaft sleeve mounting bolt passes through the shaft sleeve mounting hole and is in threaded connection with the lead screw locking mechanism mounting threaded hole for fixedly mounting the limit shaft sleeve, the bearing passes through the bearing mounting shaft and, the fixing nut is in threaded connection with the fixing threaded shaft and used for tightly connecting a bearing and a lead screw, a piezoelectric telescopic piece is pasted on the installation surface of each piezoelectric telescopic piece, the installation surfaces of the piezoelectric telescopic pieces are uniformly distributed on the lead screw in a pairwise opposite mode, an electrode ball head I and an electrode ball head II are uniformly and alternately pasted on the piezoelectric telescopic pieces and are respectively in contact with an electrode groove II and an electrode groove I, the total number of the installation surfaces of the piezoelectric telescopic pieces is m, the total number of the piezoelectric telescopic pieces is n, the number of the electrode ball head I and the number of the electrode ball head II are s, m = n =2s, the threaded shaft of the lead screw is in threaded connection with the piston mechanism and inserted into a piston rod, the rear end surface of the electrode plate I is attached to the front end surface of the electrode plate II, and.
The piston mechanism comprises a piston rod limiting plate, a limiting plate bolt, a sealing ring and a piston, the limiting plate bolt fixes the piston rod limiting plate on the piston, the sealing ring is installed on the piston, the piston rod limiting plate is provided with a piston rod through hole, a limiting plate installing hole and a limiting plate rear end face, the piston is provided with a piston front end face, a piston rod fixing groove face, a limiting plate installing threaded hole, a sealing ring groove and a piston internal thread hole, the limiting plate bolt penetrates through the limiting plate installing hole and is in threaded connection with the limiting plate installing threaded hole, the sealing ring is arranged in the sealing ring groove, a piston rod penetrates through the piston rod through hole, the limiting plate rear end face is respectively attached to the piston front end face and the piston rod, the piston rod fixing groove face is in contact.
The piston rod is provided with a moving shaft, a piston rod blind hole, a piston rod front end face and a piston rod rear end face, the moving shaft penetrates through the piston rod moving hole, a screw rod threaded shaft is inserted into the piston rod blind hole, and the piston rod front end face and the piston rod rear end face are respectively attached to the limiting plate rear end face and the piston rod fixing groove face to enable the piston rod and the piston mechanism to be fixedly connected into a whole.
Two groups of ultrasonic electric signals are respectively introduced into the electrode plate I and the electrode plate II, and the electric signals are respectively transmitted to the piezoelectric telescopic pieces through the electrode ball heads I and the electrode ball heads II, the telescopic directions of all the piezoelectric telescopic pieces are parallel to the axis of the screw rod, and the control modes of the piezoelectric telescopic pieces comprise an in-phase driving mode and an out-phase driving mode;
the in-phase driving mode is that ultrasonic electric signals with the same characteristic parameters are introduced to the electrode plate I and the electrode plate II, so that the expansion states of adjacent piezoelectric expansion pieces are consistent; the out-of-phase driving mode is that ultrasonic electric signals with different characteristic parameters are introduced into the electrode plate I and the electrode plate II, so that driving phase difference exists between adjacent piezoelectric telescopic sheets, and further the telescopic state of the piezoelectric telescopic sheets is changed in a staggered mode.
The invention has the beneficial effects that:
the invention utilizes the screw locking mechanism and the screw thread self-locking of the piston to realize the accurate locking and positioning of the piston rod at any position, and realizes the telescopic motion of the piston rod through the antifriction effect of the piezoelectric telescopic sheet under the action of two groups of ultrasonic waves, the positioning precision is high, the structure assembly is simple, and on the basis of not changing the basic assembly structure of the existing cylinder, the built-in screw is adopted as the locking mechanism to be assembled in the cylinder barrel of the cylinder, thereby not only inheriting all good characteristics of the basic structure of the existing linear cylinder, but also solving the problems of reduced sealing performance, large production difficulty and the like caused by the complex structure of the existing locking cylinder, further ensuring good sealing performance of the cylinder and reducing the processing cost, and having good engineering application value in the technical fields of semiconductor processing, automatic measurement and control, robot driving and the like.
Drawings
FIG. 1 is a sectional view of an overall assembly structure of a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 2 is a cross sectional view of a front end cover structure of a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 3 is a sectional view of a cylinder barrel structure of a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 4 is a cross-sectional view of a rear end cover structure of a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 5 is a cross-sectional view of an assembly structure of a screw locking mechanism based on a screw locking type antifriction driving type linear positioning cylinder;
FIG. 6 is a schematic diagram of a screw rod structure based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 7 is a structural cross-sectional view of an electrode plate I based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 8 is a structural cross-sectional view of an electrode plate II based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 9 is a cross sectional view of a structure of a limiting shaft sleeve based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 10 is a sectional view showing an assembly structure of a piston mechanism based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 11 is a sectional view of a piston rod limiting plate structure based on a screw rod locking type antifriction driving type linear positioning cylinder;
FIG. 12 is a sectional view of a piston structure based on a screw rod locking type antifriction driving type linear positioning cylinder;
fig. 13 is a schematic structural diagram of a piston rod of a friction-reducing driving type linear positioning cylinder based on a screw rod locking type.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 13, and provides a specific embodiment of a screw-locking type antifriction drive-type linear positioning cylinder, which is described as follows:
the utility model provides a drive straight line location cylinder based on lead screw locking antifriction comprises end cover I1, cylinder 2, end cover II 3, lead screw locking mechanism 4, piston mechanism 5 and piston rod 6, wherein, 2 both ends of cylinder respectively with end cover I1 and II 3 fastening connections of end cover, lead screw locking mechanism 4 installs on end cover II 3 to pass behind the piston mechanism 5 and adopt threaded connection with piston rod 6, lock piston mechanism 5 and piston rod 6, piston mechanism 5 installs in cylinder 2, along with gaseous transform input in 2 axial slip of cylinder to with piston rod 6 fixed connection, the cooperation of I1 shaft hole of piston rod 6 end cover, along with piston mechanism 5 axial slip in cylinder 2.
The end cover I1 is provided with a piston rod movement hole 1-1, an air guide hole I1-2 and a cylinder barrel installation boss I1-3, a piston rod 6 penetrates through the piston rod movement hole 1-1, the air guide hole I1-2 is used for conveying high-pressure gas, and the cylinder barrel installation boss I1-3 and the cylinder barrel 2 are in interference fit fastening connection.
The cylinder barrel 2 is provided with a cylinder barrel front end hole 2-1 and a cylinder barrel rear end hole 2-2, the cylinder barrel front end hole 2-1 is fixedly connected with the cylinder barrel mounting boss I1-3 in an interference fit mode, and the cylinder barrel rear end hole 2-2 is fixedly connected with the end cover II 3 in an interference fit mode.
The end cover II 3 is provided with a lead screw locking mechanism mounting threaded hole 3-1, a bearing mounting hole 3-2, a lead screw locking mechanism mounting surface 3-3, a cylinder mounting boss II 3-4 and an air guide hole II 3-5, the lead screw locking mechanism mounting threaded hole 3-1, the bearing mounting hole 3-2 and the lead screw locking mechanism mounting surface 3-3 are matched and mounted with the lead screw locking mechanism 4 and used for mounting and fixing the lead screw locking mechanism 4, the cylinder mounting boss II 3-4 and the cylinder rear end hole 2-2 are in interference fit for fastening connection, and the air guide hole II 3-5 is used for conveying high-pressure gas.
The lead screw locking mechanism 4 comprises a lead screw 4-1, a plate electrode I4-2, a plate electrode II 4-3, a limiting shaft sleeve mounting bolt 4-4, a limiting shaft sleeve 4-5, a bearing 4-6, a fixing nut 4-7, a piezoelectric expansion sheet 4-8, an electrode ball head I4-9 and an electrode ball head II 4-10, wherein the plate electrode I4-2 and the plate electrode II 4-3 are welded on the limiting shaft sleeve 4-5 in parallel, the limiting shaft sleeve mounting bolt 4-4 is in threaded connection with a lead screw locking mechanism mounting threaded hole 3-1, the limiting shaft sleeve 4-5 is in fastening connection with an end cover II 3, the bearing 4-6 is in interference fit with the lead screw 4-1 and is arranged in the bearing mounting hole 3-2, and the fixing nut 4-7 is in threaded connection with the lead screw 4-1, the bearing 4-6 is tightly connected with the screw rod 4-1, the piezoelectric expansion sheet 4-8 is pasted on the screw rod 4-1, and the electrode ball heads I4-9 and the electrode ball heads II 4-10 are uniformly and crossly pasted on the piezoelectric expansion sheet 4-8 and are contacted with the electrode plate II 4-3 and the electrode plate I4-2 for transmitting an excitation electric signal.
The lead screw 4-1 is provided with a lead screw threaded shaft 4-1-1, a piezoelectric expansion piece mounting surface 4-1-2, a bearing mounting shaft 4-1-3 and a fixed threaded shaft 4-1-4, the lead screw threaded shaft 4-1-1 has a lead angle smaller than an equivalent friction angle, in the specific embodiment, the lead angle is equal to 4 degrees, the electrode plate I4-2 is provided with an electrode groove I4-2-1, an electrode plate I outer shaft 4-2-2 and an electrode plate I rear end surface 4-2-3, the electrode plate II 4-3 is provided with an electrode plate II front end surface 4-3-1, an electrode plate II outer shaft 4-3-2 and an electrode groove II 4-3-3, the limiting shaft sleeve 4-5 is provided with an electrode plate mounting hole 4-5-1, The bearing assembly comprises a shaft sleeve mounting hole 4-5-2, a shaft sleeve limiting surface 4-5-3 and a bearing limiting surface 4-5-4, wherein an outer shaft 4-2-2 of an electrode plate I and an outer shaft 4-3-2 of an electrode plate II are welded in parallel in the electrode plate mounting hole 4-5-1, a limiting shaft sleeve mounting bolt 4-4 penetrates through the shaft sleeve mounting hole 4-5-2 to be in threaded connection with a screw rod locking mechanism mounting threaded hole 3-1 and is used for fixedly mounting a limiting shaft sleeve 4-5, a bearing 4-6 penetrates through a bearing mounting shaft 4-1-3 and is placed in the bearing mounting hole 3-2, the bearing limiting surface 4-5-4 is attached to the bearing 4-6 and is used for axial limiting of the bearing 4-6, a fixing nut 4-7 is in threaded connection with a fixing threaded shaft 4-1-4, the piezoelectric telescopic piece mounting structure is used for tightly connecting a bearing 4-6 and a screw rod 4-1, a piezoelectric telescopic piece 4-8 is pasted on each piezoelectric telescopic piece mounting surface 4-1-2, the piezoelectric telescopic piece mounting surfaces 4-1-2 are oppositely and uniformly distributed on the screw rod 4-1 in pairs, an electrode ball head I4-9 and an electrode ball head II 4-10 are uniformly and crossly pasted on the piezoelectric telescopic pieces 4-8 and are respectively contacted with an electrode groove II 4-3-3 and an electrode groove I4-2-1 for transmitting an excitation electric signal, wherein the total number of the piezoelectric telescopic piece mounting surfaces 4-1-2 is m, in the specific embodiment, m =4, the total number of the piezoelectric telescopic pieces 4-8 is n, and the number of the electrode ball heads I4-9 and the number of the electrode ball heads II 4-10 is s, and m = n =2s, the screw rod threaded shaft 4-1-1 is in threaded connection with the piston mechanism 5 and is inserted into the piston rod 6, the rear end face 4-2-3 of the electrode plate I is attached to the front end face 4-3-1 of the electrode plate II, and the shaft sleeve limiting face 4-5-3 is attached to the screw rod locking mechanism mounting face 3-3 and is used for limiting the axial limiting of the shaft sleeve 4-5.
The piston mechanism 5 comprises a piston rod limiting plate 5-1, a limiting plate bolt 5-2, a sealing ring 5-3 and a piston 5-4, the piston rod limiting plate 5-1 is fixed on the piston 5-4 by the limiting plate bolt 5-2, the sealing ring 5-3 is arranged on the piston 5-4, the piston rod limiting plate 5-1 is provided with a piston rod through hole 5-1-1, a limiting plate mounting hole 5-1-2 and a limiting plate rear end face 5-1-3, the piston 5-4 is provided with a piston front end face 5-4-1, a piston rod fixing groove face 5-4-2, a limiting plate mounting threaded hole 5-4-3, a sealing ring groove 5-4-4 and a piston internal threaded hole 5-4-5, the limiting plate bolt 5-2 penetrates through the limiting plate mounting hole 5-1-2 to be in threaded connection with the limiting plate mounting threaded hole 5-4-3, the sealing ring 5-3 is arranged in the sealing ring groove 5-4-4, the piston rod 6 penetrates through the piston rod through hole 5-1-1, the limiting plate rear end face 5-1-3 is respectively attached to the piston front end face 5-4-1 and the piston rod 6 and used for fixing the limiting piston rod 6, the piston rod fixing groove face 5-4-2 is in contact fit with the piston rod 6 and used for axial limiting of the piston rod 6, and the piston internal threaded hole 5-4-5 is in threaded connection with the lead screw threaded shaft 4-1-1 and used for achieving the locking function of the lead screw locking mechanism 4.
The piston rod 6 is provided with a moving shaft 6-1, a piston rod blind hole 6-2, a piston rod front end face 6-3 and a piston rod rear end face 6-4, the moving shaft 6-1 penetrates through the piston rod moving hole 1-1 to facilitate the telescopic movement of the piston rod 6, a screw rod threaded shaft 4-1-1 is inserted into the piston rod blind hole 6-2 to prevent the piston rod 6 from interfering with the screw rod 4-1, and the piston rod front end face 6-3 and the piston rod rear end face 6-4 are respectively attached to a limiting plate rear end face 5-1-3 and a piston rod fixing groove face 5-4-2 for axial fixing and limiting of the piston rod 6, so that the piston rod 6 and the piston mechanism 5 are fixedly combined into a whole.
The second embodiment is as follows: the embodiment provides a specific embodiment of a control method based on a screw rod locking type antifriction driving type linear positioning cylinder, and the specific embodiment is expressed as follows:
two groups of ultrasonic electric signals are respectively introduced into the electrode plate I4-2 and the electrode plate II 4-3, and the electric signals are respectively transmitted to the piezoelectric telescopic pieces 4-8 through the electrode ball heads I4-9 and the electrode ball heads II 4-10, the telescopic directions of all the piezoelectric telescopic pieces 4-8 are parallel to the axis of the screw rod 4-1, and the control modes of the piezoelectric telescopic pieces 4-8 comprise an in-phase driving mode and an out-phase driving mode;
the in-phase driving mode is that ultrasonic electric signals with the same characteristic parameters are introduced to the electrode plate I4-2 and the electrode plate II 4-3, so that the expansion states of the adjacent piezoelectric expansion pieces 4-8 are consistent; the out-of-phase driving mode is that ultrasonic electric signals with different characteristic parameters are introduced into the electrode plate I4-2 and the electrode plate II 4-3, so that driving phase difference exists between adjacent piezoelectric expansion pieces 4-8, and further the expansion state of the piezoelectric expansion pieces is changed in a staggered mode.
The working principle is as follows:
in the initial state, the piston and the piston rod are static in the cylinder due to self-locking of threads generated by threaded connection of a screw rod threaded shaft of the lead screw and a piston internal threaded hole of the piston;
in a positive working state, high-pressure gas is continuously filled into the air guide hole II of the end cover II to generate air pressure difference on two sides of the piston, ultrasonic electric signals are simultaneously introduced into the screw rod locking mechanism to enable the screw rod and the piston to reach a resonance condition, the friction coefficient between a screw rod threaded shaft of the screw rod and a piston inner threaded hole of the piston is reduced to generate an ultrasonic antifriction effect, so that the thread pair is connected and unlocked, the piston is subjected to axial output force to drive the piston rod to extend out of the cylinder, at the moment, the screw rod generates rotary motion due to the threaded connection of the screw rod and the piston, and the screw rod realizes low-friction rotation in the electrode plate I and the electrode plate II through a bearing to realize the release of the; when the piston rod reaches a specified position, ultrasonic electric signals and high-pressure gas are input in a pause mode at the same time, the friction coefficient between a screw rod threaded shaft of the lead screw and a piston inner threaded hole of the piston reaches a self-locking condition, the cylinder recovers self-locking, the piston rod is enabled to achieve rapid stop motion output, and therefore accurate positioning output of the cylinder in the forward direction is achieved;
the reverse operating condition, cylinder backward output is similar with cylinder forward output process, the gas guide hole I by end cover I continuously fills into high-pressure gas, make piston both sides atmospheric pressure appear the pressure differential, let in ultrasonic wave signal of telecommunication simultaneously, realize the antifriction effect between messenger's lead screw and piston, thereby promote piston rod reverse motion, when the piston rod reachs the assigned position, ultrasonic wave signal of telecommunication and high-pressure gas all pause the input simultaneously, the coefficient of friction between the lead screw threaded spindle of lead screw and the piston internal thread hole of piston reaches the auto-lock condition, the cylinder resumes the auto-lock, make the piston rod realize quick stop motion output, thereby realize the reverse accurate positioning output of cylinder.

Claims (9)

1. The utility model provides a drive type straight line location cylinder based on lead screw locking antifriction, its characterized in that, this straight line location cylinder comprises end cover I (1), cylinder (2), end cover II (3), lead screw locking mechanism (4), piston mechanism (5) and piston rod (6), wherein, cylinder (2) both ends respectively with end cover I (1) and end cover II (3) fastening connection, lead screw locking mechanism (4) are installed on end cover II (3) to adopt threaded connection with piston rod (6) after passing piston mechanism (5), lock piston mechanism (5) and piston rod (6), install in cylinder (2) piston mechanism (5), along with gaseous transform input in cylinder (2) axial slip to with piston rod (6) fixed connection, piston rod (6) I (1) shaft hole cooperation of end cover.
2. The friction-reducing driving type linear positioning air cylinder based on the screw rod locking type is characterized in that an end cover I (1) is provided with a piston rod moving hole (1-1), an air guide hole I (1-2) and a cylinder barrel mounting boss I (1-3), a piston rod (6) penetrates through the piston rod moving hole (1-1), the air guide hole I (1-2) is used for conveying high-pressure air, and the cylinder barrel mounting boss I (1-3) and the cylinder barrel (2) are in interference fit for fastening connection.
3. The friction-reducing driving type linear positioning air cylinder based on the screw rod locking type is characterized in that the cylinder barrel (2) is provided with a cylinder barrel front end hole (2-1) and a cylinder barrel rear end hole (2-2), the cylinder barrel front end hole (2-1) and the cylinder barrel mounting boss I (1-3) are fastened and connected in an interference fit mode, and the cylinder barrel rear end hole (2-2) and the end cover II (3) are fastened and connected in an interference fit mode.
4. The friction-reducing driving type linear positioning air cylinder based on the screw rod locking type is characterized in that the end cover II (3) is provided with a screw rod locking mechanism mounting threaded hole (3-1), a bearing mounting hole (3-2), a screw rod locking mechanism mounting surface (3-3), a cylinder mounting boss II (3-4) and an air guide hole II (3-5), the screw rod locking mechanism mounting threaded hole (3-1), the bearing mounting hole (3-2) and the screw rod locking mechanism mounting surface (3-3) are mounted with the screw rod locking mechanism (4) in a matched mode, the cylinder mounting boss II (3-4) and the cylinder rear end hole (2-2) are in tight connection in an interference fit mode, and the air guide hole II (3-5) is used for conveying high-pressure air.
5. The friction-reducing driving type linear positioning cylinder based on screw rod locking is characterized in that a screw rod locking mechanism (4) comprises a screw rod (4-1), an electrode plate I (4-2), an electrode plate II (4-3), a limiting shaft sleeve mounting bolt (4-4), a limiting shaft sleeve (4-5), a bearing (4-6), a fixing nut (4-7), a piezoelectric expansion sheet (4-8), an electrode ball head I (4-9) and an electrode ball head II (4-10), the electrode plate I (4-2) and the electrode plate II (4-3) are welded on the limiting shaft sleeve (4-5) in parallel, the limiting shaft sleeve mounting bolt (4-4) is in threaded connection with a screw rod locking mechanism mounting threaded hole (3-1), the limiting shaft sleeve (4-5) is tightly connected with the end cover II (3), the bearing (4-6) is in interference fit with the screw rod (4-1) and is arranged in the bearing mounting hole (3-2), the fixing nut (4-7) is in threaded connection with the screw rod (4-1), the bearing (4-6) is tightly connected with the screw rod (4-1), the piezoelectric expansion sheet (4-8) is pasted on the screw rod (4-1), and the electrode ball head I (4-9) and the electrode ball head II (4-10) are uniformly and alternately pasted on the piezoelectric expansion sheet (4-8) and are in contact with the electrode plate II (4-3) and the electrode plate I (4-2).
6. The friction-reducing driving type linear positioning cylinder based on the screw rod locking type is characterized in that the screw rod (4-1) is provided with a screw rod threaded shaft (4-1-1), a piezoelectric telescopic sheet mounting surface (4-1-2), a bearing mounting shaft (4-1-3) and a fixed threaded shaft (4-1-4), the lead screw threaded shaft (4-1-1) has a lead angle smaller than an equivalent friction angle, the electrode plate I (4-2) is provided with an electrode groove I (4-2-1), an electrode plate I outer shaft (4-2-2) and an electrode plate I rear end surface (4-2-3), the electrode plate II (4-3) is provided with an electrode plate II front end surface (4-3-1), an electrode plate II outer shaft (4-3-2) and an electrode groove II (4-3-3), the limiting shaft sleeve (4-5) is provided with a plate electrode mounting hole (4-5-1), a shaft sleeve mounting hole (4-5-2), a shaft sleeve limiting face (4-5-3) and a bearing limiting face (4-5-4), an outer shaft (4-2-2) of the plate electrode I and an outer shaft (4-3-2) of the plate electrode II are welded and mounted in the plate electrode mounting hole (4-5-1) in parallel, a limiting shaft sleeve mounting bolt (4-4) penetrates through the shaft sleeve mounting hole (4-5-2) to be in threaded connection with a screw rod locking mechanism mounting threaded hole (3-1) and is used for fixedly mounting the limiting shaft sleeve (4-5), and a bearing (4-6) penetrates through the bearing mounting shaft (4-1-3) and is placed in the bearing mounting hole (3-2), the bearing limiting surface (4-5-4) is attached to the bearing (4-6) and used for axial limiting of the bearing (4-6), the fixing nut (4-7) is in threaded connection with the fixing threaded shaft (4-1-4) and used for fixedly connecting the bearing (4-6) and the screw rod (4-1), a piezoelectric expansion sheet (4-8) is pasted on each piezoelectric expansion sheet mounting surface (4-1-2), the piezoelectric expansion sheet mounting surfaces (4-1-2) are distributed on the screw rod (4-1) in pairs, the electrode ball heads I (4-9) and the electrode ball heads II (4-10) are uniformly distributed and crossed on the piezoelectric expansion sheets (4-8) and are respectively contacted with the electrode grooves II (4-3-3) and the electrode grooves I (4-2-1), the number of the mounting surfaces (4-1-2) of the piezoelectric telescopic pieces is m, the number of the piezoelectric telescopic pieces (4-8) is n, the number of the electrode bulbs I (4-9) and the number of the electrode bulbs II (4-10) are s, and m = n =2s, the screw rod threaded shaft (4-1-1) is in threaded connection with the piston mechanism (5) and is inserted into the piston rod (6), the rear end surface (4-2-3) of the electrode plate I is attached to the front end surface (4-3-1) of the electrode plate II, and the shaft sleeve limiting surface (4-5-3) is attached to the mounting surface (3-3) of the screw rod locking mechanism.
7. The friction-reducing driving type linear positioning cylinder based on screw rod locking type according to claim 1, wherein the piston mechanism (5) comprises a piston rod limiting plate (5-1), a limiting plate bolt (5-2), a sealing ring (5-3) and a piston (5-4), the piston rod limiting plate (5-1) is fixed on the piston (5-4) by the limiting plate bolt (5-2), the sealing ring (5-3) is installed on the piston (5-4), the piston rod limiting plate (5-1) is provided with a piston rod through hole (5-1-1), a limiting plate installation hole (5-1-2) and a limiting plate rear end face (5-1-3), and the piston (5-4) is provided with a piston front end face (5-4-1), The piston rod fixing groove surface (5-4-2), the limiting plate mounting threaded hole (5-4-3), the sealing ring groove (5-4-4) and the piston internal threaded hole (5-4-5), the limiting plate bolt (5-2) penetrates through the limiting plate mounting hole (5-1-2) to be in threaded connection with the limiting plate mounting threaded hole (5-4-3), the sealing ring (5-3) is arranged in the sealing ring groove (5-4-4), the piston rod (6) penetrates through the piston rod through hole (5-1-1), the limiting plate rear end surface (5-1-3) is respectively attached to the piston front end surface (5-4-1) and the piston rod (6), the piston rod fixing groove surface (5-4-2) is in contact fit with the piston rod (6), the piston internal thread hole (5-4-5) is in threaded connection with the screw rod threaded shaft (4-1-1).
8. The screw rod locking-based friction-reducing driving type linear positioning air cylinder according to claim 1, it is characterized in that the piston rod (6) is provided with a moving shaft (6-1), a piston rod blind hole (6-2), a piston rod front end surface (6-3) and a piston rod rear end surface (6-4), the motion shaft (6-1) passes through the piston rod motion hole (1-1), the lead screw threaded shaft (4-1-1) is inserted into the piston rod blind hole (6-2), the front end face (6-3) and the rear end face (6-4) of the piston rod are respectively attached to the rear end face (5-1-3) of the limiting plate and the fixing groove face (5-4-2) of the piston rod, so that the piston rod (6) and the piston mechanism (5) are fixedly connected into a whole.
9. The friction-reducing driving type linear positioning cylinder based on screw rod locking is characterized in that two groups of ultrasonic electric signals are respectively introduced into an electrode plate I (4-2) and an electrode plate II (4-3), the electric signals are respectively transmitted to piezoelectric telescopic pieces (4-8) through an electrode ball head I (4-9) and an electrode ball head II (4-10), the telescopic directions of all the piezoelectric telescopic pieces (4-8) are parallel to the axis of a screw rod (4-1), and the control modes of the piezoelectric telescopic pieces (4-8) comprise an in-phase driving mode and an out-phase driving mode;
the in-phase driving mode is that ultrasonic electric signals with the same characteristic parameters are introduced to the electrode plate I (4-2) and the electrode plate II (4-3), so that the stretching states of adjacent piezoelectric stretching pieces (4-8) are consistent; the out-of-phase driving mode is that ultrasonic electric signals with different characteristic parameters are introduced into the electrode plate I (4-2) and the electrode plate II (4-3), so that driving phase difference exists between adjacent piezoelectric expansion pieces (4-8), and further the expansion state of the piezoelectric expansion pieces is changed in a staggered mode.
CN202010011999.5A 2020-01-07 2020-01-07 Screw rod locking type antifriction drive-type linear positioning cylinder and control method thereof Active CN110925267B (en)

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2804054A (en) * 1954-09-13 1957-08-27 Gen Motors Corp Actuator and locking means therefor
EP0469253A1 (en) * 1990-07-30 1992-02-05 UNIVER S.p.A. Fluid-operated, programmable, linear actuator
EP2039944A2 (en) * 2007-09-21 2009-03-25 Weber-Hydraulik GmbH Linear actuator, in particular cylinder-piston unit with locking device
CN103115055A (en) * 2013-03-12 2013-05-22 哈尔滨工业大学 Paster type ultrasonic nut with self-locking and unlocking functions
CN103148080A (en) * 2013-03-12 2013-06-12 哈尔滨工业大学 Unlockable nut in sandwich cantilever longitudinal vibration working mode
CN204357830U (en) * 2014-10-30 2015-05-27 陈鸿宇 A kind of novel low friction single pole double-acting cylinder
WO2015102770A2 (en) * 2013-12-31 2015-07-09 Cameron International Corporation Magnetorheological fluid locking system
CN105605031A (en) * 2016-02-02 2016-05-25 北京新立机械有限责任公司 Mechanical locking structure for leveling cylinder
CN106481613A (en) * 2016-08-25 2017-03-08 北京冶自欧博科技发展有限公司 A kind of machine liquid dual fail-safe locked hydraulic cylinder
CN109501859A (en) * 2019-01-10 2019-03-22 长春工业大学 A kind of pneumatic carrier and its rotating direction control method of high-precision course changing control

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2804054A (en) * 1954-09-13 1957-08-27 Gen Motors Corp Actuator and locking means therefor
EP0469253A1 (en) * 1990-07-30 1992-02-05 UNIVER S.p.A. Fluid-operated, programmable, linear actuator
EP2039944A2 (en) * 2007-09-21 2009-03-25 Weber-Hydraulik GmbH Linear actuator, in particular cylinder-piston unit with locking device
CN103115055A (en) * 2013-03-12 2013-05-22 哈尔滨工业大学 Paster type ultrasonic nut with self-locking and unlocking functions
CN103148080A (en) * 2013-03-12 2013-06-12 哈尔滨工业大学 Unlockable nut in sandwich cantilever longitudinal vibration working mode
WO2015102770A2 (en) * 2013-12-31 2015-07-09 Cameron International Corporation Magnetorheological fluid locking system
CN204357830U (en) * 2014-10-30 2015-05-27 陈鸿宇 A kind of novel low friction single pole double-acting cylinder
CN105605031A (en) * 2016-02-02 2016-05-25 北京新立机械有限责任公司 Mechanical locking structure for leveling cylinder
CN106481613A (en) * 2016-08-25 2017-03-08 北京冶自欧博科技发展有限公司 A kind of machine liquid dual fail-safe locked hydraulic cylinder
CN109501859A (en) * 2019-01-10 2019-03-22 长春工业大学 A kind of pneumatic carrier and its rotating direction control method of high-precision course changing control

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