CN111600505B - Load-adjustable large-stepping-amplitude linear piezoelectric motor - Google Patents
Load-adjustable large-stepping-amplitude linear piezoelectric motor Download PDFInfo
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- CN111600505B CN111600505B CN202010460298.XA CN202010460298A CN111600505B CN 111600505 B CN111600505 B CN 111600505B CN 202010460298 A CN202010460298 A CN 202010460298A CN 111600505 B CN111600505 B CN 111600505B
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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
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
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Abstract
The invention provides a load-adjustable large-step amplitude linear piezoelectric motor which is characterized in that: the piezoelectric actuator comprises a flexible driving foot, a vertical lifting mechanism, a horizontal sliding mechanism, a piezoelectric block and a friction disc, wherein the flexible driving foot comprises a flexible amplifying mechanism, a flexible driving foot actuating part and a flexible leaf spring. The flexible driving foot designed in the invention integrates a flexible amplifying mechanism and a flexible hinge, and realizes amplification of the output displacement of the piezoelectric block, thereby increasing the stepping amplitude and realizing quick rebound in power failure; a load adjusting device consisting of a lifting block and a micro-motion plate spring is designed, so that the stable friction force between the sliding block and the friction disc can be adjusted according to different external loads, and the output stability is guaranteed; the structure size has effectively been simplified in whole integrated form design, has improved the application scope of motor.
Description
Technical Field
The invention relates to a load-adjustable large-step amplitude linear piezoelectric motor, and belongs to the field of ultra-precise linear motors.
Background
For application in the field of ultra-precise actuation, such as micro-nano operation, optical alignment, robot motion and the like, the linear motor is widely concerned due to the characteristics of compact structure, few transmission chains, power failure self-locking, quick response, high actuation precision and the like. Currently, linear piezoelectric motors are mainly classified into resonant type and non-resonant type according to the way the piezoelectric element acts on the stator. The resonance type motor achieves the aim of driving the rotor by adjusting the frequency and amplitude of an excitation signal and causing the stator to resonate by the piezoelectric element, and the mode easily causes frequency shift due to processing and assembling errors of various parts and influences the normal operation of the motor; and because of the resonance of the parts, the fatigue failure of the parts is easy to cause, and the normal service life of the motor is reduced. Therefore, the non-resonant motor has a wider application prospect. However, the existing non-resonant motor also has the defects of small load capacity, susceptibility to external load influence, small stepping amplitude, low precision and the like, so that the significance of developing a novel linear piezoelectric motor with adjustable external load, large stepping amplitude and high precision is remarkable.
Disclosure of Invention
The purpose of the invention is: the linear piezoelectric motor can unload and adjust the changed external load, and has large stepping amplitude and high precision.
In order to achieve the above object, the technical solution of the present invention is to provide a load-adjustable large-step amplitude linear piezoelectric motor, which is characterized in that: comprises a compliant driving foot, a piezoelectric block, a friction disc, a vertical lifting mechanism and a horizontal sliding mechanism for load unloading adjustment, the flexible driving foot comprises a flexible amplifying mechanism arranged in the flexible driving foot, a flexible driving foot actuating part and a flexible leaf spring, the piezoelectric block is arranged in the flexible driving foot, the flexible amplifying mechanism is arranged at the left end and the right end of the piezoelectric block, the action part of the flexible driving foot is arranged at the front end of the piezoelectric block, the flexible leaf spring is arranged between the action part of the flexible driving foot and the inner side wall of the flexible driving foot and is used for realizing the rebounding of the action part of the flexible driving foot, the flexible driving foot realizes the amplification of the output stroke of the piezoelectric block and the rapid retraction of power failure through the design of the embedded flexible amplifying mechanism, the horizontal sliding mechanism is arranged on the action part of the flexible driving foot through a friction disc, and the vertical lifting mechanisms are arranged at two ends of the flexible driving foot and connected with the horizontal sliding mechanism.
Preferably, the vertical lifting mechanism comprises a lifting block, stop screws and rectangular grooves formed in the left end and the right end of the flexible driving foot, the bottom ends of the lifting block are arranged in the rectangular grooves, the stop screws penetrate through stop screw mounting holes formed in the side faces of the flexible driving foot to fix the lifting block and the rectangular grooves, and the top ends of the lifting block are connected with the horizontal sliding mechanism.
Preferably, the horizontal sliding mechanism comprises a sliding block, a sliding rail and a micro-motion plate spring, the sliding block is arranged on the friction disc and is in sliding fit with the bottom surface of the sliding rail to realize front-back sliding, the micro-motion plate spring is arranged on the left side and the right side of the sliding rail, one end of the micro-motion plate spring is connected with the top surface of the sliding rail, and the other end of the micro-motion plate spring is connected with the top end of the lifting block.
Preferably, the micro-motion plate spring comprises a middle inclined plane, a first horizontal plane and a second horizontal plane, the first horizontal plane and the second horizontal plane are connected with two ends of the middle inclined plane, the first horizontal plane is connected with the top end of the lifting block, the second horizontal plane is connected with the top surface of the sliding rail, and the position of the first horizontal plane is lower than that of the second horizontal plane.
Preferably, the first horizontal plane is connected with the lifting block through a first fixing bolt, a circular mounting through hole for mounting the first fixing bolt is formed in the first horizontal plane, the second horizontal plane is connected with the sliding rail through a second fixing bolt, and a clip-shaped through hole for mounting the second fixing bolt is formed in the second horizontal plane.
Preferably, the flexible amplifying mechanism is of a convex structure, the piezoelectric block is located between the convex parts of the two convex structures, and two ends of the convex structure are connected with the actuation part of the flexible driving foot and the inner side wall of the flexible driving foot through flexible hinges respectively.
Preferably, one side of the piezoelectric block is subjected to prestress adjustment through a pre-tightening bolt, and the pre-tightening bolt sequentially penetrates through the compliant driving foot and the compliant amplifying mechanism from left to right through a hole formed in the side face of the compliant driving foot to pre-tighten the piezoelectric block.
Preferably, the rectangular grooves are formed in the frame positions of the two ends of the compliant driving foot.
Preferably, the flexible leaf spring is symmetrically arranged in the flexible driving foot to avoid deviation when the action part of the flexible driving foot rebounds.
Preferably, the lifting block adopts a cuboid appearance design to prevent relative rotation when being matched with the rectangular groove.
Compared with the prior art, the invention has the beneficial effects that:
the flexible driving foot designed in the invention integrates a flexible amplifying mechanism and a flexible hinge, and realizes amplification of the output displacement of the piezoelectric block, thereby increasing the stepping amplitude and realizing quick rebound in power failure; a load adjusting device consisting of a lifting block and a micro-motion plate spring is designed, so that the stable friction force between the sliding block and the friction disc can be adjusted according to different external loads, and the output stability is guaranteed; the structure size has effectively been simplified in whole integrated form design, has improved the application scope of motor.
Drawings
FIG. 1 is an exploded view of a load adjustable large step amplitude linear piezoelectric motor according to the present invention;
FIG. 2 is a schematic diagram of a compliant drive foot configuration;
FIG. 3 is a schematic view of the micro-motion plate spring structure;
FIG. 4 is a schematic diagram of a triangular wave driving voltage applied to the present invention; wherein the horizontal axis represents time and the vertical axis represents voltage.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
The invention discloses a load-adjustable large-stepping-amplitude linear piezoelectric motor which comprises a pre-tightening bolt 1, a flexible driving foot 2, a micro-motion plate spring 3, a piezoelectric block 4, a stop screw 5, a lifting block 6, a friction disc 7, a fixing bolt 8, a sliding block 9 and a sliding rail 10. The flexible driving foot 2 is used as a mounting reference of the whole motor and a key component for realizing large stepping amplitude, is integrally designed and machined and formed, and is internally provided with an embedded groove, so that the piezoelectric block 4 is convenient to mount. The compliant driving foot 2 comprises a compliant amplifying mechanism 201, a compliant driving foot action part 205, a compliant leaf spring 206 and a flexible hinge 207, wherein the compliant amplifying mechanism 201, the compliant driving foot action part 205, the compliant leaf spring 206 and the flexible hinge 207 are arranged inside the compliant driving foot 2, a piezoelectric block 4 is arranged in an embedded groove of the compliant driving foot 2, the compliant amplifying mechanism 201 is arranged at the left end and the right end of the piezoelectric block 4, the compliant driving foot action part 205 is arranged at the front end of the piezoelectric block 4, the compliant leaf spring 206 is arranged between the compliant driving foot action part 205 and the inner side wall of the compliant driving foot 2, and the compliant leaf spring 206 is symmetrically arranged inside the compliant driving foot 2 to avoid the displacement when the compliant driving foot action part 205 rebounds; the flexible amplifying mechanism 201 is of a convex structure, the piezoelectric block 4 is located between the convex parts of the two convex structures, and two ends of the convex structure are respectively connected with the rear end of the flexible driving foot actuating part 205 and the inner side wall of the flexible driving foot 2 through the flexible hinge 207. The compliant driving foot 2 is based on a compliant mechanism technology, and can realize the amplification of the output stroke of the piezoelectric block 4 and the rapid retraction in power failure through the design of the embedded compliant amplifying mechanism 2 and the flexible hinge 207, so as to realize the large stepping amplitude and high dynamic response of the motor.
The friction disc 7 is bonded on the soft driving foot actuating part 205, the bottom surface of the sliding block 9 is in contact with the friction disc 7, and the bottom surface of the sliding rail 10 is provided with a groove to realize the front-back sliding fit with the sliding block 9; the friction disk 7 can increase the friction force between the friction disk and the sliding block 9, ensure a good contact state, realize linear driving on the sliding block 9 and improve the stable output capacity. The contact surface of the slide rail 10 and the slide block 9 can adopt a magnetic suspension design, and a self-lubricating coating can be additionally arranged on the contact surface so as to reduce the friction resistance.
The lifting block 6 is designed in a cuboid shape, and when the lifting block is matched with the rectangular groove 203, relative rotation can be effectively prevented, and only longitudinal movement is reserved. The stop screw mounting hole 204 should be designed at the upper position of the side surface of the compliant driving foot 2, so that when the lifting block 6 moves upwards, the stop screw 5 can always press against the lifting block 6 to fix the lifting block 6.
The micromotion plate spring 3 is designed in an inclined mode and comprises a middle inclined plane 305, a first horizontal plane 301 and a second horizontal plane 302 which are connected with two ends of the middle inclined plane 305, the first horizontal plane 301 is lower than the second horizontal plane 302, the micromotion plate spring 3 is positioned on the left side and the right side of the sliding rail 10, circular installation through holes 303 are machined in the first horizontal plane 301, and therefore assembly with the lifting block 6 is achieved; a clip-shaped through hole 304 is formed in the second horizontal plane 302, so that the second horizontal plane can be conveniently fixed to the slide rail 10 during lifting operation for different external loads, and symmetrical threaded holes are formed in the slide rail 10, so that the second horizontal plane can be conveniently fastened to the micro leaf spring 3. The round mounting through hole 303 is connected with a threaded hole at the top end of the lifting block 6 through a first fixing bolt 8, and the clip-shaped through hole 304 is connected with the top surface of the sliding rail 10 through a second fixing bolt 11.
The piezoelectric block 4 realizes prestress adjustment and fastening through the pretightening bolt 1, and the pretightening bolt 1 sequentially penetrates through the compliant driving foot 2 and the compliant amplifying mechanism 201 from left to right through a hole 202 formed in the side surface of the compliant driving foot 2 to adjust the prestress of the piezoelectric block 4.
The stop screw 5, the rectangular groove 203, the stop screw hole 204, the lifting block 6, the micro-motion plate spring 3, the first fixing bolt 8, the sliding rail 10 and the sliding block 9 jointly form a load unloading adjusting device, and unloading adjustment of different external loads is achieved by adjusting the height of the lifting block 6 and the horizontal fixing position of the micro-motion plate spring 3 through elastic deformation of the micro-motion plate spring 3, so that the friction force between the sliding block 9 and the friction disc 7 is adjusted, and a stable actuating environment is achieved.
Specifically, the motor operation flow is as follows: firstly, aiming at different external loads, the unloading adjustment of the external loads is realized by adjusting the lifting block 6 and the micro-motion plate spring 3; then, a half triangular wave driving voltage shown in fig. 4 is input to the piezoelectric block 4, at this time, the piezoelectric block 4 slowly extends to deduce the deformation of the compliant driving foot actuation portion 205, and then the friction disc 7 bonded with the compliant driving foot actuation portion 205 is driven to move, and the friction disc 7 drives the sliding block 9 to move forwards through friction force; then, the piezoelectric block 4 is rapidly powered off, and the compliant driving foot actuation portion 205 is subjected to the elastic action of the compliant leaf spring 206 and the compliant hinge 207, so as to realize rapid rebound and reset, and complete the stepping motion of one period T.
In the time period T, the slider 9 outputs a step displacement to the outside, and the continuous forward translation of the slider 9 can be realized by repeating the above process. On the contrary, when the other half of the triangular wave driving voltage with the dc bias is input to the piezoelectric block 4, the piezoelectric block 4 will contract slowly at this time, so as to drive the slider 9 to translate backwards, and the working process is the same as that of translating forwards.
The principles and embodiments of the present invention are described herein using specific examples, which are presented to aid in understanding the methods and core concepts of the present invention. The embodiments of the present invention are not limited to the above-described embodiments, and any other changes, modifications, combinations and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof and included within the scope of the present invention.
Claims (6)
1. The utility model provides a big step-by-step amplitude linear piezoelectric motor of adjustable load which characterized in that: the flexible drive foot comprises a flexible drive foot (2), a piezoelectric block (4), a friction disc (7), a vertical lifting mechanism and a horizontal sliding mechanism, wherein the vertical lifting mechanism and the horizontal sliding mechanism are used for load unloading adjustment, the flexible drive foot (2) comprises a flexible amplification mechanism (201) arranged inside the flexible drive foot (2), a flexible drive foot actuation part (205) and a flexible leaf spring (206), the piezoelectric block (4) is arranged inside the flexible drive foot (2), the flexible amplification mechanism (201) is arranged at the left end and the right end of the piezoelectric block (4), the drive foot actuation part (205) is arranged at the front end of the piezoelectric block (4), the flexible leaf spring (206) is arranged between the flexible drive foot actuation part (205) and the inner side wall of the flexible drive foot (2) and is used for realizing rebound of the flexible drive foot actuation part (205), and the flexible drive foot (2) realizes output stroke amplification and rapid power failure retraction of the piezoelectric block (4) through the design of an embedded amplification mechanism (201), the horizontal sliding mechanism is arranged on an actuating part (205) of the compliant driving foot through a friction disc (7), and the vertical lifting mechanisms are arranged at two ends of the compliant driving foot (2) and connected with the horizontal sliding mechanism;
the vertical lifting mechanism comprises a lifting block (6), stop screws (5) and rectangular grooves (203) formed in the left end and the right end of the flexible driving foot (2), the bottom ends of the lifting block (6) are arranged in the rectangular grooves (203), the stop screws (5) penetrate through stop screw mounting holes (204) formed in the side faces of the flexible driving foot (2) to fix the lifting block (6) and the rectangular grooves (203), and the top ends of the lifting block (6) are connected with the horizontal sliding mechanism;
the horizontal sliding mechanism comprises a sliding block (9), a sliding rail (10) and a micro-motion plate spring (3), the sliding block (9) is arranged on a friction disc (7) and is in sliding fit with the bottom surface of the sliding rail (10) to realize front-back sliding, the micro-motion plate spring (3) is arranged on the left side and the right side of the sliding rail (10), one end of the micro-motion plate spring (3) is connected with the top surface of the sliding rail (10), and the other end of the micro-motion plate spring (3) is connected with the top end of a lifting block (6);
the micro-motion plate spring (3) comprises a middle inclined plane (305), a first horizontal plane (301) and a second horizontal plane (302) which are connected with the two ends of the middle inclined plane (305), the first horizontal plane (301) is connected with the top end of the lifting block (6), the second horizontal plane (302) is connected with the top surface of the sliding rail (10), and the position of the first horizontal plane (301) is lower than that of the second horizontal plane (302);
the horizontal plane I (301) is connected with the lifting block (6) through a first fixing bolt (8), a circular mounting through hole (303) used for mounting the first fixing bolt (8) is formed in the horizontal plane I (301), the horizontal plane II (302) is connected with the sliding rail (10) through a second fixing bolt (11), and a clip-shaped through hole (304) used for mounting the second fixing bolt (11) is formed in the horizontal plane II (302).
2. The adjustable load large step amplitude linear piezoelectric motor according to claim 1, wherein: the flexible amplifying mechanism (201) is of a convex structure, the piezoelectric block (4) is located between the convex parts of the two convex structures, and two ends of the convex structure are connected with the rear end of the flexible driving foot actuating part (205) and the inner side wall of the flexible driving foot (2) through flexible hinges (207).
3. The adjustable load large step amplitude linear piezoelectric motor according to claim 1, wherein: one side of the piezoelectric block (4) is subjected to prestress adjustment through a pre-tightening bolt (1), and the pre-tightening bolt (1) sequentially penetrates through the compliant driving foot (2) and the compliant amplifying mechanism (201) from left to right through a hole (202) formed in the side face of the compliant driving foot (2) to pre-tighten the piezoelectric block (4).
4. The adjustable load large step amplitude linear piezoelectric motor according to claim 1, wherein: the rectangular grooves (203) are arranged at the frame positions of the two ends of the flexible driving foot (2).
5. The adjustable load large step amplitude linear piezoelectric motor according to claim 1, wherein: the flexible leaf springs (206) are symmetrically arranged in the flexible driving foot (2) to avoid deviation when the action part (205) of the flexible driving foot rebounds.
6. The adjustable load large step amplitude linear piezoelectric motor according to claim 1, wherein: the lifting block (6) adopts the cuboid appearance design to prevent relative rotation when being matched with the rectangular groove (203).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010460298.XA CN111600505B (en) | 2020-05-27 | 2020-05-27 | Load-adjustable large-stepping-amplitude linear piezoelectric motor |
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| CN202010460298.XA CN111600505B (en) | 2020-05-27 | 2020-05-27 | Load-adjustable large-stepping-amplitude linear piezoelectric motor |
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| CN111600505A CN111600505A (en) | 2020-08-28 |
| CN111600505B true CN111600505B (en) | 2021-11-12 |
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| CN112865593B (en) * | 2021-01-08 | 2022-04-29 | 吉林大学 | Bionic impact piezoelectric driver with high output performance and control method thereof |
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| CN210490748U (en) * | 2019-11-05 | 2020-05-08 | 吉林大学 | Piezoelectric stick-slip driver based on L-shaped flexible hinge |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6808345B2 (en) * | 2016-04-28 | 2021-01-06 | キヤノン株式会社 | Electronic devices equipped with vibration wave motors and vibration wave motors, lens barrels, imaging devices |
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- 2020-05-27 CN CN202010460298.XA patent/CN111600505B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0675589A1 (en) * | 1994-03-29 | 1995-10-04 | Minolta Co., Ltd. | Driving apparatus using transducer |
| CN101436834A (en) * | 2007-11-15 | 2009-05-20 | 日本电产科宝株式会社 | Driving device |
| JP2010243606A (en) * | 2009-04-01 | 2010-10-28 | Olympus Corp | Endoscope apparatus |
| CN104467525A (en) * | 2014-12-01 | 2015-03-25 | 苏州大学 | Pretightening force adjustable inertial stick-slip drive trans-dimension precision locating platform |
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