CN111726031A - Magnetic suction adjustment type vertical-pressure unidirectional micro-power piezoelectric inertia driver - Google Patents
Magnetic suction adjustment type vertical-pressure unidirectional micro-power piezoelectric inertia driver Download PDFInfo
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- CN111726031A CN111726031A CN202010446332.8A CN202010446332A CN111726031A CN 111726031 A CN111726031 A CN 111726031A CN 202010446332 A CN202010446332 A CN 202010446332A CN 111726031 A CN111726031 A CN 111726031A
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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
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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
- H02N2/06—Drive circuits; Control arrangements or methods
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Abstract
The invention provides a magnetic suction adjustment type vertical pressure one-way micro-power piezoelectric inertia driver, and belongs to the technical field of precision motion driving elements. The problem that the output performance of an existing piezoelectric driver cannot be changed or even moved after the existing piezoelectric driver carries an external load is solved. This driver includes the support piece, the fixed clamp plate that sets up on the support piece, the piezoelectric patches of border clamping on the clamp plate, the support piece sets up the top at the piezoelectric patches, the fixed magnet that attracts that is equipped with on the support piece, the fixed electromagnet that is equipped with on the stake body, the external electromagnetic controller that is used for adjusting its magnetic size that links of electromagnet, the top surface that enables the support piece through the adsorption of electromagnet and magnet that attracts adsorbs on the stake body, the support piece is the same coefficient of friction of fixed numerical value with the ascending contact surface in the vertical direction of stake body all the time. Compared with the prior art, the invention can realize the output of the same step pitch after carrying loads with different qualities on the premise of not changing an external driving electric field.
Description
Technical Field
The invention belongs to the technical field of precision motion driving elements, and relates to a magnetic suction adjustment type vertical pressure one-way micro-power piezoelectric inertia driver.
Background
The piezoelectric inertia driver is a power output device which realizes driving control or movement by using inertia impact force generated by a piezoelectric element. The piezoelectric inertia driver mainly aims to convert electric energy into kinetic energy, the piezoelectric plate generates a vibration effect after electrification, and the piezoelectric element has the characteristics of large mechanism rigidity, high displacement resolution, quick frequency response, no electromagnetic interference, compact structure and the like, so the piezoelectric inertia driver is widely applied to some high-precision engineering and instruments.
The piezoelectric inertia driver can realize directional motion only by utilizing the mutual matching of the inertia impact force generated by the piezoelectric sheet and the friction force between the piezoelectric sheet and the supporting surface. Under the excitation action of the asymmetric waveform electric signal, the piezoelectric plate can generate inertia impact forces with different magnitudes in the positive direction and the negative direction. The positive inertial impact force generated by the pressing sheet is F (positive), and the reverse inertial impact force generated by the piezoelectric sheet is F (reverse). The friction force F (friction) between the piezoelectric inertial drive and the support surface. The following 3 cases (assuming F (positive) > F (negative)) occur in cooperation with the inertial impact force generated by the piezoelectric sheet and the frictional force with the supporting surface:
1. driver forward motion (without backspacing)
When F (positive) > F (friction) > F (negative), the driver moves the step S1 forward, moves the step S2 in the reverse direction (backward movement step) to 0, and sets the output step S of the driver to S1; the driver continuously outputs a displacement in the positive direction.
2. Driver forward motion (with backspacing)
When F (positive) > F (negative) > F (friction), the driver moves the step distance S1 forward, moves the step distance S2< ≠ 0 backward, and outputs the step distance S of the driver as S1-S2(S1> S2); therefore, the driver can move forward, but with backward, the movement process is oscillatory motion, which results in poor output performance.
3. Drive not to move
When F (mole) > F (positive) > F (negative), the driver cannot move with the forward moving step S1 being equal to 0 and the reverse moving step (backward moving step) S2 being equal to 0.
The friction force F (friction) between the piezoelectric inertial linear actuator and the support surface is therefore an important factor in determining the output performance of the actuator. According to the formula of friction force F (friction) ═ uN, it is possible to change the friction coefficient u or the positive pressure N between the contact surface and the contact surface.
In the course of the experiments, the positive pressure N against the contact surface was often varied by varying the mass of the actuator, but it was found that the friction was strongly influenced if the mass of the actuator was 10 grams more or 10 grams less. Therefore, most of the piezoelectric inertia linear drivers adjust the friction force by changing the friction coefficient u.
For example, in 2013, the applicant proposed an asymmetric clamping piezoelectric inertia driver with a furrowing function, which is disclosed in patent No. CN201320378720.2, by designing a wedge-shaped friction foot between the driver and the support surface, the coefficient of friction of the driver in the forward direction is different from the coefficient of friction in the reverse direction, and F (positive friction) for realizing forward movement of the driver is not equal to F (reverse friction) for realizing reverse movement of the driver. On this premise, assume that: f (plus) > F (minus), by designing the direction of the wedge friction foot so that F (plus friction) < F (minus friction). By changing the mass of the actuator, F (positive) > F (negative) > F (reverse friction) > F (positive friction) or F (reverse friction) > F (positive) > F (reverse) > F (positive friction) can be realized, and the directional movement (without backspacing) of the piezoelectric inertia linear actuator can be easily realized.
However, when the piezoelectric inertia linear actuator is mounted with an application member (such as a microscope, a scalpel, or other high-precision object) as a driving platform, the total mass of the piezoelectric inertia linear actuator (after the application member is mounted) is changed to increase due to the mass of the application member, so that the positive pressure N between the piezoelectric inertia linear actuator (after the application member is mounted) and the supporting surface is increased, which causes the F (mole) between the piezoelectric inertia linear actuator (after the application member is mounted) and the supporting surface to increase, and the F (mole) to be different after external members of different masses are mounted. The step pitch of the piezoelectric inertia linear actuator is directly influenced by the fact that F (mole) is increased, even when the load mass is large enough, the conditions of F (mole) > F (positive) > F (reverse) are generated, and the piezoelectric inertia linear actuator cannot move. The friction force between the bearing surface and the bearing surface is adjusted by changing the friction coefficient u, so that the friction coefficient used after the bearing load is carried is difficult to determine; it is also difficult to achieve a mass removal of the driver that is just equal to the mass of the load if the positive pressure against the contact surface is changed by changing the mass of the driver.
Therefore, when the piezoelectric inertia linear actuator is popularized and applied as a driving platform, the piezoelectric inertia linear actuator has the problem that the output performance of the piezoelectric inertia linear actuator is changed or even cannot move due to external loads.
Disclosure of Invention
The invention aims to provide a magnetic suction adjusting type vertical pressure one-way micro-power piezoelectric inertia driver, aiming at the problem that the output performance is changed or even can not move after the existing piezoelectric driver carries an external load.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an one-way micro-power piezoelectricity inertial drive ware of regulation formula vertical compression is inhaled to magnetism, is equipped with the driver body including the stake body that is equipped with guide limit structure through this guide limit structure activity on the stake body, and the driver body includes a stake piece, fixed clamp plate, the border clamping of setting on the stake piece piezoelectric patches on the clamp plate, and the last electric connection of piezoelectric patches has asymmetric waveform signal of telecommunication, its characterized in that: the support block is arranged above the piezoelectric patches, the support block is fixedly provided with a magnet, the support body is fixedly provided with an electromagnet, the electromagnet is externally connected with an electromagnetic controller for adjusting the magnetic size of the electromagnet, the top surface of the support block can be adsorbed on the support body under the adsorption action of the electromagnet and the magnet, and the contact surface of the support block and the vertical direction of the support body always has the same friction coefficient with a fixed numerical value.
In the magnetic suction adjusting type vertical pressure unidirectional micro-power piezoelectric inertia driver, the lateral binding surfaces of the support block and the support body are smooth surfaces.
In the magnetic-suction-adjustable vertical-pressure unidirectional micro-power piezoelectric inertial driver, the end face of the bracket body facing the bracket block is provided with the pressure sensor.
In the above magnetic adjustable vertical-pressure unidirectional micro-power piezoelectric inertial driver, the electromagnet and the magnetic attracting body are respectively provided with one or more magnets, and the magnets are respectively aligned up and down on the support body and the support block.
In the magnetic adjustable vertical-pressure unidirectional micro-power piezoelectric inertial driver, the support body is further provided with a support limiting structure, and the support limiting structure is used for supporting the driver body after the driver body loses the adsorption force of the electromagnet and drops.
In the above-mentioned one-way micro-power piezoelectricity inertial drive of regulation formula vertical pressure is inhaled to magnetism, the clamp plate have two, the both ends border of piezoelectric patch presss from both sides respectively and establishes on two clamp plates.
In the magnetic suction adjusting type vertical pressure unidirectional micro-power piezoelectric inertia driver, the guide limiting structure comprises a linear slide rail arranged on the support body and a limiting slide block fixedly arranged on the support block.
In foretell formula of adjusting is inhaled to magnetism and is pressed one-way micro-power piezoelectricity inertial drive ware, guide limit structure including set up the arc slide rail on the stake body and the fixed pivot of setting on the support piece, the tip and the stake body of pivot rotate to be connected, the virtual central point of circular arc of arc slide rail is located the pivot.
Compared with the prior art, the electromagnetic controller is used for adjusting the magnitude of F (magnetism) to control the F (pressure) between the driver body and the contact surface, a debugger can realize that the F (pressure) of the driver body (with the load) and the F (pressure) of the contact surface are the same value by observing the value of the pressure sensor, so that the F (friction) between the driver body (with the load) and the contact surface is not changed after the driver carries the loads with different qualities, and the driver body can output the same step distance after carrying the loads with different qualities on the premise of not changing an external driving electric field.
Drawings
FIG. 1 is a schematic diagram of the structure of the piezoelectric actuator;
in the figure, 1, a stent body; 2. a guiding and limiting structure; 3. a driver body; 4. a support block; 5. pressing a plate; 6. a piezoelectric sheet; 7. an electromagnet; 8. a pressure sensor; 9. and supporting and limiting structures.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, this one-way micro-power piezoelectricity inertia driver of regulation formula vertical compression is inhaled including the stake body 1 that is equipped with guide limit structure 2, is equipped with driver body 3 through this guide limit structure 2 activity on stake body 1, and driver body 3 includes that stake piece 4, fixed clamp plate 5, the border clamping of setting on stake piece 4 press from both sides the piezoelectric patches 6 on clamp plate 5, and the electric connection has asymmetric waveform signal of telecommunication on the piezoelectric patches 6.
In order to be able to adjust the positive pressure between the actuator body 3 and the contact surface during operation, the applicant has proposed the following structure:
the support block 4 is arranged above the piezoelectric sheet 6, the magnet is fixedly arranged on the support block 4, the electromagnet 7 is fixedly arranged on the support body 1, the electromagnet 7 is externally connected with an electromagnetic controller used for adjusting the magnetic size of the electromagnet, the top surface of the support block 4 is adsorbed on the support body 1 through the adsorption action of the electromagnet 7 and the magnet, and the contact surface of the support block 4 and the support body 1 in the vertical direction always has the same friction coefficient of a fixed numerical value.
Ideally, when the bracket block 4 is adsorbed on the bracket body 1 by the electromagnet 7, the driver body 3 only receives the adsorption force of the electromagnet 7 to the driver body 3 and the gravity of the driver body 3 itself, and on this premise, we assume that:
the friction coefficient of the vertical contact surface of the support block 4 and the support body 1 is u, the overall gravity of the actuator body 3 and the application components carried by the actuator body 3 is F (heavy), the magnetic adsorption force of the electromagnet 7 on the actuator body 3 is F (magnetic), and F (magnetic) is controlled to be larger than F (heavy), so that the actuator body 3 is adsorbed on the support 1, the positive pressure F (pressure) between the actuator body and the support body on the contact surface is F (magnetic) -F (heavy), and the friction force F (friction) generated after the actuator body 3 moves relative to the joint surface of the support body 1 is u-F (magnetic) -F (heavy).
In order to facilitate debugging by a debugger, specific values of the F (pressure) can be displayed, only the pressure sensor 8 is arranged on the end face, facing the support block 4, of the support body 1, the actual size of the F (pressure) can be visually seen through the values expressed by the pressure sensor 8, therefore, the debugger is more convenient in the process of debugging the electromagnetic controller, the reading is led into an external calculator, formula input is carried out on the calculator, and the single stepping distance of the driver under the condition can be accurately obtained.
The invention can solve the problem that the output performance of the piezoelectric inertia linear driver is changed or even can not move due to the external load when the piezoelectric inertia driver is popularized and applied as a driving platform, and the invention is mainly characterized in that:
the electromagnetic controller is used for adjusting the magnitude of F (magnetism) to control the F (pressure) between the driver body 3 and the contact surface, and the F (friction) between the driver body 3 and the contact surface is controlled between F (positive) and F (negative), so that the driver body 3 is ensured to operate directionally.
Secondly, a pressure sensor 8 is arranged on the end face of the support body 1 facing the support block 4, the actual size of the F (pressure) can be visually seen through the numerical value expressed by the pressure sensor 8, so that a debugger is more convenient in the process of debugging the electromagnetic controller, the reading is led into an external calculator, formula calculation is carried out on the calculator, and the step pitch of the driver under the condition can be obtained.
When the driver carries on the load of different weight, driver body 3 (take load) gross mass can produce the change, only need the size of adjustment F (magnetism), the debugger can be through observing pressure sensor 8's numerical value, can realize that driver body 3 (take load) and the F (pressure) of contact surface are all same numerical value, thereby guarantee that the driver carries behind the load of different mass all with contact surface between F (rub) unchangeable, under the prerequisite that does not change external drive electric field, driver body 3 just can realize carrying on the same step distance of output behind the load of different weight.
In the practical application process, the swing joint position of support block 4 and stake body 1 also can have the laminating of side direction, and the laminating of face and face always can produce the friction of certain degree, but support block 4 should be the smooth surface with the side laminating face of stake body 1 from the theory, just so can avoid coming from the friction factor of side direction, and the side of both docks in the practical application process also adopts more smooth material as far as possible.
The electromagnet 7 and the attracting magnet may have one or more, and are designed mainly according to the shape of the holder block 4.
When the electromagnet 7 is powered off, the magnetism disappears, the driver body 3 falls along with the support block 4, and in order to avoid the complete separation of the driver body and the whole device, a support limit structure 9 is arranged on the support body 1, the support limit structure 9 is used for supporting the driver body 3 after losing the adsorption force of the electromagnet 7 and falling, in the product, the support limit structure 9 particularly limits the position by blocking the downward movement of the support block 4, and certainly, soft materials can be arranged on the contact surfaces of the support block and the support block to prevent hard contact.
In the device, two pressure plates 5 are provided, and the two end edges of the piezoelectric sheet 6 are respectively clamped on the two pressure plates 5, so that the center of gravity of the piezoelectric sheet 6 moving after being excited by a point signal is positioned on the vertical central line of the piezoelectric sheet 6, the motion track is determined by the guide limiting structure 2, and the guide limiting structure 2 shown in the attached drawing 1 comprises a linear slide rail arranged on the support body 1 and a limiting slide block fixedly arranged on the support block 4, so that the output power of the driver shown in the attached drawing is in the linear direction.
In addition to the above, the actuator of the present invention can also move into a curvilinear motion, or mainly the structure of the guiding and limiting structure 2 is changed, for example, the guiding and limiting structure is configured as an arc-shaped slide rail arranged on the support body 1 and a rotating shaft fixedly arranged on the support block 4, the end of the rotating shaft is rotatably connected with the support body 1, the arc virtual center point of the arc-shaped slide rail is located on the rotating shaft, so that the actuator body 3 moves in the arc-shaped slide rail around the rotating shaft during the vibration process, and the curvilinear motion of the application part on a virtual circle can be realized by arranging the application part at any position of the actuator body 3 in the non-rotating shaft direction.
It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be interpreted in an open-ended sense, i.e., in a sense equivalent to "including at least … …", and not in a closed sense, i.e., in a sense not to be interpreted as "including only … …".
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. The utility model provides an one-way micro-power piezoelectricity inertial drive of regulation formula vertical compression is inhaled to magnetism, including stake body (1) that is equipped with guide limit structure (2), be equipped with driver body (3) through this guide limit structure (2) activity on stake body (1), driver body (3) are including a support piece (4), fixed clamp plate (5) of setting on a support piece (4), piezoelectric patches (6) of border clamping on clamp plate (5), the electric connection has asymmetric waveform signal of telecommunication on piezoelectric patches (6), its characterized in that: support piece (4) set up in the top of piezoelectric patches (6), fixedly on support piece (4) being equipped with and inhaling the magnet body, fixedly on stake body (1) being equipped with electromagnet (7), electromagnet (7) external connection has the electromagnetic control ware that is used for adjusting its magnetic size, the top surface that enables support piece (4) through electromagnet (7) and the adsorption of inhaling the magnet body adsorbs on stake body (1), contact surface on support piece (4) and the vertical direction of stake body (1) has the same coefficient of friction of fixed numerical value all the time.
2. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertial driver of claim 1, wherein: the side binding surfaces of the bracket block (4) and the bracket body (1) are smooth surfaces.
3. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertia driver as claimed in claim 1 or 2, wherein: the end face, facing the support block (4), of the support body (1) is provided with a pressure sensor (8).
4. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertia driver as claimed in claim 1 or 2, wherein: the electromagnet (7) and the magnet attracting body are respectively provided with one or more than one, and the electromagnet and the magnet attracting body are respectively arranged on the bracket body (1) and the bracket block (4) in an up-and-down alignment mode.
5. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertia driver as claimed in claim 1 or 2, wherein: the support body (1) is further provided with a supporting limiting structure (9), and the supporting limiting structure (9) is used for supporting the driver body (3) after the adsorption force of the electromagnet (7) is lost and the driver body falls.
6. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertia driver as claimed in claim 1 or 2, wherein: the two pressure plates (5) are provided, and the edges of the two ends of the piezoelectric sheet (6) are respectively clamped on the two pressure plates (5).
7. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertial driver of claim 6, wherein: the guide limiting structure (2) comprises a linear slide rail arranged on the bracket body (1) and a limiting slide block fixedly arranged on the bracket block (4).
8. The magnetic adjustable vertical pressure unidirectional micro-power piezoelectric inertial driver of claim 6, wherein: the guide limiting structure (2) comprises an arc-shaped sliding rail arranged on the support body (1) and a rotating shaft fixedly arranged on the support block (4), the end part of the rotating shaft is rotatably connected with the support body (1), and the arc virtual central point of the arc-shaped sliding rail is positioned on the rotating shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010446332.8A CN111726031B (en) | 2020-05-25 | 2020-05-25 | Magnetic suction adjustment type vertical-pressure unidirectional micro-power piezoelectric inertia driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010446332.8A CN111726031B (en) | 2020-05-25 | 2020-05-25 | Magnetic suction adjustment type vertical-pressure unidirectional micro-power piezoelectric inertia driver |
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| CN111726031B CN111726031B (en) | 2021-05-11 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090277300A1 (en) * | 2008-05-08 | 2009-11-12 | Olympus Corporation | Inertial drive actuator |
| CN103503299A (en) * | 2011-07-08 | 2014-01-08 | 奥林巴斯株式会社 | Inertial drive actuator |
| US20140239746A1 (en) * | 2011-11-11 | 2014-08-28 | Olympus Corporation | Inertial drive actuator |
| CN206179627U (en) * | 2016-11-11 | 2017-05-17 | 杭州海康威视数字技术股份有限公司 | Hasp base device is inhaled to magnetism |
| CN208782740U (en) * | 2018-07-17 | 2019-04-23 | 浙江师范大学 | A kind of asymmetric piezoelectricity straight line driver of plow-shape structure |
-
2020
- 2020-05-25 CN CN202010446332.8A patent/CN111726031B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090277300A1 (en) * | 2008-05-08 | 2009-11-12 | Olympus Corporation | Inertial drive actuator |
| CN103503299A (en) * | 2011-07-08 | 2014-01-08 | 奥林巴斯株式会社 | Inertial drive actuator |
| US20140239746A1 (en) * | 2011-11-11 | 2014-08-28 | Olympus Corporation | Inertial drive actuator |
| CN206179627U (en) * | 2016-11-11 | 2017-05-17 | 杭州海康威视数字技术股份有限公司 | Hasp base device is inhaled to magnetism |
| CN208782740U (en) * | 2018-07-17 | 2019-04-23 | 浙江师范大学 | A kind of asymmetric piezoelectricity straight line driver of plow-shape structure |
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