CN112290827A - Large-torque rotary actuator driven by static friction and working method thereof - Google Patents
Large-torque rotary actuator driven by static friction and working method thereof Download PDFInfo
- Publication number
- CN112290827A CN112290827A CN202010959651.9A CN202010959651A CN112290827A CN 112290827 A CN112290827 A CN 112290827A CN 202010959651 A CN202010959651 A CN 202010959651A CN 112290827 A CN112290827 A CN 112290827A
- Authority
- CN
- China
- Prior art keywords
- actuating
- module
- linear actuator
- actuating module
- actuator cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003068 static effect Effects 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004904 shortening Methods 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0065—Friction interface
-
- 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
- H02N2/046—Mechanical transmission means, e.g. for stroke amplification for conversion into rotary motion
Landscapes
- Transmission Devices (AREA)
Abstract
The invention discloses a high-torque rotary actuator driven by static friction and a working method thereof. The four actuating modules have the same structure and respectively comprise a bearing plate, an actuating plate and M actuating units, the bearing plate and the actuating plate are arranged in parallel, and the M actuating units are circumferentially and uniformly arranged between the bearing plate and the actuating plate and drive the actuating plate to translate or rotate relative to the bearing plate. During operation, the four actuating modules are matched with each other in pairs to drive the two driving rings to rotate alternately, so as to drive the output shaft to rotate. The invention is driven by static friction force, does not generate noise and has no abrasion, and has the characteristics of high reliability, large output torque and long service life.
Description
Technical Field
The invention relates to the field of friction driving, in particular to a high-torque rotary actuator driven by static friction and a working method thereof.
Background
The piezoelectric actuator represented by the traveling wave type ultrasonic motor is output by working outwards by taking sliding friction force between the stator and the rotor as driving force, the high-frequency and intermittent contact sliding between the stator and the rotor inevitably brings about the problems of heating and abrasion, the output performance of the piezoelectric actuator is reduced, and the service life of the piezoelectric actuator is prolonged. In addition, the composite motion track of the surface particles of the actuating head of the piezoelectric actuator is easily distorted under the action of positive pressure, the piezoelectric actuator is difficult to improve output torque through infinitely increasing the positive pressure, the normal deformation amplitude of the actuating head can be reduced due to the increase of the positive pressure, and the piezoelectric actuator can be blocked when the positive pressure exceeds a certain limit. How to slow down the abrasion and how to further improve the output torque becomes a main problem of the piezoelectric actuator, which is faced by further widening the application range and improving the load capacity.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-torque rotary actuator driven by static friction and a working method thereof aiming at the defects in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a high-torque rotary actuator driven by static friction comprises a shell, a first end cover, a second end cover, a fixing plate, an output shaft, a first bearing, a second bearing, a first driving ring, a second driving ring and first to fourth actuating modules;
the shell is a hollow cylinder with openings at two ends;
the first end cover and the second end cover are respectively and coaxially fixedly connected with two ends of the shell, and through holes for the output shaft to pass through are formed in the centers of the first end cover and the second end cover;
the fixed plate is a circular plate arranged in the center of the shell and is coaxially and fixedly connected with the inner wall of the shell, and through holes for the output shafts to pass through are formed in the centers of the fixed plates;
the output shaft sequentially penetrates through the through holes in the centers of the first end cover, the fixing plate and the second end cover, one end of the output shaft is connected with the through hole in the center of the first end cover through the first bearing, and the other end of the output shaft is connected with the through hole in the center of the second end cover through the second bearing, so that the output shaft can freely rotate relative to the shell;
the first driving ring is arranged at the midpoint between the first end cover and the fixing plate of the output shaft and is coaxially and fixedly connected with the output shaft; the second driving ring is arranged at the midpoint of the output shaft between the fixed plate and the second end cover and is coaxially and fixedly connected with the output shaft;
the first to fourth actuating modules have the same structure and respectively comprise a bearing plate, an actuating plate and M actuating units, wherein M is a natural number more than or equal to 2;
the bearing plate and the actuating plate are arranged in parallel, and through holes for the output shafts to pass through are formed in the centers of the bearing plate and the actuating plate;
the M actuating units are uniformly arranged between the bearing plate and the actuating plate in the circumferential direction, each actuating unit comprises a first linear actuating cylinder and a second linear actuating cylinder, wherein one end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the bearing plate through a universal joint, and the other end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the actuating plate through a universal joint; the first linear actuator cylinder and the second linear actuator cylinder are used for applying thrust and rotating force to the actuator plate, and the rotating force applied when the first linear actuator cylinder and the second linear actuator cylinder extend for the same length is the same in magnitude and opposite in direction;
the first to fourth actuating modules are all arranged in the shell, wherein the first actuating module is arranged between the first end cover and the first driving ring, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the first end cover; the second actuating module is arranged between the first driving ring and the fixed plate, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the fixed plate; the third actuating module is arranged between the fixed plate and the second driving ring, and one side of the bearing plate, which is far away from the fixed plate, is coaxially and fixedly connected with the actuating plate; the third actuating module is arranged between the second driving ring and the second end cover, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the second end cover;
the first and second actuating modules are used for being matched with and clamping a first driving ring and driving the first driving ring to rotate, and the third and fourth actuating modules are used for being matched with and clamping a second driving ring and driving the second driving ring to rotate.
As a further optimized scheme of the high-torque rotary actuator driven by static friction, both ends of the output shaft are provided with connecting keys for connecting with the outside.
The first linear actuator and the second linear actuator can be extended and shortened, and the driving source can be a piezoelectric stack, and can also be other types such as a hydraulic cylinder, an air cylinder, a magnetostrictive material, a shape memory alloy and the like.
The invention also discloses a driving method of the high-torque rotary actuator driven by static friction, which comprises the following steps:
if the output shaft is required to rotate in the forward direction:
step A.1), simultaneously driving a first linear actuator cylinder and a second linear actuator cylinder of each actuating unit in the first actuating module to contract to an original state, so that actuating plates of the first actuating module and the second actuating module are separated from two sides of a first driving ring, and actuating plates of the third actuating module and the fourth actuating module are separated from two sides of a second driving ring;
step A.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.3), driving the first linear actuator cylinder of each actuating unit of the first actuating module to continue to extend and correspondingly shortening the second linear actuator cylinder of each actuating unit of the first actuating module, so that the actuating plate of the first actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates forwardsθAt the moment, the first driving ring drives the output shaft to rotate positively along with the actuating plates of the first actuating module and the second actuating module under the action of friction forceθ；
Step A.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step A.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to original shapes, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step A.6), driving the first linear actuator cylinder of each actuating unit of the third actuating module to continue to extend and the second linear actuator cylinder of each actuating unit of the third actuating module to correspondingly shorten, so that the actuating plate of the third actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the fourth actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened, so that the actuating plate of the fourth actuating module rotates forwardsθAt the moment, the second driving ring drives the output shaft to rotate positively along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
Step A.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step A.9), skipping to step A.2);
if the output shaft is required to rotate reversely:
step B.1), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring, and the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step B.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step B.3), driving the second linear actuating cylinders of all actuating units of the first actuating module to continue to extend and correspondingly shortening the first linear actuating cylinders of all actuating units of the first actuating module, so that the actuating plate of the first actuating module reversely rotates by a preset angle threshold valueθMeanwhile, the second linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the first linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates reverselyθAt the moment, the first driving ring drives the output shaft to rotate reversely along with the actuating plates of the first actuating module and the second actuating module under the action of friction forceθ；
Step B.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step B.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step B.6), the second linear actuator cylinders of all the actuating units of the third actuating module are driven to continue to extend, the first linear actuator cylinders of all the actuating units of the third actuating module are correspondingly shortened, and the actuating plate of the third actuating module reversely rotates to a preset angle threshold valueθThe second linear actuator cylinder of each actuating unit of the fourth actuating module is driven to extend and the first linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened at the same time, so that the second linear actuator cylinder of each actuating unit of the fourth actuating module is driven to extend continuously, and the first linear actuator cylinder of each actuating unit of the fourth actuating module is driven to shorten correspondinglyThe actuating plate of the fourth actuating module rotates reverselyθAt the moment, the second driving ring drives the output shaft to rotate reversely along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
B.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
b.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step b.9), jump to step b.2).
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the static friction force is used for driving instead of the dynamic friction force, so that noise is not generated, abrasion is avoided, the reliability of the rotary actuator is improved, and the service life of the rotary actuator is prolonged;
2. the large-load driving can be realized by using a large-output-force driving source represented by a piezoelectric stack, and the output torque of the actuator is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the overall structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the mating structure of the housing and the fixing plate of the present invention;
FIG. 4 is a schematic view of the structure of the output shaft, the first driving ring and the second driving ring;
FIG. 5 is a schematic structural diagram of a first actuating module according to the present invention;
FIG. 6 is a schematic view of the extended structure of the first actuating module of the present invention;
FIG. 7 is a schematic view of a first actuating module according to the present invention;
fig. 8 is a functional diagram of the present invention with the output shaft rotating in the forward direction.
In the figure, 1-a shell, 2-a first end cover, 3-a second sealing cover, 4-an output shaft, 5-a fixing plate, 6-a first driving circular ring, 7-a second driving circular ring, 8-a first actuating module, 9-a second actuating module, 10-a third actuating module, 11-a fourth actuating module, 12-a connecting key, 13-an actuating plate, 14-a bearing plate, 15-a first linear actuator cylinder and 16-a second linear actuator cylinder.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1 and 2, the invention discloses a high-torque rotary actuator driven by static friction, which comprises a housing, a first end cover, a second end cover, a fixing plate, an output shaft, a first bearing, a second bearing, a first driving ring, a second driving ring, and first to fourth actuating modules.
The shell is a hollow cylinder with openings at two ends; the first end cover and the second end cover are coaxially and fixedly connected with the two ends of the shell respectively, and through holes for the output shaft to pass through are formed in the centers of the first end cover and the second end cover.
As shown in fig. 3, the fixing plate is a circular plate disposed at the center of the casing and coaxially and fixedly connected with the inner wall of the casing, and the centers of the fixing plates are provided with through holes for the output shaft to pass through.
The output shaft sequentially penetrates through the through holes in the centers of the first end cover, the fixing plate and the second end cover, one end of the output shaft is connected with the through hole in the center of the first end cover through the first bearing, the other end of the output shaft is connected with the through hole in the center of the second end cover through the second bearing, and the output shaft can freely rotate relative to the shell.
The first driving ring is arranged at the midpoint between the first end cover and the fixing plate of the output shaft and is coaxially and fixedly connected with the output shaft; the second driving ring is arranged at the midpoint of the output shaft between the fixed plate and the second end cover and is coaxially and fixedly connected with the output shaft; fig. 4 is a schematic structural diagram of the middle output shaft, the first driving ring and the second driving ring which are matched with each other, and connecting keys for connecting with the outside are arranged at two ends of the output shaft.
The first to fourth actuating modules have the same structure and respectively comprise a bearing plate, an actuating plate and M actuating units, wherein M is a natural number more than or equal to 2;
as shown in fig. 5, the bearing plate and the actuating plate are arranged in parallel, and the centers of the bearing plate and the actuating plate are provided with through holes for the output shaft to pass through;
the M actuating units are uniformly arranged between the bearing plate and the actuating plate in the circumferential direction, each actuating unit comprises a first linear actuating cylinder and a second linear actuating cylinder, wherein one end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the bearing plate through a universal joint, and the other end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the actuating plate through a universal joint; the first linear actuator cylinder and the second linear actuator cylinder are used for applying thrust and rotating force to the actuating plate, and the rotating force applied when the first linear actuator cylinder and the second linear actuator cylinder extend for the same length is the same in magnitude and opposite in direction.
The first to fourth actuating modules are all arranged in the shell, wherein the first actuating module is arranged between the first end cover and the first driving ring, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the first end cover; the second actuating module is arranged between the first driving ring and the fixed plate, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the fixed plate; the third actuating module is arranged between the fixed plate and the second driving ring, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the fixed plate; the third actuating module is arranged between the second driving ring and the second end cover, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the second end cover.
Taking the first actuating module as an example, if the first linear actuator cylinder and the second linear actuator cylinder of the M actuating units are simultaneously extended or shortened, the actuating plate translates relative to the bearing plate, as shown in fig. 6; if only the first linear actuator cylinder or the second linear actuator cylinder of the M actuating units is simultaneously extended, the actuating plate will rotate relative to the carrier plate, as shown in FIG. 7.
The first and second actuating modules are used for being matched with and clamping a first driving ring and driving the first driving ring to rotate, and the third and fourth actuating modules are used for being matched with and clamping a second driving ring and driving the second driving ring to rotate.
The first linear actuator and the second linear actuator can be extended and shortened, and the driving source can be a piezoelectric stack, and can also be other types such as a hydraulic cylinder, an air cylinder, a magnetostrictive material, a shape memory alloy and the like.
As shown in fig. 8, the present invention also discloses a driving method of the high torque rotary actuator driven by static friction, which comprises the following steps:
if the output shaft is required to rotate in the forward direction:
step A.1), simultaneously driving a first linear actuator cylinder and a second linear actuator cylinder of each actuating unit in the first actuating module to contract to an original state, so that actuating plates of the first actuating module and the second actuating module are separated from two sides of a first driving ring, and actuating plates of the third actuating module and the fourth actuating module are separated from two sides of a second driving ring;
step A.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.3), driving the first linear actuator cylinder of each actuating unit of the first actuating module to continue to extend and correspondingly shortening the second linear actuator cylinder of each actuating unit of the first actuating module, so that the actuating plate of the first actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates forwardsθAt this time, due to the frictional force,The first driving ring drives the output shaft to rotate positively along with the first actuating module and the actuating plate of the second actuating moduleθ；
Step A.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step A.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to original shapes, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step A.6), driving the first linear actuator cylinder of each actuating unit of the third actuating module to continue to extend and the second linear actuator cylinder of each actuating unit of the third actuating module to correspondingly shorten, so that the actuating plate of the third actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the fourth actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened, so that the actuating plate of the fourth actuating module rotates forwardsθAt the moment, the second driving ring drives the output shaft to rotate positively along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
Step A.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step A.9), skipping to step A.2);
if the output shaft is required to rotate reversely:
step B.1), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring, and the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step B.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step B.3), driving the second linear actuating cylinders of all actuating units of the first actuating module to continue to extend and correspondingly shortening the first linear actuating cylinders of all actuating units of the first actuating module, so that the actuating plate of the first actuating module reversely rotates by a preset angle threshold valueθMeanwhile, the second linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the first linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates reverselyθAt the moment, the first driving ring drives the output shaft to rotate reversely along with the actuating plates of the first actuating module and the second actuating module under the action of friction forceθ；
Step B.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step B.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step B.6), driving the second linear actuator cylinder of each actuating unit of the third actuating module to continue to extend, and correspondingly shortening the first linear actuator cylinder of each actuating unit of the third actuating module, so that the first linear actuator cylinder is driven to extendAngle threshold preset by reverse rotation of actuating plate of three-actuating moduleθMeanwhile, the second linear actuator cylinder of each actuating unit of the fourth actuating module is driven to continue to extend, and the first linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened, so that the actuating plate of the fourth actuating module rotates reverselyθAt the moment, the second driving ring drives the output shaft to rotate reversely along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
B.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
b.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step b.9), jump to step b.2).
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A large-torque rotary actuator driven by static friction is characterized by comprising a shell, a first end cover, a second end cover, a fixed plate, an output shaft, a first bearing, a second bearing, a first driving ring, a second driving ring and first to fourth actuating modules;
the shell is a hollow cylinder with openings at two ends;
the first end cover and the second end cover are respectively and coaxially fixedly connected with two ends of the shell, and through holes for the output shaft to pass through are formed in the centers of the first end cover and the second end cover;
the fixed plate is a circular plate arranged in the center of the shell and is coaxially and fixedly connected with the inner wall of the shell, and through holes for the output shafts to pass through are formed in the centers of the fixed plates;
the output shaft sequentially penetrates through the through holes in the centers of the first end cover, the fixing plate and the second end cover, one end of the output shaft is connected with the through hole in the center of the first end cover through the first bearing, and the other end of the output shaft is connected with the through hole in the center of the second end cover through the second bearing, so that the output shaft can freely rotate relative to the shell;
the first driving ring is arranged at the midpoint between the first end cover and the fixing plate of the output shaft and is coaxially and fixedly connected with the output shaft; the second driving ring is arranged at the midpoint of the output shaft between the fixed plate and the second end cover and is coaxially and fixedly connected with the output shaft;
the first to fourth actuating modules have the same structure and respectively comprise a bearing plate, an actuating plate and M actuating units, wherein M is a natural number more than or equal to 2;
the bearing plate and the actuating plate are arranged in parallel, and through holes for the output shafts to pass through are formed in the centers of the bearing plate and the actuating plate;
the M actuating units are uniformly arranged between the bearing plate and the actuating plate in the circumferential direction, each actuating unit comprises a first linear actuating cylinder and a second linear actuating cylinder, wherein one end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the bearing plate through a universal joint, and the other end of each of the first linear actuating cylinder and the second linear actuating cylinder is fixedly connected with the actuating plate through a universal joint; the first linear actuator cylinder and the second linear actuator cylinder are used for applying thrust and rotating force to the actuator plate, and the rotating force applied when the first linear actuator cylinder and the second linear actuator cylinder extend for the same length is the same in magnitude and opposite in direction;
the first to fourth actuating modules are all arranged in the shell, wherein the first actuating module is arranged between the first end cover and the first driving ring, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the first end cover; the second actuating module is arranged between the first driving ring and the fixed plate, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the fixed plate; the third actuating module is arranged between the fixed plate and the second driving ring, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the fixed plate; the third actuating module is arranged between the second driving ring and the second end cover, and one side of the bearing plate, which is far away from the actuating plate, is coaxially and fixedly connected with the second end cover;
the first and second actuating modules are used for being matched with and clamping a first driving ring and driving the first driving ring to rotate, and the third and fourth actuating modules are used for being matched with and clamping a second driving ring and driving the second driving ring to rotate.
2. The stically driven high torque rotary actuator of claim 1, where the output shaft has a connection key at both ends for connection to the outside.
3. The method for driving a high-torque rotary actuator driven by static friction according to claim 1, comprising the steps of:
if the output shaft is required to rotate in the forward direction:
step A.1), simultaneously driving a first linear actuator cylinder and a second linear actuator cylinder of each actuating unit in the first actuating module to contract to an original state, so that actuating plates of the first actuating module and the second actuating module are separated from two sides of a first driving ring, and actuating plates of the third actuating module and the fourth actuating module are separated from two sides of a second driving ring;
step A.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.3), driving the first linear actuator cylinder of each actuating unit of the first actuating module to continue to extend and correspondingly shortening the second linear actuator cylinder of each actuating unit of the first actuating module, so that the actuating plate of the first actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates forwardsθAt the moment, the first driving ring drives the output shaft to rotate positively along with the actuating plates of the first actuating module and the second actuating module under the action of friction forceθ；
Step A.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step A.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to original shapes, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step A.6), driving the first linear actuator cylinder of each actuating unit of the third actuating module to continue to extend and the second linear actuator cylinder of each actuating unit of the third actuating module to correspondingly shorten, so that the actuating plate of the third actuating module rotates forwards by a preset angle threshold valueθMeanwhile, the first linear actuator cylinder of each actuating unit of the fourth actuating module is driven to continue to extend, and the second linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened, so that the actuating plate of the fourth actuating module rotates forwardsθAt the moment, the second driving ring drives the output shaft to rotate positively along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
Step A.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step A.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step A.9), skipping to step A.2);
if the output shaft is required to rotate reversely:
step B.1), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring, and the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step B.2), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
step B.3), driving the second linear actuating cylinders of all actuating units of the first actuating module to continue to extend and correspondingly shortening the first linear actuating cylinders of all actuating units of the first actuating module, so that the actuating plate of the first actuating module reversely rotates by a preset angle threshold valueθMeanwhile, the second linear actuator cylinder of each actuating unit of the second actuating module is driven to continue to extend, and the first linear actuator cylinder of each actuating unit of the second actuating module is correspondingly shortened, so that the actuating plate of the second actuating module rotates reverselyθAt the moment, the first driving ring drives the output shaft to rotate reversely along with the actuating plates of the first actuating module and the second actuating module under the action of friction forceθ；
Step B.4), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to extend, so that the actuating plates of the third actuating module and the fourth actuating module are propped against the two sides of the second driving ring;
step B.5), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to contract to the original state, so that the actuating plates of the first actuating module and the second actuating module are separated from two sides of the first driving ring;
step B.6), the second linear actuator cylinders of all the actuating units of the third actuating module are driven to continue to extend, the first linear actuator cylinders of all the actuating units of the third actuating module are correspondingly shortened, and the actuating plate of the third actuating module reversely rotates to a preset angle threshold valueθMeanwhile, the second linear actuator cylinder of each actuating unit of the fourth actuating module is driven to continue to extend, and the first linear actuator cylinder of each actuating unit of the fourth actuating module is correspondingly shortened, so that the actuating plate of the fourth actuating module rotates reverselyθAt the moment, the second driving ring drives the output shaft to rotate reversely along with the actuating plates of the third actuating module and the fourth actuating module under the action of friction forceθ；
B.7), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the first actuating module and the second actuating module to extend, so that the actuating plates of the first actuating module and the second actuating module are propped against the two sides of the first driving ring;
b.8), simultaneously driving the first linear actuator cylinder and the second linear actuator cylinder of each actuating unit in the third actuating module and the fourth actuating module to contract to original shapes, so that the actuating plates of the third actuating module and the fourth actuating module are separated from two sides of the second driving ring;
step b.9), jump to step b.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010959651.9A CN112290827B (en) | 2020-09-14 | 2020-09-14 | Driving method of high-torque rotary actuator driven by static friction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010959651.9A CN112290827B (en) | 2020-09-14 | 2020-09-14 | Driving method of high-torque rotary actuator driven by static friction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112290827A true CN112290827A (en) | 2021-01-29 |
| CN112290827B CN112290827B (en) | 2021-09-17 |
Family
ID=74420936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010959651.9A Active CN112290827B (en) | 2020-09-14 | 2020-09-14 | Driving method of high-torque rotary actuator driven by static friction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112290827B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204145332U (en) * | 2014-10-15 | 2015-02-04 | 六安先锋电机有限公司 | precession type stepping motor |
| CN104362896A (en) * | 2014-10-15 | 2015-02-18 | 六安先锋电机有限公司 | Precession type stepping motor |
| CN204206019U (en) * | 2014-09-30 | 2015-03-11 | 南京航空航天大学 | Piezoelectric linear motor |
| US20150167801A1 (en) * | 2012-07-17 | 2015-06-18 | Nicola Lussorio Cau | Motor with linear actuators |
| WO2016046411A1 (en) * | 2014-09-26 | 2016-03-31 | Koninklijke Philips N.V. | Three dimensional piezo actuator for planar motion |
| CN106286692A (en) * | 2016-09-20 | 2017-01-04 | 华中科技大学 | A kind of six degree of freedom micro-vibration suppression platform and control method thereof |
| CN107108202A (en) * | 2014-12-30 | 2017-08-29 | 麦穆斯驱动有限公司 | MEMS actuator |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
| CN109951103A (en) * | 2019-04-09 | 2019-06-28 | 哈尔滨工业大学 | A kind of the ultraprecise movement hexapod robot and its motivational techniques of Piezoelectric Driving |
| CN111168662A (en) * | 2020-02-24 | 2020-05-19 | 南京航空航天大学 | Folding mechanical arm based on piezoelectric driving |
-
2020
- 2020-09-14 CN CN202010959651.9A patent/CN112290827B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150167801A1 (en) * | 2012-07-17 | 2015-06-18 | Nicola Lussorio Cau | Motor with linear actuators |
| WO2016046411A1 (en) * | 2014-09-26 | 2016-03-31 | Koninklijke Philips N.V. | Three dimensional piezo actuator for planar motion |
| CN204206019U (en) * | 2014-09-30 | 2015-03-11 | 南京航空航天大学 | Piezoelectric linear motor |
| CN204145332U (en) * | 2014-10-15 | 2015-02-04 | 六安先锋电机有限公司 | precession type stepping motor |
| CN104362896A (en) * | 2014-10-15 | 2015-02-18 | 六安先锋电机有限公司 | Precession type stepping motor |
| CN107108202A (en) * | 2014-12-30 | 2017-08-29 | 麦穆斯驱动有限公司 | MEMS actuator |
| CN106286692A (en) * | 2016-09-20 | 2017-01-04 | 华中科技大学 | A kind of six degree of freedom micro-vibration suppression platform and control method thereof |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
| CN109951103A (en) * | 2019-04-09 | 2019-06-28 | 哈尔滨工业大学 | A kind of the ultraprecise movement hexapod robot and its motivational techniques of Piezoelectric Driving |
| CN111168662A (en) * | 2020-02-24 | 2020-05-19 | 南京航空航天大学 | Folding mechanical arm based on piezoelectric driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112290827B (en) | 2021-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4958126B2 (en) | Hybrid vehicle drive device | |
| CN102472366B (en) | Noncircular bearing, wave generator, and wave gear device | |
| JP4465397B2 (en) | Ultrasonic motor | |
| CN101051799B (en) | Displacement superposed piezoelectric engaging motor | |
| US5554905A (en) | Piezoelectric rotating motor | |
| JPH0124033B2 (en) | ||
| CN103930691B (en) | Torque-limiter clutch in input antivibrator | |
| CN110701188B (en) | Flexible reed axial protection bearing for magnetic bearing | |
| US20040195068A1 (en) | Clutch arrangement | |
| CN112290827B (en) | Driving method of high-torque rotary actuator driven by static friction | |
| CN112600459A (en) | Linear piezoelectric transmission device based on static friction and working method thereof | |
| CN106160566A (en) | A kind of traveling wave type ultrasonic motor based on piezoelectric stack type of drive | |
| CN111409097B (en) | Compact joint driving device for robot | |
| CN102437787A (en) | Novel rotating travelling-wave ultrasonic motor | |
| CN215980696U (en) | Harmonic reducer, mechanical arm and robot | |
| CN113078773A (en) | Motor embedded with speed reducer | |
| CN112436755B (en) | Rotary piezoelectric transmission device based on static friction and working method thereof | |
| JP4355922B2 (en) | Electric pump | |
| JP2002295689A (en) | Sealing device | |
| CN112713803B (en) | Macro-micro combined piezoelectric driving rotary actuator and working method thereof | |
| CN112290824B (en) | Threaded piezoelectric linear actuator with high thrust and working method thereof | |
| CN216200370U (en) | Gear box sealing structure and gear box | |
| CN100513827C (en) | Thermostable magnetic transmission apparatus | |
| CN112276994B (en) | Variable-stiffness joint of symmetrical compression spring | |
| CN112713804B (en) | Piezoelectric driving rotary motor and working method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |