CN113922701A - Four-rod stick-slip motor with force amplification characteristic and driving method - Google Patents
Four-rod stick-slip motor with force amplification characteristic and driving method Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000000737 periodic effect Effects 0.000 claims description 3
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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
- H02N2/025—Inertial sliding 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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- 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
- H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
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Abstract
A four-bar stick-slip motor with force amplification characteristic and a driving method thereof comprise a base, a slide block, a guide rail block, a piezoelectric stack, a flexible elastic ring and a hinge four-bar force amplification mechanism; the sliding block is slidably arranged on the guide rail block, the flexible elastic ring is arranged between the four-bar hinge force amplification mechanism and the base, and the gap between the output end of the four-bar hinge force amplification mechanism and the sliding block is adjustable through a pre-tightening piece. The driving method comprises the following steps: firstly, embedding a piezoelectric stack into a base and abutting against a moving block to adjust initial friction force between a driving rod and a sliding block; and secondly, the piezoelectric stack is slowly extended by power, a driving force is output, the sliding block is driven to move under the action of friction force, and the triangular sawtooth wave driving voltage is repeatedly applied, so that the continuous large-stroke horizontal movement of the sliding block can be realized. The invention realizes that the output force is larger than the driving force provided by the piezoelectric drive, and optimizes the output performance.
Description
Technical Field
The invention relates to the field of piezoelectric precision driving, in particular to a four-bar stick-slip motor with force amplification characteristic and a driving method, which can be widely applied to the fields of ultra-precision machining assembly, precision measurement technology, biomedical engineering and the like requiring high positioning precision and large stroke displacement output.
Background
With the development of modern science and technology, mechanical products gradually develop towards high-density miniaturization, micro-nano positioning operation, precise optics, biomedical engineering, aerospace and the like gradually become key scientific and technological fields, and the core support technology, namely the precise driving technology, of the fields also faces huge challenges while the fields are continuously developed and advanced. At present, the driving modes of the precision driving motor comprise shape memory alloy driving, photo-induced stretching driving, magnetostriction driving, thermal driving, piezoelectric driving and the like, wherein the piezoelectric driving has the advantages of small volume, large driving force, high response speed, low energy consumption and the like compared with other driving modes and is widely applied.
The piezoelectric compact driving motor can be roughly divided into an ultrasonic type, a direct-acting type and an inertia type according to the working principle, wherein the inertia type comprises an impact inertia type and a stick-slip type. The ultrasonic piezoelectric driver converts electric energy into ultrasonic mechanical vibration energy by utilizing an inverse piezoelectric effect, can easily realize output of large torque and high speed, but is seriously abraded and has low power and short service life; the direct-acting piezoelectric actuator utilizes piezoelectric ceramics to directly drive or combine with a flexible hinge, has small volume, no clearance of a kinematic pair, no mechanical abrasion and long service life, but has lower positioning precision due to the nonlinear phenomena of hysteresis, creep deformation and the like. Compared with other types of motors, the stick-slip piezoelectric driver realizes displacement output of the sliding block by utilizing the friction force of surface contact between the driving device and the sliding block, has simple structure and high output speed, but the stick-slip driving volume is generally larger, the working contact area is low, the back-off is serious after miniaturization, and the load capacity is low, so that the innovative design of the piezoelectric stick-slip driving structure is carried out to optimize the output characteristic of the stick-slip driving structure, and the increase of the output force to improve the load capacity is very necessary.
The publication number CN112838787A discloses a stick-slip piezoelectric actuator with a two-stage amplification mechanism and a driving method thereof, which actually adopts a 2-stage amplification principle to optimize the problem that the output speed of the stick-slip piezoelectric actuator is low, the publication number CN113114067A discloses a piezoelectric stick-slip driving device and a distance measuring method capable of measuring distance with a large stroke, which adopt an integrated strain detection unit to realize the measurement of displacement with a large stroke by measuring the accumulation of voltage, the publication number CN113258824A discloses a miniature stick-slip piezoelectric motor and a driving method thereof, which adopt an auxiliary friction plate to reduce the backspacing of a rotor and realize the purpose of rotary displacement, and the publication number CN113258825A discloses a piezoelectric actuator based on the coupling of stick-slip and impact principles and a control method thereof, which inhibit the backspacing of the stick-slip piezoelectric actuator by coupling the impact principle. In summary, none of the stick-slip piezoelectric actuators has a force amplification characteristic, i.e., the output force is less than or equal to the driving force provided by the piezoelectric actuator, and the stick-slip piezoelectric actuators do not have the capability of lifting the load.
Disclosure of Invention
The invention provides a four-bar stick-slip motor with force amplification characteristic and a driving method thereof, aiming at overcoming the defects of the prior art, the driving force of a piezoelectric stack is amplified by designing a flexible hinge four-bar mechanism, and the limitation of the output driving force of the traditional piezoelectric stick-slip driving motor is solved.
The technical scheme of the invention is as follows:
a four-bar stick-slip motor with force amplification characteristic comprises a base, a slide block, a guide rail block, a piezoelectric stack, a flexible elastic ring and a hinge four-bar force amplification mechanism; the guide rail block is fixed in the base, the sliding block is slidably arranged on the guide rail block, the flexible elastic ring is arranged between the four-bar hinge force amplification mechanism and the base, the four-bar hinge force amplification mechanism and the flexible elastic ring are installed on the base through the pre-tightening piece, the gap between the output end of the four-bar hinge force amplification mechanism and the sliding block is adjustable through the pre-tightening piece, the piezoelectric stack is arranged on the four-bar hinge force amplification mechanism, and the driving force of the piezoelectric stack acts on the sliding block after being amplified by the four-bar hinge force amplification mechanism.
A driving method of a four-bar stick-slip motor with force amplification characteristics comprises the following steps:
firstly, embedding a piezoelectric stack into a base and abutting against a motion block, and adjusting the distance between a driving rod and a slide block by adjusting a preload piece before working so as to adjust the contact force between the driving rod and the slide block and further adjust the initial friction force between the driving rod and the slide block;
and secondly, applying periodic triangular sawtooth wave voltage to a piezoelectric stack in the hinge four-bar driving mechanism, wherein the initial piezoelectric stack does not apply voltage, the slider is kept at an initial position, when the piezoelectric stack is slowly extended after being electrified, driving force is output, the moving block is pushed outwards, the connecting rod swings anticlockwise around the fixed end hinge, the driving rod swings clockwise around the input end hinge, static friction force is generated between the driving rod and the slider, the slider is driven to move under the action of friction force, when the piezoelectric stack is rapidly shortened after being electrified, the driving rod returns to an original state, the slider can generate horizontal retraction displacement under the action of inertia force and sliding friction force, and continuous large-stroke horizontal movement of the slider can be realized by repeatedly applying the triangular sawtooth wave driving voltage.
Compared with the prior art, the invention has the beneficial effects that:
the invention is based on the stick-slip driving principle, and utilizes the coupling motion of the four-bar force amplifying mechanism of the hinge to generate clamping action in the stick stage and release action in the slip stage. Different from the existing driving mechanism based on the similar principle, the driving mechanism can amplify the driving force by using the unique hinge four-rod force amplification mechanism, has the force amplification characteristic, realizes that the output force is greater than the driving force provided by the piezoelectric stack, obviously improves the load capacity of the microminiature stick-slip piezoelectric motor, and optimizes the output performance.
The following further describes the embodiments of the present invention with reference to the attached drawings
Drawings
FIG. 1 is a perspective view of a stick-slip drive motor according to the present invention;
FIG. 2 is a perspective view of the four-bar force amplification mechanism of the hinge viewed from the side;
FIG. 3 is a perspective view of the four-bar force amplification mechanism as viewed from below;
FIG. 4 is a front view of the four bar force amplification mechanism of the hinge;
FIG. 5 is a top view of the four bar force amplification mechanism of the hinge;
FIG. 6 is a schematic view of a guide block and a slide block matching structure;
FIG. 7 is a schematic structural view of a guide rail block;
FIG. 8 is a schematic structural view of a flexible elastic ring;
FIG. 9 is a schematic view of a four-bar force amplification mechanism and a motion diagram of the hinge of the present invention;
FIG. 10 is a timing diagram of the periodic triangular sawtooth driving voltage of the present invention;
fig. 11 is a working principle diagram of the present invention.
Detailed Description
As shown in fig. 1, the four-bar stick-slip motor with force amplification characteristics according to the present embodiment includes a base 8, a slider 2, a guide rail block 3, a piezoelectric stack 5, a flexible elastic ring 7, and a hinge four-bar force amplification mechanism 6; the guide rail block 3 is fixed in the base 8, the sliding block 2 is slidably arranged on the guide rail block 3, the flexible elastic ring 7 is arranged between the hinge four-bar force amplification mechanism 6 and the base 8, the hinge four-bar force amplification mechanism 6 and the flexible elastic ring 7 are installed on the base 8 through the pre-tightening piece 4, the gap between the output end of the hinge four-bar force amplification mechanism 6 and the sliding block 2 is adjustable through the pre-tightening piece 4, the piezoelectric stack 5 is arranged on the hinge four-bar force amplification mechanism 6, and the driving force of the piezoelectric stack 5 acts on the sliding block 2 after being amplified through the hinge four-bar force amplification mechanism 6.
Alternatively, the guide rail block 3 is fastened by two symmetrical bases 8, typically with pretensioning members 4 in the form of pretensioning screws.
Further, as shown in fig. 2-5, the hinge four-bar force amplification mechanism 6 comprises a base 6-0, a fixed end hinge 6-1, a driving end hinge 6-2, an input end hinge 6-3, a driving rod 6-4, a connecting rod 6-5, a guide hinge set 6-6 and a moving block 6-7; the base 6-0 is cut to form a guide hinge group 6-6 and a moving block 6-7, the guide hinge group 6-6 is symmetrically distributed at two ends of the moving block 6-7, the base 6-0 is connected with a connecting rod 6-5 through a fixed end hinge 6-1, a driving rod 6-4 is connected with the moving block 6-7 through an input end hinge 6-3, the driving rod 6-4 is connected with the connecting rod 6-5 through a driving end hinge 6-2, a piezoelectric stack 5 is embedded into the base 6-0 through a screw 1 and abuts against the moving block 6-7, and a gap between the driving rod 6-4 and a sliding block 2 is adjustable through a pre-tightening piece 4. The flexible elastic ring 7 has certain elastic deformation capacity, and the clearance between the driving rod 6-3 and the sliding block 2 can be adjusted by adjusting the pre-tightening degree of the pre-tightening piece 4 under the support of the flexible elastic ring 7, so that elastic contact is realized.
In another embodiment, as shown in fig. 6 and 7, the guide block 3 comprises a cylindrical roller 3-1 and a limit plate 3-2, the limit plate 3-2 is fixed on the guide block, the cylindrical roller 3-1 is arranged in a hole of the limit plate 3.2, and the upper end and the lower end of the cylindrical roller 3-1 are respectively in line contact with the guide block triangular groove 3-3 and the slider triangular groove 2-1. The cylindrical roller 3-1 is arranged in the hole of the limiting plate 3-2, can realize the line contact with the guide rail block triangular groove 3-3 and the slide block triangular groove 2-1 at the same time, and can roll when the slide block 2 and the guide rail block 3 move relatively to reduce the resistance.
Optionally, as shown in fig. 8, the flexible elastic ring 7 includes two flat plates 7-1 and two arc rings 7-2, the two flat plates 7-1 are arranged in parallel at intervals, the two arc rings 7-2 connected to the two flat plates 7-1 are arranged between the two flat plates 7-1, one flat plate 7-1 is in contact with the base 6-0, and the other flat plate 7-1 is fixedly connected to the base 8. As an example, the other plate 7-1 is made integral with the base 8.
As shown in fig. 9, the piezoelectric stack 5 applies a voltage to extend and drive the motion block 6-7 to move forward along the x axis, the connecting rod 6-5 swings counterclockwise around the fixed end hinge 6-1, the driving rod 6-4 swings clockwise around the input end hinge 6-3, the driving force of the piezoelectric stack 5 is amplified by the hinge four-rod force amplifying mechanism 6 and acts on the slider 2, and the length of the connecting rod 6-5 and the driving rod 6-4, and the included angles α and β between the connecting rod 6-5 and the driving rod 6-4 and the base 6-0 can be adjusted to change the amplification factor of the driving force.
Another embodiment further provides a driving method of a four-bar stick-slip motor with force amplification characteristics, comprising the following steps:
firstly, a piezoelectric stack 5 is embedded into a base 6-0 through a screw 1 and is abutted against a moving block 6-7, and the distance between a driving rod 6-4 and a sliding block 2 is adjusted through adjusting a preload piece 4 before working, so that the contact force between the driving rod 6-4 and the sliding block 2 is adjusted, and further the initial friction force between the driving rod 6-4 and the sliding block 2 is adjusted; the piezoelectric stack 5 is fixed on the base 6-0 between the fixed end hinge 6-1 and the input end hinge 6-3 through the fixing screw 1;
secondly, a periodical triangular sawtooth wave voltage is applied to the piezoelectric stack 5 in the hinged four-bar force amplification mechanism 6, as shown in figures 2-4 and figures 10 and 11, at t0At the moment, no voltage is applied to the piezoelectric stack 5, the elongation is 0, the driving force is 0, and the slider 2 is kept at the initial position; from t0To t1At the moment, the piezoelectric stack 5 is slowly extended by electricity to output a driving force, and the moving block 6-7 is pushed forward towards the x axis, so that the connecting rod 6-5 swings anticlockwise around the fixed end hinge 6-3, the driving rod 6-4 swings clockwise around the input end hinge 6-1, and static friction force is generated between the driving rod 6-4 and the sliding block 2, and is far greater than the rolling friction force between the sliding block 2 and the cylindrical roller 3-1, so that at t0To t1At the moment the slider will have a negative displacement S along the x-axis as shown in fig. 101(ii) a From t1To t2At the moment, the driving voltage is rapidly reduced, so that the piezoelectric stack 5 loses power and is rapidly shortened, the driving rod 6-4 is restored to the original state, and the slide block 2 can generate a backward displacement S along the positive direction of the x axis under the action of inertia force and sliding friction force2But S2Is much smaller than S1Therefore, one voltage application period can cause the slider 2 to generate a negative displacement Δ S along the x-axis1－S2If the triangular sawtooth wave driving voltage is repeatedly applied, the continuous large-stroke horizontal movement of the slider 2 can be realized.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (6)
1. A four-bar stick-slip motor with force amplification characteristics is characterized in that: the piezoelectric actuator comprises a base (8), a slide block (2), a guide rail block (3), a piezoelectric stack (5), a flexible elastic ring (7) and a hinge four-bar force amplification mechanism (6); the guide rail block (3) is fixed in the base (8), the sliding block (2) is slidably arranged on the guide rail block (3), the flexible elastic ring (7) is arranged between the four-bar hinge force amplification mechanism (6) and the base (8), the four-bar hinge force amplification mechanism (6) and the flexible elastic ring (7) are installed on the base (8) through the pre-tightening piece (4), the gap between the output end of the four-bar hinge force amplification mechanism (6) and the sliding block (2) is adjustable through the pre-tightening piece (4), the piezoelectric stack (5) is arranged on the four-bar hinge force amplification mechanism (6), and the driving force of the piezoelectric stack (5) acts on the sliding block (2) after being amplified through the four-bar hinge force amplification mechanism (6).
2. The four-bar stick-slip motor with force amplification characteristics according to claim 1, wherein: the hinge four-bar force amplification mechanism (6) comprises a base (6-0), a fixed end hinge (6-1), a driving end hinge (6-2), an input end hinge (6-3), a driving rod (6-4), a connecting rod (6-5), a guide hinge group (6-6) and a motion block (6-7); the guide hinge group (6-6) and the motion block (6-7) are formed by cutting on the base (6-0), the guide hinge group (6-6) is symmetrically distributed at two ends of the motion block (6-7), the base (6-0) is connected with the connecting rod (6-5) through the fixed end hinge (6-1), the driving rod (6-4) is connected with the motion block (6-7) through the input end hinge (6-3), the driving rod (6-4) is connected with the connecting rod (6-5) through the driving end hinge (6-2), the piezoelectric stack (5) is embedded into the base (6-0) through the screw (1) and abuts against the motion block (6-7), and the gap between the driving rod (6-4) and the sliding block (2) is adjustable through the pre-tightening piece (4).
3. A four-bar stick-slip motor with force amplification characteristics according to claim 1 or 2, wherein: the guide rail block (3) comprises cylindrical rollers (3-1) and limiting plates (3-2), the limiting plates (3-2) are fixed on the guide rail block, the cylindrical rollers (3-1) are arranged in holes of the limiting plates (3-2), and the upper ends and the lower ends of the cylindrical rollers (3-1) are in line contact with the guide rail block triangular grooves (3-3) and the slider triangular grooves (2-1) respectively.
4. A four-bar stick-slip motor with force amplification characteristics as claimed in claim 3, wherein: the flexible elastic ring (7) comprises two flat plates (7-1) and two arc rings (7-2), the two flat plates (7-1) are arranged in parallel at intervals, the two arc rings (7-2) connected with the two flat plates (7-1) are arranged between the two flat plates (7-1), one flat plate (7-1) is in contact with the base (6-0), and the other flat plate (7-1) is fixedly connected with the base (8).
5. The four-bar stick-slip motor with force amplification characteristics according to claim 2, wherein: the piezoelectric stack (5) is applied with voltage to extend and drive the motion block (6-7) to move outwards, the connecting rod (6-5) swings anticlockwise around the fixed end hinge (6-1), the driving rod (6-4) swings clockwise around the input end hinge (6-3), the driving force of the piezoelectric stack (5) is amplified through the hinge four-rod force amplification mechanism (6) and acts on the sliding block (2), and the amplification factor of the driving force can be changed by adjusting the lengths of the connecting rod (6-5) and the driving rod (6-4) and the included angle between the connecting rod (6-5) and the driving rod (6-4) and the base (6-0).
6. A driving method of a four-bar stick-slip motor with force amplification characteristics is characterized in that: comprises the following steps:
firstly, a piezoelectric stack (5) is embedded into a base (6-0) and is abutted against a moving block (6-7), and the distance between a driving rod (6-4) and a sliding block (2) is adjusted by adjusting a preload piece (4) before working, so that the contact force between the driving rod (6-4) and the sliding block (2) is adjusted, and further the initial friction force between the driving rod (6-4) and the sliding block (2) is adjusted;
secondly, a periodic triangular sawtooth wave voltage is applied to a piezoelectric stack (5) in a hinge four-bar driving mechanism (6), no voltage is applied to the initial piezoelectric stack (5), a sliding block (2) is kept at an initial position, when the piezoelectric stack (5) is slowly extended by electricity, a driving force is output, a moving block (6-7) is pushed outwards, a connecting rod (6-5) swings anticlockwise around a fixed end hinge (6-1), a driving rod (6-4) swings clockwise around an input end hinge (6-3), static friction force is generated between the driving rod (6-4) and the sliding block (2), the sliding block is driven to move under the action of friction force, when the piezoelectric stack (5) loses power and is rapidly shortened, the driving rod (6-4) returns to an original state, and the sliding block (2) generates a horizontal retraction displacement under the action of inertia force and sliding friction force, the continuous large-stroke horizontal movement of the sliding block (2) can be realized by repeatedly applying the triangular sawtooth wave driving voltage.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115085581A (en) * | 2022-07-25 | 2022-09-20 | 山东大学 | Stick-slip driver and method for actively inhibiting rollback movement |
| CN117155162A (en) * | 2023-10-31 | 2023-12-01 | 吉林大学 | Three-rotational-freedom piezoelectric actuator based on inertia principle |
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2021
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| CN115085581A (en) * | 2022-07-25 | 2022-09-20 | 山东大学 | Stick-slip driver and method for actively inhibiting rollback movement |
| CN115085581B (en) * | 2022-07-25 | 2024-06-04 | 山东大学 | Stick-slip driver and method for actively inhibiting rollback movement |
| CN117155162A (en) * | 2023-10-31 | 2023-12-01 | 吉林大学 | Three-rotational-freedom piezoelectric actuator based on inertia principle |
| CN117155162B (en) * | 2023-10-31 | 2024-01-23 | 吉林大学 | Three-rotational-freedom piezoelectric actuator based on inertia principle |
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| CN113922701B (en) | 2024-01-12 |
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