CN114785185A - Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element - Google Patents

Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element Download PDF

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Publication number
CN114785185A
CN114785185A CN202210299992.7A CN202210299992A CN114785185A CN 114785185 A CN114785185 A CN 114785185A CN 202210299992 A CN202210299992 A CN 202210299992A CN 114785185 A CN114785185 A CN 114785185A
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spring
piezoelectric element
deformation
actuator
shear
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刘丰睿
李重华
史浩铭
陈志凌
王京
骈瑢
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Beihang University
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Beihang University
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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
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/001—Driving devices, e.g. vibrators
    • H02N2/0045—Driving devices, e.g. vibrators using longitudinal or radial modes combined with torsion or shear modes
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/80—Constructional details
    • H10N30/85—Piezoelectric or electrostrictive active materials
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/80—Constructional details
    • H10N30/87—Electrodes or interconnections, e.g. leads or terminals

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Abstract

The invention provides a spring-like actuator which generates torsional deformation of a spring wire by shearing deformation of a piezoelectric element. The method mainly comprises the following steps: a shear type piezoelectric element and a frame. The frame can be fixed with the shear type piezoelectric element, and the frame enables the overall profile of the structure to be spring-shaped after the shear type piezoelectric element is connected with the frame. After the shear-type piezoelectric element generates shear deformation, the spring-like shape causes the accumulated amplification of the deformation, resulting in large deformation of the spring-like piezoelectric actuator. On the premise that the final actuator is in a spring shape, the shape of the piezoelectric element can be any, and correspondingly, the shape of the frame is also any. The shape of the final spring may be any shape as long as it can be called a spring. The shear type piezoelectric element in the scheme has an included angle of less than 40 degrees between the shear deformation direction of 50% or more of the volume and the main strain direction at the position after the spring deforms when the spring is not electrified, and the actuator is the actuator.

Description

Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element
Technical Field
The invention relates to a piezoelectric actuator, in particular to a spring-shaped actuator which generates torsional deformation of a spring wire by shearing deformation of a piezoelectric element, can realize large-stroke displacement, and belongs to the technical field of piezoelectric precise actuation.
Background
The actuator controls the speed, displacement and force of the load by applying a controlled pull or pressure to the load. The method is widely applied to the engineering fields of aviation, aerospace, vehicles and the like. Piezoelectric materials play an important role in the field of actuators due to their unique electric field-deformation effects. However, although the output force can be large, there is a disadvantage of a small range of motion due to the small allowable strain. For example, in some piezoelectric actuators, the maximum output force is already up to 50 tons, but only millimeter-scale motion can be achieved.
The spring is used as a mechanical part with excellent shock absorption and energy storage functions and is widely applied in various fields of production and life. The spring is characterized in that the spring can obtain large deformation under smaller self length, and the ratio of the deformation to the original length is far larger than the strain of the spring wire material. This deformation amplification capability, if combined with a piezoelectric material, can produce a piezoelectric actuator with a large stroke.
The invention integrates the advantages of a spiral structure and a piezoelectric material, shear deformation of the piezoelectric material under the inverse piezoelectric effect is amplified through a spring structure, and a spring-type actuator for generating shear deformation by piezoelectric is designed. Compared with the existing piezoelectric element, the motion stroke is greatly improved. Then a method of obtaining a large stroke with a piezoelectric spring actuator is proposed.
Disclosure of Invention
The purpose of the invention is: a spring-like actuator is proposed in which a piezoelectric element is shear-deformed to generate torsional deformation of a spring wire.
The technical scheme provided by the invention is as follows: a spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element, mainly comprising: a shear type piezoelectric element and a frame. The frame can be fixed with the shear type piezoelectric element through bonding, interference fit and the like, and the overall structure contour of the shear type piezoelectric element and the frame after connection is in a spring shape. After the shear-type piezoelectric element generates shear deformation, the spring-like shape causes the accumulated amplification of the deformation, resulting in large deformation of the spring-like piezoelectric actuator.
Alternatively, the shear type piezoelectric element includes a piezoelectric material, an electrode, and the like, and the shear type piezoelectric element may have any shape, such as a cylindrical shape, a tilted cylindrical shape, a polygonal prism shape, a tilted prism shape, a bent cylindrical shape, or a disk shape, a hollow cylindrical shape, or a hollow annular shape;
optionally, the frame shape is required to be capable of cooperating with the shear actuator, i.e. transferring, accumulating, converting or amplifying the shear deformation of the shear actuator, the overall structural profile of the shear-type piezoelectric element connected with the frame is spring-shaped, and the specific shape of the frame is arbitrary, for example, the cross section can be circular, elliptical, oblong, oval or polygonal;
optionally, the overall structural profile of the shear type piezoelectric element connected with the frame is approximately the same as that of a structure which can be called a spring, and the shape of the spring can be any, such as a cylindrical coil spring with equal pitch, a cylindrical coil spring with unequal pitch, a conical coil spring, a concave coil spring, a convex coil spring, a combined coil spring and the like;
alternatively, the piezoelectric material used in the shear type piezoelectric element may be one or a combination of two or more of a piezoelectric single crystal, a piezoelectric ceramic, polyvinylidene fluoride (PVDF), and a piezoelectric composite material. The material used for the frame may be a metal material, a polymer material such as plastic, or the like.
Specifically, when the shear type piezoelectric element has an included angle between the shear deformation direction of 50% or more of the volume and the main strain direction at the position where the shear type piezoelectric element is deformed when the spring is not energized, which is less than 40 °, the shear type piezoelectric element is the shear type piezoelectric element of the present invention.
The principle of the spring-shaped piezoelectric actuator is as follows: the direct piezoelectric effect means that after an external mechanical force is applied to a piezoelectric material, the interior of the piezoelectric material deforms under the action of the force and generates equal positive and negative charges on two opposite surfaces respectively, namely, the material is electrically polarized. The inverse piezoelectric effect refers to that the piezoelectric material generates corresponding deformation after voltage is applied. Therefore, the load of the piezoelectric actuator can be actively controlled by controlling the voltage magnitude and the change frequency of the electrodes on the piezoelectric material. When the direction of the voltage applied by the electrodes is not consistent with the polarization direction of the piezoelectric material, the piezoelectric material generates shear deformation, that is, the piezoelectric material generates transverse displacement perpendicular to the voltage direction. During the spring deformation process, the spring wire can be analyzed by using a beam model, and the beam can generate axial, bending and torsional deformation. The spiral line lead angles of the spring wires on different rings are the same in the spring deformation process, which shows that the bending deformation of the spring wires is very small. The tension and compression rigidity of the spring wire is obviously higher than the torsion rigidity, so the tension and compression deformation of the spring wire is very small. Therefore, when the spring is deformed in tension and compression, the main deformation on the spring wire is shear deformation, and the direction of the shear deformation on the surface of the spring wire is shown in fig. 1. Conversely, if the piezoelectric material is capable of causing the spring wire to undergo the shear deformation shown in fig. 1, the spring may undergo a tension-compression deformation. The metal spring in daily life is greatly deformed, for example, the elongation can be equal to or larger than the original length, but the deformation of the metal wire is in the elastic range, and the strain is less than 1%, which indicates that the spring can achieve 100 times of deformation magnification. Then if the piezoelectric material has a permissible strain of 0.1%, it can be predicted that the piezoceramic spring can also have a deformation of 10%, which is much larger than the 0.1% deformation displacement of a typical piezoelectric actuator relative to its own size.
The principle of the invention is therefore that the piezoelectric element is used to produce a shear deformation in the spring wire, the spring wire of the spring structure taking away the volume occupied by the piezoelectric element, leaving the frame part. That is, the piezoelectric element and the frame together form a spring wire, and the spring is a spring-like piezoelectric actuator. The piezoelectric element is used as one section of the spring wire or embedded in the spring wire, and accounts for 0-100% of the total volume of the spring. The shape of the piezoelectric element may be changed as desired, and the shape of the frame may be changed as desired, as long as the entire shape is a spring shape. The spring can be a cylindrical helical spring with a circular section and an equal pitch, a truncated cone helical spring, a concave helical spring, a convex helical spring, a combined helical spring and the like, can be a helical spring with an unequal pitch, can be a non-circular helical spring, and can be a helical spring with a rectangular section, a helical spring with a flat section, a helical spring with a hollow section and the like. The actuator is the actuator of the invention as long as the shear type piezoelectric element has an included angle of less than 40 degrees between the shear deformation direction of 50 percent or more of the volume and the main strain direction at the position after the spring deforms when not electrified.
The invention has the advantages and beneficial effects that:
(1) according to the spring-shaped actuator for generating the torsional deformation of the spring wire based on the shearing deformation of the piezoelectric element, the shearing deformation is generated based on the inverse piezoelectric effect of the piezoelectric material by setting the electrode voltage on the piezoelectric element, and then the shearing deformation of the piezoelectric element is converted into the axial displacement of the spring-structured piezoelectric actuator, so that the force or displacement output of the actuator is completed, the stroke distance of the actuator is effectively increased, and the large stroke control of the actuator is realized;
(2) according to the spring-shaped actuator for generating torsional deformation of the spring wire based on the shearing deformation of the piezoelectric element, the shapes and the sizes of the piezoelectric element and the frame are adjusted, the shapes of springs with different sizes and sizes can be freely designed and assembled, so that the rigidity coefficient of the whole spring is adjusted, the stroke distance of the actuator can be correspondingly changed by changing the tangential angle of the electrode of the piezoelectric element relative to the spiral line, and the stroke controllability and the compatibility of the actuator are effectively improved;
(3) the spring-shaped actuator for generating the torsional deformation of the spring wire based on the shearing deformation of the piezoelectric element is in a spring form, still has certain effects of vibration isolation, buffering, energy storage and the like under the condition of not performing active control, has ideal working performance for the fields of active vibration isolation and the like, and has good popularization and application values.
Drawings
Fig. 1 is a schematic view of the direction of shear deformation of the surface of a spring wire.
Fig. 2(a) -2 (g) show an isometric hollow circular cross-section cylindrical helical spring-shaped piezoelectric actuator 1 in which the spring wire is torsionally deformed by piezoelectric.
Fig. 3(a) -3 (d) show an isometric hollow circular cross-section cylindrical coil spring-shaped piezoelectric actuator 2 in which a spring wire is torsionally deformed by piezoelectric.
Fig. 4(a) -4 (c) show an isometric hollow circular cross-section cylindrical coil spring-shaped piezoelectric actuator 3 in which the spring wire is torsionally deformed by the piezoelectric.
Fig. 5(a) -5 (i) are various shapes of the coil spring shape piezoelectric actuator.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.
According to the spring mechanics theory, the deformation of the spring wire when the spring bears the axial load is mainly divided into three types: 1) the axial load can generate bending moment on the spring wire, and the bending moment makes the spring wire generate bending deformation; 2) the axial load can generate torque on the spring wire, and the torque makes the spring wire generate torsional deformation; 3) axial loads are the shear forces to which the spring wire is subjected, which causes the spring wire to undergo shear deformation. These three deformations together cause an elongation of the spring in the axial direction. The analysis of the theory of material mechanics shows that when the spiral angle of the spring is small, the extension of the spring caused by the torsional deformation of the spring wire is far larger than the extension of the spring along the axial direction caused by the bending deformation and the shearing deformation, namely the torsional deformation of the spring wire is the main deformation caused by the expansion and contraction of the spring. In the material mechanics, the torsional deformation is described as circumferential shear deformation in a plane, so that the shear deformation is generated by applying voltage on the electrodes of the piezoelectric element through the inverse piezoelectric effect, and the material deformation generated when a common spring is loaded is simulated, so that the spring-shaped actuator generates displacement deformation similar to that generated when the spring is loaded. The electrodes in the spring-shaped actuator are responsible for outputting voltage, the piezoelectric elements are responsible for generating shear deformation, deformation of internal materials is simulated when the spring is subjected to external load, the frame is responsible for fixing the piezoelectric elements and integrating deformation of the piezoelectric elements into circumferential deformation, and torsional deformation of the spring wire is simulated, so that the integral spring actuator can generate axial displacement when the piezoelectric elements apply voltage, and force or displacement output of the actuator is completed. The tangential angle of the piezoelectric element electrode relative to the spiral line directly determines the shear deformation effect of the spring-shaped actuator on the surface of the simulated spring wire, when the included angle between the shear deformation direction of 50% or more of the volume of the shear-type piezoelectric element and the main strain direction at the position after the spring deforms when the spring is not powered on is less than 40 degrees, the displacement and force output effects of the actuator are better, and when the directions are completely consistent, the effect is best.
After the overall shape of the spring and the cross-sectional shape of the spring wire are determined, the designed rated voltage is used as the withstand voltage of the piezoelectric element, the minimum thickness of the piezoelectric material can be calculated according to the performance of the piezoelectric material, so that the number of the piezoelectric elements in one circle and the shape of the piezoelectric element are determined, and the spring wire of the spring structure is a frame part after the volume occupied by the piezoelectric element is removed, so that the shape and the size of the frame are determined. The stiffness coefficient of the spring is related to the shear modulus of the material, the spring pitch diameter and the spring wire diameter, and when the piezoelectric element and the frame material are elastically deformed, the shear modulus of the frame material is larger, the displacement output of the actuator is smaller, and the force output is larger; the greater the shear deformation of the piezoelectric element, the greater the displacement output of the actuator and the greater the force output. Therefore, when the actual design is carried out, the limitation of the application scene of the actuator on the size of the spring needs to be determined, the required stiffness coefficient is obtained according to the requirements of the output force and the displacement of the actuator, the materials of the piezoelectric element and the frame are selected, and finally the shape and the size of the piezoelectric element and the frame are determined according to the rated voltage, so that the spring-shaped piezoelectric actuator meeting the design requirements is obtained.
The method comprises the following specific implementation steps:
the invention relates to a spring-shaped actuator solution with a cuboid piezoelectric element and a helical hollow frame, comprising: a piezoelectric element and a frame. The piezoelectric element may be shear-deformed as shown in fig. 2(a), as shown by a dotted line in fig. 2 (a). The frame is a combined type, the fan-shaped block (shown in figure 2 (b)) and the wedge-shaped block (shown in figure 2 (c)) form a frame unit (shown in figure 2 (d)), and a plurality of frame units are connected end to form the whole frame, as shown in figure 2 (e). Between the 10 segments in each frame unit, 10 piezoelectric elements can be mounted to form a piezoelectric unit (as shown in fig. 2 (f)), and the piezoelectric units are connected end to form a spring-shaped actuator (as shown in fig. 2 (g)). The shear type piezoelectric element in the scheme has an included angle of less than 40 degrees between the shear deformation direction of 50 percent or more of the volume and the main strain direction at the position after the spring deforms when the spring is not electrified.
First variation of embodiment:
the shape of the piezoelectric element in embodiment 1 may be changed arbitrarily, for example, a cylindrical shape, a triangular prism shape, and the like, and the frame to which the piezoelectric element is connected after being changed is changed accordingly, for example: the piezoelectric element becomes half sector (as shown in fig. 3 (a)) and the piezoelectric element shear deformation direction is as shown by the dotted line in fig. 3(a), the frame becomes a wedge (as shown in fig. 3 (b)), and the entire actuator remains spring-like (as shown in fig. 3 (d)). Alternatively, when the piezoelectric element is formed in a half wedge shape (as shown in fig. 4 (a)), the shear deformation direction of the piezoelectric element is shown by a broken line in the drawing, the frame volume is zero, and the piezoelectric element directly constitutes a spring-shaped actuator (as shown in fig. 4 (c)). The range of the present embodiment is defined when an angle between a shear deformation direction of 50% or more of the volume of the shear type piezoelectric element and a direction of a main strain at the position where the shear type piezoelectric element is deformed when the spring is not energized is less than 40 °.
Second variation of embodiment:
the final formed spring-shaped actuator may be: a circular cross-section cylindrical coil spring (as shown in fig. 5 (a)), a truncated cone coil spring (as shown in fig. 5 (b)), a concave coil spring (as shown in fig. 5 (c)), a convex coil spring (as shown in fig. 5 (d)), a combination coil spring (as shown in fig. 5 (e)), an unequal pitch coil spring (as shown in fig. 5 (f)), a non-circular coil spring (as shown in fig. 5 (g)), a rectangular cross-section coil spring (as shown in fig. 5 (h)), or a flat cross-section coil spring (as shown in fig. 5 (i)). Including, but not limited to, varying the cross-sectional shape of the spring wire, circular or non-circular, different pitches, different pitch diameters.
The technical solution of the present invention is further explained by the parameters of a specific design example.
The piezoelectric element adopts NAC2402-H1.7 piezoelectric shearing stacking sheets, the size is 5 multiplied by 1.7mm, the unloaded resonant frequency is 520kHz, the working voltage is 0-320V, the working stroke is 0-1.5um, and the maximum working load is 125N. The frame is made of 8200 resin by 3D printing technology, the elastic modulus of the material is 2.65GPa, the Poisson ratio is 0.42, and the density is 1150kg/m3. The piezoelectric element and the frame are connected in a gluing mode through strong glue, the middle diameter of a spring of the manufactured spring-shaped piezoelectric actuator is 100mm, the outer diameter of a spring wire is 16mm, the inner diameter of the spring wire is 8mm, the pitch of the spring wire is 42mm, the number of turns of the spring wire is 5 turns, the maximum output displacement is 17.7mm, and the maximum output force is 530.6N. When the material of the modified frame is 65-grade spring steel, the elastic modulus is 197GPa, and the Poisson ratio is 0.25. At this time, the maximum output displacement of the spring-like piezoelectric actuator is 11.5mm, and the maximum output force is 1321.9N.

Claims (9)

1. A spring-like actuator for producing torsional deformation of a spring wire by shear deformation of a piezoelectric element, comprising: a shear type piezoelectric element and a frame; the frame and the shearing type piezoelectric element are fixed in a bonding or interference fit mode, and the overall structure profile of the shearing type piezoelectric element and the frame after connection is in a spring shape; after the shear type piezoelectric element generates shear deformation, the spring-shaped shape can be deformed and accumulated to be amplified, so that the spring-shaped piezoelectric actuator is deformed.
2. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, wherein: when the included angle between the shearing deformation direction of 50% or more of the volume of the shearing type piezoelectric element and the main strain direction at the position after the deformation of the shearing type piezoelectric element when the spring is not electrified is less than 40 degrees, the shearing type piezoelectric element is obtained.
3. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, wherein: the shearing type piezoelectric element generates shearing deformation on the spring wire, the spring wire of the spring structure removes the volume occupied by the shearing type piezoelectric element, and the rest is the frame.
4. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, 2 or 3, wherein: the shear type piezoelectric element includes a piezoelectric material and an electrode, and is in the shape of a cylinder, a rhombohedral cylinder, a polygonal prism, a bent cylinder, a disk, a hollow cylinder, or a hollow ring.
5. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, 2 or 3, wherein: the frame is shaped to cooperate with the shear actuator to transmit, accumulate, convert or amplify the shear deformation of the shear actuator, and the frame is circular, elliptical, oblong, oval or polygonal in shape.
6. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, 2 or 3, wherein: the spring is in the shape of a pitch cylindrical helical spring, an unequal pitch cylindrical helical spring, a conical helical spring, a concave helical spring, a convex helical spring or a combined helical spring.
7. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, wherein: the piezoelectric material used by the shear type piezoelectric element is one or a composition of more than two of piezoelectric single crystal, piezoelectric ceramic, polyvinylidene fluoride (PVDF) and piezoelectric composite material; the material used for the frame is metal material or plastic.
8. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, wherein: when the piezoelectric element and the frame material are both elastically deformed, the larger the shear modulus of the frame material is, the smaller the displacement output of the actuator is, and the larger the force output is; the greater the shear deformation of the piezoelectric element, the greater the displacement output of the actuator and the greater the force output.
9. A spring-like actuator for generating torsional deformation of a spring wire by shear deformation of a piezoelectric element as claimed in claim 1, wherein: the piezoelectric element adopts NAC2402-H1.7 piezoelectric shearing stacking sheets, the size is 5 multiplied by 1.7mm, the unloaded resonant frequency is 520kHz, the working voltage is 0-320V, the working stroke is 0-1.5um, and the maximum working load is 125N; the frame is made of 8200 resin by a 3D printing technology, the elastic modulus of the material is 2.65GPa, the Poisson ratio is 0.42, and the density is 1150kg/m3(ii) a The piezoelectric element and the frame are connected by glue bonding by using strong glue, the pitch of the manufactured spring-shaped piezoelectric actuator is 42mm, the pitch of the manufactured spring-shaped piezoelectric actuator is 5 circles, the output displacement is 17.7mm at most, and the output force is 530.6N at most, wherein the middle diameter of the spring is 100mm, the outer diameter of a spring wire is 16mm, the inner diameter of the spring wire is 8 mm; when the material of the modified frame is 65 # spring steel, the elastic modulus is 197GPa, and the Poisson ratio is 0.25; the maximum output displacement of the spring-like piezoelectric actuator is 11.5mm and the maximum output force is 1321.9N.
CN202210299992.7A 2022-03-25 2022-03-25 Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element Pending CN114785185A (en)

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CN202210299992.7A CN114785185A (en) 2022-03-25 2022-03-25 Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element

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Application Number Priority Date Filing Date Title
CN202210299992.7A CN114785185A (en) 2022-03-25 2022-03-25 Spring-shaped actuator for generating torsional deformation of spring wire by shearing deformation of piezoelectric element

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CN114785185A true CN114785185A (en) 2022-07-22

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