CN116365920A - Symmetrical bias string self-clamping inertial rotation piezoelectric motor - Google Patents
Symmetrical bias string self-clamping inertial rotation piezoelectric motor Download PDFInfo
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Abstract
The invention belongs to the technical field of precise driving and positioning, and particularly relates to a symmetrical bias string self-clamping inertial rotation piezoelectric motor. The motor stator comprises a rectangular frame and a circular ring; the motor rotor comprises a pre-tightening mechanism, a rotating shaft and a pair of driving mechanisms; the clamping feet of the driving mechanism are arranged in a central symmetry way, and the symmetry center is the circle center of the circular ring; when the motor works, a first-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates is excited to drive the substrate to vibrate in a first order, and the motor can continuously rotate anticlockwise by the aid of the circulating excitation signals; a second-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates is excited to drive the substrate to perform second-order vibration, and the motor can continuously rotate clockwise through the cyclic excitation signal. Therefore, the invention adopts symmetrical layout in structure and has good running stability; the adopted excitation signal is a sine wave signal, and the control system is simple; the motor has long service life, and no larger sliding friction exists in the running process.
Description
Technical Field
The invention belongs to the technical field of precise driving and positioning, and particularly relates to a symmetrical bias string self-clamping inertial rotation piezoelectric motor.
Background
A piezoelectric motor is a novel actuator that converts electric energy into mechanical energy using the inverse piezoelectric effect of piezoelectric materials. In recent years, piezoelectric motors are widely applied to the fields of precision driving and positioning, biotechnology, medical equipment, aerospace science and technology and the like by virtue of the advantages of small volume, high power density, quick response, no electromagnetic interference and the like. The piezoelectric Ma Dada can be classified into an ultrasonic motor, an inchworm motor and an inertial impact motor according to the driving principle. The ultrasonic motor is driven by an ultrahigh frequency signal to generate ultrasonic standing waves or traveling waves, and the friction drive motor runs, so that the ultrasonic motor works in the ultrasonic field, the noise control is excellent, and the high frequency characteristic can bring larger output speed, but has the defects of serious friction and abrasion and larger size and shape limitation; the inchworm motor is a piezoelectric motor designed by simulating the running mode of insects in nature through bionics, works in a quasi-static state, has the advantages of high displacement precision, large output force, high precision, long service life and the like, and is widely applied to the technical fields of precision instruments and positioning, but has the problem of low output speed; the inertial impact type piezoelectric motor is a piezoelectric motor driven by asymmetric inertial force, is usually realized by an asymmetric mechanical structure and an asymmetric electric signal, has good comprehensive performance, but has the defects of larger friction and abrasion, complex signal control system, unidirectional movement and the like.
Different from the traditional inertia impact type piezoelectric motor, the invention adopts symmetrical layout in structure, the running stability of the motor is good, the adopted excitation signal is sine wave signal, the control system is simple, the motor works in a resonance state, the motor is self-clamped by utilizing a special driving mechanism, the inertia rollback of the motor is effectively restrained, and the movement efficiency of the motor is improved; the motor has almost no larger sliding friction in the running process, and the service life of the motor is long; and the two-way motion of the motor is realized by combining different vibration modes of the piezoelectric ceramics.
Disclosure of Invention
In order to improve the working efficiency and the service life of the motor and reduce the friction and abrasion of the motor, the invention provides a symmetrical offset chord self-clamping inertial rotation piezoelectric motor.
The specific technical scheme of the invention is as follows: a symmetrical bias string self-clamping inertial rotation piezoelectric motor comprises a motor stator 1 and a motor rotor 2;
the motor stator 1 comprises a rectangular frame and a circular ring 13, wherein the rectangular frame is vertically arranged, and the circular ring 13 is horizontally fixed in the middle of a lower frame plate of the rectangular frame through a pair of circular arc grooves;
the motor mover 2 includes a pretensioning mechanism 22, a rotation shaft 23 and a pair of driving mechanisms 21,
the pre-tightening mechanism 22 comprises a central base block 224 and a pair of pre-tightening blocks 221, the central base block 224 is arranged on a lower frame plate corresponding to the center of the circular ring 13, a rotating shaft 23 vertically penetrates through the central axial direction of the central base block 224 and is fixed, the upper end and the lower end of the rotating shaft 23 are correspondingly and rotatably connected with the upper frame plate and the lower frame plate of the rectangular frame through a pair of bearings 14,
each pre-tightening block is in an inverted L-shaped block shape, a single-axis symmetrical straight round flexible hinge is arranged at the right-angle connecting part of the L shape, the L-shaped transverse extending plate part is clamped on the central base block 224 in a matched manner through a clamping groove and is fixed through a pre-tightening bolt 223, so that the L-shaped longitudinal extending plate part is positioned at the offset chord position of the circular ring 13;
each driving mechanism comprises a substrate 212 and a pair of piezoelectric ceramic plates 213, wherein the substrate 212 is an upright long rectangular sheet, one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension part of the pre-tightening block, the length direction of the rectangular sheet is parallel to the longitudinal direction of the central base block 224, and the pair of substrates of the pair of driving mechanisms 21 are arranged at the two longitudinal ends of the central base block 224 and are respectively positioned at the symmetrical offset chord positions of the circular ring 13;
two sides of the other end part of the rectangular thin sheet are correspondingly provided with a pair of mass blocks 211, the lower end of the rectangular thin sheet is correspondingly attached to the inner side wall of the circular ring 13 and is provided with clamping feet 2121, so that the pair of clamping feet of the pair of driving mechanisms 21 are arranged in a central symmetry manner, and the center of symmetry is the center of the circle of the circular ring 13;
the pair of piezoelectric ceramic plates 213 are correspondingly attached to two side surfaces of the substrate 212 between the clamping foot 2121 and the pair of mass blocks 211;
when the pre-tightening bolt 223 is rotated, the transverse fixing position of the pre-tightening block on the central base block 224 can be adjusted, so that the substrate 212 deviates from or is close to the diameter of the circular ring 13, and the adjustment of the contact pre-tightening force between the clamping foot 2121 and the circular ring 13 is realized;
when the motor works, each substrate 212 is connected with a power supply cathode, each pair of piezoelectric ceramic plates 213 is connected with a power supply anode, when a first-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates 213 is excited to drive the substrate 212 to perform first-order vibration, the motor rotor 2 completes all motions in one signal period, the rotation of the rotating shaft 23 along a anticlockwise direction is realized by a small angular displacement, and the continuous anticlockwise rotation of the motor can be realized by a circulating excitation signal;
when a second-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates 213 is excited to drive the substrate 212 to perform second-order vibration, the motor rotor 2 completes all the motions in one signal period, the rotating shaft 23 rotates by a small angular displacement in the anticlockwise direction, and the motor can continuously rotate clockwise by the circulating excitation signal.
Further, when the voltage of the sinusoidal electric signal with the first-order resonance frequency is 240 VP-P and the frequency is 150 Hz, when the motor rotor 2 completes all the motions in one signal period, the rotation shaft 23 rotates in the anticlockwise direction by 0.016rad for angular displacement, the first-order motion of the piezoelectric motor is realized, the maximum idle speed is 2.4 rad/s, and the maximum output torque is 27.8N mm;
when the input second-order resonance frequency sinusoidal electric signal voltage is 240 VP-P and the frequency is 900 Hz, when the motor rotor 2 completes all the motions in one signal period, the rotation shaft 23 rotates in the anticlockwise direction by 0.004 rad, the piezoelectric motor performs the second-order motions, the maximum idle rotation speed is 3.9 rad/s, and the maximum output torque is 15.1N mm.
Further, each L-shaped transverse extension part is in a rectangular clamping groove shape which is vertically arranged, one horizontal end of the clamping groove is open, the other end of the clamping groove is sealed, a pair of waist-shaped holes are formed in parallel on the upper part and the lower part of the bottom plate of the clamping groove,
the clamping groove is matched and clamped at one longitudinal end of the central base block 224, the pre-tightening bolt 223 is inserted on the sealing plate of the clamping groove through the pre-tightening spring 224 and is connected with the central base block 224, the transverse fixing position of the pre-tightening block on the central base block 224 can be adjusted by rotating the pre-tightening bolt 223, and the pre-tightening block and the central base block 224 are fixedly connected through the matched screwing of a pair of bolts and a pair of kidney-shaped holes.
Further, a pair of limiting bosses are correspondingly provided at the middle parts of the upper and lower ends of the central base block 224, and when the clamping groove is matched and clamped at one longitudinal end of the central base block 224, the limiting bosses are used for limiting the longitudinal position of the clamping groove in the central base block 224.
Further, a positioning boss is provided on an outer side surface of each of the L-shaped longitudinal extensions for positioning an end portion of the rectangular sheet when one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension.
Further, the rectangular frame comprises a cover plate 11 and a bottom plate 12, the cover plate 11 is a right-angle bending plate, and two ends of the right-angle bending plate are correspondingly and fixedly connected with two ends of the bottom plate 12.
Further, the rectangular frame, the circular ring 13, each mass block, the central base block 224 and the rotating shaft 23 are all made of 45 # steel; the material of each of the substrates 212 and each of the pre-tensioning blocks is 65Mn; the material of the pre-tightening spring 224 is carbon spring steel; the material of each piezoelectric ceramic piece is PAZ-4.
The beneficial technical effects of the invention are as follows:
(1) The symmetrical offset string self-clamping inertial rotation piezoelectric motor comprises a motor stator and a motor rotor, wherein a rectangular frame of the motor stator is connected with a rotating shaft of the motor rotor through a pair of bearings, so that the motor stator and the motor rotor are in bearing connection, and larger sliding friction does not exist during relative rotation; meanwhile, the clamping state of the piezoelectric motor is realized by pressing the clamping foot on the inner side wall of the circular ring of the motor stator when the driving mechanism vibrates, and the clamping force is static friction force, so that relative sliding cannot occur between the clamping force and the circular ring, and the problem that the service life of the traditional inertial impact motor is prolonged due to the fact that the traditional inertial impact motor works by utilizing the sliding friction force is solved.
(2) The symmetrical bias string self-clamping inertial rotation piezoelectric motor has the advantages that the working state is a resonance state, the driving signal is a sine wave signal, the control system is simple, the piezoelectric motor can obtain better output performance, and the counter-clockwise or clockwise bidirectional motion can be realized; different motion modes of the piezoelectric motor can be excited by changing the frequency of an input electric signal, the motion direction of the piezoelectric motor is controlled, when the input sine wave signal voltage is 240 VP-P and the frequency is 150 Hz, the piezoelectric motor moves in first order, the maximum idle speed is 2.4 rad/s, and the maximum output torque is 27.8N mm; when the input sine wave signal voltage is 240 VP-P and the frequency is 900 Hz, the piezoelectric motor moves in a second order mode, the maximum idle rotation speed is 3.9 rad/s, and the maximum output torque is 15.1N mm.
(3) The invention relates to a symmetrical offset chord self-clamping inertial rotation piezoelectric motor, wherein a rectangular frame is vertically arranged, and a circular ring is horizontally fixed in the middle of a lower frame plate of the rectangular frame through a pair of circular arc grooves; the central base block is arranged on the lower frame plate corresponding to the circle center of the circular ring, the rotating shaft vertically penetrates through the central axis of the central base block and is fixed, the pair of pre-tightening blocks are arranged at the two longitudinal ends of the central base block, and the pair of substrates of the pair of driving mechanisms are arranged at the two longitudinal ends of the central base block and are respectively positioned at the symmetrical offset chord positions of the circular ring; the clamping feet of the driving mechanism are arranged in a central symmetry way, and the symmetry center is the circle center of the circular ring; therefore, the piezoelectric motor is designed to be of a central symmetry structure, the problem of dynamic unbalance cannot be generated during working, and the operation stability is good.
Drawings
FIG. 1 is a schematic diagram of a symmetrical offset chord self-clamping inertial rotary piezoelectric motor according to the present invention.
Fig. 2 is a schematic structural view of a motor stator according to the present invention.
Fig. 3 is a schematic structural view of a motor mover according to the present invention.
Fig. 4 is a schematic structural view of the driving mechanism of the present invention.
Fig. 5 is a schematic structural view of the pretensioning mechanism of the present invention.
Fig. 6 is a schematic diagram of the first-order motion principle of the piezoelectric motor according to the present invention.
Fig. 7 is a schematic diagram of the second order motion principle of the piezoelectric motor of the present invention.
Number in the upper diagram: the motor stator 1, the motor rotor 2, the cover plate 11, the bottom plate 12, the circular ring 13, the pair of bearings 14, the pair of driving mechanisms 21, the pre-tightening mechanism 22, the rotating shaft 23, the pair of masses 211, the substrate 212, the pair of piezoelectric ceramic plates 213, the pair of pre-tightening blocks 221, the pre-tightening springs 222, the pre-tightening bolts 223, the center base block 224 and the clamping feet 2121.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Examples
Referring to fig. 1, a symmetrical bias string self-clamping inertial rotation piezoelectric motor comprises a motor stator 1 and a motor rotor 2;
referring to fig. 2, the motor stator 1 includes a rectangular frame and a circular ring 13, the rectangular frame is vertically arranged, and the circular ring 13 is horizontally fixed in the middle of a lower frame plate of the rectangular frame through a pair of circular arc grooves; the rectangular frame comprises a cover plate 11 and a bottom plate 12, wherein the cover plate 11 is a right-angle bending plate, and two ends of the right-angle bending plate are correspondingly and fixedly connected with two ends of the bottom plate 12.
Referring to fig. 3, the motor mover 2 includes a pretensioning mechanism 22, a rotation shaft 23 and a pair of driving mechanisms 21,
referring to fig. 5, the pre-tightening mechanism 22 includes a central base block 224 and a pair of pre-tightening blocks 221, the central base block 224 is disposed on a lower frame plate corresponding to the center of the circle 13, the rotating shaft 23 vertically penetrates through the central axis of the central base block 224 and is fixed, the upper and lower ends of the rotating shaft 23 and the upper and lower frame plates of the rectangular frame are correspondingly rotatably connected by a pair of bearings 14,
each pre-tightening block is in an inverted L-shaped block shape, a single-axis symmetrical straight round flexible hinge is arranged at the right-angle connecting part of the L shape, the L-shaped transverse extending plate part is clamped on the central base block 224 in a matched manner through a clamping groove and is fixed through a pre-tightening bolt 223, so that the L-shaped longitudinal extending plate part is positioned at the offset chord position of the circular ring 13;
the L-shaped transverse extension part is in a rectangular clamping groove shape which is vertically arranged, one horizontal end of the clamping groove is open, the other end of the clamping groove is sealed, a pair of waist-shaped holes are formed in parallel on the upper part and the lower part of the bottom plate of the clamping groove,
the clamping groove is matched and clamped at one longitudinal end of the central base block 224, the pre-tightening bolt 223 is inserted on the sealing plate of the clamping groove through the pre-tightening spring 224 and is connected with the central base block 224, the transverse fixing position of the pre-tightening block on the central base block 224 can be adjusted by rotating the pre-tightening bolt 223, and the pre-tightening block and the central base block 224 are fixedly connected through the matched screwing of a pair of bolts and a pair of kidney-shaped holes.
The middle parts of the upper end and the lower end of the central base block 224 are correspondingly provided with a pair of limiting bosses, and when the clamping grooves are matched and clamped at one longitudinal end of the central base block 224, the limiting bosses are used for limiting the longitudinal positions of the clamping grooves in the central base block 224.
And a positioning boss is arranged on the outer side surface of each L-shaped longitudinal extension part, and is used for positioning the end part of the rectangular sheet when one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension parts.
Referring to fig. 4, each of the driving mechanisms includes a substrate 212 and a pair of piezoelectric ceramic plates 213, the substrate 212 is an upright rectangular sheet, one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension of the pre-tightening block, and the length direction of the rectangular sheet is parallel to the longitudinal direction of the central base block 224, so that the pair of substrates of the pair of driving mechanisms 21 are disposed at two longitudinal ends of the central base block 224 and are respectively located at symmetrical offset chord positions of the circular ring 13;
two sides of the other end part of the rectangular thin sheet are correspondingly provided with a pair of mass blocks 211, the lower end of the rectangular thin sheet is correspondingly attached to the inner side wall of the circular ring 13 and is provided with clamping feet 2121, so that the pair of clamping feet of the pair of driving mechanisms 21 are arranged in a central symmetry manner, and the center of symmetry is the center of the circle of the circular ring 13;
the pair of piezoelectric ceramic plates 213 are correspondingly attached to two side surfaces of the substrate 212 between the clamping foot 2121 and the pair of mass blocks 211;
when the pre-tightening bolt 223 is rotated, the transverse fixing position of the pre-tightening block on the central base block 224 can be adjusted, so that the substrate 212 deviates from or is close to the diameter of the circular ring 13, and the adjustment of the contact pre-tightening force between the clamping foot 2121 and the circular ring 13 is realized;
each pair of piezoelectric ceramic plates 213 is symmetrically attached to the surface of the corresponding substrate 212, the negative electrode is connected with the substrate 212, when the motor rotor 2 works, the negative electrode of a power supply is connected to each substrate 212, the positive electrode of the power supply is connected to the outer surface of each pair of piezoelectric ceramic plates 213, the power supply positive electrode can be connected to the pair of piezoelectric ceramic plates 213 after parallel connection, when a first-order resonant frequency sinusoidal electric signal is input, each pair of piezoelectric ceramic plates 213 is excited to drive the substrate 212 to perform first-order vibration, the motor rotor 2 completes all movement in one signal period, the rotating shaft 23 rotates in the anticlockwise direction by a small angular displacement, and the motor can continuously rotate anticlockwise by a circulating excitation signal;
when a second-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates 213 is excited to drive the substrate 212 to perform second-order vibration, the motor rotor 2 completes all the motions in one signal period, the rotating shaft 23 rotates by a small angular displacement in the anticlockwise direction, and the motor can continuously rotate clockwise by the circulating excitation signal.
The rectangular frame, the circular ring 13, each mass block, the central base block 224 and the rotating shaft 23 are all made of 45 # steel; the material of each of the substrates 212 and each of the pre-tensioning blocks is 65Mn; the material of the pre-tightening spring 224 is carbon spring steel; the material of each piezoelectric ceramic piece is PAZ-4.
Fig. 6 is a schematic diagram of the first order motion of the piezoelectric motor of the present invention.
A sinusoidal electrical signal with a first-order resonance frequency is input to each pair of piezoelectric ceramic plates 213, and each pair of piezoelectric ceramic plates 213 is excited to drive the corresponding substrate 212 to perform first-order vibration.
t 0 ~t 1 At moment, the voltage of the excitation signal gradually rises from zero to the amplitude, each driving mechanism deflects clockwise, in the process, the clamping foot 2121 presses the circular ring 13, the piezoelectric motor is in a clamping state, and the motor rotor 2 cannot rotate;
t 1 ~t 2 at moment, the voltage of the excitation signal gradually drops to zero from the amplitude, each driving mechanism rotates anticlockwise, in the process, the clamping foot 2121 still presses the ring 13, the piezoelectric motor is in a clamping state, and the motor rotor 2 cannot rotate;
t 2 ~t 3 at this point, the excitation signal voltage gradually increases from zero to an inverted amplitude, each driving mechanism deflects counterclockwise, clamping foot 2121 begins to disengage from ring 13, the piezoelectric motor is in a released state, at t 2 The mass block obtains a certain kinetic energy, so that the motor rotor 2 starts to rotate anticlockwise under the action of inertia and excitation signals;
t 3 ~t 4 at moment, the voltage of the excitation signal gradually drops to zero from the reversed phase amplitude, each driving mechanism rotates clockwise, in the process, the clamping foot 2121 still breaks away from the circular ring 13, the piezoelectric motor is in a release state, and the motor rotor 2 still moves anticlockwise under the inertia effect;
to t 4 When the motor rotor 2 completes all movements in one signal period, and rotates in a counterclockwise direction by a small angular displacement after one movement period is finished, the piezoelectric motor can continuously rotate counterclockwise by the cyclic excitation signal.
When the input sine wave signal voltage is 240 VP-P and the frequency is 150 Hz, when the motor rotor 2 completes all the motions in one signal period, the rotation shaft 23 rotates in the anticlockwise direction by 0.016rad, the piezoelectric motor moves in the first order, the maximum idle rotation speed is 2.4 rad/s, and the maximum output torque is 27.8N mm.
Fig. 7 shows the principle of the second order motion of the piezoelectric motor of the present invention. A second-order resonant frequency sinusoidal electrical signal is input to each pair of piezoelectric ceramic plates 213, and piezoelectric ceramic plates 213 are excited to drive substrate 212 to perform second-order vibration.
t 0 ~t 1 At moment, the voltage of the excitation signal gradually rises from zero to the amplitude, the end part of each driving mechanism deflects anticlockwise, the clamping foot 2121 presses the circular ring 13 clockwise in the process, the piezoelectric motor is in a clamping state, and the motor rotor 2 cannot rotate;
t 1 ~t 2 at moment, the voltage of the excitation signal gradually drops to zero from the amplitude, the end part of each driving mechanism rotates clockwise, in the process, the clamping foot 2121 still presses the ring 13, the piezoelectric motor is in a clamping state, and the motor rotor 2 cannot rotate;
t 2 ~t 3 at this point, the excitation signal voltage gradually increases from zero to an inverted amplitude, each drive mechanism end deflects clockwise, clamping foot 2121 deflects counterclockwise off of ring 13, the piezoelectric motor is in a released state, at t 2 The mass block has obtained certain kinetic energy, so the motor rotor 2 starts to rotate clockwise under the action of inertia and excitation signals;
t 3 ~t 4 at moment, the voltage of the excitation signal gradually drops to zero from the reversed phase amplitude, each driving mechanism rotates anticlockwise, in the process, the clamping foot 2121 is still positioned at an anticlockwise deflection position and is separated from the circular ring 13, the piezoelectric motor is in a release state, and the motor rotor 2 still moves clockwise under the inertia effect;
to t 4 When the motor rotor 2 completes all movements in one signal period, the motor rotor rotates in a clockwise direction by a small angular displacement after one movement period is finished, and the piezoelectric motor can continuously rotate clockwise by circulating the excitation signal.
When the input sine wave signal voltage is 240 VP-P and the frequency is 900 Hz, when the motor rotor 2 completes all the motions in one signal period, the rotation shaft 23 rotates in the anticlockwise direction by 0.004 rad, the piezoelectric motor performs the second-order motion, the maximum idle rotation speed is 3.9 rad/s, and the maximum output torque is 15.1N mm.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A symmetrical bias string self-clamping inertial rotating piezoelectric motor, characterized in that: comprises a motor stator (1) and a motor rotor (2);
the motor stator (1) comprises a rectangular frame and a circular ring (13), wherein the rectangular frame is vertically arranged, and the circular ring (13) is horizontally fixed in the middle of a lower frame plate of the rectangular frame through a pair of circular arc grooves;
the motor rotor (2) comprises a pre-tightening mechanism (22), a rotating shaft (23) and a pair of driving mechanisms (21),
the pre-tightening mechanism (22) comprises a central base block (224) and a pair of pre-tightening blocks (221), the central base block (224) is arranged on a lower frame plate corresponding to the center of the circle (13), a rotating shaft (23) vertically penetrates through the central axis of the central base block (224) and is fixed, the upper end and the lower end of the rotating shaft (23) are correspondingly and rotatably connected with the upper frame plate and the lower frame plate of the rectangular frame through a pair of bearings (14),
each pre-tightening block is in an inverted L-shaped block shape, a single-axis symmetrical straight round flexible hinge is arranged at the right-angle connecting part of the L shape, the L-shaped transverse extending plate part is clamped on the central base block (224) in a matched manner through a clamping groove and is fixed through a pre-tightening bolt (223), so that the L-shaped longitudinal extending plate part is positioned at the offset chord position of the circular ring (13);
each driving mechanism comprises a substrate (212) and a pair of piezoelectric ceramic plates (213), wherein the substrate (212) is an upright long rectangular sheet, one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension part of the pre-tightening block, the length direction of the rectangular sheet is parallel to the longitudinal direction of the central base block (224), and the pair of substrates of the pair of driving mechanisms (21) are arranged at the two longitudinal ends of the central base block (224) and are respectively positioned at symmetrical offset chord positions of the circular ring (13);
two sides of the other end part of the rectangular sheet are correspondingly provided with a pair of mass blocks (211), the lower end of the rectangular sheet is correspondingly attached to the inner side wall of the circular ring (13) and is provided with clamping feet (2121), so that the pair of clamping feet of the pair of driving mechanisms (21) are arranged in a central symmetry manner, and the center of symmetry is the center of the circle of the circular ring (13);
the pair of piezoelectric ceramic plates (213) are correspondingly attached to two side surfaces of the substrate (212) between the clamping foot (2121) and the pair of mass blocks (211);
when the pre-tightening bolt (223) is rotated, the transverse fixing position of the pre-tightening block on the central base block (224) can be adjusted, so that the substrate (212) deviates from or is close to the diameter of the circular ring (13), and the contact pre-tightening force between the clamping foot (2121) and the circular ring (13) is adjusted;
when the device works, each substrate (212) is connected with a power supply cathode, each pair of piezoelectric ceramic plates (213) is connected with a power supply anode, when a first-order resonant frequency sinusoidal electric signal is input, each pair of piezoelectric ceramic plates (213) is excited to drive the substrate (212) to perform first-order vibration, the motor rotor (2) completes all movements in one signal period, the rotating shaft (23) rotates in the anticlockwise direction by a small angular displacement, and the motor can continuously rotate anticlockwise by a circulating excitation signal;
when a second-order resonant frequency sine electric signal is input, each pair of piezoelectric ceramic plates (213) is excited to drive the substrate (212) to perform second-order vibration, the motor rotor (2) completes all movement in one signal period, the rotating shaft (23) rotates in the anticlockwise direction by a small angular displacement, and the motor can continuously rotate clockwise by the aid of the circulating excitation signals.
2. The symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 1, wherein: when the voltage of a sinusoidal electric signal with a first-order resonance frequency is 240 VP-P and the frequency is 150 Hz, and when the motor rotor (2) completes all movements in one signal period, the rotation shaft (23) rotates by 0.016rad in the anticlockwise direction, the first-order movement of the piezoelectric motor is realized, the maximum idle speed is 2.4 rad/s, and the maximum output torque is 27.8N mm;
when the input second-order resonance frequency sinusoidal electric signal voltage is 240 VP-P and the frequency is 900 Hz, when the motor rotor (2) completes all the motions in one signal period, the rotation shaft (23) rotates in the anticlockwise direction by 0.004 rad, the second-order motion of the piezoelectric motor is realized, the maximum idle speed is 3.9 rad/s, and the maximum output torque is 15.1N mm.
3. The symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 1, wherein: the L-shaped transverse extension part is in a rectangular clamping groove shape which is vertically arranged, one horizontal end of the clamping groove is open, the other end of the clamping groove is sealed, a pair of waist-shaped holes are formed in parallel on the upper part and the lower part of the bottom plate of the clamping groove,
the clamping groove is matched and clamped at one longitudinal end of the central base block (224), the pre-tightening bolt (223) is inserted on the sealing plate of the clamping groove through the pre-tightening spring (224) and is connected with the central base block (224), the transverse fixing position of the pre-tightening block () on the central base block (224) can be adjusted by rotating the pre-tightening bolt (223), and the pre-tightening block and the central base block (224) are fixedly connected through the matched screwing of a pair of bolts and a pair of kidney-shaped holes.
4. A symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 3, wherein: a pair of limiting bosses are correspondingly arranged in the middle of the upper end and the lower end of the central base block (224), and are used for limiting the longitudinal connection positions of the clamping grooves and the central base block (224) when the clamping grooves are matched and clamped at one longitudinal end of the central base block (224).
5. The symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 1, wherein: and a positioning boss is arranged on the outer side surface of each L-shaped longitudinal extension part, and is used for positioning the end part of the rectangular sheet when one end of the rectangular sheet is fixedly connected with the L-shaped longitudinal extension parts.
6. The symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 1, wherein: the rectangular frame comprises a cover plate (11) and a bottom plate (12), wherein the cover plate (11) is a right-angle bending plate, and two ends of the right-angle bending plate are correspondingly and fixedly connected with two ends of the bottom plate (12).
7. The symmetrically biased chordal self clamped inertial rotary piezoelectric motor according to claim 1, wherein: the rectangular frame, the circular ring (13), each mass block, the central base block (224) and the rotating shaft (23) are all made of 45 # steel; the material of each substrate (212) and each pre-tightening block is 65Mn; the pre-tightening spring (224) is made of carbon spring steel; the material of each piezoelectric ceramic piece is PAZ-4.
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| CN202310296541.2A CN116365920A (en) | 2023-03-24 | 2023-03-24 | Symmetrical bias string self-clamping inertial rotation piezoelectric motor |
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| CN202310296541.2A CN116365920A (en) | 2023-03-24 | 2023-03-24 | Symmetrical bias string self-clamping inertial rotation piezoelectric motor |
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| CN202310296541.2A Pending CN116365920A (en) | 2023-03-24 | 2023-03-24 | Symmetrical bias string self-clamping inertial rotation piezoelectric motor |
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| Country | Link |
|---|---|
| CN (1) | CN116365920A (en) |
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2023
- 2023-03-24 CN CN202310296541.2A patent/CN116365920A/en active Pending
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