CN116633189A - Adhesive sliding type piezoelectric stepping motor based on ratchets - Google Patents
Adhesive sliding type piezoelectric stepping motor based on ratchets Download PDFInfo
- Publication number
- CN116633189A CN116633189A CN202310679751.XA CN202310679751A CN116633189A CN 116633189 A CN116633189 A CN 116633189A CN 202310679751 A CN202310679751 A CN 202310679751A CN 116633189 A CN116633189 A CN 116633189A
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- China
- Prior art keywords
- driving
- ratchet
- limiting
- teeth
- rotor
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- 239000000853 adhesive Substances 0.000 title abstract description 5
- 230000001070 adhesive effect Effects 0.000 title abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000003379 elimination reaction Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a sticky sliding type piezoelectric stepping motor based on ratchets, which comprises a rotor, a limiting stator system and a driving stator system, wherein the rotor is in a ratchet-shaped microstructure, the ratchet-shaped microstructure is fixedly connected to a linear guide rail, the limiting stator system consists of limiting teeth and limiting springs, and the driving stator system consists of driving teeth, driving springs and a transverse linear driver. The invention adopts the adhesive sliding type piezoelectric stepping motor based on the ratchet, realizes the accumulated error self-elimination function, reduces the running cost and has stronger practicability.
Description
Technical Field
The invention relates to the technical field of precise driving and positioning, in particular to a viscous-sliding piezoelectric stepping motor based on ratchets.
Background
The piezoelectric motor has the characteristics of high response speed, simple structure, no electromagnetic interference and the like, and is widely applied to a precise driving and positioning system in a special environment.
The existing piezoelectric driving principle is basically to transmit through friction force of a friction interface, and periodically micro-motion of a piezoelectric stator is converted into stepping motion of a rotor. However, due to the complexity of friction variation and uncertainty of friction interface, the driving methods of these motors have gait inconsistency and accumulated gait errors, and the accumulated gait errors need to be accurately positioned through a complex closed-loop control system.
The complex closed-loop control system not only requires a high-span and high-precision sensor and a controller, which are expensive and occupy a large volume, not only increases the cost and limits the development of miniaturization of the system, but also reduces the reliability of the system in practical application.
Disclosure of Invention
The invention aims to provide a ratchet-based stick-slip piezoelectric stepping motor, which realizes the self-elimination function of accumulated errors, reduces the running cost and has stronger practicability.
In order to achieve the above purpose, the invention provides a ratchet-based stick-slip piezoelectric stepper motor, which comprises a rotor, a limiting stator system and a driving stator system, wherein the rotor is of a ratchet-shaped microstructure, the ratchet-shaped microstructure is fixedly connected to a linear guide rail, the limiting stator system consists of limiting teeth and limiting springs, and the driving stator system consists of driving teeth, driving springs and a transverse linear driver.
Preferably, the limit teeth are matched with the ratchet-shaped microstructure in the rotor, and the limit spring is fixed on the frame.
Preferably, the driving teeth are matched with the ratchet-shaped microstructure in the rotor, the transverse linear driver is fixed on the frame, and the driving spring is fixedly connected on the transverse linear driver.
Preferably, in the initial state, the driving teeth and the limiting teeth are pressed on the rotor under the pretightening force of the driving spring and the limiting spring.
Preferably, the displacement of the driving spring and the driving teeth in the horizontal direction is always consistent with the horizontal displacement of the transverse linear driver.
Therefore, the self-elimination function of accumulated errors is realized by adopting the adhesive sliding type piezoelectric stepping motor based on the ratchet, the running cost is reduced, and the practicability is higher.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a ratchet-based stick-slip piezoelectric stepper motor of the present invention;
FIGS. 2-8 are motion schematic diagrams of an embodiment of a ratchet-based stick-slip piezoelectric stepper motor of the present invention;
fig. 9 is a schematic diagram of the cumulative error self-cancellation of a ratchet-based stick-slip piezoelectric stepper motor embodiment of the present invention.
Reference numerals
1. A mover; 2. limit teeth; 3. a limit spring; 4. a drive tooth; 5. a drive spring; 6. a transverse linear drive.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
As shown in fig. 1, a ratchet-based stick-slip piezoelectric stepper motor comprises a rotor 1, a limiting stator system and a driving stator system, wherein the rotor 1 is in a ratchet-shaped microstructure, the ratchet-shaped microstructure is fixedly connected to a linear guide rail, and the linear guide rail is not shown in the figure.
The spacing stator system comprises spacing tooth 2 and spacing spring 3, spacing tooth 2 cooperatees with the ratchet-shaped microstructure of active cell 1, and spacing spring 3 is fixed in the frame.
The drive stator system consists of drive teeth 4, drive springs 5 and a transverse linear drive 6. The driving teeth 4 are matched with the ratchet-shaped microstructure in the rotor 1, the transverse linear driver 6 is fixed on the frame, and the driving spring 5 is fixedly connected on the transverse linear driver 6.
In the initial state, the driving teeth 4 and the limiting teeth 2 are pressed on the rotor 1 under the pretightening force of the driving springs 5 and the limiting springs 3, and the limiting springs 3 and the limiting teeth 2 cannot displace in the horizontal direction. Meanwhile, the displacement of the driving spring 5 and the driving teeth 4 in the horizontal direction is always consistent with the horizontal displacement of the transverse linear driver 6, so that the operation accuracy of the motor is ensured.
Without loss of generality, D is the tooth pitch of the ratchet-shaped microstructure, θ is the inclination angle of the ratchet-shaped microstructure, and the driving principle of the motor is shown in fig. 2-8, and the motion situation of the mover is as follows:
as shown in fig. 2, in the initial state, the transverse linear driver 6 is not stretched, the limiting teeth 2 are tightly meshed with the ratchet-shaped microstructure on the rotor 1 under the action of the pretightening force of the limiting spring 3, and the driving teeth 4 are tightly meshed with the ratchet-shaped microstructure on the rotor 1 under the action of the pretightening force of the driving spring 5, so that the determination of the initial position of the driving system is realized.
As shown in fig. 3, without losing generality, it is assumed that the transverse linear driver 6 extends d, and drives the driving teeth 4 to feed leftwards through the driving springs 5, the driving teeth 4 overcome the friction force between the limiting teeth 2 and the inclined surface of the ratchet-shaped microstructure of the mover 1, and transmit power to the mover through the contact of the driving teeth with the vertical surface of the ratchet-shaped microstructure of the mover 1, meanwhile, the limiting teeth 2 vertically displace upwards to compress the limiting springs 3, and it is worth specifically explaining that the limiting springs 3 and the limiting teeth 2 do not displace in the horizontal direction, and the displacement of the driving springs 4 and the driving teeth 5 in the horizontal direction is always consistent with the horizontal displacement of the transverse linear driver 6.
As shown in fig. 4, the transverse linear driver 6 continues to extend to the tooth pitch D of the ratchet-shaped microstructure, and at this time, the driving teeth 4 overcome the friction force between the limiting teeth 2 and the mover to drive the mover to complete the displacement of the distance D to the left, and since the limiting spring 3 cannot generate displacement in the horizontal direction, the limiting spring 3 is compressed to the limit position.
As shown in fig. 5, when the transverse linear driver 6 drives the mover to complete the displacement with the distance D, the spacing teeth 2 are separated from contact with the ratchet-shaped microstructure of the mover, and are rapidly pressed onto the next ratchet-shaped microstructure of the mover 1 under the action of the spacing springs 3.
As shown in fig. 6, without loss of generality, it is assumed that the transverse linear driver 6 shortens d, and drives the driving teeth 4 to feed rightwards through the driving springs 5, the driving teeth 4 cannot overcome the contact force between the limiting teeth 2 and the vertical surface of the ratchet-shaped microstructure of the mover by the friction force between the driving teeth 4 and the inclined surface of the ratchet-shaped microstructure of the mover 1, and power is transmitted to the mover, so that the mover will not generate displacement at the moment, and meanwhile, the driving teeth 2 vertically displace upwards to compress the limiting springs 5.
As shown in fig. 7, the transversal linear actuator 6 continues to shorten until returning to the original length, at which time the driving teeth 4 will complete the displacement by distance D to the right, the mover will remain motionless under the contact force of the spacing teeth 2 and the mover, since the displacement of the driving spring 5 in the horizontal direction always coincides with the horizontal displacement of the transversal linear actuator 6, at which time the driving spring 5 will be compressed to the extreme position.
As shown in fig. 8, when the transverse linear actuator 6 shortens until it returns to its original length and brings the drive tooth 4 to complete the rightward displacement of distance D, the drive tooth 4 will be out of contact with the ratchet-shaped microstructure of the mover and will be rapidly pressed onto the next ratchet-shaped microstructure of the mover 1 under the action of the drive spring 5.
So far, the system returns to the initial state that the limiting teeth 2 and the driving teeth 4 are engaged, the motion of the whole motion period is completed, and the unidirectional displacement D to the left is realized.
The principle of self-cancellation accumulated error of the ratchet-based stick-slip piezoelectric stepper motor is shown in fig. 9, and for ease of understanding and without loss of generality, the following example will be described with a feed distance of 1.5D.
Without loss of generality, it is assumed that in fig. 4, the transverse linear driver 6 continues to extend to 1.5D, at this time, the driving tooth 4 overcomes the friction force between the limiting tooth 2 and the mover to drive the mover to complete the displacement with the leftward distance of 1.5D, however, when the transverse linear driver 6 shortens, the transverse linear driver 6 drives the driving tooth 4 to feed rightward through the driving spring 5, the mover 1 will displace rightward under the action of the friction force between the driving tooth 4 and the inclined plane of the ratchet-shaped microstructure and the friction force between the limiting tooth 2 and the inclined plane of the ratchet-shaped microstructure until the limiting tooth 2 contacts with the vertical plane of the ratchet-shaped microstructure, at this time, the displacement of the mover will be a single tooth distance D, and thereafter, the driving tooth 4 cannot transmit power to the mover through the friction force between the limiting tooth 2 and the inclined plane of the ratchet-shaped microstructure on the mover 1 to overcome the contact force between the limiting tooth 2 and the vertical plane of the ratchet-shaped microstructure, therefore, at this time, the mover will not generate displacement, i.e. the displacement of the mover will stay at the single tooth distance D to the left, i.e. the function of self-elimination of accumulated errors can be achieved.
Therefore, the self-elimination function of accumulated errors is realized by adopting the adhesive sliding type piezoelectric stepping motor based on the ratchet, the running cost is reduced, and the practicability is higher.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. A stick-slip piezoelectric stepper motor based on ratchets, which is characterized in that: the linear guide rail comprises a rotor, a limiting stator system and a driving stator system, wherein the rotor is of a ratchet-shaped microstructure, the ratchet-shaped microstructure is fixedly connected to the linear guide rail, the limiting stator system consists of limiting teeth and limiting springs, and the driving stator system consists of driving teeth, driving springs and a transverse linear driver.
2. A ratchet-based stick-slip piezoelectric stepper motor as defined in claim 1, wherein: the limiting teeth are matched with the ratchet-shaped microstructure in the rotor, and the limiting spring is fixed on the frame.
3. A ratchet-based stick-slip piezoelectric stepper motor as defined in claim 1, wherein: the driving teeth are matched with the ratchet-shaped microstructure in the rotor, the transverse linear driver is fixed on the frame, and the driving spring is fixedly connected to the transverse linear driver.
4. A ratchet-based stick-slip piezoelectric stepper motor as defined in claim 1, wherein: in an initial state, the driving teeth and the limiting teeth are pressed on the rotor under the pretightening force of the driving spring and the limiting spring.
5. A ratchet-based stick-slip piezoelectric stepper motor as defined in claim 1, wherein: the displacement of the driving spring and the driving teeth in the horizontal direction is always consistent with the horizontal displacement of the transverse linear driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310679751.XA CN116633189A (en) | 2023-06-09 | 2023-06-09 | Adhesive sliding type piezoelectric stepping motor based on ratchets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310679751.XA CN116633189A (en) | 2023-06-09 | 2023-06-09 | Adhesive sliding type piezoelectric stepping motor based on ratchets |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116633189A true CN116633189A (en) | 2023-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310679751.XA Pending CN116633189A (en) | 2023-06-09 | 2023-06-09 | Adhesive sliding type piezoelectric stepping motor based on ratchets |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116633189A (en) |
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2023
- 2023-06-09 CN CN202310679751.XA patent/CN116633189A/en active Pending
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