CN116707349A - Single-driver walking type piezoelectric stepping motor based on ratchets - Google Patents

Single-driver walking type piezoelectric stepping motor based on ratchets Download PDF

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Publication number
CN116707349A
CN116707349A CN202310679753.9A CN202310679753A CN116707349A CN 116707349 A CN116707349 A CN 116707349A CN 202310679753 A CN202310679753 A CN 202310679753A CN 116707349 A CN116707349 A CN 116707349A
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CN
China
Prior art keywords
driving tooth
ratchet
tightening spring
base
driver
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Pending
Application number
CN202310679753.9A
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Chinese (zh)
Inventor
章阳坤
栾雨昂
陆文杰
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Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
Original Assignee
Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
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Application filed by Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology filed Critical Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
Priority to CN202310679753.9A priority Critical patent/CN116707349A/en
Publication of CN116707349A publication Critical patent/CN116707349A/en
Pending legal-status Critical Current

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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
    • 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

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  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

The invention discloses a single-driver walking type piezoelectric stepping motor based on ratchets, which comprises a base, wherein one side of the base is of a ratchet-shaped microstructure, a first driving tooth and a second driving tooth are connected to the base in a matched mode, the top of the first driving tooth is connected with a first pre-tightening spring, the bottom of the second driving tooth is connected with a second pre-tightening spring, and the tail ends of the first pre-tightening spring and the second pre-tightening spring are connected with flexible hinges. The single-driver walking type piezoelectric stepping motor based on the ratchet is adopted, self calibration of the motor in the assembly process is achieved, the assembly difficulty is greatly reduced, meanwhile, the structure is simplified, and the practicability is effectively improved.

Description

Single-driver walking type piezoelectric stepping motor based on ratchets
Technical Field
The invention relates to the technical field of precise driving and positioning, in particular to a single-driver walking type piezoelectric stepping motor based on ratchets.
Background
The piezoelectric actuator 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 single-driver walking type piezoelectric stepping motor based on ratchets, which realizes self-calibration of the motor in the assembly process, greatly reduces the assembly difficulty, simplifies the structure and effectively improves the practicability.
In order to achieve the above purpose, the invention provides a single-driver walking type piezoelectric stepping motor based on ratchets, which comprises a base, wherein one side of the base is of a ratchet-shaped microstructure, a first driving tooth and a second driving tooth are connected to the base in a matched manner, the top of the first driving tooth is connected with a first pre-tightening spring, the bottom of the second driving tooth is connected with a second pre-tightening spring, and the tail ends of the first pre-tightening spring and the second pre-tightening spring are connected with flexible hinges.
Preferably, the base is fixed on the frame, and the ratchet-shaped microstructure is uniformly distributed with a tooth pitch of D and an inclination angle of theta.
Preferably, the flexible hinge is a tangential flexible hinge, and a piezoelectric linear driver is arranged in the flexible hinge.
Preferably, the displacement of the first pre-tightening spring and the second pre-tightening spring in the horizontal direction is respectively consistent with the horizontal displacement of the upper end and the lower end of the flexible hinge.
Preferably, the horizontal displacement of the first driving tooth and the second driving tooth is always consistent with the horizontal displacement of the first pre-tightening spring and the second pre-tightening spring.
Preferably, in the initial state, the first driving tooth and the second driving tooth are pressed on the base under the pretightening force of the first pretightening spring and the second pretightening spring respectively.
Therefore, the single-driver walking type piezoelectric stepping motor based on the ratchet is adopted, self calibration of the motor in the assembly process is realized, the assembly difficulty is greatly reduced, the structure is simplified, and the practicability is effectively improved.
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 a single-drive walking piezoelectric stepper motor embodiment based on ratchet teeth of the present invention;
FIG. 2 is a motion schematic of an embodiment of a single-actuator walk-behind piezoelectric stepper motor based on ratchets in accordance with the present invention;
FIG. 3 is a schematic diagram of the assembled self-calibration of a single-drive walking piezoelectric stepper motor embodiment based on ratchets of the present invention.
Reference numerals
1. A base; 2. a first drive tooth; 3. a first pre-tension spring; 4. a flexible hinge; 5. a second pre-tension spring; 6. and a second drive tooth.
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.
Example 1
As shown in fig. 1-3, the invention provides a single-driver walking type piezoelectric stepping motor based on ratchets, which comprises a base 1, wherein one side of the base 1 is provided with a ratchet-shaped microstructure, the base 1 is fixed on a frame, and the ratchet-shaped microstructure is uniformly distributed with a tooth pitch of D and an inclination angle of theta.
The base 1 is connected with a first driving tooth 2 and a second driving tooth 6 in a matched mode, the top of the first driving tooth 2 is connected with a first pre-tightening spring 3, the bottom of the second driving tooth 6 is connected with a second pre-tightening spring 5, and the tail ends of the first pre-tightening spring 3 and the second pre-tightening spring 5 are connected with a flexible hinge 4. The flexible hinge 4 is a tangential flexible hinge, and a piezoelectric linear actuator is arranged inside the flexible hinge 4.
The displacement of the first pre-tightening spring 3 and the second pre-tightening spring 5 in the horizontal direction is respectively consistent with the horizontal displacement of the upper end and the lower end of the flexible hinge 4. The horizontal displacement of the first driving teeth 2 and the second driving teeth 6 is always consistent with the horizontal displacement of the first pre-tightening springs 3 and the second pre-tightening springs 5. In the initial state, the first driving tooth 2 and the second driving tooth 6 are respectively pressed on the base under the pretightening force of the first pretightening spring 3 and the second pretightening spring 5.
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 piezoelectric actuator is shown in fig. 2, and the movement condition is as follows:
(a) In the initial state, the piezoelectric linear driver is not stretched, the upper end and the lower end of the flexible hinge 4 are not relatively displaced, the first driving teeth 2 are tightly meshed with the ratchet-shaped microstructure on the base 1 under the pretightening force of the first pretightening spring 3, and the second driving teeth 6 are tightly meshed with the ratchet-shaped microstructure on the base 1 under the pretightening force of the second pretightening spring 5, so that the determination of the initial position of the driving system is realized.
(b) Without loss of generality, assuming that the piezoelectric linear driver longitudinally stretches, the upper end and the lower end of the flexible hinge 4 generate relative displacement with the distance d, the lower end of the flexible hinge 4 drives the first driving tooth 2 to overcome the friction force between the first driving tooth and the inclined surface of the ratchet-shaped microstructure of the base to feed rightwards through the first pre-tightening spring 3, and meanwhile, the first driving tooth 2 horizontally displaces rightwards and compresses the first pre-tightening spring 3. The upper end of the flexible hinge 4 also tends to move leftwards, but the driving force transmitted to the second driving tooth 6 by the second pre-tightening spring 5 cannot overcome the contact force of the second driving tooth 6 with the horizontal plane of the ratchet-shaped microstructure of the base, so that the upper end of the flexible hinge 4 is kept still.
(c) The piezoelectric linear driver continues to extend until the lower end of the flexible hinge 4 generates displacement with the rightward tooth pitch of D, and the first driving tooth 2 is driven by the first pre-tightening spring 3 to overcome the friction force between the first driving tooth and the inclined plane of the ratchet-shaped microstructure of the base 1, so that the displacement with the rightward tooth pitch of D is completed, the first pre-tightening spring 3 is compressed to the limit position, and the upper end of the flexible hinge 4 is kept motionless because the contact force between the second driving tooth 6 and the horizontal plane of the ratchet-shaped microstructure of the base cannot be overcome.
(d) When the piezoelectric linear driver drives the flexible hinge 4 and drives the first driving tooth 2 to complete the displacement with the rightward distance D through the first pre-tightening spring 3, the first driving tooth 2 is separated from contact with the ratchet-shaped microstructure of the base, and is rapidly pressed onto the next ratchet-shaped microstructure of the base 1 under the action of the first pre-tightening spring 3.
(e) Without loss of generality, assuming that the piezoelectric linear driver shortens longitudinally, the upper end and the lower end of the flexible hinge 4 generate relative displacement with the distance d, the upper end of the flexible hinge 4 drives the second driving teeth 6 to overcome the friction force between the second driving teeth and the inclined surface of the ratchet-shaped microstructure of the base to feed rightwards through the second pre-tightening spring 5, and meanwhile, the second driving teeth 6 displace rightwards horizontally and compress the second pre-tightening spring 5. The lower end of the flexible hinge 4 also has a tendency to move leftwards, but the driving force transmitted to the first driving tooth 2 through the first pre-tightening spring 3 cannot overcome the contact force between the first driving tooth 2 and the horizontal plane of the ratchet-shaped microstructure of the base, so that the lower end of the flexible hinge 4 is kept motionless.
(f) The piezoelectric linear driver continues to shorten until the piezoelectric linear driver returns to the original length until the upper end of the flexible hinge 4 generates displacement of the tooth pitch D of the ratchet-shaped microstructure to the right, and the second driving tooth 6 is driven by the second pre-tightening spring 5 to overcome the friction force between the second driving tooth 6 and the inclined plane of the ratchet-shaped microstructure of the base to finish the displacement of the distance D to the right, the second pre-tightening spring 5 is compressed to the limit position, and the lower end of the flexible hinge 4 is kept still because the contact force between the first driving tooth 2 and the horizontal plane of the ratchet-shaped microstructure of the base cannot be overcome.
(g) When the piezoelectric linear actuator shortens until the piezoelectric linear actuator returns to the original length, the upper end and the lower end of the flexible hinge 4 are not relatively displaced, and at the moment, the second pretension spring 5 drives the second driving tooth 6 to complete the rightward displacement with the distance D, the second driving tooth 6 is separated from contact with the ratchet-shaped microstructure of the base, and is rapidly pressed onto the next ratchet-shaped microstructure of the base 1 under the action of the second pretension spring 5.
So far, the piezoelectric linear driver is restored to the initial length, the upper end and the lower end of the flexible hinge 4 have no relative displacement, the system returns to the initial state that the first driving tooth 2 and the second driving tooth 6 are engaged, the motion of a whole motion period is completed, and the rightward unidirectional displacement D is realized in a similar double-foot alternating walking mode.
The self-calibration principle of the ratchet-based single-driver walking piezoelectric stepper motor during assembly is shown in fig. 3, and for convenience of understanding and without loss of generality, the case that a relative displacement delta exceeding the tooth pitch D of the ratchet-shaped microstructure exists at the upper end and the lower end of the flexible hinge 4 during assembly will be described.
Without loss of generality, if there is a relative displacement delta exceeding the tooth pitch D of the ratchet-shaped microstructure at the upper and lower ends of the flexible hinge 4 in the assembly process, when the piezoelectric linear driver is shortened, the upper end of the flexible hinge 4 is driven to displace rightward, the second driving tooth 6 is driven by the second pre-tightening spring 5 to overcome the friction force between the second driving tooth and the inclined plane of the ratchet-shaped microstructure of the base, the displacement of the right distance D is completed, and the lower end of the flexible hinge 4 is kept motionless until the upper end of the flexible hinge 4 completes the displacement of the right distance delta, the piezoelectric linear driver is not stretched, and the upper and lower ends of the flexible hinge 4 are not displaced relatively, so that the self-calibration function in the assembly process is realized.
Therefore, the single-driver walking type piezoelectric stepping motor based on the ratchet is adopted, self calibration of the motor in the assembly process is realized, the assembly difficulty is greatly reduced, the structure is simplified, and the practicability is effectively improved.
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 (6)

1. A single-driver walking type piezoelectric stepping motor based on ratchets is characterized in that: the novel ratchet type hydraulic clutch is characterized by comprising a base, wherein one side of the base is of a ratchet-shaped microstructure, a first driving tooth and a second driving tooth are connected to the base in a matched mode, a first pre-tightening spring is connected to the top of the first driving tooth, a second pre-tightening spring is connected to the bottom of the second driving tooth, and flexible hinges are connected to the tail ends of the first pre-tightening spring and the second pre-tightening spring.
2. A single-driver ratchet-based walk piezoelectric stepper motor according to claim 1, wherein: the base is fixed on the frame, and the ratchet-shaped microstructure is evenly distributed with tooth pitch D and inclination theta.
3. A single-driver ratchet-based walk piezoelectric stepper motor according to claim 1, wherein: the flexible hinge is a tangential flexible hinge, and a piezoelectric linear driver is arranged in the flexible hinge.
4. A single-driver ratchet-based walk piezoelectric stepper motor according to claim 1, wherein: and the displacement of the first pre-tightening spring and the second pre-tightening spring in the horizontal direction is respectively consistent with the horizontal displacement of the upper end and the lower end of the flexible hinge.
5. A single-driver ratchet-based walk piezoelectric stepper motor according to claim 1, wherein: the horizontal displacement of the first driving tooth and the second driving tooth is always consistent with the horizontal displacement of the first pre-tightening spring and the second pre-tightening spring.
6. A single-driver ratchet-based walk piezoelectric stepper motor according to claim 1, wherein: in an initial state, the first driving tooth and the second driving tooth are respectively pressed on the base under the pretightening force action of the first pretightening spring and the second pretightening spring.
CN202310679753.9A 2023-06-09 2023-06-09 Single-driver walking type piezoelectric stepping motor based on ratchets Pending CN116707349A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310679753.9A CN116707349A (en) 2023-06-09 2023-06-09 Single-driver walking type piezoelectric stepping motor based on ratchets

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310679753.9A CN116707349A (en) 2023-06-09 2023-06-09 Single-driver walking type piezoelectric stepping motor based on ratchets

Publications (1)

Publication Number Publication Date
CN116707349A true CN116707349A (en) 2023-09-05

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310679753.9A Pending CN116707349A (en) 2023-06-09 2023-06-09 Single-driver walking type piezoelectric stepping motor based on ratchets

Country Status (1)

Country Link
CN (1) CN116707349A (en)

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