CN117060778A - Meshing peristaltic piezoelectric mobile device and driving method thereof - Google Patents
Meshing peristaltic piezoelectric mobile device and driving method thereof Download PDFInfo
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- CN117060778A CN117060778A CN202311024196.3A CN202311024196A CN117060778A CN 117060778 A CN117060778 A CN 117060778A CN 202311024196 A CN202311024196 A CN 202311024196A CN 117060778 A CN117060778 A CN 117060778A
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- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 abstract description 14
- 230000005021 gait Effects 0.000 abstract description 5
- 238000003379 elimination reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000737 periodic effect Effects 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
- H02N2/04—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
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses an engagement peristaltic piezoelectric moving device and a driving method thereof, wherein the engagement peristaltic piezoelectric moving device comprises a base, driving teeth, a transverse piezoelectric driver and a flexible hinge mechanism, the driving teeth comprise a first driving tooth, a second driving tooth, a third driving tooth, a fourth driving tooth, a fifth driving tooth and a sixth driving tooth, the transverse piezoelectric driver comprises a first transverse piezoelectric linear driver, a second transverse piezoelectric linear driver and a third transverse piezoelectric linear driver, and the flexible hinge mechanism comprises a first flexible hinge mechanism, a second flexible hinge mechanism and a third flexible hinge mechanism. The meshing peristaltic piezoelectric moving device and the driving method thereof can realize high self-locking performance, large stroke, high displacement resolution and self-elimination of gait accumulated errors.
Description
Technical Field
The invention relates to the technical field of precise driving and positioning, in particular to a meshing peristaltic piezoelectric mobile device and a driving method thereof.
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 driving principle of the existing piezoelectric actuator is basically that the periodic micro-motion of the piezoelectric stator is converted into the stepping motion of the base through the transmission of friction force of a friction interface. However, due to the complexity of friction variation and uncertainty of friction interfaces, the driving methods of these piezoelectric actuators have gait inconsistencies and accumulated gait errors, which require a complex closed-loop control system to achieve accurate positioning. The complex closed-loop control system not only requires high-span and high-precision sensors and controllers (which are expensive and take up volume), increases the cost, limits the development of miniaturization, but also reduces the reliability in practical application.
Disclosure of Invention
The invention aims to provide an engagement peristaltic piezoelectric moving device and a driving method thereof, which not only can realize high self-locking performance and large stroke, but also can realize high displacement resolution and self-elimination of gait accumulated errors.
In order to achieve the above purpose, the invention provides a meshing peristaltic piezoelectric mobile device and a driving method thereof, wherein the meshing peristaltic piezoelectric mobile device comprises a base, driving teeth, a transverse piezoelectric driver and a flexible hinge mechanism, the driving teeth comprise a first driving tooth, a second driving tooth, a third driving tooth, a fourth driving tooth, a fifth driving tooth and a sixth driving tooth, the transverse piezoelectric driver comprises a first transverse piezoelectric linear driver, a second transverse piezoelectric linear driver and a third transverse piezoelectric linear driver, and the flexible hinge mechanism comprises a first flexible hinge mechanism, a second flexible hinge mechanism and a third flexible hinge mechanism.
Preferably, the base is a rectangular microstructure.
Preferably, the tooth width of the rectangular microstructure of the base is D, the tooth height of the rectangular microstructure of the base is h, the tooth width of the driving tooth is D, and the tooth width of the driving tooth is D which is equal to the tooth spacing D of the rectangular microstructure of the base.
Preferably, in the initial state, the driving teeth are pressed on the base under the action of the pretightening force of the flexible hinge mechanism.
Preferably, the flexible hinge mechanisms deform under the action of the transverse piezoelectric linear driver, and the flexible hinge mechanisms are rigidly connected.
Therefore, the meshing peristaltic piezoelectric moving device and the driving method thereof adopting the structure not only can realize high self-locking performance and large stroke, but also can realize self-elimination of high displacement resolution and gait accumulated errors.
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 meshing peristaltic piezoelectric mobile device and a driving method thereof according to the present invention;
FIG. 2 is a schematic diagram showing an initial state of a structure of an meshing peristaltic type piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a meshing peristaltic piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of a meshing peristaltic piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the structure of a meshing peristaltic piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the structure of a meshing peristaltic piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the structure of a meshing peristaltic piezoelectric mobile device and a driving method thereof according to an embodiment of the present invention;
reference numerals
1. A base; 2. a first flexible hinge mechanism; 3. a first drive tooth; 4. a second drive tooth; 5. a first transverse piezoelectric linear actuator; 6. a second flexible hinge mechanism; 7. a third drive tooth; 8. a fourth driving tooth, 9 and a second transverse piezoelectric linear driver; 10. a third flexible hinge mechanism; 11. a fifth drive tooth; 12. a sixth drive tooth; 13. and a third transverse piezoelectric linear actuator.
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, the invention discloses a meshing peristaltic piezoelectric mobile device and a driving method thereof, the meshing peristaltic piezoelectric mobile device comprises a base 1, driving teeth, a transverse piezoelectric linear driver and a flexible hinge mechanism, wherein the base 1 is of a rectangular microstructure, the tooth pitch of the rectangular microstructure of the base 1 is D, the tooth width of the rectangular microstructure of the base 1 is D, the tooth height of the rectangular microstructure of the base 1 is h, the tooth width of the driving teeth is D, the driving teeth comprise a first driving tooth 3, a second driving tooth 4, a third driving tooth 7, a fourth driving tooth 8, a fifth driving tooth 11 and a sixth driving tooth 12, the transverse piezoelectric driver comprises a first transverse piezoelectric linear driver 5, a second transverse piezoelectric linear driver 9 and a third transverse piezoelectric linear driver 13, the flexible hinge mechanism comprises a first flexible hinge mechanism 2, a second flexible hinge mechanism 6 and a third flexible hinge mechanism 10, the driving teeth are pressed on the base 1 under the action of the pretightening force of the flexible hinge mechanism in an initial state, and the flexible hinge mechanism is deformed under the action of the transverse piezoelectric linear driver, and the flexible hinge mechanism is rigidly connected.
As shown in fig. 1, the transverse piezoelectric linear driver does not stretch, the first driving tooth 3 and the second driving tooth 4 are tightly meshed with the rectangular microstructure on the base 1 under the action of the pretightening force of the first flexible hinge 2, the third driving tooth 7 and the fourth driving tooth 8 are tightly meshed with the rectangular microstructure on the base 1 under the action of the pretightening force of the second flexible hinge, and the fifth driving tooth 11 and the sixth driving tooth 12 are tightly meshed with the rectangular microstructure on the base 1 under the action of the pretightening force of the third flexible hinge.
As shown in fig. 2, assuming that the third transverse piezoelectric linear actuator 13 is electrically elongated by T, the fifth driving tooth 11 and the sixth driving tooth 12 are driven by the third flexible hinge 10 to respectively feed upward and downward by a distance H against the friction force in the vertical direction of the rectangular microstructure of the base 1 (wherein the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure on the base 1), so that the fifth driving tooth 11 and the sixth driving tooth 12 are disengaged from the rectangular microstructure on the base 1, while the first transverse piezoelectric linear actuator 5 and the second transverse piezoelectric linear actuator 9 remain stationary, but the flexible hinge 6 and the first flexible hinge 2 are both subjected to the reaction force in the leftward direction transferred by the third transverse piezoelectric linear actuator 13 by the rigid connection between the third flexible hinge 10 and the second flexible hinge 6 and the rigid connection between the flexible hinge 2, and cannot overcome the horizontal square contact between the first driving tooth 3, the second driving tooth 4, the third driving tooth 7 and the fourth driving tooth 8 and the rectangular microstructure on the base 1, so that the flexible hinge 6 and the flexible hinge 2 remain stationary.
As shown in fig. 3, under the condition that the third transverse piezoelectric linear driver 13 is kept constant in power-on elongation, the second transverse piezoelectric linear driver 9 is kept constant in power-on elongation T, the second flexible hinge 6 drives the third driving teeth 7 and the fourth driving teeth 8 to respectively feed upwards and downwards by a distance H against the friction force of the third driving teeth 7 and the fourth driving teeth 8 in the vertical direction with the rectangular microstructure of the base 1 (wherein the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure of the base 1), so that the third driving teeth 7 and the fourth driving teeth 8 are disengaged from the rectangular microstructure of the base 1, and at the moment, the first transverse piezoelectric linear driver 5 and the third transverse piezoelectric linear driver 13 are kept still, and the displacement of the second transverse piezoelectric linear driver 9 is transmitted through the rigid connection between the third flexible hinge 10 and the second flexible hinge 6, so that the third transverse piezoelectric linear driver 13 and the third flexible hinge 10 together complete rightward displacement by the distance T. At this time, although the first flexible hinge 2 receives a reaction force in a leftward direction transmitted from the second transverse piezoelectric linear actuator 9 by the rigid connection between the second flexible hinge 6 and the first flexible hinge 2, there is a tendency to move in the leftward direction, but it cannot overcome the contact force in the horizontal direction of the first driving teeth 3, the second driving teeth 4 and the rectangular microstructure of the base 1, so that the flexible hinge 2 remains stationary.
As shown in fig. 4, under the condition that the second transverse piezoelectric linear actuator 9 is kept constant in the power-on elongation, the third transverse piezoelectric linear actuator 13 is powered on to elongate T, and the third flexible hinge 10 drives the fifth driving tooth 11 and the sixth driving tooth 12 to feed downwards and upwards by a distance H (wherein the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure on the base 1), so that the fifth driving tooth 11 and the sixth driving tooth 12 are meshed with the rectangular microstructure on the base 1, while the first transverse piezoelectric linear actuator 5 and the second transverse piezoelectric linear actuator 9 are kept still, but the second flexible hinge 6 and the first flexible hinge 2 are subjected to the reaction force transmitted by the third transverse piezoelectric linear actuator 13 in the rightward direction, and cannot overcome the contact force in the horizontal direction of the rectangular microstructure on the first driving tooth 3 and the second driving tooth 4 and the rectangular microstructure on the base 1, so that the first flexible hinge 6 and the second flexible hinge 2 are kept still by the rigid connection between the third flexible hinge 10 and the second flexible hinge 6 and the first flexible hinge 2.
As shown in fig. 5, under the condition that the second transverse piezoelectric linear driver 9 is kept to be electrified and elongated, the first transverse piezoelectric linear driver 5 is powered off and contracted by T, the first flexible hinge 2 drives the first driving tooth 3 and the second driving tooth 4 to respectively feed upwards and downwards by a distance H against the friction force in the vertical direction of the first flexible hinge 2 and the rectangular microstructure of the base 1 (wherein the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure of the base 1), so that the first driving tooth 3 and the second driving tooth 4 are disengaged from the rectangular microstructure of the base 1, and at the moment, the first transverse piezoelectric linear driver 5 and the second transverse piezoelectric linear driver 9 are kept to be motionless, but through the rigid connection between the third flexible hinge 10 and the second flexible hinge 6 and the rigid connection between the second flexible hinge 6 and the first flexible hinge 2, both the second flexible hinge 6 and the third flexible hinge 10 are subjected to the reaction force in the leftward direction transferred by the first transverse piezoelectric linear driver 5, and have the tendency to move leftwards, however, and the second flexible hinge 10 cannot keep both the second flexible hinge 10 and the third flexible hinge 10 in the leftward direction against the square contact of the driving teeth 11 and 12 and the rectangular microstructure of the base 1.
As shown in fig. 6, under the condition that the first transverse piezoelectric linear driver 5 is kept constant in power-on elongation, the second transverse piezoelectric linear driver 9 is powered off to shorten by T, the second flexible hinge 6 drives the third driving tooth 7 and the fourth driving tooth 8 to feed downwards and upwards by a distance H (wherein the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure on the base 1), so that the third driving tooth 7 and the fourth driving tooth 8 are meshed with the rectangular microstructure on the base 1, and at the moment, the first transverse piezoelectric linear driver 5 and the third transverse piezoelectric linear driver 13 are kept still, and the displacement of the second transverse piezoelectric linear driver 9 is transmitted through the rigid connection between the first flexible hinge 2 and the second flexible hinge 6, so that the second transverse piezoelectric linear driver 5 and the first flexible hinge 2 together complete the rightward displacement by the distance T. At this time, although the rigid connection between the second flexible hinge 6 and the third flexible hinge 10, the third flexible hinge 10 receives the reaction force in the leftward direction transmitted by the second transverse piezoelectric linear actuator 9, has a tendency to move in the leftward direction, but it cannot overcome the contact force in the horizontal direction of the fifth driving teeth 11, the sixth driving teeth 12 and the rectangular microstructure of the base 1, so the third flexible hinge 10 remains stationary.
As shown in fig. 7, the first transverse piezoelectric linear actuator 5 is powered off to shorten T, and the first driving teeth 3 and the second driving teeth 4 are driven by the first flexible hinge 2 to feed downward and upward by a distance H (where the displacement H in the vertical direction is greater than the tooth height H of the rectangular microstructure on the base 1), so that the first driving teeth 3 and the second driving teeth 4 are meshed with the rectangular microstructure on the base 1, and at this time, the first transverse piezoelectric linear actuator 5 and the second transverse piezoelectric linear actuator 9 remain stationary, but the second flexible hinge 6 and the third flexible hinge 10 are both subjected to a reaction force in the leftward direction, which is transmitted by the first transverse piezoelectric linear actuator 5, by the rigid connection between the third flexible hinge 10 and the second flexible hinge 6 and the rigid connection between the second flexible hinge 6 and the first flexible hinge 2, and have a tendency to move leftward, but cannot overcome the contact forces in the horizontal directions of the driving teeth 7, 8, 11, 12 and the rectangular microstructure on the base 1, so that the second flexible hinge 6 and the third flexible hinge 10 remain stationary.
The system returns to the initial state that the second driving tooth 4 and the fourth driving tooth 8 are engaged, the motion of the whole motion period is completed, and the unidirectional displacement T to the right is realized. Obviously, only the energizing sequence of the piezoelectric transverse piezoelectric linear driver is exchanged, so that the leftward single-step motion can be realized,
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. An engagement peristaltic piezoelectric moving device and a driving method thereof are characterized in that: the flexible hinge mechanism comprises a first flexible hinge mechanism, a second flexible hinge mechanism and a third flexible hinge mechanism.
2. The meshing peristaltic type piezoelectric moving device and driving method thereof according to claim 1, wherein: the base is of a rectangular microstructure.
3. The meshing peristaltic type piezoelectric moving device and driving method thereof according to claim 1, wherein: the tooth width of the rectangular microstructure of the base is D, the tooth height of the rectangular microstructure of the base is h, the tooth width of the driving teeth is D, and the tooth width of the driving teeth is D and is equal to the tooth spacing D of the rectangular microstructure of the base.
4. The meshing peristaltic type piezoelectric moving device and driving method thereof according to claim 1, wherein: in an initial state, the driving teeth are pressed on the base under the pretightening force of the flexible hinge mechanism.
5. The meshing peristaltic type piezoelectric moving device and driving method thereof according to claim 1, wherein: the flexible hinge mechanisms deform under the action of the transverse piezoelectric linear driver, and the flexible hinge mechanisms are rigidly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311024196.3A CN117060778A (en) | 2023-08-15 | 2023-08-15 | Meshing peristaltic piezoelectric mobile device and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311024196.3A CN117060778A (en) | 2023-08-15 | 2023-08-15 | Meshing peristaltic piezoelectric mobile device and driving method thereof |
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| CN117060778A true CN117060778A (en) | 2023-11-14 |
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| CN202311024196.3A Pending CN117060778A (en) | 2023-08-15 | 2023-08-15 | Meshing peristaltic piezoelectric mobile device and driving method thereof |
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| CN (1) | CN117060778A (en) |
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- 2023-08-15 CN CN202311024196.3A patent/CN117060778A/en active Pending
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