CN205430090U - Piezoelectricity vibrating running gear - Google Patents
Piezoelectricity vibrating running gear Download PDFInfo
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- CN205430090U CN205430090U CN201620106559.7U CN201620106559U CN205430090U CN 205430090 U CN205430090 U CN 205430090U CN 201620106559 U CN201620106559 U CN 201620106559U CN 205430090 U CN205430090 U CN 205430090U
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- piezoelectric vibrator
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Abstract
The utility model relates to a piezoelectricity vibrating running gear, include: base member and four piezoelectric vibrator that the size is the same, wherein: the base member is rectangle thin plate structure, and four piezoelectric vibrator mounting grooves that the size is the same are arranged to lower bottom surface, piezoelectric vibrator mounting groove degree of depth direction with the base member lower surface becomes certain angle but the out of plumb, piezoelectric vibrator by the elasticity base plate with paste above that the piezoelectricity sheeting of lower surface and constitute, four piezoelectric vibrator install respectively in four piezoelectric vibrator mounting grooves. This driver is placed on the plane of working, piezoelectric vibrator applys alternating voltage and takes place the cyclic bending deformation, and this mechanism of reaction force drive that the working face produced gos forward. The device mainly used bionic robot, survey field such as rescue, have simple structure, direction of motion advantage such as adjustable.
Description
Technical field
The invention belongs to Piezoelectric Driving field, be specifically related to a kind of piezoelectric vibration formula walking mechanism.
Background technology
Development along with science and technology, micro drives technology occupies increasingly consequence in the ambits such as ultraprecise machinery and manufacture, bio-robot, detection and rescue, biologic medical, and the different bio-robot of various forms and next-generation drive are developed successively.Along with the development of piezoelectric driving technology, field is driven to show one's talent with the driver that piezoelectric ceramics is Core Feature material at Ultra-precision positioning.Piezoelectric ceramic actuator has the advantages such as energy density big, fast response time, resolution height, electromagnetism interference, low temperature resistant vacuum environment.But, existing piezoelectric type mini drive structure complexity, processing difficulties, relatively costly, it mostly is rotation or straight-line motion mechanism, and stroke is limited, seriously limit its application in producing reality.For meeting job demand, generally requiring multidirectional movement output, this just determines needs to attach together multiple single-degree-of-freedom sets of drive units to join use, causes structure complicated and size is bigger than normal, and overall assembling deviation accumulation is too high.Therefore, design a kind of simple in construction, have the direction of motion adjust function microminiature driver the most particularly significant.
Summary of the invention
Complicated in order to solve the most general microminiature piezoelectric actuator structure, relatively costly, the problem that driving force is poor and the direction of motion is single, propose a kind of piezoelectric vibration formula walking mechanism, this mechanism is made up of the piezoelectric vibrator that matrix and four sizes are identical, there is cyclic bending deformation in the energising of described piezoelectric vibrator, owing to piezoelectric vibrator is in tilted layout, the component of the horizontal direction of its counteracting force contacted with work surface can make this walking mechanism form the driving force of horizontal direction, when the drive control signal difference being applied on four piezoelectric vibrators, this walking mechanism can realize curvilinear motion.The present invention is compared with existing piezoelectric actuator, and simple in construction, cost is relatively low, and has direction of motion adjustment function.
To achieve these goals, the present invention is by the following technical solutions:
One piezoelectric vibration formula walking mechanism of the present invention, including the piezoelectric vibrator that: matrix and four sizes are identical, wherein: described matrix is rectangular thin plate structure, bottom surface is disposed with four identical piezoelectric vibrator mounting grooves of size；Described piezoelectric vibrator mounting groove depth direction and described matrix lower surface be angled but out of plumb；Described four piezoelectric vibrator mounting groove incline directions are identical with angle of inclination；Described piezoelectric vibrator is made up of elastic base plate and the piezoelectric sheet material being pasted onto its upper and lower surface；Described piezoelectric vibrator mounting groove cross sectional dimensions is identical with described elastic base plate cross sectional dimensions；Described four piezoelectric vibrators are arranged in four piezoelectric vibrator mounting grooves by the way of bonding.
Described four piezoelectric vibrators can apply identical driving signal, makes this walking mechanism realize straight ahead motion, and its direction of motion is the direction that piezoelectric vibrator free end tilts；Or the piezoelectric vibrator of the direction of motion left and right sides applies different driving signals, i.e. apply different voltage and frequency, make this walking mechanism realize turning function.
The lower surface arrangement of described matrix has M row N row piezoelectric vibrator mounting groove and the piezoelectric vibrator of respective amount, and wherein M is more than or equal to 1, and N is more than or equal to 1, and each piezoelectric vibrator mounting groove incline direction is identical with angle of inclination.
During work, this piezoelectric vibration formula walking mechanism being placed on working face, the free end of described piezoelectric vibrator contacts with working face.Described piezoelectric vibrator applies alternating voltage and brings it about cyclic bending deformation, owing to piezoelectric vibrator is in tilted layout, the component of the horizontal direction of its counteracting force contacted with work surface can make this walking mechanism form the driving force of horizontal direction, the opening direction that its direction of motion is acutangulated by piezoelectric vibrator and matrix；When applying different control signal (voltage, frequencies etc.) on the piezoelectric vibrator in the direction of motion left and right sides, during the horizontal component difference that the piezoelectric vibrator of the left and right sides, substrate motion direction is subject to, this walking mechanism can realize curvilinear motion.
Accompanying drawing explanation
Fig. 1 is one piezoelectric vibration formula walking mechanism structural representation of the present invention.
Fig. 2 is the component of the present invention a kind of piezoelectric vibration formula walking mechanism and installs relation schematic diagram.
Detailed description of the invention
Seeing figures.1.and.2, the piezoelectric vibrator 2 that the present invention a kind of piezoelectric vibration formula walking mechanism is identical with four sizes by matrix 1 is constituted, wherein:
Described matrix 1 is rectangular thin plate structure, and bottom surface is disposed with four identical piezoelectric vibrator mounting grooves 11 of size；Described piezoelectric vibrator mounting groove 11 depth direction and described matrix 1 lower surface be angled but out of plumb；Described four piezoelectric vibrator mounting groove 11 incline directions are identical with angle of inclination；Described piezoelectric vibrator 2 is made up of elastic base plate 21 and the piezoelectric sheet material 22 being pasted onto its upper and lower surface；Described piezoelectric vibrator mounting groove 11 cross sectional dimensions is identical with described elastic base plate 21 cross sectional dimensions；Described four piezoelectric vibrators 2 are separately mounted in four piezoelectric vibrator mounting grooves 11.
Described four piezoelectric vibrators 2 can apply identical driving signal, makes this walking mechanism realize straight ahead motion, the opening direction that its direction of motion is acutangulated by piezoelectric vibrator 2 and matrix 1；Or the piezoelectric vibrator 2 of the direction of motion left and right sides applies different driving signals, i.e. apply different voltage and frequency, make this walking mechanism realize the direction of motion and adjust function.
The mode that the piezoelectric vibrator mounting groove 11 of the lower surface of described matrix 1 is arranged by 2 row 2 is arranged, and is disposed with four piezoelectric vibrators 2.
During work, this piezoelectric vibration formula walking mechanism being placed on working face, the free end of described piezoelectric vibrator 2 contacts with working face.Described piezoelectric vibrator 2 applies alternating voltage and brings it about cyclic bending deformation, owing to piezoelectric vibrator 2 is in tilted layout, the component of the horizontal direction of its counteracting force contacted with work surface can make this walking mechanism form the driving force of horizontal direction, i.e. realizes step-type forward travel.
Claims (3)
1. a piezoelectric vibration formula walking mechanism, including: the piezoelectric vibrator (2) that matrix (1) is identical with four sizes, it is characterized in that described piezoelectric vibrator (2) and matrix (1) be angled but out of plumb, wherein: described matrix (1) is rectangular thin plate structure, bottom surface is disposed with four identical piezoelectric vibrator mounting grooves (11) of size；Described piezoelectric vibrator mounting groove (11) depth direction and described matrix (1) lower surface be angled but out of plumb；Described four piezoelectric vibrator mounting groove (11) incline directions are identical with angle of inclination；Described piezoelectric vibrator (2) is by elastic base plate (21) and is pasted onto the piezoelectric sheet material (22) of its upper and lower surface and forms；Described piezoelectric vibrator mounting groove (11) cross sectional dimensions is identical with described elastic base plate (21) cross sectional dimensions；Described four piezoelectric vibrators (2) are separately mounted in four piezoelectric vibrator mounting grooves (11).
Piezoelectric vibration formula walking mechanism the most according to claim 1, it is characterized in that: described four piezoelectric vibrators (2) can apply identical driving signal, this walking mechanism is made to realize straight ahead motion, the opening direction that its direction of motion is acutangulated by piezoelectric vibrator (2) and matrix (1)；Or the piezoelectric vibrator (2) of the direction of motion left and right sides applies different driving signals, i.e. apply different voltage and frequency, make this walking mechanism realize the direction of motion and adjust function.
Piezoelectric vibration formula walking mechanism the most according to claim 1, it is characterized in that: the lower surface arrangement of described matrix (1) has M row N row piezoelectric vibrator mounting groove (11) and the piezoelectric vibrator (2) of respective amount, wherein M is more than or equal to 1, N is more than or equal to 1, and each piezoelectric vibrator mounting groove (11) incline direction is identical with angle of inclination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620106559.7U CN205430090U (en) | 2016-02-02 | 2016-02-02 | Piezoelectricity vibrating running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620106559.7U CN205430090U (en) | 2016-02-02 | 2016-02-02 | Piezoelectricity vibrating running gear |
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| CN205430090U true CN205430090U (en) | 2016-08-03 |
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| CN201620106559.7U Active CN205430090U (en) | 2016-02-02 | 2016-02-02 | Piezoelectricity vibrating running gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105553327A (en) * | 2016-02-02 | 2016-05-04 | 吉林大学 | Piezoelectric vibration travelling mechanism |
| CN106628022A (en) * | 2016-12-22 | 2017-05-10 | 苏州市职业大学 | Piezoelectrically-driven unmanned surface robot |
-
2016
- 2016-02-02 CN CN201620106559.7U patent/CN205430090U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105553327A (en) * | 2016-02-02 | 2016-05-04 | 吉林大学 | Piezoelectric vibration travelling mechanism |
| CN106628022A (en) * | 2016-12-22 | 2017-05-10 | 苏州市职业大学 | Piezoelectrically-driven unmanned surface robot |
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