CN205666765U - Directional driver with compound foot support - Google Patents

Abstract

The utility model relates to a directional driver with compound foot support, include: piezoelectric vibrator, first supporting leg, second supporting leg, first foot support and second foot support, wherein: piezoelectric vibrator by the elastic medium board with paste above that the piezoelectric sheets material of lower surface and constitute, first supporting leg and second supporting leg are the rectangular thin plate structure, have certain elasticity, can realize the bending deformation of low -angle, arrange respectively at the piezoelectric vibrator both ends, first foot support and second foot support are formed by two kinds of material complexes that have different coefficient of friction, arrange respectively first supporting leg with on the second supporting leg, the device is as the driver, mainly used soft -bodied robot, surveys fields such as rescue, bio -medical treatment, has advantages such as simple structure, environmental suitability are strong.

Description

A kind of directional driver with compound foot bearing

Technical field

This utility model belongs to Piezoelectric Driving field, is specifically related to a kind of directional driver with compound foot bearing.

Background technology

Along with the development of science and technology, micro drives technology is rescued in ultraprecise machinery and manufacture thereof, accurate measurement, detection Help, the ambit such as biologic medical occupies increasingly consequence, what various forms was different have precision actuation, accurate fixed The next-generation drive of position is developed successively.Along with the development of piezoelectric driving technology, with piezoelectric ceramics for Core Feature material The driver of material drives field to show one's talent at Ultra-precision positioning.Piezoelectric ceramic actuator has that energy density is big, response speed Hurry up, the advantage such as resolution height, electromagnetism interference, low temperature resistant vacuum environment.But, existing piezoelectric type mini drive structure is multiple Miscellaneous, processing difficulties, being difficult to change rapid wear attrition component, and mostly be rigid structure, during work, driver is the most firm with working face Property contact, the requirement to working environment is of a relatively high, therefore designs the strong microminiature of a kind of simple in construction, environmental suitability and drives Device is the most particularly significant.

Summary of the invention

In order to solve the problem that the most general microminiature piezoelectric actuator structure is complicated, environmental suitability is poor, it is proposed that A kind of directional driver with compound foot bearing, this driver by piezoelectric vibrator, the first supporting leg, the second supporting leg, first Foot bearing and crus secunda bearing are constituted, and the energising of described piezoelectric vibrator occurs cyclic bending deformation, make two foot standoff distance increase Or reduce, foot bearing makes different coefficients of friction material alternately and work surface due to the existence of frictional force in reciprocatory movement Contact, therefore foot bearing forward is different with skidding distance during reverse movement, forms driving to direction, low-friction coefficient material place Kinetic force.This utility model is compared with existing piezoelectric actuator, and abrasion can after occurring mainly in two foot bearings and losing efficacy To change, therefore maintenance cost is low；On the other hand, driver contacts with work surface itself by flexible body foot bearing, it is to avoid Rigid contact, the requirement to work surface is relatively low, improves environmental suitability and driving force, can also extend in driver simultaneously The service life of piezoelectric ceramics.

To achieve these goals, this utility model is by the following technical solutions:

A kind of directional driver with compound foot bearing of this utility model, including: piezoelectric vibrator, the first supporting leg, Two supporting legs, the first foot bearing and crus secunda bearing, wherein: described piezoelectric vibrator is by elastic base plate and is attached to its upper and lower surface Piezoelectric sheet material forms；Described first supporting leg and the second supporting leg are rectangular thin plate structure, and size shape is identical；Institute State the first supporting leg and the second supporting leg has certain elasticity, it is possible to realize low-angle flexural deformation, diastrophic mesh Be in order to make different coefficients of friction material on compound foot bearing be easier to transition switching；The end face of described first supporting leg one end Being pasted onto the lower surface of described piezoelectric vibrator the first end, the other end is free end；The end face of described second supporting leg one end is pasted At the lower surface of described piezoelectric vibrator the second end, the other end is free end；Described first foot bearing is column structure, by two kinds of tools The material having different coefficients of friction is composited, and is i.e. glued by the first great friction coefficient material and the first low-friction coefficient material symmetry Connect and form；The size of described crus secunda bearing, structure, material are identical with described first foot bearing；Described first supporting leg Free end be connected by the way of bonding with described first foot bearing；The free end of described second supporting leg and described second Foot bearing is connected by the way of bonding；The first low-friction coefficient material on described first foot bearing is propped up with described crus secunda The second great friction coefficient material on seat is positioned opposite, or the first great friction coefficient material on described first foot bearing is with described The second low-friction coefficient material on crus secunda bearing is positioned opposite.

During work, driver is placed on working face, described first foot bearing and crus secunda bearing and working face Contact.Described piezoelectric vibrator applies alternating voltage and brings it about cyclic bending deformation, drive the first foot bearing and crus secunda Bearing is close to each other or is located remotely from each other.In foot bearing moving process, foot bearing, by the frictional force contrary with moving direction, rubs Wiping power makes foot bearing and supporting leg that certain twisting to occur, promote on two foot bearings the material of different coefficients of friction respectively with work Contact as face, thus two foot bearings produce different slippages.The operation principle schematic diagram of this driver is as shown in Figure 3: The left half-sections respectively first great friction coefficient material of this driver the first foot bearing and crus secunda bearing and the second height rub Wiping coefficient material, right half-sections is respectively the first low-friction coefficient material and the second low-friction coefficient material, works as piezoelectric vibrator When being not powered on, driver is naturalness, and supporting leg and foot bearing twist, as shown in Figure 3 a；When piezoelectric vibrator is energized When producing concave change shape, driving the first foot bearing and crus secunda bearing to be located remotely from each other, the frictional force that working face produces simultaneously makes to drive There is certain twisting in the supporting leg at dynamic device two ends and foot bearing, causes the first great friction coefficient material and work on the first foot bearing Making face contact, and the second low-friction coefficient material on crus secunda bearing contacts with work surface, therefore when the first foot bearing and the When two foot bearings are located remotely from each other, the skidding distance of the first foot bearing is significantly less than the skidding distance of crus secunda bearing, such as Fig. 3 b institute Show；When piezoelectric vibrator energising produces convex deformation, drive the first foot bearing and crus secunda bearing close to each other, now working face The direction produced changes, and the supporting leg of both sides and foot bearing produce the most again certain opposite direction twisting, now The first low-friction coefficient material on first foot bearing contacts with work surface, and the second great friction coefficient material on crus secunda bearing Matter contacts with work surface, and therefore when the first foot bearing and crus secunda bearing are close to each other, the skidding distance of the first foot bearing is obvious More than the skidding distance of crus secunda bearing, as shown in Figure 3 c, a cycle of operation is now completed；In like manner, it is energized when piezoelectric vibrator When again producing concave change shape, the skidding distance of the first foot bearing is significantly less than the skidding distance of crus secunda bearing, as shown in Figure 3 d. Within a cycle of piezoelectric vibrator energising cyclic bending deformation, the first foot bearing and crus secunda bearing is driven to be located remotely from each other or phase The most close, when the first foot bearing and crus secunda bearing are located remotely from each other, there is bigger sliding in crus secunda bearing, when the first foot props up When seat and crus secunda bearing are close to each other, there is bigger sliding in the first foot bearing, therefore at a power cycles inner driver A total step-length to the right can be produced.Under alternating voltage effect, this driver realizes the stepper drive ability of orientation.

Accompanying drawing explanation

Fig. 1 is a kind of directional driver structural representation with compound foot bearing of this utility model.

Fig. 2 is that a kind of directional driver with compound foot bearing of this utility model installs relation schematic diagram.

Fig. 3 is a kind of directional driver operation principle schematic diagram with compound foot bearing of this utility model.

Detailed description of the invention

With reference to Fig. 1, Fig. 2 and Fig. 3, this utility model is a kind of have the directional driver of compound foot bearing by piezoelectric vibrator 1, First supporting leg the 2, second supporting leg the 3, first foot bearing 4 and crus secunda bearing 5 are constituted, wherein:

Described piezoelectric vibrator 1 is made up of elastic base plate 11 and the piezoelectric sheet material 12 being attached to its upper and lower surface；Described One supporting leg 2 and the second supporting leg 3 are rectangular thin plate structure, and size shape is identical；Described first supporting leg 2 and second Support leg 3 has certain elasticity, it is possible to realize low-angle flexural deformation；The end face of described first supporting leg 2 one end is pasted onto The lower surface of described piezoelectric vibrator 1 first end, the other end is free end；The end face of described second supporting leg 3 one end is pasted onto institute Stating the lower surface of piezoelectric vibrator 1 second end, the other end is free end；Described first foot bearing 4 is column structure, is had by two kinds The material of different coefficients of friction is composited, i.e. symmetrical by the first great friction coefficient material 41 and the first low-friction coefficient material 42 Bonding form；The size of described crus secunda bearing 5, structure, material are identical with described first foot bearing 4；Described first The free end of support leg 2 is connected with described first foot bearing 4；The free end of described second supporting leg 3 is with described crus secunda bearing 5 even Connect；The first low-friction coefficient material 42 on described first foot bearing 4 and the second great friction coefficient on described crus secunda bearing 5 Material 51 is positioned opposite.

During work, driver being placed on working face, described first foot bearing 4 and crus secunda bearing 5 are flat with work Face contacts.Described piezoelectric vibrator 1 applies alternating voltage and brings it about cyclic bending deformation, during deformation, drive Two foot bearings are close to each other or are located remotely from each other, and foot bearing makes difference rub due to the existence of frictional force in reciprocatory movement Wiping coefficient material alternately to contact with work surface, therefore foot bearing forward is different with skidding distance during reverse movement, is formed and rubs to low Wipe the driving force in direction, coefficient material place.

Claims (1)

1. there is a directional driver for compound foot bearing, including: piezoelectric vibrator (1), the first supporting leg (2), the second support Lower limb (3), it is characterised in that also include two identical compound foot bearings, the i.e. first foot bearing (4) and crus secunda bearing (5), its In: described piezoelectric vibrator (1) is by elastic base plate (11) and is attached to the piezoelectric sheet material (12) of its upper and lower surface and forms；Described One supporting leg (2) and the second supporting leg (3) are rectangular thin plate structure, and size shape is identical；Described first supporting leg (2) and Second supporting leg (3) has certain elasticity, it is possible to realize low-angle flexural deformation；Described first supporting leg (2) one end End face is pasted onto the lower surface of described piezoelectric vibrator (1) first end, and the other end is free end；Described second supporting leg (3) one end End face be pasted onto the lower surface of described piezoelectric vibrator (1) second end, the other end is free end；Described first foot bearing (4) is Column structure, is composited by two kinds of materials with different coefficients of friction, i.e. by the first great friction coefficient material (41) and One low-friction coefficient material (42) symmetry is bonding to be formed；The size of described crus secunda bearing (5), structure, material and described first Foot bearing (4) is identical；The free end of described first supporting leg (2) is connected with described first foot bearing (4)；Described second The free end of support leg (3) is connected with described crus secunda bearing (5)；The first low-friction coefficient material on described first foot bearing (4) Matter (42) is positioned opposite with the second great friction coefficient material (51) on described crus secunda bearing (5), or described first foot bearing (4) the first great friction coefficient material (41) on and the second low-friction coefficient material (52) phase on described crus secunda bearing (5) To layout.