CN207801781U - A kind of bidirectional rotation driver with compound foot bearing - Google Patents
A kind of bidirectional rotation driver with compound foot bearing Download PDFInfo
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- CN207801781U CN207801781U CN201820050006.3U CN201820050006U CN207801781U CN 207801781 U CN207801781 U CN 207801781U CN 201820050006 U CN201820050006 U CN 201820050006U CN 207801781 U CN207801781 U CN 207801781U
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Abstract
The utility model is related to a kind of bidirectional rotation drivers with compound foot bearing, including：Pedestal, central rotating shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator, wherein：Pedestal is fixed, and central rotating shaft forms revolute pair with pedestal clearance fit, and circumferential piezoelectric actuator is in a rotationally symmetrical arrangement in central rotating shaft surrounding by connecting plate.When work, position base is fixed, applying alternating voltage respectively on two piezoelectric vibrators makes its deformation, drive wherein adjacent bipod bearing movement, foot bearing is by the frictional force opposite with moving direction, promote the material of different coefficients of friction on foot bearing to be in contact respectively with working face, realizes the displacement of circumferential piezoelectric actuator, drive the directional rotating output torque of central rotating shaft.The utility model realizes bi-directional drive, and has the advantages that the service life that simple in structure, maintenance cost is low, the requirement to working face is relatively low and extends piezoelectric ceramics in driver.
Description
Technical field
The utility model belongs to Piezoelectric Driving field, and in particular to a kind of bidirectional rotation driving with compound foot bearing
Device.
Background technology
The performance of driver directly affects the performance of automation equipment, since piezoelectric drive element has small, response
Speed is fast, controllable precision is high, conversion efficiency is high and without superior functions such as electromagnetic interferences, in ultraprecise instrument, Micro-Robot, precision
The fields such as positioning and biomedicine are widely used.Piezoelectric Driving is broadly divided into linear drives and rotation drives, and piezoelectricity is straight
Line driving has obtained more achievement, and rotates driving and also have pending further investigation.Existing rotation driving mainly has piezoelectricity
Two class of inertial drive and bionical driving, wherein the mainly imitative looper type creeping motion type driving of bionical driving, this driving method need
Multiple piezoelectricity clampers stack, and cost is higher, while needing the even multistage displacement amplifying mechanism of level-one and movement interpreter mechanism, knot
Structure is complex；Piezoelectric inertia driving mainly has electric-controlled type with frictionally, and electric-controlled type is mainly realized using asymmetric pumping signal
Driving, therefore control system is complicated.The driving of piezoelectricity friction formula is with driving structure is simple, drive mechanism is novel and drive signal is simple
The advantages that single easily controllable, is beneficial to piezoelectric actuator to piezoelectricity friction formula driver progress in-depth study and further pushes away
Wide and application.
Invention content
It is complex in order to solve current piezoelectric actuator structure, mostly with working face rigid contact, to operating environment requirements
The problem of component is not easy to replace easily is lost, it is proposed that a kind of bidirectional drive with compound foot bearing, the bidirectional drive in height
By pedestal, central rotating shaft, the first connecting plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator
Composition；Cylinder with circular groove and position is fixed centered on the wherein described pedestal, the central rotating shaft include positioning section, drive
Dynamic section and deferent segment, the positioning section of the central rotating shaft connect to form revolute pair with base groove clearance fit, and the center turns
Axis can be rotatable around its axis, and first connecting plate and the second connecting plate are spill thin plate, the described first circumferential piezoelectric actuator
Pass through the first connecting plate and the drive in a rotationally symmetrical arrangement in central rotating shaft of the second connecting plate respectively with the second circumferential piezoelectric actuator
Dynamic section both sides；The first circumferential piezoelectric actuator includes：First piezoelectric vibrator, the second piezoelectric vibrator, the first foot bearing, second
Foot bearing and three-leg support, first piezoelectric vibrator and the second piezoelectric vibrator are pasted onto Rectangular Elastic by piezoelectric sheet material
It is constituted on matrix, first piezoelectric vibrator is connect with the second piezoelectric vibrator, and described first foot bearing one end is arranged in the first pressure
Electric tachometer indicator lower surface, the other end are free end, and crus secunda bearing one end is connected to the first piezoelectric vibrator and the second piezoelectricity shakes
Lower surface, the other end between son are free end, three-leg support one end be connected to second piezoelectric vibrator one end lower surface,
The other end is free end, and the first foot bearing, crus secunda bearing and three-leg support free end are all cylindrical member, described
First foot bearing free end by section for semicircular first low friction coefficient materials and the first high coefficient of friction material it is compound and
At, crus secunda bearing free end is combined by two identical low friction coefficient materials, three-leg support free end with
First foot bearing size, structure and material are identical, and the first high coefficient of friction material of the first foot bearing free end is arranged in
The third high coefficient of friction material of crus secunda bearing side, three-leg support free end is arranged in crus secunda bearing side；
The second circumferential piezoelectric actuator and the first circumferential piezoelectric actuator structure is identical and two circumferential piezoelectric actuators about
Central rotating shaft is in rotational symmetry.
When work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, for foot bearing by the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, and promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, it is real to make foot bearing generate different displacements
The motion state of the now displacement of circumferential piezoelectric actuator, each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and third high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and third low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, generates concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
The third low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator does not move integrally at this time, as shown in Fig. 4 (b)；It is produced when the first piezoelectric vibrator is powered
When raw convex deformation, drives crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
Third high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, and central rotating shaft is driven to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed when equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In period, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
Driving operation principle schematic diagram clockwise to piezoelectric actuator is as shown in Figure 5：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, generates concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, generates convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, and central rotating shaft is driven to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is acted on by alternating voltage, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is acted on by alternating voltage, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the first circumferential driving principle of piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is the vector superposed of two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is about central rotating shaft in a rotationally symmetrical arrangement and simultaneously clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The utility model realizes bi-directional drive, and with simple in structure, maintenance cost is low, the requirement to working face is relatively low
The advantages of with the service life of piezoelectric ceramics in driver is extended.
To achieve the goals above, the present invention uses following technical scheme：
A kind of bidirectional rotation driver with compound foot bearing of the utility model is by pedestal, central rotating shaft, the first connection
Plate, the second connecting plate, the first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator composition；Band centered on the wherein described pedestal
The cylinder of circular groove and position is fixed, the central rotating shaft includes positioning section, drive section and deferent segment, the central rotating shaft
Positioning section connect to form revolute pair with base groove clearance fit, the central rotating shaft can be rotatable around its axis, described first
Connecting plate and the second connecting plate are spill thin plate, and the described first circumferential piezoelectric actuator and the second circumferential piezoelectric actuator lead to respectively
It crosses the first connecting plate and the second connecting plate is in a rotationally symmetrical arrangement in the drive section both sides of central rotating shaft；Described first circumferential piezoelectricity drives
Dynamic device includes：First piezoelectric vibrator, the second piezoelectric vibrator, the first foot bearing, crus secunda bearing and three-leg support, described first
Piezoelectric vibrator and the second piezoelectric vibrator, which are pasted onto by piezoelectric sheet material on Rectangular Elastic matrix, to be constituted, first piezoelectric vibrator
It being connect with the second piezoelectric vibrator, described first foot bearing one end is arranged in the first piezoelectric vibrator lower surface, the other end is free end,
Crus secunda bearing one end is connected to lower surface between the first piezoelectric vibrator and the second piezoelectric vibrator, the other end is freely
End, three-leg support one end is connected to second piezoelectric vibrator one end lower surface, the other end is free end, the first foot branch
Seat, crus secunda bearing and three-leg support free end are all cylindrical member, and the first foot bearing free end is half by section
Circular first low friction coefficient materials and the first high coefficient of friction material are combined, and crus secunda bearing free end is by two
Identical low friction coefficient materials are combined, three-leg support free end and the first foot bearing size, structure and material phase
Together, the first high coefficient of friction material of the first foot bearing free end is arranged in crus secunda bearing side, the third foot branch
The third high coefficient of friction material of seat free end is arranged in crus secunda bearing side；Described second circumferential piezoelectric actuator and first
Circumferential piezoelectric actuator structure is identical and two circumferential piezoelectric actuators about central rotating shaft in rotational symmetry.
When work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, for foot bearing by the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, and promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, it is real to make foot bearing generate different displacements
The motion state of the now displacement of circumferential piezoelectric actuator, each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and third high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and third low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, generates concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
The third low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator does not move integrally at this time, as shown in Fig. 4 (b)；It is produced when the first piezoelectric vibrator is powered
When raw convex deformation, drives crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
Third high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, and central rotating shaft is driven to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed when equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In period, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
Driving operation principle schematic diagram clockwise to piezoelectric actuator is as shown in Figure 5：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, generates concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, generates convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, and central rotating shaft is driven to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is acted on by alternating voltage, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is acted on by alternating voltage, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the first circumferential driving principle of piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is the vector superposed of two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is about central rotating shaft in a rotationally symmetrical arrangement and simultaneously clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The utility model realizes bi-directional drive, and with simple in structure, maintenance cost is low, the requirement to working face is relatively low
The advantages of with the service life of piezoelectric ceramics in driver is extended.
Description of the drawings
Fig. 1 is a kind of bidirectional rotation activation configuration schematic diagram with compound foot bearing of the utility model.
Fig. 2 is a kind of bidirectional rotation driver central rotating shaft structural schematic diagram with compound foot bearing of the utility model.
Fig. 3 is a kind of circumferential piezoelectric actuator knot of bidirectional rotation driver first with compound foot bearing of the utility model
Structure schematic diagram.
Fig. 4 is that a kind of bidirectional rotation driver with compound foot bearing of the utility model drives process to illustrate counterclockwise
Figure.
Fig. 5 is that a kind of bidirectional rotation driver with compound foot bearing of the utility model drives process to illustrate clockwise
Figure.
Specific implementation mode
Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of bidirectional rotation driver with compound foot bearing of the utility model
It is by pedestal 1, central rotating shaft 2, the first connecting plate 3, second the 4, first circumferential piezoelectric actuator of connecting plate, 5 and second circumferential piezoelectricity
Driver (6) forms, wherein：
Cylinder with circular groove and position is fixed centered on the pedestal 1, the central rotating shaft 2 include positioning section
21, drive section 22 and deferent segment 23, positioning section and 1 groove gap of pedestal of the central rotating shaft 2 are connected to form revolute pair,
The central rotating shaft 2 can be rotatable around its axis, first connecting plate, 3 and second connecting plate 4 be spill thin plate, described first
Circumferential piezoelectric actuator 5 and the second circumferential piezoelectric actuator 6 pass through 4 rotational symmetry of the first connecting plate 3 and the second connecting plate respectively
It is arranged in 22 both sides of drive section of central rotating shaft 2；The first circumferential piezoelectric actuator 5 includes：First piezoelectric vibrator 51, second
Piezoelectric vibrator 52, the first foot bearing 53, crus secunda bearing 54 and three-leg support 55, first piezoelectric vibrator 51 and second
Piezoelectric vibrator 52 is pasted onto on Rectangular Elastic matrix by piezoelectric sheet material and is constituted, first piezoelectric vibrator, 51 and second piezoelectricity
Oscillator 52 connects, and described first foot bearing, 53 one end is arranged in 51 lower surface of the first piezoelectric vibrator, the other end is free end, institute
State the lower surface, the other end that 54 one end of crus secunda bearing is connected between the first piezoelectric vibrator 51 and the second piezoelectric vibrator 52 be from
By holding, described 55 one end of three-leg support is connected to 52 one end lower surface of the second piezoelectric vibrator, the other end is free end, and described the
One foot bearing 53, crus secunda bearing 54 and 55 free end of three-leg support are all cylindrical member, and the first foot bearing 53 is certainly
It is combined for 531 and first high coefficient of friction material 532 of semicircular first low friction coefficient materials by section by holding, it is described
54 free end of crus secunda bearing is combined by two identical low friction coefficient materials 541,55 free end of three-leg support with
First foot bearing, 53 size, structure and material are identical, the first high coefficient of friction material of 53 free end of the first foot bearing
531 are arranged in 54 side of crus secunda bearing, and the third high coefficient of friction material 551 of 55 free end of three-leg support is arranged in
54 side of crus secunda bearing；The second circumferential piezoelectric actuator 6 is identical with the first circumferential 5 structure of piezoelectric actuator and two
Circumferential piezoelectric actuator is about central rotating shaft 2 in rotational symmetry.
When work, position base is fixed, and applies alternating current respectively on two piezoelectric vibrators described in circumferential piezoelectric actuator
Pressure brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or is located remotely from each other.It is moved through in foot bearing
Cheng Zhong, for foot bearing by the frictional force opposite with moving direction, frictional force makes foot bearing and support leg that certain twisting occur, and promotees
The material of different coefficients of friction on foot bearing is set to be in contact respectively with working face, it is real to make foot bearing generate different displacements
The motion state of the now displacement of circumferential piezoelectric actuator, each circumferential direction piezoelectric actuator is identical with direction, final circumferential
Piezoelectric actuator drives the directional rotating output torque of central rotating shaft by connecting plate.First circumferential piezoelectric actuator it is counterclockwise
Drive operation principle schematic diagram as shown in Figure 4：A left side for described first circumferential piezoelectric actuator crus secunda bearing and three-leg support
Half-sections are respectively the second low friction coefficient materials and third high coefficient of friction material, and right half-sections are respectively second low to rub
Coefficient material and third low friction coefficient materials are wiped, when piezoelectric vibrator is not powered on, driver is in nature, such as Fig. 4 (a) institutes
Show；When the first piezoelectric vibrator, which is powered, generates concave change shape, drives crus secunda bearing and three-leg support to be located remotely from each other, cause second
The third low friction coefficient materials on right side and work on the second low friction coefficient materials and three-leg support of foot bearing upper left side
Face contacts, and the first circumferential piezoelectric actuator does not move integrally at this time, as shown in Fig. 4 (b)；It is produced when the first piezoelectric vibrator is powered
When raw convex deformation, drives crus secunda bearing and three-leg support close to each other, cause the second low friction on the right side of crus secunda bearing
Third high coefficient of friction material on the left of coefficient material and three-leg support is contacted with working face, at this time the first circumferential Piezoelectric Driving
Device moves to the right, and central rotating shaft is driven to turn over angle, θ counterclockwise1, as shown in Fig. 4 (c)；When the first piezoelectric vibrator turns again to
A working cycles are completed when equilbrium position, as shown in Fig. 4 (d).At one of the deformation of the first piezoelectric vibrator energization cyclic bending
In period, the first circumferential piezoelectric actuator moves to the right, drives central rotating shaft to turn over an angle by connecting plate.First week
Driving operation principle schematic diagram clockwise to piezoelectric actuator is as shown in Figure 5：Described first circumferential driver the first foot bearing
Left half-sections are respectively the first low friction coefficient materials, and right half-sections are the first high coefficient of friction material, work as piezoelectric vibrator
When being not powered on, driver is in nature, as shown in Fig. 5 (a)；When the second piezoelectric vibrator, which is powered, generates concave change shape, the is driven
One foot bearing and crus secunda bearing are located remotely from each other, and cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first circumferential piezoelectric actuator does not move integrally at this time
It is dynamic, as shown in Fig. 5 (b)；When the second piezoelectric vibrator, which is powered, generates convex deformation, drive the first foot bearing and crus secunda bearing mutual
It is close, cause the second low-friction coefficient material on the left of the first high coefficient of friction material and the crus secunda bearing on the right side of the first foot bearing
Material is contacted with working face, and the first circumferential piezoelectric actuator moves to the left at this time, and central rotating shaft is driven to turn over angle, θ clockwise2,
As shown in Fig. 5 (c)；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 5 (d).
In a cycle of second piezoelectric vibrator energization cyclic bending deformation, the first circumferential piezoelectric actuator moves to the left, passes through company
Fishplate bar drives central rotating shaft to turn over an angle clockwise.Therefore, when the first piezoelectric vibrator is acted on by alternating voltage, the drive
Dynamic device realizes rotation driving counterclockwise；When the second piezoelectric vibrator is acted on by alternating voltage, which realizes rotation clockwise
Turn driving.
Second circumferential piezoelectric actuator is identical with the first circumferential driving principle of piezoelectric actuator, and two circumferential piezoelectricity
The direction of motion of driver is identical, and final output driving torque is the vector superposed of two circumferential piezoelectric actuator driving torques.
The drive section of central rotating shaft is positive N (N is more than or equal to 4) face body, and the number of circumferential piezoelectric actuator can be that (K is more than K
Equal to 2) when, each circumferential direction piezoelectric actuator is about central rotating shaft in a rotationally symmetrical arrangement and simultaneously clockwise or counterclockwise
Direction rotates, and the driving torque of central rotating shaft output is the superposition of the driving torque of each circumferential piezoelectric actuator.
The utility model realizes bi-directional drive, and with simple in structure, maintenance cost is low, the requirement to working face is relatively low
The advantages of with the service life of piezoelectric ceramics in driver is extended.
Claims (1)
1. a kind of bidirectional rotation driver with compound foot bearing, including：Pedestal (1), central rotating shaft (2), the first connecting plate
(3) and the second connecting plate (4), it is characterised in that further include the first circumferential piezoelectric actuator (5) and second for realizing bi-directional drive
Circumferential piezoelectric actuator (6)；Cylinder with circular groove and position is fixed, the center centered on the wherein described pedestal (1)
Shaft (2) includes positioning section (21), drive section (22) and deferent segment (23), positioning section and the pedestal (1) of the central rotating shaft (2)
Groove gap is connected to form revolute pair, and the central rotating shaft (2) can be rotatable around its axis, first connecting plate (3) and
Second connecting plate (4) is spill thin plate, and the described first circumferential piezoelectric actuator (5) and the second circumferential piezoelectric actuator (6) are respectively
Pass through the first connecting plate (3) and the second connecting plate (4) drive section (22) both sides in a rotationally symmetrical arrangement in central rotating shaft (2)；Institute
Stating the first circumferential piezoelectric actuator (5) includes：First piezoelectric vibrator (51), the second piezoelectric vibrator (52), the first foot bearing (53),
Crus secunda bearing (54) and three-leg support (55), first piezoelectric vibrator (51) and the second piezoelectric vibrator (52) are thin by piezoelectricity
Sheet material is pasted onto on Rectangular Elastic matrix and constitutes, and first piezoelectric vibrator (51) connect with the second piezoelectric vibrator (52), institute
State first foot bearing (53) one end be arranged in the first piezoelectric vibrator (51) lower surface, the other end be free end, the crus secunda branch
Seat (54) one end is connected to lower surface between the first piezoelectric vibrator (51) and the second piezoelectric vibrator (52), the other end is freedom
End, described three-leg support (55) one end is connected to the second piezoelectric vibrator (52) one end lower surface, the other end is free end, described
First foot bearing (53), crus secunda bearing (54) and three-leg support (55) free end are all cylindrical member, first foot
Bearing (53) free end is semicircular first low friction coefficient materials (531) and the first high coefficient of friction material by section
(532) it is combined, crus secunda bearing (54) free end is combined by two identical low friction coefficient materials (541), institute
It is identical as first foot bearing (53) size, structure and material to state three-leg support (55) free end, the first foot bearing (53)
The first high coefficient of friction material (531) of free end is arranged in crus secunda bearing (54) side, and the three-leg support (55) is certainly
Crus secunda bearing (54) side is arranged in by the third high coefficient of friction material (551) held；Described second circumferential piezoelectric actuator
(6) identical with the first circumferential piezoelectric actuator (5) structure and two circumferential piezoelectric actuators are about central rotating shaft (2) in rotation
Turn symmetrical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820050006.3U CN207801781U (en) | 2018-01-12 | 2018-01-12 | A kind of bidirectional rotation driver with compound foot bearing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107968594A (en) * | 2018-01-12 | 2018-04-27 | 吉林大学 | A kind of bidirectional rotation driver with compound foot bearing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107968594A (en) * | 2018-01-12 | 2018-04-27 | 吉林大学 | A kind of bidirectional rotation driver with compound foot bearing |
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