CN209313747U - A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface - Google Patents
A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface Download PDFInfo
- Publication number
- CN209313747U CN209313747U CN201920110722.0U CN201920110722U CN209313747U CN 209313747 U CN209313747 U CN 209313747U CN 201920110722 U CN201920110722 U CN 201920110722U CN 209313747 U CN209313747 U CN 209313747U
- Authority
- CN
- China
- Prior art keywords
- work
- word
- ring
- shaped rotor
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241000209140 Triticum Species 0.000 title claims abstract description 25
- 235000021307 Triticum Nutrition 0.000 title claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000036316 preload Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 6
- 238000004904 shortening Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005284 excitation Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model relates to a kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface, the driver by stator, ring-shaped rotor, pre-tighten power load maintainer, four part of fixed pedestal forms.Wherein stator includes " work " word front-axle beam, " work " word attachment beam, " work " the word back rest, right circular flexure hinge, piezoelectric stack, reset spring and driving foot.It is provided with parallel-guiding in the driving foot, guarantees to pre-tighten front and back, driving between foot and ring-shaped rotor is face contact；Ring-shaped rotor and sufficient bionical " awn of wheat " structure of contact surface of driving realize regulatable anisotropy friction, the frictional force generated when the frictional force for generating friction when having directional dependence, i.e. ring-shaped rotor counterclockwise movement is less than clockwise movement；The elongation and shortening for controlling piezoelectric stack make that foot is driven alternately to push ring-shaped rotor to rotate counterclockwise along ring-shaped rotor counter clockwise direction deformation, to reach the movement effects of alternately stepping.The present apparatus has the characteristics that simple and compact.
Description
Technical field
The utility model relates to a kind of alternating step piezoelectric stick-slip drivers with bionical " awn of wheat " friction surface, belong to
Precision Piezoelectric drive area.
Background technique
In recent years, nanometer technique is developed rapidly, in Ultra-precision Turning, robot, optical engineering, calculating
Demand of the technical fields such as machine, aerospace science and technology, accurate measurement, modern medical service to precision actuation technology is growing, and micro-
Nanoscale precision actuation technology is then its key technology.Traditional driving device, such as servo motor, Pneumatic Transmission, hydraulic biography
Large-sized driving device such as dynamic, although the output compared with big load can be completed, its output accuracy is relatively low, cannot expire
Requirement of the sufficient modern science and technology to fine dimension and precision.People have developed many next-generation drives in this context, such as remember
Alloy electric machine, electrostriction motor and piezoelectric effect motor etc., wherein being to drive the driver of original part because of it with piezoelectric material
An important research direction of the advantages that structure is simple, and tolerance is strong as precise driving device in recent years.
Saw tooth excitation electric signal is mainly applied to piezoelectric element by the driving of piezoelectricity stick-slip, and excitation stator generates speed alternating
Motion deformation, control the mutual conversion between " viscous " and " cunning " two kinds of motion states of stator and mover, driven using frictional force
Dynamic mover realizes mechanical movement output.The current piezoelectricity stick-slip driver course of work can be divided into slowly deformation and Quick-return
Stage, frictional force during the two between stator and mover play different role, and slow deformation stage shows as friction and drives
Power, Quick-return stage show as frictional resistance, the influence due to frictional resistance to movement, so that working efficiency reduces.
Summary of the invention
In order to reach the movement effects of alternately stepping, while the delivery efficiency of driver is improved, the utility model discloses
One kind having the alternating step piezoelectric stick-slip driver of bionical " awn of wheat " friction surface.
The technical scheme adopted by the utility model is
One kind have bionical " awn of wheat " friction surface alternating step piezoelectric stick-slip driver, the piezoelectricity stick-slip driver by
Stator (1), ring-shaped rotor (2) pre-tighten power load maintainer (3) and (4) four part of fixed pedestal composition；Wherein stator (1) and pre-
Clamp force loading mechanism (3) is fixed by screws on fixed pedestal (4)；Ring-shaped rotor (2) and the sufficient Elastic Contact of driving.It is described fixed
Sub (1) includes the first driving foot (1-1), the second driving foot (1-2), " work " word front-axle beam (1-3), " work " word attachment beam (1-4), falls
C-shaped reset spring (1-5), " work " the word back rest (1-6), mounting hole (1-7), C-shaped reset spring (1-8), piezoelectric stack (1-9) and
Right circular flexure hinge (1-10)；Stator (1) rigid element is in " I " fonts；" work " word front-axle beam (1-3) and " work " word attachment beam (1-
4) it is provided with right circular flexure hinge (1-10) between, is conducive to " work " word front-axle beam (1-3) rotation；" work " word front-axle beam (1-3) right end
It is connect with " work " the word back rest (1-6) right end by C-shaped reset spring (1-8)；" work " the word front-axle beam left end (1-3) and " work " word back rest
The left end (1-6) is connected by inverted-C reset spring (1-5)；There are two the settings of " work " the word back rest both ends (1-6) mounting hole (1-7),
For stator (1) to be fixed on fixed pedestal (4)；Piezoelectric stack (1-9) is arranged in inverted-C reset spring (1-5) and " work "
Word attachment beam (1-4) is intermediate；First drives foot (1-1) setting in the right end of " work " word front-axle beam (1-3)；Second drives foot (1-2)
It is arranged in the left end of " work " word front-axle beam (1-3)；First, second drives between foot (1-1,1-2) and ring-shaped rotor (2) using bionical
" awn of wheat " friction surface, i.e. angle of friction α > β, so that friction has directional dependence, when ring-shaped rotor (2) turns counterclockwise
The frictional force generated when dynamic is less than the frictional force generated when rotating clockwise；Apply triangular wave to piezoelectric stack (1-9), works as piezoelectricity
When stacking (1-9) elongation, " work " word front-axle beam (1-3) is tilted to the right, and first drives foot (1-1) square counterclockwise along ring-shaped rotor (2)
Ring-shaped rotor (2) are pushed to rotate counterclockwise to deformation；When piezoelectric stack (1-9) retraction when, " work " word front-axle beam (1-3) C-shaped, fall
Restore horizontal under the action of C-shaped reset spring (1-5,1-8), second drives foot (1-2) along ring-shaped rotor (2) counter clockwise direction shape
Become and ring-shaped rotor (2) is pushed to rotate counterclockwise, so that ring-shaped rotor (2) be made to have achieved the effect that alternately stepping.
Described one kind has the alternating step piezoelectric stick-slip driver of bionical " awn of wheat " friction surface, it is characterised in that institute
State the first driving foot (1-1) and ring-shaped rotor (2) angled φ of trunnion axis1, φ1In the range of 45 °~90 °；Second
Drive foot (1-2) and the angled φ of ring-shaped rotor trunnion axis2, φ2In the range of 0 °~45 °；First, second driving
It is provided with parallel-guiding (1-1-1,1-2-1) in foot (1-1,1-2), ensure that spring-loaded plunger screw pre-tightens front and back, driving
It is face contact between foot and ring-shaped rotor (2).
Described one kind has the alternating step piezoelectric stick-slip driver of bionical " awn of wheat " friction surface, it is characterised in that ring
Shape rotor (2) and drive sufficient contact surface (2-1,1-1-2,1-2-2) using bionical " awn of wheat " structure realize it is regulatable respectively to
Opposite sex friction, to make friction that there is directional dependence, i.e. angle of friction α > β (as shown in Figure 3), when ring-shaped rotor (2) is counterclockwise
The frictional force generated when rotation is less than the frictional force generated when rotating clockwise.
Described one kind has the alternating step piezoelectric stick-slip driver of bionical " awn of wheat " friction surface, it is characterised in that:
Stator (1) is suitably pre-tightened by spring-loaded plunger screw before work, so that first, second drives foot (1-1,1-2) equal
Elastic Contact is kept with ring-shaped rotor (2)；Give piezoelectric stack (1-9) apply triangular wave, control piezoelectric stack (1-9) elongation with
Shorten；When piezoelectric stack (1-9) elongation, " work " word front-axle beam (1-3) is tilted to the right, and first drives foot (1-1) along ring-shaped rotor
(2) counter clockwise direction deformation pushes ring-shaped rotor (4) to rotate counterclockwise, while second drives foot (1-2) suitable along ring-shaped rotor (2)
Clockwise movement；When piezoelectric stack (1-9) retraction, " work " word front-axle beam (1-3) is in C-shaped, inverted-C reset spring (1-5,1-
8) restore horizontal under the action of, second drives foot (1-2) to push ring-shaped rotor (2) along ring-shaped rotor (2) counter clockwise direction deformation
Rotation counterclockwise, while first drives foot (1-1) to move clockwise along ring-shaped rotor (2).
The beneficial effects of the utility model are: structure is simple, compact, it is convenient to control, and controls the elongation and contracting of piezoelectric stack
It is short, make that foot is driven alternately to push ring-shaped rotor counterclockwise to move along ring-shaped rotor counter clockwise direction deformation, to reach friendship
For the effect of stepping, the delivery efficiency of driver is improved.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing, in attached drawing:
Fig. 1 be the utility model proposes with bionical " awn of wheat " friction surface piezoelectricity stick-slip activation configuration signal
Figure；
Fig. 2 be the utility model proposes the piezoelectricity stick-slip driver with bionical " awn of wheat " friction surface stator structure
Schematic diagram；
Fig. 3 be the utility model proposes bionical " awn of wheat " friction surface schematic diagram；
Fig. 4 is that foot is driven to pre-tighten front and back schematic diagram in the utility model stator structure；
Fig. 5 be the utility model proposes the piezoelectricity stick-slip driver partial top view with bionical " awn of wheat " friction surface
Structural schematic diagram；
Fig. 6 be the utility model proposes the piezoelectricity stick-slip driver with bionical " awn of wheat " friction surface working principle
Figure.
Specific embodiment
Implementation method is further illustrated with reference to the accompanying drawing:
As shown in Figure 1, 2, the piezoelectricity stick-slip driver by stator (1), ring-shaped rotor (2), pre-tighten power load maintainer (3) and
(4) four part of fixed pedestal composition；Wherein stator (1) and preload power load maintainer (3) are fixed by screws in fixed pedestal (4)
On；Ring-shaped rotor (2) and the sufficient Elastic Contact of driving.The stator (1) includes the first driving foot (1-1), the second driving foot (1-
2), " work " word front-axle beam (1-3), " work " word attachment beam (1-4), inverted-C reset spring (1-5), " work " the word back rest (1-6), installation
Hole (1-7), C-shaped reset spring (1-8), piezoelectric stack (1-9) and right circular flexure hinge (1-10)；Stator (1) rigid element is in
" I " fonts；Right circular flexure hinge (1-10) is provided between " work " word front-axle beam (1-3) and " work " word attachment beam (1-4), favorably
It is rotated in " work " word front-axle beam (1-3)；" work " word front-axle beam (1-3) right end and " work " the word back rest (1-6) right end pass through C-shaped reset spring
(1-8) connection；" work " the word front-axle beam left end (1-3) is connect with " work " the word back rest left end (1-6) by inverted-C reset spring (1-5)；
There are two mounting hole (1-7) for the setting of " work " the word back rest both ends (1-6), pre-tighten power load maintainer (3) for stator (1) to be fixed on
On；Piezoelectric stack (1-9) setting is intermediate in inverted-C reset spring (1-5) and " work " word attachment beam (1-4)；First drives foot (1-
1) right end in " work " word front-axle beam (1-3) is set, and is in 45 °~90 ° with trunnion axis；Second drives foot (1-2) to be arranged in " work "
The left end of word front-axle beam (1-3), and be in 0 °~45 ° with trunnion axis；First, second drive foot (1-1,1-2) and ring-shaped rotor (2) it
Between use bionical " awn of wheat " friction surface, i.e. angle of friction α > β (as shown in Figure 3) so that friction is with directional dependence,
The frictional force generated when ring-shaped rotor (2) rotates counterclockwise is less than the frictional force generated when rotating clockwise.
One kind that present implementation provides has the alternating step piezoelectric stick-slip driver work of bionical " awn of wheat " friction surface
First driving foot is suitably pre-tightened before making, so that first, second drives foot (1-1,1-2) to keep bullet with ring-shaped rotor (2)
Property contact；Apply triangular wave to piezoelectric stack (1-9), controls the elongation and shortening of piezoelectric stack (1-9).Fig. 5 is that this is practical new
The working principle diagram for the piezoelectricity stick-slip driver with bionical " awn of wheat " friction surface that type proposes, driving method is by following step
Suddenly it carries out:
Step a: from t0To t1Moment, piezoelectric stack (1-9) elongation, " work " word front-axle beam (1-3) are tilted to the right, the first driving
Foot (1-1) pushes ring-shaped rotor (2) one minute angle θ of rotation counterclockwise along ring-shaped rotor (2) counter clockwise direction deformation, simultaneously
Second drives foot (1-2) to move clockwise along ring-shaped rotor (2)；
Step b: from t1To t2Moment, piezoelectric stack (1-9) retraction, " work " word front-axle beam (1-3) reset bullet in C-shaped, inverted-C
Restore horizontal under the action of spring (1-5,1-8), second drives foot (1-2) to push ring along ring-shaped rotor (2) counter clockwise direction deformation
Shape rotor (2) rotates a minute angle γ counterclockwise, while first drives foot (1-1) along ring-shaped rotor (2) clockwise direction
Movement.
In conclusion the utility model provides a kind of alternating step piezoelectric stick-slip with bionical " awn of wheat " friction surface
Driver makes friction have directional dependence, the friction generated when ring-shaped rotor rotates counterclockwise using nano-fabrication technique
Power is less than the frictional force generated when rotating clockwise, improves the stability of output performance；By the elongation of piezoelectric stack with return
Contracting makes that foot is driven alternately to push ring-shaped rotor to rotate in an anti-clockwise direction along ring-shaped rotor counter clockwise direction deformation, to reach alternating
The effect of stepping.The utility model has many advantages, such as that structure is simple, compact, and it is convenient to control, in accurate medical instrument, optical precision
It is had a good application prospect in the micro-nano precision actuation such as instrument and semiconductor machining and positioning field.
Claims (3)
1. a kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface, it is characterised in that: the piezoelectricity stick-slip
Driver is made of stator (1), ring-shaped rotor (2), preload power load maintainer (3) and (4) four part of fixed pedestal；Wherein stator
(1) it is fixed by screws on fixed pedestal (4) with preload power load maintainer (3)；Ring-shaped rotor (2) and the sufficient elastic connecting of driving
Touching；The stator (1) includes the first driving foot (1-1), the second driving foot (1-2), " work " word front-axle beam (1-3), the connection of " work " word
Beam (1-4), inverted-C reset spring (1-5), " work " the word back rest (1-6), mounting hole (1-7), C-shaped reset spring (1-8), piezoelectricity
Stack (1-9) and right circular flexure hinge (1-10)；Stator (1) rigid element is in " I " fonts；" work " word front-axle beam (1-3) and " work "
It is provided with right circular flexure hinge (1-10) between word attachment beam (1-4), is conducive to " work " word front-axle beam (1-3) rotation；Before " work " word
Beam (1-3) right end is connect with " work " the word back rest (1-6) right end by C-shaped reset spring (1-8)；The left end " work " word front-axle beam (1-3)
It is connect with " work " the word back rest left end (1-6) by inverted-C reset spring (1-5)；There are two the settings of " work " the word back rest both ends (1-6)
Mounting hole (1-7) pre-tightens power load maintainer (3) for stator (1) to be fixed on；Piezoelectric stack (1-9) setting is multiple in inverted-C
Position spring (1-5) and " work " word attachment beam (1-4) are intermediate；First drives foot (1-1) to be arranged on the right side of " work " word front-axle beam (1-3)
End；Second drives foot (1-2) to be arranged in the left end of " work " word front-axle beam (1-3).
2. a kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface according to claim 1,
It is characterized in that described first drives foot (1-1) and ring-shaped rotor (2) angled φ of trunnion axis1, φ1In 45 °~90 °
In range；Second drives foot (1-2) and the angled φ of ring-shaped rotor trunnion axis2, φ2In the range of 0 °~45 °；The
One, it is provided with parallel-guiding (1-1-1,1-2-1) in the second driving foot (1-1,1-2), ensure that spring-loaded plunger screw pair
Stator (1) pre-tightens front and back, is face contact between driving foot and ring-shaped rotor (2).
3. a kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface according to claim 1,
It is characterized in that the ring-shaped rotor (2) and drives sufficient contact surface (2-1,1-1-2,1-2-2) real using bionical " awn of wheat " structure
Existing regulatable anisotropy friction, to make friction that there is directional dependence, i.e. angle of friction α > β, when ring-shaped rotor (2) is inverse
The frictional force that hour hands generate when rotating is less than the frictional force generated when rotating clockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920110722.0U CN209313747U (en) | 2019-01-23 | 2019-01-23 | A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920110722.0U CN209313747U (en) | 2019-01-23 | 2019-01-23 | A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209313747U true CN209313747U (en) | 2019-08-27 |
Family
ID=67681296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920110722.0U Expired - Fee Related CN209313747U (en) | 2019-01-23 | 2019-01-23 | A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209313747U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115441769A (en) * | 2022-11-07 | 2022-12-06 | 吉林大学 | Linear-rotary two-degree-of-freedom piezoelectric actuator based on inertia driving |
-
2019
- 2019-01-23 CN CN201920110722.0U patent/CN209313747U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115441769A (en) * | 2022-11-07 | 2022-12-06 | 吉林大学 | Linear-rotary two-degree-of-freedom piezoelectric actuator based on inertia driving |
| CN115441769B (en) * | 2022-11-07 | 2022-12-30 | 吉林大学 | Linear-rotary two-degree-of-freedom piezoelectric actuator based on inertia driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109586612A (en) | A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface | |
| CN109586611A (en) | A kind of alternating step piezoelectric stick-slip driver with anisotropy friction surface | |
| CN110460264B (en) | Piezoelectric driver for improving performance based on four-foot coupling motion mode and control method | |
| CN107953120B (en) | Piezoelectricity stick-slip micro-nano angular displacement platform and its driving method | |
| CN108306546A (en) | Compact dual actuation component piezoelectricity stick-slip Drive And Its Driving Method | |
| CN104467526A (en) | Inertia stick-slip cross-scale motion platform capable of achieving unidirectional movement | |
| CN102723893A (en) | Micro-nano simulation rotating drive device | |
| CN205584047U (en) | Asymmetric rotatory inertia piezo -actuator with adjustable frictional force | |
| CN209313747U (en) | A kind of alternating step piezoelectric stick-slip driver with bionical awn of wheat friction surface | |
| CN209313746U (en) | A kind of alternating step piezoelectric stick-slip driver with anisotropy friction surface | |
| CN104038100B (en) | What realize based on polypody rotary piezoelectric driver drives motivational techniques across yardstick | |
| CN210431263U (en) | Novel piezoelectric rotation precision driving platform | |
| CN209389958U (en) | The device of active suppression parasitic motion principle piezoelectric actuator rollback movement | |
| CN104362890A (en) | Inertia stick-slip trans-scale precision movement platform capable of achieving bidirectional movement | |
| CN110855181B (en) | Rotary piezoelectric driving device based on asymmetric triangular hinge mechanism | |
| CN110798094A (en) | Novel piezoelectric linear precision driving device based on parasitic inertia principle | |
| CN110912448B (en) | Piezoelectric driving platform based on asymmetric triangle flexible hinge mechanism | |
| CN110829882B (en) | T-shaped piezoelectric driving device | |
| CN202696501U (en) | Micro/nano-scale bionic rotation driving device | |
| CN204231226U (en) | A kind of inertia stick-slip formula realizing one-way movement is across yardstick motion platform | |
| CN111193435A (en) | Rotary actuator | |
| CN110995058A (en) | Novel piezoelectric rotation precision driving platform based on parasitic inertia principle | |
| CN113258825B (en) | Piezoelectric driver control method based on stick-slip and impact principle coupling | |
| CN210225279U (en) | Piezoelectric driver for improving performance based on four-foot coupling motion mode | |
| CN214480332U (en) | Differential inertia type piezoelectric rotary driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 |