CN209562434U - Isosceles trapezoid stick-slip piezoelectric linear actuator - Google Patents
Isosceles trapezoid stick-slip piezoelectric linear actuator Download PDFInfo
- Publication number
- CN209562434U CN209562434U CN201920436802.5U CN201920436802U CN209562434U CN 209562434 U CN209562434 U CN 209562434U CN 201920436802 U CN201920436802 U CN 201920436802U CN 209562434 U CN209562434 U CN 209562434U
- Authority
- CN
- China
- Prior art keywords
- isosceles trapezoid
- sliding block
- stator
- tightening mechanism
- stick
- 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
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses a kind of isosceles trapezoid stick-slip piezoelectric linear actuators, are made of pedestal, sliding block, isosceles trapezoid stator and pre-tightening mechanism.Sliding block and pre-tightening mechanism are installed on pedestal, are equipped with the pre-tightening mechanism of isosceles trapezoid stator for preloading isosceles trapezoid stator and sliding block.Isosceles trapezoid stator includes isosceles trapezoid compliant mechanism and four rectangular piezoelectric ceramic pieces, and isosceles trapezoid compliant mechanism is fixed on pre-tightening mechanism surface by two mounting holes.Sawtooth signal motivates piezoelectric ceramic piece, thus make isosceles trapezoid mechanism change driving foot and the x and y of shoe contact point to displacement, to change the frictional force of contact surface.Sawtooth signal rising edge, driving foot has biggish y to displacement, increase the normal pressure of slow polarizing stage, and then increase static friction driving force, sawtooth wave failing edge, driving foot have lesser y to displacement, reduce the kinetic frictional resistances in Quick-return stage, achieve the purpose that inhibit to retract, improves movenent performance.
Description
Technical field
The utility model relates to a kind of precise driving device using intellectual material, especially a kind of piezoelectric straight line driving
Device.
Background technique
Piezoelectric actuator refers to by piezoelectric materials systems such as lead zirconate titanate (PZT), lead niobate zinc (PZN), lead magnesium niobates (PMN)
At driver, micro-, nanometer or positioning application many of advantage, compare other executing agencies, it have high-resolution
The distinguishing feature of (Subnano-class), high natural frequency (being greater than kHz) and high drive (being greater than thousand newton grades), but it is also deposited
Displacement stroke small (10 μm -100 μm) the characteristics of, therefore the high-resolution of grade stroke is often realized in conjunction with stick-slip mechanism
Rate movement.
The working principle of piezoelectricity stick-slip driving is as follows: under the excitation of asymmetric sawtooth voltage signal, utilizing piezoelectric vibrator
Difference between kinematics and static friction power caused by asymmetry vibration generates micro-displacement to achieve the purpose that control driven object body.
Specific implementation can be used asymmetric sawtooth wave and excited slowly with quick alternative excitation using inverse piezoelectric effect to piezo-electric stack
Stator generate slowly with quick alternate motion deformation so that stator and mover are in " viscous " and " cunning " two kinds of motion states, In
Frictional force effect is lower to realize mechanical movement output.
However since piezoelectricity stick-slip drives slowly with the rapid deformation stage, the frictional force between stator and mover plays difference
Effect, specially slowly the deformation driving stage is to show as friction drive, and show as rubbing when the rapid deformation driving stage
Resistance.Given this, traditional piezoelectricity stick-slip driver, rollback phenomenon is obvious, and delivery efficiency is lower.
Utility model content
For realize big stroke, high-precision, heavy load combination precise driving device, while piezoelectricity stick-slip being inhibited to drive
Rollback phenomenon, the utility model discloses a kind of isosceles trapezoid stick-slip piezoelectric linear actuators.Itd is proposed piezoelectricity straight line driver
Isosceles trapezoid stator the power of piezoelectric ceramics can be acted on into slide block movement direction and stator positive pressure direction both direction simultaneously
On, transverse movement is generated to increase the normal pressure of the slow polarizing stage of piezoelectric ceramics, reduces the piezoelectric ceramics Quick-return stage
Kinetic force of friction achievees the purpose that inhibit to retract.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of isosceles trapezoid stick-slip piezoelectric linear actuator, mainly by pedestal (1), sliding block (2), isosceles trapezoid stator (3)
It is formed with pre-tightening mechanism (4)；Sliding block (2) and pre-tightening mechanism (4) are installed on pedestal (1), and pre-tightening mechanism (4) is for preloading etc.
The trapezoidal stator of waist (3) and sliding block (2)；The isosceles trapezoid stator (3) includes isosceles trapezoid compliant mechanism (3-1) and four squares
Shape piezoelectric ceramic piece (3-2), isosceles trapezoid compliant mechanism (3-1) are fixed on pre-tightening mechanism (4) by two mounting holes (3-1-6)
Surface；Isosceles trapezoid compliant mechanism (3-1) is flexible double rocker mechanism, and wherein horizontal axis (3-1-5) is fixed frame, drives sufficient institute
Be connecting rod in bar, left flexible beam (3-1-3) and right flexible beam (3-1-4) be pasted with respectively left bending piezoelectric ceramics (3-2-1) and
Right bending piezoelectric ceramics (3-2-2) is used as drive rocker；Four piezoelectric ceramic pieces (3-2) are believed by same positive-going sawtooth wave when work
Number excitation, four piezoelectric ceramic pieces (3-2) generate polarization in the same direction, and left flexible beam (3-1-3) and right flexible beam (3-1-4) are by piezoelectricity
The effect of potsherd (3-2) generates bending deformation, and the left imaginary motion profile for driving foot (3-1-1) and sliding block (2) contact point can
Be decomposed into x to y to displacement, when driving foot is in close contact with sliding block, contact point imagination motion profile variation performance
It drives foot (3-1-1) to be left and right drives contact surface normal normal pressure and tangential friction force between foot (3-1-2) and sliding block (2)
Variation；In " viscous " stage, i.e. left driving foot (3-1-1) and when sliding block (2) contact movement, contact point imagination track be positive x to
Negative y can generate larger normal pressure between left driving foot (3-1-1) and sliding block (2), therefore can generate more between the two to the synthesis of movement
Big stiction drives the sliding block (2) along positive x to moving；In " cunning " stage, i.e., elasticity of the left flexible beam (3-1-3) because of itself
When Quick-return, contact point imagination track is negative x to the synthesis with positive y to movement, at this time left driving foot (3-1-1) and sliding block
(2) there is lesser normal pressure, the kinetic frictional resistances between the two can be smaller, and sliding block (2) is acted on the rollback generated by it also just between
It is smaller.
Wherein, four piezoelectric ceramic pieces (3-2) are pasted in the way of polarization direction having the same, by same positive saw
When tooth wave signal motivates, in the slow ascent stage of sawtooth signal, left flexible beam (3-1-3) and right flexible beam (3-1-4) are slow
Bending deformation, right driving foot (3-1-2) separate with sliding block (2), mainly by static friction between left driving foot (3-1-1) and sliding block (2)
Power effect, and because contact point has negative y to displacement, i.e., left flexible beam (3-1-3) and sliding block (2) are even closer, contact point positive pressure
Power becomes larger, so static friction driving force is larger, has better load capacity；In the sawtooth signal rapid decrease stage, Zuo Rou
Property beam (3-1-3) restore to the original state because of natural resiliency, left driving is mainly acted on by kinetic force of friction between (3-1-1) and sliding block (2) enough, this
When contact point have positive y to displacement, to reduce the normal pressure of contact point, there is lesser kinetic frictional resistances, make sliding block (2)
It retracts smaller；When four piezoelectric ceramic pieces (3-2) are motivated by same negative going sawtooth signal, sliding block (2) is by right driving foot (3-
1-2) effect will generate negative x to movement.
The utility model has the beneficial effects that driver overall structure is simple, convenient for output is adjusted, use etc.
The trapezoidal stator of waist come generate transverse movement so that increase the slow polarizing stage of piezoelectric ceramics normal pressure, reduce piezoelectric ceramics it is quick
The kinetic force of friction of recovery stage has achieved the purpose that inhibit to retract.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is isosceles trapezoid stick-slip piezoelectric linear actuator schematic diagram；
Fig. 2 is isosceles trapezoid stator schematic diagram；
Fig. 3 is isosceles trapezoid stator movement direction schematic diagram；
Fig. 4 is isosceles trapezoid stick-slip piezoelectric linear actuator working principle diagram；
Fig. 5 is inclination board-type flexibility mover isosceles trapezoid stick-slip piezoelectric linear actuator schematic diagram.
1. pedestal in figure, 2. sliding blocks, 3. isosceles trapezoid stators, 4. pre-tightening mechanisms
Specific embodiment
Implementation method is further illustrated with reference to the accompanying drawing:
[embodiment 1]
Isosceles trapezoid stick-slip piezoelectric linear actuator as shown in Figure 1, mainly by pedestal (1), sliding block (2), isosceles trapezoid
Stator (3) and pre-tightening mechanism (4) composition.Sliding block (2) and pre-tightening mechanism (4) are installed on pedestal (1), and it is fixed to be equipped with isosceles trapezoid
The pre-tightening mechanism (4) of sub (3) is for preloading isosceles trapezoid stator (3) and sliding block (2).It is sliding that cylindrical roller is had chosen in embodiment
Block, impulse stroke are about 28mm, and the quality of sliding block is about 23.6g；Pre-tightening mechanism (4) is flat using manual displacement in embodiment
Platform can achieve the purpose that preloading by adjusting and locking position of platform.Isosceles trapezoid stator (3) generates laterally after being powered
Movement drives foot (3-1) that sliding block (2) is pushed to move horizontally according to stick-slip principle.Isosceles trapezoid stator (3) is the driving
The core component of device, for providing driving force needed for slide block movement, as shown in Fig. 2, isosceles trapezoid stator (3) includes isosceles trapezoid
Compliant mechanism (3-1) and four rectangular piezoelectric ceramic pieces (3-2), by two mounting holes (3-1-6) by isosceles trapezoid flexible machine
Structure (3-1) is fixed on pre-tightening mechanism (4) surface.Two pieces of left side piezoelectric ceramic piece is known as left bending piezoelectric ceramics (3-2-1), passes through
Epoxy resin is adhered to the arranged on left and right sides of left flexible beam (3-1-3), and other two potsherd is known as right bending piezoelectric ceramics
(3-2-2) is adhered to the arranged on left and right sides of right flexible beam (3-1-4).Four piezoelectric ceramic pieces (3-2) are polarized along its thickness direction,
And polarization direction having the same.Slide block movement direction is as shown in figure 3, left driving foot (3-1-1) is used to drive sliding block to x forward direction
Mobile, right driving foot (3-1-2) is for driving sliding block mobile to x negative sense.There is an angle, θ between flexible beam and horizontal axis, passes through
θ is adjusted the angle to adjust the x and y of driving foot to displacement.
Transverse movement refers to while generating the fortune of movement on x (slide block movement direction) and y (positive pressure direction) both direction
It is dynamic.It is slow to increase piezoelectric ceramics that the isosceles trapezoid stator for the piezoelectricity straight line driver that this patent proposes can produce transverse movement
The normal pressure of polarizing stage to increase the stiction in driving stage, while reducing the dynamic of piezoelectric ceramics Quick-return stage
Frictional force achievees the purpose that inhibit to retract.
Specific working principle and contact point force analysis are as shown in Figure 4.
Under original state, as shown in fig. 4 a, preloaded force F0Sliding block and two driving foots is kept to contact with each other, as time t=t0
When, the preloaded force F of sliding block0The normal pressure F generated equal to pre-load mechanismP, it is left and right bending piezoelectric ceramics driving signal be
Sawtooth wave.Each period of motion is divided into two steps:
Step 1: from moment t0To t1, left and right bending piezoelectric ceramics is slow simultaneously to be polarized, and isosceles trapezoid compliant mechanism is made
Left driving foot obtains two displacement (l on the direction x and yxAnd ly), as shown in Figure 4 b, the stiction F of generationSPush sliding block edge
X-axis is just being marched forward Δ L；
Step 2: from moment t1To t2, left and right bending piezoelectric ceramics fast quick-recovery, therefore isosceles trapezoid compliant mechanism simultaneously
Back to its initial position, due to the effect of inertia force, sliding block will remain in position as illustrated in fig. 4 c.By repeat step 1 and
2, the piezoelectric actuator proposed is done step-by-step to be moved along the big impulse stroke of x-axis forward direction.
From fig. 4, it can be seen that in t0-t1Stage, stiction FSIt is the driving force that sliding block advances, it is left to drive the x generated enough
Axis positive-displacement lxFor pushing sliding block to move along x-axis forward direction；The y-axis negative sense of generation is displaced lyFor increasing generation stiction
FSNormal pressure FP.In step 2, by normal pressure FPThe kinetic force of friction F of generationdIt is resistance.Kinetic force of friction FdIt may be defined as Fd=
μd FP；Wherein FdIt is kinetic force of friction, μdIt is dynamic friction coefficient, FPIt is normal pressure, normal pressure FPIt is a variable.At the t1 moment, just
Pressure FPReach maximum value, from the t1 moment to the t2 moment, normal pressure FPIt is rapidly decreased to F0, can according to the definition of formula kinetic force of friction
Know, normal pressure FPReducing makes to generate the kinetic force of friction F to retractdIt reduces, therefore inhibits rollback.It realizes along the big of x-axis negative sense
When stroke motion, reversed sawtooth wave driving electric signal need to be only provided, the right driving of isosceles trapezoid stator drives sliding block along x enough
Axis negative movement.
[embodiment 2]
The isosceles trapezoid stick-slip piezoelectric linear actuator can also improve and optimize to structure, as shown in figure 5,
For the isosceles trapezoid stick-slip piezoelectric linear actuator for installing inclination board-type flexibility mover additional, flexible mover (2a) is mainly led by fixation
Rail and flexible slide block composition, wherein critical component be flexible slide block by sliding block, shoe contact end, inclination straight beam type flexible hinge and
Left and right driving foot contact jaw composition.The sliding block in guide rail and flexible slide block is wherein fixed using straight-line guide rail slide block, sliding block
Contact jaw, inclination straight beam type flexible hinge and left and right driving foot contact jaw there is linear cutter to form, by epoxide-resin glue with
Linear slider is pasted together.Whole driver mainly includes pedestal, flexible mover, isosceles trapezoid stator and pre-tightening mechanism.It is soft
Property mover and pre-tightening mechanism be installed on pedestal, isosceles trapezoid stator is fixed on pre-tightening mechanism, pass through pre-tightening mechanism adjust etc.
Latching force between the trapezoidal stator of waist and flexible mover.By the flexibility mover while inhibiting to retract by y to (positive pressure direction)
Preload displacement be also translated into displacement of the x for pushing mover mobile to (the mover direction of motion), improve the output performance of driver.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
The all possible combination of each technical characteristic in example is applied all to be described, however, as long as the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
The limitation to the scope of the patents therefore cannot be interpreted as.It should be appreciated that for those of ordinary skill in the art, In
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, these are all belonged to the protection scope of this patent.
Therefore, the scope of protection shall be subject to the appended claims for this patent.
Claims (2)
1. a kind of isosceles trapezoid stick-slip piezoelectric linear actuator, it is characterised in that: mainly by pedestal (1), sliding block (2), isosceles ladder
Shape stator (3) and pre-tightening mechanism (4) composition；Sliding block (2) and pre-tightening mechanism (4) are installed on pedestal (1), and pre-tightening mechanism (4) is used
In preloading isosceles trapezoid stator (3) and sliding block (2)；The pre-tightening mechanism (4) uses manual displacement platform, can pass through
Position of platform is adjusted and locked, achievees the purpose that preloading；The isosceles trapezoid stator (3) includes isosceles trapezoid compliant mechanism
(3-1) and four rectangular piezoelectric ceramic pieces (3-2), isosceles trapezoid compliant mechanism (3-1) are fixed by two mounting holes (3-1-6)
In pre-tightening mechanism (4) surface；Isosceles trapezoid compliant mechanism (3-1) is flexible double rocker mechanism, and wherein horizontal axis (3-1-5) is to fix
Rack, bar is connecting rod where driving foot, and left flexible beam (3-1-3) and right flexible beam (3-1-4) are pasted with left bending piezoelectricity respectively
Ceramic (3-2-1) and right bending piezoelectric ceramics (3-2-2) are used as drive rocker；Isosceles trapezoid stator (3) generates laterally after being powered
Movement drives foot that sliding block (2) is pushed to move horizontally according to stick-slip principle.
2. isosceles trapezoid stick-slip piezoelectric linear actuator according to claim 1, it is characterised in that: the piezoelectric actuator
Four piezoelectric ceramic pieces (3-2) polarize along its thickness direction, and polarization direction having the same；Left driving foot (3-1-1) is used
Mobile to x forward direction in driving sliding block, right driving foot (3-1-2) is for driving sliding block mobile to x negative sense；Between flexible beam and horizontal axis
There is an angle, θ, drives the x and y of foot to displacement to adjust by adjusting angle, θ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920436802.5U CN209562434U (en) | 2019-04-02 | 2019-04-02 | Isosceles trapezoid stick-slip piezoelectric linear actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920436802.5U CN209562434U (en) | 2019-04-02 | 2019-04-02 | Isosceles trapezoid stick-slip piezoelectric linear actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209562434U true CN209562434U (en) | 2019-10-29 |
Family
ID=68311892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920436802.5U Expired - Fee Related CN209562434U (en) | 2019-04-02 | 2019-04-02 | Isosceles trapezoid stick-slip piezoelectric linear actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209562434U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113206615A (en) * | 2021-04-26 | 2021-08-03 | 天津大学 | Inchworm type linear driver with static self-locking function |
-
2019
- 2019-04-02 CN CN201920436802.5U patent/CN209562434U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113206615A (en) * | 2021-04-26 | 2021-08-03 | 天津大学 | Inchworm type linear driver with static self-locking function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109818527A (en) | Isosceles trapezoid stick-slip piezoelectric linear actuator | |
| CN105827141B (en) | Inclined ladder shape moves change type precision piezoelectricity stick-slip line motor and its driving method | |
| CN105827142A (en) | Precise piezoelectric stick-slip linear motor with asymmetric structure and driving method thereof | |
| CN105897044B (en) | Wedge type rhombus enlarger piezoelectricity stick-slip linear electric motors and its motivational techniques | |
| CN105827143A (en) | Rhombus oblique-wedge quadratured drive type piezoelectric stick-slip linear motor and composite excitation method thereof | |
| CN105932902A (en) | J-type structure precise piezoelectric stick-slip linear motor and drive method thereof | |
| CN103701358B (en) | Balance weight type variable contact force piezoelectric motor | |
| CN105827140A (en) | Slanted-slot type precise piezoelectric stick-slip linear motor and driving method thereof | |
| CN105915109B (en) | Cable-stayed type rhombus enlarger piezoelectricity stick-slip linear electric motors and its motivational techniques | |
| CN209562434U (en) | Isosceles trapezoid stick-slip piezoelectric linear actuator | |
| CN109889085A (en) | The ultraprecise three-freedom planar motion platform and its motivational techniques of Piezoelectric Driving | |
| CN109586611A (en) | A kind of alternating step piezoelectric stick-slip driver with anisotropy friction surface | |
| EP1983586A2 (en) | Driving device capable of transferring vibrations generated by an electro-mechanical transducer to a vibration friction portion with a high degree of efficiency | |
| CN113726216B (en) | Non-same-frequency double-stator driving piezoelectric motor | |
| CN110912444B (en) | Bionic creeping type piezoelectric actuator | |
| CN105827144A (en) | Oblique-trapezoid orthogonal driving type piezoelectric stick-slip linear motor and compound excitation method thereof | |
| CN110768571B (en) | Bionic creeping type piezoelectric precision driving device based on parasitic inertia principle | |
| CN110798094B (en) | Piezoelectric linear precision driving device based on parasitic inertia principle | |
| CN105897043A (en) | Diamond-shaped hinge oblique-pulling quadratured driving type piezoelectric stick-slip linear motor and recombination excitation method thereof | |
| CN209313746U (en) | A kind of alternating step piezoelectric stick-slip driver with anisotropy friction surface | |
| CN110912448B (en) | Piezoelectric driving platform based on asymmetric triangle flexible hinge mechanism | |
| CN107659202A (en) | A kind of piezo-electric motor | |
| CN105932901B (en) | Oblique slot type rhombus enlarger piezoelectricity stick-slip linear electric motors and its motivational techniques | |
| CN106026765B (en) | Asymmetric rhombus enlarger piezoelectricity stick-slip linear electric motors and its motivational techniques | |
| CN106026766B (en) | Rhombus hinge piece-picking type quadrature drive type piezoelectricity stick-slip line motor and its complex incentive method |
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: 20191029 Termination date: 20200402 |