CN210093126U

CN210093126U - Differential clamping type inchworm type piezoelectric linear motor

Info

Publication number: CN210093126U
Application number: CN201920984561.8U
Authority: CN
Inventors: 王寅; 陈紫嫣; 曹俊; 范伟; 崔长彩
Original assignee: Huaqiao University
Current assignee: Huaqiao University
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-02-18
Anticipated expiration: 2029-06-27

Abstract

The utility model discloses a differential clamping formula inchworm type piezoelectricity linear electric motor, including four clamping discs, one actuate module, two guiding mechanism, two connecting rods and two coupling spring. The four clamping discs, the two connecting rods and the two connecting springs form two units. The four clamping disks are provided with center holes, the two clamping disks of each unit are sleeved on the connecting rod through the center holes, the two clamping disks of each unit are divided into a main clamping disk and an auxiliary clamping disk, the main clamping disk is fixedly connected with the actuating module, and the auxiliary clamping disk is connected with the main clamping disk through a connecting spring; the four clamping discs are equal in shape and comprise circular discs, and piezoelectric ceramics are arranged eccentrically on the circular discs of the four clamping discs; the guide mechanism comprises a C-shaped sleeve, a guide rail is convexly arranged on the inner wall of the sleeve, and a guide groove is concavely arranged on the outer peripheral wall of the four clamping discs; the two units are respectively arranged in the two sleeves, and a pre-tightening element is additionally arranged to press the sleeves on the four clamping discs so as to enable the guide rails to be matched with the guide grooves. It has the following advantages: the contact force of the motor in the working process is stable.

Description

Differential clamping type inchworm type piezoelectric linear motor

Technical Field

The utility model relates to the technical field of electric machines, especially, relate to a differential clamping formula inchworm type piezoelectricity linear electric motor.

Background

Nanotechnology is a high technology developed in the world in the 21 st century. The ultra-precise driver with nanometer precision is the core power part of the nanometer technology, and the ultra-precise driver has wide application fields, such as microelectronic manufacturing, precision mechanical manufacturing, bioengineering, aerospace and the like. Meanwhile, the fields all put forward some strict requirements on the ultra-precise motor, such as large output force, high resolution, faster response, no electromagnetic interference, low noise and the like.

The piezoelectric inchworm type linear motor uses two groups of clamping devices and a telescopic driving device, adopts the bionic motion principle 'clamping-driving-clamping', simulates the crawling mode of inchworms in nature, and can realize bidirectional stepping motion with large stroke, small step length and high precision by accumulating the tiny steps of a piezoelectric stack. In addition, two auxiliary legs are designed on the basis of the traditional inchworm type piezoelectric linear motor, so that spring servo differential clamping is realized, the output force is improved, and the output characteristic is more stable. For example, the invention with the publication number of CN102136811A and the name of multi-foot clamping type piezoelectric motor utilizes four clamping feet, the design provides an inchworm type linear motor with a cylindrical guide mechanism, the clamping feet are designed into a disc type, and a guide rail is designed into a cylindrical shape, so that the clamping feet and the guide rail are in cylindrical contact, the output force is improved, the motion is more flexible, the motion is more stable, but certain internal stress exists, and the contact force of the motor in the working process can be unstable.

SUMMERY OF THE UTILITY MODEL

The utility model provides a differential clamping formula inchworm type piezoelectricity linear electric motor, it has overcome the not enough that multi-legged clamping formula piezoelectricity motor exists among the background art.

The utility model provides an adopted technical scheme of its technical problem is:

a differential clamping type inchworm type piezoelectric linear motor comprises four clamping discs, an actuating module, two guide mechanisms, two connecting rods and two connecting springs; the four clamping discs, the two connecting rods and the two connecting springs form two units, and each unit comprises the two clamping discs, the connecting rods and the connecting springs; the four clamping disks are provided with center holes, the two clamping disks of each unit are sleeved on the connecting rod through the center holes, the two clamping disks of each unit are divided into a main clamping disk and an auxiliary clamping disk, the main clamping disk is fixedly connected with the actuating module, and the auxiliary clamping disk is connected with the main clamping disk through a connecting spring; the four clamping discs are equal in shape and comprise circular discs, and piezoelectric ceramics are arranged on the circular discs of the four clamping discs in an eccentric mode; the guide mechanism comprises a C-shaped sleeve, a guide rail is convexly arranged on the inner wall of the sleeve, and a guide groove is concavely arranged on the outer peripheral wall of the four clamping discs; the two units are respectively arranged in the two sleeves, and a pre-tightening element is additionally arranged to press the sleeves on the four clamping discs, so that the guide rails are matched with the guide grooves.

In one embodiment: the connecting rod and the main clamping disc are fixedly connected, and the auxiliary clamping disc can be slidably connected to the connecting rod.

In one embodiment: the four clamping disks are arranged along the axis of the connecting rod, and the two main clamping disks are located between the two auxiliary clamping disks.

In one embodiment: the connecting spring is sleeved on the connecting rod and is propped between the main clamping disk and the auxiliary clamping disk.

In one embodiment: in addition, a screw is arranged to be connected to the connecting rod in an adjustable mode, the screw also supports against the auxiliary clamping disc, the position of the auxiliary clamping disc relative to the connecting rod is adjusted through rotation of the screw, and the distance between the main clamping disc and the auxiliary clamping disc is adjusted to adjust the pre-tightening force of the connecting spring.

In one embodiment: the actuating module is a driving mechanism and is arranged between the two main clamping disks, and two ends of the actuating module are fixedly connected with two linkage rods respectively so as to fixedly connect the connecting rod and the main clamping disks.

In one embodiment: the disc is provided with mounting grooves penetrating through two end faces of the disc, each mounting groove comprises a semicircular groove with the center positioned on the axis of the disc, two radial grooves respectively communicated with two ends of the semicircular groove and two line segment grooves respectively communicated with the radial grooves, the radial grooves and the line segment grooves are matched to form a cross shape, the wall of each line segment groove is also provided with a vertical hole penetrating through the outer peripheral wall of the disc along the length direction of the line segment groove, and the piezoelectric ceramics are fixedly mounted in the line segment grooves; the piezoelectric ceramics are fixedly connected to the disc through bolts, and the bolts penetrate through the vertical holes.

Compared with the background technology, the technical scheme has the following advantages:

in the whole actuating process, at least two clamping disks are always in contact with the guide mechanism, and the main clamping disk and the auxiliary clamping disk which are tightly connected realize differential clamping; the whole motor is always in the compression of the two guide mechanisms, and the extension amount of the clamping disc is in a micron order, so that the pre-pressing spring with lower rigidity is very little, the internal stress of the pre-pressing spring is hardly changed, and the contact force of the motor in the working process is stable.

Drawings

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

FIG. 1 is a schematic perspective view of an embodiment of a differential clamping inchworm-type piezoelectric linear motor;

FIG. 2 is a schematic perspective exploded view of an embodiment of a differential clamping inchworm-type piezoelectric linear motor;

FIG. 3 is a schematic diagram of a clamp plate according to one embodiment;

FIG. 4 is a schematic sectional view taken along line A-A of FIG. 3;

FIG. 5 is a timing diagram of power signals used by the motor of an embodiment.

Detailed Description

Referring to fig. 1 to 4, a differential clamping inchworm type piezoelectric linear motor includes four

clamping disks

21, 22, 23, 24, an actuating module 4, two guiding mechanisms, two connecting rods 31, 32 and two connecting

springs

51, 52.

The four

clamping discs

21, 22, 23, 24, the two connecting rods 31, 32 and the two connecting

springs

51, 52 constitute two units, each unit including two clamping discs, a connecting rod and a connecting spring. The four

clamping discs

21, 22, 23 and 24 are provided with center holes, the two clamping discs of each unit are sleeved on the connecting rod through the center holes, and the two clamping discs of each unit are also connected through a connecting spring. The two clamping disks of each unit are divided into a main clamping disk and an auxiliary clamping disk, the main clamping disk is fixedly connected with the actuating module 4, the auxiliary clamping disk is connected with the main clamping disk through a connecting spring, and the connecting spring is sleeved on the connecting rod. The concrete structure is as follows: the first unit comprises a main clamping disk 22 and an auxiliary clamping disk 21, the second unit comprises a main clamping disk 23 and an auxiliary clamping disk 24, the four clamping disks are arranged along the axis of the connecting rods 31, 32, and the two main clamping disks 22, 23 are located between the two

auxiliary clamping disks

21, 24, i.e. the

clamping disks

21, 22, 23, 24 are arranged in sequence along the axis of the connecting rods 31, 32; the connecting rod is fixedly connected with the main clamping disk, the auxiliary clamping disk can be connected to the connecting rod in a sliding mode, and the connecting spring is sleeved on the connecting rod and abuts against the position between the main clamping disk 23 and the auxiliary clamping disk 24; the actuating module 4 is a driving mechanism and is disposed between the two main clamping discs 22 and 23, and two ends of the actuating module 4 are fixedly connected to two linking rods 31 and 32 respectively, so that the linking rods are fixedly connected to the main clamping discs. According to the requirement, the

screw

71, 72 is additionally arranged and can be adjustably connected with the connecting rod, the

screw

71, 72 is also propped against the auxiliary clamping disk, so that the position of the auxiliary clamping disk 2 relative to the connecting rod is adjusted through the rotation of the screw, and the distance between the main clamping disk 23 and the auxiliary clamping disk 2 is adjusted, so as to adjust the pretightening force of the connecting spring.

The four

clamping discs

21, 22, 23, 24 are of equal shape and all comprise circular discs, the eccentric arrangement of the circular discs of the four

clamping discs

21, 22, 23, 24 being fitted with a piezoceramic 11, 12, 13, 14. In this embodiment: the disc is provided with mounting grooves penetrating through two end faces of the disc, each mounting groove comprises a semicircular groove with the center positioned on the axis of the disc, two radial grooves respectively communicated with two ends of the semicircular groove and two line segment grooves respectively communicated with the radial grooves, the radial grooves and the line segment grooves are matched to form a cross shape, the wall of each line segment groove is also provided with

vertical holes

2 and 3 penetrating through the outer peripheral wall of the disc along the length direction of the line segment groove, and the piezoelectric ceramics are fixedly mounted in the line segment grooves; the piezoelectric ceramics are fixedly connected to the disc through bolts, and the bolts penetrate through the vertical holes.

The guide mechanism comprises C-

shaped sleeves

61 and 62, guide rails are convexly arranged on the inner walls of the

sleeves

61 and 62, and guide grooves are concavely arranged on the outer peripheral walls of the four

clamping discs

21, 22, 23 and 24; the two units are respectively arranged in two

sleeves

61 and 62, and a pre-tightening element is additionally arranged to press the sleeves on the four clamping discs, so that the guide rails are matched with the guide grooves, and the clamping discs can slide along the guide rails and along the axis of the connecting rod relative to the sleeves.

Referring to fig. 5, V1 is the excitation voltage of piezoelectric ceramics 11, 13, and V2 is the excitation voltage of piezoelectric ceramics 12, 14; v3 is the excitation voltage of the actuation module 4.

During the time period t0-t1, the clamping discs 22, 24 are stretched under excitation by the voltage V2, at which time the sleeve expands, causing the clamping discs 11, 13 to disengage from the guide mechanism.

During the period t1-t2, the clamping discs 22, 24 are kept in an extended state under the excitation of the voltage V2, the actuating module 4 is extended under the excitation of the voltage V3, the clamping disc 23 is also disengaged from the guiding mechanism because the stiffness of the connecting spring is much smaller than that of the actuating module, the clamping disc 23 is pushed to the right by the distance Δ X, and the connecting spring connected with the clamping disc is compressed by Δ X.

During the time period t2-t3, the

clamping plates

21, 23 elongate and contact the two-sided C-sleeve under excitation of the voltage V1.

During the time period t3-t4, the clamping disks 22, 24 return to their original length and disengage the C-shaped sleeve, at which time the right compressed coupling spring is released and pushes the clamping disk 24 to move rightward by a distance Δ X.

During the period t4-t5, the actuating module 4 returns to its original length, and simultaneously drives the clamping plate 22 to move rightward by a distance Δ X, and extends the left connecting spring by Δ X.

During the time period t5-t6, the clamping disks 22, 24 elongate and contact the two-sided C-sleeve under excitation of the voltage V2. At the end of this actuation cycle, the

clamping discs

21, 23 return to their original length and disengage from the C-shaped sleeve, at which time the left connecting spring in its stretched state will return to its original length and move the clamping disc 21 to the right a distance Δ X.

Therefore, at least two clamping disks are contacted with the guide mechanism all the time in the whole actuating process, and the main clamping disk and the auxiliary clamping disk which are tightly connected realize differential clamping; the whole motor is always in the compression of the two guide mechanisms, and the extension amount of the clamping disc is in a micron order, so that the pre-pressing spring with lower rigidity is very little, the internal stress of the pre-pressing spring is hardly changed, and the contact force of the motor in the working process is stable.

The above description is only a preferred embodiment of the present invention, and therefore the scope of the present invention should not be limited by this description, and all equivalent changes and modifications made within the scope and the specification of the present invention should be covered by the present invention.

Claims

1. The utility model provides a differential clamping formula inchworm type piezoelectricity linear electric motor which characterized in that: comprises four clamping disks, an actuating module, two guide mechanisms, two connecting rods and two connecting springs; the four clamping discs, the two connecting rods and the two connecting springs form two units, and each unit comprises the two clamping discs, the connecting rods and the connecting springs; the four clamping disks are provided with center holes, the two clamping disks of each unit are sleeved on the connecting rod through the center holes, the two clamping disks of each unit are divided into a main clamping disk and an auxiliary clamping disk, the main clamping disk is fixedly connected with the actuating module, and the auxiliary clamping disk is connected with the main clamping disk through a connecting spring; the four clamping discs are equal in shape and comprise circular discs, and piezoelectric ceramics are arranged on the circular discs of the four clamping discs in an eccentric mode; the guide mechanism comprises a C-shaped sleeve, a guide rail is convexly arranged on the inner wall of the sleeve, and a guide groove is concavely arranged on the outer peripheral wall of the four clamping discs; the two units are respectively arranged in the two sleeves, and a pre-tightening element is additionally arranged to press the sleeves on the four clamping discs, so that the guide rails are matched with the guide grooves.

2. The differential clamping inchworm-type piezoelectric linear motor of claim 1, wherein: the connecting rod and the main clamping disc are fixedly connected, and the auxiliary clamping disc can be slidably connected to the connecting rod.

3. The differential clamping inchworm-type piezoelectric linear motor of claim 1, wherein: the four clamping disks are arranged along the axis of the connecting rod, and the two main clamping disks are located between the two auxiliary clamping disks.

4. The differential clamping inchworm-type piezoelectric linear motor of claim 2, wherein: the connecting spring is sleeved on the connecting rod and is propped between the main clamping disk and the auxiliary clamping disk.

5. The differential clamping inchworm-type piezoelectric linear motor of claim 4, wherein: in addition, a screw is arranged to be connected to the connecting rod in an adjustable mode, the screw also supports against the auxiliary clamping disc, the position of the auxiliary clamping disc relative to the connecting rod is adjusted through rotation of the screw, and the distance between the main clamping disc and the auxiliary clamping disc is adjusted to adjust the pre-tightening force of the connecting spring.

6. The differential clamping inchworm-type piezoelectric linear motor of claim 1, wherein: the actuating module is a driving mechanism and is arranged between the two main clamping disks, and two ends of the actuating module are fixedly connected with two linkage rods respectively so as to fixedly connect the connecting rod and the main clamping disks.

7. A differential clamping inchworm-type piezoelectric linear motor as claimed in claim 1 or 2 or 3 or 4 or 5 or 6, wherein: the disc is provided with mounting grooves penetrating through two end faces of the disc, each mounting groove comprises a semicircular groove with the center positioned on the axis of the disc, two radial grooves respectively communicated with two ends of the semicircular groove and two line segment grooves respectively communicated with the radial grooves, the radial grooves and the line segment grooves are matched to form a cross shape, the wall of each line segment groove is also provided with a vertical hole penetrating through the outer peripheral wall of the disc along the length direction of the line segment groove, and the piezoelectric ceramics are fixedly mounted in the line segment grooves; the piezoelectric ceramics are fixedly connected to the disc through bolts, and the bolts penetrate through the vertical holes.