CN210490748U - Piezoelectric stick-slip driver based on L-shaped flexible hinge - Google Patents
Piezoelectric stick-slip driver based on L-shaped flexible hinge Download PDFInfo
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- CN210490748U CN210490748U CN201921891064.XU CN201921891064U CN210490748U CN 210490748 U CN210490748 U CN 210490748U CN 201921891064 U CN201921891064 U CN 201921891064U CN 210490748 U CN210490748 U CN 210490748U
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Abstract
The utility model relates to a piezoelectricity glues smooth driver based on flexible hinge of L shape comprises base (1), pretension mechanism (2), slider (3), stator (4). Two ends of the base (1) are respectively provided with a pre-tightening mechanism (2) and a sliding block (3), the stator (4) is installed on the pre-tightening mechanism (2) through a bolt, and the sliding block (3) and the stator (4) are kept in elastic contact; through adjusting the pre-tightening mechanism (2), the pre-tightening force of the left driving foot (4.1), the right driving foot (4.2) and the sliding block (3) in the stator (4) can be adjusted. The driver provides power through the piezoelectric stack embedded in the driving foot, and the movement of the sliding block is realized through the displacement amplification of the L-shaped flexible hinge. The utility model has the advantages that: the device has simple structure and easy control, can realize high-speed motion under lower working frequency, and can be used in the fields of precision instruments, precision optics, biomedicine and the like.
Description
Technical Field
The utility model relates to a piezoelectricity glues smooth driver based on flexible hinge of L shape belongs to piezoelectricity precision drive technical field, can be used to fields such as precision instruments, ultra-precision machining, optical focusing, little/nanometer mechanical test, micro-operation.
Background
In recent years, micro-nano positioning technology plays an increasingly important role in the advanced technical fields of aerospace, optical engineering, ultra-precision machining, biomedicine and the like. The piezoelectric actuator is favored by researchers in the technical field of micro-nano positioning because of the advantages of high positioning precision, no electromagnetic interference, small volume, low energy consumption, high energy density and the like.
The current piezoelectric drivers are mainly classified into two types, one type is a direct-acting piezoelectric driver, and the direct-acting piezoelectric driver has the advantages of high output precision, simple structure, quick response and the like. But the working stroke is smaller, and the working occasion of large-stroke displacement output cannot be met. The other is a stepping piezoelectric driver, which accumulates stroke by the principle of stepping motion, thereby obtaining a larger output stroke. The step piezoelectric driver can be further divided into an ultrasonic driving type, an inchworm driving type, a stick-slip driving type and the like.
In the stepping piezoelectric actuator, the ultrasonic driving type motion precision is low, and the stator and the rotor are seriously abraded when the stepping piezoelectric actuator works in a resonance state, so that the service life of the stepping piezoelectric actuator is short. The inchworm driving type structure is complex and difficult to control. The stick-slip drive type is widely concerned due to the advantages of large stroke, high precision, easy control and the like, but still has the disadvantages of slow movement speed, poor load capacity and the like. Therefore, it is necessary to develop a driver with high speed, high precision and simple structure control.
In view of the defect that current stick-slip driving type piezoelectric actuator can not realize high-speed motion under the low frequency, the utility model provides a piezoelectric stick-slip actuator based on L shape flexible hinge utilizes the L shape flexible hinge to realize the function of enlargiing the input displacement.
Disclosure of Invention
The utility model provides a piezoelectricity glues smooth driver based on flexible hinge of L shape has advantages such as the stroke is big, the precision is high, fast.
The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted as follows:
the utility model provides a piezoelectricity stick-slip driver based on flexible hinge of L shape which characterized in that: the device comprises a base, a pre-tightening mechanism, a sliding block and a stator, wherein the pre-tightening mechanism and the sliding block are respectively arranged at two ends of the base; through adjusting the pretightening force mechanism, the pretightening force of the left driving foot, the right driving foot and the sliding block in the stator can be adjusted, and then driving is carried out.
The stator comprises a left driving foot and a right driving foot, and the left driving foot and the right driving foot are symmetrically distributed on two sides of the stator; the left driving foot comprises a piezoelectric stack I and a left driving foot L-shaped flexible hinge, and the piezoelectric stack I is embedded in the left driving foot L-shaped flexible hinge in a tight fit manner; the right driving foot comprises a piezoelectric stack II and a right driving foot L-shaped flexible hinge, and the piezoelectric stack II is embedded in the right driving foot L-shaped flexible hinge in a tight fit mode.
When the piezoelectric stack I contained in the left driving foot is electrified and elongated, the left driving foot generates y-direction deformation for pre-tightening and positive x-direction deformation for driving the sliding block to move towards the positive x-axis direction; when the piezoelectric stack II contained in the right driving foot is electrified and elongated, the right driving foot generates y-direction deformation for pre-tightening and negative x-direction deformation for driving the sliding block to move towards the negative x-axis direction.
The beneficial effects of the utility model reside in that: simple structure, easy control and capability of realizing high-speed motion at lower working frequency. At a drive frequency of 800Hz, the maximum movement speed of the designed driver can reach 16.67 mm/s.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic plan view of the stator structure of the present invention.
Fig. 3 is a working principle diagram of the present invention.
Fig. 4 is a graph of actual output displacement versus time measured at different voltage amplitudes when the driving frequency f is 10 Hz.
Fig. 5 is a graph showing the relationship between the actual output speed, the output step pitch, and the driving frequency when the driving voltage amplitude U is 100V.
Fig. 6 is a graph of the actual output speed versus the load measured at a driving frequency f of 10Hz and a driving voltage amplitude U of 100V.
In the figure: 1. a base; 2. a pre-tightening mechanism; 3. a slider; 4. a stator; 4.1.1, a left driving foot L-shaped flexible hinge; 4.1.2, piezoelectric stack I; 4.2.1, a right driving foot L-shaped flexible hinge; 4.2.2, piezoelectric stack II.
Detailed Description
The invention will be further explained with reference to the drawings in the examples.
Referring to fig. 1 to 3, the utility model provides a piezoelectricity glues smooth driver based on flexible hinge of L shape includes base (1), pretension mechanism (2), stator (4) and slider (3). The driver optimizes the defects that the conventional stick-slip piezoelectric driver is slow in speed, cannot be quickly and accurately positioned and the like by applying the left driving foot L-shaped flexible hinge (4.1.1) and the right driving foot L-shaped flexible hinge (4.2.1) in the stator (4), and has the advantages of easiness in control, simple structure and the like, and the application of the L-shaped flexible hinge is enhanced in the fields of ultra-precision machining, optical focusing, micro/nano mechanical testing, micro-operation and the like.
As shown in fig. 1, two ends of a base (1) are respectively provided with a pre-tightening mechanism (2) and a sliding block (3), the pre-tightening mechanism (2) is fixedly connected with the base through a bolt, a stator (4) is installed on the pre-tightening mechanism (2) through the bolt, and meanwhile, the sliding block (3) is in elastic contact with the stator (4); by adjusting the pre-tightening mechanism (2), proper pre-tightening force can be kept between the left driving foot (4.1) and the right driving foot (4.2) in the stator (4) and the sliding block (3), and then the sliding block (3) is driven to move on the base (1) in the x-axis direction.
As shown in fig. 2, the stator (4) is composed of a left driving foot (4.1) and a right driving foot (4.2), the left driving foot (4.1) is composed of a left driving foot L-shaped flexible hinge (4.1.1) and a piezoelectric stack I (4.1.2), the piezoelectric stack I (4.1.2) is embedded in the left driving foot L-shaped flexible hinge (4.1.1) and is in a tight fit state, when an electric signal stimulates the piezoelectric stack I (4.1.2), the piezoelectric stack I (4.1.2) is extended, and a positive x-direction directional driving process that the left driving foot L-shaped flexible hinge (4.1.1) drives the slider (3) is realized; the right driving foot (4.2) is composed of a right driving foot L-shaped flexible hinge (4.2.1) and a piezoelectric stack II (4.2.2), the piezoelectric stack II (4.2.2) is embedded in the right driving foot L-shaped flexible hinge (4.2.1) and is in a tight fit state, when an electric signal stimulates the piezoelectric stack II (4.2.2), the piezoelectric stack II (4.2.2) extends, and the negative x-direction directional driving process that the right driving foot L-shaped flexible hinge (4.2.1) drives the sliding block (3) is realized.
The utility model discloses based on an application of the flexible hinge of L shape, the short limit portion and the pretension mechanism of the flexible hinge of L shape link firmly through the bolt, and when inside piezoelectric stack extension, two long limits of the flexible hinge of L shape will be along with piezoelectric stack's extension, and turn to the inboard of L shape.
At t0-t1In the stage, the piezoelectric stack I (4.1.2) slowly obtains electricity to elongate, pushes the left driving foot L-shaped flexible hinge (4.1.1) to slowly deform, and generates micro displacement until t1The voltage amplitude does not increase at that moment. Due to parasitic movement of the L-shaped flexible hinge, the L-shaped flexible hinge generates y-direction pre-tightening force and positive x-direction driving force on a contact point with the sliding block (3), namely generates two displacement amounts of delta x and delta y simultaneously. Under the action of static friction force, the slide block realizes positive x-direction stepping.
At t1-t2In the stage, the voltage of the piezoelectric stack is rapidly reduced, the left driving foot L-shaped flexible hinge (4.1.1) is rapidly restored to the initial position, and the sliding block (3) still keeps t under the action of inertia force1The position of the moment is unchanged.
The two stages are repeated, and the sliding block can realize large-stroke movement.
If the sliding block is required to move along the negative x direction, the same sawtooth-shaped electric signal is only required to be applied to the piezoelectric stack II.
As shown in fig. 4, the utility model relates to a piezoelectricity stick-slip driver based on flexible hinge of L shape is 10Hz at drive frequency f, under the condition of different voltage amplitude, the change curve of actual output displacement and time, can see that, along with the increase of voltage amplitude, the ratio of actual output displacement and time is actual output speed in the increase.
As shown in fig. 5, the present invention is a curve of the relationship between the actual output speed and the actual output step distance and the driving frequency when the driving voltage amplitude U is 100V. It can be seen that when the driving frequency f < 800Hz, the movement speed v increases significantly with the driving frequency f; when the driving frequency is 800Hz and the driving voltage is 100V, the maximum movement speed reaches 16.67 mm/s; when the driving frequency f > 800Hz, the step distance Δ s decreases rapidly and the movement speed v also decreases significantly.
As shown in fig. 6, the present invention relates to a curve of the relationship between the actual output speed and the load measured under the driving frequency f of 10Hz and the driving voltage amplitude U of 100V of the piezoelectric stick-slip driver based on the L-shaped flexible hinge. It can be seen that the speed of movement v is a function of the load FgIs reduced and the maximum load capacity of the drive in the direction of motion is about 3N.
The driver can realize higher output speed under the low-frequency condition by using a simple L-shaped hinge structure, and can keep better output load and output precision.
Claims (3)
1. The utility model provides a piezoelectricity stick-slip driver based on flexible hinge of L shape which characterized in that: the device comprises a base (1), a pre-tightening mechanism (2), a sliding block (3) and a stator (4), wherein the pre-tightening mechanism (2) and the sliding block (3) are respectively arranged at two ends of the base (1), the stator (4) is installed on the pre-tightening mechanism (2) through a bolt, and the sliding block (3) and the stator (4) are kept in elastic contact; through adjusting the pre-tightening mechanism (2), the pre-tightening force of the left driving foot (4.1), the right driving foot (4.2) and the sliding block (3) in the stator (4) can be adjusted, and then driving is carried out.
2. The piezoelectric stick-slip driver based on the L-shaped flexible hinge as claimed in claim 1, wherein: the stator (4) comprises a left driving foot (4.1) and a right driving foot (4.2), and the left driving foot (4.1) and the right driving foot (4.2) are symmetrically distributed on two sides of the stator (4); the left driving foot (4.1) comprises a piezoelectric stack I (4.1.2) and a left driving foot L-shaped flexible hinge (4.1.1), and the piezoelectric stack I (4.1.2) is embedded in the left driving foot L-shaped flexible hinge (4.1.1) in a tight fit manner; the piezoelectric stack II (4.2.2) of the right driving foot (4.2) is embedded in the L-shaped flexible hinge (4.2.1) of the right driving foot in a tight fit mode.
3. The piezoelectric stick-slip driver based on the L-shaped flexible hinge as claimed in claim 1, wherein: when a piezoelectric stack I (4.1.2) contained in the left driving foot (4.1) is electrified and elongated, the L-shaped flexible hinge (4.1.1) of the left driving foot generates y-direction deformation for pre-tightening and positive x-direction deformation for driving the sliding block (3) to move towards the positive x-axis direction; when the piezoelectric stack II (4.2.2) contained in the right driving foot (4.2) is electrified and elongated, the L-shaped flexible hinge (4.2.1) of the right driving foot generates y-direction deformation for pre-tightening and negative x-direction deformation for driving the sliding block (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921891064.XU CN210490748U (en) | 2019-11-05 | 2019-11-05 | Piezoelectric stick-slip driver based on L-shaped flexible hinge |
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| CN201921891064.XU CN210490748U (en) | 2019-11-05 | 2019-11-05 | Piezoelectric stick-slip driver based on L-shaped flexible hinge |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111600505A (en) * | 2020-05-27 | 2020-08-28 | 东华大学 | Load-adjustable large-stepping-amplitude linear piezoelectric motor |
| CN113922701A (en) * | 2021-11-15 | 2022-01-11 | 宁波大学 | Four-rod stick-slip motor with force amplification characteristic and driving method |
-
2019
- 2019-11-05 CN CN201921891064.XU patent/CN210490748U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111600505A (en) * | 2020-05-27 | 2020-08-28 | 东华大学 | Load-adjustable large-stepping-amplitude linear piezoelectric motor |
| CN111600505B (en) * | 2020-05-27 | 2021-11-12 | 东华大学 | Load-adjustable large-stepping-amplitude linear piezoelectric motor |
| CN113922701A (en) * | 2021-11-15 | 2022-01-11 | 宁波大学 | Four-rod stick-slip motor with force amplification characteristic and driving method |
| CN113922701B (en) * | 2021-11-15 | 2024-01-12 | 宁波大学 | Four-bar stick-slip motor with force amplification characteristic and driving method |
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