CN212137558U - Obstacle crossing actuator based on piezoelectric drive - Google Patents
Obstacle crossing actuator based on piezoelectric drive Download PDFInfo
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- CN212137558U CN212137558U CN202020325106.XU CN202020325106U CN212137558U CN 212137558 U CN212137558 U CN 212137558U CN 202020325106 U CN202020325106 U CN 202020325106U CN 212137558 U CN212137558 U CN 212137558U
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- 239000000919 ceramic Substances 0.000 claims abstract description 60
- 239000000758 substrate Substances 0.000 claims abstract description 54
- 239000002184 metal Substances 0.000 claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims description 16
- HFGPZNIAWCZYJU-UHFFFAOYSA-N lead zirconate titanate Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[Ti+4].[Zr+4].[Pb+2] HFGPZNIAWCZYJU-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
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Abstract
The utility model discloses an obstacle crossing actuator based on piezoelectric drive relates to piezoelectricity technical field, has certain obstacle crossing ability, compatible multiple motion mode, and output accuracy is high, the response is fast. The utility model discloses a: the front and back surfaces of the metal base are respectively provided with a pair of first cuboid base body and a pair of second cuboid base body, the tail ends of the first cuboid base body and the second cuboid base body are connected with the rigidity foot, and the outer surfaces of the first cuboid base body and the second cuboid base body are respectively pasted with a first piezoelectric ceramic piece and a second piezoelectric ceramic piece. The metal base is internally provided with a pair of through holes, the third cuboid substrate penetrates through the through holes respectively, the outer surface of the third cuboid substrate is pasted with a third piezoelectric ceramic piece, the through holes are formed in the third cuboid substrate along the vertical direction, and threads are arranged in the through holes and are connected with the lead screws in a matched mode. The utility model discloses an adjust input sine and cosine voltage value, control actuator realizes sharp, rotation, turn, the motion mode of obstacle more, finally realizes presetting the action route of actuator.
Description
Technical Field
The utility model relates to a piezoelectricity technical field has especially related to obstacle crossing actuator based on piezoelectric drive.
Background
The actuator is a key part for implementing active vibration control and is an important link of an active control system. The actuator is used for applying control force to the control object according to the determined control rule. In recent years, many intelligent actuators, such as piezoelectric ceramic actuators, piezoelectric thin film actuators, electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators, and electrorheological fluid actuators, have been developed on the basis of conventional fluid actuators, gas actuators, and electric actuators.
However, in the prior art, the piezoelectric actuator lacks obstacle crossing capability, is single in movement mode, is difficult to realize multiple movements in complex working conditions, and meets actual requirements.
Disclosure of Invention
The utility model provides a hinder actuator more based on piezoelectricity drive can have certain obstacle ability more, has compatible multiple motion, and output precision height, corresponding fast.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
obstacle crossing actuator based on piezoelectric drive includes: the piezoelectric ceramic plate comprises a metal base, a first piezoelectric ceramic plate, a second piezoelectric ceramic plate, a third piezoelectric ceramic plate, a first cuboid substrate, a second cuboid substrate, a third cuboid substrate, a lead screw and a rigidity foot.
The metal base openly sets up a pair of recess and installs a pair of first cuboid base member, the metal base back set up a pair of recess and install a pair of second cuboid base member, the recess position of front and back sets up in opposite directions, and the recess position of coplanar is along central line axial symmetry.
The tail ends of the first cuboid substrate and the second cuboid substrate are connected with the rigidity foot, and the outer surfaces of the first cuboid substrate and the second cuboid substrate are respectively pasted with the first piezoelectric ceramic piece and the second piezoelectric ceramic piece. The first cuboid substrate, the second cuboid substrate, the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are identical in shape and volume.
The metal base is internally provided with a pair of through holes which run through the top surface and the bottom surface, the pair of third cuboid substrates respectively pass through the through holes, the outer surface of the third cuboid substrate is pasted with a third piezoelectric ceramic piece, the through holes are arranged in the third cuboid substrate along the vertical direction, and the through holes are internally provided with threads and are connected with a lead screw in a matching way.
Furthermore, hemispherical feet are arranged at the bottoms of the screw rod and the rigid feet.
Furthermore, through holes are formed in the first cuboid base body and the second cuboid base body, and the inner walls of the through holes are smooth.
Furthermore, the first piezoelectric ceramic piece, the second piezoelectric ceramic piece and the third piezoelectric ceramic piece are rectangular.
Furthermore, the materials adopted by the first piezoelectric ceramic piece, the second piezoelectric ceramic piece and the third piezoelectric ceramic piece are PZT-8.
The utility model has the advantages that:
the utility model utilizes the vibration synthesis effect of the first piezoelectric ceramic piece and the second piezoelectric ceramic piece under the action of sine and cosine voltage to make the first cuboid substrate and the second cuboid substrate generate torsional motion relative to the axis of the first cuboid substrate and the second cuboid substrate, and drives the rigid feet which are arranged at the outer side of the substrates in a point connection mode to do motion with elliptical motion trail, thereby finally realizing the overall displacement of the obstacle crossing actuator based on piezoelectric drive; applying sine and cosine voltage to one of the third piezoelectric ceramic pieces to drive the screw rod to move along the vertical direction, so that the rigid foot on one side of the metal base is lifted up and falls down;
the movement is combined, so that the displacement and obstacle crossing of the actuator can be finally realized, and the actuator has simple and compact structure, simple and direct actuation flow, short time used in the actuation process and high reaction speed; the motion mode of the actuator can be controlled by adjusting the input sine and cosine voltage values, the action path of the actuator is finally preset, and the motion functions of straight motion, turning and obstacle crossing are realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of an embodiment;
FIG. 2 is a schematic diagram of the motion of a rectangular parallelepiped base under the inverse piezoelectric effect;
FIG. 3 is V1Is equal to V2A top view of the barrier crossing actuator driven by the piezoelectric actuator;
FIG. 4 is V1Is equal to V2And the phase difference is 180 degrees, and is based on the top view of the obstacle crossing actuator driven by the piezoelectric;
FIG. 5 is V1Greater than V2A top view of the barrier crossing actuator driven by the piezoelectric actuator;
FIG. 6 is V1Less than V2A top view of the barrier crossing actuator driven by the piezoelectric actuator;
fig. 7 is a schematic view of the principle of the obstacle crossing motion.
1-a metal base, 2-a first piezoelectric ceramic piece, 3-a second piezoelectric ceramic piece, 4-a third piezoelectric ceramic piece, 5-a first cuboid matrix, 6-a second cuboid matrix, 7-a third cuboid matrix, 8-a lead screw and 9-a rigid foot.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be described in further detail with reference to the following embodiments.
The embodiment of the utility model provides an obstacle crossing actuator based on piezoelectric drive, as shown in figure 1, include: the piezoelectric ceramic plate comprises a metal base 1, a first piezoelectric ceramic plate 2, a second piezoelectric ceramic plate 3, a third piezoelectric ceramic plate 4, a first cuboid matrix 5, a second cuboid matrix 6, a third cuboid matrix 7, a lead screw 8 and a rigidity foot 9.
The front surface of the metal base 1 is provided with a pair of grooves and is provided with a pair of first cuboid substrates 5, the back surface of the metal base 1 is provided with a pair of grooves and is provided with a pair of second cuboid substrates 6, the positions of the grooves on the front surface and the back surface are oppositely arranged, and the positions of the grooves on the same surface are axisymmetric along the central line.
The rigid foot 9 is connected to the tail ends of the first cuboid matrix 5 and the second cuboid matrix 6 in a point connection mode, and the bottom foot of the rigid foot 9 is hemispherical. The outer surfaces of the first cuboid substrate 5 and the second cuboid substrate 6 are respectively pasted with the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 3. The first cuboid substrate 5, the second cuboid substrate 6, the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 3 are identical in shape and volume, and are internally provided with through holes, so that the deformation amplitude is improved.
The metal base 1 is internally provided with a pair of through holes which run through the top surface and the bottom surface, the pair of third cuboid substrates 7 respectively pass through the through holes, the third piezoelectric ceramic pieces 4 are pasted on the outer surfaces of the third cuboid substrates 7, the through holes are formed in the third cuboid substrates 7 along the vertical direction, threads are arranged in the through holes and are connected with the lead screws 8 in a matched mode.
Wherein, hemispherical bottom feet are arranged at the bottoms of the screw rod 8 and the rigid foot 9. The first piezoelectric ceramic piece 2, the second piezoelectric ceramic piece 3 and the third piezoelectric ceramic piece 4 are all rectangular and made of PZT-8 materials.
The movement mode of the obstacle crossing actuator based on piezoelectric drive comprises the following steps: straight line, rotation, turning and obstacle surmounting. The sine and cosine voltage applied to the first piezoelectric ceramic piece 2 is V1The sine and cosine voltage applied to the second piezoelectric ceramic piece 3 is V2Applying sine and cosine voltage V to the third piezoelectric ceramic piece 43The sine and cosine voltages refer to that one of two opposite surfaces of each cuboid matrix is sine and phase voltage, the other pair of opposite surfaces is cosine and phase voltage, and a motion schematic diagram of the cuboid matrix after the sine and cosine voltages are input is shown in fig. 2.
The linear motion realization method comprises the following steps:
V1 = V2 > 0，V1、V2the same phase and sine and cosine phase difference is 90 degrees, the first cuboid substrate 5 and the second cuboid substrate 6 twist along the axis due to the vibration of the first piezoelectric ceramic piece 2 and the second piezoelectric ceramic piece 3, and the first cuboid substrate 5 and the second cuboid substrate 6 are arranged at the tailThe motion trail of the end is elliptic, and the rigid foot 9 is driven to do the motion of the elliptic trail. With the surface of the metal base 1 on which the first rectangular parallelepiped base 5 is mounted as the front surface, the obstacle crossing actuator based on piezoelectric drive is driven by the rigid legs 9 to move to the left side along the axis of the metal base 1, as shown in fig. 3. If it is to be moved in the opposite direction, i.e. to the right, V1、V2The same phase and the sine-cosine phase difference are changed to 270 deg.
The method for realizing the autorotation motion comprises the following steps:
V1 = V2 >0, and V1、V2In phase and V1The sine and cosine phases are different by 90 DEG and V2The phase difference between sine and cosine is 270 degrees, and similarly, the motion tracks of the tail ends of the first cuboid substrate 5 and the second cuboid substrate 6 are elliptical, so that the rigid feet 9 on the front surface and the back surface are driven to move in elliptical tracks in opposite directions, and the obstacle crossing actuator based on piezoelectric drive rotates in situ, as shown in fig. 4.
The method for realizing the turning motion comprises the following steps:
V1 > V2the rigid foot 9 connected with the first cuboid substrate 5 moves faster than the rigid foot 9 connected with the second cuboid substrate 6, and the obstacle crossing actuator based on piezoelectric driving moves towards the left rear part of the metal base 1, as shown in fig. 5;
V2 > V1，the rigid feet 9 connected with the second cuboid substrate 6 move faster than the rigid feet 9 connected with the first cuboid substrate 5, and the obstacle crossing actuator based on piezoelectric driving moves towards the right rear part of the metal base 1, as shown in fig. 6.
V1、 V2The larger the voltage difference is, the smaller the turning radius of the movement of the obstacle crossing actuator based on the piezoelectric drive is.
As shown in fig. 7, the obstacle crossing motion is implemented by:
step one, applying sine and cosine voltage V to the third piezoelectric ceramic piece 4 on one side of the advancing direction3，V3The phase difference between sine and cosine is 270 degrees, the connected cuboid matrix generates torsional motion relative to the axis of the cuboid matrix, the cuboid matrix is matched with the internal thread of the screw rod 8,the screw rod 8 on one side of the advancing direction generates vertical downward linear motion, the rigid foot 9 on one side of the advancing direction is lifted by pressing the working plane, and the rigid foot 9 on one side behind the advancing direction is contacted with the working plane;
secondly, the rigid foot 9 contacting with the working plane moves towards the advancing direction by the linear motion method and passes through the obstacle;
step three, applying sine and cosine voltage V to the third piezoelectric ceramic piece 4 on one side of the advancing direction3，V3The phase difference between sine and cosine is 90 degrees, and the screw rod 8 on one side of the advancing direction is driven to generate vertical and upward linear motion, so that the rigid foot 9 on one side of the advancing direction is grounded;
driving the obstacle crossing brake to move forwards by the linear motion method until the rigid foot 9 on the rear side in the advancing direction meets an obstacle;
step five, applying sine and cosine voltage V to the third piezoelectric ceramic piece 4 at the rear side in the advancing direction3，V3The sine and cosine phases are different by 270 degrees, and the screw rod 8 at the rear side in the advancing direction generates vertical downward linear motion, so that the rigid foot 9 at the rear side in the advancing direction is lifted;
moving the obstacle crossing actuator forwards based on piezoelectric drive to cross the obstacle;
step seven, sine and cosine voltage V is applied to the third piezoelectric ceramic piece 4 on the rear side in the advancing direction3，V3The phase difference between sine and cosine is 90 degrees, the screw rod 8 at the rear side in the advancing direction generates vertical and upward linear motion, and the rigid foot 9 at the rear side in the advancing direction lands.
The utility model has the advantages that:
the utility model utilizes the vibration synthesis effect of the first piezoelectric ceramic piece and the second piezoelectric ceramic piece under the action of sine and cosine voltage to make the first cuboid substrate and the second cuboid substrate generate torsional motion relative to the axis of the first cuboid substrate and the second cuboid substrate, and drives the rigid feet which are arranged at the outer side of the substrates in a point connection mode to do motion with elliptical motion trail, thereby finally realizing the overall displacement of the obstacle crossing actuator based on piezoelectric drive; applying sine and cosine voltage to one of the third piezoelectric ceramic pieces to drive the screw rod to move along the vertical direction, so that the rigid foot on one side of the metal base is lifted up and falls down;
the movement is combined, so that the displacement and obstacle crossing of the actuator can be finally realized, and the actuator has simple and compact structure, simple and direct actuation flow, short time used in the actuation process and high reaction speed; the motion mode of the actuator can be controlled by adjusting the input sine and cosine voltage values, the action path of the actuator is finally preset, and the motion functions of straight motion, turning and obstacle crossing are realized.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. Obstacle crossing actuator based on piezoelectric drive is characterized by comprising: the piezoelectric ceramic plate comprises a metal base (1), a first piezoelectric ceramic plate (2), a second piezoelectric ceramic plate (3), a third piezoelectric ceramic plate (4), a first cuboid matrix (5), a second cuboid matrix (6), a third cuboid matrix (7), a lead screw (8) and a rigid foot (9);
the front surface of the metal base (1) is provided with a pair of grooves and is provided with a pair of first cuboid substrates (5), the back surface of the metal base (1) is provided with a pair of grooves and is provided with a pair of second cuboid substrates (6), the positions of the grooves on the front surface and the back surface are arranged oppositely, and the positions of the grooves on the same surface are axisymmetric along a central line;
the tail ends of the first cuboid substrate (5) and the second cuboid substrate (6) are connected with a rigid foot (9), and the outer surfaces of the first cuboid substrate (5) and the second cuboid substrate (6) are respectively stuck with a first piezoelectric ceramic piece (2) and a second piezoelectric ceramic piece (3); the shape and the volume of the first cuboid substrate (5) and the second cuboid substrate (6), the first piezoelectric ceramic piece (2) and the second piezoelectric ceramic piece (3) are the same;
the metal base (1) is inside still to set up a pair of through-hole, runs through top surface and bottom surface, and a pair of third cuboid base member (7) pass respectively the through-hole, third piezoceramics piece (4) are pasted to third cuboid base member (7) surface, and third cuboid base member (7) are inside to set up the through-hole along vertical direction, and the through-hole is inside to set up the screw thread, and lead screw (8) cooperation is connected.
2. The piezoelectric-drive-based obstacle crossing actuator according to claim 1, wherein hemispherical feet are provided at the bottom of the lead screw (8) and the rigid feet (9).
3. The piezoelectric drive-based obstacle crossing actuator according to claim 1, wherein the first cuboid substrate (5) and the second cuboid substrate (6) are provided with through holes inside, and inner walls of the through holes are smooth.
4. The piezoelectric drive-based obstacle crossing actuator according to claim 1, wherein the first piezoelectric ceramic plate (2), the second piezoelectric ceramic plate (3) and the third piezoelectric ceramic plate (4) are rectangular.
5. The obstacle crossing actuator based on piezoelectric driving according to claim 1, wherein the materials of the first piezoceramic wafer (2), the second piezoceramic wafer (3) and the third piezoceramic wafer (4) are PZT-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020325106.XU CN212137558U (en) | 2020-03-16 | 2020-03-16 | Obstacle crossing actuator based on piezoelectric drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020325106.XU CN212137558U (en) | 2020-03-16 | 2020-03-16 | Obstacle crossing actuator based on piezoelectric drive |
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| CN212137558U true CN212137558U (en) | 2020-12-11 |
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| CN202020325106.XU Active CN212137558U (en) | 2020-03-16 | 2020-03-16 | Obstacle crossing actuator based on piezoelectric drive |
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