CN217469791U - Piezoelectric driving three-freedom-degree spherical rotor holder - Google Patents
Piezoelectric driving three-freedom-degree spherical rotor holder Download PDFInfo
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- CN217469791U CN217469791U CN202220203280.6U CN202220203280U CN217469791U CN 217469791 U CN217469791 U CN 217469791U CN 202220203280 U CN202220203280 U CN 202220203280U CN 217469791 U CN217469791 U CN 217469791U
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Abstract
The embodiment of the utility model discloses piezoelectricity drive three degree of freedom spherical rotor cloud platforms relates to the piezoelectricity drive technique, can reduce the motor quantity of the spherical rotor cloud platform of multiple degree of freedom, simplifies the reliability of structure and further lift system work. The utility model discloses a: two sandwich piezoelectric actuators, a mounting bracket and a spherical rotor carrying holder. The sandwich piezoelectric driver consists of six cylindrical metal substrates, a circular piezoelectric ceramic piece and an electrode plate, wherein the piezoelectric ceramic piece and the electrode plate are connected in a clamping fit manner through studs and screw holes on the cylindrical metal substrates. The spherical rotor carrying holder is arranged between the two sandwich type piezoelectric drivers, and the upper spherical surface and the lower spherical surface of the spherical rotor carrying holder are respectively contacted with the two driving wheels of the two sandwich type piezoelectric drivers. The two sandwich type piezoelectric drivers are in orthogonal contact with the spherical rotor carrying holder through the mounting bracket.
Description
Technical Field
The utility model relates to a based on piezoelectricity drive technique especially relates to a three degree of freedom spherical rotor cloud platforms of piezoelectricity drive.
Background
At present, if a multi-degree-of-freedom driving positioning device is to be realized, a gear reduction mechanism and other mechanisms need to be arranged on the positioning holder based on electromagnetic and hydraulic motor driving, the problems of complex structure and low reliability generally exist, and further the problems that the driving structure is difficult to effectively seal and the operation noise is large can be caused. And the defects of inevitable movement clearance, low positioning precision, complex maintenance and the like exist by applying the traditional mechanical transmission. A traditional single motor can only drive movement with single degree of freedom, and when the requirement on the degree of freedom is high, the movement can be realized by more motors. The piezoelectric driving positioning holder designed at present has the problem of single working mode of a motor. And few of the current schemes are schemes for realizing multi-mode coupling through a single motor.
Therefore, how to reduce the number of motors of the multi-freedom spherical rotor holder, simplify the structure and further improve the working reliability of the system becomes a problem to be researched.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a piezoelectric drive three degree of freedom spherical rotor cloud platforms can reduce the motor quantity of the spherical rotor cloud platform of multi freedom, simplifies the reliability of structure and further lift system work.
In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions:
the device comprises two sandwich type piezoelectric drivers, a mounting bracket and a spherical rotor carrying holder. The sandwich piezoelectric actuator is composed of six cylindrical metal substrates, a circular piezoelectric ceramic piece and an electrode plate, wherein the piezoelectric ceramic piece and the electrode plate are connected in a clamping fit manner through studs and screw holes on the cylindrical metal substrates. The spherical rotor carrying holder is arranged between the two sandwich type piezoelectric drivers, and the upper spherical surface and the lower spherical surface of the spherical rotor carrying holder are respectively contacted with the two driving wheels of the two sandwich type piezoelectric drivers. The two sandwich type piezoelectric drivers are in orthogonal contact with the spherical rotor carrying holder through the mounting support, and the prepressing force between the driving wheel of the sandwich type piezoelectric driver and the spherical surface of the spherical rotor carrying holder can be adjusted by adjusting the spring nuts on the mounting support. By applying specific excitation signals to the sandwich type piezoelectric driver, three vibration coupling modes of the sandwich type piezoelectric driver, namely first-order longitudinal vibration and third-order torsional vibration coupling, first-order longitudinal vibration and fourth-order bending vibration coupling and four-order bending vibration coupling in two mutually perpendicular directions can be excited respectively, so that driving points on two driving wheels of the sandwich type piezoelectric driver generate elliptic motion in a specific direction, and the spherical rotor carrying platform is driven to rotate in three freedom directions. The utility model discloses utilize piezoelectric actuator's multimode coupling can realize the three degree of freedom motions of multiple mode drive spherical rotor cloud platform, simple structure does not receive electromagnetic interference, and easily control, positioning accuracy are high, have important application on high accuracy multi freedom location cloud platform.
The embodiment is simple for traditional electromagnetism and hydraulic motor machine drive location cloud platform, and the quality is light, need not mechanisms such as gear reduction, easily seals, easily realizes the micromation, and the running noise is low, easily realizes low-speed big moment, does not receive electromagnetic interference, can cut off the power supply auto-lock. Compared with other piezoelectric driving positioning cloud platforms, the piezoelectric driver adopts multimode coupling, and different working modes can be realized by a single piezoelectric driving motor, so that the movement of multiple degrees of freedom is driven, the large number of motors is greatly reduced, the structure is simplified, the working reliability of the system is improved, the serialization and the modularized design are easier to realize, the adjustable size is large along with the difference of engineering application scenes, the engineering applicability is strong, and the piezoelectric driving positioning cloud platform has important application prospect.
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 a piezoelectric driving three-degree-of-freedom spherical rotor holder according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a sandwich-type piezoelectric actuator according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mounting bracket according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a spherical rotor carrying pan-tilt provided by the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first cylindrical metal substrate of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second cylindrical metal substrate of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a third cylindrical metal substrate of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a fourth cylindrical metal substrate of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a first set of piezoelectric ceramic components of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a second group of piezoelectric ceramic components of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 11 is a schematic view of a third group of piezoelectric ceramic components of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 12 is a schematic diagram of a third-order torsional vibration mode of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 13 is a schematic diagram of a fourth-order bending vibration mode of a sandwich piezoelectric actuator according to an embodiment of the present invention;
fig. 14 is a schematic view of a first-order longitudinal vibration mode of a sandwich piezoelectric actuator according to an embodiment of the present invention;
wherein each reference numeral respectively denotes: sandwich type piezoelectric actuator-1, mounting bracket-2, spherical rotor carrying holder-3, first cylindrical metal substrate-1.1.1, second cylindrical metal substrate-1.1.2, third cylindrical metal substrate-1.1.3, fourth cylindrical metal substrate-1.1.4, fifth cylindrical metal substrate-1.1.5, sixth cylindrical metal substrate-1.1.6, first group of piezoelectric ceramic components-1.2.1, second group of piezoelectric ceramic components-1.2.2, third group of piezoelectric ceramic components-1.2.3, fourth group of piezoelectric ceramic components-1.2.4, fifth group of piezoelectric ceramic components-1.2.5, sixth group of piezoelectric ceramic components-1.2.6, mounting bracket frame A-2.1, mounting bracket frame B-2.2, mounting bracket bolt-2.3, mounting bracket spring-2.4, mounting bracket mounting hole-2.5, rotor carrying holder upper driving holder-3.1.1, Spherical rotor carrying platform lower driving spherical surface-3.2, spherical rotor carrying platform carrying lens light source component-3.3, spherical rotor carrying platform carrying mounting hole-3.4, first cylindrical metal substrate first step cylinder-1.1.1, first cylindrical metal substrate second step cylinder-1.1.2, second cylindrical metal substrate cylinder-1.1.2.1, second cylindrical metal substrate threaded through hole-1.1.2.2, third cylindrical metal substrate first step cylinder-1.1.3.1, third cylindrical metal substrate second step cylinder-1.1.3.2, third cylindrical metal substrate third step cylinder-1.1.3.3, third cylindrical metal substrate fourth step cylinder-1.1.3.4, third cylindrical metal substrate fifth step cylinder-1.1.3.5, fourth cylindrical metal substrate first step cylinder-1.1.4.1, fourth cylindrical metal substrate-1.1.4.2 threaded hole, A fourth columnar metal matrix second stepped cylinder-1.1.4.3, a fourth columnar metal matrix third stepped cylinder-1.1.4.4, a fourth columnar metal matrix fourth stepped cylinder-1.1.4.5, a first group of piezoelectric ceramic component first bending vibration piezoelectric ceramic sheet-1.2.1.1, a first group of piezoelectric ceramic component second bending vibration piezoelectric ceramic sheet-1.2.1.2, a first group of piezoelectric ceramic component third bending vibration piezoelectric ceramic sheet-1.2.1.3, a first group of piezoelectric ceramic component fourth bending vibration piezoelectric ceramic sheet-1.2.1.4, a first group of piezoelectric ceramic component electrode sheet-1.2.1.5, a second group of piezoelectric ceramic component first torsion vibration piezoelectric ceramic sheet-1.2.2.1, a second group of piezoelectric ceramic component second torsion vibration piezoelectric ceramic sheet-1.2.2.2, a second group of piezoelectric ceramic component electrode sheet-1.2.3, a third group of piezoelectric ceramic component third torsion vibration piezoelectric ceramic sheet-1.2.3.1.2.3, a third group of piezoelectric ceramic component third torsion vibration piezoelectric ceramic sheet-1.2.2.3, A third group of piezoelectric ceramic components, a third longitudinal vibration piezoelectric ceramic piece-1.2.3.3, a fourth longitudinal vibration piezoelectric ceramic piece-1.2.3.4 and a third group of piezoelectric ceramic components, an electrode piece-1.2.3.5.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is described in further detail below with reference to the accompanying drawings and the detailed description. Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The general design idea of the present embodiment is as follows: utilize piezoelectricity material's inverse piezoelectric effect and friction can realize direct drive, need not speed reduction tradition device, have that the drive precision is high, simple structure is reliable, low-speed big moment, do not receive electromagnetic interference, advantages such as outage auto-lock, simultaneously through multimode coupling, different mode just can be realized to single piezoelectricity driven motor to the motion of a plurality of degrees of freedom is driven, the big quantity of motor that has significantly reduced, the structure is simplified, the reliability of system work has been improved.
Particularly, the embodiment of the utility model provides a piezoelectric drive three degree of freedom spherical rotor cloud platforms, as shown in figure 1, include:
two sandwich type piezoelectric actuator (1), installing support (2), spherical rotor carries thing cloud platform (3), wherein, two sandwich type piezoelectric actuator (1) and spherical rotor carry thing cloud platform (3) and all install in installing support (2), the order of arranging is from last to being a sandwich type piezoelectric actuator (1), spherical rotor carries thing cloud platform (3) and another sandwich type piezoelectric actuator (1) down in proper order to the axial direction mutually perpendicular of two sandwich type piezoelectric actuator (1).
As shown in fig. 2, each of the sandwich piezoelectric actuators (1) includes: six cylindricality metal base and five group piezoelectric ceramic subassemblies, all cylindricality metal base and piezoelectric ceramic subassembly are connected in series the installation in proper order, form five clearances after six cylindricality metal base establish ties to pack a group piezoelectric ceramic subassembly in every clearance. The sandwich type piezoelectric driver (1) comprises a first cylindrical metal base body (1.1.1) to a sixth cylindrical metal base body (1.1.6) and a first group of piezoelectric ceramic components (1.2.1) to a fifth group of piezoelectric ceramic components (1.2.5), and is used for inputting an external driving signal to enable the sandwich type piezoelectric driver (1) to vibrate.
The upper surface mounting that spherical rotor carried thing cloud platform (3) carries thing cloud platform and goes up drive sphere (3.1), and lower surface mounting has spherical rotor to carry thing cloud platform and drives sphere (3.2) down, and spherical rotor carries thing cloud platform and goes up drive sphere (3.1) and contact with the drive wheel of a sandwich type piezoelectric actuator (1), and spherical rotor carries thing cloud platform and drives sphere (3.2) and the drive wheel of another sandwich type piezoelectric actuator (1) down and contact.
In the scheme of this embodiment, contain two sandwich type piezoelectric actuator, the installing support, spherical rotor carries thing cloud platform. The sandwich piezoelectric actuator is composed of six cylindrical metal substrates, sixteen circular piezoelectric ceramic pieces and electrode pieces, wherein the piezoelectric ceramic pieces and the electrode pieces are connected in a clamping fit mode through studs and screw holes on the cylindrical metal substrates. The spherical rotor carrying holder is arranged between the two sandwich type piezoelectric drivers, and the upper spherical surface and the lower spherical surface of the spherical rotor carrying holder are respectively contacted with the two driving wheels of the two sandwich type piezoelectric drivers. The two sandwich type piezoelectric drivers are in orthogonal contact with the spherical rotor carrying holder through the mounting support, and the pre-pressure between the driving wheel of the sandwich type piezoelectric drivers and the spherical surface of the spherical rotor carrying holder can be adjusted by adjusting the spring nuts on the mounting support. By applying specific excitation signals to the sandwich type piezoelectric driver, three vibration coupling modes of the sandwich type piezoelectric driver, namely first-order longitudinal vibration and third-order torsional vibration coupling, first-order longitudinal vibration and fourth-order bending vibration coupling and four-order bending vibration coupling in two mutually perpendicular directions can be excited respectively, so that driving points on two driving wheels of the sandwich type piezoelectric driver generate elliptic motion in a specific direction, and the spherical rotor carrying platform is driven to rotate in three freedom directions. The utility model discloses utilize piezoelectric actuator's multimode coupling can realize the three degree of freedom motions of multiple mode drive spherical rotor cloud platform, simple structure does not receive electromagnetic interference, and easily control, positioning accuracy are high, have important application on high accuracy multi freedom location cloud platform.
The embodiment is simple for traditional electromagnetism and hydraulic motor machine drive location cloud platform, and the quality is light, need not mechanisms such as gear reduction, easily seals, easily realizes the micromation, and the running noise is low, easily realizes low-speed big moment, does not receive electromagnetic interference, can cut off the power supply auto-lock. Compared with other piezoelectric driving positioning cloud platforms, the piezoelectric driver adopts multimode coupling, and different working modes can be realized by a single piezoelectric driving motor, so that the movement of multiple degrees of freedom is driven, the large number of motors is greatly reduced, the structure is simplified, the working reliability of the system is improved, the serialization and the modularized design are easier to realize, the adjustable size is large along with the difference of engineering application scenes, the engineering applicability is strong, and the piezoelectric driving positioning cloud platform has important application prospect.
Specifically, as shown in fig. 5, the first cylindrical metal base (1.1.1) and the sixth cylindrical metal base (1.1.6) are the same, wherein the first cylindrical metal base (1.1.1) includes a first cylindrical metal base first stepped cylinder (1.1.1.1) and a first cylindrical metal base second stepped cylinder (1.1.1.2), the diameter of the first cylindrical metal base second stepped cylinder (1.1.1.2) is smaller than that of the first cylindrical metal base first stepped cylinder (1.1.1.1), and the first cylindrical metal base second stepped cylinder (1.1.1.2) is a stud with an external thread.
As shown in fig. 6, the second cylindrical metal base (1.1.2) and the fifth cylindrical metal base (1.1.5) are identical, wherein the diameter of the second cylindrical metal base (1.1.2) is identical to the diameter of the first cylindrical metal base first stepped cylinder (1.1.1.1), the second cylindrical metal base (1.1.2) is a cylindrical metal base with a threaded through hole, the diameter of the threaded through hole corresponds to the diameter of the first cylindrical metal base second stepped cylinder (1.1.1.2), and the first cylindrical metal base second stepped cylinder (1.1.1.2) has an external thread on the stud matching the internal thread of the threaded through hole, so that the first cylindrical metal base (1.1.1) is fixedly mounted with the second cylindrical metal base (1.1.2) through the threaded through hole.
In this embodiment, the third pillar-shaped metal matrix (1.1.3) comprises a third pillar-shaped metal matrix first stepped cylinder (1.1.3.1) to a third pillar-shaped metal matrix fifth stepped cylinder (1.1.3.5), wherein the third pillar-shaped metal matrix first stepped cylinder (1.1.3.1) and the third pillar-shaped metal matrix fifth stepped cylinder (1.1.3.5) are studs having equal diameters and both having external threads.
The diameter of the third cylindrical metal matrix second stepped cylinder (1.1.3.2) and the third cylindrical metal matrix fourth stepped cylinder (1.1.3.4) are equal and also equal to the diameter of the second cylindrical metal matrix (1.1.2), and the diameter of the third cylindrical metal matrix third stepped cylinder (1.1.3.3) is the largest of the third cylindrical metal matrix first stepped cylinder (1.1.3.1) to the third cylindrical metal matrix fifth stepped cylinder (1.1.3.5).
Fourth cylindricality metallic matrix (1.1.4) contain fourth cylindricality metallic matrix first step cylinder (1.1.4.1) to fourth cylindricality metallic matrix fourth step cylinder (1.1.4.5), and wherein, fourth cylindricality metallic matrix first step cylinder (1.1.4.1) have the screw hole, and fourth cylindricality metallic matrix fourth step cylinder (1.1.4.5) are the double-screw bolt that has the external screw thread, and fourth cylindricality metallic matrix second step cylinder (1.1.4.3) is the same with the diameter of third cylindricality metallic matrix third step cylinder (1.1.3.3). The piezoelectric ceramic components are clamped and matched through stud screw holes between the cylindrical metal substrates to form a sandwich type piezoelectric driver (1).
In each group of piezoelectric ceramic components, piezoelectric ceramic plates and electrode plates are included. The first group of piezoelectric ceramic components (1.2.1) and the fifth group of piezoelectric ceramic components (1.2.5) are identical and are respectively arranged at the wave crest and the wave trough of the four-order bending vibration mode of the sandwich type piezoelectric driver (1). The second group of piezoelectric ceramic components (1.2.2) and the fourth group of piezoelectric ceramic components (1.2.4) are identical and are arranged at two nodes of a third-order torsional vibration mode of the sandwich type piezoelectric driver (1). The third group of piezoelectric ceramic components (1.2.3) are arranged at the middle position of the sandwich type piezoelectric driver (1), and the middle position is the common junction of the first-order longitudinal vibration mode and the third-order torsional vibration mode of the sandwich type piezoelectric driver (1).
Further, the first piezo-ceramic assembly comprises: in the embodiment, a circular ring two-region bending vibration piezoelectric ceramic piece is adopted from a first group of piezoelectric ceramic components, namely a first bending vibration piezoelectric ceramic piece (1.2.1.1) to a fourth bending vibration piezoelectric ceramic piece (1.2.1.4) of the first group of piezoelectric ceramic components, and all the ceramic pieces are polarized along the thickness direction, namely the deformation direction of the piezoelectric ceramic is consistent with the voltage applying direction. The polarization partition line directions of the first group of piezoelectric ceramic components, the first bending vibration piezoelectric ceramic piece (1.2.1.1) and the second bending vibration piezoelectric ceramic piece (1.2.1.1) are consistent. The polarization partition lines of the third bending vibration piezoelectric ceramic piece (1.2.1.3) of the first group of piezoelectric ceramic components and the fourth bending vibration piezoelectric ceramic piece (1.2.1.4) of the first group of piezoelectric ceramic components are consistent in direction and are perpendicular to the polarization partition lines of the first bending vibration piezoelectric ceramic piece (1.2.1.1) of the first group of piezoelectric ceramic components.
In this embodiment, the surfaces of the fourth pillar-shaped metal base second stepped cylinder (1.1.4.3) and the third pillar-shaped metal base third stepped cylinder (1.1.3.3) may be both covered with an elastic material such as rubber for increasing the frictional force, and the fourth pillar-shaped metal base second stepped cylinder (1.1.4.3) and the third pillar-shaped metal base third stepped cylinder (1.1.3.3) may be used as the driving wheel of the sandwich type piezoelectric driver (1). The second group of piezoceramic components (1.2.2) comprises: the first torsional vibration piezoelectric ceramic piece (1.2.2.1) of the second group of piezoelectric ceramic components and the second torsional vibration piezoelectric ceramic piece (1.2.2.2) of the second group of piezoelectric ceramic components can adopt ring-shaped torsional vibration piezoelectric ceramic pieces and are polarized along the circumferential direction, and the polarization directions of the first torsional vibration piezoelectric ceramic piece (1.2.2.1) of the second group of piezoelectric ceramic components and the second torsional vibration piezoelectric ceramic piece (1.2.2.2) of the second group of piezoelectric ceramic components are opposite.
The third group of piezoceramic components (1.2.3) comprises: the first torsional vibration piezoelectric ceramic piece (1.2.3.1) of the third group of piezoelectric ceramic components to the fourth torsional vibration piezoelectric ceramic piece (1.2.3.4) of the third group of piezoelectric ceramic components are torsional vibration piezoelectric ceramic pieces which are polarized along the circumferential direction and have opposite polarization directions, and the third longitudinal vibration piezoelectric ceramic piece (1.2.3.3) of the third group of piezoelectric ceramic components and the fourth longitudinal vibration piezoelectric ceramic piece (1.2.3.4) of the third group of piezoelectric ceramic components are longitudinal vibration piezoelectric ceramic pieces which are polarized along the thickness direction and have opposite polarization directions.
Further, as shown in fig. 3, the mounting bracket (2) is a frame-shaped bracket structure with two mounting holes (2.5), the frame-shaped bracket structure is composed of a frame a (2.1) and a frame B (2.2), one sandwich type piezoelectric actuator (1) is mounted in one mounting hole (2.5), and the two sandwich type piezoelectric actuators (1) are mutually orthogonal in spatial position. The frame A (2.1) and the frame B (2.2) are connected through a bolt (2.3) and a spring (2.4), and the pretightening force between the frame A (2.1) and the frame B (2.2) is adjusted.
Wherein, the spherical rotor carrying holder (3) is also provided with four carrying mounting holes (3.4), and the carrying mounting holes (3.4) are used for mounting optical elements. The pre-pressure between the driving wheel of the sandwich type piezoelectric driver (1) and the upper and lower driving spherical surfaces of the spherical rotor carrying holder (3) is adjusted through the adjusting bolt (2.3) and the spring (2.4).
For example, the spherical rotor carrying pan-tilt (3) is arranged between two sandwich type piezoelectric drivers (1), as shown in fig. 4, the spherical rotor carrying pan-tilt (3) is provided with an upper driving spherical surface (3.2) and four carrying mounting holes (3.4), the upper driving spherical surface (3.2) is in contact with two driving wheels of the sandwich type piezoelectric drivers (1), the carrying mounting holes (3.4) can be provided with components such as a lens laser source, and the like, and the pre-pressure between the driving wheels of the sandwich type piezoelectric drivers (1) and the spherical surface of the spherical rotor carrying pan-tilt (3) can be adjusted by adjusting nuts of springs (2.4) on the mounting support (2).
The first cylindrical metal base body (1.1.6) and the sixth cylindrical metal base body (1.1.6) are completely the same, and the first cylindrical metal base body (1.1.1) comprises a first stepped cylinder, a second stepped cylinder and a stud with external threads, wherein the diameter of the second stepped cylinder is smaller than that of the first stepped cylinder, as shown in fig. 5.
The second and fifth cylindrical metal substrates (1.1.5) are identical, and the second cylindrical metal substrate (1.1.2) is a cylindrical metal substrate with a threaded through hole as shown in fig. 6, and the outer diameter of the second cylindrical metal substrate is identical to the diameter of the first stepped cylinder of the first cylindrical metal substrate (1.1.1).
Third cylindricality metal base (1.1.3) is as shown in fig. 7, third cylindricality metal base (1.1.3) contains first to fifth ladder cylinder, and wherein first ladder cylinder, fifth ladder cylinder are the diameter and equal the double-screw bolt that has the external screw thread, and second ladder cylinder, fourth ladder cylinder diameter are equal and equal to second cylindricality metal base (1.1.2) diameter, and third ladder cylinder diameter is greater than first, second, fourth, fifth ladder cylinder.
The fourth cylindrical metal base (1.1.4) is shown in fig. 8, and the fourth cylindrical metal base (1.1.4) comprises first to fourth stepped cylinders, wherein the first stepped cylinder is provided with a threaded hole, the fourth stepped cylinder is a stud with an external thread, and the second stepped cylinder is the same as the third stepped cylinder of the third cylindrical metal base (1.1.3).
The first to fifth groups of piezoelectric ceramic components (1.2.5) comprise piezoelectric ceramic pieces and electrode plates, the first piezoelectric ceramic component and the fifth piezoelectric ceramic component are the same and are arranged at wave crests and wave troughs of a four-order bending vibration mode of the sandwich type piezoelectric driver (1), such as a torsional vibration mode shown in fig. 12, wherein 2 wave crests and 2 wave troughs form 4-order bending vibration; the second piezoelectric ceramic component and the fourth piezoelectric ceramic component are the same and are arranged at two nodes of a third-order torsional vibration mode of the sandwich type piezoelectric driver (1), such as shown in fig. 14, wherein 3 nodal planes form 3-order torsional vibration because the circular section does not twist; the third piezoelectric ceramic component is arranged in the middle of the sandwich type piezoelectric driver (1) and is a common junction point of the first-order longitudinal vibration mode and the third-order torsional vibration mode.
As shown in fig. 9, the first group of piezoelectric ceramic components (1.2.1) includes first to fourth circular ring-shaped two-zone bending vibration piezoelectric ceramic sheets, which are polarized in the thickness direction, the polarization zone line directions of the first and second piezoelectric ceramic sheets are the same, and the polarization zone line directions of the third and fourth piezoelectric ceramic sheets are the same and perpendicular to the polarization zone lines of the first and second piezoelectric ceramic sheets;
a second group of piezoelectric ceramic components (1.2.2) is shown in fig. 10, and the second piezoelectric ceramic components comprise first to second annular torsional vibration piezoelectric ceramic pieces which are polarized along the circumferential direction and have opposite polarization directions;
a third group of piezoelectric ceramic components (1.2.3) is shown in fig. 11, wherein the third piezoelectric ceramic components comprise first to fourth ring-shaped piezoelectric ceramic pieces, wherein the first to second piezoelectric ceramic pieces are torsional vibration piezoelectric ceramic pieces and are polarized along the circumferential direction, the polarization directions are opposite, and the third to fourth piezoelectric ceramic pieces are longitudinal vibration piezoelectric ceramic pieces and are polarized along the thickness direction, and the polarization directions are opposite;
the piezoelectric ceramic components are clamped and matched through stud screw holes between the cylindrical metal substrates to form a sandwich type piezoelectric driver (1).
The first to fifth piezoelectric ceramic components are used for inputting external driving signals to enable the sandwich type piezoelectric driver (1) to vibrate.
The specific advantages of this embodiment can be summarized as follows: compared with the traditional electromagnetic and hydraulic motor driven positioning tripod head, the piezoelectric actuator has the advantages of simple structure, light weight, no need of mechanisms such as gear reduction and the like, easiness in sealing, easiness in realizing microminiaturization, low running noise, easiness in realizing low-speed large torque, no electromagnetic interference and capability of realizing power-off self-locking. Compared with other piezoelectric driving positioning cloud platforms, the piezoelectric driver adopts multimode coupling, and different working modes can be realized by a single piezoelectric driving motor, so that the movement of multiple degrees of freedom is driven, the large number of motors is greatly reduced, the structure is simplified, the working reliability of the system is improved, the serialization and the modularized design are easier to realize, the adjustable size is large along with the difference of engineering application scenes, the engineering applicability is strong, and the piezoelectric driving positioning cloud platform has important application prospect.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. 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 (9)
1. A piezoelectric driving three-freedom spherical rotor holder is characterized by comprising: the spherical rotor loading platform comprises two sandwich type piezoelectric drivers (1), a mounting bracket (2) and a spherical rotor loading platform head (3), wherein the two sandwich type piezoelectric drivers (1) and the spherical rotor loading platform head (3) are mounted in the mounting bracket (2), the two sandwich type piezoelectric drivers (1), the spherical rotor loading platform head (3) and the other sandwich type piezoelectric driver (1) are sequentially arranged from top to bottom, and the axial directions of the two sandwich type piezoelectric drivers (1) are mutually vertical;
the components of each sandwich-type piezoelectric actuator (1) include: the piezoelectric ceramic module comprises six cylindrical metal matrixes and five groups of piezoelectric ceramic components, wherein all the cylindrical metal matrixes and the piezoelectric ceramic components are sequentially installed in series, five gaps are formed after the six cylindrical metal matrixes are connected in series, and each gap is filled with one group of piezoelectric ceramic components;
the upper surface mounting that spherical rotor carried thing cloud platform (3) carries thing cloud platform and goes up drive sphere (3.1), and lower surface mounting has spherical rotor to carry thing cloud platform and drives sphere (3.2) down, and spherical rotor carries thing cloud platform and goes up drive sphere (3.1) and contact with the drive wheel of a sandwich type piezoelectric actuator (1), and spherical rotor carries thing cloud platform and drives sphere (3.2) and the drive wheel of another sandwich type piezoelectric actuator (1) down and contact.
2. A piezo-electric driven three degree of freedom spherical rotor head according to claim 1,
the first cylindrical metal matrix (1.1.1) and the sixth cylindrical metal matrix (1.1.6) are the same, wherein the first cylindrical metal matrix (1.1.1) comprises a first cylindrical metal matrix first stepped cylinder (1.1.1.1) and a first cylindrical metal matrix second stepped cylinder (1.1.1.2), the diameter of the first cylindrical metal matrix second stepped cylinder (1.1.1.2) is smaller than that of the first cylindrical metal matrix first stepped cylinder (1.1.1.1), and the first cylindrical metal matrix second stepped cylinder (1.1.1.2) is a stud with external threads;
the second cylindrical metal base body (1.1.2) and the fifth cylindrical metal base body (1.1.5) are identical, wherein the diameter of the second cylindrical metal base body (1.1.2) is identical to that of the first cylindrical metal base body first stepped cylinder (1.1.1.1), the second cylindrical metal base body (1.1.2) is a cylindrical metal base body with a threaded through hole, the diameter of the threaded through hole corresponds to that of the first cylindrical metal base body second stepped cylinder (1.1.1.2), and the external thread of the first cylindrical metal base body second stepped cylinder (1.1.1.2) on the stud is matched with the internal thread of the threaded through hole, so that the first cylindrical metal base body (1.1.1) is fixedly installed with the second cylindrical metal base body (1.1.2) through the threaded through hole.
3. A piezo-electrically driven three-degree-of-freedom spherical rotor head according to claim 1 or 2, wherein the third cylindrical metal base (1.1.3) comprises a third cylindrical metal base first stepped cylinder (1.1.3.1) to a third cylindrical metal base fifth stepped cylinder (1.1.3.5), wherein the third cylindrical metal base first stepped cylinder (1.1.3.1) and the third cylindrical metal base fifth stepped cylinder (1.1.3.5) are studs with equal diameter and both provided with external threads;
the diameter of the third columnar metal matrix second stepped cylinder (1.1.3.2) is equal to that of the third columnar metal matrix fourth stepped cylinder (1.1.3.4) and is also equal to that of the second columnar metal matrix (1.1.2), and the diameter of the third columnar metal matrix third stepped cylinder (1.1.3.3) is the largest of the third columnar metal matrix first stepped cylinder (1.1.3.1) to the third columnar metal matrix fifth stepped cylinder (1.1.3.5);
the fourth columnar metal matrix (1.1.4) comprises a fourth columnar metal matrix first step cylinder (1.1.4.1) to a fourth columnar metal matrix fourth step cylinder (1.1.4.5), wherein the fourth columnar metal matrix first step cylinder (1.1.4.1) is provided with a threaded hole, the fourth columnar metal matrix fourth step cylinder (1.1.4.5) is a stud with an external thread, and the diameters of the fourth columnar metal matrix second step cylinder (1.1.4.3) and the third columnar metal matrix third step cylinder (1.1.3.3) are the same.
4. A piezo-electric three-freedom spherical rotor platform according to claim 3, characterized in that the surfaces of the fourth cylinder (1.1.4.3) and the third cylinder (1.1.3.3) are covered with elastic material for increasing friction force, and the fourth cylinder (1.1.4.3) and the third cylinder (1.1.3.3) are used as driving wheels of the sandwich piezo-electric actuator (1).
5. A piezo-electric three-freedom spherical rotor platform according to claim 3, wherein each group of piezo-electric ceramic components comprises a piezo-electric ceramic plate and an electrode plate;
the first group of piezoelectric ceramic components (1.2.1) and the fifth group of piezoelectric ceramic components (1.2.5) are the same and are respectively arranged at the wave crest and the wave trough of the four-order bending vibration mode of the sandwich type piezoelectric driver (1);
the second group of piezoelectric ceramic components (1.2.2) and the fourth group of piezoelectric ceramic components (1.2.4) are identical and are arranged at two nodes of a third-order torsional vibration mode of the sandwich type piezoelectric driver (1);
the third group of piezoelectric ceramic components (1.2.3) are arranged at the middle position of the sandwich type piezoelectric driver (1), and the middle position is the common junction of the first-order longitudinal vibration mode and the third-order torsional vibration mode of the sandwich type piezoelectric driver (1).
6. A piezo-electric driven three degree of freedom spherical rotor head according to claim 5,
the first set of piezoceramic components (1.2.1) comprises: a first group of piezoelectric ceramic components, namely a first bending vibration piezoelectric ceramic piece (1.2.1.1) to a fourth bending vibration piezoelectric ceramic piece (1.2.1.4) of the first group of piezoelectric ceramic components, wherein all the ceramic pieces are polarized along the thickness direction;
the polarization partition line directions of the first group of piezoelectric ceramic components, the first bending vibration piezoelectric ceramic piece (1.2.1.1) and the second bending vibration piezoelectric ceramic piece (1.2.1.1) are consistent;
the polarization partition lines of the third bending vibration piezoelectric ceramic piece (1.2.1.3) of the first group of piezoelectric ceramic components and the fourth bending vibration piezoelectric ceramic piece (1.2.1.4) of the first group of piezoelectric ceramic components are consistent in direction and are perpendicular to the polarization partition lines of the first bending vibration piezoelectric ceramic piece (1.2.1.1) of the first group of piezoelectric ceramic components.
7. A piezo-electrically driven three-degree-of-freedom spherical rotor head according to claim 6, characterized in that the second set of piezo-ceramic components (1.2.2) comprises: the first torsional vibration piezoelectric ceramic piece (1.2.2.1) of the second group of piezoelectric ceramic components and the second torsional vibration piezoelectric ceramic piece (1.2.2.2) of the second group of piezoelectric ceramic components are polarized along the circumferential direction, and the polarization directions are opposite.
8. A piezo-electrically driven three-degrees-of-freedom spherical rotor head according to claim 7, characterized in that the third set of piezo-ceramic components (1.2.3) comprises: the first torsional vibration piezoelectric ceramic piece (1.2.3.1) of the third group of piezoelectric ceramic components to the fourth torsional vibration piezoelectric ceramic piece (1.2.3.4) of the third group of piezoelectric ceramic components are torsional vibration piezoelectric ceramic pieces which are polarized along the circumferential direction and have opposite polarization directions, and the third longitudinal vibration piezoelectric ceramic piece (1.2.3.3) of the third group of piezoelectric ceramic components and the fourth longitudinal vibration piezoelectric ceramic piece (1.2.3.4) of the third group of piezoelectric ceramic components are longitudinal vibration piezoelectric ceramic pieces which are polarized along the thickness direction and have opposite polarization directions.
9. A piezo-electric driven three degree of freedom spherical rotor head according to claim 1,
the mounting bracket (2) is a frame type bracket structure with two mounting holes (2.5), the frame type bracket structure consists of a frame A (2.1) and a frame B (2.2), one sandwich type piezoelectric driver (1) is mounted in one mounting hole (2.5), and the positions of the two sandwich type piezoelectric drivers (1) on the space are mutually orthogonal;
the frame A (2.1) and the frame B (2.2) are connected through a bolt (2.3) and a spring (2.4), and the pretightening force between the frame A (2.1) and the frame B (2.2) is adjusted;
the spherical rotor carrying cloud deck (3) is also provided with four carrying mounting holes (3.4), and the carrying mounting holes (3.4) are used for mounting optical elements;
the prepressing force between the driving wheel of the sandwich type piezoelectric driver (1) and the upper and lower driving spherical surfaces of the spherical rotor carrying holder (3) is adjusted through the adjusting bolt (2.3) and the spring (2.4).
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