CN2814795Y - Micro linear driver based on bicrystal piezoelectric thin film - Google Patents
Micro linear driver based on bicrystal piezoelectric thin film Download PDFInfo
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- CN2814795Y CN2814795Y CN 200520042986 CN200520042986U CN2814795Y CN 2814795 Y CN2814795 Y CN 2814795Y CN 200520042986 CN200520042986 CN 200520042986 CN 200520042986 U CN200520042986 U CN 200520042986U CN 2814795 Y CN2814795 Y CN 2814795Y
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- crystal piezoelectric
- twin crystal
- piezoelectric membrane
- piezoelectric thin
- double
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Abstract
The utility model relates to a micro linear driver based on a double-crystal piezoelectric thin film, which comprises a driving mechanism which is composed of a plurality of double-crystal piezoelectric thin films and is sheathed with a central shaft and a move supporting mechanism composed of rigid frames on the periphery of the double-crystal piezoelectric thin films and elastic supporting feet fixedly connected with the rigid frames, wherein both ends of the driving mechanism are respectively positioned by an inertial mass block and a fixed sleeve, and the middle part of the driving mechanism is separated by insulating isolation sleeves to form the double-crystal piezoelectric thin films; the double-crystal piezoelectric thin films are composed of elastic metal thin sheets and piezoelectric ceramic sheets glued on both surfaces of the elastic metal thin sheets. The utility model is characterized in that the double-crystal piezoelectric thin films correspond to the peripheral rigid frames to form a circle or a regular quadrangle or a regular polygon, and 3 to 4 circular small perforations are uniformly distributed near the edges of the double-crystal piezoelectric thin films and the peripheral rigid frames along the circumferential direction; the elastic supporting feet are elastic steel wires which penetrate through the circular small perforations to be fixedly connected with the double-crystal piezoelectric thin films and the rigid frames. The utility model has the advantages of simple structure, small volume, large propulsive force and fast forward speed, and the utility model is suitable to be used in a micro robot driver in a superfine pipeline of which the internal diameter is less that 10 mm.
Description
Technical field
The utility model belongs to the voltage driven type driver that utilizes piezoelectric effect, also belongs to the miniature mechanically moving technical field that can walk automatically in microtubule.
Background technology
In building and the industrial and mining enterprises, exist pipe arrangement facilities such as a large amount of water pipes, tracheae and oil pipe.Wherein the tube wall internal diameter is used more at 10mm and following tubule.These pipelines can block by burn in the pipe, even the crack occurs through using all the year round, cause very big hidden danger for normal the use, lead to a disaster sometimes.For the needs that keep safety or health, check in must regularly managing and cleaning.But running mechanism (or being called driver, robot etc.) in the present pipeline, or radial dimension is too big, can't enter the tubule road; The speed and the propulsive force of output are too small, can not satisfy the pipe-line maintenance job requirements; To inner-walls of duct environmental requirement harshness, be difficult to practicability; Problem, job stability and poor reliability such as mechanism existence itself is generated heat, power consumption is big.Therefore the driver problem in 10mm tubule road does not obtain fine solution for a long time.
Prior art can be enumerated two patents of invention:
1) Nippondenso Co., Ltd., multilayer driver and mobile device thereof, communique is openly speciallyyed permit in the Japan special permission Room, and special permission discloses flat 9-37571, on February 7th, 1997, goes out to be willing to designation: specially permit out the flat 7-182964 of hope, go out to be willing to day: July 19 nineteen ninety-five
This invention will be organized the configuration side by side on same axis of twin crystal piezoelectric membrane more, and the propulsive force that each group twin crystal piezoelectric membrane is produced is superposeed.The use of piezoelectric membrane makes driving voltage reduce on the one hand, can produce propulsive force under low voltage; Also can make driver produce bigger displacement on the other hand, improve whole translational speed.
The twin crystal piezoelectric membrane is meant the bonding piezoelectric crystalline film sheet of one or both sides at thin elastic sheet metal, and under the extra electric field effect, because inverse piezoelectric effect, piezoelectric membrane and sheet metal produce the buckling deformation of middle part protuberance together.
The structure and the operating principle of this invention are as follows.Each group twin crystal piezoelectric membrane is disc, and central authorities all have circular hole, and a central shaft passes these circular holes, and all twin crystal piezoelectric membranes are connected in parallel, and an end of central shaft is fixed with inertial mass.The outer rim of twin crystal piezoelectric membrane is with elongated elastomeric material, and they are interconnected, and the two ends of this elongate resilient material make feet and keep in touch with inner-walls of duct.When producing buckling deformation, the twin crystal piezoelectric membrane just produces relative motion between inertial mass and the feet.Under sawtooth voltage drives, can advance or retreat walking along pipeline.It is inconsistent that sawtooth waveforms makes that the twin crystal piezoelectric membrane produces the acceleration of two-way buckling deformation, and acceleration hour twin crystal piezoelectric membrane promotes an inertial mass and travels forward, owing to have frictional resistance between feet and tube wall, so actuator body keeps motionless.Because the effect of inertia force, inertial mass almost kept original position motionless when acceleration was big, feet together with actuator body to front slide.So go round and begin again, driver just travels forward step by step.When applying reverse voltage-sawtooth, driver is motion backward just.
The problem that this invention exists is, between the twin crystal piezoelectric membrane, accompany conductive casings, be enclosed within on the central shaft, and keep in touch (compressing) with the electrode of piezoelectric patches, with each piezoelectric patches of conducting and form electric loop, this structure has limited the buckling deformation of twin crystal piezoelectric membrane to a certain extent, and output speed is reduced, when the diameter of twin crystal piezoelectric membrane is very little even can not work.
2) Shanghai University, tiny pipe wall defect detection device, Chinese utility model patent, application number: 00259555.9, the applying date: on December 11st, 2000, authorize June 8 calendar year 2001.
This patent of invention has proposed a kind of tiny pipe wall defect detection device of being made up of specialized robot crawl device, detector, CCD video transmission interface, monitor and power-supply controller of electric.Wherein crawl device part and above-mentioned patent basically identical.Different is, the outer rim of disc twin crystal piezoelectric membrane is installed feet with the in addition clamping and fixing of round barrel shape shaped as frame structure in the framework outside.The output propulsive force of driver is improved.Shortcoming is that this structure is difficult to miniaturization on technology.
The utility model content
The purpose of this utility model is to provide a kind of improved miniature linear actuator based on the twin crystal piezoelectric membrane, can be under low voltage drive, produce bigger output propulsive force and pace, can be made into reduced size and can be microrobot driver stable in ultra-fine industry below the 10mm and the civil pipeline, reliable walking at bore.
For achieving the above object, design of the present utility model is:
The many pieces of twin crystal piezoelectric membranes (3) with three-decker are connected in parallel, and the middle part of each piece twin crystal piezoelectric membrane has a central shaft that connects to link to each other (1), and circumferential perimeter has one group of rigid frame (4,5) to link to each other.Because the piezoelectric ceramic piece that adheres on the twin crystal piezoelectric membrane is thinner, therefore can under lower voltage, make the twin crystal piezoelectric membrane produce bigger curvature changing.By suitable circuit connection, the curvature changing direction unanimity that each piezoelectric ceramic piece is produced under same electric field action, the deformation direction that produced of each twin crystal piezoelectric membrane is also consistent like this, all along a certain side of central axis direction.The propulsive force of output has Overlay, so propulsive force is bigger.For improving the pace of driver, the insulation separation sleeve (6) that is used for clamping twin crystal piezoelectric membrane on central shaft adopts pyramidal structure, peripheral simultaneously rigid frame processes chamfering at the position that compresses with the twin crystal piezoelectric membrane, so just reduced restriction, thereby improved the output speed of driver the distortion of twin crystal piezoelectric membrane.
The structural design of driver makes the lateral dimension of driver reduce.Concrete measure has: 1) feet made from steel wire (7) also serves as the securing member of peripheral rigid frame not only as the support of driver in pipeline.2) twin crystal piezoelectric membrane periphery only use 4 fastening.3) only paste piezoelectric ceramic piece, so the diameter of twin crystal piezoelectric membrane reduces at the effective deformation position of twin crystal piezoelectric membrane.
The mechanical connection of each major part of driver all adopts the mode of suit, pressing and spot welding, and number of parts is few, and core part twin crystal piezoelectric membrane and peripheral frame are made square structure, is convenient to very much processing and manufacturing and centering is installed.
The driving voltage of driver adopts impulse waveform, and the propulsive force of driving is big, speed is very fast, so the clamping force of feet and tube wall can be bigger, creeps forward even also can overcome load resistance with the bigger corner of curvature on vertical pipe.
According to above-mentioned utility model design, the utility model adopts following technical proposals:
A kind of miniature linear actuator based on the twin crystal piezoelectric membrane, comprise that central shaft (1) is gone up by being sleeved on, two ends middlely isolate the driving mechanism that a plurality of twin crystal piezoelectric membranes (3) constitute by insulation separation sleeve (6) by inertial mass (8) and fixed cover (2) location respectively, and by the peripheral rigid frame (4,5) of twin crystal piezoelectric membrane (3) with fixedly connected the mobile supporting mechanism of resiliency supported pin (7) formation with rigid frame (4,5); Described twin crystal piezoelectric membrane (3) is the bonding piezoelectric ceramic piece in two sides (10) formation by resilient blade (9), it is characterized in that twin crystal piezoelectric membrane (3) should be circular or square or regular polygon relatively with peripheral rigid frame (4,5), in circumferentially 3～4 the uniform little perforation of circle that keep to the side; Described resiliency supported pin (7) is an elastic wire, penetrates the little perforation of circular hole of rigid frame (4,5) and twin crystal piezoelectric membrane (3) and is fixedly connected with it.
Above-mentioned twin crystal piezoelectric membrane (3) is subjected to rigid frame (4,5) folded by its resilient blade (9) again, resilient blade (9) only rigid frame (4,5) inside casing with interior effective deformation district on bonding piezoelectric ceramic piece (10); And rigid frame (4,5) processes chamfering at the position inner side edge that compresses with the ironed film of twin crystal (3), avoids hindering the distortion of twin crystal piezoelectric membrane (2).
Above-mentioned insulation separation sleeve (6) is a pyramidal structure with twin crystal piezoelectric membrane (3) contact jaw, reduces both contacts area, reduces to hinder the distortion of twin crystal piezoelectric membrane (3).
The driving voltage of above-mentioned twin crystal piezoelectric membrane (3) adopts pulse-shaped voltage.
The utility model compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the resiliency supported pin in the utility model will be fixed in the rigid frame outer rim and is improved to the little perforation that runs through rigid frame and interfixes in the prior art, the fixed position of resiliency supported pin is moved in central axis direction, like this, guaranteeing that the resiliency supported pin has the sufficiently long bending segment that exposes to keep under its flexible situation, increased the Outside Dimensions of rigid frame, also promptly increased the effective deformation area of twin crystal piezoelectric membrane, increase its actuating force, increased the speed of driver.In addition, bonding piezoelectric ceramic piece in the effective deformation district of twin crystal piezoelectric membrane only, bevelling carries out chamfering in the rigid frame, the insulation separation sleeve is made pyramidal structure, and driving voltage adopts corrective measures such as impulse wave voltage, all effectively improves the increase to actuating force, improve actuating speed, under same actuating force, it is less to make volume, the driver that lateral dimension is little.
The utility model is simple in structure, and cost is low; Volume is little, and particularly lateral dimension is little, and the propelling that can be used for ultra-fine pipe robot drives; It is fast, controlled good, low in energy consumption to respond, and it is little to generate heat; Job stability and reliability are higher; Can uniformly walk in the straight and elbow road at inner diameter, can before and after bidirectional walking, pace can steplessly be adjusted; The propulsive force of output is bigger, and pace is very fast.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the utility model.
Fig. 2 is a kind of structural representation of the twin crystal piezoelectric membrane among Fig. 1, and the figure among the figure (a) is a front view, and figure (b) is the middle part cutaway view.
Fig. 3 is the another kind of structural representation of the twin crystal piezoelectric membrane among Fig. 1, and the figure among the figure (c) is a front view, and figure (d) is an end view.
Fig. 4 is the structural representation of Fig. 1 medial end portions rigid frame, and the figure among the figure (e) is a front view, and figure (f) is the middle part cutaway view.
Fig. 5 is the structural representation of the middle part rigid frame among Fig. 1, and the figure among the figure (g) is a front view, and figure (h) is the middle part cutaway view.
Embodiment
A preferred embodiment accompanying drawings of the present utility model is as follows:
Referring to Fig. 1, form: central shaft 1, fixed cover 2, twin crystal piezoelectric membrane 3, end rigid frame 4, middle part rigid frame 5, insulation separation sleeve 6, resiliency supported pin 7, inertial mass 8 based on the total following part of the miniature linear actuator of twin crystal piezoelectric membrane.
Inertial mass 3 is sleeved on an end of central shaft 1, several pieces of twin crystal piezoelectric membranes 3 are sleeved on the middle part of central shaft, separation sleeve 6 with insulation between sheet and the sheet separates, fixed cover 2 is inserted in from the other end of central shaft 1, and compress separation sleeve 6, make each twin crystal piezoelectric membrane 3 fastening, then fixed cover 2 is welded on central shaft 1 extremely along the axis direction of central shaft 1.Middle part rigid frame 5 separates twin crystal piezoelectric membrane 3, and with end rigid frame 4 they is compressed, and after compressing feet 7 is passed in the hole of four angle positions of end and middle part rigid frame 4,5, with feet 7 and 4 welderings of end rigid frame extremely.
The twin crystal piezoelectric membrane can be made two kinds of planforms.As accompanying drawing 2, flexible substrates 9 is square, and piezoelectric ceramic piece 10 is circular, and the diameter of piezoelectric ceramic piece 10 is by calculating, the curvature changing flex point place when making its coverage be no more than the twin crystal piezoelectric membrane to produce maximum warpage.As accompanying drawing 3, flexible substrates 9 is square, and piezoelectric ceramic piece 10 is the tangent octagon of outward flange and flexible substrates 9, is easy to centering like this when pasting piezoelectric ceramic piece 10, has reduced the manufacture difficulty after the microminiaturization.
Operating principle: inertial mass 8, central shaft 1, separation sleeve 6 and fixed cover 2 constitute first mass together, and end, middle part rigid frame and feet constitute second mass together.Comparing of the quality of first mass and second mass is bigger.Two masses form elastic coupling between twin crystal piezoelectric membrane 3, and both can do coaxial relative motion along central shaft 1 direction, and this relative motion can be subjected to the control of twin crystal piezoelectric membrane 3 curvature changing.Twin crystal piezoelectric membrane 3 is applied the alternating voltage of fixed cycle, and the change in voltage rule can be an impulse waveform, the sawtooth waveform that also can be slowly pressurization alternate with explosive decompression.Under the impulse waveform effect, driving frequency be tuned near the resonance frequency of driver because the composite action of resonance and inertia, driver obtains the continual momentum that advances, and walks forward.In slow pressure process, each twin crystal piezoelectric membrane 3 makes between first mass and second mass and produces displacement all towards inertial mass direction projection, and this moment is because the effect of stiction keeps motionless between feet 7 and the tube wall.In the explosive decompression process, because the inertia of inertia ratio second mass of first mass is big, therefore the inertia force of first mass will overcome the frictional force between feet 7 and tube wall, it be skidded, and second mass is taken a step forward to the inertial mass direction.So go round and begin again, driver just produces length by length step motion forward.
Claims (4)
1. miniature linear actuator based on the twin crystal piezoelectric membrane, comprise that central shaft (1) is gone up by being sleeved on, two ends middlely isolate the driving mechanism that a plurality of twin crystal piezoelectric membranes (3) constitute by insulation separation sleeve (6) by inertial mass (8) and fixed cover (2) location respectively, and by the peripheral rigid frame (4,5) of twin crystal piezoelectric membrane (3) with fixedly connected the mobile supporting mechanism of resiliency supported pin (7) formation with rigid frame (4,5); Described twin crystal piezoelectric membrane (3) is the bonding piezoelectric ceramic piece in two sides (10) formation by resilient blade (9), it is characterized in that twin crystal piezoelectric membrane (3) should be circular or square or regular polygon relatively with peripheral rigid frame (4,5), in circumferentially 3～4 the uniform little perforation of circle that keep to the side; Described resiliency supported pin (7) is an elastic wire, penetrates the little perforation of circular hole of rigid frame (4,5) and twin crystal piezoelectric membrane (3) and is fixedly connected with it.
2. the miniature linear actuator based on the twin crystal piezoelectric membrane according to claim 1, it is characterized in that described twin crystal piezoelectric membrane (3) is subjected to rigid frame (4,5) folded by its resilient blade (9) again, resilient blade (9) only rigid frame (4,5) inside casing with interior effective deformation district on bonding piezoelectric ceramic piece (10); And rigid frame (4,5) processes chamfering at the position inner side edge that compresses with the ironed film of twin crystal (3), avoids hindering the distortion of twin crystal piezoelectric membrane (2).
3. the miniature linear actuator based on the twin crystal piezoelectric membrane according to claim 1 and 2, it is characterized in that described insulation separation sleeve (6) and twin crystal piezoelectric membrane (3) contact jaw are pyramidal structure, reduce both contacts area, reduce to hinder the distortion of twin crystal piezoelectric membrane (3).
4. the miniature linear actuator based on the twin crystal piezoelectric membrane according to claim 1 is characterized in that the driving voltage of described twin crystal piezoelectric membrane (3) is adopted pulse-shaped voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520042986 CN2814795Y (en) | 2005-06-29 | 2005-06-29 | Micro linear driver based on bicrystal piezoelectric thin film |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520042986 CN2814795Y (en) | 2005-06-29 | 2005-06-29 | Micro linear driver based on bicrystal piezoelectric thin film |
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| CN2814795Y true CN2814795Y (en) | 2006-09-06 |
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| CN 200520042986 Expired - Fee Related CN2814795Y (en) | 2005-06-29 | 2005-06-29 | Micro linear driver based on bicrystal piezoelectric thin film |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100344417C (en) * | 2005-06-29 | 2007-10-24 | 上海大学 | Minisize linear driver based on dimorphic crystal piezoelectric film |
| CN110321572A (en) * | 2018-03-29 | 2019-10-11 | 中国科学院沈阳自动化研究所 | A kind of pipeline climbing robot network analysis and verification method |
| CN113374983A (en) * | 2021-05-08 | 2021-09-10 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
| CN113489366A (en) * | 2021-06-30 | 2021-10-08 | 中国船舶重工集团公司第七一三研究所 | High-positioning-precision long-stroke propeller based on polar thin film material |
-
2005
- 2005-06-29 CN CN 200520042986 patent/CN2814795Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100344417C (en) * | 2005-06-29 | 2007-10-24 | 上海大学 | Minisize linear driver based on dimorphic crystal piezoelectric film |
| CN110321572A (en) * | 2018-03-29 | 2019-10-11 | 中国科学院沈阳自动化研究所 | A kind of pipeline climbing robot network analysis and verification method |
| CN110321572B (en) * | 2018-03-29 | 2021-12-28 | 中国科学院沈阳自动化研究所 | Pipeline crawling robot system analysis and verification method |
| CN113374983A (en) * | 2021-05-08 | 2021-09-10 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
| CN113374983B (en) * | 2021-05-08 | 2022-08-23 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
| CN113489366A (en) * | 2021-06-30 | 2021-10-08 | 中国船舶重工集团公司第七一三研究所 | High-positioning-precision long-stroke propeller based on polar thin film material |
| CN113489366B (en) * | 2021-06-30 | 2023-02-03 | 中国船舶重工集团公司第七一三研究所 | High-positioning-precision long-stroke propeller based on polar thin film material |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |