CN105610345B - Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator - Google Patents
Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator Download PDFInfo
- Publication number
- CN105610345B CN105610345B CN201610012891.1A CN201610012891A CN105610345B CN 105610345 B CN105610345 B CN 105610345B CN 201610012891 A CN201610012891 A CN 201610012891A CN 105610345 B CN105610345 B CN 105610345B
- Authority
- CN
- China
- Prior art keywords
- bending
- longitudinal bending
- multiplexing
- sheets
- ceramic sheets
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 238000005452 bending Methods 0.000 claims abstract description 156
- 239000000919 ceramic Substances 0.000 claims abstract description 115
- 230000010287 polarization Effects 0.000 claims description 23
- 239000002131 composite material Substances 0.000 claims description 12
- 230000005284 excitation Effects 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0095—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing combined linear and rotary motion, e.g. multi-direction positioners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Transducers For Ultrasonic Waves (AREA)
Abstract
采用单一压电振子的两自由度套筒折展机构，属于折展机构技术领域。解决了现有套筒折展机构结构复杂、重量大、能耗高、难于实现两自由运动的问题。它包括压电振子、外套筒、内套筒和两个万向轴承；压电振子包括中间梁、四片纵弯复用压电陶瓷片、四片弯振陶瓷片和两个后端盖，驱动足的两个侧面分别与两个变幅杆的末端面固定连接，后端盖的每个螺柱均套装有两片纵弯复用压电陶瓷片和两片弯振陶瓷片，内套筒套接在外套筒内，后端盖与内套筒固定连接，且压电振子轴线与内套筒轴线平行，驱动足的侧面与外套筒内侧面紧密接触；两个万向轴承的外框架均与内套筒的内侧壁固定连接，万向轴承的转动球与外套筒内侧面紧密接触。应用到折展机构制作上。
A two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator belongs to the technical field of folding mechanisms. The invention solves the problems of complex structure, heavy weight, high energy consumption and difficulty in realizing two free movements of the existing sleeve folding mechanism. It includes a piezoelectric vibrator, an outer sleeve, an inner sleeve and two universal bearings; a piezoelectric vibrator includes a middle beam, four pieces of longitudinal bending multiplex piezoelectric ceramic sheets, four pieces of bending vibration ceramic sheets and two rear end covers , the two sides of the driving foot are fixedly connected with the end faces of the two horns respectively, and each stud of the rear end cover is equipped with two pieces of piezoelectric ceramic sheets for longitudinal bending and two pieces of bending vibration ceramic sheets, and the inner The sleeve is sleeved in the outer sleeve, the rear end cover is fixedly connected to the inner sleeve, and the axis of the piezoelectric vibrator is parallel to the axis of the inner sleeve, and the side of the driving foot is in close contact with the inner surface of the outer sleeve; the two universal bearings The outer frame is fixedly connected with the inner side wall of the inner sleeve, and the rotating ball of the universal bearing is in close contact with the inner side of the outer sleeve. Applied to the production of folding mechanism.
Description
技术领域technical field
本发明涉及到一种采用单一压电振子的两自由度套筒折展机构，属于折展机构技术领域。The invention relates to a two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator, which belongs to the technical field of folding mechanisms.
背景技术Background technique
折展机构属于工程机械以及航空航天领域最为常用的一种机构，一般应具有结构简单、折展比大等优点。例如，很多航天器中都会使用大量的折展机构：在航天器发射时，机构出于收回状态，有效减小了航天器的尺寸；航天器进入轨道后，机构展开，开始正常工作。折展机构类型很多，套筒型的折展机构是最为常用的一种。套筒折展机构一般为量级或者多级套筒结构，通过内部套筒相对外部套筒的轴线运动实现展开动作，有时又需要内部套筒绕外部套筒做一定角度的转动。目前，套筒折展机构一般采用电磁电机、减速器、钢丝、转轮等基本元件组成的复杂系统实现展开和收回，结构复杂、重量大，而且电磁电机一般不具备自锁特性，能量损耗大；此外，两自由度套筒折展机构目前都是采用两套驱动系统分别实现直线和旋转驱动，同样存在结构复杂、重量大、能耗高的问题，而且两自由度驱动的实现难度也较大。The folding mechanism is the most commonly used mechanism in the field of engineering machinery and aerospace, and generally has the advantages of simple structure and large folding ratio. For example, a large number of folding mechanisms are used in many spacecraft: when the spacecraft is launched, the mechanism is retracted, which effectively reduces the size of the spacecraft; after the spacecraft enters orbit, the mechanism unfolds and starts to work normally. There are many types of folding mechanisms, and the sleeve-type folding mechanism is the most commonly used one. The sleeve folding mechanism is generally an order of magnitude or multi-stage sleeve structure, which realizes the unfolding action through the axial movement of the inner sleeve relative to the outer sleeve, and sometimes requires the inner sleeve to rotate at a certain angle around the outer sleeve. At present, the sleeve folding mechanism generally uses a complex system composed of electromagnetic motors, reducers, steel wires, runners and other basic components to achieve deployment and retraction. The structure is complex and heavy, and the electromagnetic motors generally do not have self-locking characteristics, resulting in large energy losses. ; In addition, the two-degree-of-freedom sleeve folding mechanism currently uses two sets of drive systems to achieve linear and rotary drive respectively, which also has the problems of complex structure, heavy weight, and high energy consumption, and the realization of the two-degree-of-freedom drive is also difficult. big.
发明内容Contents of the invention
本发明是为了解决现有套筒折展机构结构复杂、重量大、能耗高、难于实现两自由运动的问题，本发明提供了一种采用单一压电振子的两自由度套筒折展机构。The purpose of the present invention is to solve the problems of complex structure, heavy weight, high energy consumption, and difficulty in realizing two free movements of the existing sleeve folding mechanism. The present invention provides a two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator .
采用单一压电振子的两自由度套筒折展机构，它包括压电振子、外套筒、内套筒和两个万向轴承；A two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator, which includes a piezoelectric vibrator, an outer sleeve, an inner sleeve and two universal bearings;
所述压电振子包括中间梁、四片纵弯复用压电陶瓷片、四片弯振陶瓷片和两个后端盖，中间梁包含两个变幅杆和一个驱动足，The piezoelectric vibrator includes a middle beam, four pieces of piezoelectric ceramic sheets for longitudinal bending, four pieces of bending vibration ceramic sheets and two rear end covers, the middle beam includes two horns and a driving foot,
驱动足的两个侧面分别与两个变幅杆的末端面固定连接，后端盖的一侧中心位置设置有螺柱，所述每个螺柱均套装有两片纵弯复用压电陶瓷片和两片弯振陶瓷片，且该两片弯振陶瓷片靠近后端盖，所述后端盖通过螺柱旋合在变幅杆的首端，并实现纵弯复用压电陶瓷片和弯振陶瓷片的压紧；The two sides of the driving foot are respectively fixedly connected with the end surfaces of the two horns, and a stud is arranged at the center of one side of the rear end cover, and each of the studs is equipped with two pieces of longitudinal bending composite piezoelectric ceramics One piece and two pieces of bending vibration ceramic pieces, and the two pieces of bending vibration ceramic pieces are close to the rear end cover. and compression of bending vibration ceramic sheets;
内套筒套接在外套筒内，压电振子通过后端盖与内套筒固定连接，且压电振子轴线与内套筒轴线平行，压电振子上的驱动足的侧面与外套筒内侧面紧密接触；所述两个万向轴承的外框架均与内套筒的内侧壁固定连接，万向轴承的转动球与外套筒内侧面紧密接触。The inner sleeve is sleeved in the outer sleeve, the piezoelectric vibrator is fixedly connected to the inner sleeve through the rear end cover, and the axis of the piezoelectric vibrator is parallel to the axis of the inner sleeve, and the side of the driving foot on the piezoelectric vibrator is aligned with the inner sleeve of the outer sleeve. The sides are in close contact; the outer frames of the two universal bearings are fixedly connected to the inner side walls of the inner sleeve, and the rotating balls of the universal bearings are in close contact with the inner side of the outer sleeve.
所述压电振子中的纵弯复用压电陶瓷片和弯振陶瓷片均沿厚度方向极化；每片弯振陶瓷片均是由两个半片压电陶瓷片构成，且每片弯振陶瓷片中的两个半片压电陶瓷片的极化方向相反；Both the longitudinal bending multiplexing piezoelectric ceramic sheet and the bending vibration ceramic sheet in the piezoelectric vibrator are polarized along the thickness direction; each bending vibration ceramic sheet is composed of two half piezoelectric ceramic sheets, and each bending vibration ceramic sheet The polarization directions of the two half-sheet piezoelectric ceramic sheets in the ceramic sheet are opposite;
每个螺柱上套装的两片弯振陶瓷片极化方向相反，且每个螺柱上靠近纵弯复用压电陶瓷片的弯振陶瓷片的极化方向相同；The polarization directions of the two bending vibration ceramic sheets set on each stud are opposite, and the polarization directions of the bending vibration ceramic sheets close to the longitudinal bending composite piezoelectric ceramic sheet on each stud are the same;
所述纵弯复用压电陶瓷片分为左右两个半区进行极化，且同一纵弯复用压电陶瓷片上左右两个半区的极化方向相同，每个螺柱上套装的两片纵弯复用压电陶瓷片的极化方向相反，每个螺柱上靠近弯振陶瓷片的纵弯复用压电陶瓷片极化方向相同；The longitudinal bending multiplexing piezoelectric ceramic sheet is divided into left and right halves for polarization, and the polarization directions of the left and right halves of the same longitudinal bending multiplexing piezoelectric ceramic sheet are the same, and the two The polarization directions of the piezoelectric ceramic sheets for longitudinal bending are opposite, and the piezoelectric ceramic sheets for longitudinal bending adjacent to the bending vibration ceramic sheets on each stud have the same polarization direction;
相邻的纵弯复用压电陶瓷片和弯振陶瓷片之间、纵弯复用压电陶瓷片和变幅杆之间均设置有接地电极片，A ground electrode sheet is arranged between adjacent longitudinal bending multiplexing piezoelectric ceramic sheets and bending vibration ceramic sheets, between the longitudinal bending multiplexing piezoelectric ceramic sheets and the horn,
每个螺柱上套装的两片弯振陶瓷片之间设置有弯振电极片，There is a bending vibration electrode piece between the two bending vibration ceramic pieces set on each stud,
每个螺柱上套装的两片纵弯复用压电陶瓷片之间设置有两个纵弯复用电极片，且上述的两个纵弯复用电极片分列在两片纵弯复用压电陶瓷片之间的左右两侧，两个纵弯复用电极片之间留有间隙。Two longitudinal bending multiplexing electrode pieces are arranged between the two pieces of longitudinal bending multiplexing piezoelectric ceramic sheets set on each stud, and the above two longitudinal bending multiplexing electrode pieces are arranged on the two pieces of longitudinal bending multiplexing electrode pieces. On the left and right sides between the piezoelectric ceramic sheets, there is a gap between the two longitudinal bending multiplexing electrode sheets.
采用单一压电振子的两自由度套筒折展机构中的四片纵弯复用压电陶瓷片、四片弯振陶瓷片的电连接方式有两种：There are two electrical connection methods for the four pieces of longitudinal bending composite piezoelectric ceramic sheets and the four pieces of bending vibration ceramic sheets in the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator:
其一、所述所有接地电极片与激励信号公共端连接，所有的弯振电极片与第一相驱动信号连接，所有的纵弯复用电极片与第二相驱动信号连接，第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差。First, all the ground electrode sheets are connected to the common end of the excitation signal, all the bending vibration electrode sheets are connected to the first phase driving signal, all the longitudinal bending multiplexing electrode sheets are connected to the second phase driving signal, and the first phase driving The signal has a phase difference of 90 degrees or -90 degrees in time from the second phase drive signal.
其二、所述所有接地电极片与激励信号公共端连接，所有弯振电极片与第一相驱动信号连接；一个螺柱上套装的两片纵弯复用压电陶瓷片之间的左侧纵弯复用电极片与第二相驱动信号连接，且一个螺柱上套装的两片纵弯复用压电陶瓷片之间的右侧纵弯复用电极片与第三相驱动信号连接；Second, all the ground electrodes are connected to the common end of the excitation signal, and all the bending vibration electrodes are connected to the first-phase drive signal; The longitudinal bending multiplexing electrode piece is connected to the second phase driving signal, and the right longitudinal bending multiplexing electrode piece between the two longitudinal bending multiplexing piezoelectric ceramic pieces set on a stud is connected to the third phase driving signal;
另一个螺柱上套装的两片压纵弯复用压电陶瓷片之间的右侧纵弯复用电极片与第二相驱动信号连接，且另一个螺柱上套装的两片纵弯复用压电陶瓷片之间的左侧纵弯复用电极片与第三相驱动信号连接；The right longitudinal bending multiplexing electrode sheet between the two piezoelectric ceramic sheets set on the other stud is connected to the second phase drive signal, and the two longitudinal bending multiplexing piezoelectric ceramic sheets set on the other stud Connect the left longitudinal bending multiplexing electrode sheet between the piezoelectric ceramic sheets to the drive signal of the third phase;
第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差，第二相驱动信号与第三相驱动信号之间在时间上具有180度的相位差。The first-phase driving signal and the second-phase driving signal have a phase difference of 90 degrees or −90 degrees in time, and the second-phase driving signal and the third-phase driving signal have a phase difference of 180 degrees in time.
本发明所述的采用单一压电振子的两自由度套筒折展机构利用单个压电振子实现内套筒相对外套筒的两自由度直接驱动。其中，压电振子通过自身的偶数阶纵向振动和两个奇数阶弯曲振动的复合实现单足的两自由度驱动(一个是沿外套筒轴线方向的直线运动，另外一个是绕外套筒轴线的转动)。The two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator in the present invention uses a single piezoelectric vibrator to realize the two-degree-of-freedom direct drive of the inner sleeve relative to the outer sleeve. Among them, the piezoelectric vibrator realizes the two-degree-of-freedom drive of the single foot through the combination of its own even-order longitudinal vibration and two odd-order bending vibrations (one is a linear motion along the axis of the outer sleeve, and the other is a motion around the axis of the outer sleeve). rotation).
具体工作原理如下：The specific working principle is as follows:
(一)通过给两个弯振电极片施加第一相交流激励信号，弯振压电陶瓷上下两个半区产生反相的伸缩，进而激励出振子竖直方向的弯曲振动，参见图8；通过给四个纵弯复用电极片施加第二相交流激励信号，纵弯复用压电陶瓷左右两个半区产生同步的伸缩，进而激励出振子的纵向振动，参见图7；当超声电机振子的偶数阶纵向振动和奇数阶弯曲振动的谐振频率十分接近时，且纵向振动和弯曲振动在时间上具有90度或者-90度相位差，则可以通过纵振和弯振的复合在驱动足处激发椭圆轨迹的振动，从而保证内套筒在压电振子的推动下可以实现沿外套筒轴线方向的直线运动。(1) By applying the first-phase AC excitation signal to the two bending-vibration electrode pieces, the upper and lower half regions of the bending-vibration piezoelectric ceramic will expand and contract in opposite phases, thereby exciting the bending vibration in the vertical direction of the vibrator, see Figure 8; By applying the second-phase AC excitation signal to the four longitudinal bending multiplexing electrode pieces, the left and right halves of the longitudinal bending multiplexing piezoelectric ceramics produce synchronous expansion and contraction, and then excite the longitudinal vibration of the vibrator, see Figure 7; when the ultrasonic motor When the resonant frequencies of the even-order longitudinal vibration and the odd-order bending vibration of the vibrator are very close, and the longitudinal vibration and bending vibration have a phase difference of 90 degrees or -90 degrees in time, then the combination of longitudinal vibration and bending vibration can be used in the drive foot The vibration of the elliptical trajectory is excited at the place, so that the inner sleeve can realize the linear motion along the axis direction of the outer sleeve under the push of the piezoelectric vibrator.
(二)通过给两个弯振电极片施加第一相交流激励信号，弯振压电陶瓷上下两个半区产生反相的伸缩，进而激励出振子竖直方向的弯曲振动，参见图8；在一个后端盖至另一个后端盖的方向上，四片纵弯复用压电陶瓷片分别定义为：第一个至第四个纵弯复用压电陶瓷片，四片弯振陶瓷片分别定义为：第一个至第四个弯振陶瓷片，第一个和第二个纵弯复用压电陶瓷片之间左侧的纵弯复用电极片、第三个和第四个压电陶瓷片之间右侧的纵弯复用电极片与第二相驱动信号连接，第一个和第二个纵弯复用压电陶瓷片之间右侧的纵弯复用电极片、第三个和第四个纵弯复用压电陶瓷片之间左侧的纵弯复用电极片与第三相驱动信号连接，且第二相和第三相驱动信号之间具有180度相位差，则纵弯复用压电陶瓷左右两个半区产生反相的伸缩，进而激励出振子水平方向的弯曲振动，参见图9；当两个弯曲振动在时间上具有90度或者-90度相位差，则他们的复合在驱动足处激发椭圆轨迹的振动，从而保证内套筒在压电振子的推动下可以实现绕外套筒轴线方向的转动。(2) By applying the first-phase AC excitation signal to the two bending-vibration electrode pieces, the upper and lower half regions of the bending-vibration piezoelectric ceramic will expand and contract in opposite phases, thereby exciting the bending vibration in the vertical direction of the vibrator, see Figure 8; In the direction from one rear end cover to the other rear end cover, the four longitudinal bending composite piezoelectric ceramic sheets are respectively defined as: the first to the fourth longitudinal bending composite piezoelectric ceramic sheets, and the four bending vibration ceramic sheets The sheets are respectively defined as: the first to fourth bending vibration ceramic sheets, the longitudinal bending multiplexing electrode sheet on the left between the first and second longitudinal bending multiplexing piezoelectric ceramic sheets, the third and fourth The longitudinal bending multiplexing electrode sheet on the right side between the first and second longitudinal bending multiplexing piezoelectric ceramic sheets is connected to the second phase drive signal, and the longitudinal bending multiplexing electrode sheet on the right side between the first and second longitudinal bending multiplexing piezoelectric ceramic sheets , The longitudinal bending multiplexing electrode sheet on the left between the third and fourth longitudinal bending multiplexing piezoelectric ceramic sheets is connected to the third phase driving signal, and there is 180 degrees between the second phase and the third phase driving signal If the phase difference is different, the left and right halves of the longitudinal bending multiplexed piezoelectric ceramics will produce anti-phase expansion and contraction, and then excite the bending vibration in the horizontal direction of the vibrator, see Figure 9; when the two bending vibrations have 90 degrees or -90 degrees in time degree phase difference, their recombination excites the vibration of the elliptical track at the driving foot, so as to ensure that the inner sleeve can realize the rotation around the axis of the outer sleeve under the push of the piezoelectric vibrator.
本发明中，两个万向轴承上的转动球和振子驱动足均与外套筒内侧面紧密接触，实现了内套筒的可靠支撑。In the present invention, both the rotating balls on the two universal bearings and the driving feet of the vibrator are in close contact with the inner surface of the outer sleeve, so that the reliable support of the inner sleeve is realized.
本发明中，四片纵弯复用压电陶瓷片可以用于激励振子的纵向振动，也可以用于激励振子水平方向的弯曲振动，通过控制施加到四个纵弯复用电极片上的激励信号，可以方便的实现两种振动模态之间的切换，从而实现两个输出驱动方向的切换。In the present invention, the four piezoelectric ceramic sheets for longitudinal bending can be used to excite the longitudinal vibration of the vibrator, and can also be used to excite the bending vibration in the horizontal direction of the vibrator. By controlling the excitation signals applied to the four longitudinal bending multiplexing electrode sheets , can conveniently realize the switching between the two vibration modes, thereby realizing the switching of the two output driving directions.
本发明中，驱动足设置在振子中间部位，该处为偶数阶纵向振动的波腹位置，同时也是奇数阶弯曲振动的波腹位置，从而保证驱动足可以获得最大的振幅和振速。In the present invention, the driving foot is arranged in the middle of the vibrator, which is the antinode position of the even-order longitudinal vibration and also the antinode position of the odd-order bending vibration, so as to ensure that the driving foot can obtain the maximum amplitude and vibration speed.
本发明带来的有益效果是：本发明的采用单一压电振子的两自由度套筒折展机构结构简单、重量轻、能量损耗低、易于实现两自由度驱动，且加工装配十分简便，便于实现系列化和商品化。The beneficial effects brought by the present invention are: the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator of the present invention is simple in structure, light in weight, low in energy loss, easy to realize two-degree-of-freedom drive, and the processing and assembly is very simple and convenient. Realize serialization and commercialization.
附图说明Description of drawings
图1是本发明所述的采用单一压电振子的两自由度套筒折展机构的主视图，Fig. 1 is a front view of a two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator according to the present invention,
图2是图1所示采用单一压电振子的两自由度套筒折展机构的俯视图，Fig. 2 is a top view of the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator shown in Fig. 1,
图3是图1所示采用单一压电振子的两自由度套筒折展机构中压电振子的立体结构示意图，FIG. 3 is a schematic diagram of the three-dimensional structure of the piezoelectric vibrator in the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator shown in FIG. 1 ,
图4是图1所示采用单一压电振子的两自由度套筒折展机构中压电振子的立体结构剖视图，Fig. 4 is a cross-sectional view of the three-dimensional structure of the piezoelectric vibrator in the two-degree-of-freedom sleeve folding mechanism shown in Fig. 1 ,
图5是图3和图4所示压电振子中压电陶瓷的极化方向示意图，Fig. 5 is a schematic diagram of the polarization direction of the piezoelectric ceramic in the piezoelectric vibrator shown in Fig. 3 and Fig. 4 ,
图6是图3和图4所示压电振子拆除左侧端盖1-4、两片纵弯复用压电陶瓷片和一片弯振陶瓷片之后的立体图，Fig. 6 is a perspective view of the piezoelectric vibrator shown in Fig. 3 and Fig. 4 after removing the left end cover 1-4, two piezoelectric ceramic sheets for longitudinal bending and one piece of bending vibration ceramic sheet,
图7是图3所示压电振子的纵向振动模态振型图，Fig. 7 is a longitudinal vibration mode shape diagram of the piezoelectric vibrator shown in Fig. 3,
图8是图3所示压电振子的竖直方向弯曲振动模态振型图，Fig. 8 is a vibration mode diagram of the vertical bending vibration mode of the piezoelectric vibrator shown in Fig. 3,
图9是图3所示压电振子的水平方向弯曲振动模态振型图。FIG. 9 is a vibration mode diagram of the horizontal bending vibration mode of the piezoelectric vibrator shown in FIG. 3 .
具体实施方式detailed description
具体实施方式一：参见图1、2、3、4和6说明本实施方式，本实施方式所述的采用单一压电振子的两自由度套筒折展机构，它包括压电振子1、外套筒2、内套筒3和两个万向轴承4；Specific Embodiment 1: Refer to Figures 1, 2, 3, 4 and 6 to illustrate this embodiment. The two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator described in this embodiment includes a piezoelectric vibrator 1, an outer Sleeve 2, inner sleeve 3 and two universal bearings 4;
所述压电振子1包括中间梁1-1、四片纵弯复用压电陶瓷片1-2、四片弯振陶瓷片1-3和两个后端盖1-4，中间梁1-1包含两个变幅杆1-1-1和一个驱动足1-1-2，The piezoelectric vibrator 1 includes a middle beam 1-1, four pieces of piezoelectric ceramic sheets 1-2 for longitudinal bending, four pieces of bending vibration ceramic pieces 1-3 and two rear end covers 1-4, and the middle beam 1- 1 contains two horns 1-1-1 and one driving foot 1-1-2,
驱动足1-1-2的两个侧面分别与两个变幅杆1-1-1的末端面固定连接，后端盖1-4的一侧中心位置设置有螺柱1-4-1，所述每个螺柱1-4-1均套装有两片纵弯复用压电陶瓷片1-2和两片弯振陶瓷片1-3，且该两片弯振陶瓷片1-3靠近后端盖1-4，所述后端盖1-4通过螺柱1-4-1旋合在变幅杆1-1-1的首端，并实现纵弯复用压电陶瓷片1-2和弯振陶瓷片1-3的压紧；The two sides of the driving foot 1-1-2 are respectively fixedly connected with the end surfaces of the two horns 1-1-1, and a stud 1-4-1 is arranged at the center of one side of the rear end cover 1-4, Each of the studs 1-4-1 is equipped with two longitudinal bending multiplexing piezoelectric ceramic sheets 1-2 and two bending vibration ceramic sheets 1-3, and the two bending vibration ceramic sheets 1-3 are close to The rear end cover 1-4, the rear end cover 1-4 is screwed on the head end of the horn 1-1-1 through the stud 1-4-1, and realizes longitudinal bending and reuse of the piezoelectric ceramic sheet 1- 2 and the compression of bending vibration ceramic sheets 1-3;
内套筒3套接在外套筒2内，压电振子1通过后端盖1-4与内套筒3固定连接，且压电振子1轴线与内套筒3轴线平行，压电振子1上的驱动足1-1-2的侧面与外套筒2内侧面紧密接触；所述两个万向轴承4的外框架4-1均与内套筒3的内侧壁固定连接，万向轴承4的转动球4-2与外套筒2内侧面紧密接触。The inner sleeve 3 is sleeved in the outer sleeve 2, the piezoelectric vibrator 1 is fixedly connected to the inner sleeve 3 through the rear end cover 1-4, and the axis of the piezoelectric vibrator 1 is parallel to the axis of the inner sleeve 3, and the piezoelectric vibrator 1 is The side of the driving foot 1-1-2 is in close contact with the inner side of the outer sleeve 2; the outer frame 4-1 of the two universal bearings 4 is fixedly connected with the inner side wall of the inner sleeve 3, and the universal bearing 4 The rotating ball 4-2 is in close contact with the inner surface of the outer sleeve 2.
本发明所述的采用单一压电振子的两自由度套筒折展机构利用单个压电振子实现内套筒相对外套筒的两自由度直接驱动。其中，压电振子通过自身的偶数阶纵向振动和两个奇数阶弯曲振动的复合实现单足的两自由度驱动(一个是沿外套筒轴线方向的直线运动，另外一个是绕外套筒轴线的转动)。The two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator in the present invention uses a single piezoelectric vibrator to realize the two-degree-of-freedom direct drive of the inner sleeve relative to the outer sleeve. Among them, the piezoelectric vibrator realizes the two-degree-of-freedom drive of the single foot through the combination of its own even-order longitudinal vibration and two odd-order bending vibrations (one is a linear motion along the axis of the outer sleeve, and the other is a motion around the axis of the outer sleeve). rotation).
本实施方式中，内套筒3的顶端口伸出外套筒2，内套筒3的侧壁上设有缺口，压电振子1插在该缺口内，缺口靠近内套筒3的底端。In this embodiment, the top port of the inner sleeve 3 protrudes from the outer sleeve 2 , and a gap is provided on the side wall of the inner sleeve 3 , and the piezoelectric vibrator 1 is inserted into the gap, which is close to the bottom of the inner sleeve 3 .
具体实施方式二：参见图5说明本实施方式，本实施方式与具体实施方式一所述的采用单一压电振子的两自由度套筒折展机构的区别在于，所述压电振子1中的纵弯复用压电陶瓷片1-2和弯振陶瓷片1-3均沿厚度方向极化；每片弯振陶瓷片1-3均是由两个半片压电陶瓷片1-3-1构成，且每片弯振陶瓷片1-3中的两个半片压电陶瓷片1-3-1的极化方向相反；Specific Embodiment 2: Refer to FIG. 5 to illustrate this embodiment. The difference between this embodiment and the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator described in Specific Embodiment 1 is that the piezoelectric vibrator 1 The piezoelectric ceramic sheet 1-2 and the bending vibration ceramic sheet 1-3 are polarized along the thickness direction; each bending vibration ceramic sheet 1-3 is composed of two half piezoelectric ceramic sheets 1-3-1 Composed, and the polarization directions of the two halves of the piezoelectric ceramic sheets 1-3-1 in each bending vibration ceramic sheet 1-3 are opposite;
每个螺柱1-4-1上套装的两片弯振陶瓷片1-3极化方向相反，且每个螺柱1-4-1上靠近纵弯复用压电陶瓷片1-2的弯振陶瓷片1-3的极化方向相同；The polarization directions of the two bending vibration ceramic sheets 1-3 set on each stud 1-4-1 are opposite, and each stud 1-4-1 is close to the longitudinal bending multiplex piezoelectric ceramic sheet 1-2 The polarization directions of bending vibration ceramic sheets 1-3 are the same;
所述纵弯复用压电陶瓷片1-2分为左右两个半区进行极化，且同一纵弯复用压电陶瓷片1-2上左右两个半区的极化方向相同，每个螺柱1-4-1上套装的两片纵弯复用压电陶瓷片1-2的极化方向相反，每个螺柱1-4-1上靠近弯振陶瓷片1-3的纵弯复用压电陶瓷片1-2极化方向相同；The longitudinal bending multiplexing piezoelectric ceramic sheet 1-2 is divided into left and right halves for polarization, and the polarization directions of the left and right halves of the same longitudinal bending multiplexing piezoelectric ceramic sheet 1-2 are the same, each The polarization directions of the two longitudinal bending composite piezoelectric ceramic sheets 1-2 set on each stud 1-4-1 are opposite, and the longitudinal direction of each stud 1-4-1 close to the bending vibration ceramic sheet 1-3 The polarization direction of the piezoelectric ceramic sheet 1-2 for bending multiplexing is the same;
相邻的纵弯复用压电陶瓷片1-2和弯振陶瓷片1-3之间、纵弯复用压电陶瓷片1-2和变幅杆1-1-1之间均设置有接地电极片1-5，Between the adjacent longitudinal bending multiplexing piezoelectric ceramic sheet 1-2 and the bending vibration ceramic sheet 1-3, between the longitudinal bending multiplexing piezoelectric ceramic sheet 1-2 and the horn 1-1-1 are provided Ground electrode sheet 1-5,
每个螺柱1-4-1上套装的两片弯振陶瓷片1-3之间设置有弯振电极片1-6，A bending vibration electrode piece 1-6 is arranged between the two bending vibration ceramic pieces 1-3 set on each stud 1-4-1,
每个螺柱1-4-1上套装的两片纵弯复用压电陶瓷片1-2之间设置有两个纵弯复用电极片1-7，且上述的两个纵弯复用电极片1-7分列在两片纵弯复用压电陶瓷片1-2之间的左右两侧，两个纵弯复用电极片1-7之间留有间隙。Two longitudinal bending multiplexing electrode sheets 1-7 are arranged between the two longitudinal bending multiplexing piezoelectric ceramic sheets 1-2 set on each stud 1-4-1, and the above two longitudinal bending multiplexing The electrode sheets 1-7 are arranged on the left and right sides between the two longitudinal bending multiplexing piezoelectric ceramic sheets 1-2, and there is a gap between the two longitudinal bending multiplexing electrode sheets 1-7.
具体实施方式三：本实施方式与具体实施方式一或二所述的采用单一压电振子的两自由度套筒折展机构的区别在于，所述所有接地电极片1-5与激励信号公共端连接，所有的弯振电极片1-6与第一相驱动信号连接，所有的纵弯复用电极片1-7与第二相驱动信号连接，第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差。Embodiment 3: The difference between this embodiment and the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator described in Embodiment 1 or 2 is that all the ground electrode sheets 1-5 are connected to the common terminal of the excitation signal connection, all bending vibration electrode sheets 1-6 are connected to the first phase driving signal, all longitudinal bending multiplexing electrode sheets 1-7 are connected to the second phase driving signal, and the first phase driving signal and the second phase driving signal are in There is a phase difference of 90 degrees or -90 degrees in time.
本实施方式，第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差，此时压电振子1将通过纵向振动和竖直弯曲振动的复合实现内套筒3相对于外套筒2沿轴线方向的展开和收缩。In this embodiment, the first-phase drive signal and the second-phase drive signal have a phase difference of 90 degrees or -90 degrees in time. At this time, the piezoelectric vibrator 1 will realize the inner sleeve through the combination of longitudinal vibration and vertical bending vibration. 3 relative to the expansion and contraction of the outer sleeve 2 along the axial direction.
具体实施方式四：本实施方式与具体实施方式二所述的采用单一压电振子的两自由度套筒折展机构的区别在于，所述所有接地电极片1-5与激励信号公共端连接，所有弯振电极片1-6与第一相驱动信号连接；Embodiment 4: The difference between this embodiment and the two-degree-of-freedom sleeve folding mechanism using a single piezoelectric vibrator described in Embodiment 2 is that all the ground electrode sheets 1-5 are connected to the common end of the excitation signal, All bending vibration electrode sheets 1-6 are connected to the first phase driving signal;
一个螺柱1-4-1上套装的两片纵弯复用压电陶瓷片1-2之间的左侧纵弯复用电极片1-7与第二相驱动信号连接，且一个螺柱1-4-1上套装的两片纵弯复用压电陶瓷片1-2之间的右侧纵弯复用电极片1-7与第三相驱动信号连接；The left longitudinal bending multiplexing electrode sheet 1-7 between the two longitudinal bending multiplexing piezoelectric ceramic sheets 1-2 set on one stud 1-4-1 is connected to the second phase drive signal, and one stud The right longitudinal bending multiplexing electrode piece 1-7 between the two longitudinal bending multiplexing piezoelectric ceramic pieces 1-2 set on 1-4-1 is connected to the third phase drive signal;
另一个螺柱1-4-1上套装的两片压纵弯复用压电陶瓷片1-2之间的右侧纵弯复用电极片1-7与第二相驱动信号连接，且另一个螺柱1-4-1上套装的两片纵弯复用压电陶瓷片1-2之间的左侧纵弯复用电极片1-7与第三相驱动信号连接；The right longitudinal bending multiplexing electrode sheet 1-7 between the two compression longitudinal bending multiplexing piezoelectric ceramic sheets 1-2 set on the other stud 1-4-1 is connected to the second phase drive signal, and another The left longitudinal bending multiplexing electrode sheet 1-7 between the two longitudinal bending multiplexing piezoelectric ceramic sheets 1-2 set on a stud 1-4-1 is connected to the third phase drive signal;
第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差，第二相驱动信号与第三相驱动信号之间在时间上具有180度的相位差。The first-phase driving signal and the second-phase driving signal have a phase difference of 90 degrees or −90 degrees in time, and the second-phase driving signal and the third-phase driving signal have a phase difference of 180 degrees in time.
本实施方式，第一相驱动信号与第二相驱动信号在时间上具有90度或者-90度的相位差，第二相驱动信号与第三相驱动信号之间在时间上具有180度的相位差，此时压电振子1将通过水平弯曲振动和竖直弯曲振动的复合实现内套筒3相对于外套筒2绕轴线方向的旋转。In this embodiment, the first-phase driving signal and the second-phase driving signal have a phase difference of 90 degrees or -90 degrees in time, and the second-phase driving signal and the third-phase driving signal have a phase difference of 180 degrees in time. At this time, the piezoelectric vibrator 1 will realize the rotation of the inner sleeve 3 relative to the outer sleeve 2 around the axis through the combination of horizontal bending vibration and vertical bending vibration.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012891.1A CN105610345B (en) | 2016-01-08 | 2016-01-08 | Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012891.1A CN105610345B (en) | 2016-01-08 | 2016-01-08 | Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105610345A CN105610345A (en) | 2016-05-25 |
| CN105610345B true CN105610345B (en) | 2017-06-23 |
Family
ID=55989944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610012891.1A Expired - Fee Related CN105610345B (en) | 2016-01-08 | 2016-01-08 | Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105610345B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009542B (en) * | 2022-05-26 | 2025-03-18 | 南京航空航天大学 | Spatial truss based on piezoelectric vibration suppression and its working method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2601666B2 (en) * | 1987-10-31 | 1997-04-16 | 本多電子株式会社 | Ultrasonic drive |
| CN1238961C (en) * | 2003-07-25 | 2006-01-25 | 清华大学 | Multiple-freedom piezoelectric ceramic rod micro motor in complex excitation mode |
| DE10347768B4 (en) * | 2003-10-14 | 2006-03-09 | Siemens Ag | Receiving sleeve for a piezoelectric actuator |
| FR2976917B1 (en) * | 2011-06-23 | 2013-06-28 | Thales Sa | HYBRID ASSEMBLY OF AT LEAST ONE SOLAR PANEL |
| CN103762887B (en) * | 2014-02-14 | 2015-09-16 | 哈尔滨工业大学 | A kind of cylindrical clamp passively formula piezoelectricity wriggling linear electric motors |
-
2016
- 2016-01-08 CN CN201610012891.1A patent/CN105610345B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105610345A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Yang et al. | Sandwich-type multi-degree-of-freedom ultrasonic motor with hybrid excitation | |
| Liu et al. | A cylindrical standing wave ultrasonic motor using bending vibration transducer | |
| CN102361413B (en) | Composite flexural vibration sandwich type double-foot linear ultrasonic motor vibrator | |
| CN102868315A (en) | Paster-type bending vibration composite dual-feet ultrasound motor oscillator | |
| Yang et al. | Miniaturization of a longitudinal–bending hybrid linear ultrasonic motor | |
| CN105406758B (en) | Using the two-freedom linear motion platform of Piezoelectric Driving | |
| CN106208803A (en) | Utilize rectangular block shape linear ultrasonic motor and electric excitation method thereof thereof that single mode drives | |
| CN101777852A (en) | Double-stator bending mode linear ultrasonic motor and operation mode and electric excitation method | |
| Li et al. | A linear ultrasonic motor with a hollowed and symmetrical stator | |
| CN102931870A (en) | Standing wave linear ultrasonic motor | |
| CN105406754B (en) | Indulge curved compound monopodia two-freedom ultrasonic motor oscillator | |
| CN105610345B (en) | Using the two-freedom sleeve folding and unfolding mechanism of single piezoelectric vibrator | |
| CN102025286B (en) | Alternating force based linear ultrasonic motor | |
| CN103762886B (en) | Sandwich type T type two-foot straight line piezoelectric ultrasonic motor oscillator | |
| CN205986672U (en) | Utilize single mode driven rectangle block straight line supersound motor | |
| CN210629372U (en) | Piezoelectric planar motor based on stator drive of frame plate structure | |
| CN102868316A (en) | Paster-type dual-feet ultrasound motor oscillator | |
| CN201854204U (en) | A Linear Ultrasonic Motor Based on Alternating Force | |
| CN103746599A (en) | Paster bent vibration composite single-foot piezoelectric supersonic motor vibrator | |
| CN103746601A (en) | Paster transducer cylinder traveling wave piezoelectric supersonic motor vibrator | |
| CN102025287B (en) | Linear ultrasonic motor based on alternating force and electric excitation method | |
| CN102904480A (en) | Sandwich type square frame type ultrasonic motor vibrator | |
| CN108880319A (en) | Indulge curved composite vibrational mode increasing material manufacturing ultrasonic vibrator | |
| CN103795290A (en) | Patch type longitudinal vibration composite single-foot piezoelectric ultrasonic motor oscillator | |
| CN104022678B (en) | Partition excitation type Three-dof Ultrasonic Motor oscillator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170623 Termination date: 20210108 |