CN106100439A - A kind of stepping type electric rotating machine based on piezoelectric stack type of drive - Google Patents

Abstract

The embodiment of the present invention discloses a stepping rotary motor based on piezoelectric stack drive mode, which relates to the technical field of piezoelectric precision actuation, can realize low-voltage drive, and simplifies the motor structure, and can also change the electrical excitation frequency To adjust the rotation speed of the motor, the control is convenient and the output is accurate. The present invention includes a screw connection between the stator 5 and the grip 4, the grip 4 is installed according to the preset amount of unscrewing, and a spring structure for automatic compensation is installed inside the stator 5; the piezoelectric stack 2 surrounds the stator 5 The geometric centers are evenly arranged, and the piezoelectric stack 2 is used to drive the stepping rotary motor; the piezoelectric stack 2 is embedded in the stator 5 in an interference fit according to the preset interference amount; the rotor 1 and the touch grip 4 At the junction, the contact surface between the rotor 1 and the gripper 4 is coated with friction material, and the bottom of the contact surface between the rotor 1 and the gripper 4 is provided with a boss for preventing the rotor 1 from slipping during rotation.

Description

A Stepping Rotary Motor Based on Piezoelectric Stack Drive

technical field

The invention relates to the technical field of piezoelectric precision actuation, in particular to a stepping rotary motor based on a piezoelectric stack driving method.

Background technique

Piezoelectric actuator is an important device widely used in aerospace, medicine, industry and other fields. In the development of piezoelectric actuators in recent years, with the advent of piezoelectric stacks, stacked piezoelectric actuators Due to its characteristics of large displacement, large thrust, and low driving voltage, the actuator has a wide range of applications, and related product solutions have been developed quickly.

However, in many existing schemes, the piezoelectric actuator based on the piezoelectric stack scheme still has the disadvantage of insufficient linear displacement, and in order to meet the requirements for output speed control and low driving voltage, in the current In the scheme, components such as displacement amplification device, piezoelectric stack, and even a dedicated control module need to be configured in the rotary drive, resulting in a relatively complex structure and large volume of the actuator, which limits the application of the piezoelectric stack-based scheme. Piezoelectric actuators are widely used in fields requiring high precision such as aerospace and medicine.

Contents of the invention

Embodiments of the present invention provide a stepping rotary motor based on a piezoelectric stack drive method, which can realize low-voltage drive, simplify the motor structure, and adjust the rotation speed of the motor by changing the electrical excitation frequency. Voltage, input signal mode to adjust the step angle and resolution, easy to control, accurate output.

In order to achieve the above-mentioned purpose, the embodiment of the present invention adopts the following technical scheme: the stepping rotary motor based on the piezoelectric stack drive mode is composed of a rotor 1, a piezoelectric stack 2, a fixing screw 3, a touch grip 4, a stator 5 and a base 6 composition;

The stator 5 and the touch grip 4 are connected by threads, the touch grip 4 is installed according to the preset unscrewing amount, and the stator 5 is equipped with a spring structure for automatic compensation;

The piezoelectric stack 2 is installed inside the motor stator 5, and the piezoelectric stack 2 is evenly arranged around the geometric center of the stator 5 ring, and the piezoelectric stack 2 is used to drive the stepping rotary motor;

The piezoelectric stack 2 is embedded in the stator 5 in an interference fit manner according to a preset interference amount;

Where the rotor 1 and the grip 4 meet, the contact surface between the rotor 1 and the grip 4 is coated with a friction material, and the bottom of the contact surface between the rotor 1 and the grip 4 is provided with a boss for preventing the rotor 1 from slipping during rotation.

The embodiment of the present invention provides a stepping rotary motor based on a piezoelectric stack drive method, a stepping rotary motor driven by a piezoelectric stack, wherein the motor includes a rotor 1, a stator 5, a touch grip 4, a piezoelectric stack The stack 2 and the base 6 deform the stator 5 by applying an electric excitation with a phase difference to the piezoelectric stack 2, and the stator 5 drives the gripper 4 to produce a regular elliptical motion to push the rotor 1 to rotate. Based on the characteristics of large displacement, large thrust and low driving voltage of the piezoelectric stack 2, the structure of the stator 5 provided by the present invention effectively amplifies the displacement of the piezoelectric stack 2 and can realize low-voltage driving. It is a rotary piezoelectric actuator solution for a stepping rotary motor driven by a piezoelectric stack, which simplifies the motor structure and can adjust the rotation speed of the motor by changing the electrical excitation frequency. By changing the voltage and input signal Mode to adjust the stepping angle and resolution, so the control is convenient and the output is accurate, and it can be used to replace the actuator scheme with a more complicated structure and a larger volume in the existing scheme.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.

Fig. 1 is a top view structure diagram of a stepping rotary motor based on a piezoelectric stack drive method provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the movement mode of the touch and grip of the motor provided by the embodiment of the present invention;

Fig. 3 is a schematic diagram of the polarization direction, spatial arrangement and electric excitation application method of the piezoelectric stack in the motor provided by the embodiment of the present invention;

Fig. 4 is a schematic diagram of the dismantled structure of the stepping rotating motor based on the piezoelectric stack drive mode provided by the embodiment of the present invention, where the symbols respectively represent: 1. rotor, 2. piezoelectric stack, 3. fixing screws , 4. Touch grip, 5. Stator, 6. Base, 11. Motor installation positioning hole, 12. Internal wire slot, 13. Anti-slip boss, 14. Contact inner wall of rotor 1, 15. Triangular enlarged structure, 16. A set of piezoelectric stacks, 17. a set of fixing screws, 18. positioning screw holes of the stator 5, and 19 a set of grippers.

detailed description

In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Hereinafter, embodiments of the present invention will be described in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and/or components, but does not exclude 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. Additionally, "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. Those skilled in the art can understand 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 should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein Explanation.

The embodiment of the present invention provides a stepping rotary motor based on piezoelectric stack drive mode, as shown in Figure 1, including: rotor 1, piezoelectric stack 2, fixing screw 3, touch grip 4, stator 5 and base 6 composition.

The stator 5 and the gripper 4 are connected by threads, and the gripper 4 is installed according to a preset unscrewing amount, and a spring structure for automatic compensation is installed inside the stator 5 . Wherein, the preset screw-out amount of the touch grip 4 is adjusted according to actual needs.

The piezoelectric stack 2 is installed inside the stator 5 of the motor, and the piezoelectric stack 2 is evenly arranged around the geometric center of the stator 5 ring, and the piezoelectric stack 2 is used to drive the stepping rotary motor.

The piezoelectric stack 2 is embedded into the stator 5 in an interference fit manner according to a preset interference amount. The structure of the joint between the piezoelectric stack 2 and the stator 5 is designed based on the triangular amplification principle. The piezoelectric stack 2 is embedded into the stator 5 in an interference fit manner according to a preset interference amount. Wherein, the preset interference amount can be adjusted according to actual needs. For example: as shown in Figure 1, the piezoelectric stack 2 is embedded in the stator 5 by an interference fit between the stator 5 and the piezoelectric stack 2, and the structure of the piezoelectric stack 2 embedded is designed according to the triangular amplification principle. When the piezoelectric stack is electrically excited, the piezoelectric stack 2 produces linear strain along its polarization direction, as shown in Figure 3. The displacement generated by the piezoelectric stack 2 is transmitted to the stator 5 by the triangular amplification structure of the stator 5, and the stator 5 is vertically A multiplied deformation amount is obtained in the direction of stack deformation, and the deformation amount is further amplified at the gripper 4 , so that the gripper 4 obtains sufficient displacement to drive the rotor 1 .

Where the rotor 1 and the grip 4 meet, the contact surface between the rotor 1 and the grip 4 is coated with a friction material, and the bottom of the contact surface between the rotor 1 and the grip 4 is provided with a boss for preventing the rotor 1 from slipping during rotation.

In this embodiment, the piezoelectric stack 2 is embedded in the stator 5 in an interference fit manner between the stator 5 and the piezoelectric stack 2 , and the structure where the piezoelectric stack 2 is embedded is a triangular enlarged structure.

The polarization direction of the piezoelectric stack 2 is shown in Figure 3, the displacement generated by the piezoelectric stack 2 is transmitted to the stator 5 by the triangular amplification structure of the stator 5, and the stator 5 is multiplied in the direction perpendicular to the deformation of the stack The amount of deformation is further amplified at the gripper 4, so that the gripper 4 has enough displacement to drive the rotor 1.

Further, the stator 5 is embedded in an even number of piezoelectric stacks 2 , and adjacent piezoelectric stacks 2 are vertically installed in the stator 5 . In a preferred solution of this embodiment, four piezoelectric stacks 2 are embedded in the stator 5 . For example: as shown in Figure 1, the piezoelectric stacks 2 inside the stator 5 of the motor are evenly arranged around the geometric center of the stator 5 rings. In this embodiment, four piezoelectric stacks 2 are used, and the adjacent stacks are placed perpendicularly to each other. .

In this embodiment, the internal structure of the stator 5 is a disk that plays a fixed role. Four positioning threaded holes are distributed on the disk. The stator 5 is fixedly connected to the base 6 by screws. The outer side of the disk is set There are four hollowed-out circular arc structures, which are connected to the external support beam of the fixed disc, and the hollowed-out circular arc structures act as springs to compensate for the wear of the motor. For example: as shown in Figure 1, the internal structure of the stator 5 is a fixed disc, four positioning threaded holes are distributed on the disc, the stator 5 is fixedly connected with the base 6 by screws, and the stator 5 fixes the outer side of the disc There are four hollowed-out arc structures, which are connected to the external support beam of the fixed disc, and the hollowed-out arcs act as springs to compensate for the wear of the motor.

Further, the stator 5 is externally connected with a preset number of grippers 4 , the grippers 4 are connected to the stator 5 through threads, and the stator 5 and the rotor 1 are in contact with each other through the grippers 4 . The pre-pressure can be adjusted by adjusting the amount of unscrewing between the gripper 4 and the stator 5 . For example: as shown in Figure 1, the stator 5 is externally connected with a preset number of grippers 4, the grippers 4 and the stator 5 are connected through threads, the stator 5 and the rotor 1 are in contact with the grippers 4, and the pre-pressure can be adjusted by adjusting the grippers. The amount of unscrewing between the catch 4 and the stator 5 is adjusted. There is a boss at the bottom of the rotor 1 in contact with the gripper 4, which can prevent the rotor 1 from slipping out during the rotation. And in this embodiment, friction material is coated on the contact surface between the rotor 1 and the gripper 4 . Friction material is coated on the contact surface between the rotor 1 and the gripper 4 .

As shown in FIG. 2 , the motion mechanism of the motor can be simplified as the model in the figure, wherein the deformation law of the model is based on the electric excitation mode shown in FIG. 3 , T represents a movement cycle of the touch grip 4, and t represents time.

Specifically, in the process from the beginning to the end of a motion cycle:

When t=0, the stator 5 has no deformation, and each contact 4 does not move;

When 0<t≤T/4, the stator 5 is in the state shown in sub-figure 2-1, the upper side of the stator 5 is stretched and the lower side is contracted;

When T/4<t≤T/2, the stator 5 is in the state shown in Figure 2-2, and the right side of the stator 5 is stretched and the left side is contracted. During this period of time, the gripper 4 at the contact point A exerts the greatest pressure on the rotor 1, plays a leading role on the rotor 1, and drives the rotor 1 to rotate in the direction of the arrow in sub-figure 2-2 through friction;

When T/2<t≤3T/4, the stator 5 is in the state shown in Figure 2-3, and the right side of the stator 5 is stretched and the left side is contracted. During this period of time, the gripper 4 at the contact point B has the greatest pressure on the rotor 1, plays a leading role on the rotor 1, and drives the rotor 1 to rotate in the direction of the arrow in sub-figure 2-3 through friction;

When 3T/4<t≤T, the stator 5 is in the state shown in Figure 2-4, and the right side of the stator 5 is stretched and the left side is contracted. During this period of time, the gripper 4 at the contact point C exerts the greatest pressure on the rotor 1, plays a leading role on the rotor 1, and drives the rotor 1 to rotate in the direction of the arrow in sub-figure 2-4 through friction;

When T<t≤5T/4, the stator 5 is in the state shown in Figure 2-5, and the right side of the stator 5 is stretched and the left side is contracted. During this period of time, the gripper 4 at the contact point D exerts the greatest pressure on the rotor 1, plays a leading role on the rotor 1, and drives the rotor 1 to rotate in the direction of the arrow in sub-figure 2-5 through friction;

According to the wiring mode shown in FIG. 3 , the rotation speed of the motor can be increased or decreased by adjusting the applied frequency of the electric excitation, and the phase reversal of the electric excitation can realize the reverse rotation of the electric motor. The drive step resolution of the motor can be adjusted by adjusting the signal pattern of the electric drive.

As shown in Figure 4, the groove of the motor base 6 is used for the internal wire of the motor, and each label corresponds to: 11. Motor installation positioning hole; 12. Internal wire slot; 13. Anti-slip boss; 14. Rotor 1 Contact the inner wall; 15. Triangular enlarged structure; 16. A group of piezoelectric stacks (the number of piezoelectric stacks in one group can be 4 as shown in Figure 4); 17. A group of fixing screws (a group of fixing screws The number can be 4 as shown in Figure 4); 18. The positioning screw holes of the stator 5; 19 a group of touch and grab.

In this embodiment, the preset number of grippers 4 may be 3, 4, 6 or 8. For example, as shown in FIG. 4 , the number of grippers in one group may be 4.

The embodiment of the present invention provides a stepping rotary motor based on a piezoelectric stack drive method, a stepping rotary motor driven by a piezoelectric stack, wherein the motor includes a rotor 1, a stator 5, a touch grip 4, a piezoelectric stack The stack 2 and the base 6 deform the stator 5 by applying an electric excitation with a phase difference to the piezoelectric stack 2, and the stator 5 drives the gripper 4 to produce a regular elliptical motion to push the rotor 1 to rotate. Based on the characteristics of large displacement, large thrust and low driving voltage of the piezoelectric stack 2, the structure of the stator 5 provided by the present invention effectively amplifies the displacement of the piezoelectric stack 2 and can realize low-voltage driving. It is a rotary piezoelectric actuator solution for a stepping rotary motor driven by a piezoelectric stack, which simplifies the motor structure and can adjust the rotation speed of the motor by changing the electrical excitation frequency. By changing the voltage and input signal Mode to adjust the stepping angle and resolution, so the control is convenient and the output is accurate, and it can be used to replace the actuator scheme with a more complex structure and a larger volume in the existing scheme.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiment. The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (7)

1. a stepping type electric rotating machine based on piezoelectric stack type of drive, it is characterised in that including: rotor (1), piezo stack Heap (2), fixing screw (3), tactile (4), stator (5) and the base (6) of grabbing form；

Stator (5) and tactile grabbing are threaded connection between (4), touch and grab (4) according to the back-out amount installation preset, stator (5) inside The spring structure playing automatic compensating action is installed；

Motor stator (5) internally installed piezoelectric stack (2), piezoelectric stack (2) uniformly arranges around stator (5) ring geometric center, Piezoelectric stack (2) is used for driving described stepping type electric rotating machine；

Piezoelectric stack (2) embeds stator (5) in an interference fit according to the magnitude of interference preset；

Rotor (1) and tactile (4) joint of grabbing, rotor (1) scribbles friction material with touching to grab on the contact surface of (4), rotor (1) is with tactile The bottom of the contact surface grabbing (4) is provided with the boss for preventing rotor (1) from slipping when rotated.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 1, it is characterised in that stator (5) and making piezoelectric stack (2) embed stator (5) between piezoelectric stack (2) in an interference fit, piezoelectric stack (2) embeds Place's structure is triangle structure for amplifying.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 1 and 2, it is characterised in that Stator (5) embeds even number piezoelectric stack (2), is arranged in stator (5) between adjacent piezoelectric stack (2) orthogonally.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 3, it is characterised in that stator (5) four piezoelectric stacks (2) are embedded.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 1, it is characterised in that stator (5) internal structure is a disk playing fixation, on described disk be distributed four positioning spiro pits, stator (5) by Screw is fixing with base (6) to be connected, and the outside of described disk is provided with the arc structure of four hollow outs, and this structure connects fixing circle Pan Waibuzhichengliang, the arc structure of hollow out plays spring effect, and motor is carried out wear-compensating.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 1 or 5, it is characterised in that The tactile of stator (5) external predetermined number grabs (4), and tactile grabbing is threaded connection between (4) and stator (5), stator (5) and rotor (1) contacted by tactile grab (4) between.

Stepping type electric rotating machine based on piezoelectric stack type of drive the most according to claim 1, it is characterised in that rotor (1) it is coated with friction material with touching to grab on the contact surface of (4).8, according to claim 1 based on piezoelectric stack driving side The stepping type electric rotating machine of formula, it is characterised in that the tactile predetermined number grabbing (4) is 3,4,6 or 8.