CN106208806A - Rotatory inertia piezoelectric actuator and start method containing Double Diamond tandem drive mechanism - Google Patents

Abstract

A rotary inertial piezoelectric actuator with a double-diamond series drive mechanism and an actuation method, the actuator is composed of upper and lower baffles, bearings, a rotary output shaft, a double-diamond series drive mechanism and a piezoelectric stack; the double-diamond series The driving mechanism consists of series double diamond rings, and the inner interference fit is a piezoelectric stack, and there is a friction block at the connection between the two in series; the rotating output shaft of the actuator is connected to the upper baffle and the lower baffle respectively through bearings, and the double diamond is connected in series. The driving mechanism is fixedly assembled between the upper baffle and the lower baffle. When the assembly is completed, the side of the friction block is in close contact with the rotating output shaft; by controlling the voltage sequence and amplitude of the piezoelectric stack, the actuator can drive the load to output bidirectional Rotational movement; the present invention has the characteristics of simple assembly, quick response and precise action.

Description

Rotary inertial piezoelectric actuator and its actuation method with double diamond-shaped series drive mechanism

technical field

The invention belongs to the technical field of inertial piezoelectric actuators, and in particular relates to a rotary inertial piezoelectric actuator with a double-diamond series drive mechanism and an actuating method.

Background technique

The working principle of piezoelectric drive is based on the inverse piezoelectric effect of piezoelectric. Piezoelectric drive has small size, high stiffness, high displacement resolution and positioning accuracy, good linearity, high frequency response, no heat, no noise, and easy to control Etc.

Piezoelectric actuators have a wide range of application backgrounds in the fields of life science, medicine and biological engineering, semiconductor and microelectronics, data storage, optics, photonics, optical fiber, metrology and measurement technology, precision machinery and mechanical engineering. Among them, the inertial actuator is based on the inertia-friction piezoelectric drive principle, which can realize fast two-way motion with small step distance, infinite theoretical stroke and high resolution. In the past, rotary inertial actuators often used double wafers as the driving element, which had a complex structure and low strength; in addition, the past piezoelectric actuators mostly used the power-on clamp method, and the system was required to maintain power even when the power was off. In output displacement applications, previous actuators could not complete such tasks.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the object of the present invention is to provide a rotary inertial piezoelectric actuator and an actuating method with a double-diamond series drive mechanism, which can respond quickly and drive a load under high-frequency drive conditions Bi-directional rotation provides the function of power-off clamping; this actuator has the advantages of simple assembly, fast response, and high resolution, and can lock when power-off and realize bi-directional rotation.

In order to achieve the above object, the present invention adopts following technical scheme:

A rotary inertial piezoelectric actuator with a double-diamond series drive mechanism, comprising an upper baffle 1, a lower baffle 4, and a double-diamond series drive 2 fixedly assembled between the upper baffle 1 and the lower baffle 4, rotating The output shaft 9 is respectively connected to the upper baffle plate 1 and the lower baffle plate 4 through the upper bearing 8 and the lower bearing 7; the double-diamond series drive mechanism 2 includes a series double-diamond ring 5, and the left piezoelectric stack is respectively interference-fitted inside it 3 and the right piezoelectric stack 6, a friction block 10 is provided at the junction of the left piezoelectric stack 3 and the right piezoelectric stack 6; the side of the friction block 10 is in close contact with the rotary output shaft 9, and the left piezoelectric stack 3 and the right piezoelectric stack The installation direction of the electric stack 6 is parallel to the contact side of the friction block 10 and the rotating output shaft 9; by controlling the voltage timing and amplitude of the left piezoelectric stack 3 and the right piezoelectric stack 6, the actuator can drive the load to continuously rotate in both directions .

When both the left piezoelectric stack 3 and the right piezoelectric stack 6 are powered off, the rotary output shaft 9 is in line contact with the side of the friction block 10, and is in close contact with static friction. At this time, the rotary output shaft 9 can withstand a certain external force. load for reliable clamping in the event of a power failure.

In the double-diamond series driving mechanism 2 , by simultaneously controlling two piezoelectric stacks to realize rotational motion, the deficiency of slow response of the diamond-shaped mechanism is made up for, and the angular distance and response speed of the inertial actuators in bidirectional rotation can be kept consistent.

In the actuation method of the rotary inertial piezoelectric actuator containing the double-diamond series drive mechanism, when the power is not applied, the rotary output shaft 9 is in the initial clamping state; The stack 3 and the right piezoelectric stack 6 apply an initial balance voltage. At this time, the two are facing each other, and the forces cancel each other out. The friction block 10 is in the original position and remains relatively stationary with the rotating output shaft 9; the second step is to slowly and simultaneously press the left Power stack 3 is powered off, and the voltage of right piezoelectric stack 6 rises to full stroke voltage. At this time, friction block 10 slowly moves to the direction of left piezoelectric stack 3. Since the static friction force between friction block 10 and rotary output shaft 9 is greater than that of rotary output The inertial force required for the shaft 9 to move together with the friction block 10, the rotating output shaft 9 is driven by the friction block 10 and drives the load to rotate counterclockwise at a certain angle; the third step is to rapidly increase the voltage of the left piezoelectric stack 3 to the initial balance voltage, the right piezoelectric stack 6 drops the voltage to the initial balance voltage, at this time the friction block 10 returns to its original position quickly, because the static friction force between the friction block 10 and the rotating output shaft 9 is much smaller than that of the rotating output shaft 9 and moves with the friction block 10 The required inertial force, and the process time is short enough, the rotary output shaft 9 will basically remain motionless, thus realizing a complete rotation of the rotary output shaft 9 counterclockwise; repeating the second and third steps can make the rotary output shaft 9 Continuously drive the load to rotate counterclockwise. When the drive is completed, power off the left piezoelectric stack 3 and the right piezoelectric stack 6 at the same time, and the rotating output shaft 9 returns to the initial clamping state; similarly, exchange the left piezoelectric stack 3 and the right piezoelectric stack. According to the electrification mode of the piezoelectric stack 6, the rotating output shaft 9 can continuously drive the load clockwise, so as to realize the bidirectional rotational inertia action under the electronic control mode.

Compared with the prior art, the present invention has the following advantages:

1) The present invention has a power-off clamping function. When both the left piezoelectric stack 3 and the right piezoelectric stack 6 are powered off, the rotary output shaft 9 is in line contact with the side of the friction block 10, and is in close contact with static friction. At this time, the rotary output shaft 9 can withstand a certain external load. Reliable clamping is achieved during power-off conditions. It has changed the status quo of general piezoelectric actuators that are clamped when powered on and unlocked when powered off. The clamping function when powered off is a common requirement in general engineering applications.

2) The present invention can accommodate processing errors, and has low requirements on the assembly process when the actuator initially adjusts the clamping state, which greatly reduces the difficulty of processing and assembly; the internal space of the structure is reasonably utilized, the volume is small, the weight is light, and the structure is simple compact.

3) In the double-diamond series drive mechanism 2 of the present invention, the rotational movement is realized by simultaneously controlling two piezoelectric stacks, which makes up for the slow response of the diamond-shaped mechanism, and can make the angular distance and response speed of the inertial actuator in two-way rotation Be consistent to drive loads quickly, steadily and accurately.

Description of drawings

Fig. 1 is a partial sectional view of the structure of the present invention.

Fig. 2 is a perspective view of the structure of the present invention.

Fig. 3 is a perspective view of the double rhombus serial drive mechanism of the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1, Fig. 2 and Fig. 3, the rotary inertial piezoelectric actuator containing the double-diamond series drive mechanism of the present invention includes an upper baffle 1, a lower baffle 4, an upper bearing 8, a lower bearing 7, a rotary output Shaft 9, double diamond-shaped series driving mechanism 2, left piezoelectric stack 3 and right piezoelectric stack 6; the double-diamond-shaped series driving mechanism 2 includes series double diamond-shaped ring 5, and left piezoelectric stack 3 and The right piezoelectric stack 6 has a friction block 10 where the two are connected in series; the rotating output shaft 9 of the actuator is connected to the upper baffle 1 and the lower baffle 4 through the upper bearing 8 and the lower bearing 7 respectively, and the double-diamond series drive mechanism 2. It is fixedly assembled between the upper baffle plate 1 and the lower baffle plate 4. At this time, the side surface of the friction block 10 is in close contact with the rotary output shaft 9. The installation direction of the left piezoelectric stack 3 and the right piezoelectric stack 6 is the same as that of the friction block 10. The side contacting with the rotary output shaft 9 is parallel; by controlling the voltage timing and amplitude of the left piezoelectric stack 3 and the right piezoelectric stack 6, the actuator can drive the load to continuously rotate bidirectionally.

When both the left piezoelectric stack 3 and the right piezoelectric stack 6 are powered off, the rotary output shaft 9 is in line contact with the side of the friction block 10, and is in close contact with static friction. At this time, the rotary output shaft 9 can withstand a certain external force. load for reliable clamping in the event of a power failure.

In the double-diamond series driving mechanism 2 , by simultaneously controlling two piezoelectric stacks to realize rotational motion, the deficiency of slow response of the diamond-shaped mechanism is made up for, and the angular distance and response speed of the inertial actuators in bidirectional rotation can be kept consistent.

The action method of the present invention is described in detail below:

When no power is applied, the rotary output shaft 9 is initially in a clamped state; when driving the load to rotate counterclockwise, the first step is to apply an initial balance voltage to the left piezoelectric stack 3 and the right piezoelectric stack 6 at the same time, and the two are opposite at this time. The active forces cancel each other out, the friction block 10 is in the original position and remains relatively stationary with the rotating output shaft 9; in the second step, the left piezoelectric stack 3 is powered off slowly and at the same time, and the voltage of the right piezoelectric stack 6 is increased to the full stroke voltage, and then When the friction block 10 slowly moves to the left direction of the piezoelectric stack 3, since the static friction force between the friction block 10 and the rotating output shaft 9 is greater than the inertial force required for the rotating output shaft 9 to move with the friction block 10, the rotating output shaft 9 is The friction block 10 drives and drives the load to rotate counterclockwise at a certain angle; in the third step, the voltage of the left piezoelectric stack 3 is rapidly raised to the initial balance voltage, and the voltage of the right piezoelectric stack 6 is lowered to the initial balance voltage. At this time, the friction block 10 Quickly return to the original position, because the static friction force between the friction block 10 and the rotary output shaft 9 is much smaller than the inertial force required for the rotary output shaft 9 to move with the friction block 10, and the process time is short enough, the rotary output shaft 9 will basically Keep it still, so that a complete counterclockwise rotation of the rotary output shaft 9 is realized; repeat the second and third steps, the rotary output shaft 9 can continuously drive the load to rotate counterclockwise, and when the driving is completed, the left piezoelectric stack 3 and the right piezoelectric stack 6 are powered off, and the rotary output shaft 9 returns to the initial clamping state. To drive the load to rotate clockwise, the first step is to apply an initial balance voltage to the right piezoelectric stack 6 and the left piezoelectric stack 3 at the same time. The output shaft 9 remains relatively still; in the second step, the right piezoelectric stack 6 is slowly powered off at the same time, and the voltage of the left piezoelectric stack 3 rises to the full stroke voltage. At this time, the friction block 10 slowly moves toward the right piezoelectric stack 6 , because the static friction force between the friction block 10 and the rotary output shaft 9 is greater than the inertial force required for the rotary output shaft 9 to move together with the friction block 10, the rotary output shaft 9 is driven by the friction block 10 and drives the load to rotate clockwise at a certain angle; In three steps, the voltage of the right piezoelectric stack 6 is quickly raised to the initial balance voltage, and the voltage of the left piezoelectric stack 3 is lowered to the initial balance voltage. At this time, the friction block 10 is quickly returned to its original position. The static friction force between the shafts 9 is much smaller than the inertial force required for the rotary output shaft 9 to move together with the friction block 10, and the process time is short enough that the rotary output shaft 9 will basically remain motionless, thus realizing the smooth rotation of the rotary output shaft 9. A complete rotation of the hour hand; repeating the second and third steps can make the rotating output shaft 9 continuously drive the load to rotate clockwise. 9 Restore the initial clamping state, so as to realize the two-way rotation inertia action under the electronic control mode.

Claims (4)

1. the rotatory inertia piezoelectric actuator containing Double Diamond tandem drive mechanism, it is characterised in that: include overhead gage (1), Lower baffle plate (4), Double Diamond tandem drive mechanism (2) being securely fitted between overhead gage (1) and lower baffle plate (4), rotating output shaft (9) it is connected with overhead gage (1) and lower baffle plate (4) respectively by upper bearing (metal) (8) and lower bearing (7)；Described Double Diamond tandem drive Mechanism (2) comprises series connection Double Diamond ring (5), and inside it, interference fit has left piezoelectric pile (3) and right piezoelectric pile (6), left pressure respectively Pile (3) and right piezoelectric pile (6) series connection joining place are provided with brake pad (10)；Brake pad (10) side and rotating output shaft (9) Closely, the installation direction of described left piezoelectric pile (3) and right piezoelectric pile (6) connects with brake pad (10) and rotating output shaft (9) in contact The side touched is parallel；By controlling left piezoelectric pile (3) and the voltage sequential of right piezoelectric pile (6) and amplitude, it is possible to make actuator band The continuous bidirectional rotation of dynamic load.

Rotatory inertia piezoelectric actuator containing Double Diamond tandem drive mechanism the most according to claim 1, it is characterised in that: When described left piezoelectric pile (3) and right piezoelectric pile (6) are in power-off, belong between rotating output shaft (9) and brake pad (10) side Linear contact lay, is in close contact and there is stiction, and now rotating output shaft (9) can bear certain outer load, under powering-off state Reach reliable clamper.

Rotatory inertia piezoelectric actuator containing Double Diamond tandem drive mechanism the most according to claim 1, it is characterised in that: In described Double Diamond tandem drive mechanism (2), realize rotary motion by controlling two piezoelectric pile simultaneously, compensate for rhombus-mechanism Response is not enough slowly, it is possible to make inertia actuator angular distance in bidirectional rotation and response speed keep consistent.

4. the start method of the rotatory inertia piezoelectric actuator containing Double Diamond tandem drive mechanism described in claim 1, it is special Levying and be: when being not powered on, rotating output shaft (9) is in initial clamping state；When starting start, the first step, simultaneously to left piezoelectricity Heap (3) and right piezoelectric pile (6) apply initial balance voltage, and now both are relative, and active force is cancelled out each other, and brake pad (10) is in Keep geo-stationary in situ and with rotating output shaft (9)；Second step, the most simultaneously to left piezoelectric pile (3) power-off, right piezoelectric pile (6) up voltage is to full stroke voltage, and now brake pad (10) piezoelectric pile the most to the left (3) direction is moved, due to brake pad (10) stiction and between rotating output shaft (9) is more than being used to needed for rotating output shaft (9) moves with brake pad (10) Property power, rotating output shaft (9) by brake pad (10) drive and drive load rotate to an angle counterclockwise；3rd step, promptly Simultaneously to left piezoelectric pile (3) up voltage to initial balance voltage, right piezoelectric pile (6) fall voltage, to initial balance voltage, now rubs Cleaning block (10) is promptly kept in the center, owing to the stiction between brake pad (10) and rotating output shaft (9) is defeated much smaller than rotating Shaft (9) moves required inertia force with brake pad (10), and this process time is the ofest short duration, rotating output shaft (9) meeting It is kept essentially stationary, thus achieves the complete rotation that rotating output shaft (9) is counterclockwise；Repeat second and third step, it is possible to Rotating output shaft (9) is made to drive load to rotate, after driving completes, simultaneously to left piezoelectric pile (3) and right piezoelectricity the most counterclockwise Heap (6) power-off, rotating output shaft (9) recovers initial clamping state；Similarly, left piezoelectric pile (3) and right piezoelectric pile (6) are exchanged Step mode, rotating output shaft (9) can drive load the most clockwise, realizes the bidirectional rotation inertia under automatically controlled mode with this Start.