CN106787935A - A kind of inertia non-resonant biped piezoelectric straight line actuator and method of work - Google Patents

Abstract

The invention discloses an inertial non-resonant bipedal piezoelectric linear actuator, which comprises a base, a guide rail is arranged above the base, and a stator assembly is arranged above the base; the stator assembly is an axisymmetrically distributed stator assembly. The drive foot and the right drive foot of the stator assembly; the inside of the left drive foot of the stator assembly and the right drive foot of the stator assembly are respectively equipped with a left laminated piezoelectric ceramic and a right laminated piezoelectric ceramic; the drive foot of the stator assembly The protruding part is in contact with one side of the guide rail; the present invention also provides a working method of an inertial non-resonant bipedal piezoelectric linear actuator, by laminating the left and right sides of the two symmetrically arranged drive foot mechanisms The same-frequency sawtooth wave voltage signals with slow rise and fast fall and fast rise and slow fall are respectively applied to the piezoelectric ceramics to achieve stable and continuous linear motion, and it has the advantages of simple structure, stable operation, accurate positioning, and high motion resolution. , The advantage of lower cost.

Description

An inertial non-resonant bipedal piezoelectric linear actuator and working method

technical field

The invention belongs to the technical field of piezoelectric precision actuation, and specifically refers to an inertial non-resonant biped piezoelectric linear actuator and a working method.

Background technique

Because of its simple structure, precise positioning, and easy integration, piezoelectric linear motors have attracted widespread attention from home and abroad, and have been used in many technical fields. The non-resonant piezoelectric linear motor based on laminated piezoelectric ceramics not only has the advantages of traditional motors, but also overcomes the shortcomings of traditional ultrasonic motors that are susceptible to environmental factors, and has a good application prospect.

The inertial motor is a micro-drive mechanism that uses the inertial impact generated by the rapid deformation of piezoelectric ceramics to achieve micro-displacement. It has many advantages such as: large range of motion, resolution can reach nanometer level, simple structure, and parts can be tiny , and can achieve precise positioning while stepping.

The inertial impact driver using the dynamic characteristics of piezoelectric elements has developed into a unique driving type in the field of precision driving, and has been widely researched and applied. However, there are still some deficiencies in the current research technology of inertial piezoelectric linear motors, such as: the miniaturization of motor components has not been fully realized, the motor structure with precise positioning is relatively complex, the resolution of motion is not high, and the motion is not continuous. The resistance makes the thrust limited, and the manufacturing cost is higher. Therefore, designing a piezoelectric linear motor capable of solving these limitations has always been a technical problem to be solved by those skilled in the art.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention proposes an inertial non-resonant bipedal piezoelectric linear actuator, by applying voltages to the laminated piezoelectric ceramics in the two symmetrically arranged driving foot mechanisms respectively The same-frequency sawtooth wave voltage signal of rising fast falling and fast rising slow falling can achieve stable continuous linear motion, and it has the advantages of simple structure, stable operation, accurate positioning, high motion resolution, and low cost.

The present invention is realized by the following method: an inertial non-resonant bipedal piezoelectric linear actuator, comprising a base, a guide rail is arranged above the base, and the feature is that a stator assembly is also arranged above the base;

The stator assembly is an axisymmetrically distributed driving foot, which is respectively the left driving foot of the stator assembly and the right driving foot of the stator assembly; Laminated piezoelectric ceramics, left and right anti-shear washers, left and right pre-tightening springs, left and right pre-tightening screws, left and right pre-tightening washers; the existence of double driving feet enables the motor to operate stably and continuously Linear motion, the gasket avoids the direct contact between the moving part of the driving foot and the base; through the timing control and joint action of the double driving feet, the speed, thrust and accuracy of the motor guide rail have been greatly improved, realizing large stroke and high precision unity.

The inside of the left drive foot of the stator assembly and the right drive foot of the stator assembly are respectively equipped with left laminated piezoelectric ceramics and right laminated piezoelectric ceramics; the left and right laminated piezoelectric ceramics are used as the drive elements of the motor and are Parallel to the direction of motion of the guide rail to generate displacement.

The protruding part of the driving foot of the stator assembly is in contact with one side of the guide rail, and the protruding part of the driving foot of the stator assembly is in frictional contact with the guide rail, and the guide rail is driven to move linearly by friction.

Further, the left driving foot of the stator assembly and the right driving foot of the stator assembly are respectively fixed on the base through left mounting screws, right mounting screws and gaskets.

Further, the left driving foot of the stator assembly also includes a left driving foot mechanism, and a left pre-tension spring installed inside the left driving foot mechanism in parallel with the left laminated piezoelectric ceramic; the left and right sides of the left laminated piezoelectric ceramic A left anti-shear gasket is provided; the left anti-shear gasket installed on the left side of the left laminated piezoelectric ceramic is in contact with the left pre-tightening gasket, and is installed on the right side of the left laminated piezoelectric ceramic. The spacer is in contact with the left drive foot right end beam.

The existence of the pre-tightening spring makes up for the lack of recovery force of the mechanism, which leads to the failure of the mechanism to return to the initial stage in time during the recovery stage, ensures the timing correctness of the actuation principle, and has a great effect on improving the performance of the motor.

Further, the left drive foot of the stator assembly also includes a left pre-tightening gasket and a left pre-tightening screw; Inside the type mechanism, the left pre-tension spring is fixed inside the square type mechanism and installed side by side with the left laminated piezoelectric ceramics.

Further, the right driving foot of the stator assembly includes a right driving foot mechanism, and a right pretension spring installed inside the right driving foot mechanism in parallel with the right laminated piezoelectric ceramic; the left and right sides of the right laminated piezoelectric ceramic are arranged There is a right anti-shear gasket; the right anti-shear gasket installed on the right side of the right laminated piezoelectric ceramic is in contact with the left preload gasket, and the right anti-shear gasket installed on the left side of the right laminated piezoelectric ceramic The spacer is in contact with the left end beam of the left drive foot.

Further, the right driving foot of the stator assembly also includes a right preloading washer and a right preloading screw; the right laminated piezoelectric ceramic is pressed on the right driving foot by the right preloading screw and the right preloading washer Inside the type mechanism, the right pre-tightening spring is fixed inside the square type mechanism and installed side by side with the right laminated piezoelectric ceramics.

Further, one end of the left driving foot of the stator assembly and the right driving foot of the stator assembly are symmetrically provided with slots to form a flexible hinge; the two symmetrically arranged driving foot mechanisms are "mouth" shaped structures, and the slots are formed to form Flexible hinge; that is, the flexible hinge is formed by the slit located at the lower left side of the drive foot of the stator assembly, which is located under the beam under the drive foot.

Further, the guide rail is fixedly connected to the base by screws; the guide rail is fixed on the base as a motor mover and outputs linear motion.

The invention also discloses a working method of an inertial non-resonant bipedal piezoelectric linear actuator. The electroceramic applies the same-frequency sawtooth wave voltage signal with slow voltage rise and fast fall and fast rise and slow fall respectively.

The beneficial effect of the present invention with respect to prior art is:

(1) Using laminated piezoelectric ceramics as the core drive element, the working state of the motor is in a non-resonant mode, which overcomes the shortcomings of traditional ultrasonic motors that are easily affected by environmental factors, with stable operation and high precision;

(2) The bipedal driving method is adopted, which improves the situation that the use of laminated piezoelectric ceramics as the driving element has weak tensile force and can only be stretched but not retracted, and realizes two-way large-stroke and high-precision actuation;

(3) The piezoelectric linear motor mechanism of the present invention is relatively simple, easy to process, and can realize mass production, and has the advantages of stable operation, precise positioning, high motion resolution, and low cost;

(4) The present invention applies sawtooth wave voltage signals with slow voltage rise and fast fall and fast rise and slow fall voltage signals on the laminated piezoelectric ceramics, the driving method is relatively simple, and complicated driving forms are avoided.

Description of drawings

1 is a schematic diagram of the overall structure of the inertial non-resonant piezoelectric linear motor of the present invention;

Fig. 2 is an exploded schematic view of the stator assembly of the inertial non-resonant piezoelectric linear motor of the present invention;

Fig. 3 is a schematic diagram of a sawtooth wave signal applied to two laminated piezoelectric ceramics in the present invention;

Fig. 4 is a schematic diagram of the motion principle of the inertial non-resonant piezoelectric linear motor of the present invention;

Among them, 1-rail, 2-base, 3-left driving foot of stator assembly, 3.1-left driving foot mechanism, 3.2-left preload spring, 3.3-left laminated piezoelectric ceramics, 3.4-left anti-shear gasket, 3.5-left pre-tightening gasket, 3.6-left pre-tightening screw, 4-right driving foot of stator assembly, 4.1-right driving foot mechanism, 4.2-right pre-tightening spring, 4.3-right laminated piezoelectric ceramics, 4.4-right anti Shear washer, 4.5-right preload washer, 4.6-right preload screw, 5-washer, 6-left mounting screw, 7-right mounting screw, 8-movement direction.

detailed description

The present invention provides an inertial non-resonant bipedal piezoelectric linear actuator and working method. In order to make the object, technical solution and effect of the present invention clearer and clearer, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific implementations described here are only used to explain the present invention, not to limit the present invention.

As shown in Figures 1 to 2, an inertial non-resonant biped piezoelectric linear actuator disclosed by the present invention includes a base 2, a guide rail 1 is arranged above the base 2, and the guide rail 1 is fixedly connected to the base by screws. On the top of the base 2, there is also a stator assembly; the stator assembly is a left and right driving foot with axisymmetric distribution, which are respectively the left driving foot 3 of the stator assembly and the right driving foot 4 of the stator assembly; the The protruding part of the driving foot of the stator assembly is in contact with one side of the guide rail 1;

The left driving foot 3 of the stator assembly and the right driving foot 4 of the stator assembly are respectively fixed on the base 2 by the left mounting screw 6 , the right mounting screw 7 and the washer 5 .

The left driving foot 3 of the stator assembly includes a left driving foot mechanism 3.1, a left preload spring 3.2 and a left laminated piezoelectric ceramic 3.3 installed in parallel inside the left driving foot mechanism 3.1; the left laminated piezoelectric ceramic 3.3 The left anti-shear gasket 3.4 is arranged on the left and right sides, the left anti-shear gasket 3.4 is in contact with the left pre-tightening gasket 3.5 at the left end of the left laminated piezoelectric ceramic 3.3, and the left anti-shear gasket 3.4 is in contact with the left end of the left laminated piezoelectric ceramic 3.3. The drive foot 3.1 is in contact with the right end beam. The left laminated piezoelectric ceramic 3.3 is pressed on the inside of the left drive foot mechanism 3.1 through the left preload gasket 3.5 and the left preload screw 3.6, and the left preload spring 3.2 is fixed on the inside of the left drive foot mechanism 3.1 and the left The laminated piezoelectric ceramics 3.3 are mounted side by side.

The right drive foot 4 of the stator assembly includes a right drive foot mechanism 4.1, a right preload spring 4.2 and a right laminated piezoelectric ceramic 4.3 installed in parallel inside the right drive foot mechanism 4.1; the right laminated piezoelectric ceramic 4.3 The right anti-shear gasket 4.4 is arranged on the left and right sides; the right anti-shear gasket 4.4 is in contact with the left pre-tightening gasket 4.5 at the left end of the right laminated piezoelectric ceramic 4.3, and is in contact with the right end of the right laminated piezoelectric ceramic 4.3. The left drive foot 4.1 is in contact with the left end beam. The right laminated piezoelectric ceramic 4.3 is pressed on the inside of the right drive foot mechanism 4.1 through the right preload gasket 4.5 and the right preload screw 4.6, and the right preload spring 4.2 is fixed on the inside of the mouth-shaped right drive foot mechanism 4.1 and the right The laminated piezoelectric ceramics 4.3 are installed side by side.

As shown in Figures 3 to 4, Figure 3 is a commonly used driving electrical signal of the piezoelectric linear motor of the present invention, and Figure 4 is a schematic diagram of the movement principle of the stator assembly and the guide rail. The driving signal applied to the piezoelectric linear motor as shown in FIG. 3 is a sawtooth wave voltage signal with the same frequency of slow rise and fast fall and fast rise and slow fall. To the left laminated piezoelectric ceramic 3.3 in the left driving leg and the right laminated piezoelectric ceramic 4.3 in the right driving leg, respectively apply a sawtooth wave voltage signal of the same frequency with slow rising and fast falling voltage and fast rising and slow falling voltage. When in the first half cycle, the left laminated piezoelectric ceramic 3.3 in the left driving foot elongates under the slowly rising voltage signal, driving the left driving foot mechanism 3.1 to produce a certain displacement in the direction 8 parallel to the movement of the guide rail 1, through The frictional force drives the guide rail 1 to move linearly, and the right laminated piezoelectric ceramic 4.3 in the right driving foot rapidly elongates to a certain length under the action of a steeply rising voltage signal, driving the right driving foot mechanism 4.1 to elongate. The speed is faster and has less influence on the guide rail; and when it is in the second half cycle, the left laminated piezoelectric ceramic 3.3 in the left driving foot quickly returns to its original length under the action of the steeply falling voltage signal, and the left driving foot mechanism 3.1 is The left pre-tightening spring 3.2 quickly returns to the initial state under the action of the restoring force of the mechanism. Since the returning state is faster, the impact on the guide rail is small, while the right laminated piezoelectric ceramic 4.3 of the right driving foot is under the action of the slowly falling voltage signal. A certain length returns to the original length, and the driving foot mechanism slowly returns to the initial state under the action of the right pretension spring 4.2 and the mechanism restoring force, and simultaneously drives the guide rail 1 to continue moving along the direction 8 of the upper half cycle through friction. Going round and round in this way, a linear motion with a large stroke is produced.

Claims (9)

1. An inertial non-resonant bipedal piezoelectric linear actuator, including a base (2), and a guide rail (1) is arranged above the base (2). provided with a stator assembly; The stator assembly is an axisymmetrically distributed driving foot, which is the left driving foot (3) of the stator assembly and the right driving foot (4) of the stator assembly; Left laminated piezoelectric ceramics (3.3) and right laminated piezoelectric ceramics (4.3) are respectively installed inside the left drive foot (3) of the stator assembly and the right drive foot (4) of the stator assembly, and are connected with the guide rail (1) parallel; The protruding part of the driving foot of the stator assembly is in contact with one side of the guide rail (1). 2. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 1, characterized in that the left driving foot (3) of the stator assembly and the right driving foot (4) of the stator assembly respectively pass through The left mounting screw (6), the right mounting screw (7) and the washer (5) are fixed on the base (2). 3. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 1 or 2, characterized in that the left driving foot (3) of the stator assembly also includes a left driving foot mechanism (3.1) , installed in parallel with the left laminated piezoelectric ceramic (3.3) on the left preload spring (3.2) inside the left driving foot mechanism (3.1); the left and right sides of the left laminated piezoelectric ceramic (3.3) are provided with left Shear spacers (3.4). 4. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 3, characterized in that the left drive foot (3) of the stator assembly also includes a left pre-tightening gasket (3.5), Left preload screw (3.6). 5. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 1 or 2, characterized in that the right driving foot (4) of the stator assembly includes a right driving foot mechanism (4.1), The right preload spring (4.2) is installed in parallel with the right laminated piezoelectric ceramic (4.3) inside the right drive foot mechanism (4.1); the right laminated piezoelectric ceramic (4.3) is provided with right anti-shear Cut spacers (4.4). 6. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 5, characterized in that, the right driving foot (4) of the stator assembly also includes a right pre-tightening gasket (4.5), Right preload screw (4.6). 7. An inertial non-resonant bipedal piezoelectric linear actuator according to claim 1, characterized in that, one end of the left driving foot (3) of the stator assembly and the right driving foot (4) of the stator assembly Slits are arranged symmetrically to form flexible hinges. 8 . The inertial non-resonant bipedal piezoelectric linear actuator according to claim 1 , wherein the guide rail ( 1 ) is fixedly connected to the base by screws. 9. A working method of an inertial non-resonance bipedal piezoelectric linear actuator, characterized in that, the method is to provide the left laminated piezoelectric ceramic (3.3) in the left driving foot and the The right stacked piezoelectric ceramics (4.3) respectively apply sawtooth wave voltage signals of the same frequency with slow rising and fast falling voltage and fast rising and slow falling voltage.