CN106911264A - Small-sized single piezoelectric stack drive-type bidirectional rotation inertia actuator and start method - Google Patents
Small-sized single piezoelectric stack drive-type bidirectional rotation inertia actuator and start method Download PDFInfo
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Abstract
轻小型单压电叠堆驱动式双向旋转惯性作动器及作动方法，该作动器由底座、轴承、输出轴、作动平面板及压电堆组成；底座左侧设有安装凸台，底座右上角设有轴承座，安装于轴承座中的轴承内部过盈配合有输出轴；底座的安装凸台上方固定有一体加工的作动平面板，该作动平面板由纵向板、作动臂、菱形环以及柔性铰链组成，其中作动臂左侧经水平柔性铰链与纵向板相连，作动臂靠近水平柔性铰链端的下方经纵向柔性铰链与菱形环上端相连，该菱形环内部过盈配合有压电堆，另外作动臂末端设有圆弧凹面，圆弧凹面与输出轴同心并且两者紧密贴合；本发明结构新颖，易于加工，结合惯性驱动及杠杆放大原理，具有作动快速精准，结构轻简小巧的特点。
Light and small unimorph stack-driven two-way rotary inertial actuator and its actuation method, the actuator is composed of a base, a bearing, an output shaft, an actuating plane plate and a piezoelectric stack; a mounting boss is provided on the left side of the base , the upper right corner of the base is provided with a bearing seat, and the internal interference fit of the bearing installed in the bearing seat has an output shaft; an integrally processed actuating plane plate is fixed above the mounting boss of the base, and the actuating plane plate is composed of a longitudinal plate, a Composed of boom, diamond ring and flexible hinge, the left side of the boom is connected to the longitudinal plate through a horizontal flexible hinge, and the bottom of the boom close to the end of the horizontal flexible hinge is connected to the upper end of the rhombus ring through a longitudinal flexible hinge. It is equipped with a piezoelectric stack, and the end of the actuating arm is provided with a concave arc surface, which is concentric with the output shaft and the two are closely attached; the invention has a novel structure, is easy to process, combines the principle of inertial drive and lever amplification, and has actuation Fast and precise, light and compact structure.
Description
技术领域technical field
本发明属于惯性压电作动器技术领域，具体涉及一种轻小型单压电叠堆驱动式双向旋转惯性作动器及作动方法。The invention belongs to the technical field of inertial piezoelectric actuators, and in particular relates to a light and small single piezoelectric stack-driven bidirectional rotary inertial actuator and an actuating method.
背景技术Background technique
惯性式压电作动器是一类采用非对称的驱动信号、非对称的机械夹持结构或非对称的摩擦力为控制方式，通过惯性冲击运动形成驱动的机构。Inertial piezoelectric actuator is a kind of mechanism that adopts asymmetrical driving signal, asymmetrical mechanical clamping structure or asymmetrical friction force as the control mode, and forms the driving mechanism through inertial impact motion.
与其他类型的压电驱动比较，惯性压电作动器具有结构简单、响应速度快、分辨率高、大行程、运动速度快和成本低等主要优点，可实现较大行程且同时具有纳米级定位精度。因此，惯性压电作动器适用于需要高分辨率、大行程的场合。目前，科技工作者已成功将惯性压电作动器应用于高精度定位机构，多自由度驱动器，微型机器人关节以及微操作手等领域。Compared with other types of piezoelectric drives, inertial piezoelectric actuators have the main advantages of simple structure, fast response, high resolution, large stroke, fast movement speed, and low cost. positioning accuracy. Therefore, inertial piezoelectric actuators are suitable for occasions that require high resolution and large strokes. At present, scientific and technological workers have successfully applied inertial piezoelectric actuators to high-precision positioning mechanisms, multi-degree-of-freedom drives, micro-robot joints, and micro-manipulators.
一般地，旋转式惯性压电作动器常常利用双晶片作为驱动元件，结构复杂且强度低；目前在多数旋转式惯性作动器中，仅依靠线接触进行钳位，容易因表面磨损而钳位失效；另外，大多数旋转惯性作动器需要较高电压才能输出微小步距，效率较低。Generally, rotary inertial piezoelectric actuators often use bimorphs as driving elements, which have complex structures and low strength; currently, most rotary inertial actuators only rely on line contact for clamping, which is easy to clamp due to surface wear. bit failure; in addition, most rotary inertial actuators require a higher voltage to output a small step, and the efficiency is low.
发明内容Contents of the invention
为了解决上述现有技术存在的问题，本发明的目的在于提供一种轻小型单压电叠堆驱动式双向旋转惯性作动器及作动方法，在高频驱动条件下，能够快速响应并稳定驱动负载双向旋转；此作动器结构新颖，易于加工，结合惯性驱动及杠杆放大原理，具有作动高效精准，结构轻简小巧的特点。In order to solve the above-mentioned problems in the prior art, the object of the present invention is to provide a light and small unimorph stack-driven bidirectional rotary inertial actuator and its actuating method, which can respond quickly and stably under high-frequency driving conditions. Drive the load to rotate in both directions; this actuator has a novel structure and is easy to process. Combining the principles of inertial drive and lever amplification, it has the characteristics of efficient and precise actuation, light and compact structure.
为了达到上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts following technical scheme:
一种轻小型单压电叠堆驱动式双向旋转惯性作动器，包括底座14、轴承16、输出轴13、作动平面板1及压电堆9；所述底座14左侧设有安装凸台12，底座14右上角设有轴承座15，安装于轴承座15中的轴承16内部过盈配合有输出轴13；底座14的安装凸台12上方经安装螺钉11固定有一体加工的作动平面板1，该作动平面板1由纵向板2、作动臂3、菱形环4以及柔性铰链5组成，其中作动臂3左侧经水平柔性铰链5-1与纵向板2相连，作动臂3靠近水平柔性铰链5-1端经纵向柔性铰链5-2与菱形环4一端相连，菱形环4内部过盈配合有压电堆9，菱形环4另一端端设有安装通孔10，安装螺钉11-3穿过安装通孔10并与底座14上的安装凸台12螺纹连接，另外作动臂3末端设有圆弧凹面6，该圆弧凹面6与输出轴13同心并且两者紧密贴合。A light and small unimorph stack-driven two-way rotary inertial actuator, comprising a base 14, a bearing 16, an output shaft 13, an actuating plane plate 1 and a piezoelectric stack 9; the left side of the base 14 is provided with a mounting protrusion The platform 12 and the upper right corner of the base 14 are provided with a bearing seat 15, and the internal interference fit of the bearing 16 installed in the bearing seat 15 has an output shaft 13; Planar plate 1, the actuating planar plate 1 is composed of longitudinal plate 2, actuating arm 3, rhombic ring 4 and flexible hinge 5, wherein the left side of actuating arm 3 is connected with longitudinal plate 2 via horizontal flexible hinge 5-1, as The end of the boom 3 close to the horizontal flexible hinge 5-1 is connected to one end of the rhombic ring 4 through the longitudinal flexible hinge 5-2. The internal interference fit of the rhombic ring 4 has a piezoelectric stack 9, and the other end of the rhombic ring 4 is provided with a through hole 10 for installation. , the mounting screw 11-3 passes through the mounting through hole 10 and is threadedly connected with the mounting boss 12 on the base 14. In addition, the end of the operating arm 3 is provided with a circular arc concave surface 6, which is concentric with the output shaft 13 and two or a tight fit.
所述纵向板2内部正对水平柔性铰链5-1处开有调节直槽口7，调节螺钉8由纵向板2左侧旋入并紧抵于调节直槽口7右壁面，改变调节螺钉8的旋入量，作动臂3圆弧凹面6与输出轴13之间的正压力改变，两者间的摩擦力随之改变，即作动器的钳位力矩得到调节。所述菱形环4设置于作动臂3靠近水平柔性铰链5-1端，当压电堆9伸长，作动臂3绕水平柔性铰链5-1旋转，作动臂3末端的圆弧凹面6输出位移，该位移是压电堆9伸长量经杠杆放大后所得。The interior of the longitudinal plate 2 is facing the horizontal flexible hinge 5-1 with an adjustment straight notch 7, the adjustment screw 8 is screwed in from the left side of the longitudinal plate 2 and is tightly pressed against the right wall of the adjustment straight notch 7, and the adjustment screw 8 is changed. The amount of screwing in, the positive pressure between the arc concave surface 6 of the actuator arm 3 and the output shaft 13 changes, and the friction between the two changes accordingly, that is, the clamping torque of the actuator is adjusted. The diamond-shaped ring 4 is arranged at the end of the operating arm 3 close to the horizontal flexible hinge 5-1. When the piezoelectric stack 9 is extended, the operating arm 3 rotates around the horizontal flexible hinge 5-1, and the arc concave surface at the end of the operating arm 3 6 output displacement, which is obtained after the elongation of the piezoelectric stack 9 is amplified by the lever.
所述的轻小型单压电叠堆驱动式双向旋转惯性作动器的作动方法，未通电时，输出轴13处于钳位状态；为使输出轴13顺时针旋转，第一步，对压电堆9缓慢施加电压，压电堆9沿其轴向缓慢伸长，带动作动臂3绕水平柔性铰链5-1逆时针旋转，此时作动臂3末端的圆弧凹面6因静摩擦力与输出轴13轴面保持相对静止，输出轴13轴面随作动臂3的圆弧凹面6一起运动，并相对自身轴心产生一个微小的顺时针切向位移，推动输出轴13顺时针旋转一个微小角度；第二步，对压电堆9迅速降电，压电堆9沿其轴向迅速收缩，带动作动臂3绕水平柔性铰链5-1顺时针旋转，此时作动臂3末端的圆弧凹面6与输出轴13轴面间的静摩擦力无法维持两者相对静止，输出轴13轴面与作动臂3的圆弧凹面6出现相对滑动，在降电极短的时间内，输出轴13基本保持原位，由此输出轴13保留一个顺时针的旋转步距；重复第一、二步，能够使输出轴13连续地驱动负载顺时针旋转；类似地，为使输出轴13逆时针旋转，第一步，对压电堆9迅速施加电压，压电堆9沿其轴向迅速伸长，带动作动臂3绕水平柔性铰链5-1逆时针旋转，此时作动臂3末端的圆弧凹面6与输出轴13轴面间的静摩擦力无法维持两者相对静止，输出轴13轴面与作动臂3的圆弧凹面6出现相对滑动，在升电极短的时间内，输出轴13基本保持原位；第二步，对压电堆9缓慢降电，压电堆9沿其轴向缓慢缩短，带动作动臂3绕水平柔性铰链5-1顺时针旋转，此时作动臂3末端的圆弧凹面6因静摩擦力与输出轴13轴面保持相对静止，输出轴13轴面随作动臂3的圆弧凹面6一起运动，并相对自身轴心产生一个微小的逆时针切向位移，推动输出轴13逆时针旋转一个微小角度，由此输出轴13保留一个逆时针的旋转步距；重复第一、二步，能够使输出轴13连续地驱动负载逆时针旋转。In the actuation method of the light and small unimorph stack-driven bidirectional rotary inertial actuator, when no power is applied, the output shaft 13 is in a clamped state; in order to make the output shaft 13 rotate clockwise, the first step is to press Electric stack 9 slowly applies voltage, and piezoelectric stack 9 slowly extends along its axial direction, driving the moving arm 3 to rotate counterclockwise around the horizontal flexible hinge 5-1. At this time, the circular arc concave surface 6 at the end of the moving arm 3 is The axial surface of the output shaft 13 remains relatively stationary, and the axial surface of the output shaft 13 moves with the arc concave surface 6 of the boom 3, and produces a small clockwise tangential displacement relative to its own axis, pushing the output shaft 13 to rotate clockwise A small angle; in the second step, the piezoelectric stack 9 is rapidly de-energized, and the piezoelectric stack 9 shrinks rapidly along its axial direction, driving the moving arm 3 to rotate clockwise around the horizontal flexible hinge 5-1. At this time, the moving arm 3 The static friction between the arc concave surface 6 at the end and the output shaft 13 cannot keep the two relatively stationary, and the output shaft 13 and the arc concave surface 6 of the actuating arm 3 slide relative to each other. The output shaft 13 remains in place substantially, thus the output shaft 13 retains a clockwise rotation step; repeating the first and second steps can make the output shaft 13 continuously drive the load to rotate clockwise; similarly, in order to make the output shaft 13 Rotate counterclockwise, the first step is to quickly apply voltage to the piezoelectric stack 9, the piezoelectric stack 9 will rapidly extend along its axial direction, and drive the moving arm 3 to rotate counterclockwise around the horizontal flexible hinge 5-1. At this time, the moving arm 3 The static friction between the arc concave surface 6 at the end and the output shaft 13 shaft surface cannot keep the two relatively stationary, and the output shaft 13 shaft surface and the arc concave surface 6 of the actuating arm 3 slide relative to each other. , the output shaft 13 basically remains in its original position; in the second step, the piezoelectric stack 9 is slowly powered down, and the piezoelectric stack 9 is slowly shortened along its axial direction, driving the moving arm 3 to rotate clockwise around the horizontal flexible hinge 5-1. When the circular arc concave surface 6 at the end of the boom 3 remains relatively stationary due to static friction, the output shaft 13 axial surface moves together with the circular arc concave surface 6 of the boom 3 and generates a small gap relative to its own axis. The counterclockwise tangential displacement pushes the output shaft 13 to rotate counterclockwise for a small angle, so that the output shaft 13 retains a counterclockwise rotation step; repeating the first and second steps can make the output shaft 13 continuously drive the load counterclockwise rotate.
和现有技术相比，本发明具有如下优点：Compared with the prior art, the present invention has the following advantages:
1)本发明的菱形环4设置于作动臂3靠近水平柔性铰链5-1端的下方，当压电堆9伸长，作动臂3绕水平柔性铰链5-1旋转，作动臂3末端的圆弧凹面6带动输出轴13产生切向位移，该位移是压电堆9的伸长量经作动臂3利用杠杆放大原理所得，能够有效增大输出轴13单步的转角，提高作动器的作动效率。1) The rhombic ring 4 of the present invention is arranged below the end of the actuating arm 3 close to the horizontal flexible hinge 5-1. When the piezoelectric stack 9 is extended, the actuating arm 3 rotates around the horizontal flexible hinge 5-1, and the end of the actuating arm 3 The circular arc concave surface 6 drives the output shaft 13 to generate tangential displacement. The displacement is obtained by the elongation of the piezoelectric stack 9 through the actuating arm 3 using the lever amplification principle, which can effectively increase the single-step rotation angle of the output shaft 13 and improve the operating performance. The operating efficiency of the actuator.
2)本发明的调节螺钉8由纵向板2左侧旋入并紧抵于调节直槽口7右壁面，通过改变调节螺钉8的旋入量，作动臂3圆弧凹面6与输出轴13之间的的摩擦力随之改变，即作动器的钳位力矩能够根据需要进行调节。2) The adjusting screw 8 of the present invention is screwed in from the left side of the longitudinal plate 2 and is tightly pressed against the right wall of the adjusting straight notch 7. By changing the screwing amount of the adjusting screw 8, the circular arc concave surface 6 of the actuating arm 3 and the output shaft 13 The friction force between them changes accordingly, that is, the clamping torque of the actuator can be adjusted as needed.
3)本发明结构紧凑，体积小，质量轻，通过惯性驱动原理仅需单个压电叠堆便可驱动负载进行双向旋转作动。3) The present invention has the advantages of compact structure, small volume and light weight, and only needs a single piezoelectric stack to drive the load to perform bidirectional rotation through the principle of inertial drive.
附图说明Description of drawings
图1为本发明结构俯视图。Fig. 1 is a top view of the structure of the present invention.
图2为本发明作动平面板立体图。Fig. 2 is a perspective view of the actuating plane plate of the present invention.
图3为本发明底座立体图。Fig. 3 is a perspective view of the base of the present invention.
图4为本发明顺时针旋转的驱动电压时序图。FIG. 4 is a timing diagram of driving voltage for clockwise rotation in the present invention.
图5为本发明逆时针旋转的驱动电压时序图。FIG. 5 is a timing diagram of driving voltage for counterclockwise rotation in the present invention.
具体实施方式detailed description
以下结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
如图1至图3所示，本发明轻小型单压电叠堆驱动式双向旋转惯性作动器，包括底座14、轴承16、输出轴13、作动平面板1及压电堆9；其中底座14左侧设有安装凸台12，底座14右上角设有轴承座15，安装于轴承座15中的轴承16内部过盈配合有输出轴13；底座14的安装凸台12上方经安装螺钉11固定有一体加工的作动平面板1，该作动平面板1由纵向板2、作动臂3、菱形环4以及柔性铰链5组成，其中作动臂3左侧经水平柔性铰链5-1与纵向板2相连，作动臂3靠近水平柔性铰链5-1端的下方经纵向柔性铰链5-2与菱形环4上端相连，菱形环4内部过盈配合有压电堆9，菱形环4下端设有安装通孔10，安装螺钉11-3穿过安装通孔10并与底座14上的安装凸台12螺纹连接，另外作动臂3末端设有圆弧凹面6，该圆弧凹面6与输出轴13同心并且两者紧密贴合。As shown in Figures 1 to 3, the light and small unimorph stack-driven bidirectional rotary inertial actuator of the present invention includes a base 14, a bearing 16, an output shaft 13, an actuating plane plate 1 and a piezoelectric stack 9; The left side of the base 14 is provided with a mounting boss 12, the upper right corner of the base 14 is provided with a bearing seat 15, and the internal interference fit of the bearing 16 installed in the bearing seat 15 has an output shaft 13; 11 is fixed with an integrally processed actuating plane plate 1, the actuating plane plate 1 is composed of a longitudinal plate 2, an actuating arm 3, a diamond ring 4 and a flexible hinge 5, wherein the left side of the actuating arm 3 passes through the horizontal flexible hinge 5- 1 is connected to the longitudinal plate 2, and the operating arm 3 is connected to the upper end of the rhombic ring 4 through the longitudinal flexible hinge 5-2 near the bottom of the horizontal flexible hinge 5-1; The lower end is provided with an installation through hole 10, and the installation screw 11-3 passes through the installation through hole 10 and is threadedly connected with the installation boss 12 on the base 14. In addition, the end of the moving arm 3 is provided with an arc concave surface 6, and the arc concave surface 6 It is concentric with the output shaft 13 and the two are in close contact.
作为本发明的优选实施方式，所述纵向板2内部正对水平柔性铰链5-1处开有调节直槽口7，调节螺钉8由纵向板2左侧旋入并紧抵于调节直槽口7右壁面，改变调节螺钉8的旋入量，作动臂3圆弧凹面6与输出轴13之间的正压力改变，两者间的摩擦力随之改变，即作动器的钳位力矩得到调节。As a preferred embodiment of the present invention, the inside of the longitudinal plate 2 is provided with an adjustment straight notch 7 facing the horizontal flexible hinge 5-1, and the adjustment screw 8 is screwed in from the left side of the longitudinal plate 2 and tightly abuts the adjustment straight notch 7 On the right wall, if the screwing amount of the adjusting screw 8 is changed, the positive pressure between the arc concave surface 6 of the actuator arm 3 and the output shaft 13 will change, and the friction between the two will change accordingly, that is, the clamping torque of the actuator get regulated.
作为本发明的优选实施方式，所述菱形环4设置于作动臂3靠近水平柔性铰链5-1端的下方，当压电堆9伸长，作动臂3绕水平柔性铰链5-1旋转，作动臂3末端的圆弧凹面6输出位移，该位移是压电堆9伸长量经杠杆放大后所得。As a preferred embodiment of the present invention, the diamond-shaped ring 4 is arranged below the end of the actuating arm 3 close to the horizontal flexible hinge 5-1. When the piezoelectric stack 9 is extended, the actuating arm 3 rotates around the horizontal flexible hinge 5-1, The arc concave surface 6 at the end of the actuator arm 3 outputs a displacement, which is obtained after the elongation of the piezoelectric stack 9 is amplified by the lever.
如图4和图5所示，本发明轻小型单压电叠堆驱动式双向旋转惯性作动器的作动方法，未通电时，输出轴13处于钳位状态；为使输出轴13顺时针旋转，第一步，对压电堆9缓慢施加电压，压电堆9沿其轴向缓慢伸长，带动作动臂3绕水平柔性铰链5-1逆时针旋转，此时作动臂3末端的圆弧凹面6因静摩擦力与输出轴13轴面保持相对静止，输出轴13轴面随作动臂3的圆弧凹面6一起运动，并相对自身轴心产生一个微小的顺时针切向位移，推动输出轴13顺时针旋转一个微小角度；第二步，对压电堆9迅速降电，压电堆9沿其轴向迅速收缩，带动作动臂3绕水平柔性铰链5-1顺时针旋转，此时作动臂3末端的圆弧凹面6与输出轴13轴面间的静摩擦力无法维持两者相对静止，输出轴13轴面与作动臂3的圆弧凹面6出现相对滑动，在降电极短的时间内，输出轴13基本保持原位，由此输出轴13保留一个顺时针的旋转步距；重复第一、二步，能够使输出轴13连续地驱动负载顺时针旋转；类似地，为使输出轴13逆时针旋转，第一步，对压电堆9迅速施加电压，压电堆9沿其轴向迅速伸长，带动作动臂3绕水平柔性铰链5-1逆时针旋转，此时作动臂3末端的圆弧凹面6与输出轴13轴面间的静摩擦力无法维持两者相对静止，输出轴13轴面与作动臂3的圆弧凹面6出现相对滑动，在升电极短的时间内，输出轴13基本保持原位；第二步，对压电堆9缓慢降电，压电堆9沿其轴向缓慢缩短，带动作动臂3绕水平柔性铰链5-1顺时针旋转，此时作动臂3末端的圆弧凹面6因静摩擦力与输出轴13轴面保持相对静止，输出轴13轴面随作动臂3的圆弧凹面6一起运动，并相对自身轴心产生一个微小的逆时针切向位移，推动输出轴13逆时针旋转一个微小角度，由此输出轴13保留一个逆时针的旋转步距；重复第一、二步，能够使输出轴13连续地驱动负载逆时针旋转。As shown in Fig. 4 and Fig. 5, the actuation method of the light and small unimorph stack-driven bidirectional rotary inertial actuator of the present invention, when no power is applied, the output shaft 13 is in a clamped state; in order to make the output shaft 13 clockwise Rotation, the first step is to slowly apply a voltage to the piezoelectric stack 9, the piezoelectric stack 9 slowly extends along its axial direction, and drives the moving arm 3 to rotate counterclockwise around the horizontal flexible hinge 5-1, at this time the end of the moving arm 3 Due to the static friction force, the circular arc concave surface 6 of the output shaft 13 remains relatively stationary, and the output shaft 13 axial surface moves with the circular arc concave surface 6 of the boom 3, and produces a small clockwise tangential displacement relative to its own axis. , to push the output shaft 13 to rotate clockwise by a small angle; in the second step, the piezoelectric stack 9 is quickly de-energized, and the piezoelectric stack 9 shrinks rapidly along its axial direction, driving the moving arm 3 to rotate clockwise around the horizontal flexible hinge 5-1 At this time, the static friction force between the arc concave surface 6 at the end of the operating arm 3 and the axial surface of the output shaft 13 cannot keep the two relatively stationary, and the output shaft 13 axial surface and the arc concave surface 6 of the operating arm 3 slide relatively. The output shaft 13 basically maintains its original position during the short period of time when the electrode is lowered, so that the output shaft 13 retains a clockwise rotation step; repeating the first and second steps can make the output shaft 13 continuously drive the load to rotate clockwise; Similarly, in order to make the output shaft 13 rotate counterclockwise, in the first step, a voltage is rapidly applied to the piezoelectric stack 9, and the piezoelectric stack 9 is rapidly extended along its axial direction, driving the moving arm 3 to rotate counterclockwise around the horizontal flexible hinge 5-1. Rotate clockwise. At this time, the static friction force between the arc concave surface 6 at the end of the actuating arm 3 and the axial surface of the output shaft 13 cannot keep the two relatively stationary, and the axial surface of the output shaft 13 and the arc concave surface 6 of the actuating arm 3 slide relative to each other. , the output shaft 13 basically maintains its original position during the short period of raising the electrode; in the second step, the piezoelectric stack 9 is slowly de-energized, and the piezoelectric stack 9 is slowly shortened along its axial direction, driving the moving arm 3 to wind around the horizontal flexible hinge 5-1 Rotate clockwise. At this time, the arc concave surface 6 at the end of the boom 3 remains relatively stationary with the output shaft 13 due to static friction, and the output shaft 13 moves with the arc concave surface 6 of the boom 3. And produce a small counterclockwise tangential displacement relative to its own axis, and push the output shaft 13 to rotate counterclockwise for a small angle, so that the output shaft 13 retains a counterclockwise rotation step; repeat the first and second steps to make the output Shaft 13 continuously drives the load counterclockwise.
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