CN113938051A - Two parallel bending oscillator composite actuation stepping piezoelectric driver and its working method - Google Patents
Two parallel bending oscillator composite actuation stepping piezoelectric driver and its working method Download PDFInfo
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- 238000005452 bending Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000002131 composite material Substances 0.000 title claims description 8
- 239000000919 ceramic Substances 0.000 claims abstract description 16
- 150000001875 compounds Chemical class 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000010287 polarization Effects 0.000 claims description 10
- 230000005284 excitation Effects 0.000 abstract description 6
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 241000256247 Spodoptera exigua Species 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
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- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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- 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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
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- 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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/026—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors by pressing one or more vibrators against the driven body
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
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- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/101—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using intermittent driving, e.g. step motors
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- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor
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- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
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Abstract
本发明两平行弯曲振子复合致动步进式压电驱动器包括：第一弯曲压电振子、安装座、V形连杆、动子、第二弯曲压电振子、滑动副，通过两平行弯曲振子复合致动步进式压电驱动器交替工作，实现大行程步进式运动输出，具有运动行程大、动子不会产生运动回退现象，有效改善动子的输出特性；在其工作方法中，致动过程可实现大行程步进式运动输出，直线动子可实现向左或向右运动以及旋转动子顺时针或逆时针运动；有效改善动子的输出特性，具有行程大、无位移回退现象，压电陶瓷元件少、激励信号数少、控制系统简单。
The compound actuation stepping piezoelectric driver of two parallel bending vibrators of the present invention comprises: a first bending piezoelectric vibrator, a mounting seat, a V-shaped connecting rod, a mover, a second bending piezoelectric vibrator, and a sliding pair. The compound actuation stepping piezoelectric driver works alternately to realize the large-stroke stepping motion output, which has a large motion stroke and no movement back of the mover, which effectively improves the output characteristics of the mover; in its working method, The actuation process can realize large-stroke step-by-step motion output, and the linear mover can move left or right, and the rotary mover can move clockwise or counterclockwise; it can effectively improve the output characteristics of the mover, with large stroke and no displacement return. There are fewer piezoelectric ceramic components, fewer excitation signals, and a simple control system.
Description
Technical Field
The invention relates to the technical field of piezoelectric drive, in particular to a compound actuation stepping piezoelectric driver with two parallel bending vibrators and a working method thereof.
Background
The piezoelectric driver utilizes the inverse piezoelectric effect of a piezoelectric ceramic material, excites the piezoelectric ceramic-metal composite stator to generate corresponding vibration or deformation by applying an electric signal in a specific form, further realizes mechanical motion output by the friction action between the stator and the rotor, and has the outstanding characteristics of no electromagnetic interference, direct drive, power failure self-locking and the like compared with an electromagnetic motor. According to different vibration states during working, the conventional piezoelectric drivers can be mainly divided into a resonance type and a non-resonance type, wherein the non-resonance type piezoelectric driver has the technical advantages of high resolution, small abrasion and the like.
The non-resonance type piezoelectric actuator mainly comprises three types, namely a direct-drive type piezoelectric actuator, an inertia type piezoelectric actuator and an inchworm type piezoelectric actuator, wherein the motion stroke of the direct-drive type piezoelectric actuator is limited by the maximum deformation of a piezoelectric ceramic element, is usually in the order of mum, and is limited in application in a large-stroke occasion; the inertial type piezoelectric driver and the inchworm type piezoelectric driver have the advantage of large movement stroke, but the inertial type piezoelectric driver usually causes the motion rollback phenomenon of the rotor in the working process due to the actuation principle of the inertial type piezoelectric driver, so that the output characteristic is degraded, while the inchworm type piezoelectric driver usually comprises at least three piezoelectric ceramic elements, so that the required excitation signals are more, the requirement on a driving power supply is high, and the integral structure and the control system are more complex.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention designs the two parallel bending vibrators for compositely actuating the stepping piezoelectric driver, and the two parallel bending vibrators are compositely actuated to actuate the stepping piezoelectric driver, so that the large-stroke stepping motion output can be realized in the actuating process, the output characteristic of the rotor can be effectively improved, and the output step pitch of the rotor is increased.
One technical scheme for realizing the invention is as follows: two parallel bending vibrator composite actuation marching type piezoelectric actuator, characterized by, it includes: first crooked piezoelectric vibrator 1, mount pad 2, V-arrangement connecting rod 3, active cell 4, the crooked piezoelectric vibrator 6 of second, slide pair 7 establish drive foot 3.1 in the intersection of two down tube of V-arrangement connecting rod 3, drive foot 3.1 appearance be the semi-cylindrical surface two down tube tip of V-arrangement connecting rod 3 set up the same connecting seat 3.3 respectively, first crooked piezoelectric vibrator 1 and the crooked piezoelectric vibrator 6 of second one end link firmly with connecting seat 3.3 respectively, first crooked piezoelectric vibrator 1 and the crooked piezoelectric vibrator 6 parallel arrangement of second, the other end of first crooked piezoelectric vibrator 1 and the crooked piezoelectric vibrator 6 of second link firmly with mount pad 2 slide pair 7 and drive foot 3.1 between set up active cell 4, the upper and lower track of active cell 4 contact slide pair 7 and drive foot 3.1 respectively.
Further, the first bending piezoelectric vibrator 1 or the second bending piezoelectric vibrator 6 includes: the piezoelectric vibrator comprises an even number of pieces of square piezoelectric ceramics 1.1 and a vibrator end cover 1.2, wherein the even number of pieces of square piezoelectric ceramics 1.1 comprise a left polarization subarea and a right polarization subarea which have opposite polarization directions.
Further, the V-shaped link 3 includes: the driving foot 3.1, the flexible hinge 3.2 and the connecting seat 3.3, and the flexible hinge 3.2 is respectively arranged on the two inclined rods of the V-shaped connecting rod 3.
Furthermore, the sliding pair 7 is a guide rail sliding block.
Further, the mover 4 may be a linear mover or a rotary mover.
The other technical scheme for realizing the invention is as follows: the working method of the two parallel bending vibrators combined actuation stepping piezoelectric driver is characterized by comprising the following steps:
1) the second bending piezoelectric vibrator 6 applies negative voltage and bends rightwards, meanwhile, the first bending piezoelectric vibrator 1 applies positive voltage and bends leftwards, and the driving foot 3.1 moves to the lowest point in the vertical direction to press the rotor 4;
2) the voltage of the second bending piezoelectric vibrator 6 is kept unchanged, and meanwhile, the first bending piezoelectric vibrator 1 applies negative voltage to bend rightwards, and the driving foot 3.1 moves to the limit position on the right side in the horizontal direction;
3) the second bending piezoelectric vibrator 6 applies positive voltage to bend leftwards, meanwhile, the voltage of the first bending piezoelectric vibrator 1 keeps unchanged, and the driving foot 3.1 moves to the highest point in the vertical direction;
4) the voltage of the second bending piezoelectric vibrator 6 is kept unchanged, meanwhile, the first bending piezoelectric vibrator 1 applies positive voltage to bend leftwards, and the driving foot 3.1 moves to the left limit position in the horizontal direction;
5) the second bending piezoelectric vibrator 6 applies positive voltage to bend rightwards, meanwhile, the voltage of the first bending piezoelectric vibrator 1 is kept unchanged, and the driving foot 3-1 moves to the lowest point in the vertical direction;
6) the steps 2) to 5) are a complete driving process, and the steps 2) to 5) are repeated to realize the large-stroke step-by-step driving of the rotor 4 to the right.
The two parallel bending vibrators of the invention are combined to actuate the stepping piezoelectric driver, and the beneficial effects are as follows:
the two parallel bending vibrators of the two parallel bending vibrator composite actuating stepping piezoelectric driver can realize large-stroke stepping motion output through the actuating process, and have the outstanding characteristics of large motion stroke, no motion rollback phenomenon of a rotor, effective improvement of the output characteristic of the rotor, few piezoelectric ceramic elements, few excitation signals, simple integral structure, simple control system and the like.
Drawings
FIG. 1 is a front view of a two parallel bending vibrator compound actuation step piezoelectric driver;
FIG. 2 is a schematic diagram of excitation signals required by the operation of a two-parallel bending vibrator composite actuation stepping piezoelectric driver;
in the figure: 1. the piezoelectric vibrator comprises a first bending piezoelectric vibrator, 1.1 even number pieces of square piezoelectric ceramics, 1.2 vibrator end covers, 2 an installation seat, 3V-shaped connecting rods, 3.1 driving feet, 3.2 flexible hinges, 3.3 connecting seats, 4 movers, 5 bolts, 6 second bending piezoelectric vibrators and 7 sliding pairs.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1-2 and the embodiments described herein, which are provided for illustration only and are not intended to limit the invention.
As shown in fig. 1, the two-parallel bending vibrator composite actuation stepping piezoelectric driver comprises two bending piezoelectric vibrators 1 arranged in parallel, a mounting base 2, a V-shaped connecting rod 3 and a rotor 4; the bending piezoelectric vibrator 1 comprises an even number of square piezoelectric ceramics 1.1 and a vibrator end cover 1.2, the even number of square piezoelectric ceramics 1.1 comprises a left polarization subarea and a right polarization subarea which have opposite polarization directions, so that when electric signal excitation is applied, one side subarea becomes thin while the other side subarea becomes thick, the whole square piezoelectric ceramics 1.1 generates bending deformation, the polarization subareas corresponding to two adjacent square piezoelectric ceramics 1.1 have opposite polarization directions, so that the whole bending piezoelectric vibrator generates bending deformation when the same signal excitation is applied, and a through hole is formed in the center position of the square piezoelectric ceramics; the top and the bottom of the vibrator end cover 1.2 are respectively provided with a threaded hole; the mounting base 2 is provided with three through holes along the front and back directions thereof for realizing the integral mounting and fixing of the piezoelectric driver, and is provided with two through holes along the up and down directions thereof; the bolt 5 penetrates through holes in the vertical direction of the mounting seat 2 and through holes of even number of pieces of square piezoelectric ceramics 1.1 to be in threaded connection with the vibrator end cover 1.2, so that clamping and mounting of the even number of pieces of square piezoelectric ceramics 1.1 are realized, and the bending piezoelectric vibrator 1 is formed; the V-shaped connecting rod 3 is characterized in that through holes are formed in connecting seats 3.3 at the tops of two sides of the V-shaped connecting rod 3, bolts penetrate through the through holes to be in threaded connection with a vibrator end cover 1.2, installation of the V-shaped connecting rod is achieved, a driving foot 3.1 is arranged at the intersection of two inclined rods of the V-shaped connecting rod 3, the driving foot 3.1 is in contact with a rotor 4, a flexible hinge 3.2 is arranged on the two inclined rods of the V-shaped connecting rod 3 close to the intersection of the two inclined rods, the angle of the intersection of the V-shaped connecting rod 3 is larger than 0 degree and smaller than 180 degrees, a rotor 4 is arranged between the sliding pair 7 and the driving foot 3.1, upper and lower tracks of the rotor 4 are in contact with the sliding pair 7 and the driving foot 3.1 respectively, the rotor 4 is a linear rotor or a rotary rotor, linear or rotary motion output is correspondingly achieved, the driving foot 3.1 adopts an arc surface, the linear contact is in line contact with the rotor 4, and the sliding pair 7 is a guide rail slider.
As shown in fig. 2, the linear mover moves leftwards or rightwards and the rotary mover moves clockwise or anticlockwise, wherein the operation method of the linear mover is illustrated as the rightward movement,
a working method of a two-parallel bending vibrator composite actuation stepping piezoelectric driver comprises the following steps:
1) (0-1T/4): the second bending piezoelectric vibrator 6 applies negative voltage and bends rightwards, meanwhile, the first bending piezoelectric vibrator 1 applies positive voltage and bends leftwards, and the driving foot 3.1 moves to the lowest point in the vertical direction to press the rotor 4;
2) (1T/4-2T/4): the voltage of the second bending piezoelectric vibrator 6 is kept unchanged, and meanwhile, the first bending piezoelectric vibrator 1 applies negative voltage to bend rightwards, and the driving foot 3.1 moves to the limit position on the right side in the horizontal direction;
3 (2T/4-3T/4)): the second bending piezoelectric vibrator 6 applies positive voltage to bend leftwards, meanwhile, the voltage of the first bending piezoelectric vibrator 1 keeps unchanged, and the driving foot 3.1 moves to the highest point in the vertical direction;
4) (3T/4-T): the voltage of the second bending piezoelectric vibrator 6 is kept unchanged, meanwhile, the first bending piezoelectric vibrator 1 applies positive voltage to bend leftwards, and the driving foot 3.1 moves to the left limit position in the horizontal direction;
5) (T-5T/4): the second bending piezoelectric vibrator 6 applies positive voltage to bend rightwards, meanwhile, the voltage of the first bending piezoelectric vibrator 1 is kept unchanged, and the driving foot 3-1 moves to the lowest point in the vertical direction;
6) the steps 2) to 5) are a complete driving process, and the steps 2) to 5) are repeated to realize the large-stroke step-by-step driving of the rotor 4 to the right.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (6)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114938158A (en) * | 2022-06-15 | 2022-08-23 | 吉林大学 | Orthogonal parallel bimorph mobile driver |
| SE545844C2 (en) * | 2022-10-17 | 2024-02-20 | Precibeo Ab | A drive element with two separate monolithic actuators for an electromechanical motor |
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| CN107124120A (en) * | 2017-06-16 | 2017-09-01 | 吉林大学 | A kind of single butterfly stator piezoelectricity straight line driver |
| CN109889085A (en) * | 2019-04-09 | 2019-06-14 | 哈尔滨工业大学 | Piezo-driven ultra-precision three-degree-of-freedom planar motion platform and its excitation method |
| CN111711381A (en) * | 2020-06-16 | 2020-09-25 | 武汉大学 | A stick-slip piezoelectric driver and control method for realizing bidirectional driving |
| CN112542959A (en) * | 2020-11-25 | 2021-03-23 | 上海工程技术大学 | Single-phase excitation bidirectional movement miniature ultrasonic motor and method |
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2021
- 2021-09-29 CN CN202111155880.6A patent/CN113938051B/en active Active
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114938158A (en) * | 2022-06-15 | 2022-08-23 | 吉林大学 | Orthogonal parallel bimorph mobile driver |
| SE545844C2 (en) * | 2022-10-17 | 2024-02-20 | Precibeo Ab | A drive element with two separate monolithic actuators for an electromechanical motor |
| SE2251213A1 (en) * | 2022-10-17 | 2024-02-20 | Precibeo Ab | A drive element with two separate monolithic actuators for an electromechanical motor |
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| CN113938051B (en) | 2023-09-29 |
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