CN208046482U - A Bidirectional Piezoelectric Rotary Driver - Google Patents

Abstract

The utility model relates to a bidirectional piezoelectric rotary driver, comprising: a base, a central rotating shaft, a first connecting plate, a second connecting plate, a first circumferential piezoelectric driver and a second circumferential piezoelectric driver, wherein the base is fixed, The central rotating shaft and the base form a revolving pair through clearance cooperation, and the circumferential piezoelectric driver is rotationally symmetrically arranged around the central rotating shaft through the connecting plate. When working, the position of the base is fixed, and a biased AC voltage is applied to the piezoelectric vibrator of the circumferential piezoelectric driver to deform it, and drive the two-legged supports to move, so that the materials with different friction coefficients on the legs are in contact with the working surface respectively. The contact realizes the directional movement of the circumferential piezoelectric driver, and drives the directional rotation of the central shaft to output torque. The utility model realizes two-way driving, and has the advantages of simple structure, low maintenance cost, low requirement on the working surface and prolonging the service life of piezoelectric ceramics in the driver.

Description

A Bidirectional Piezoelectric Rotary Driver

technical field

The utility model belongs to the field of piezoelectric drive, in particular to a bidirectional piezoelectric rotary driver.

Background technique

The performance of the driver directly affects the performance of automation equipment. Due to the superior performance of piezoelectric drive components such as small size, fast response speed, high controllable precision, high energy conversion efficiency and no electromagnetic interference, it is widely used in ultra-precision instruments, micro robots, precision positioning and biomedical fields have been widely used. Piezoelectric drive is mainly divided into linear drive and rotary drive. Piezoelectric linear drive has made many achievements, while rotary drive has yet to be further studied. Existing rotary drives mainly include piezoelectric inertial drives and bionic drives. The bionic drives are mainly inchworm-like peristaltic drives. This driving method requires stacking of multiple piezoelectric clamps, which is costly and requires a stage Even the multi-stage displacement amplification mechanism and the motion conversion mechanism have complex structures; the piezoelectric inertia drive mainly includes electronic control type and friction type, and the electronic control type mainly uses asymmetric excitation signals to realize the drive, so the control system is complex. Piezoelectric friction drive has the advantages of simple drive structure, novel drive mechanism, and simple and easy-to-control drive signal. In-depth research on piezoelectric friction drive will be beneficial to the further promotion and application of piezoelectric drive.

Contents of the invention

In order to solve the problems that the structure of the current piezoelectric actuator is relatively complex, it is mostly in rigid contact with the working surface, the requirements for the working environment are high, and the easy-to-wear components are not easy to replace, a bidirectional piezoelectric rotary actuator is proposed, which consists of a base, a central shaft, a second A connecting plate, a second connecting plate, a first circumferential piezoelectric driver and a second circumferential piezoelectric driver, wherein the base is a cylinder with a circular groove in the center and its position is fixed, and the central rotating shaft includes a positioning Section, driving section and output section, the positioning section of the central rotating shaft is connected with the groove of the base to form a rotating pair, the central rotating shaft can rotate around its axis, and the first connecting plate and the second connecting plate are concave The thin plate, the first circumferential piezoelectric driver and the second circumferential piezoelectric driver are respectively arranged rotationally symmetrically on both sides of the driving section of the central shaft through the first connecting plate and the second connecting plate; the first circumferential piezoelectric The driver includes: a piezoelectric vibrator, a first foot support and a second foot support, wherein the piezoelectric vibrator is made of a piezoelectric sheet material pasted on a rectangular elastic base, and one end of the first foot support is arranged on the piezoelectric The lower surface of the vibrator, the other end is a free end, one end of the second foot support is connected to the lower surface of the piezoelectric vibrator, and the other end is a free end, the free end of the first foot support is a fan-shaped first The high friction coefficient material and the first low friction coefficient material with a fan-shaped cross section are compounded, and the free end of the second foot support is made of the second low friction coefficient material with a fan-shaped cross section and the second high friction material with a fan-shaped cross section. The coefficient material is compounded; the structure of the second circumferential piezoelectric driver is exactly the same as that of the first circumferential piezoelectric driver, and the circumferential piezoelectric driver is rotationally symmetrical about the central rotation axis.

When working, the position of the base is fixed, and a bias AC voltage is applied to the piezoelectric vibrator of the circumferential piezoelectric driver to cause reciprocating bending deformation, driving the two-legged supports to approach or move away from each other. During the movement of the foot support, the foot support is subjected to a frictional force opposite to the moving direction, and the friction force causes a certain twist of the foot support and the supporting leg, so that the materials with different friction coefficients on the foot support are respectively in contact with the working surface , so that the foot support produces different displacements to realize the directional movement of the circumferential piezoelectric actuators. The motion states and directions of each circumferential piezoelectric actuator are exactly the same, and finally the circumferential piezoelectric actuator drives the directional rotation of the central shaft through the connecting plate output torque. The schematic diagram of the counterclockwise drive working principle of the first circumferential piezoelectric driver is shown in Figure 4: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 4(a); Direct current, the piezoelectric vibrator produces a certain concave deformation, driving the first leg support and the second leg support away from each other, causing the first leg support to turn counterclockwise through a small angle to bond the high friction coefficient material and the low friction coefficient material correspondingly is in contact with the working surface, the second foot support rotates clockwise through a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 4(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce concave deformation, the first leg support and the second leg support are driven away from each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support The contact between the material and the working surface is the first, and the circumferential piezoelectric actuator moves to the right, driving the central shaft to rotate counterclockwise through the angle θ ₁ , as shown in Figure 4(c); when the piezoelectric vibrator is energized to produce convex deformation, it drives the first The first leg support and the second leg support are close to each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to move to the right side movement, driving the central shaft to continue to rotate counterclockwise through the angle θ ₂ , as shown in Figure 4(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 4(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the right, driving the central shaft to rotate counterclockwise through an angle. The schematic diagram of the clockwise driving principle of the first circumferential piezoelectric driver is shown in Figure 5: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 5(a); Direct current, the piezoelectric vibrator produces a certain convex deformation, which drives the first leg support and the second leg support to approach each other, causing the first leg support to rotate clockwise through a small angle until the high friction coefficient material and the low friction coefficient material are bonded together is in contact with the working surface, and the second foot support is turned counterclockwise by a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 5(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce convex deformation, the first leg support and the second leg support are driven close to each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support When the material is in contact with the working surface, the first circumferential piezoelectric actuator moves to the left, driving the central shaft to rotate clockwise through an angle θ ₃ , as shown in Figure 5(c); when the piezoelectric vibrator is energized to produce concave deformation, it drives the second The first leg support and the second leg support move away from each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to the left Move sideways to drive the central shaft to continue to rotate clockwise through the angle θ ₄ , as shown in Figure 5(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 5(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the left, driving the intermediate mass block to rotate clockwise through an angle. Therefore, when the piezoelectric vibrator is subjected to forward-biased alternating voltage, the driver realizes counterclockwise rotational drive; when the piezoelectric vibrator is subjected to reverse-biased alternating voltage, the driver realizes clockwise rotational drive.

The driving principle of the second circumferential piezoelectric driver is exactly the same as that of the first circumferential piezoelectric driver, and the direction of motion of the circumferential piezoelectric driver is the same, and the final output driving torque is Vector overlay.

The utility model realizes two-way driving, and has the advantages of simple structure, low maintenance cost, low requirement on the working surface and prolonging the service life of piezoelectric ceramics in the driver.

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

The utility model is a two-way piezoelectric rotary driver, which is composed of a base, a central rotating shaft, a first connecting plate, a second connecting plate, a first circumferential piezoelectric driver and a second circumferential piezoelectric driver, wherein the base It is a cylinder with a circular groove in the center and the position is fixed. The central rotating shaft includes a positioning section, a driving section and an output section. The positioning section of the central rotating shaft is connected with the base groove to form a rotating pair. Can rotate around its axis, the first connecting plate and the second connecting plate are concave thin plates, the first circumferential piezoelectric driver and the second circumferential piezoelectric driver pass through the first connecting plate and the second connecting plate respectively Rotationally symmetrically arranged on both sides of the driving section of the central shaft; the first circumferential piezoelectric driver includes: a piezoelectric vibrator, a first foot support and a second foot support, wherein the piezoelectric vibrator is made of piezoelectric sheet material Pasted on a rectangular elastic base, one end of the first foot support is arranged on the lower surface of the piezoelectric vibrator, and the other end is a free end; one end of the second foot support is connected to the lower surface of the piezoelectric vibrator, and the other end is a free end. end, the free end of the first foot support is composed of the first high friction coefficient material with a fan-shaped cross section and the first low friction coefficient material with a fan-shaped cross section, and the free end of the second foot support is It is composed of a second low friction coefficient material with a fan-shaped cross section and a second high friction coefficient material with a fan-shaped cross section; the structure of the second circumferential piezoelectric actuator is exactly the same as that of the first circumferential piezoelectric actuator, and the two directions The piezoelectric actuator is rotationally symmetric about a central axis of rotation.

When working, the position of the base is fixed, and a bias AC voltage is applied to the piezoelectric vibrator of the circumferential piezoelectric driver to cause reciprocating bending deformation, driving the two-legged supports to approach or move away from each other. During the movement of the foot support, the foot support is subjected to a frictional force opposite to the moving direction, and the friction force causes a certain twist of the foot support and the supporting leg, so that the materials with different friction coefficients on the foot support are respectively in contact with the working surface , so that the foot support produces different displacements to realize the directional movement of the circumferential piezoelectric actuators. The motion states and directions of each circumferential piezoelectric actuator are exactly the same, and finally the circumferential piezoelectric actuator drives the directional rotation of the central shaft through the connecting plate output torque. The schematic diagram of the counterclockwise drive working principle of the first circumferential piezoelectric driver is shown in Figure 4: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 4(a); Direct current, the piezoelectric vibrator produces a certain concave deformation, driving the first leg support and the second leg support away from each other, causing the first leg support to turn counterclockwise through a small angle to bond the high friction coefficient material and the low friction coefficient material correspondingly is in contact with the working surface, the second foot support rotates clockwise through a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 4(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce concave deformation, the first leg support and the second leg support are driven away from each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support The contact between the material and the working surface is the first, and the circumferential piezoelectric actuator moves to the right, driving the central shaft to rotate counterclockwise through the angle θ ₁ , as shown in Figure 4(c); when the piezoelectric vibrator is energized to produce convex deformation, it drives the first The first leg support and the second leg support are close to each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to move to the right side movement, driving the central shaft to continue to rotate counterclockwise through the angle θ ₂ , as shown in Figure 4(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 4(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the right, driving the central shaft to rotate counterclockwise through an angle. The schematic diagram of the clockwise driving principle of the first circumferential piezoelectric driver is shown in Figure 5: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 5(a); Direct current, the piezoelectric vibrator produces a certain convex deformation, which drives the first leg support and the second leg support to approach each other, causing the first leg support to rotate clockwise through a small angle until the high friction coefficient material and the low friction coefficient material are bonded together is in contact with the working surface, and the second foot support is turned counterclockwise by a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 5(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce convex deformation, the first leg support and the second leg support are driven close to each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support When the material is in contact with the working surface, the first circumferential piezoelectric actuator moves to the left, driving the central shaft to rotate clockwise through an angle θ ₃ , as shown in Figure 5(c); when the piezoelectric vibrator is energized to produce concave deformation, it drives the second The first leg support and the second leg support move away from each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to the left Move sideways to drive the central shaft to continue to rotate clockwise through the angle θ ₄ , as shown in Figure 5(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 5(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the left, driving the intermediate mass block to rotate clockwise through an angle. Therefore, when the piezoelectric vibrator is subjected to forward-biased alternating voltage, the driver realizes counterclockwise rotational drive; when the piezoelectric vibrator is subjected to reverse-biased alternating voltage, the driver realizes clockwise rotational drive.

The driving principle of the second circumferential piezoelectric driver is exactly the same as that of the first circumferential piezoelectric driver, and the direction of motion of the circumferential piezoelectric driver is the same, and the final output driving torque is Vector overlay.

The utility model realizes two-way driving, and has the advantages of simple structure, low maintenance cost, low requirement on the working surface and prolonging the service life of piezoelectric ceramics in the driver.

Description of drawings

Fig. 1 is a structural schematic diagram of a bidirectional piezoelectric rotary driver of the present invention.

Fig. 2 is a structural schematic diagram of a central shaft of a bidirectional piezoelectric rotary driver of the present invention.

Fig. 3 is a structural schematic diagram of the first circumferential piezoelectric driver of a bidirectional piezoelectric rotary driver of the present invention.

Fig. 4 is a schematic diagram of a counterclockwise driving process of a bidirectional piezoelectric rotary driver of the present invention.

Fig. 5 is a schematic diagram of a clockwise driving process of a bidirectional piezoelectric rotary driver of the present invention.

Detailed ways

According to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a multi-piezoelectric vibrator bidirectional rotary driver of the utility model is composed of a base 1, a central rotating shaft 2, a first connecting plate 3 and a second connecting plate 4, and a second connecting plate 4. A circumferential piezoelectric driver 5 and a second circumferential piezoelectric driver 6 are composed, wherein:

The base 1 is a cylinder with a circular groove in the center and its position is fixed. The central rotating shaft 2 includes a positioning section 21, a driving section 22 and an output section 23. The positioning section of the central rotating shaft 2 has a gap with the groove of the base 1. Cooperate and connect to form a rotating pair, the central rotating shaft 2 can rotate around its axis, the first connecting plate 3 and the second connecting plate 4 are concave thin plates, the first circumferential piezoelectric driver 5 and the second circumferential The piezoelectric actuators 6 are respectively arranged rotationally symmetrically on both sides of the driving section 22 of the central shaft 2 via the first connecting plate 3 and the second connecting plate 4; the first circumferential piezoelectric actuator 5 includes: piezoelectric vibrators 51, first The foot support 52 and the second foot support 53, wherein the piezoelectric vibrator 51 is formed by pasting a piezoelectric sheet material on a rectangular elastic base, and one end of the first foot support 52 is arranged on the lower surface of the piezoelectric vibrator 51, The other end is a free end. One end of the second foot support 53 is connected to the lower surface of the piezoelectric vibrator 51, and the other end is a free end. The free end of the first foot support 52 is formed by the first high The friction coefficient material 521 and the sector-shaped first low friction coefficient material 522 are compounded, and the free end of the second foot support 53 is made of the sector-shaped second low friction coefficient material 531 and the sector-shaped first low friction material Two high friction coefficient materials 532 are compounded; the second circumferential piezoelectric driver 6 and the first circumferential piezoelectric driver 5 have the same structure, and the circumferential piezoelectric driver is rotationally symmetrical about the central rotating shaft 2 .

When working, the position of the base is fixed, and a bias AC voltage is applied to the piezoelectric vibrator of the circumferential piezoelectric driver to cause reciprocating bending deformation, driving the two-legged supports to approach or move away from each other. During the movement of the foot support, the foot support is subjected to a frictional force opposite to the moving direction, and the friction force causes a certain twist of the foot support and the supporting leg, so that the materials with different friction coefficients on the foot support are respectively in contact with the working surface , so that the foot support produces different displacements to realize the directional movement of the circumferential piezoelectric actuators. The motion states and directions of each circumferential piezoelectric actuator are exactly the same, and finally the circumferential piezoelectric actuator drives the directional rotation of the central shaft through the connecting plate output torque. The schematic diagram of the counterclockwise drive working principle of the first circumferential piezoelectric driver is shown in Figure 4: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 4(a); Direct current, the piezoelectric vibrator produces a certain concave deformation, driving the first leg support and the second leg support away from each other, causing the first leg support to turn counterclockwise through a small angle to bond the high friction coefficient material and the low friction coefficient material correspondingly is in contact with the working surface, the second foot support rotates clockwise through a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 4(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce concave deformation, the first leg support and the second leg support are driven away from each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support The contact between the material and the working surface is the first, and the circumferential piezoelectric actuator moves to the right, driving the central shaft to rotate counterclockwise through the angle θ ₁ , as shown in Figure 4(c); when the piezoelectric vibrator is energized to produce convex deformation, it drives the first The first leg support and the second leg support are close to each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to move to the right side movement, driving the central shaft to continue to rotate counterclockwise through the angle θ ₂ , as shown in Figure 4(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 4(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the right, driving the central shaft to rotate counterclockwise through an angle. The schematic diagram of the clockwise driving principle of the first circumferential piezoelectric driver is shown in Figure 5: when the piezoelectric vibrator is not powered, the driver is in a natural state, as shown in Figure 5(a); Direct current, the piezoelectric vibrator produces a certain convex deformation, which drives the first leg support and the second leg support to approach each other, causing the first leg support to rotate clockwise through a small angle until the high friction coefficient material and the low friction coefficient material are bonded together is in contact with the working surface, and the second foot support is turned counterclockwise by a small angle until the corresponding joints of the high friction coefficient material and the low friction coefficient material are in contact with the working surface, as shown in Figure 5(b); at this time, the alternating voltage When the piezoelectric vibrator is driven, when the piezoelectric vibrator continues to produce convex deformation, the first leg support and the second leg support are driven close to each other, resulting in the high friction coefficient material of the first leg support and the low friction coefficient of the second leg support When the material is in contact with the working surface, the first circumferential piezoelectric actuator moves to the left, driving the central shaft to rotate clockwise through an angle θ ₃ , as shown in Figure 5(c); when the piezoelectric vibrator is energized to produce concave deformation, it drives the second The first leg support and the second leg support move away from each other, so that the low friction coefficient material of the first leg support and the high friction coefficient material of the second leg support are in contact with the working surface, and the first circumferential piezoelectric actuator continues to the left Move sideways to drive the central shaft to continue to rotate clockwise through the angle θ ₄ , as shown in Figure 5(d); when the piezoelectric vibrator returns to the DC bias position again, a working cycle is completed, as shown in Figure 5(e) . During one cycle of the piezoelectric vibrator being energized and reciprocally bent and deformed, the first circumferential piezoelectric driver moves to the left, driving the intermediate mass block to rotate clockwise through an angle. Therefore, when the piezoelectric vibrator is subjected to forward-biased alternating voltage, the driver realizes counterclockwise rotational drive; when the piezoelectric vibrator is subjected to reverse-biased alternating voltage, the driver realizes clockwise rotational drive.

The driving principle of the second circumferential piezoelectric driver is exactly the same as that of the first circumferential piezoelectric driver, and the direction of motion of the circumferential piezoelectric driver is the same, and the final output driving torque is Vector overlay.

The utility model realizes two-way driving, and has the advantages of simple structure, low maintenance cost, low requirement on the working surface and prolonging the service life of piezoelectric ceramics in the driver.

Claims (1)

1. a kind of two-way piezoelectric rotary driver, including：Pedestal (1), central rotating shaft (2), the first connecting plate (3) and the second connection Plate (4), it is characterised in that further include the first circumferential piezoelectric actuator (5) and the second circumferential piezoelectric actuator for realizing bi-directional drive (6)；Cylinder with circular groove and position is fixed centered on the wherein described pedestal (1), the central rotating shaft (2) include positioning Section (21), drive section (22) and deferent segment (23), positioning section and the cooperation of pedestal (1) groove gap of the central rotating shaft (2) connect It connects to form revolute pair, the central rotating shaft (2) can be rotatable around its axis, and first connecting plate (3) and the second connecting plate (4) are Spill thin plate, the described first circumferential piezoelectric actuator (5) and the second circumferential piezoelectric actuator (6) pass through the first connecting plate respectively (3) and the second connecting plate (4) drive section (22) both sides in a rotationally symmetrical arrangement in central rotating shaft (2)；Described first circumferential piezoelectricity Driver (5) includes：Piezoelectric vibrator (51), the first foot bearing (52) and crus secunda bearing (53), wherein the piezoelectric vibrator (51) it is pasted onto on Rectangular Elastic matrix and is constituted by piezoelectric sheet material, described first foot bearing (52) one end is arranged in piezoelectricity and shakes Sub (51) lower surface, the other end are free end, and described crus secunda bearing (53) one end is connected to piezoelectric vibrator (51) lower surface, another One end is free end, and it is the first fan-shaped high coefficient of friction material that the free end of the first foot bearing (52), which is by section, (521) and section is that fan-shaped the first low friction coefficient materials (522) are combined, the free end of the crus secunda bearing (53) It is by the second low friction coefficient materials (531) that section is sector and the second high coefficient of friction material (532) that section is sector It is combined；Described second circumferential piezoelectric actuator (6) is identical with the first circumferential piezoelectric actuator (5) structure and two is circumferential Piezoelectric actuator is about central rotating shaft (2) in rotational symmetry.