CN105450083A - Multi-feet peristaltic drive type sleeve folding and unfolding mechanism - Google Patents
Multi-feet peristaltic drive type sleeve folding and unfolding mechanism Download PDFInfo
- Publication number
- CN105450083A CN105450083A CN201610012893.0A CN201610012893A CN105450083A CN 105450083 A CN105450083 A CN 105450083A CN 201610012893 A CN201610012893 A CN 201610012893A CN 105450083 A CN105450083 A CN 105450083A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 230000002572 peristaltic effect Effects 0.000 title abstract 3
- 239000000919 ceramic Substances 0.000 claims abstract description 72
- 241000592274 Polypodium vulgare Species 0.000 claims description 12
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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
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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
- H02N2/023—Inchworm motors
-
- 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
- H02N2/04—Constructional details
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention provides a multi-feet peristaltic drive type sleeve folding and unfolding mechanism, belongs to the technical field of folding and unfolding mechanisms and aims to solve the problems that a conventional folding and unfolding mechanism is complex in structure, heavy and high in energy consumption. The multi-feet peristaltic drive type sleeve folding and unfolding mechanism comprises a piezoelectric actuator, an inner sleeve, a guide rail and an outer sleeve, wherein the piezoelectric actuator comprises six drive feet, three lower end piezoelectric ceramic groups, a vertical ceramic group, three upper end piezoelectric ceramic groups and two mounting seats; each of the upper end face and the lower end face of the vertical ceramic group is connected with one mounting seat; the three lower end piezoelectric ceramic groups are mounted on the side surface of the mounting seat connected with the lower end face; the three upper end piezoelectric ceramic groups are mounted on the side surface of the mounting seat connected with the upper end face; the tail end of each of the lower end piezoelectric ceramic groups and the upper end piezoelectric ceramic groups is fixedly connected with one drive foot; the tail end faces of the six drive feet are in close contact with the inner surface of the outer sleeve; the upper end of the mounting seat connected with the upper end face is fixedly connected with one end of the inner sleeve; and the guide rail is arranged between the inner sleeve and the outer sleeve, so as to limit the rotational degree of freedom of the inner sleeve around the outer sleeve. The invention aims to manufacture the folding and unfolding mechanism.
Description
Technical field
The present invention relates to a kind of piezoelectric driven sleeve Zhe Zhan mechanism, belong to folding exhibition mechanism technology field.
Background technology
Zhe Zhan mechanism belongs to engineering machinery and aerospace field a kind of mechanism the most conventional, generally should have that structure is simple, folding exhibition is than the advantage such as large.Folding exhibition class of establishment is a lot, and the Zhe Zhan mechanism of socket type is the one commonly used the most.Sleeve Zhe Zhan mechanism is generally magnitude or multi-stage sleeve structure, realizes launching action by the axial-movement of inner sleeve opposite outer sleeve.At present, sleeve Zhe Zhan mechanism generally adopts the complication system of the primary element compositions such as electromagnetic machine, decelerator, steel wire, runner to realize launching and regaining, and complex structure, weight are large, and electromagnetic machine does not generally possess latching characteristics, and energy loss is large.
Summary of the invention
The object of the invention is to solve the problem that existing sleeve folding exhibition mechanism structure is complicated, weight is large, energy consumption is high, the invention provides a kind of polypody and to wriggle driving sleeve Zhe Zhan mechanism.
Polypody of the present invention is wriggled driving sleeve Zhe Zhan mechanism, and described Zhe Zhan mechanism comprises piezoelectric actuator, inner sleeve, guide rail and outer sleeve;
Piezoelectric actuator comprises two mount pads, three lower end piezoelectric ceramic groups, vertical group of ceramics, three upper end group of ceramics, six flexible hinges and six driving foots;
Two end faces up and down of vertical group of ceramics are fixedly connected with a mount pad respectively; The side of the mount pad of lower surface is provided with three flexible hinges, described three flexible hinges are respectively provided with the side that remaining three flexible hinges of lower end piezoelectric ceramic group are arranged on the mount pad of upper surface, described remaining three flexible hinges are respectively provided with a upper end piezoelectric ceramic group; The end of six flexible hinges is respectively provided with one and drives foot, six terminal surfaces driving foot all with the inner surface close contact of outer sleeve; The mount pad upper end of upper surface is fixedly connected with inner sleeve one end; Guide rail is arranged between inner sleeve and outer sleeve, and restriction inner sleeve is around the rotational freedom of outer sleeve.
Six of described piezoelectric actuator drive foot identical with outer sleeve inwall radius with the curvature of outer sleeve contact position.
The axis of described three lower end piezoelectric ceramic groups and three upper end group of ceramics all with the axes normal of vertical group of ceramics.
In described three lower end piezoelectric ceramic groups, the angle of adjacent two lower end piezoelectric ceramic groups is 120 degree, and in three upper end group of ceramics, the angle of adjacent two upper end group of ceramics is 120 degree.
The mount pad of upper surface is connected for being threaded or selling with the connected mode of inner sleeve.
Beneficial effect of the present invention is, polypody of the present invention wriggle driving sleeve Zhe Zhan mechanism make use of piezoelectric actuator power (square) density large, without the need to slowing down and the advantage of movement conversion mechanism, greatly can simplify the drive unit of sleeve Zhe Zhan mechanism, effectively reduce the weight of sleeve development mechanism, and without the need to lubrication, more adapt to Space-Work environment; There is the advantages such as structure is simple, lightweight, energy loss is low, and process and assemble is very easy.
Accompanying drawing explanation
Fig. 1 is that in embodiment, polypody is wriggled the cutaway view of driving sleeve Zhe Zhan mechanism;
Fig. 2 is the perspective view of piezoelectric actuator 1 in Fig. 1;
Fig. 3 is the schematic perspective view of lower end piezoelectric ceramic group 1-2 and flexible hinge 1-5 combining structure in piezoelectric actuator 1 shown in Fig. 2.
Embodiment
Composition graphs 1, Fig. 2 and Fig. 3 illustrate present embodiment, and the polypody described in present embodiment is wriggled driving sleeve Zhe Zhan mechanism, and described Zhe Zhan mechanism comprises piezoelectric actuator 1, inner sleeve 2, guide rail 3 and outer sleeve 4;
Piezoelectric actuator 1 comprises two mount pad 1-1, three lower end piezoelectric ceramic group 1-2, vertical group of ceramics 1-3, three upper end group of ceramics 1-4, six flexible hinge 1-5 and six the sufficient 1-6 of driving;
Two end faces up and down of vertical group of ceramics 1-3 are fixedly connected with a mount pad 1-1 respectively; The side of the mount pad 1-1 of lower surface is provided with three flexible hinge 1-5, described three flexible hinge 1-5 is respectively provided with a lower end piezoelectric ceramic group 1-2; Remaining three flexible hinge 1-5 are arranged on the side of the mount pad 1-1 of upper surface, and described remaining three flexible hinge 1-5 are respectively provided with a upper end piezoelectric ceramic group 1-4; The end of six flexible hinge 1-5 is respectively provided with one and drives sufficient 1-6, six terminal surfaces driving sufficient 1-1 all with the inner surface close contact of outer sleeve 4; The mount pad 1-1 upper end of upper surface is fixedly connected with inner sleeve 2 one end; Guide rail 3 is arranged between inner sleeve 2 and outer sleeve 4, and restriction inner sleeve 2 is around the rotational freedom of outer sleeve 4.
Piezoelectric actuator in present embodiment adopts creeping motion type working method, and piezoelectric actuator is fixedly connected with inner sleeve;
Piezoelectric actuator is a kind of inverse piezoelectric effect utilizing piezoelectric ceramic, converts electrical energy into the distortion of pottery, and drives the motion of driving foot.Wherein creeping motion type piezoelectricity driver contacts with the exchange of mover (or stationary plane) and drives foot to be parallel to the movement of mover (or stationary plane) by organizing to drive enough, and through friction coupling, drive the motion of mover (or driver self).It has without the need to gear, without electromagnetic interference, fast response time and the advantage such as to cut off self-lock.
The polypody of present embodiment wriggles driving sleeve Zhe Zhan mechanism when application, and three lower end piezoelectric ceramic group 1-2 connect first-phase drive singal, and vertical group of ceramics 1-3 connects second-phase drive singal, and three upper end piezoelectric ceramic group 1-4 connect third phase drive singal; By control drive singal be positive voltage or negative voltage, can control group of ceramics motion state for extend or shorten; Lower end piezoelectric ceramic group 1-2 and upper end piezoelectric ceramic group 1-4 drives sufficient 1-6 and outer sleeve 4 inwall to keep departing from when extending, and drives sufficient 1-6 and outer sleeve 4 inwall to keep close contact when lower end piezoelectric ceramic group 1-2 and upper end piezoelectric ceramic group 1-4 shortens; The elongation of vertical group of ceramics 1-3 or shortening produce axial displacement for driving the relative outer sleeve 4 of inner sleeve 2; By setting the phase difference of three-phase driving signal, expansion or the withdrawal of sleeve Zhe Zhan mechanism can be realized.
Sleeve launches action sequence:
(1) three lower end piezoelectric ceramic group 1-2 shortens, three lower ends of its correspondence drive sufficient 1-6 under the drive of flexible hinge with outer sleeve 4 contact internal walls, three upper end piezoelectric ceramic group 1-4 extend, and three upper ends drive sufficient 1-6 to disengage with outer sleeve 4 inwall under the drive of flexible hinge;
(2) vertically piezoelectric ceramic group is extended, and then drives inner sleeve 2 upwards to launch along outer sleeve 4 axis;
(3) three lower end piezoelectric ceramic group 1-2 extend, three lower ends of its correspondence drive sufficient 1-6 to disengage with outer sleeve 4 inwall under the drive of flexible hinge, three upper end piezoelectric ceramic group 1-4 shorten, three upper ends drive sufficient 1-6 under the drive of flexible hinge with outer sleeve 4 contact internal walls;
(4) vertically piezoelectric ceramic group shortens, and then drives three lower end piezoelectric ceramic group 1-2 to move upward along outer sleeve 4 axis;
(5) repeating above-mentioned (1) to (4), then can be realize progressively upwards launching of mechanism.
Action sequence regained by sleeve:
(1) three lower end piezoelectric ceramic group 1-2 extends, three lower ends of its correspondence drive sufficient 1-6 to disengage with outer sleeve 4 inwall under the drive of flexible hinge, three upper end piezoelectric ceramic group 1-4 shorten, three upper ends drive sufficient 1-6 under the drive of flexible hinge with outer sleeve 4 contact internal walls;
(2) vertically piezoelectric ceramic group is extended, and then drives three lower end piezoelectric ceramic group 1-2 to move downward along outer sleeve 4 axis;
(3) three lower end piezoelectric ceramic group 1-2 shorten, three lower ends of its correspondence drive sufficient 1-6 under the drive of flexible hinge with outer sleeve 4 contact internal walls, three upper end piezoelectric ceramic group 1-4 extend, and three upper ends drive sufficient 1-6 to disengage with outer sleeve 4 inwall under the drive of flexible hinge;
(4) vertically piezoelectric ceramic group shortens, and then drives inner sleeve 2 to regain along outer sleeve 4 axis downwards;
(5) repeating above-mentioned (1) to (4), then can be the progressively withdrawal realizing mechanism.
In present embodiment, six of described piezoelectric actuator drive sufficient 1-6 identical with outer sleeve 4 inwall radius with the curvature of outer sleeve 4 contact position, driving foot 1-6 can be made like this to contact with outer sleeve 4 internal face, can strengthen the stability of mechanism.
In present embodiment, the axis of described three lower end piezoelectric ceramic group 1-2 and three upper end group of ceramics 1-4 all with the axes normal of vertical group of ceramics 1-3, can make to drive sufficient 1-6 can not unbalance loading be produced with during outer sleeve 4 contact internal walls like this.
In present embodiment, in described three lower end piezoelectric ceramic group 1-2, the angle of adjacent two lower end piezoelectric ceramic group 1-2 is 120 degree, in three upper end group of ceramics 1-4, the angle of adjacent two upper end group of ceramics 1-4 is 120 degree, the principle in the center of circle is determined according to 3, and 3, when circumferentially uniform, can make each drive sufficient 1-6 stressed equal when contacting outer sleeve 4 inwall.
In present embodiment, the mount pad 1-1 of upper surface is connected for being threaded or selling with the connected mode of inner sleeve 2, like this can the reliability of guaranteed connection.
Claims (5)
1. polypody is wriggled driving sleeve Zhe Zhan mechanism, and it is characterized in that, described Zhe Zhan mechanism comprises piezoelectric actuator (1), inner sleeve (2), guide rail (3) and outer sleeve (4);
Piezoelectric actuator (1) comprises two mount pads (1-1), three lower ends piezoelectric ceramic group (1-2), vertical group of ceramics (1-3), three upper end group of ceramics (1-4), six flexible hinges (1-5) and six drivings foot (1-6);
Two end faces up and down of vertical group of ceramics (1-3) are fixedly connected with a mount pad (1-1) respectively; The side of the mount pad (1-1) of lower surface is provided with three flexible hinges (1-5), and described three flexible hinges (1-5) are respectively provided with lower end piezoelectric ceramic group (1-2); Remaining three flexible hinges (1-5) are arranged on the side of the mount pad (1-1) of upper surface, and described remaining three flexible hinges (1-5) are respectively provided with upper end piezoelectric ceramic group (1-4); The end of six flexible hinges (1-5) is respectively provided with one and drives foot (1-6), six terminal surfaces driving foot (1-1) all with the inner surface close contact of outer sleeve (4); Mount pad (1-1) upper end of upper surface is fixedly connected with inner sleeve (2) one end; Guide rail (3) is arranged between inner sleeve (2) and outer sleeve (4), restriction inner sleeve (2) rotational freedom around outer sleeve (4).
2. polypody according to claim 1 is wriggled driving sleeve Zhe Zhan mechanism, it is characterized in that, six of described piezoelectric actuator drive foot (1-6) identical with outer sleeve (4) inwall radius with the curvature of outer sleeve (4) contact position.
3. polypody according to claim 1 and 2 is wriggled driving sleeve Zhe Zhan mechanism, it is characterized in that, the axis of described three lower ends piezoelectric ceramic group (1-2) and three upper end group of ceramics (1-4) all with the axes normal of vertical group of ceramics (1-3).
4. polypody according to claim 3 is wriggled driving sleeve Zhe Zhan mechanism, it is characterized in that, in described three lower ends piezoelectric ceramic group (1-2), the angle of adjacent two lower ends piezoelectric ceramic group (1-2) is 120 degree, and in three upper end group of ceramics (1-4), the angle of adjacent two upper end group of ceramics (1-4) is 120 degree.
5. polypody according to claim 4 is wriggled driving sleeve Zhe Zhan mechanism, and it is characterized in that, the mount pad (1-1) of upper surface is connected for being threaded or selling with the connected mode of inner sleeve (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012893.0A CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012893.0A CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
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| Publication Number | Publication Date |
|---|---|
| CN105450083A true CN105450083A (en) | 2016-03-30 |
| CN105450083B CN105450083B (en) | 2018-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610012893.0A Expired - Fee Related CN105450083B (en) | 2016-01-08 | 2016-01-08 | The driving sleeve folding and unfolding mechanism of polypody wriggling |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914897A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using double pneumatic cylinders as the space folding and unfolding mechanism that can open up unit |
| CN107914896A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using five-bar mechanism as the space folding and unfolding mechanism that can open up unit |
| CN113965102A (en) * | 2021-11-03 | 2022-01-21 | 长春工业大学 | Piezoelectric stick-slip driving type sleeve unfolding and folding mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501226A (en) * | 2011-10-31 | 2012-06-20 | 西安理工大学 | Accurate rotation device for macro-micro driving deformation guide rail |
| CN102664553A (en) * | 2012-05-11 | 2012-09-12 | 哈尔滨工业大学 | Peristaltic-type passive clamping piezoelectric driver |
| CN103762887A (en) * | 2014-02-14 | 2014-04-30 | 哈尔滨工业大学 | Cylindrical driven clamping type piezoelectric wriggle linear motor |
| CN203813694U (en) * | 2014-04-22 | 2014-09-03 | 长安大学 | Stepping type precise piezoelectric linear actuator |
| CN104022683A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Driving method of super-precision straight line platform by adopting four-footed piezoelectric actuator |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
-
2016
- 2016-01-08 CN CN201610012893.0A patent/CN105450083B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501226A (en) * | 2011-10-31 | 2012-06-20 | 西安理工大学 | Accurate rotation device for macro-micro driving deformation guide rail |
| CN102664553A (en) * | 2012-05-11 | 2012-09-12 | 哈尔滨工业大学 | Peristaltic-type passive clamping piezoelectric driver |
| CN103762887A (en) * | 2014-02-14 | 2014-04-30 | 哈尔滨工业大学 | Cylindrical driven clamping type piezoelectric wriggle linear motor |
| CN203813694U (en) * | 2014-04-22 | 2014-09-03 | 长安大学 | Stepping type precise piezoelectric linear actuator |
| CN104022683A (en) * | 2014-06-25 | 2014-09-03 | 哈尔滨工业大学 | Driving method of super-precision straight line platform by adopting four-footed piezoelectric actuator |
| CN104967357A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Space deployment mechanism driven based on multi-piezoelectric vibrator step crawling mode |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914897A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using double pneumatic cylinders as the space folding and unfolding mechanism that can open up unit |
| CN107914896A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using five-bar mechanism as the space folding and unfolding mechanism that can open up unit |
| CN107914896B (en) * | 2017-11-07 | 2020-10-20 | 广西大学 | Space folding and unfolding mechanism with five-link mechanism as unfolding unit |
| CN107914897B (en) * | 2017-11-07 | 2020-10-20 | 广西大学 | Space folding and unfolding mechanism with double air cylinders as unfolding units |
| CN113965102A (en) * | 2021-11-03 | 2022-01-21 | 长春工业大学 | Piezoelectric stick-slip driving type sleeve unfolding and folding mechanism |
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| Publication number | Publication date |
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| CN105450083B (en) | 2018-03-16 |
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Granted publication date: 20180316 Termination date: 20210108 |