CN106100437B - Clamper power regulated linear inertial piezoelectric actuator and start method - Google Patents
Clamper power regulated linear inertial piezoelectric actuator and start method Download PDFInfo
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- CN106100437B CN106100437B CN201610530560.7A CN201610530560A CN106100437B CN 106100437 B CN106100437 B CN 106100437B CN 201610530560 A CN201610530560 A CN 201610530560A CN 106100437 B CN106100437 B CN 106100437B
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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
- H02N2/025—Inertial sliding motors
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Abstract
Clamper power regulated linear inertial piezoelectric actuator and start method, the actuator are made up of the nut needed for upper and lower framework, guide rail, take-off lever, Double Diamond tandem drive mechanism, piezoelectric pile and regulation and screw rod；Double Diamond tandem drive mechanism includes series connection Double Diamond ring, and both have brake pad at joining place bottom of connecting, and Symmetrical Circular Arc shape flexible member is arranged at top, and flexible member top is bonded with regulating block；Actuator underframe bottom is connected with guide rail, the sliding block and guide rail contact that take-off lever passes through bottom, take-off lever upper surface and the brake pad of the Double Diamond tandem drive mechanism equipped with piezoelectric pile are in close contact, normal pressure between the two can be by adjusting through upper framework and the end-acted screw rod in regulating block, deformation is measured by the electric resistance wire strain gauge of flexible member surface layout therebetween, the exact value of normal pressure is conversed, so as to obtain the clamper power of actuator；The present invention, which has, measures and adjusts the function of clamper power, and assembling is simple, and response is rapid, and start is accurate.
Description
Technical field
The invention belongs to inertial piezoelectric Actuator technique field, and in particular to a kind of clamper power regulated linear inertia
Piezoelectric actuator and start method.
Background technology
The operation principle of Piezoelectric Driving is the inverse piezoelectric effect being had based on piezoelectricity, and Piezoelectric Driving has small volume, rigidity
Greatly, displacement resolution and positioning precision height, good linearity, frequency response is high, do not generate heat, noiseless, it is easily controllable the advantages that.
Piezoelectric actuator is in life science, medical science and bioengineering, semiconductor and microelectronics, data storage, optics, photon
The field such as, optical fiber, measurement and e measurement technology, precision optical machinery and mechanical engineering has a wide range of applications background.Wherein inertia-type
Actuator is based on inertia --- the Piezoelectric Driving principle of friction, by the accumulation to the small step pitch displacement of piezoelectric stack, can be achieved
Half step distance, theoretical stroke be infinitely great, high-resolution quick two-way step motion.Though conventional inertia-type actuator can drive necessarily
Load, but can not in real time measure and adjust the size of clamper power.In addition, conventional piezoelectric actuator is more using energization clamper
Mode, and in the system that requires remains to keep output displacement application scenario under powering-off state, conventional actuator can not be completed
This generic task.
The content of the invention
In order to solve the above-mentioned problems of the prior art, it is an object of the invention to provide a kind of clamper power is adjustable
Linear inertial piezoelectric actuator and start method, under the conditions of high-frequency drive, can quick response and bi-directional drive load, carry
The function of power-off clamper is supplied；This actuator, which has, measures and adjusts the function of clamper power, and assembling is simple, and response is rapid, start
Precisely, locking can be powered off and realize two-way big displacement start.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of clamper power regulated linear inertial piezoelectric actuator, including underframe 5, are connected in the bottom of underframe 5
Guide rail 4, the take-off lever 3 for being arranged on guide rail 4 and being contacted by base slider with guide rail 4, the double water chestnuts being arranged on take-off lever 3
Shape tandem drive mechanism 2, both ends are socketed in underframe 5 and both ends bottom is crimped on the both ends of Double Diamond tandem drive mechanism 2
Upper framework 1；The Double Diamond tandem drive mechanism 2 includes series connection Double Diamond ring 13, respectively along the axial mistake of take-off lever 3 inside it
It is full of and is combined with left piezoelectric pile 12 and right piezoelectric pile 7, the series connection joining place of series connection Double Diamond ring 13 is provided with brake pad 6, brake pad 6
Bottom protrudes from series connection Double Diamond ring 13, the upper surface of take-off lever 3 is only connect with the brake pad 6 in Double Diamond tandem drive mechanism 2
Touch, the top of brake pad 6 is provided with Symmetrical Circular Arc shape flexible member 11, and the top of Symmetrical Circular Arc shape flexible member 11 is bonded with regulating block
8, the top of regulating block 8 is touched with the upper bottom connection of framework 1, and upper framework 1 and perforate at the contact position of regulating block 8 and being provided with is adjusted just
Nut 10 and screw rod 9 needed for pressure；Fix and pacify with the both ends of Double Diamond tandem drive mechanism 2 and underframe 5 respectively when upper framework 1
After dress, rotary nut 10, normal pressure between the upper surface of take-off lever 3 and brake pad 6 is just by through upper framework 1 and end-acted in tune
The screw rod 9 of locking nub 8 is adjusted.
When the left piezoelectric pile 12 and right piezoelectric pile 7 are in power-off, it is in close contact simultaneously between take-off lever 3 and brake pad 6
Stiction be present, now take-off lever 3 can bear certain outer load, and reliable clamper is issued in powering-off state.
The outer wall of flexible member 11 posts electric resistance wire strain gauge and forms favour stone full-bridge, between take-off lever 3 and brake pad 6
During normal pressure is adjusted by the screw rod 9 of nut 10, flexible member 11 can be measured by electric resistance wire strain gauge and is deformed, is conversed
The exact value of normal pressure, so as to obtain the clamper power of actuator, it so can in real time measure as needed and adjust clamper power.
The start method of described clamper power regulated linear inertial piezoelectric actuator, when being not powered on, at take-off lever 3
In clamping state；When starting start, the first step, while initial balance voltage is applied to left piezoelectric pile 12 and right piezoelectric pile 7, now
Both are relative, and active force is cancelled out each other, and brake pad 6 is in situ and keeps geo-stationary with take-off lever 3；Second step, slowly
To left piezoelectric pile 12 from initial balance voltage drop voltage up to power-off, while slowly to right piezoelectric pile 7 from initial balance voltage
Up voltage is slowly driven the direction of piezoelectric pile 12 movement to the left up to full stroke voltage, now brake pad 6, due to brake pad 6
Stiction between take-off lever 3 moves required inertia force with brake pad 6 more than take-off lever 3, and take-off lever 3 can drive
Load is moved to the left a step；3rd step, promptly to left piezoelectric pile 12 from off-position up voltage up to initial balance voltage, together
When promptly to right piezoelectric pile 7 from full stroke voltage drop voltage up to initial balance voltage, now brake pad 6 is promptly driven
Keep in the center, due to stiction of the brake pad 6 between take-off lever 3 move with brake pad 6 much smaller than take-off lever 3 it is required
Inertia force, and the process time is of short duration enough, take-off lever 3 can be kept essentially stationary, and so be achieved that one of take-off lever 3 to the left
It is secondary complete mobile；Second and third step is repeated, the continuous driving load to the left of take-off lever 3 can be made, after the completion of driving, while to a left side
Piezoelectric pile 12 and right piezoelectric pile 7 power off, and take-off lever 3 recovers clamping state；Similarly, left piezoelectric pile 12 and right piezoelectric pile 7 are exchanged
Step mode, take-off lever 3 can continuous driving load to the right, by this realize it is automatically controlled in a manner of under two direction inertia start.
Compared to the prior art, the invention has the advantages that：
1) present invention has power-off clamper function.Left piezoelectric pile 12 and right piezoelectric pile 7 be in power-off when, take-off lever 3 with
It is in close contact between brake pad 6 and stiction is present, now take-off lever 3 can bears certain outer load, be assigned in powering-off state
To reliable clamper.Change general piezoelectric actuator energization clamper and power off the present situation of unblock.It is general to power off clamper function
Common demand in engineer applied.
2) present invention have regulation normal pressure function, when in actuator framework 1 respectively with Double Diamond tandem drive mechanism 2
After both ends and underframe 5 are fixedly mounted, rotary nut 10, normal pressure between the upper surface of take-off lever 3 and brake pad 6 can by through
The upper framework 1 and end-acted screw rod 9 in regulating block 8 is adjusted；Mismachining tolerance can be contained, adjustment clamper shape initial to actuator
Assembling process during state is less demanding, greatly reduces the difficulty of processing and assembling；Inside configuration space utilization is reasonable, volume
Small, light weight is compact-sized.
3) the clamper power that actuator of the present invention can be provided can post the flexible member 11 of electric resistance wire strain gauge by outer wall
Deformation conversion obtains, the highly difficult operation without personnel；Can accurately obtain clamper power in real time, realize measure and provide adjustment according to
According to.
4) present invention is during start, using Double Diamond tandem drive mechanism 2, by controlling two piezoelectric pile realities simultaneously
Existing displacement output, rhombus-mechanism response slowly deficiency is compensate for, the step pitch and sound in inertia actuator bidirectional-movement can be made
Answer speed to be consistent, realize rapid, stabilization and exactly driving load.
Brief description of the drawings
Fig. 1 is structural perspective of the present invention.
Fig. 2 is Double Diamond tandem drive mechanism stereogram of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As depicted in figs. 1 and 2, clamper power regulated linear inertial piezoelectric actuator of the present invention, including upper framework 1,
Underframe 5, guide rail 4, take-off lever 3, Double Diamond tandem drive mechanism 2, left piezoelectric pile 12, right piezoelectric pile 7 and regulation normal pressure institute
The nut 10 and screw rod 9 needed；The Double Diamond tandem drive mechanism 2 includes series connection Double Diamond ring 13, edge output respectively inside it
The axial direction interference fit of bar 3 has left piezoelectric pile 12 and right piezoelectric pile 7, and the series connection joining place of series connection Double Diamond ring 13 is provided with friction
Block 6, the bottom of brake pad 6 protrude from series connection Double Diamond ring 13, and the top of brake pad 6 is provided with Symmetrical Circular Arc shape flexible member 11, right
The top of arc-shaped flexible member 11 is claimed to be bonded with regulating block 8；The top of regulating block 8 is touched with the upper bottom connection of framework 1, upper framework 1 and
At the contact position of regulating block 8 perforate and be provided with regulation normal pressure needed for nut 10 and screw rod 9；The bottom of underframe 5 is consolidated
Guide rail 4 is connected to, take-off lever 3 is contacted by the sliding block of bottom with guide rail 4, the upper surface of take-off lever 3 and Double Diamond tandem drive mechanism 2
In brake pad 6 contact, after upper framework 1 is fixedly mounted with the both ends of Double Diamond tandem drive mechanism 2 and underframe 5 respectively, rotation
Turn nut 10, the normal pressure between the upper surface of take-off lever 3 and brake pad 6 can be by through upper framework 1 and end-acted in regulating block 8
Screw rod 9 adjust.
When the left piezoelectric pile 12 and right piezoelectric pile 7 are in power-off, it is in close contact simultaneously between take-off lever 3 and brake pad 6
Stiction be present, now take-off lever 3 can bear certain outer load, and reliable clamper is issued in powering-off state.
The outer wall of flexible member 11 posts electric resistance wire strain gauge and forms favour stone full-bridge, between take-off lever 3 and brake pad 6
During normal pressure is adjusted by the screw rod 9 of nut 10, flexible member 11 can be measured by electric resistance wire strain gauge and is deformed, is conversed
The exact value of normal pressure, so as to obtain the clamper power of actuator, it so can in real time measure as needed and adjust clamper power.
The start method of the present invention is described in detail below：
When being not powered on, take-off lever 3 is in clamping state；To make the driving load to the left of take-off lever 3, the first step, while to a left side
Piezoelectric pile 12 and right piezoelectric pile 7 apply initial balance voltage, and now both are relative, and active force is cancelled out each other, and brake pad 6 is in original
Position simultaneously keeps geo-stationary with take-off lever 3；Second step, slowly to left piezoelectric pile 12 from initial balance voltage drop voltage up to disconnected
Electricity, at the same slowly to right piezoelectric pile 7 from initial balance voltage up voltage up to full stroke voltage, now brake pad 6 is slow
The left direction of piezoelectric pile 12 movement of area trend, because the stiction between brake pad 6 and take-off lever 3 is more than take-off lever 3 with friction
Block 6 moves required inertia force together, take-off lever 3 can driving load be moved to the left a step；3rd step, promptly to left piezoelectricity
Heap 12 from off-position up voltage up to initial balance voltage, while promptly to right piezoelectric pile 7 from full stroke voltage drop voltage
Until initial balance voltage, now brake pad 6, which is promptly driven, keeps in the center, because quiet between brake pad 6 and take-off lever 3 rubs
Wipe power and required inertia force is moved with brake pad 6 much smaller than take-off lever 3, and the process time is of short duration enough, the meeting of take-off lever 3
It is kept essentially stationary, is so achieved that the once complete movement of take-off lever 3 to the left；Second and third step is repeated, take-off lever can be made
3 continuous driving loads to the left, are powered off, take-off lever 3 recovers pincers after the completion of driving, while to left piezoelectric pile 12 and right piezoelectric pile 7
Position state；Similarly, to make the driving load to the right of take-off lever 3, the first step, while left piezoelectric pile 12 and right piezoelectric pile 7 are applied
Initial balance voltage, now both are relative, and active force is cancelled out each other, and brake pad 6 is in situ and keeps relatively quiet with take-off lever 3
Only；Second step, slowly to left piezoelectric pile 12 from initial balance voltage up voltage up to full stroke voltage, while slowly to the right side
Piezoelectric pile 7 is from initial balance voltage drop voltage up to powering off, and now brake pad 6 is slowly driven the direction of piezoelectric pile 7 shifting to the right
It is dynamic, because stiction of the brake pad 6 between take-off lever 3 more than take-off lever 3 moves required inertia force with brake pad 6,
Take-off lever 3 can driving load move right and move a step；3rd step is promptly straight from full stroke voltage drop voltage to left piezoelectric pile 12
To initial balance voltage, at the same promptly to right piezoelectric pile 7 from off-position up voltage up to initial balance voltage, now rub
Block 6, which is promptly driven, keeps in the center, due to the stiction between brake pad 6 and take-off lever 3 much smaller than take-off lever 3 with brake pad
6 move required inertia force together, and the process time is of short duration enough, and take-off lever 3 can be kept essentially stationary, and be so achieved that
The once complete movement of take-off lever 3 to the right；Second and third step is repeated, the continuous driving load to the right of take-off lever 3 can be made, work as driving
After the completion of, while left piezoelectric pile 12 and right piezoelectric pile 7 are powered off, take-off lever 3 recovers clamping state；By this realize it is automatically controlled in a manner of under
Two direction inertia start.
Claims (4)
- A kind of 1. clamper power regulated linear inertial piezoelectric actuator, it is characterised in that：Including underframe (5), it is connected in The guide rail (4) of underframe (5) bottom, the take-off lever (3) for being arranged on guide rail (4) and being contacted by base slider with guide rail (4), The Double Diamond tandem drive mechanism (2) being arranged on take-off lever (3), both ends are socketed in underframe (5) and the crimping of both ends bottom Upper framework (1) at Double Diamond tandem drive mechanism (2) both ends；The Double Diamond tandem drive mechanism (2) includes the double water chestnuts of series connection Shape ring (13), the axial direction interference fit inside it respectively along take-off lever (3) have left piezoelectric pile (12) and right piezoelectric pile (7), connected The series connection joining place of Double Diamond ring (13) is provided with brake pad (6), and brake pad (6) bottom protrudes from series connection Double Diamond ring (13), Take-off lever (3) upper surface is only contacted with the brake pad (6) in Double Diamond tandem drive mechanism (2), set at the top of brake pad (6) There is Symmetrical Circular Arc shape flexible member (11), Symmetrical Circular Arc shape flexible member (11) top is bonded with regulating block (8), regulating block (8) Top is touched with upper framework (1) bottom connection, and perforate and regulation malleation is provided with upper framework (1) and regulating block (8) contact position Nut (10) and screw rod (9) needed for power；When upper framework (1) respectively with Double Diamond tandem drive mechanism (2) both ends and underframe (5) after being fixedly mounted, rotary nut (10), normal pressure between take-off lever (3) upper surface and brake pad (6) is just by through upper framework (1) and the end-acted screw rod (9) in regulating block (8) is adjusted.
- 2. clamper power regulated linear inertial piezoelectric actuator according to claim 1, it is characterised in that：The left side When piezoelectric pile (12) and right piezoelectric pile (7) are in power-off, it is in close contact and exists quiet between take-off lever (3) and brake pad (6) Frictional force, now take-off lever (3) can bear it is certain outer carry, be issued to reliable clamper in powering-off state.
- 3. clamper power regulated linear inertial piezoelectric actuator according to claim 1, it is characterised in that：The bullet Property element (11) outer wall post electric resistance wire strain gauge and form favour stone full-bridge, the normal pressure between take-off lever (3) and brake pad (6) leads to Cross during nut (10) screw rod (9) regulation, flexible member (11) deformation can be measured by electric resistance wire strain gauge, is conversed just The exact value of pressure, so as to obtain the clamper power of actuator, it so can in real time measure as needed and adjust clamper power.
- 4. the start method of the clamper power regulated linear inertial piezoelectric actuator described in claim 1, it is characterised in that： When being not powered on, take-off lever (3) is in clamping state；When starting start, the first step, while to left piezoelectric pile (12) and right piezoelectric pile (7) initial balance voltage is applied, now both are relative, and active force is cancelled out each other, and brake pad (6) is in situ and and take-off lever (3) geo-stationary is kept；Second step, slowly to left piezoelectric pile (12) from initial balance voltage drop voltage up to power-off, simultaneously Slowly to right piezoelectric pile (7) from initial balance voltage up voltage up to full stroke voltage, now brake pad (6) is by slowly band The left piezoelectric pile of trend (12) direction move, due to the stiction between brake pad (6) and take-off lever (3) more than take-off lever (3) with Brake pad (6) moves required inertia force together, and take-off lever (3) can walk with the mobile simultaneously driving load of brake pad (6) to the first from left； 3rd step, promptly to left piezoelectric pile (12) from off-position up voltage up to initial balance voltage, while promptly to right pressure From full stroke voltage drop voltage up to initial balance voltage, now brake pad (6) is promptly driven keeps in the center pile (7), Due to stiction of the brake pad (6) between take-off lever (3) move with brake pad (6) much smaller than take-off lever (3) it is required Inertia force, and the process time is of short duration enough, take-off lever (3) can be kept essentially stationary, and so be achieved that take-off lever (3) to the left It is once complete mobile；Second and third step is repeated, the continuous driving load to the left of take-off lever (3) can be made, after the completion of driving, together When left piezoelectric pile (12) and right piezoelectric pile (7) are powered off, take-off lever (3) recovers clamping state；Similarly, left piezoelectric pile is exchanged (12) and right piezoelectric pile (7) step mode, take-off lever (3) can continuous driving load to the right, by this realize it is automatically controlled in a manner of under Two direction inertia start.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610530560.7A CN106100437B (en) | 2016-07-06 | 2016-07-06 | Clamper power regulated linear inertial piezoelectric actuator and start method |
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| CN201610530560.7A CN106100437B (en) | 2016-07-06 | 2016-07-06 | Clamper power regulated linear inertial piezoelectric actuator and start method |
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| CN106100437A CN106100437A (en) | 2016-11-09 |
| CN106100437B true CN106100437B (en) | 2018-03-13 |
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| CN107222126B (en) * | 2017-05-18 | 2018-03-16 | 西安交通大学 | The driving bidirectional rotation inertia actuator of antisymmetry arrangement formula list piezoelectric pile and method |
| CN107994805A (en) * | 2017-11-27 | 2018-05-04 | 西安交通大学 | Clamper power is adjustable tangential driving rotatory inertia formula piezoelectric actuator and method |
| CN109580474B (en) * | 2018-11-05 | 2021-06-01 | 中国航空工业集团公司西安飞机设计研究所 | Test device and estimation method for friction coefficient of steel wire rope |
| CN112468013A (en) * | 2020-11-18 | 2021-03-09 | 哈尔滨工程大学 | Double-diamond topological structure non-resonant inchworm type piezoelectric driver |
| CN113114067B (en) * | 2021-05-08 | 2022-05-10 | 吉林大学 | Distance measurement method of piezoelectric stick-slip type driving device capable of measuring distance in large stroke |
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| JP3847549B2 (en) * | 2000-11-22 | 2006-11-22 | 富士通株式会社 | Microactuator assembly method |
| CN104410323B (en) * | 2014-12-01 | 2016-08-17 | 西安交通大学 | There is straight line large displacement piezoelectric actuator and the method for power-off clamper function |
| CN204231227U (en) * | 2014-12-01 | 2015-03-25 | 苏州大学 | Preload adjustable formula inertia stick-slip drives across yardstick precisely locating platform |
| CN105375811A (en) * | 2015-11-26 | 2016-03-02 | 西安交通大学 | High-push-pull-force stepping piezoelectric actuator based on lead screw self-locking and method thereof |
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Effective date of registration: 20240315 Address after: 1st Floor, Northwest Building of Eleven Science and Technology, No. 532 Shenzhousan Road, National Civil Aerospace Industry Base, Xi'an City, Shaanxi Province, 710100 Patentee after: XI'AN LANGWEI TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 710049 No. 28, Xianning Road, Xi'an, Shaanxi Patentee before: XI'AN JIAOTONG University Country or region before: China |