CN106549602A - A kind of centrifugation force driving device platform - Google Patents
A kind of centrifugation force driving device platform Download PDFInfo
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- CN106549602A CN106549602A CN201611167351.7A CN201611167351A CN106549602A CN 106549602 A CN106549602 A CN 106549602A CN 201611167351 A CN201611167351 A CN 201611167351A CN 106549602 A CN106549602 A CN 106549602A
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- 238000005119 centrifugation Methods 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 9
- 239000000463 material Substances 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000035800 maturation Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
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- 239000002184 metal Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000758 substrate 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
- H02N2/10—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
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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Abstract
A kind of centrifugation force driving device platform, is provided with non-shaft fulcrum, shaft fulcrum and centrifugal force stress point on such devices, and described device receives centrifugal force by centrifugal force stress point, and makees centrifugal rotation motion around shaft fulcrum；The surfaces of revolution of the centrifugal rotation motion is perpendicular to horizontal plane；Described device passes through the movement for accomplishing two-dimensional directional by joint efforts of centrifugal force and non-shaft fulcrum and the frictional force suffered by shaft fulcrum.A kind of centrifugation force driving device platform of the present invention, the microbit realized by inertial piezoelectric before being realized by the setting of frame for movement puts driving, because using the mechanical mechanism of technology maturation, its cost is relative to being greatly reduced using intellectual material, the simple structure of whole device, it is easy to manufacture and maintenance.Simultaneously as only using an actuating unit, and actuating unit to act directly on movement executing mechanism, significantly simplify and even eliminate actuating device, be conducive to overall miniaturization, meet the design requirement of micro robot platform.
Description
Technical field
The invention belongs to Mechatronic Engineering drives field, and in particular to a kind of centrifugation force driving device platform.
Background technology
In prior art, the small-sized and microrobot for working in particular circumstances, for the sealing of its whole device
There can be higher requirement.But according to general type of drive (such as wheeled or crawler type), as its actuator must be led to
Cross drive mechanism to be connected with power source, this integral sealing to device is processed and causes certain obstruction, while also to whole machine
The volume miniaturization of device people has a certain impact.At present, mainly using inertial piezoelectric driver meeting this requirement.It is so-called
Inertial piezoelectric driver, is in the presence of inertia and friction to make electric energy be converted into the converting means of mechanical energy by inverse piezoelectric effect
Put (such as stick gliding style inertial piezoelectric driver and impact type inertial piezoelectric driver etc.), with simple structure, working band width, divide
The advantages of resolution is high, impulse stroke is big, has obtained extensively in fields such as high-precision positioner, medical machinery and robot systems
Using.
Although the positioning precision that miniature scale can be met and the requirement for driving response, due to the original using intellectual material
Cause, its price are general also costly, safeguard and use cost is also higher.Meanwhile, currently in order to realizing device two-dimensional directional
Motion, it is often necessary to which paired and balanced configuration piezoquartz, this undoubtedly increased the volume of device, be unfavorable for the small-sized of device
Change.Therefore, despite many advantages, but at present cannot be used as robotically-driven platform large-scale application.
Application No.：200710055358.4 patent application, disclose a kind of piezoelectric inertia step driving device, belong to
Electric-mechanic control system field, drives piezoelectric stack one two ends bonding with movable block one, movable block two respectively, the movable block one and movable block
Two are slidably connected with base, and movable block one is bonding with clamp piezoelectric stack oscillator one or fixes company with composite piezoelectric chip oscillator one
Connect, movable block two is bonding with clamp piezoelectric stack oscillator two or is fixedly connected with composite piezoelectric chip oscillator two, using piezoelectricity unit
The inertial impact force that part is produced is clamped.
Application No.：200710055711.9 patent application, disclose a kind of punching of offset support cantilever type piezoelectric inertia
Precision driver is hit, single-degree-of-freedom and multivariant precision driver can be designed based on biasing supporting movement mechanism.Metal
Respectively with four piezoelectric chips of substrate connect to form piezoelectric bimorph, and the two ends of metal basal board are respectively fixedly connected with impact matter by screw
Gauge block, is connected in the middle of biasing clamping device and metal basal board, and the biasing clamping device bottom is fixedly connected parenchyma gauge block.Drive unit
The cantilever type piezoelectric twin lamella oscillator that part is supported using biasing, drives piezoelectric element quick using the driving signal of telecommunication of balancing waveform
Deformation, produces periodically two-way different inertial impact force, forms the precision driver of directed movement.
Application No.：201620045023.9 utility model application, disclosing a kind of bearing-type, to become frictional force asymmetric
Magnetic pressure electrical inertia rotating driver, is a kind of electromagnetism immixture drive mechanism.Driver is by base, bearing, axle, rotation master
Body, magnetic support, separation sleeve, pointer and bogey composition.Axle is connected with the bearing being fixed on cup dolly, and top is provided with
Pointer, separation sleeve, magnetic support are connected with main body block by bolt, rotating mass and axle interference fit.On to rotating mass
When piezoelectric bimorph applies symmetric signal, piezoelectric bimorph produces asymmetric moment of inertia under asymmetric clamping, and this torque is led to
The symmetric magnetic field power that the permanent magnet crossed on magnetic support is produced further is strengthened, and in the case where the cooperation for becoming rubbing device is carried, can realize
The directional rotating of rotating mass, separation sleeve therein are used to protect activation configuration.
The content of the invention
To solve problem above, the microbit realized by inertial piezoelectric before being realized by the setting of frame for movement puts drive
It is dynamic, simplify structure and reduces cost, the invention provides a kind of centrifugation force driving device platform, its technical scheme is specifically such as
Under：
A kind of centrifugation force driving device platform, it is characterised in that：Non- shaft fulcrum (1) is provided with such devices, turned
Axle fulcrum (2,3) and centrifugal force stress point (4),
Described device receives centrifugal force by centrifugal force stress point, and makees centrifugal rotation motion around shaft fulcrum；
The surfaces of revolution of the centrifugal rotation motion is perpendicular to horizontal plane；
What described device passed through centrifugal force and non-shaft fulcrum and the frictional force suffered by shaft fulcrum accomplishes two-dimensional square by joint efforts
To movement.
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
Described device is fixed in circular base plate (5),
The non-shaft fulcrum and shaft fulcrum are arranged in the bottom of circular base plate in equilateral triangle.
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
Described centrifugal force is provided by motor and the eccentric body being arranged on machine shaft.
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
The diameter parallel of the machine shaft is in the perpendicular bisector of shaft fulcrum line, and the barycenter by device.
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
When centrifugal rotation motion is anticlockwise rotary motion, described shaft fulcrum is shaft fulcrum (2)；
When centrifugal rotation motion is clockwise rotary motion, described shaft fulcrum is shaft fulcrum (3).
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
A kind of described centrifugation force driving device platform, centrifugal force suffered by centrifugal action point are residing in the surfaces of revolution
Phase place states specific kinestate；
The phase place is reflected by the angular displacement of fulcrum, angular velocity and angular acceleration.
A kind of centrifugation force driving device platform of the invention, it is characterised in that：
Described angular velocity and angular displacement are drawn by the integration and double integral of angular acceleration respectively；
Ratio of the described angular acceleration by the torque of centrifugal force with rotary inertia draws；
The torque of the centrifugal force follows below equation：
Mk=-Fx*LF+sgn(ωk)*(f1*L1+fk*Lk)；
Wherein,
Subscript k：When rotating around fulcrum 2, k is 3；When rotating around fulcrum 3, k is 2；
Mk：Torque of the centrifugal action point relative to fulcrum k；
Fx：Centrifugal force component in the horizontal direction；
LF：Torque of the centrifugal action point to fulcrum；
sgn(ωk)：With regard to rotational angular velocity ωkSgn functions；
f1：Frictional force suffered by non-shaft fulcrum；
L1：The distance of non-shaft fulcrum to fulcrum k；
fk：Frictional force suffered by shaft fulcrum k；
Lk：The distance of fulcrum k to another shaft fulcrum.
A kind of centrifugation force driving device platform of the present invention, passes through inertial piezoelectric before realizing by the setting of frame for movement
The microbit of realization puts driving, the mechanical mechanism due to using technology maturation, and its cost is relative to the intelligent material of use
Material is greatly reduced, the simple structure of whole device, it is easy to manufacture and maintenance.Simultaneously as an actuating unit is only used, and
Actuating unit is acted directly on movement executing mechanism, is significantly simplified and is even eliminated actuating device, is conducive to overall small-sized
Change, meet the design requirement of micro robot platform.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the motion schematic diagram in the embodiment of the present invention；
Fig. 3,4 are the stress diagram in the embodiment of the present invention.
In figure, 1 is non-shaft fulcrum；2nd, 3 is shaft fulcrum；4 is centrifugal action point；5 is disk.
Specific embodiment
Below, according to specification drawings and specific embodiments a kind of centrifugation force driving device platform of the present invention is made into
One step is illustrated.
A kind of centrifugation force driving device platform as shown in Figure 1, is provided with non-shaft fulcrum (1) on such devices, turns
Axle fulcrum (2,3) and centrifugal force stress point (4),
Described device receives centrifugal force by centrifugal force stress point, and makees centrifugal rotation motion around shaft fulcrum；
The surfaces of revolution of the centrifugal rotation motion is perpendicular to horizontal plane；
What described device passed through centrifugal force and non-shaft fulcrum and the frictional force suffered by shaft fulcrum accomplishes two-dimensional square by joint efforts
To movement.
Wherein,
Described device is fixed in circular base plate (5),
The non-shaft fulcrum and shaft fulcrum are arranged in the bottom of circular base plate in equilateral triangle.
Wherein,
Described centrifugal force is provided by motor and the eccentric body being arranged on machine shaft.
Wherein,
The diameter parallel of the machine shaft is in the perpendicular bisector of shaft fulcrum line, and the barycenter by device.
Wherein,
When centrifugal rotation motion is anticlockwise rotary motion, described shaft fulcrum is shaft fulcrum (2)；
When centrifugal rotation motion is clockwise rotary motion, described shaft fulcrum is shaft fulcrum (3).
Wherein,
A kind of described centrifugation force driving device platform, centrifugal force suffered by centrifugal action point are residing in the surfaces of revolution
Phase place states specific kinestate；
The phase place is reflected by the angular displacement of fulcrum, angular velocity and angular acceleration.
Wherein,
Described angular velocity and angular displacement are drawn by the integration and double integral of angular acceleration respectively；
Ratio of the described angular acceleration by the torque of centrifugal force with rotary inertia draws；
The torque of the centrifugal force follows below equation：
Mk=-Fx*LF+sgn(ωk)*(f1*L1+fk*Lk)；
Wherein,
Subscript k：When rotating around fulcrum 2, k is 3；When rotating around fulcrum 3, k is 2；
Mk：Torque of the centrifugal action point relative to fulcrum k；
Fx：Centrifugal force component in the horizontal direction；
LF：Torque of the centrifugal action point to fulcrum；
sgn(ωk)：With regard to rotational angular velocity ωkSgn functions；
f1：Frictional force suffered by non-shaft fulcrum；
L1：The distance of non-shaft fulcrum to fulcrum k；
fk：Frictional force suffered by shaft fulcrum k；
Lk：The distance of fulcrum k to another shaft fulcrum.
Principle and embodiment
The technical solution adopted in the present invention is：
Revolving body rotation is driven using motor, the centrifugal force of mechanical periodicity is produced so that rubbing between platform and contact surface
Wipe power to change, its frame for movement can cause frictional force and centrifugal force to be engaged automatically, reach the purpose of directed driven.
Device in the technical program is arranged in circular base plate.
Centrifugal action point and two independent fulcrums arrange that into equilateral triangle fulcrum and chassis are fixed.
Centrifugal force drives revolving body rotation to produce by motor, is installed on the vicinity of centrifugal action point, its axis and base
Center line is parallel and barycenter by device, its plane of rotation is perpendicular to chassis.Its speed of gyration should ensure that the centrifugation of generation
The horizontal component of power can overcome the frictional force on ground, while the component in vertical direction is unlikely to so that device produces jump again
It is dynamic.
Motion in rotation description signal period in the present embodiment centered on around shaft fulcrum 2 is (around rotating shaft
The motion of point 3 is in the same manner)：
Device various pieces are further simplified, and revolving body is considered as into a particle, its mechanical relationship can obtain figure
3rd, the mechanics figure shown in 4. the implication of wherein each symbol is as follows：
The constant rotational speed of ω --- --- revolving body；
The centrifugal force that F------ revolving bodies are produced；
Fx------ centrifugal force component in the horizontal direction (with x-axis positive direction as just)；
Component of the Fz------ centrifugal force in vertical direction (with z-axis positive direction as just)；
θ --- --- centrifugal force and horizontal square to angle (i.e. the phase place of revolving body)；
The gravity of Mg------ devices；
Holding power of the N1------ ground in the face of non-shaft fulcrum 1；
The holding power of N2------ ground countershaft fulcrum 2；
The holding power of N3------ ground countershaft fulcrum 3；
Can be obtained according to centrifugal force formula and geometrical relationship：
F=m* ω2*r
Fx=F*cos (θ)
Fz=F*sin (θ)
The wherein quality of m------ revolving bodies；
The r------ radius of gyration.
Assume in whole motor process and ground remains contact (i.e. the acceleration of vertical direction is always zero), together
When for simplified operation, it is believed that the centre of gyration of revolving body is located at the surface of non-shaft fulcrum 1, then fixed according to newton second
Rule, can calculate when revolving body is rotated, and ground in the face of the holding power of each fulcrum is：
Wherein, H is the distance between the centre of gyration and ground of revolving body.
When the coefficient of friction with ground is μ, according to coulomb law of friction, the size of the frictional force suffered by each fulcrum
For：
f1=μ * N1
f2=μ * N2
f3=μ * N3
Revolving body starts to turn clockwise with its minimum point (phase place is-pi/2).As the centre of gyration is positioned at non-rotating shaft
The surface of point 1, therefore the component Fx of centrifugal force will not produce torque for non-shaft fulcrum 1；And according to above-mentioned analysis, when
When revolving body is located at 2,3 quadrant, the frictional force suffered by shaft fulcrum 2 is obviously more than shaft fulcrum 3.Then whole device exists
In the presence of component Fx (being now negative), the trend turned left around shaft fulcrum 2 is begun with.At this moment relative to rotating shaft
Point 2 torque M 2 be:
M2=-Fx*LF+sgn (ω2)*(f1*L1+f3*L3)
Wherein, sgn is the function relevant with the rotational angular velocity ω 2 (with counterclockwise as just) of device：
Thus according to the moment of momentum theorem, angular acceleration of the barycenter relative to fulcrum 2：
Wherein, J2 is rotary inertia of the device relative to shaft fulcrum 2.
So angular velocity and angular displacement is represented by:
Above-mentioned equation is the function relevant with the phase theta of revolving body, then just can be described with the phase place of revolving body
The kinestate of device.
Its kinestate can be divided into following several stages, and the relation of each stage and revolving body phase place is as shown in Figure 2：
Stage 1：Revolving body is started in the motor process of third quadrant from minimum point, and Fz is gradually reduced；Opened by third quadrant
Begin in the motor process of the 2nd quadrant, Fz is changed into the effect of pull-up, therefore non-shaft fulcrum during this from the effect for pushing
1 and shaft fulcrum 3 on frictional force be gradually reduced.Then this stage internal torque M2 is just always, and device makees acceleration to the left
Rotational motion.
Stage 2：And when revolving body is rotated to first quartile, component Fx now is for just, and device is overall due to inertia
Still there is velocity of rotation to the left, then Fx is changed into resistance.As speed can not be mutated, device integrally starts to make deceleration to the left
Rotate until speed is reduced to 0.
Stage 3：Frictional force suffered by shaft fulcrum 3 is more than the frictional force suffered by shaft fulcrum 2 afterwards, equally in the work of Fx
With under, device has the trend rotated around fulcrum 3, can obtain the corresponding equation of motion using identical modeling method before,
Here is no longer described.Its motor process similar to stage 1 and stage 2, but now revolving body by 1st quadrant move to the 4th as
Limit, component Fz start to be changed into the effect that pushes from the effect for lifting, and the size of component Fx is also gradually reduced, therefore non-shaft fulcrum
1 and the frictional force of shaft fulcrum 2 gradually increase, although motion is also first to accelerate to be decelerated to 0 afterwards, but movement time is shorter than
Stage 1 and stage 2.
Stage 4：Hereafter due to the further increase of frictional force, component Fx is not enough to produce the torque for overcoming frictional force, because
This device remains static.
Then, in single gyration period, device first can turn left certain angle, and then turn right certain angle again.But
Be the angle that turns right less than the angle for turning left, therefore when motor is continuously operated enough time clockwise, multiple cycles
Movement effects add up, device slowly will be turned left.
Likewise, when motor is continuously operated enough time counterclockwise, device slowly will be turned right；By direction of motor rotation
Checker, whole device can be achieved with the advance of " it " font.
A kind of centrifugation force driving device platform of the present invention, passes through inertial piezoelectric before realizing by the setting of frame for movement
The microbit of realization puts driving, the mechanical mechanism due to using technology maturation, and its cost is relative to the intelligent material of use
Material is greatly reduced, the simple structure of whole device, it is easy to manufacture and maintenance.Simultaneously as an actuating unit is only used, and
Actuating unit is acted directly on movement executing mechanism, is significantly simplified and is even eliminated actuating device, is conducive to overall small-sized
Change, meet the design requirement of micro robot platform.
Claims (7)
- It is 1. a kind of that force driving device platform is centrifuged, it is characterised in that：Non- shaft fulcrum (1), rotating shaft are provided with such devices Fulcrum (2,3) and centrifugal force stress point (4),Described device receives centrifugal force by centrifugal force stress point, and makees centrifugal rotation motion around shaft fulcrum；The surfaces of revolution of the centrifugal rotation motion is perpendicular to horizontal plane；Described device passes through the two-dimensional directional of accomplishing by joint efforts of centrifugal force and non-shaft fulcrum and the frictional force suffered by shaft fulcrum It is mobile.
- 2. one kind according to claim 1 is centrifuged force driving device platform, it is characterised in that：Described device is fixed in circular base plate (5),The non-shaft fulcrum and shaft fulcrum are arranged in the bottom of circular base plate in equilateral triangle.
- 3. one kind according to claim 1 is centrifuged force driving device platform, it is characterised in that：Described centrifugal force is provided by motor and the eccentric body being arranged on machine shaft.
- 4. one kind according to claim 3 is centrifuged force driving device platform, it is characterised in that：The diameter parallel of the machine shaft is in the perpendicular bisector of shaft fulcrum line, and the barycenter by device.
- 5. one kind according to claim 1 is centrifuged force driving device platform, it is characterised in that：When centrifugal rotation motion is anticlockwise rotary motion, described shaft fulcrum is shaft fulcrum (2)；When centrifugal rotation motion is clockwise rotary motion, described shaft fulcrum is shaft fulcrum (3).
- 6. one kind according to claim 1 is centrifuged force driving device platform, it is characterised in that：A kind of described centrifugation force driving device platform, the residing phase place in the surfaces of revolution of centrifugal force suffered by centrifugal action point State specific kinestate；The phase place is reflected by the angular displacement of fulcrum, angular velocity and angular acceleration.
- 7. one kind according to claim 6 is centrifuged force driving device platform, it is characterised in that：Described angular velocity and angular displacement are drawn by the integration and double integral of angular acceleration respectively；Ratio of the described angular acceleration by the torque of centrifugal force with rotary inertia draws；The torque of the centrifugal force follows below equation：Mk=-Fx*LF+sgn(ωk)*(f1*L1+fk*Lk)；Wherein,Subscript k：When rotating around fulcrum 2, k is 3；When rotating around fulcrum 3, k is 2；Mk：Torque of the centrifugal action point relative to fulcrum k；Fx：Centrifugal force component in the horizontal direction；LF：Torque of the centrifugal action point to fulcrum；sgn(ωk)：With regard to rotational angular velocity ωkSgn functions；f1：Frictional force suffered by non-shaft fulcrum；L1：The distance of non-shaft fulcrum to fulcrum k；fk：Frictional force suffered by shaft fulcrum k；Lk：The distance of fulcrum k to another shaft fulcrum.
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| CN201611167351.7A CN106549602B (en) | 2016-12-16 | 2016-12-16 | A kind of centrifugation force driving device platform |
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| CN201611167351.7A CN106549602B (en) | 2016-12-16 | 2016-12-16 | A kind of centrifugation force driving device platform |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009030210A1 (en) * | 2007-09-06 | 2009-03-12 | CBS Präzisionswerkzeuge GmbH | Tool head |
| CN101725686A (en) * | 2010-01-27 | 2010-06-09 | 华东理工大学 | Device using centrifugal force as driving force and implementation method thereof |
| US20100236880A1 (en) * | 2009-03-20 | 2010-09-23 | Martinez Edward L | Method and device for brake dust collection |
-
2016
- 2016-12-16 CN CN201611167351.7A patent/CN106549602B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009030210A1 (en) * | 2007-09-06 | 2009-03-12 | CBS Präzisionswerkzeuge GmbH | Tool head |
| US20100236880A1 (en) * | 2009-03-20 | 2010-09-23 | Martinez Edward L | Method and device for brake dust collection |
| CN101725686A (en) * | 2010-01-27 | 2010-06-09 | 华东理工大学 | Device using centrifugal force as driving force and implementation method thereof |
Non-Patent Citations (2)
| Title |
|---|
| PANAGIOTIS VARTHOLOMEOS 等.: "Analysis and motion control of a centrifugal-force microrobotic platform", 《IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING》 * |
| PANAGIOTIS VARTHOLOMEOS 等.: "Dynamics, design and simulation of a novel microrobotic platform employing vibration microactuators", 《TRANSACTIONS OF THE ASME》 * |
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