CN107623461A - A kind of shearing-type inertial piezoelectric rotary actuator and start method - Google Patents
A kind of shearing-type inertial piezoelectric rotary actuator and start method Download PDFInfo
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- CN107623461A CN107623461A CN201710792662.0A CN201710792662A CN107623461A CN 107623461 A CN107623461 A CN 107623461A CN 201710792662 A CN201710792662 A CN 201710792662A CN 107623461 A CN107623461 A CN 107623461A
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Abstract
The invention discloses a kind of shearing-type inertial piezoelectric rotary actuator and start method, and the actuator is by mass, shearing-type piezoelectric blocks, rotating disk, precision bearing and base composition；Mass is pasted on above shearing-type piezoelectric blocks；Shearing-type piezoelectric blocks bottom is pasted in the fixed groove of rotating disk；Axle is fixed in precision bearing by interference fit in the middle part of rotating disk；Precision bearing is fixed in the circular trough of base center；By inputting zig-zag driving voltage to shearing-type piezoelectric blocks, shearing-type piezoelectric blocks is produced the deformation of periodicity THE ADIABATIC SHEAR IN and relatively slow reset, drive rotating disk to rotate so as to produce inertial impact force, realize that step-by-step movement corner exports；Compact-sized, small volume of the invention, in light weight, non-model control driving (inertia force driving), without pretension, displacement output greatly and stably, utilizes the i.e. achievable bidirectional rotation of single piezoelectric blocks.
Description
Technical field
The present invention relates to piezoelectric actuator field, and in particular to a kind of shearing-type inertial piezoelectric rotary actuator and start side
Method.
Background technology
In recent years, with the fast development of science and technology, actuation techniques are also constantly being weeded out the old and bring forth the new, from traditional driving machine
Structure continues to bring out to precision driver, various actuation techniques.And in micro-nano technology, precision optics, Aero-Space, biology
The fields such as medical science, micro-nano precision actuation turn into one of its important support technology.Although traditional actuation techniques have that stroke is big,
The advantages that high capacity, but because its physical dimension is big, the problems such as precision is low, it has been difficult to the technology for meeting these Disciplinary Frontiers
Demand.
Piezoceramic material has a fast response time, high resolution, the advantages that no electromagnetic interference, therefore utilizes piezoelectric ceramics
The research for carrying out piezoelectric actuator has become focus in recent years.Wherein, piezoelectric inertia formula driver has high accuracy, big row
Journey, movement velocity is fast, and response frequency is high, simple in construction, it is easy to accomplish the advantages that, therefore, it is widely used in Aero-Space, it is raw
The fields such as thing medical science, MEMS.
But because current inertial piezoelectric driver is largely to be based on frictional force drives, under high frequency response, mechanism
Serious wear, greatly reduces the service life of driver, and needs to increase pre-tightening mechanism, so that activation configuration is more multiple
It is miscellaneous, difficulty of processing is improved, influences stability.
The content of the invention
In order to overcome the above-mentioned problems of the prior art, it is an object of the invention to provide a kind of shearing-type inertial piezoelectric
Rotary actuator and start method, by inputting zig-zag driving voltage to shearing-type piezoelectric blocks, produce shearing-type piezoelectric blocks
Raw periodicity THE ADIABATIC SHEAR IN deformation and relatively slow reset, rotating disk is driven to rotate so as to produce inertial impact force；This makees
Dynamic device is compact-sized, and small volume is in light weight, non-model control driving (inertia force driving), and without pretension, displacement exports greatly and stably,
Bidirectional rotation can be achieved using single piezoelectric blocks.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of shearing-type inertial piezoelectric rotary actuator, including base 1, precision is fixed with the circular trough at the center of base 1
Bearing 2, the axis connection of precision bearing 2 and the lower central of rotating disk 3, shearing-type piezoelectricity is bonded with the groove at the edge of rotating disk 3
Block 4, the top bonding quality block 5 of shearing-type piezoelectric blocks 4；When positive voltage is inputted in described shearing-type piezoelectric blocks 4, it will produce along suitable
The detrusion of hour hands tangential direction；When negative voltage is inputted in shearing-type piezoelectric blocks 4, cutting along tangential direction counterclockwise will be produced
Shear deformation.
The precision bearing 2 is fixed in base 1 by interference fit, and the lower central axle of rotating disk 3 passes through interference
Cooperation is fixed in precision bearing 2.
The bottom of shearing-type piezoelectric blocks 4 is bonded in the edge of rotating disk 3 using the accelerator of alite paste 7649 and 326 structure glues
Groove in；The mass 5 is bonded in the top of shearing-type piezoelectric blocks 4 using the accelerator of alite paste 7649 and 326 structure glues.
A kind of start method of described shearing-type inertial piezoelectric rotary actuator：When being not powered on, at shearing-type piezoelectric blocks 4
In vertical state；To make rotating disk 3 turn clockwise, the first step, the negative voltage increased rapidly is inputted to shearing-type piezoelectric blocks 4,
Now shearing-type piezoelectric blocks 4 produce displacement tangential in the counterclockwise direction, rotating disk 3 is used to by tangential along clockwise direction
Property impact, now rotating disk 3 turn clockwise a minute angle θ1；Second step, slowly reduce negative in shearing-type piezoelectric blocks 4
Voltage, until being zero power-off, in the process, shearing-type piezoelectric blocks 4 drive mass 5 now to be revolved along tangential motion clockwise
Driving force suffered by rotating disk 3 is less than frictional force between the rotor of precision bearing 2 and stator, and rotating disk 3 remains stationary as, shearing-type during power-off
The deformation of piezoelectric blocks 4 stops, and mass 5 is because inertia still keeps certain speed, and now mass 5 is produced to be more than to rotating disk 3 and rubbed
The inertial impact force of power is wiped, drives rotating disk 3 to be rotated in the clockwise direction a minute angle θ again2, caused by rotating disk 3
Minute angle sum is a rotation step pitch twice, and now shearing-type piezoelectric blocks 4 are in vertical state；First and second step is repeated,
Rotating disk 3 can be made continuously to turn clockwise；Similar, by the negative sense input voltage of shearing-type piezoelectric blocks 4 in first and second step
It is changed into positive input voltage, 3 continuous rotate counterclockwise of rotating disk will be realized.
Described start method：The described input voltage of shearing-type piezoelectric blocks 4 is voltage-sawtooth.
Compared to the prior art, the invention has the advantages that：
1) non-friction driving of the present invention, effectively reduces frictional dissipation, by inertia caused by single piezoelectric blocks detrusion
Impulsive force can the driving of real bidirectional rotation, therefore stable, start efficiency high, service life length can in high frequency for a long time
Work.
2) present invention is simple and compact for structure, and the bottom of shearing-type piezoelectric blocks 4 uses the accelerator of alite paste 7649 and 326 knots
Structure glue sticking is in the groove at the edge of rotating disk 3；The mass 5 uses the accelerator of alite paste 7649 and 326 structure glue stickings
At the top of shearing-type piezoelectric blocks 4.The precision bearing 2 is fixed in base 1 by interference fit, in the bottom of rotating disk 3
Mandrel is fixed in precision bearing 2 by interference fit, and overall structure can work without pretightning force, it is easy to accomplish miniaturization.
3) rotating disk 3 of the present invention, shearing-type piezoelectric blocks 4, is connected between mass 5 by alite paste, therefore energy
Enough contain mismachining tolerance and alignment error, it is low to component processing request.
4) bi-directional drive can be achieved using single shearing-type piezoelectric blocks 4 in the present invention, therefore energy consumption is low, start efficiency high.
Brief description of the drawings
Fig. 1 is a kind of structural perspective of shearing-type inertial piezoelectric rotary actuator of the present invention.
Fig. 2 is a kind of Structure explosion diagram of shearing-type inertial piezoelectric rotary actuator of the present invention.
Fig. 3 is a kind of illustrative view of shearing-type inertial piezoelectric rotary actuator shearing-type piezoelectric blocks of the present invention.
Fig. 4 is that shearing-type piezoelectric blocks are not powered on being in vertical state schematic diagram, and wherein Fig. 4 a are front view, and Fig. 4 b are vertical view
Figure.
Fig. 5 is that shearing-type piezoelectric blocks lead to negative electricity, and rotating disk turns clockwise a minute angle θ1Schematic diagram, wherein scheming
5a is front view, and Fig. 5 b are top view.
Fig. 6 is powered by shearing-type piezoelectric blocks, and pressure is slow to be reduced, and shearing-type piezoelectric blocks drive the schematic diagram of mass motion,
Wherein Fig. 6 a are front view, and Fig. 6 b are top view.
When Fig. 7 is that shearing-type piezoelectric blocks power off, mass produces inertial impact force and drives rotating disk to turn clockwise one
Minute angle θ2Schematic diagram, wherein Fig. 7 a are front view, and Fig. 7 b are top view.
The driving of shearing-type piezoelectric blocks when Fig. 8 is a kind of start clockwise of shearing-type inertial piezoelectric rotary actuator of the present invention
Voltage.
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, a kind of shearing-type inertial piezoelectric rotary actuator of the present invention, including base 1, the center of base 1
Circular trough in be fixed with precision bearing 2, precision bearing 2 and the axis connection of the lower central of rotating disk 3, the edge of rotating disk 3 it is recessed
Shearing-type piezoelectric blocks 4, the top bonding quality block 5 of piezoelectric blocks 4 are bonded with groove.
The precision bearing 2 is fixed in base 1 by interference fit, and the lower central axle of rotating disk 3 passes through interference
Cooperation is fixed in precision bearing 2.
The bottom of shearing-type piezoelectric blocks 4 is bonded in the edge of rotating disk 3 using the accelerator of alite paste 7649 and 326 structure glues
Groove in；The mass 5 is bonded in the top of shearing-type piezoelectric blocks 4 using the accelerator of alite paste 7649 and 326 structure glues.
When positive voltage is inputted in described shearing-type piezoelectric blocks 4, the detrusion along tangential direction clockwise will be produced；Cut
When negative voltage is inputted in cut type piezoelectric blocks 4, the detrusion along tangential direction counterclockwise will be produced, as shown in Figure 3.
The start method of the present invention is described in detail below：
When being not powered on, shearing-type piezoelectric blocks 4 are in vertical state, as shown in Fig. 4 a and Fig. 4 b in Fig. 4；To make rotating disk 3
Turn clockwise, the first step, the negative voltage increased rapidly is inputted to shearing-type piezoelectric blocks 4, as shown in figure 8, now shearing-type pressure
Electric block 4 produces displacement tangential in the counterclockwise direction, makes rotating disk 3 by inertia impact tangential along clockwise direction, now
Rotating disk 3 turns clockwise a minute angle θ1, as shown in Fig. 5 a and Fig. 5 b in Fig. 5；Second step, slowly reduce shearing-type pressure
Negative voltage in electric block 4, until be zero power-off, in the process, shearing-type piezoelectric blocks 4 drive mass 5 along tangential clockwise
Move, now driving force suffered by rotating disk 3 is less than the frictional force between the rotor of precision bearing 2 and stator, and rotating disk 3 remains stationary as,
The deformation of shearing-type piezoelectric blocks 4 stops during power-off, and mass 5 is because inertia still keeps certain speed, such as Fig. 6 a and Fig. 6 b institutes in Fig. 6
Show, now mass 5 produces the inertial impact force more than frictional force to rotating disk 3, drives rotating disk 3 again along clockwise direction
Rotate a minute angle θ2, as shown in Fig. 7 a and Fig. 7 b in Fig. 7, minute angle sum is one twice caused by rotating disk 3
Individual rotation step pitch, now shearing-type piezoelectric blocks 4 be in vertical state；First and second step is repeated, rotating disk 3 can be made continuously suitable
Hour hands rotate；Similar, to make 3 continuous rotate counterclockwise of rotating disk, the first step, rapid increasing is inputted to shearing-type piezoelectric blocks 4
Long positive voltage, now shearing-type piezoelectric blocks 4 produce displacement tangential along clockwise direction, make rotating disk 3 by along counterclockwise
The tangential inertia impact in direction, now 3 rotate counterclockwise of rotating disk, one minute angle；Second step, slowly reduce shearing-type pressure
Positive voltage in electric block 4, until be zero power-off, in the process, shearing-type piezoelectric blocks 4 drive mass 5 along tangential counterclockwise
Move, now driving force suffered by rotating disk 3 is less than the frictional force between the rotor of precision bearing 2 and stator, and rotating disk 3 remains stationary as,
The deformation of shearing-type piezoelectric blocks 4 stops during power-off, and mass 5 is because inertia still keeps certain speed, and now mass 5 is to rotating disk
3 produce the inertial impact force more than frictional force, drive rotating disk 3 to rotate a minute angle, rotation in the counterclockwise direction again
Minute angle sum is a rotation step pitch twice caused by disk 3, and now shearing-type piezoelectric blocks 4 are in vertical state；Repeat
First and second step, 3 continuous rotate counterclockwise of rotating disk can be made；So just realize the shake double-direction turning movement of rotating disk 3.
As shown in figure 8, as the preferred embodiment of the present invention, the described input voltage of shearing-type piezoelectric blocks 4 is sawtooth
Waveform voltage, the feature of the voltage are rapid increase, slowly reduced, and shearing-type piezoelectric blocks 4 can be made to produce quickly shearing and become
Shape and relatively slow reset, so that mass 5 produces inertial impact force and drives rotating disk to rotate.
Claims (5)
- A kind of 1. shearing-type inertial piezoelectric rotary actuator, it is characterised in that：Including base (1), the circular trough at base (1) center Inside be fixed with precision bearing (2), precision bearing (2) and the axis connection of rotating disk (3) lower central, rotating disk (3) edge it is recessed Shearing-type piezoelectric blocks (4), shearing-type piezoelectric blocks (4) top bonding quality block (5) are bonded with groove；Described shearing-type piezoelectric blocks (4) in during input positive voltage, the detrusion along tangential direction clockwise will be produced；Input negative electricity in shearing-type piezoelectric blocks (4) During pressure, the detrusion along tangential direction counterclockwise will be produced.
- A kind of 2. shearing-type inertial piezoelectric rotary actuator according to claim 1, it is characterised in that：The precision bearing (2) it is fixed on by interference fit in base (1), rotating disk (3) the lower central axle is fixed on precision by interference fit In bearing (2).
- A kind of 3. shearing-type inertial piezoelectric rotary actuator according to claim 1, it is characterised in that：The shearing-type pressure Electric block (4) bottom is bonded in the groove at rotating disk (3) edge using the accelerator of alite paste 7649 and 326 structure glues；The matter Gauge block (5) is bonded at the top of shearing-type piezoelectric blocks (4) using the accelerator of alite paste 7649 and 326 structure glues.
- A kind of 4. start method of shearing-type inertial piezoelectric rotary actuator described in claim 1, it is characterised in that：It is not powered on When, shearing-type piezoelectric blocks (4) are in vertical state；To make rotating disk (3) turn clockwise, the first step, to shearing-type piezoelectric blocks (4) negative voltage increased rapidly is inputted, now shearing-type piezoelectric blocks (4) produce detrusion tangential in the counterclockwise direction, make Rotating disk (3) is by inertia impact tangential along clockwise direction, and now rotating disk (3) turns clockwise a minute angle θ1；Second step, slowly reduce the negative voltage in shearing-type piezoelectric blocks (4), until be zero power-off, in the process, shearing-type pressure Electric block (4) drives mass (5), and along tangential motion clockwise, now driving force suffered by rotating disk (3) is less than precision bearing (2) turn Frictional force between son and stator, rotating disk (3) remains stationary as, during power-off shearing-type piezoelectric blocks (4) deformation stop, mass (5) Because inertia still keeps certain speed, now mass (5) produces the inertial impact force more than frictional force, band to rotating disk (3) Dynamic rotating disk (3) is rotated in the clockwise direction a minute angle θ again2, the caused minute angle sum twice of rotating disk (3) As one rotates step pitch, and now shearing-type piezoelectric blocks (4) are in vertical state；First and second step is repeated, rotating disk can be made (3) continuously turn clockwise；Similar, the negative sense input voltage of shearing-type piezoelectric blocks (4) in first and second step is changed into positive Input voltage, rotating disk (3) continuous rotate counterclockwise will be realized.
- A kind of 5. start method of shearing-type inertial piezoelectric rotary actuator according to claim 4, it is characterised in that：Institute Shearing-type piezoelectric blocks (4) input voltage stated is voltage-sawtooth.
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| CN109586613A (en) * | 2018-11-17 | 2019-04-05 | 中国科学院合肥物质科学研究院 | A kind of opposite friction is tangential to subtract resistance-type rotary piezo-electric motor and its control method |
| CN111181436A (en) * | 2020-01-13 | 2020-05-19 | 吉林大学 | Secondary excitation friction piezoelectric rotary driver |
| CN114235020A (en) * | 2021-12-25 | 2022-03-25 | 西安交通大学 | Penetration driver based on shear thickening effect and working method thereof |
| CN114244184A (en) * | 2021-12-25 | 2022-03-25 | 西安交通大学 | Non-contact high-precision bidirectional angular displacement actuating device and actuating method thereof |
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| CN111181436A (en) * | 2020-01-13 | 2020-05-19 | 吉林大学 | Secondary excitation friction piezoelectric rotary driver |
| CN114235020A (en) * | 2021-12-25 | 2022-03-25 | 西安交通大学 | Penetration driver based on shear thickening effect and working method thereof |
| CN114244184A (en) * | 2021-12-25 | 2022-03-25 | 西安交通大学 | Non-contact high-precision bidirectional angular displacement actuating device and actuating method thereof |
| CN114244184B (en) * | 2021-12-25 | 2023-09-19 | 西安交通大学 | Non-contact type bidirectional angular displacement actuating device and actuating method thereof |
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