CN111614284B - Force control device and method for inhibiting rollback movement of stick-slip piezoelectric driver - Google Patents
Force control device and method for inhibiting rollback movement of stick-slip piezoelectric driver Download PDFInfo
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- CN111614284B CN111614284B CN202010563873.9A CN202010563873A CN111614284B CN 111614284 B CN111614284 B CN 111614284B CN 202010563873 A CN202010563873 A CN 202010563873A CN 111614284 B CN111614284 B CN 111614284B
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- 230000002829 reductive effect Effects 0.000 claims abstract description 3
- 230000008569 process Effects 0.000 claims description 8
- 230000002441 reversible effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000036316 preload Effects 0.000 claims 2
- 230000005764 inhibitory process Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 5
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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
- H02N2/04—Constructional details
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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
- H02N2/06—Drive circuits; Control arrangements or methods
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Abstract
The invention relates to a force control device and a method for inhibiting rollback movement of a stick-slip piezoelectric driver, and belongs to the field of precision machinery. The device comprises a driving unit, a pretightening force adjusting unit and a base. The driving unit and the pretightening force regulating unit of the device are respectively connected with the base through screws. The pretightening force between the circular arc hinge and the guide rail can be adjusted by rotating a knob of the horizontal micro-motion adjusting mechanism in the pretightening force adjusting unit. The initial gap between the bar hinge and the guide rail can be adjusted by rotating a knob of a horizontal fine adjustment mechanism in the driving unit. Under the action of a specific pretightening force, when the driving voltage of the piezoelectric stack in the driving unit is rapidly reduced, the friction force generated by the circular arc hinge in the pretightening force adjusting unit due to the pretightening force balances the friction force of the driving unit for causing the rollback movement, thereby inhibiting the rollback movement of the piezoelectric driver and improving the stability of the stepping movement of the stick-slip piezoelectric driver.
Description
Technical Field
The invention relates to the field of precision machinery, in particular to a force control device and a method for inhibiting rollback movement of a stick-slip piezoelectric driver.
Background
The piezoelectric driver is a mechanical device manufactured by using a piezoelectric driving technology, and the basic principle is to control mechanical deformation to generate rotation or linear motion based on the inverse piezoelectric effect of piezoelectric ceramic materials. The piezoelectric driver has high response speed, large output force, simple structure and small volume, and is widely applied to the front-edge scientific fields of precision/ultra-precision machining, micromechanics, biomedical engineering and the like.
However, the drives reported so far all have different degrees of defects. The inchworm bionic piezoelectric driver has the advantages of large output force, high resolution, small rollback movement and the like, but has complex structure, difficult assembly of parts and relatively complex control process. Parasitic movement type piezoelectric drivers, inertial type piezoelectric drivers and stick-slip type piezoelectric drivers have simple structure, easy assembly and convenient control, but have low bearing capacity, poor self-locking performance and serious rollback phenomenon, and the stability of movement is difficult to ensure. Therefore, how to solve the rollback problem in the piezoelectric driver, thereby improving the output performance and expanding the application prospect is a problem which needs to be solved urgently.
The invention starts from the mechanical angle, and the pretightening force is applied to the guide rail through the pretightening force regulating unit, so that the output performance of the stick-slip piezoelectric driver is regulated, the rollback movement of the stick-slip piezoelectric driver is eliminated, and the self-locking property of the stick-slip piezoelectric driver is enhanced. The invention has the advantages of simple structure, easy assembly and convenient control of the stick-slip piezoelectric driver while eliminating rollback movement and improving output performance, and has important practical value in the fields of precision machinery, equipment and the like.
Disclosure of Invention
The invention aims to provide a force control device and a method for inhibiting the backspacing motion of a stick-slip piezoelectric driver, which can effectively inhibit the backspacing motion of the stick-slip piezoelectric driver. The pretightening force between the circular arc hinge and the guide rail can be adjusted by rotating a knob of the horizontal micro-motion adjusting mechanism in the pretightening force adjusting unit. The initial gap between the bar hinge and the guide rail can be adjusted by rotating a knob of a horizontal fine adjustment mechanism in the driving unit. Under the action of a specific pretightening force, when the driving voltage of the piezoelectric stack in the driving unit is rapidly reduced, the friction force generated by the circular arc hinge in the pretightening force adjusting unit due to the pretightening force balances the friction force of the driving unit for causing the rollback movement, thereby obviously inhibiting the rollback movement of the piezoelectric driver and improving the stability of the stepping movement of the stick-slip piezoelectric driver. The invention provides a new device and a method for inhibiting the rollback movement of the stick-slip piezoelectric driver, and can be applied to piezoelectric drivers of other principles in an expandable way, and has wide application range and strong practicability.
The above object of the present invention is achieved by the following technical solutions:
the force control device for inhibiting the backspacing motion of the stick-slip piezoelectric driver comprises a driving unit, a pretightening force adjusting unit and a base (1), wherein the driving unit and the pretightening force adjusting unit are respectively connected with the base (1) through screws. The driving unit consists of a guide rail slider fixed end (2), a slider (3), a guide rail (4), a piezoelectric stack (5), a wedge block (6), a rod-shaped hinge (7) and a horizontal micro-motion adjusting mechanism (8), wherein the piezoelectric stack (5) is arranged in a groove of the rod-shaped hinge (7) in an interference fit manner through the adjustment wedge block (6), the rod-shaped hinge (7) is connected with the upper end face of the horizontal micro-motion adjusting mechanism (8) through a screw, the initial gap between the rod-shaped hinge (7) and the guide rail (4) in the driving unit is adjusted through a knob of the rotary horizontal micro-motion adjusting mechanism (8), the slider (3) is connected with the guide rail slider fixed end (2) through a screw, and the guide rail (4) can horizontally move along the direction of the slider.
The pretightening force adjusting unit mainly comprises an arc-shaped hinge (9) and a horizontal micro-motion adjusting mechanism (10), wherein the arc-shaped hinge (9) is connected with the upper end face of the horizontal micro-motion adjusting mechanism (10) through a screw, the horizontal micro-motion adjusting mechanism (10) is connected with the upper end face of the base (1) through a screw, and pretightening force between the arc-shaped hinge (9) and the guide rail (4) is adjusted through rotating a knob of the horizontal micro-motion adjusting mechanism (10).
The invention provides a force control method for inhibiting the rollback movement of a stick-slip type piezoelectric driver, which is based on the inverse piezoelectric effect, and a piezoelectric stack (5) can drive a rod-shaped hinge (7) to stretch and retract under driving voltage so as to drive a guide rail (4) to move. The specific structure of the pretightening force adjusting unit and the driving unit in the driver can effectively restrain the rollback movement of the stick-slip piezoelectric driver through the pretightening force and the adjustment of the initial clearance. Before driving, the pretightening force between the circular arc-shaped hinge (9) and the guide rail (4) can be adjusted by rotating the knob of the horizontal fine adjustment mechanism (10) in the pretightening force adjustment unit, and the pretightening force between the circular arc-shaped hinge and the guide rail (4) can be adjusted by rotating the knob of the horizontal fine adjustment mechanism (8) in the driving unitThe initial gap between the rod-shaped hinge (7) and the guide rail (4) is adjusted. During the driving process, friction force F between the circular arc-shaped hinge (9) and the guide rail (4) p Is smaller than the friction force F between the rod-shaped hinge (7) and the guide rail (4) f The method comprises the steps of carrying out a first treatment on the surface of the When the drive voltage drops rapidly, a reverse friction force occurs between the rod-shaped hinge (7) and the guide rail (4)Generating a trend of pushing the guide rail (4) to move backward; at the same time, the circular arc-shaped hinge (9) and the guide rail (4) have relative movement trend, and forward friction force F 'is generated' p The method comprises the steps of carrying out a first treatment on the surface of the When the reverse friction force is->Friction force F 'with forward' p In equilibrium, the back-off motion of the driver is effectively suppressed.
The pretightening force adjusting unit adjusts and controls the friction force F 'by adjusting pretightening force' p And the back-off movement of the stick-slip piezoelectric driver is restrained.
The invention has the advantages that: the frictional force F 'is regulated and controlled by applying the pretightening force through the pretightening force regulating unit' p The device and the method are simple, and the operation process is flexible and convenient. In addition, the invention can be applied to piezoelectric drivers of other principles in an expanded way, and has wide application range and strong practicability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and explain the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic structural diagram of a force control device for inhibiting a backspacing motion of a stick-slip piezoelectric actuator according to the present invention.
Fig. 2 is a top view of the bar hinge of the present invention.
Fig. 3 is a top view of the circular arc hinge of the present invention.
Fig. 4 is a force-bearing schematic diagram of the rod hinge of the present invention before driving.
Fig. 5 is a force-bearing schematic diagram of the guide rail of the present invention in the whole driving process.
In the figure: 1. a base; 2. a guide rail slide block fixed end; 3. a slide block; 4. a guide rail; 5. a piezoelectric stack; 6. wedge blocks; 7. a bar-shaped hinge; 8. a horizontal micro-motion adjusting mechanism; 9. circular arc hinge; 10. and a horizontal micro-motion adjusting mechanism.
Detailed Description
The details and embodiments of the invention are further described below with reference to the accompanying drawings.
Referring to fig. 1, the force control device for inhibiting the backspacing motion of the stick-slip piezoelectric driver comprises a driving unit, a pretightening force adjusting unit and a base (1), wherein the driving unit and the pretightening force adjusting unit are respectively connected with the base (1) through screws. The driving unit consists of a guide rail slider fixed end (2), a slider (3), a guide rail (4), a piezoelectric stack (5), a wedge block (6), a rod-shaped hinge (7) and a horizontal micro-motion adjusting mechanism (8), wherein the piezoelectric stack (5) is arranged in a groove of the rod-shaped hinge (7) in an interference fit mode through the adjustment wedge block (6), the rod-shaped hinge (7) is connected with the upper end face of the horizontal micro-motion adjusting mechanism (8) through a screw, a knob of the horizontal micro-motion adjusting mechanism (8) is rotated, an initial gap between the rod-shaped hinge (7) and the guide rail (4) in the driving unit is adjusted, the slider (3) is connected with the guide rail slider fixed end (2) through the screw, and the guide rail (4) can horizontally move along the direction of the slider.
The pretightening force adjusting unit mainly comprises an arc-shaped hinge (9) and a horizontal micro-motion adjusting mechanism (10), wherein the arc-shaped hinge (9) is connected with the upper end face of the horizontal micro-motion adjusting mechanism (10) through a screw, the horizontal micro-motion adjusting mechanism (10) is connected with the upper end face of the base (1) through a screw, and a knob of the horizontal micro-motion adjusting mechanism (10) is rotated to adjust pretightening force between the arc-shaped hinge (9) and the guide rail (4).
Referring to fig. 2 to 3, the stick-slip piezoelectric actuator of the present invention has the advantages of large stroke and no electromagnetic interference, but has a significant rollback phenomenon when the driving power supply is rapidly lowered. Therefore, the invention suppresses the rollback movement of the stick-slip piezoelectric driver during working and improves the integral output performance of the driver through the pretightening force adjusting unit.
The pretightening force adjusting unit suppresses the rollback movement of the stick-slip piezoelectric driver through pretightening force adjustment, and improves the stability of the stepping movement of the stick-slip piezoelectric driver.
Referring to fig. 4 to 5, there are schematic stress diagrams of the whole operation process of the driver in the present invention. The complete movement process is summarized as follows, and mainly comprises three stages:
stage 1: referring to part a of fig. 4 to 5, the pretightening force between the circular arc hinge (9) and the guide rail (4) can be adjusted by rotating the knob of the horizontal fine adjustment mechanism (10) in the pretightening force adjustment unit before the driver drives; the initial gap between the rod-shaped hinge (7) and the guide rail (4) can be adjusted by rotating a knob of a horizontal micro-motion adjusting mechanism (8) in the driving unit. This process ensures that the rail can still work properly after the pretension has been applied, i.e. the friction force F between the circular arc hinge (9) and the rail (4) p Is smaller than the friction force F between the rod-shaped hinge (7) and the guide rail (4) f 。
Stage 2: as shown in part b of fig. 5, the friction force F between the circular arc hinge (9) and the guide rail (4) is still satisfied during the drive of the drive p Is smaller than the friction force F between the rod-shaped hinge (7) and the guide rail (4) f But the friction force is no longer the product of positive pressure and static friction factors, and is changed into the product of positive pressure and dynamic friction factors; at this time, the guide rail is displaced forward S in the horizontal direction by the driver.
Stage 3: referring to parts c and d of fig. 5, when the driving power supply is rapidly lowered, a reverse friction force occurs between the rod-shaped hinge (7) and the guide rail (4)There is a tendency for the push rail (4) to move rearward, producing a displacement S in the horizontal direction rearward 0 The method comprises the steps of carrying out a first treatment on the surface of the At the same time, the pretightening force between the circular arc-shaped hinge (9) and the guide rail (4) is subject to a backward movement trend,generating a forward friction force F' p Thereby pushing the guide rail (4) forward; when the reverse friction force is->Friction force F 'with forward' p At phase equilibrium, a total displacement in the forward horizontal direction of Δs=s-S is produced 0 The rollback phenomenon of the drive is effectively suppressed.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A force control method for realizing the back motion inhibition of a stick-slip piezoelectric driver is characterized in that: the device comprises a base (1), a driving unit and a pretightening force adjusting unit, wherein the driving unit and the pretightening force adjusting unit are respectively connected with the base (1) through screws; the driving unit consists of a guide rail slide block fixed end (2), a slide block (3), a guide rail (4), a piezoelectric stack (5), a wedge block (6), a rod-shaped hinge (7) and a horizontal micro-motion adjusting mechanism a (8), wherein the piezoelectric stack (5) is arranged in a groove of the rod-shaped hinge (7) in an interference fit mode through the adjustment wedge block (6), the rod-shaped hinge (7) is connected with the upper end surface of the horizontal micro-motion adjusting mechanism a (8) through a screw, the initial gap between the rod-shaped hinge (7) and the guide rail (4) in the driving unit is adjusted through rotating a knob of the horizontal micro-motion adjusting mechanism a (8), the slide block (3) is connected with the guide rail slide block fixed end (2) through the screw, and the guide rail (4) can horizontally move along the direction of the slide block;
the pretightening force adjusting unit mainly comprises an arc-shaped hinge (9) and a horizontal micro-motion adjusting mechanism b (10), wherein the arc-shaped hinge (9) is connected with the upper end face of the horizontal micro-motion adjusting mechanism b (10) through a screw, the horizontal micro-motion adjusting mechanism b (10) is connected with the upper end face of the base (1) through a screw, and pretightening force between the arc-shaped hinge (9) and the guide rail (4) is adjusted through rotating a knob of the horizontal micro-motion adjusting mechanism b (10);
based on the inverse piezoelectric effect, the piezoelectric stack (5) can drive the rod-shaped hinge (7) to stretch and retract under the driving voltage, so as to drive the guide rail (4) to move; in the driver, the specific structures of the pretightening force adjusting unit and the driving unit can adjust pretightening force and initial clearance, so that the backspacing motion of the stick-slip piezoelectric driver is effectively restrained; before driving, the pretightening force between the circular arc-shaped hinge (9) and the guide rail (4) can be adjusted by rotating a knob of the horizontal fine adjustment mechanism b (10) in the pretightening force adjustment unit, and the initial gap between the rod-shaped hinge (7) and the guide rail (4) can be adjusted by rotating a knob of the horizontal fine adjustment mechanism a (8) in the driving unit; during the driving process, friction force F between the circular arc-shaped hinge (9) and the guide rail (4) p Is smaller than the friction force F between the rod-shaped hinge (7) and the guide rail (4) f The method comprises the steps of carrying out a first treatment on the surface of the When the driving voltage is rapidly reduced, a reverse friction force occurs between the rod-shaped hinge (7) and the guide rail (4)F ’ fr Generates a trend of pushing the guide rail (4) to move backwards, and simultaneously, the circular arc-shaped hinge (9) and the guide rail (4) have a trend of moving relatively to generate a forward friction force F p 'A'; when the friction force is reversedF ’ fr Friction with forward directionF p ’In equilibrium, the back-off motion of the driver is effectively suppressed.
2. The method of claim 1, wherein the preload adjustment unit adjusts the preload to adjust the friction forceF p ’And the back-off movement of the stick-slip piezoelectric driver is restrained.
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| CN113258824A (en) * | 2021-05-31 | 2021-08-13 | 吉林大学 | Microminiature stick-slip piezoelectric motor and driving method thereof |
| CN114584001A (en) * | 2022-03-21 | 2022-06-03 | 吉林大学 | Composite stick-slip and impact multi-mode driver and linear smooth motion implementation method |
| CN115085581B (en) * | 2022-07-25 | 2024-06-04 | 山东大学 | Stick-slip driver and method for actively inhibiting rollback movement |
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