CN116846250A - Couple toggle type piezoelectric stick-slip rotary platform and driving method thereof - Google Patents
Couple toggle type piezoelectric stick-slip rotary platform and driving method thereof Download PDFInfo
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- CN116846250A CN116846250A CN202310800897.5A CN202310800897A CN116846250A CN 116846250 A CN116846250 A CN 116846250A CN 202310800897 A CN202310800897 A CN 202310800897A CN 116846250 A CN116846250 A CN 116846250A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000000853 adhesive Substances 0.000 claims abstract description 69
- 230000001070 adhesive effect Effects 0.000 claims abstract description 69
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims 1
- 238000003756 stirring Methods 0.000 claims 1
- 230000002457 bidirectional effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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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
- H02N2/12—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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/101—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using intermittent driving, e.g. step motors
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Abstract
The invention discloses a couple toggle type piezoelectric stick-slip rotary platform and a driving method thereof, and relates to the technical field of precision driving and positioning of piezoelectric linear feeding drivers, wherein the couple toggle type piezoelectric stick-slip rotary platform comprises an outer side platform and an inner side platform nested in the outer side platform, and a hinge is arranged above the inner side platform; the middle position of the hinge is fixedly connected with a piezoelectric linear feeding driver, an upper side adhesive sliding head is fixedly arranged below one end of the hinge, and a lower side adhesive sliding head is fixedly arranged below the other end of the hinge. The couple toggle type piezoelectric stick-slip rotary platform and the driving method thereof can convert high-frequency telescopic motion of the piezoelectric linear feed driver into rotation of the inner platform and the outer platform, can realize bidirectional rotation by adjusting driving voltage, can respectively rotate the inner platform or the outer platform by adjusting different fixing modes of the inner platform and the outer platform, and have the advantages of compact structure, large stroke, high positioning precision, rich motion modes and simple control.
Description
Technical Field
The invention relates to the technical field of precise driving and positioning of a piezoelectric linear feed driver, in particular to a couple toggle type piezoelectric stick-slip rotary platform and a driving method thereof.
Background
The piezoelectric linear feed driver has the characteristics of high response speed, simple structure, no electromagnetic interference and the like, and is widely applied to a precise driving and positioning system in a special environment. The existing piezoelectric driving principle is basically to transmit through friction or tooth engagement, and the periodic micro motion of the piezoelectric stator is converted into the stepping motion of the mover. However, friction force is complex and uncertain, tooth meshing is easy to cause collision and impact, and the driving methods of the motors have the defects of complex control and unstable work, and a complex system and configuration sensors are required to realize accurate positioning and control. The complex closed-loop control system not only needs a high-span high-precision sensor and a controller, not only increases the cost of equipment, but also increases the volume, limits the development of miniaturization of the system, and reduces the reliability of the system in practical application.
The viscous sliding drive is to make the driver generate two processes of viscous and sliding in one driving period, the output displacement of the viscous process is the output displacement of one driving period, the existing piezoelectric viscous sliding driver is used for realizing effective viscous sliding drive, avoiding larger friction force in the sliding process, so that the mechanism is retracted, an asymmetric voltage signal is often adopted to excite the piezoelectric motor, the inverse piezoelectric effect is utilized to enable the piezoelectric material to slowly extend and rapidly shorten, and the friction force generated in the two processes is different to realize the viscous and sliding processes. However, the traditional rotary stick-slip drive has the defects of compact structure, unbalanced stress, radial force, long time, influence on platform precision caused by shaft deflection and the like.
Disclosure of Invention
The invention aims to provide a couple toggle type piezoelectric stick-slip rotary platform and a driving method thereof, which solve the problems of complex structure and low precision of the traditional stick-slip driving method.
In order to achieve the above purpose, the invention provides a couple toggle type piezoelectric stick-slip rotary platform, which comprises an outer side platform and an inner side platform nested in the outer side platform, wherein a hinge is arranged above the inner side platform, gaskets are arranged on the left side and the right side of the hinge, and the hinge is fixed on the inner side platform through the gaskets and a connecting piece; the middle position of the hinge is fixedly connected with a piezoelectric linear feeding driver, an upper side adhesive sliding pressure head is fixedly arranged below one end of the hinge, a lower side adhesive sliding pressure head is fixedly arranged below the other end of the hinge, and the lower side adhesive sliding pressure head and the upper side adhesive sliding pressure head are in contact with the outer side platform.
Preferably, the outer platform, the inner platform and the hinge are all provided with a plurality of through holes.
A driving method of a couple toggle type piezoelectric stick-slip rotary platform comprises the following steps:
step S1: in the initial state, an inner side platform is fixed, an outer side platform is in a free state, a piezoelectric linear feeding driver is kept in a power-off state, and the whole piezoelectric stick-slip type micro-motion platform is kept in a static state;
step S2: the piezoelectric linear feeding driver is fed with a saw-tooth voltage which slowly rises and rapidly falls, the piezoelectric linear feeding driver slowly stretches in the stage of slowly rising of the saw-tooth voltage, the driving hinge slowly deforms to drive the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head to deviate clockwise, friction force is generated at the contact part of the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head with the outer side platform to form a couple, the couple acts on the outer side platform to form a viscous state, the adhesive sliding pressure head drives the outer side platform to rotate at an angle, and the deflection angle is alpha;
step S3: in the stage of rapid decline of zigzag voltage, the piezoelectric linear feed driver is contracted rapidly, the original length is recovered, the driving hinge is recovered rapidly, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head are driven to slightly deviate in the anticlockwise direction, the recovery position is recovered, the friction force generated at the contact position of the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head and the outer side platform is insufficient to drive the outer side platform to deviate, a sliding state is formed, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head deviate anticlockwise, the recovery position is recovered, the outer side platform is kept at the position in the step S2, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head deviate relatively with the outer side platform, and the deflection angle is alpha.
Preferably, in step S2, under the driving of the slowly rising voltage, the upper side adhesive sliding head and the lower side adhesive sliding head are in a viscous state with the outer platform, and the upper side adhesive sliding head and the lower side adhesive sliding head drive the outer platform to deflect clockwise together, and the deflection angle is α.
Preferably, in step S3, under the driving of the rapidly decreasing voltage, the upper side stick-slip head and the lower side stick-slip head are in a sliding state with the outer side platform, the upper side stick-slip head and the lower side stick-slip head deflect anticlockwise, the outer side platform keeps still, the relative deflection angle of the upper side stick-slip head and the lower side stick-slip head with the outer side platform is α, and the outer side platform deflects by the angle α with respect to the inner side platform in one period.
Therefore, the couple toggle type piezoelectric stick-slip rotary platform adopting the structure and the driving method thereof have the following beneficial effects:
(1) The high-span high-precision sensor and the controller are not required to be arranged, so that the effect of accurate positioning is achieved, and the cost is reduced.
(2) In the motion process, the 'viscous' and 'sliding' processes are formed between the upper side adhesive sliding pressure head, the lower side adhesive sliding pressure head and the outer side platform through the zigzag driving voltage which slowly rises and rapidly falls, and the controllable deformation of the hinge is realized through the high-frequency expansion and contraction of the piezoelectric linear feeding driver, so that the reliable motion of the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head is realized.
(3) The two-way motion of the rotor can be realized, the structure does not need to be adjusted, only the driving voltage needs to be adjusted, the sequence of the viscous and sliding processes between the upper side viscous and sliding pressure head and the lower side viscous and sliding pressure head and the outer side platform is changed, and the deflection direction of the outer side platform at any moment can be controlled.
(4) The bidirectional movement of the inner side platform and the outer side platform can be realized respectively, the structure does not need to be adjusted, the fixing mode of the inner side platform and the outer side platform only needs to be adjusted, the outer side platform can realize the bidirectional movement when the inner side platform is fixed, and the inner side platform can realize the bidirectional movement when the outer side platform is fixed.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a state flow chart of the driving principle of the invention, wherein (a) is an initial state chart of a piezoelectric stick-slip micro-motion platform, (b) is a state chart of a micro-angle rotation of an outer side platform, and (c) is a state chart of relative deflection of an upper stick-slip pressure head, a lower stick-slip pressure head and the outer side platform;
FIG. 3 is a graph of voltage across a piezoelectric linear feed actuator for driving an outboard stage clockwise in accordance with the present invention;
FIG. 4 is a view showing the deflection angle of the upper stick-slip ram and the lower stick-slip ram when the outer platform is driven clockwise in the present invention;
FIG. 5 is a view showing the deflection angle of the outboard platform when the outboard platform is driven clockwise in accordance with the present invention;
reference numerals: 1. an outer platform, 2, an inner platform; 3. a hinge; 4. a gasket; 5. a piezoelectric linear feed driver; 6. an upper stick-slip ram; 7. the lower side sticks to the sliding pressure head.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
Examples
Referring to fig. 1-5, the invention provides a couple toggle type piezoelectric stick-slip rotary platform, which comprises an outer platform 1 and an inner platform 2 nested in the outer platform 1, wherein the inner platform 2 and the outer platform 1 can rotate relatively. A hinge 3 is arranged above the inner side platform 2, gaskets 4 are arranged on the left side and the right side of the hinge 3, the hinge 3 is fixed on the inner side platform 2 through the gaskets 4 and a connecting piece, and the connecting piece is a screw; the middle position of the hinge 3 is fixedly connected with a piezoelectric linear feeding driver 5, and the piezoelectric linear feeding driver 5 can drive the hinge 3 to deform. The one end below of hinge 3 is fixed to be provided with upside bonding slip pressure head 6, and the other end below of hinge 3 is fixed to be provided with downside bonding slip pressure head 7, and downside bonding slip pressure head 7 and upside bonding slip pressure head 6 all contact with outside platform 1, realize bonding slip effect through the friction. A plurality of through holes are formed in the outer side platform 1, the inner side platform 2 and the hinge 3, and screws penetrate through the through holes to fix. In the driving process, the piezoelectric linear feeding driver 5 is driven by the saw-tooth driving voltage which slowly rises and rapidly falls, the piezoelectric linear feeding driver 5 is relatively deformed, the hinge 3 is simultaneously caused to deform, the deformation of the hinge 3 drives the upper side adhesive sliding head 6 and the lower side adhesive sliding head 7 to move in a viscous and sliding mode with the outer side platform 1, and the outer side platform 1 and the inner side platform 2 are driven to rotate relatively.
Fig. 2 is a state flow chart of a driving process of the present invention, and as shown in the drawing, a driving method of a couple toggle type piezoelectric stick-slip rotary platform can respectively drive an inner platform and an outer platform to rotate, and when driving a certain platform, the driving method can make the inner platform and the outer platform generate bidirectional rotation, taking clockwise driving of the outer platform 1 as an example, the driving method includes the following steps:
step S1: in the initial state, the inner side platform 2 is fixed, the outer side platform 1 is in a free state, the piezoelectric linear feed driver 5 is kept in a power-off state, and the whole piezoelectric stick-slip micro-motion platform is kept in a static state and does not generate displacement;
step S2: the piezoelectric linear feeding driver 5 is fed with a saw-tooth voltage which slowly rises and rapidly falls, the piezoelectric linear feeding driver 5 slowly stretches in the stage of slowly rising of the saw-tooth voltage, the driving hinge slowly deforms to drive the upper side adhesive sliding head 6 and the lower side adhesive sliding head 7 to slightly deviate clockwise, and the contact part of the upper side adhesive sliding head 6 and the lower side adhesive sliding head 7 with the outer side platform 1 generates larger friction force to form a couple and acts on the outer side platform to form a viscous state, and the adhesive sliding head drives the outer side platform 1 to slightly rotate at an angle with the deflection angle alpha;
step S3: in the stage of rapid decline of the saw-tooth voltage, the piezoelectric linear feed driver 5 is rapidly contracted to restore the original length, the driving hinge is rapidly restored to the original shape, the upper side adhesive sliding pressure head 6 and the lower side adhesive sliding pressure head 7 are driven to slightly deviate in the anticlockwise direction, the restoring position is restored, the contact position of the upper side adhesive sliding pressure head 6 and the lower side adhesive sliding pressure head 7 and the outer side platform 1 generates small friction force due to the rapid deviation speed, the friction force is insufficient to drive the outer side platform 1 to deviate, a sliding state is formed, the upper side adhesive sliding pressure head 6 and the lower side adhesive sliding pressure head 7 are anticlockwise deflected, the outer side platform 1 is kept at the position in the step S2, the upper side adhesive sliding pressure head 6 and the lower side adhesive sliding pressure head 7 are relatively deflected with the outer side platform 1, and the deflection angle is alpha.
In step S2, under the driving of the slowly rising voltage, the upper side stick-slip head 6 and the lower side stick-slip head 7 are in a viscous state with the outer platform 1, and the upper side stick-slip head 6 and the lower side stick-slip head 7 drive the outer platform 1 to deflect clockwise together, and the deflection angle is α.
In step S3, under the driving of the rapidly decreasing voltage, the upper side stick-slip head 6 and the lower side stick-slip head 7 are in a sliding state with the outer side platform 1, the upper side stick-slip head 6 and the lower side stick-slip head 7 deflect anticlockwise, the outer side platform 1 keeps still, the relative deflection angle of the upper side stick-slip head 6 and the lower side stick-slip head 7 with the outer side platform 1 is α, and in one period, the outer side platform 1 deflects by an angle α with respect to the inner side platform 2.
In this embodiment, taking the case of driving the outer platform 1 clockwise as an example, if the outer platform 1 needs to be driven counterclockwise, the saw-tooth voltage shape in the above steps can be changed, only the driving voltage is changed, no adjustment structure is needed, and the outer platform 1 can be moved clockwise or counterclockwise at any time, and when the inner platform 2 needs to be driven, only the outer platform 1 needs to be fixed, so that the inner platform 2 can be rotated. The specific driving principle is the same.
Fig. 3 is a graph of the voltage applied by the piezoelectric linear feed driver 5 when driving the outer stage clockwise according to the present invention, where the abscissa t is time and the ordinate U is voltage.
Fig. 4 is a diagram showing deflection angles of the upper and lower stick-slip heads 6 and 7 when the outer platform 1 is driven clockwise according to the present invention, and the abscissa t is time and the ordinate is angle.
Fig. 5 is a diagram showing the deflection angle of the outboard platform 1 when the outboard platform 1 is driven clockwise according to the present invention, with the abscissa t being time and the ordinate being angle.
Therefore, the couple toggle type piezoelectric stick-slip rotary platform and the driving method thereof can convert high-frequency telescopic motion of the piezoelectric linear feed driver into rotation of the inner platform and the outer platform, can realize bidirectional rotation by adjusting driving voltage, can respectively rotate the inner platform and the outer platform by adjusting different fixing modes of the inner platform and the outer platform, and have the advantages of large stroke, high positioning precision, compact structure, rich motion modes and simple control.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. The utility model provides a couple stirring formula piezoelectricity glues smooth rotary platform which characterized in that: the device comprises an outer side platform and an inner side platform nested in the outer side platform, wherein a hinge is arranged above the inner side platform, gaskets are arranged on the left side and the right side of the hinge, and the hinge is fixed on the inner side platform through the gaskets and a connecting piece; the middle position of the hinge is fixedly connected with a piezoelectric linear feeding driver, an upper side adhesive sliding pressure head is fixedly arranged below one end of the hinge, a lower side adhesive sliding pressure head is fixedly arranged below the other end of the hinge, and the lower side adhesive sliding pressure head and the upper side adhesive sliding pressure head are in contact with the outer side platform.
2. The couple toggle piezoelectric stick-slip rotary platform of claim 1, wherein: the outer side platform, the inner side platform and the hinge are all provided with a plurality of through holes.
3. A method of driving a couple toggle piezoelectric stick-slip rotary platform according to any one of claims 1-2, comprising the steps of:
step S1: in the initial state, an inner side platform is fixed, an outer side platform is in a free state, a piezoelectric linear feeding driver is kept in a power-off state, and the whole piezoelectric stick-slip type micro-motion platform is kept in a static state;
step S2: the piezoelectric linear feeding driver is fed with a saw-tooth voltage which slowly rises and rapidly falls, the piezoelectric linear feeding driver slowly stretches in the stage of slowly rising of the saw-tooth voltage, the driving hinge slowly deforms to drive the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head to deviate clockwise, friction force is generated at the contact part of the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head with the outer side platform to form a couple, the couple acts on the outer side platform to form a viscous state, the adhesive sliding pressure head drives the outer side platform to rotate at an angle, and the deflection angle is alpha;
step S3: in the stage of rapid decline of zigzag voltage, the piezoelectric linear feed driver is contracted rapidly, the original length is recovered, the driving hinge is recovered rapidly, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head are driven to deviate along the anticlockwise direction, the recovery position is recovered, the friction force generated at the contact position of the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head and the outer side platform is insufficient to drive the outer side platform to deviate, a sliding state is formed, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head deviate anticlockwise, the recovery position is recovered, the outer side platform is kept at the position in the step S2, the upper side adhesive sliding pressure head and the lower side adhesive sliding pressure head deviate relatively with the outer side platform, and the deflection angle is alpha.
4. A method for driving a couple toggle piezoelectric stick-slip rotary platform according to claim 3, wherein: in the step S2, under the driving of the slowly rising voltage, the upper side adhesive sliding head and the lower side adhesive sliding head are in a viscous state with the outer side platform, and the upper side adhesive sliding head and the lower side adhesive sliding head drive the outer side platform to deflect clockwise together, and the deflection angle is α.
5. The driving method of the couple toggle type piezoelectric stick-slip rotary platform according to claim 4, wherein the driving method is characterized by comprising the following steps: in the step S3, under the drive of the rapidly decreasing voltage, the upper side adhesive sliding head and the lower side adhesive sliding head are in a sliding state with the outer side platform, the upper side adhesive sliding head and the lower side adhesive sliding head are deflected anticlockwise, the outer side platform is kept still, the relative deflection angle of the upper side adhesive sliding head and the lower side adhesive sliding head with the outer side platform is alpha, and in one period, the outer side platform is deflected by the angle alpha relative to the inner side platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310800897.5A CN116846250A (en) | 2023-06-30 | 2023-06-30 | Couple toggle type piezoelectric stick-slip rotary platform and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310800897.5A CN116846250A (en) | 2023-06-30 | 2023-06-30 | Couple toggle type piezoelectric stick-slip rotary platform and driving method thereof |
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| Publication Number | Publication Date |
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| CN116846250A true CN116846250A (en) | 2023-10-03 |
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| CN202310800897.5A Pending CN116846250A (en) | 2023-06-30 | 2023-06-30 | Couple toggle type piezoelectric stick-slip rotary platform and driving method thereof |
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| CN (1) | CN116846250A (en) |
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2023
- 2023-06-30 CN CN202310800897.5A patent/CN116846250A/en active Pending
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